Ensure that UAVCAN_ENABLE is always present

FMUv4: Fix code style
Merge pull request #3519 from PX4/mc_pos_quick_fix
2026-06-14 01:20:04 +08:00 · 2016-01-16 12:07:50 +01:00 · 2016-01-15 23:48:18 +01:00 · 2016-01-15 23:29:15 +01:00 · 2016-01-15 22:44:22 +01:00 · 2016-01-15 22:34:20 +01:00
221 changed files with 6112 additions and 4883 deletions
@@ -23,6 +23,7 @@ build_*/
 core
 cscope.out
 Firmware.sublime-workspace
+user.sublime*
 Images/*.bin
 Images/*.px4
 mavlink/include/mavlink/v0.9/
@@ -31,3 +31,9 @@
 [submodule "src/lib/DriverFramework"]
 	path = src/lib/DriverFramework
 	url = https://github.com/PX4/DriverFramework.git
+[submodule "src/lib/ecl"]
+	path = src/lib/ecl
+	url = https://github.com/PX4/ecl.git
+[submodule "cmake/cmake_hexagon"]
+	path = cmake/cmake_hexagon
+	url = https://github.com/ATLFlight/cmake_hexagon
@@ -27,8 +27,8 @@ addons:
    - ccache
    - clang-3.5
    - cmake
-    - g++-4.8
-    - gcc-4.8
+    - g++-4.9
+    - gcc-4.9
    - genromfs
    - libc6-i386
    - libncurses5-dev
@@ -55,7 +55,7 @@ before_install:
      && mkdir -p ~/bin
      && wget -O ~/bin/astyle https://github.com/PX4/astyle/releases/download/2.05.1/astyle-linux && chmod +x ~/bin/astyle
      && astyle --version
-      && if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8"; fi
+      && if [ "$CXX" = "g++" ]; then export CXX="g++-4.9" CC="gcc-4.9"; fi
      ;
    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
         brew tap PX4/homebrew-px4
@@ -81,8 +81,6 @@ before_script:
  - ln -s /usr/bin/ccache ~/bin/clang
  - ln -s /usr/bin/ccache ~/bin/clang-3.4
  - ln -s /usr/bin/ccache ~/bin/clang-3.5
-  - ln -s /usr/bin/ccache ~/bin/g++-4.8
-  - ln -s /usr/bin/ccache ~/bin/gcc-4.8
  - export PATH=~/bin:$PATH

 env:
@@ -95,20 +93,23 @@ env:
    - PX4_AWS_BUCKET=px4-travis

 script:
+  - git submodule update --init --recursive
  - make check_format
  - arm-none-eabi-gcc --version
  - echo 'Building POSIX Firmware..' && make posix_sitl_default
  - echo 'Running Tests..' && make posix_sitl_default test
  - echo 'Running Unittests..' && cd unittests && ./run_tests.sh
  - cd ..
+  - echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
+  - echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
+# Only provide UAVCAN firmware binaries for Pixracer and Pixhawk 3
  - echo 'Building UAVCAN node firmware..' && git clone https://github.com/thiemar/vectorcontrol
  - cd vectorcontrol
  - BOARD=s2740vc_1_0 make && BOARD=px4esc_1_6 make
  - ../Tools/uavcan_copy.sh
  - cd ..
-  - echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
-  - echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
  - echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default
+  - echo 'Building NuttX px4-stm32f4discovery Firmware..' && make px4-stm32f4discovery_default
  - echo 'Running Tests..' && make px4fmu-v2_default test

 after_success:
@@ -116,8 +117,9 @@ after_success:
         cp build_px4fmu-v1_default/src/firmware/nuttx/nuttx-px4fmu-v1-default.px4 px4fmu-v1_default.px4
      && cp build_px4fmu-v2_default/src/firmware/nuttx/nuttx-px4fmu-v2-default.px4 px4fmu-v2_default.px4
      && cp build_px4fmu-v4_default/src/firmware/nuttx/nuttx-px4fmu-v4-default.px4 px4fmu-v4_default.px4
-      && zip Firmware.zip px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4
-      && ./CI-Tools/s3cmd-put px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
+      && cp build_px4-stm32f4discovery_default/src/firmware/nuttx/nuttx-px4-stm32f4discovery-default.px4 px4-stm32f4discovery-default.px4
+      && zip Firmware.zip px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 px4-stm32f4discovery-default.px4
+      && ./CI-Tools/s3cmd-put px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 px4-stm32f4discovery-default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
      && ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
      && ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
      && ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
@@ -245,6 +245,7 @@ px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
 px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
 px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
 px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
+px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
 px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
 px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
 px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname

 ### Edit and build the code

-The [developer guide](http://px4.io/dev/start) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://px4.io/dev/code_style) when editing files.
+The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://px4.io/dev/code_style) when editing files.

 ### Commit your changes

@@ -281,7 +281,7 @@ TYPEDEF_HIDES_STRUCT   = NO
 # causing a significant performance penality.
 # If the system has enough physical memory increasing the cache will improve the
 # performance by keeping more symbols in memory. Note that the value works on
-# a logarithmic scale so increasing the size by one will rougly double the
+# a logarithmic scale so increasing the size by one will roughly double the
 # memory usage. The cache size is given by this formula:
 # 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
 # corresponding to a cache size of 2^16 = 65536 symbols
@@ -48,7 +48,7 @@ Download QGC from http://qgroundcontrol.org/downloads and install using the wind

 ## PX4

-### Platfrom Requirements
+### Platform Requirements
 Linux or Eagle with a working IP interface (?? does this need further instructions?)

 ### Build Host Requirements
@@ -109,7 +109,9 @@ endif
 # describe how to build a cmake config
 define cmake-build
 +@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
-+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule update --init --recursive --force && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
+git submodule init
+Tools/check_submodules.sh 
+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule sync && git submodule init && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
 +$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
 endef

@@ -133,21 +135,24 @@ px4fmu-v2_default:
 px4fmu-v4_default:
 	$(call cmake-build,nuttx_px4fmu-v4_default)

-px4fmu-v2_simple:
-	$(call cmake-build,nuttx_px4fmu-v2_simple)
+px4-stm32f4discovery_default:
+	$(call cmake-build,nuttx_px4-stm32f4discovery_default)
+
+px4fmu-v2_ekf2:
+	$(call cmake-build,nuttx_px4fmu-v2_ekf2)

 px4fmu-v2_lpe:
 	$(call cmake-build,nuttx_px4fmu-v2_lpe)

-nuttx_sim_simple:
-	$(call cmake-build,$@)
-
 posix_sitl_default:
 	$(call cmake-build,$@)

 posix_sitl_lpe:
 	$(call cmake-build,$@)

+posix_sitl_ekf2:
+	$(call cmake-build,$@)
+
 ros_sitl_default:
 	$(call cmake-build,$@)

@@ -160,6 +165,12 @@ qurt_eagle_release:
 posix_eagle_release:
 	$(call cmake-build,$@)

+qurt_eagle_default:
+	$(call cmake-build,$@)
+
+posix_eagle_default:
+	$(call cmake-build,$@)
+
 posix: posix_sitl_default

 sitl_deprecation:
@@ -184,7 +195,8 @@ clean:
 # targets handled by cmake
 cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
 	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim \
-	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_tailsitter
+	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_tailsitter \
+	gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))

 .PHONY: clean
@@ -9,33 +9,22 @@ This repository contains the [PX4 Flight Core](http://px4.io), with the main app
 *   Official Website: http://px4.io
 *   License: BSD 3-clause (see [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
 *   Supported airframes (more experimental are supported):
-  * [Multicopters](http://px4.io/platforms/multicopters/start)
-  * [Fixed wing](http://px4.io/platforms/planes/start)
-  * [VTOL](http://px4.io/platforms/vtol/start)
-*   Binaries (always up-to-date from master):
-  * [Downloads](http://px4.io/firmware/downloads)
+  * [Multicopters](http://px4.io/portfolio_category/multicopter/)
+  * [Fixed wing](http://px4.io/portfolio_category/vtol/)
+  * [VTOL](http://px4.io/portfolio_category/plane/)
 *   Releases
  * [Downloads](https://github.com/PX4/Firmware/releases)
-*   Forum / Mailing list: [Google Groups](http://groups.google.com/group/px4users)

 ### Users ###

-Please refer to the [user documentation](https://pixhawk.org/users/start) for flying drones with the PX4 flight stack.
+Please refer to the [user documentation](http://px4.io) and [user forum](http://discuss.px4.io) for flying drones with the PX4 flight stack.

 ### Developers ###

-Contributing guide:
-  * [CONTRIBUTING.md](https://github.com/PX4/Firmware/blob/master/CONTRIBUTING.md)
-  * [PX4 Contribution Guide](http://px4.io/dev/contributing)
+  * [Developer Forum / Mailing list](http://groups.google.com/group/px4users)
+  * [Guide for Contributions](https://github.com/PX4/Firmware/blob/master/CONTRIBUTING.md)
+  * [Developer guide](http://dev.px4.io)

-Software in the Loop guide:
-Use software in the loop [to get started with the codebase](https://pixhawk.org/dev/simulation/native_sitl).
-
-Developer guide:
-http://dev.px4.io
-
-Testing guide:
-http://px4.io/dev/unit_tests

 This repository contains code supporting these boards:
  * [Snapdragon Flight](http://dev.px4.io/hardware-snapdragon.html)
@@ -44,8 +33,3 @@ This repository contains code supporting these boards:
  * FMUv4.x (Pixhawk X and [Pixracer](http://dev.px4.io/hardware-pixracer.html))
  * AeroCore (v1 and v2)
  * STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
-
-## NuttShell (NSH) ##
-
-NSH usage documentation:
-http://px4.io/users/serial_connection
@@ -39,5 +39,7 @@ then
 	param set FW_RR_P 0.3
 fi

+param set RWTO_TKOFF 1
+
 set HIL yes
 set MIXER AERT
@@ -12,11 +12,11 @@ sh /etc/init.d/rc.mc_defaults
 if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.08
+	param set MC_ROLLRATE_P 0.14
 	param set MC_ROLLRATE_I 0.1
 	param set MC_ROLLRATE_D 0.004
 	param set MC_PITCH_P 6.0
-	param set MC_PITCHRATE_P 0.16
+	param set MC_PITCHRATE_P 0.14
 	param set MC_PITCHRATE_I 0.09
 	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 4
@@ -46,6 +46,6 @@ set PWM_AUX_MAX 2000
 set MAV_TYPE 21

 param set VT_MOT_COUNT 6
-param set VT_FW_MOT_OFF 23
+param set VT_FW_MOT_OFFID 34
 param set VT_IDLE_PWM_MC 1080
 param set VT_TYPE 1
@@ -2,7 +2,7 @@
 #
 # @name Quadrotor X Tailsitter
 #
-# @type VTOL Tailsitter
+# @type VTOL Quad Tailsitter
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
@@ -2,7 +2,7 @@
 #
 # @name Quadrotor + Tailsitter
 #
-# @type VTOL Tailsitter
+# @type VTOL Quad Tailsitter
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
@@ -0,0 +1,53 @@
+#!nsh
+#
+# @name QuadRanger
+#
+# @type Standard VTOL
+#
+# @maintainer Sander Smeets <sander@droneslab.com>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+	param set VT_TRANS_THR 0.75
+
+	param set PWM_AUX_REV1 1
+	param set PWM_AUX_REV2 1
+
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0.0
+	param set MC_YAW_P 2.8
+	param set MC_YAW_FF 0.5
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
+fi
+
+set MIXER vtol_quad_x
+set PWM_OUT 12345678
+
+set MIXER_AUX vtol_AAERT
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1000
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+
+set MAV_TYPE 22
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 2
@@ -2,7 +2,7 @@
 #
 # @name Applied Aeronautics Albatross
 #
-# @type Standard Plane
+# @type Plane A-Tail
 #
 # @output MAIN1 aileron right
 # @output MAIN2 aileron left
@@ -0,0 +1,88 @@
+#!nsh
+#
+# @name 3DR Solo
+#
+# @type Quadrotor x
+#
+# @maintainer Andreas Antener <andreas@uaventure.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    # tuning
+    param set MC_PITCHRATE_P    0.11
+    param set MC_ROLLRATE_P     0.11
+    param set MPC_MANTHR_MIN    0.08
+    param set MPC_XY_VEL_MAX    3.0
+    param set MPC_Z_VEL_MAX     2.0
+
+    # INAV: higher GPS weights for better altitude control
+    param set INAV_W_Z_BARO     0.3
+    param set INAV_W_Z_GPS_P    0.8
+    param set INAV_W_Z_GPS_V    0.8
+
+    # takeoff, land and RTL settings
+    param set MIS_TAKEOFF_ALT   4.0
+    param set COM_DISARM_LAND   1
+    param set RTL_LAND_DELAY    1
+    param set RTL_DESCEND_ALT   5.0
+    param set RTL_RETURN_ALT    15.0
+    param set MPC_TILTMAX_LND   8.0
+    param set MPC_LAND_SPEED    0.4
+    param set MPC_HOLD_MAX_Z    1.5
+    param set MPC_TKO_JMPSPD    2.0
+    param set MPC_TKO_SPEED     1.5
+
+    # setup
+    # main board rotation: pitch 180
+    param set SENS_BOARD_ROT    12
+    # solo external mag rotation
+    param set CAL_MAG0_ROT      30
+    # no safety switch
+    param set CBRK_IO_SAFETY    22027
+    # battery voltage not available yet
+    param set CBRK_SUPPLY_CHK   894281
+
+    # RC configuration
+    param set RC_MAP_MODE_SW    5
+    param set RC_MAP_PITCH      2
+    param set RC_MAP_ROLL       1
+    param set RC_MAP_THROTTLE   3
+    param set RC_MAP_YAW        4
+
+    param set RC1_DZ            10
+    param set RC1_MAX           1988
+    param set RC1_MIN           1003
+    param set RC1_REV           1
+    param set RC1_TRIM          1499
+    param set RC2_DZ            10
+    param set RC2_MAX           1987
+    param set RC2_MIN           1023
+    param set RC2_REV           -1
+    param set RC2_TRIM          1499
+    param set RC3_DZ            10
+    param set RC3_MAX           1877
+    param set RC3_MIN           1023
+    param set RC3_REV           1
+    param set RC3_TRIM          1023
+    param set RC4_DZ            10
+    param set RC4_MAX           1998
+    param set RC4_MIN           1012
+    param set RC4_REV           1
+    param set RC4_TRIM          1500
+    param set RC5_DZ            10
+    param set RC5_MAX           2000
+    param set RC5_MIN           1000
+    param set RC5_REV           1
+    param set RC5_TRIM          1500
+fi
+
+set MIXER solo
+
+set PWM_OUT 1234
+set MIXER_AUX none
+
+# enable high-speed link on telem 1
+set MAVLINK_F "-d /dev/ttyS1 -b 921600 -r 80000 -m onboard -x"
@@ -17,7 +17,7 @@ else
 		attitude_estimator_q start
 		local_position_estimator start
 	else
-		ekf_att_pos_estimator start
+		ekf2 start
 	fi
 fi

@@ -60,9 +60,6 @@ unset FRC

 if [ $MODE == autostart ]
 then
-	# Try to get an USB console
-	# REBOOTWORK this needs to start after the flight control loop
-	nshterm /dev/ttyACM0 &

 	#
 	# Start the ORB (first app to start)
@@ -844,6 +841,15 @@ then
 	px4flow start &
 fi

+# Start USB shell if no microSD present, MAVLink else
+if [ $LOG_FILE == /dev/null ]
+then
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+else
+	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+fi
+
 if [ $EXIT_ON_END == yes ]
 then
 	echo "Exit from nsh"
@@ -0,0 +1,7 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in the X configuration.  All controls
+are mixed 100%.
+
+R: 4x 10000 10000 10000 0
@@ -0,0 +1,24 @@
+Mixer for standard vtol plane (SITL) with motor x configuration
+=========================================================
+
+This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration.
+The plane has two ailerons and one elevator. The ailerons and elevator are treated as elevons
+in order to make the standard vtol simulation compatible with the tailsitter simulation.
+
+R: 4x 10000 10000 10000 0
+
+# mixer for the elevons
+M: 2
+O:      10000  10000   0 -10000  10000
+S: 1 0  5000   5000    0 -10000  10000
+S: 1 1 -5000 -5000     0 -10000  10000
+
+M: 2
+O:       10000   10000   0 -10000  10000
+S: 1 0   5000    5000    0 -10000  10000
+S: 1 1   5000    5000    0 -10000  10000
+
+# mixer for the pusher/puller throttle
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 3      0  20000 -10000 -10000  10000
@@ -6,7 +6,7 @@ then
  exit 1;
 fi

-if [[ $cmake_ver == *"2.8"* ]] || [[ $cmake_ver == *"2.9"* ]] || [[ $cmake_ver == *"3.0"* ]] || [[ $cmake_ver == *"3.1"* ]]
+if [[ $cmake_ver == *" 2.8"* ]] || [[ $cmake_ver == *" 2.9"* ]] || [[ $cmake_ver == *" 3.0"* ]] || [[ $cmake_ver == *" 3.1"* ]]
 then
  exit 1;
 fi
@@ -0,0 +1,81 @@
+#!/usr/bin/env bash
+
+[ -n "$GIT_SUBMODULES_ARE_EVIL" ] && {
+    # GIT_SUBMODULES_ARE_EVIL is set, meaning user doesn't want submodules
+    echo "Skipping submodules. NUTTX_SRC is set to $NUTTX_SRC"
+    exit 0
+}
+
+if [ -f src/modules/uavcan/libuavcan/CMakeLists.txt ]
+then
+	echo "Git submodule config valid."
+else
+	git submodule update --init --recursive
+fi
+
+GITSTATUS=$(git status)
+
+function check_git_submodule {
+
+if [ -d $1 ];
+	then
+	SUBMODULE_STATUS=$(git submodule summary "$1")
+	STATUSRETVAL=$(echo $SUBMODULE_STATUS | grep -A20 -i "$1" | grep "<")
+	if [ -z "$STATUSRETVAL" ]; then
+		echo "Checked $1 submodule, correct version found"
+	else
+		echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
+		echo ""
+		echo -e "New commits required:"
+		echo -e "$SUBMODULE_STATUS"
+		echo ""
+		echo ""
+		echo -e " *******************************************************************************"
+		echo -e " *   \033[31mIF YOU DID NOT CHANGE THIS FILE (OR YOU DON'T KNOW WHAT A SUBMODULE IS):\033[0m  *"
+		echo -e " *   \033[31mHit 'u' and <ENTER> to update ALL submodules and resolve this.\033[0m            *"
+		echo -e " *   (performs \033[94mgit submodule update --init --recursive\033[0m)                        *"
+		echo -e " *******************************************************************************"
+		echo ""
+		echo ""
+		echo -e "   Only for EXPERTS:"
+		echo -e "   $1 submodule is not in the recommended version."
+		echo -e "   Hit 'y' and <ENTER> to continue the build with this version. Hit <ENTER> to resolve manually."
+		echo -e "   Use \033[94mgit add $1 && git commit -m 'Updated $1'\033[0m to choose this version (careful!)"
+		echo ""
+		read user_cmd
+		if [ "$user_cmd" == "y" ]
+		then
+			echo "Continuing build with manually overridden submodule.."
+		else
+			if [ "$user_cmd" == "u" ]
+			then
+				git submodule update --init --recursive
+				echo "Submodule fixed, continuing build.."
+			else
+				echo "Build aborted."
+				exit 1
+			fi
+		fi
+	fi
+else
+	git submodule update --init --recursive;
+	git submodule update;
+fi
+
+}
+
+check_git_submodule NuttX
+check_git_submodule Tools/gencpp
+check_git_submodule Tools/genmsg
+check_git_submodule Tools/jMAVSim
+check_git_submodule Tools/sitl_gazebo
+check_git_submodule cmake/cmake_hexagon
+check_git_submodule mavlink/include/mavlink/v1.0
+check_git_submodule src/lib/DriverFramework
+check_git_submodule src/lib/dspal
+check_git_submodule src/lib/ecl
+check_git_submodule src/lib/matrix
+check_git_submodule src/modules/uavcan/libuavcan
+check_git_submodule unittests/googletest
+
+exit 0
@@ -752,7 +752,7 @@ class MAVLink_gps_raw_int_message(MAVLink_message):
        '''
        The global position, as returned by the Global Positioning
        System (GPS). This is                 NOT the global position
-        estimate of the sytem, but rather a RAW sensor value. See
+        estimate of the system, but rather a RAW sensor value. See
        message GLOBAL_POSITION for the global position estimate.
        Coordinate frame is right-handed, Z-axis up (GPS frame).
        '''
@@ -2812,7 +2812,7 @@ class MAVLink(object):
                '''
                The global position, as returned by the Global Positioning System
                (GPS). This is                 NOT the global position
-                estimate of the sytem, but rather a RAW sensor value.
+                estimate of the system, but rather a RAW sensor value.
                See message GLOBAL_POSITION for the global position
                estimate. Coordinate frame is right-handed, Z-axis up
                (GPS frame).
@@ -2837,7 +2837,7 @@ class MAVLink(object):
                '''
                The global position, as returned by the Global Positioning System
                (GPS). This is                 NOT the global position
-                estimate of the sytem, but rather a RAW sensor value.
+                estimate of the system, but rather a RAW sensor value.
                See message GLOBAL_POSITION for the global position
                estimate. Coordinate frame is right-handed, Z-axis up
                (GPS frame).
@@ -28,29 +28,55 @@ class XMLOutput():
            xml_group = ET.SubElement(xml_parameters, "airframe_group")
            xml_group.attrib["name"] = group.GetName()
            if (group.GetName() == "Standard Plane"):
-                xml_group.attrib["image"] = "AirframeStandardPlane.png"
+                xml_group.attrib["image"] = "Plane"
            elif (group.GetName() == "Flying Wing"):
-                xml_group.attrib["image"] = "AirframeFlyingWing.png"
+                xml_group.attrib["image"] = "FlyingWing"
            elif (group.GetName() == "Quadrotor x"):
-                xml_group.attrib["image"] = "AirframeQuadRotorX.png"
+                xml_group.attrib["image"] = "QuadRotorX"
            elif (group.GetName() == "Quadrotor +"):
-                xml_group.attrib["image"] = "AirframeQuadRotorPlus.png"
+                xml_group.attrib["image"] = "QuadRotorPlus"
            elif (group.GetName() == "Hexarotor x"):
-                xml_group.attrib["image"] = "AirframeHexaRotorX.png"
+                xml_group.attrib["image"] = "HexaRotorX"
            elif (group.GetName() == "Hexarotor +"):
-                xml_group.attrib["image"] = "AirframeHexaRotorPlus.png"
+                xml_group.attrib["image"] = "HexaRotorPlus"
            elif (group.GetName() == "Octorotor +"):
-                xml_group.attrib["image"] = "AirframeOctoRotorPlus.png"
+                xml_group.attrib["image"] = "OctoRotorPlus"
            elif (group.GetName() == "Octorotor x"):
-                xml_group.attrib["image"] = "AirframeOctoRotorX.png"
+                xml_group.attrib["image"] = "OctoRotorX"
+            elif (group.GetName() == "Octorotor Coaxial"):
+                xml_group.attrib["image"] = "OctoRotorXCoaxial"
            elif (group.GetName() == "Quadrotor Wide"):
-                xml_group.attrib["image"] = "AirframeQuadRotorH.png"
+                xml_group.attrib["image"] = "QuadRotorWide"
            elif (group.GetName() == "Quadrotor H"):
-                xml_group.attrib["image"] = "AirframeQuadRotorH.png"
+                xml_group.attrib["image"] = "QuadRotorH"
            elif (group.GetName() == "Simulation"):
-                xml_group.attrib["image"] = "AirframeSimulation.png"
+                xml_group.attrib["image"] = "AirframeSimulation"
+            elif (group.GetName() == "Plane A-Tail"):
+                xml_group.attrib["image"] = "PlaneATail"
+            elif (group.GetName() == "VTOL Duo Tailsitter"):
+                xml_group.attrib["image"] = "VTOLDuoRotorTailSitter"
+            elif (group.GetName() == "Standard VTOL"):
+                xml_group.attrib["image"] = "VTOLPlane"
+            elif (group.GetName() == "VTOL Quad Tailsitter"):
+                xml_group.attrib["image"] = "VTOLQuadRotorTailSitter"
+            elif (group.GetName() == "VTOLTiltRotor"):
+                xml_group.attrib["image"] = "VTOLTiltRotor"
+            elif (group.GetName() == "Coaxial Helicopter"):
+                xml_group.attrib["image"] = "HelicopterCoaxial"
+            elif (group.GetName() == "Hexarotor Coaxial"):
+                xml_group.attrib["image"] = "Y6A"
+            elif (group.GetName() == "Y6B"):
+                xml_group.attrib["image"] = "Y6B"
+            elif (group.GetName() == "Tricopter Y-"):
+                xml_group.attrib["image"] = "YMinus"
+            elif (group.GetName() == "Tricopter Y+"):
+                xml_group.attrib["image"] = "YPlus"
+            elif (group.GetName() == "Rover"):
+                xml_group.attrib["image"] = "Rover"
+            elif (group.GetName() == "Boat"):
+                xml_group.attrib["image"] = "Boat"
            else:
-                xml_group.attrib["image"] = ""
+                xml_group.attrib["image"] = "AirframeUnknown"
            for param in group.GetParams():
                if (last_param_name == param.GetName() and not board_specific_param_set) or last_param_name != param.GetName():
                    xml_param = ET.SubElement(xml_group, "airframe")
@@ -107,7 +107,7 @@ class SourceParser(object):
    re_remove_dots = re.compile(r'\.+$')
    re_remove_carriage_return = re.compile('\n+')

-    valid_tags = set(["group", "board", "min", "max", "unit", "decimal"])
+    valid_tags = set(["group", "board", "min", "max", "unit", "decimal", "reboot_required"])

    # Order of parameter groups
    priority = {
@@ -37,17 +37,42 @@ Vagrant.configure(2) do |config|
  # the path on the host to the actual folder. The second argument is
  # the path on the guest to mount the folder. And the optional third
  # argument is a set of non-required options.
+  # NFS should be faster: https://stefanwrobel.com/how-to-make-vagrant-performance-not-suck
  config.vm.synced_folder ".", "/Firmware", type: "nfs"

  # Provider-specific configuration so you can fine-tune various
  # backing providers for Vagrant. These expose provider-specific options.
  # Example for VirtualBox:
  #
+
+  # This is to configure the machine to be as fast as possible
+  # Alternative: https://github.com/rdsubhas/vagrant-faster
  config.vm.provider "virtualbox" do |vb|
    # Display the VirtualBox GUI when booting the machine
    vb.gui = false
    vb.customize ["modifyvm", :id, "--ioapic", "on"]
-    vb.customize ["modifyvm", :id, "--cpus", "2"]
+    #vb.customize ["modifyvm", :id, "--cpus", "2"]
+
+    config.vm.provider "virtualbox" do |v|
+      host = RbConfig::CONFIG['host_os']
+
+      # Give VM 1/4 system memory & access to all cpu cores on the host
+      if host =~ /darwin/
+        cpus = `sysctl -n hw.ncpu`.to_i
+        # sysctl returns Bytes and we need to convert to MB
+        mem = `sysctl -n hw.memsize`.to_i / 1024 / 1024 / 4
+      elsif host =~ /linux/
+        cpus = `nproc`.to_i
+        # meminfo shows KB and we need to convert to MB
+        mem = `grep 'MemTotal' /proc/meminfo | sed -e 's/MemTotal://' -e 's/ kB//'`.to_i / 1024 / 4
+      else # sorry Windows folks, I can't help you
+        cpus = 2
+        mem = 1024
+      end
+
+      v.customize ["modifyvm", :id, "--memory", mem]
+      v.customize ["modifyvm", :id, "--cpus", cpus]
+    end

    # Since make and other tools freak out if they see timestamps
    # from the future and we share directories, tightly lock the host and guest clocks together (clock sync if more than 2 seconds off)
@@ -57,7 +82,7 @@ Vagrant.configure(2) do |config|
    vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-on-restore", "1"]

    # Customize the amount of memory on the VM:
-    vb.memory = "2048"
+    #vb.memory = "2048"
  end
  #
  # View the documentation for the provider you are using for more
@@ -266,6 +266,10 @@ function(px4_add_module)

 	add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})

+	if(${OS} STREQUAL "qurt" )
+		set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
+	endif()
+
 	if(MAIN)
 		set_target_properties(${MODULE} PROPERTIES
 			COMPILE_DEFINITIONS PX4_MAIN=${MAIN}_app_main)
@@ -0,0 +1,87 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/led
+	drivers/boards/px4-stm32f4discovery
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/reboot
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/ver
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/controllib
+	modules/uORB
+
+	#
+	# Libraries
+	#
+	#lib/mathlib/CMSIS
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/conversion
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common
+	platforms/nuttx/px4_layer
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")
@@ -27,16 +27,16 @@ set(config_module_list
 	drivers/trone
 	drivers/gps
 	drivers/pwm_out_sim
-	drivers/hott
-	drivers/hott/hott_telemetry
-	drivers/hott/hott_sensors
+	#drivers/hott
+	#drivers/hott/hott_telemetry
+	#drivers/hott/hott_sensors
 	drivers/blinkm
 	drivers/airspeed
 	drivers/ets_airspeed
 	drivers/meas_airspeed
 	drivers/frsky_telemetry
 	modules/sensors
-	drivers/mkblctrl
+	#drivers/mkblctrl
 	drivers/px4flow

 	#
@@ -73,6 +73,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
+	modules/ekf2

 	#
 	# Vehicle Control
@@ -113,6 +114,7 @@ set(config_module_list
 	lib/launchdetection
 	lib/terrain_estimation
 	lib/runway_takeoff
+	lib/tailsitter_recovery
 	platforms/nuttx

 	# had to add for cmake, not sure why wasn't in original config
@@ -23,16 +23,16 @@ set(config_module_list
 	drivers/l3gd20
 	drivers/hmc5883
 	drivers/ms5611
-	drivers/mb12xx
+	#drivers/mb12xx
 	drivers/srf02
 	drivers/sf0x
 	drivers/ll40ls
 	drivers/trone
 	drivers/gps
 	drivers/pwm_out_sim
-	drivers/hott
-	drivers/hott/hott_telemetry
-	drivers/hott/hott_sensors
+	#drivers/hott
+	#drivers/hott/hott_telemetry
+	#drivers/hott/hott_sensors
 	drivers/blinkm
 	drivers/airspeed
 	drivers/ets_airspeed
@@ -45,7 +45,7 @@ set(config_module_list
 	drivers/gimbal
 	drivers/pwm_input
 	drivers/camera_trigger
-    drivers/bst
+	drivers/bst

 	#
 	# System commands
@@ -123,6 +123,7 @@ set(config_module_list
 	lib/launchdetection
 	lib/terrain_estimation
 	lib/runway_takeoff
+	lib/tailsitter_recovery
 	platforms/nuttx

 	# had to add for cmake, not sure why wasn't in original config
@@ -132,7 +133,7 @@ set(config_module_list
 	#
 	# OBC challenge
 	#
-	modules/bottle_drop
+	#modules/bottle_drop

 	#
 	# Rover apps
@@ -2,6 +2,8 @@ include(nuttx/px4_impl_nuttx)

 set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)

+set(config_uavcan_num_ifaces 2)
+
 set(config_module_list
 	#
 	# Board support modules
@@ -21,27 +23,29 @@ set(config_module_list
 	drivers/l3gd20
 	drivers/hmc5883
 	drivers/ms5611
-	drivers/mb12xx
+	#drivers/mb12xx
+	drivers/srf02
 	drivers/sf0x
 	drivers/ll40ls
 	drivers/trone
 	drivers/gps
 	drivers/pwm_out_sim
-	drivers/hott
-	drivers/hott/hott_telemetry
-	drivers/hott/hott_sensors
+	#drivers/hott
+	#drivers/hott/hott_telemetry
+	#drivers/hott/hott_sensors
 	drivers/blinkm
 	drivers/airspeed
 	drivers/ets_airspeed
 	drivers/meas_airspeed
 	drivers/frsky_telemetry
 	modules/sensors
-	drivers/mkblctrl
+	#drivers/mkblctrl
 	drivers/px4flow
 	drivers/oreoled
 	drivers/gimbal
 	drivers/pwm_input
 	drivers/camera_trigger
+	drivers/bst

 	#
 	# System commands
@@ -53,6 +57,7 @@ set(config_module_list
 	systemcmds/pwm
 	systemcmds/esc_calib
 	systemcmds/reboot
+	#systemcmds/topic_listener
 	systemcmds/top
 	systemcmds/config
 	systemcmds/nshterm
@@ -60,6 +65,35 @@ set(config_module_list
 	systemcmds/dumpfile
 	systemcmds/ver

+	#
+	# General system control
+	#
+	modules/commander
+	modules/navigator
+	modules/mavlink
+	modules/gpio_led
+	modules/uavcan
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	# Too high RAM usage due to static allocations
+	# modules/attitude_estimator_ekf
+	modules/attitude_estimator_q
+	modules/ekf2
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	# modules/segway # XXX Needs GCC 4.7 fix
+	modules/fw_pos_control_l1
+	modules/fw_att_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
 	#
 	# Logging
 	#
@@ -87,34 +121,47 @@ set(config_module_list
 	lib/geo_lookup
 	lib/conversion
 	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
 	platforms/nuttx

 	# had to add for cmake, not sure why wasn't in original config
 	platforms/common 
 	platforms/nuttx/px4_layer

+	#
+	# OBC challenge
+	#
+	#modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	examples/rover_steering_control
+
 	#
 	# Demo apps
 	#
 	#examples/math_demo
 	# Tutorial code from
 	# https://px4.io/dev/px4_simple_app
-	examples/px4_simple_app
+	#examples/px4_simple_app

 	# Tutorial code from
 	# https://px4.io/dev/daemon
-	examples/px4_daemon_app
+	#examples/px4_daemon_app

 	# Tutorial code from
 	# https://px4.io/dev/debug_values
-	examples/px4_mavlink_debug
+	#examples/px4_mavlink_debug

 	# Tutorial code from
 	# https://px4.io/dev/example_fixedwing_control
-	examples/fixedwing_control
+	#examples/fixedwing_control

 	# Hardware test
-	examples/hwtest
+	#examples/hwtest
 )

 set(config_extra_builtin_cmds
@@ -128,10 +175,12 @@ set(config_io_board

 set(config_extra_libs
 	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	uavcan
+	uavcan_stm32_driver
 	)

 set(config_io_extra_libs
-	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
 	)

 add_custom_target(sercon)
@@ -42,6 +42,7 @@ set(config_module_list
 	drivers/gimbal
 	drivers/pwm_input
 	drivers/camera_trigger
+	drivers/bst

 	#
 	# System commands
@@ -80,6 +81,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
+	modules/ekf2

 	#
 	# Vehicle Control
@@ -121,6 +123,7 @@ set(config_module_list
 	lib/launchdetection
 	lib/terrain_estimation
 	lib/runway_takeoff
+	lib/tailsitter_recovery
 	platforms/nuttx

 	# had to add for cmake, not sure why wasn't in original config
@@ -1,21 +0,0 @@
-include(nuttx/px4_impl_nuttx)
-
-message(WARNING "this is a work in progress and doesn't build yet")
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
-
-set(config_module_list
-	#platforms/nuttx
-	#platforms/nuttx/px4_layer
-	platforms/common
-	#drivers/led
-	drivers/device
-	#modules/systemlib
-	#modules/uORB
-	#examples/px4_simple_app
-	#lib/mathlib/math/filter
-	#lib/conversion
-	)
-
-set(config_extra_builtin_cmds
-	)
@@ -35,11 +35,13 @@ set(config_module_list

 	lib/mathlib
 	lib/mathlib/math/filter
+	lib/conversion
+	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/conversion
 	lib/terrain_estimation
 	lib/runway_takeoff
+	lib/tailsitter_recovery

 	platforms/common
 	platforms/posix/px4_layer
@@ -59,6 +59,7 @@ set(config_module_list
 	lib/launchdetection
 	lib/terrain_estimation
 	lib/runway_takeoff
+	lib/tailsitter_recovery
 	examples/px4_simple_app
 	)

@@ -0,0 +1,99 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+
+set(config_module_list
+	drivers/device
+	drivers/boards/sitl
+	drivers/pwm_out_sim
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	platforms/posix/drivers/adcsim
+	platforms/posix/drivers/gpssim
+	platforms/posix/drivers/tonealrmsim
+	platforms/posix/drivers/accelsim
+	platforms/posix/drivers/airspeedsim
+	platforms/posix/drivers/barosim
+	platforms/posix/drivers/gyrosim
+	platforms/posix/drivers/rgbledsim
+	platforms/posix/drivers/ledsim
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/topic_listener
+	systemcmds/perf
+	modules/uORB
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/sensors
+	modules/simulator
+	modules/mavlink
+	modules/attitude_estimator_ekf
+	modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
+	modules/ekf2
+	modules/position_estimator_inav
+	modules/navigator
+	modules/vtol_att_control
+	modules/mc_pos_control
+	modules/mc_att_control
+	modules/mc_pos_control_multiplatform
+	modules/mc_att_control_multiplatform
+	modules/land_detector
+	modules/fw_att_control
+	modules/fw_pos_control_l1
+	modules/dataman
+	modules/sdlog2
+	modules/commander
+	modules/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/conversion
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	examples/px4_simple_app
+	)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_sitl_rcS
+	posix-configs/SITL/init/rcS_ekf2
+	CACHE FILEPATH "init script for sitl"
+	)
+
+set(config_sitl_viewer
+	jmavsim
+	CACHE STRING "viewer for sitl"
+	)
+set_property(CACHE config_sitl_viewer
+	PROPERTY STRINGS "jmavsim;none")
+
+set(config_sitl_debugger
+	disable
+	CACHE STRING "debugger for sitl"
+	)
+set_property(CACHE config_sitl_debugger
+	PROPERTY STRINGS "disable;gdb;lldb")
+
+
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")
@@ -0,0 +1,91 @@
+include(qurt/px4_impl_qurt)
+
+#if ("${HEXAGON_DRIVERS_ROOT}" #STREQUAL "")
+#	message(FATAL_ERROR "HEXAGON_DRIVERS_ROOT is not set")
+#endif()
+
+#if ("${EAGLE_DRIVERS_SRC}" STREQUAL "")
+#	message(FATAL_ERROR "EAGLE_DRIVERS_SRC is not set")
+#endif()
+
+#include_directories(${HEXAGON_DRIVERS_ROOT}/inc)
+
+# For Actual flight we need to link against the driver dynamic libraries
+#set(target_libraries
+#	-L${HEXAGON_DRIVERS_ROOT}/libs
+# The plan is to replace these with our drivers
+#	mpu9x50
+#	uart_esc
+#	csr_gps
+#	rc_receiver
+#	)
+
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	modules/sensors
+# The plan is to replace these with our drivers
+#	$(EAGLE_DRIVERS_SRC)/mpu9x50
+#	$(EAGLE_DRIVERS_SRC)/uart_esc
+#	$(EAGLE_DRIVERS_SRC)/rc_receiver
+#	$(EAGLE_DRIVERS_SRC)/csr_gps
+
+	#
+	# System commands
+	#
+	systemcmds/param
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	#modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/commander
+	modules/controllib
+
+	#
+	# Libraries
+	#
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+
+	#
+	# sources for muorb over fastrpc
+	#
+	modules/muorb/adsp
+	)
@@ -1,6 +1,8 @@
 include(qurt/px4_impl_qurt)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+

 set(config_module_list
 	drivers/device
@@ -1,6 +1,7 @@
 include(qurt/px4_impl_qurt)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)

 set(config_module_list
 	drivers/device
@@ -49,6 +50,7 @@ set(config_module_list
 	lib/conversion
 	lib/terrain_estimation
 	lib/runway_takeoff
+	lib/tailsitter_recovery
 	modules/controllib

 	#
@@ -1,6 +1,8 @@
 include(qurt/px4_impl_qurt)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+

 set(config_module_list
 	drivers/device
@@ -20,7 +20,8 @@ set(target_libraries
 	)


-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)

 set(config_module_list
 	#
@@ -72,6 +73,7 @@ set(config_module_list
 	lib/conversion
 	lib/terrain_estimation
 	lib/runway_takeoff
+	lib/tailsitter_recovery

 	#
 	# QuRT port
@@ -1,6 +1,7 @@
 include(qurt/px4_impl_qurt)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)

 set(config_module_list
 	drivers/device
@@ -3,7 +3,8 @@ include(qurt/px4_impl_qurt)
 # Run a full link with build stubs to make sure qurt target isn't broken
 set(QURT_ENABLE_STUBS "1")

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)

 set(config_module_list
 	drivers/device
@@ -54,6 +55,7 @@ set(config_module_list
 	lib/ecl
 	lib/terrain_estimation
 	lib/runway_takeoff
+	lib/tailsitter_recovery

 	#
 	# QuRT port
@@ -467,6 +467,14 @@ function(px4_os_add_flags)
 			-mfpu=fpv4-sp-d16
 			-mfloat-abi=hard
 			)
+	elseif (${BOARD} STREQUAL "px4-stm32f4discovery")
+		set(cpu_flags
+			-mcpu=cortex-m4
+			-mthumb
+			-march=armv7e-m
+			-mfpu=fpv4-sp-d16
+			-mfloat-abi=hard
+			)
 	elseif (${BOARD} STREQUAL "aerocore")
 		set(cpu_flags
 			-mcpu=cortex-m4
@@ -172,16 +172,13 @@ function(px4_os_add_flags)
        set(added_definitions
                -D__PX4_QURT 
 		-D__PX4_POSIX
-		-D__DF_QURT
 		-include ${PX4_INCLUDE_DIR}visibility.h
                )

 	# Add the toolchain specific flags
-        set(added_cflags ${QURT_CMAKE_C_FLAGS})
-        set(added_cxx_flags ${QURT_CMAKE_CXX_FLAGS})
+        set(added_cflags -O0)
+        set(added_cxx_flags -O0)

-	# FIXME @jgoppert - how to work around issues like this?
-	# Without changing global variables?
 	# Clear -rdynamic flag which fails for hexagon
 	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
 	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
@@ -1,254 +0,0 @@
-#
-# Copyright (C) 2015 Mark Charlebois. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#	notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#	notice, this list of conditions and the following disclaimer in
-#	the documentation and/or other materials provided with the
-#	distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#	used to endorse or promote products derived from this software
-#	without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-
-include(CMakeForceCompiler)
-
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
-include(common/px4_base)
-
-if ("$ENV{HEXAGON_TOOLS_ROOT}" STREQUAL "")
-	message(FATAL_ERROR
-		"The HexagonTools version 7.2.10 must be installed and the environment variable HEXAGON_TOOLS_ROOT must be set"
-		"(e.g. export HEXAGON_TOOLS_ROOT=/opt/HEXAGON_Tools/7.2.10/Tools)")
-else()
-	set(HEXAGON_TOOLS_ROOT $ENV{HEXAGON_TOOLS_ROOT})
-endif()
-
-macro (list2string out in)
-	set(list ${ARGV})
-	list(REMOVE_ITEM list ${out})
-	foreach(item ${list})
-		set(${out} "${${out}} ${item}")
-	endforeach()
-endmacro(list2string)
-
-set(V_ARCH "v5")
-set(CROSSDEV "hexagon-")
-set(HEXAGON_BIN	${HEXAGON_TOOLS_ROOT}/bin)
-set(HEXAGON_LIB_DIR ${HEXAGON_TOOLS_ROOT}/gnu/hexagon/lib)
-set(HEXAGON_ISS_DIR ${HEXAGON_TOOLS_ROOT}/lib/iss)
-set(TOOLSLIB ${HEXAGON_TOOLS_ROOT}/target/hexagon/lib/${V_ARCH}/G0)
-
-# Use the HexagonTools compiler (7.2.10)
-set(CMAKE_C_COMPILER	${HEXAGON_BIN}/${CROSSDEV}clang)
-set(CMAKE_CXX_COMPILER  ${HEXAGON_BIN}/${CROSSDEV}clang++)
-
-set(CMAKE_AR	  ${HEXAGON_BIN}/${CROSSDEV}ar CACHE FILEPATH "Archiver")
-set(CMAKE_RANLIB  ${HEXAGON_BIN}/${CROSSDEV}ranlib)
-set(CMAKE_LINKER  ${HEXAGON_BIN}/${CROSSDEV}ld.qcld)
-set(CMAKE_NM	  ${HEXAGON_BIN}/${CROSSDEV}nm)
-set(CMAKE_OBJDUMP ${HEXAGON_BIN}/${CROSSDEV}objdump)
-set(CMAKE_OBJCOPY ${HEXAGON_BIN}/${CROSSDEV}objcopy)
-
-list2string(HEXAGON_INCLUDE_DIRS 
-	-I${HEXAGON_TOOLS_ROOT}/target/hexagon/include
-	)
-
-#set(DYNAMIC_LIBS  -Wl,${TOOLSLIB}/pic/libstdc++.a)
-
-#set(MAXOPTIMIZATION -O0)
-
-# Base CPU flags for each of the supported architectures.
-#
-set(ARCHCPUFLAGS
-	-m${V_ARCH}
-	-G0
-	)
-
-add_definitions(
-	-D_PID_T -D_UID_T -D_TIMER_T
-	-Dnoreturn_function= 
-	-D_HAS_C9X
-	-D__EXPORT= 
-	-Drestrict=
-	-D_DEBUG
-	-Wno-error=shadow
-	)
-
-# optimisation flags
-#
-set(ARCHOPTIMIZATION
-	-O0
-	-g
-	-fno-strict-aliasing
-	-fdata-sections
-	-fno-zero-initialized-in-bss
-	)
-
-# Language-specific flags
-#
-set(ARCHCFLAGS
-	-std=gnu99
-	-D__CUSTOM_FILE_IO__
-	)
-set(ARCHCXXFLAGS
-	-fno-exceptions
-	-fno-rtti
-	-std=c++11
-	-fno-threadsafe-statics
-	-DCONFIG_WCHAR_BUILTIN
-	-D__CUSTOM_FILE_IO__
-	)
-
-set(ARCHWARNINGS
-	-Wall
-	-Wextra
-	-Werror
-	-Wno-unused-parameter
-	-Wno-unused-function
-	-Wno-unused-variable
-	-Wno-gnu-array-member-paren-init
-	-Wno-cast-align
-	-Wno-missing-braces
-	-Wno-strict-aliasing
-#   -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-	)
-
-# C-specific warnings
-#
-set(ARCHCWARNINGS
-	${ARCHWARNINGS}
-	-Wstrict-prototypes
-	-Wnested-externs
-	)
-
-# C++-specific warnings
-#
-set(ARCHWARNINGSXX
-	${ARCHWARNINGS}
-	-Wno-missing-field-initializers
-	)
-exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-libgcc-file-name OUTPUT_VARIABLE LIBGCC)
-exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-file-name=libm.a OUTPUT_VARIABLE LIBM)
-set(EXTRA_LIBS ${EXTRA_LIBS} ${LIBM})
-
-# Flags we pass to the C compiler
-#
-list2string(CFLAGS 
-	${ARCHCFLAGS}
-	${ARCHCWARNINGS}
-	${ARCHOPTIMIZATION}
-	${ARCHCPUFLAGS}
-	${ARCHINCLUDES}
-	${INSTRUMENTATIONDEFINES}
-	${ARCHDEFINES}
-	${EXTRADEFINES}
-	${EXTRACFLAGS}
-	${HEXAGON_INCLUDE_DIRS}
-	)
-
-# Flags we pass to the C++ compiler
-#
-list2string(CXXFLAGS
-	${ARCHCXXFLAGS}
-	${ARCHWARNINGSXX}
-	${ARCHOPTIMIZATION}
-	${ARCHCPUFLAGS}
-	${ARCHXXINCLUDES}
-	${INSTRUMENTATIONDEFINES}
-	${ARCHDEFINES}
-	${EXTRADEFINES}
-	${EXTRACXXFLAGS}
-	${HEXAGON_INCLUDE_DIRS}
-	)
-
-# Flags we pass to the assembler
-#
-list2string(AFLAGS
-	${CFLAGS} 
-	-D__ASSEMBLY__
-	${EXTRADEFINES}
-	${EXTRAAFLAGS}
-	)
-
-# Set cmake flags
-#
-list2string(CMAKE_C_FLAGS
-	${CMAKE_C_FLAGS}
-	${CFLAGS}
-	)
-
-set(QURT_CMAKE_C_FLAGS ${CMAKE_C_FLAGS} CACHE STRING "cflags")
-
-message(STATUS "CMAKE_C_FLAGS: -${CMAKE_C_FLAGS}-")
-
-list2string(CMAKE_CXX_FLAGS
-	${CMAKE_CXX_FLAGS}
-	${CXXFLAGS}
-	)
-
-set(QURT_CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} CACHE STRING "cxxflags")
-
-message(STATUS "CMAKE_CXX_FLAGS: -${CMAKE_CXX_FLAGS}-")
-
-# Flags we pass to the linker
-#
-list2string(CMAKE_EXE_LINKER_FLAGS
-	-g 
-	-mv5 
-	-mG0lib 
-	-G0 
-	-fpic 
-	-shared
-	-Wl,-Bsymbolic
-	-Wl,--wrap=malloc
-	-Wl,--wrap=calloc
-	-Wl,--wrap=free
-	-Wl,--wrap=realloc
-	-Wl,--wrap=memalign
-	-Wl,--wrap=__stack_chk_fail
-	-lc
-	${EXTRALDFLAGS}
-	)
-
-# where is the target environment 
-set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
-
-set(CMAKE_C_COMPILER_ID, "Clang")
-set(CMAKE_CXX_COMPILER_ID, "Clang")
-
-# search for programs in the build host directories
-set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
-# for libraries and headers in the target directories
-set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
-set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
-
-# The Hexagon compiler doesn't support the -rdynamic flag and this is set
-# in the base cmake scripts. We have to redefine the __linux_compiler_gnu
-# macro for cmake 2.8 to work
-set(__LINUX_COMPILER_GNU 1)
-macro(__linux_compiler_gnu lang)
-  set(CMAKE_SHARED_LIBRARY_LINK_${lang}_FLAGS "")
-endmacro()
-
@@ -1,249 +0,0 @@
-#
-# Copyright (C) 2015 Mark Charlebois. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#	notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#	notice, this list of conditions and the following disclaimer in
-#	the documentation and/or other materials provided with the
-#	distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#	used to endorse or promote products derived from this software
-#	without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-
-include(CMakeForceCompiler)
-
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
-include(common/px4_base)
-
-if(NOT HEXAGON_TOOLS_ROOT)
-	set(HEXAGON_TOOLS_ROOT /opt/6.4.05)
-endif()
-
-if(NOT HEXAGON_SDK_ROOT)
-	set(HEXAGON_SDK_ROOT /opt/Hexagon_SDK)
-endif()
-
-macro (list2string out in)
-	set(list ${ARGV})
-	list(REMOVE_ITEM list ${out})
-	foreach(item ${list})
-		set(${out} "${${out}} ${item}")
-	endforeach()
-endmacro(list2string)
-
-set(V_ARCH "v5")
-set(CROSSDEV "hexagon-")
-set(HEXAGON_BIN	${HEXAGON_TOOLS_ROOT}/gnu/bin)
-set(HEXAGON_CLANG_BIN ${HEXAGON_TOOLS_ROOT}/qc/bin)
-set(HEXAGON_LIB_DIR ${HEXAGON_TOOLS_ROOT}/gnu/hexagon/lib)
-set(HEXAGON_ISS_DIR ${HEXAGON_TOOLS_ROOT}/qc/lib/iss)
-set(TOOLSLIB ${HEXAGON_TOOLS_ROOT}/dinkumware/lib/$(V_ARCH)/G0)
-set(QCTOOLSLIB ${HEXAGON_TOOLS_ROOT}/qc/lib/$(V_ARCH)/G0)
-
-# Use the HexagonTools compiler (6.4.05)
-set(CMAKE_C_COMPILER	${HEXAGON_CLANG_BIN}/${CROSSDEV}clang)
-set(CMAKE_CXX_COMPILER  ${HEXAGON_CLANG_BIN}/${CROSSDEV}clang++)
-
-set(CMAKE_AR	  ${HEXAGON_BIN}/${CROSSDEV}ar CACHE FILEPATH "Archiver")
-set(CMAKE_RANLIB  ${HEXAGON_BIN}/${CROSSDEV}ranlib)
-set(CMAKE_LINKER  ${HEXAGON_BIN}/${CROSSDEV}ld)
-set(CMAKE_NM	  ${HEXAGON_BIN}/${CROSSDEV}nm)
-set(CMAKE_OBJDUMP ${HEXAGON_BIN}/${CROSSDEV}objdump)
-set(CMAKE_OBJCOPY ${HEXAGON_BIN}/${CROSSDEV}objcopy)
-
-list2string(HEXAGON_INCLUDE_DIRS 
-	-I${HEXAGON_TOOLS_ROOT}/gnu/hexagon/include
-	-I${HEXAGON_SDK_ROOT}/inc
-	-I${HEXAGON_SDK_ROOT}/inc/stddef
-	)
-
-#set(DYNAMIC_LIBS  -Wl,${TOOLSLIB}/pic/libstdc++.a)
-
-#set(MAXOPTIMIZATION -O0)
-
-# Base CPU flags for each of the supported architectures.
-#
-set(ARCHCPUFLAGS
-	-m${V_ARCH}
-	-G0
-	)
-
-add_definitions(
-	-D_PID_T -D_UID_T -D_TIMER_T
-	-Dnoreturn_function= 
-	-D__EXPORT= 
-	-Drestrict=
-	-D_DEBUG
-	-Wno-error=shadow
-	)
-
-# optimisation flags
-#
-set(ARCHOPTIMIZATION
-	-O0
-	-g
-	-fno-strict-aliasing
-	-fdata-sections
-	-fpic
-	-fno-zero-initialized-in-bss
-	)
-
-# Language-specific flags
-#
-set(ARCHCFLAGS
-	-std=gnu99
-	-D__CUSTOM_FILE_IO__
-	)
-set(ARCHCXXFLAGS
-	-fno-exceptions
-	-fno-rtti
-	-std=c++11
-	-fno-threadsafe-statics
-	-DCONFIG_WCHAR_BUILTIN
-	-D__CUSTOM_FILE_IO__
-	)
-
-set(ARCHWARNINGS
-	-Wall
-	-Wextra
-	-Werror
-	-Wno-unused-parameter
-	-Wno-unused-function
-	-Wno-unused-variable
-	-Wno-gnu-array-member-paren-init
-	-Wno-cast-align
-	-Wno-missing-braces
-	-Wno-strict-aliasing
-#   -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-	)
-
-# C-specific warnings
-#
-set(ARCHCWARNINGS
-	${ARCHWARNINGS}
-	-Wstrict-prototypes
-	-Wnested-externs
-	)
-
-# C++-specific warnings
-#
-set(ARCHWARNINGSXX
-	${ARCHWARNINGS}
-	-Wno-missing-field-initializers
-	)
-exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-libgcc-file-name OUTPUT_VARIABLE LIBGCC)
-exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-file-name=libm.a OUTPUT_VARIABLE LIBM)
-set(EXTRA_LIBS ${EXTRA_LIBS} ${LIBM})
-
-# Flags we pass to the C compiler
-#
-list2string(CFLAGS 
-	${ARCHCFLAGS}
-	${ARCHCWARNINGS}
-	${ARCHOPTIMIZATION}
-	${ARCHCPUFLAGS}
-	${ARCHINCLUDES}
-	${INSTRUMENTATIONDEFINES}
-	${ARCHDEFINES}
-	${EXTRADEFINES}
-	${EXTRACFLAGS}
-	${HEXAGON_INCLUDE_DIRS}
-	)
-
-# Flags we pass to the C++ compiler
-#
-list2string(CXXFLAGS
-	${ARCHCXXFLAGS}
-	${ARCHWARNINGSXX}
-	${ARCHOPTIMIZATION}
-	${ARCHCPUFLAGS}
-	${ARCHXXINCLUDES}
-	${INSTRUMENTATIONDEFINES}
-	${ARCHDEFINES}
-	${EXTRADEFINES}
-	${EXTRACXXFLAGS}
-	${HEXAGON_INCLUDE_DIRS}
-	)
-
-# Flags we pass to the assembler
-#
-list2string(AFLAGS
-	${CFLAGS} 
-	-D__ASSEMBLY__
-	${EXTRADEFINES}
-	${EXTRAAFLAGS}
-	)
-
-# Set cmake flags
-#
-list2string(CMAKE_C_FLAGS
-	${CMAKE_C_FLAGS}
-	${CFLAGS}
-	)
-
-set(QURT_CMAKE_C_FLAGS ${CMAKE_C_FLAGS} CACHE STRING "cflags")
-
-message(STATUS "CMAKE_C_FLAGS: -${CMAKE_C_FLAGS}-")
-
-list2string(CMAKE_CXX_FLAGS
-	${CMAKE_CXX_FLAGS}
-	${CXXFLAGS}
-	)
-
-set(QURT_CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} CACHE STRING "cxxflags")
-
-message(STATUS "CMAKE_CXX_FLAGS: -${CMAKE_CXX_FLAGS}-")
-
-# Flags we pass to the linker
-#
-list2string(CMAKE_EXE_LINKER_FLAGS
-	-g 
-	-mv5 
-	-mG0lib 
-	-G0 
-	-fpic 
-	-shared
-	-Wl,-Bsymbolic
-	-Wl,--wrap=malloc
-	-Wl,--wrap=calloc
-	-Wl,--wrap=free
-	-Wl,--wrap=realloc
-	-Wl,--wrap=memalign
-	-Wl,--wrap=__stack_chk_fail
-	-lc
-	${EXTRALDFLAGS}
-	)
-
-# where is the target environment 
-set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
-
-set(CMAKE_C_COMPILER_ID, "Clang")
-set(CMAKE_CXX_COMPILER_ID, "Clang")
-
-# search for programs in the build host directories
-set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
-# for libraries and headers in the target directories
-set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
-set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
@@ -6,6 +6,12 @@ uint8 RC_INPUT_SOURCE_PX4IO_SBUS = 4
 uint8 RC_INPUT_SOURCE_PX4IO_ST24 = 5
 uint8 RC_INPUT_SOURCE_MAVLINK = 6
 uint8 RC_INPUT_SOURCE_QURT = 7
+uint8 RC_INPUT_SOURCE_PX4FMU_SPEKTRUM = 8
+uint8 RC_INPUT_SOURCE_PX4FMU_SBUS = 9
+uint8 RC_INPUT_SOURCE_PX4FMU_ST24 = 10
+uint8 RC_INPUT_SOURCE_PX4FMU_SUMD = 11
+uint8 RC_INPUT_SOURCE_PX4FMU_DSM = 12
+uint8 RC_INPUT_SOURCE_PX4IO_SUMD = 13

 uint8 RC_INPUT_MAX_CHANNELS = 18 	# Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.

@@ -14,7 +20,7 @@ uint64 timestamp_last_signal		# last valid reception time
 uint32 channel_count			# number of channels actually being seen
 int32 rssi				# receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception
 bool rc_failsafe			# explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly.
-bool rc_lost				# RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usally means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.
+bool rc_lost				# RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usUally means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.
 uint16 rc_lost_frame_count		# Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
 uint16 rc_total_frame_count		# Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
 uint16 rc_ppm_frame_length		# Length of a single PPM frame. Zero for non-PPM systems
@@ -26,7 +26,7 @@ float32 z			 # throttle stick position 0..1
 				 # in general the value corresponds to the demanded throttle by the user,
 				 # if the input is used for setting the setpoint of a vertical position
 				 # controller any value > 0.5 means up and any value < 0.5 means down
-float32 r			 # yaw stick/twist positon, -1..1
+float32 r			 # yaw stick/twist position, -1..1
 				 # in general corresponds to the righthand rotation around the vertical
 				 # (downwards) axis of the vehicle
 float32 flaps			 # flap position
@@ -33,3 +33,4 @@ float32 a_y			# acceleration y setpoint
 float32 a_z			# acceleration z setpoint
 bool acceleration_valid		# true if acceleration setpoint is valid/should be used
 bool acceleration_is_force	# interprete acceleration as force
+float32 acceptance_radius   # navigation acceptance_radius if we're doint waypoint navigation
@@ -6,6 +6,6 @@ bool[3] valid		#true for RC-Param channels which are mapped to a param
 int32[3] param_index	# corresponding param index, this field is ignored if set to -1, in this case param_id will be used
 char[51] param_id	# MAP_NCHAN * (ID_LEN + 1) chars, corresponding param id, null terminated
 float32[3] scale		# scale to map the RC input [-1, 1] to a parameter value
-float32[3] value0		# inital value around which the parameter value is changed
+float32[3] value0		# initial value around which the parameter value is changed
 float32[3] value_min	# minimal parameter value
 float32[3] value_max	# minimal parameter value
@@ -31,6 +31,7 @@ uint32 VEHICLE_CMD_DO_SET_SERVO = 183			# Set a servo to a desired PWM value. |S
 uint32 VEHICLE_CMD_DO_REPEAT_SERVO = 184		# Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| 
 uint32 VEHICLE_CMD_DO_FLIGHTTERMINATION=185		# Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| 
 uint32 VEHICLE_CMD_DO_CONTROL_VIDEO = 200		# Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| 
+uint32 VEHICLE_CMD_DO_DIGICAM_CONTROL=203
 uint32 VEHICLE_CMD_DO_MOUNT_CONFIGURE=204		# Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| 
 uint32 VEHICLE_CMD_DO_MOUNT_CONTROL=205			# Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value| 
 uint32 VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST=206		# Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| 
@@ -0,0 +1,8 @@
+uint8 VEHICLE_RESULT_ACCEPTED = 0
+uint8 VEHICLE_RESULT_TEMPORARILY_REJECTED = 1
+uint8 VEHICLE_RESULT_DENIED = 2
+uint8 VEHICLE_RESULT_UNSUPPORTED = 3
+uint8 VEHICLE_RESULT_FAILED = 4
+
+uint16 command
+uint8 result
@@ -4,18 +4,18 @@
 # estimator, which will take more sources of information into account than just GPS,
 # e.g. control inputs of the vehicle in a Kalman-filter implementation.
 #
-uint64 timestamp		# Time of this estimate, in microseconds since system start
-uint64 time_utc_usec		# GPS UTC timestamp in microseconds
-float64 lat			# Latitude in degrees
-float64 lon			# Longitude in degrees
-float32 alt			# Altitude AMSL in meters
-float32 vel_n			# Ground north velocity, m/s
-float32 vel_e			# Ground east velocity, m/s
-float32 vel_d			# Ground downside velocity, m/s
-float32 yaw 			# Yaw in radians -PI..+PI.
-float32 eph			# Standard deviation of position estimate horizontally
-float32 epv			# Standard deviation of position vertically
-float32 terrain_alt		# Terrain altitude in m, WGS84
+uint64 timestamp		# Time of this estimate since system start, (microseconds)
+uint64 time_utc_usec		# GPS UTC timestamp, (microseconds)
+float64 lat			# Latitude, (degrees)
+float64 lon			# Longitude, (degrees)
+float32 alt			# Altitude AMSL, (meters)
+float32 vel_n			# North velocity in NED earth-fixed frame, (metres/sec)
+float32 vel_e			# East velocity in NED earth-fixed frame, (metres/sec)
+float32 vel_d			# Down velocity in NED earth-fixed frame, (metres/sec)
+float32 yaw 			# Euler yaw angle relative to NED earth-fixed frame, -PI..+PI, (radians)
+float32 eph			# Standard deviation of horizontal position error, (metres)
+float32 epv			# Standard deviation of vertical position error, (metres)
+float32 terrain_alt		# Terrain altitude WGS84, (metres)
 bool terrain_alt_valid		# Terrain altitude estimate is valid
 bool dead_reckoning		# True if this position is estimated through dead-reckoning
-float32 pressure_alt		# Pressure altitude
+float32 pressure_alt		# Pressure altitude AMSL, (metres)
@@ -1,30 +1,30 @@
 # GPS position in WGS84 coordinates.
-uint64 timestamp_position	# Timestamp for position information 
-int32 lat			# Latitude in 1E-7 degrees 
+uint64 timestamp_position	# Time of the position estimates since system start, (microseconds)
+int32 lat			# Latitude in 1E-7 degrees
 int32 lon			# Longitude in 1E-7 degrees 
-int32 alt			# Altitude in 1E-3 meters (millimeters) above MSL  
-int32 alt_ellipsoid # Altitude in 1E-3 meters (millimeters) above Ellipsoid
+int32 alt			# Altitude in 1E-3 meters above MSL, (millimetres)
+int32 alt_ellipsoid 		# Altitude in 1E-3 meters bove Ellipsoid, (millimetres)

-uint64 timestamp_variance
-float32 s_variance_m_s		# speed accuracy estimate m/s 
-float32 c_variance_rad		# course accuracy estimate rad 
+uint64 timestamp_variance	# Time of the accuracy estimates since system start, (microseconds)
+float32 s_variance_m_s		# GPS speed accuracy estimate, (metres/sec)
+float32 c_variance_rad		# GPS course accuracy estimate, (radians) 
 uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   

-float32 eph			# GPS HDOP horizontal dilution of position in m 
-float32 epv			# GPS VDOP horizontal dilution of position in m 
+float32 eph			# GPS horizontal position accuracy (metres) 
+float32 epv			# GPS vertical position accuracy (metres) 

 int32 noise_per_ms		# GPS noise per millisecond
 int32 jamming_indicator		# indicates jamming is occurring

-uint64 timestamp_velocity	# Timestamp for velocity informations 
-float32 vel_m_s			# GPS ground speed (m/s) 
-float32 vel_n_m_s		# GPS ground speed in m/s 
-float32 vel_e_m_s		# GPS ground speed in m/s 
-float32 vel_d_m_s		# GPS ground speed in m/s 
-float32 cog_rad			# Course over ground (NOT heading, but direction of movement) in rad, -PI..PI 
-bool vel_ned_valid		# Flag to indicate if NED speed is valid 
+uint64 timestamp_velocity	# Time of the velocity estimates since system start, (microseconds)
+float32 vel_m_s			# GPS ground speed, (metres/sec) 
+float32 vel_n_m_s		# GPS North velocity, (metres/sec) 
+float32 vel_e_m_s		# GPS East velocity, (metres/sec)
+float32 vel_d_m_s		# GPS Down velocity, (metres/sec) 
+float32 cog_rad			# Course over ground (NOT heading, but direction of movement), -PI..PI, (radians) 
+bool vel_ned_valid		# True if NED velocity is valid 

-uint64 timestamp_time		# Timestamp for time information 
+uint64 timestamp_time		# Time of the UTC timestamp since system start, (microseconds) 
 uint64 time_utc_usec		# Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 

 uint8 satellites_used		# Number of satellites used 
@@ -1,36 +1,36 @@
 # Fused local position in NED.

-uint64 timestamp		# Time of this estimate, in microseconds since system start
-bool xy_valid			# true if x and y are valid
-bool z_valid			# true if z is valid
-bool v_xy_valid		# true if vy and vy are valid
-bool v_z_valid			# true if vz is valid
+uint64 timestamp			# Time of this estimate since system start, (microseconds)
+bool xy_valid				# true if x and y are valid
+bool z_valid				# true if z is valid
+bool v_xy_valid				# true if vy and vy are valid
+bool v_z_valid				# true if vz is valid

 # Position in local NED frame
-float32 x				# X position in meters in NED earth-fixed frame
-float32 y				# X position in meters in NED earth-fixed frame
-float32 z				# Z position in meters in NED earth-fixed frame (negative altitude)
+float32 x				# North position in NED earth-fixed frame, (metres)
+float32 y				# East position in NED earth-fixed frame, (metres)
+float32 z				# Down position (negative altitude) in NED earth-fixed frame, (metres)

 # Velocity in NED frame
-float32 vx 				# Ground X Speed (Latitude), m/s in NED
-float32 vy				# Ground Y Speed (Longitude), m/s in NED
-float32 vz				# Ground Z Speed (Altitude), m/s	in NED
+float32 vx 				# North velocity in NED earth-fixed frame, (metres/sec)
+float32 vy				# East velocity in NED earth-fixed frame, (metres/sec)
+float32 vz				# Down velocity in NED earth-fixed frame, (metres/sec)

 # Heading
-float32 yaw
+float32 yaw				# Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI,  (radians) 

-# Reference position in GPS / WGS84 frame
-bool xy_global			# true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
-bool z_global			# true if z is valid and has valid global reference (ref_alt)
-uint64 ref_timestamp	# Time when reference position was set
-float64 ref_lat		# Reference point latitude in degrees
-float64 ref_lon		# Reference point longitude in degrees
-float32 ref_alt			# Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level
+# Position of reference point (local NED frame origin) in global (GPS / WGS84) frame
+bool xy_global				# true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
+bool z_global				# true if z is valid and has valid global reference (ref_alt)
+uint64 ref_timestamp			# Time when reference position was set since system start, (microseconds)
+float64 ref_lat				# Reference point latitude, (degrees)
+float64 ref_lon				# Reference point longitude, (degrees)
+float32 ref_alt				# Reference altitude AMSL, MUST be set to current (not at reference point!) ground level, (metres)

 # Distance to surface
-float32 dist_bottom		# Distance to bottom surface (ground)
-float32 dist_bottom_rate		# Distance to bottom surface (ground) change rate
-uint64 surface_bottom_timestamp		# Time when new bottom surface found
-bool dist_bottom_valid	# true if distance to bottom surface is valid
-float32 eph
-float32 epv
+float32 dist_bottom			# Distance from from bottom surface to ground, (metres)
+float32 dist_bottom_rate		# Rate of change of distance from bottom surface to ground, (metres/sec)
+uint64 surface_bottom_timestamp		# Time when new bottom surface found since system start, (microseconds)
+bool dist_bottom_valid			# true if distance to bottom surface is valid
+float32 eph				# Standard deviation of horizontal position error, (metres)
+float32 epv				# Standard deviation of vertical position error, (metres)
@@ -10,7 +10,8 @@ uint8 MAIN_STATE_OFFBOARD = 7
 uint8 MAIN_STATE_STAB = 8
 uint8 MAIN_STATE_RATTITUDE = 9
 uint8 MAIN_STATE_AUTO_TAKEOFF = 10
-uint8 MAIN_STATE_MAX = 11
+uint8 MAIN_STATE_AUTO_LAND = 11
+uint8 MAIN_STATE_MAX = 12

 # If you change the order, add or remove arming_state_t states make sure to update the arrays
 # in state_machine_helper.cpp as well.
@@ -104,6 +105,7 @@ uint16 counter   # incremented by the writing thread everytime new data is store
 uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data

 uint8 main_state		    	# main state machine
+uint8 main_state_prev       # previous main state
 uint8 nav_state				# set navigation state machine to specified value
 uint8 arming_state			# current arming state
 uint8 hil_state				# current hil state
@@ -215,7 +215,7 @@
 #define GPIO_UART4_RX	GPIO_UART4_RX_1
 #define GPIO_UART4_TX	GPIO_UART4_TX_1

-#define GPIO_USART6_RX	GPIO_USART6_RX_1
+#define GPIO_USART6_RX	GPIO_USART6_RX_1	/* RC_INPUT */
 #define GPIO_USART6_TX	GPIO_USART6_TX_1

 #define GPIO_UART7_RX	GPIO_UART7_RX_1
@@ -257,9 +257,10 @@
 #define GPIO_SPI1_MOSI	(GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI1_SCK	(GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)

+
 #define GPIO_SPI2_MISO	(GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI2_MOSI	(GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_1|GPIO_SPEED_50MHz)

 /************************************************************************************
 * Public Data
@@ -552,7 +552,7 @@ CONFIG_UART7_SERIAL_CONSOLE=y
 # USART1 Configuration
 #
 CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1100
+CONFIG_USART1_TXBUFSIZE=2000
 CONFIG_USART1_BAUD=115200
 CONFIG_USART1_BITS=8
 CONFIG_USART1_PARITY=0
@@ -669,7 +669,7 @@ CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=4000
 CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_PRODUCTID=0x0011
+CONFIG_CDCACM_PRODUCTID=0x0012
 CONFIG_CDCACM_VENDORSTR="3D Robotics"
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v4.x"
 # CONFIG_USBMSC is not set
@@ -0,0 +1,62 @@
+uorb start
+simulator start -s
+param load
+param set MAV_TYPE 2
+param set MC_PITCHRATE_P 0.15
+param set MC_PITCH_P 7
+param set MC_ROLL_P 7
+param set MC_ROLLRATE_P 0.15
+param set MC_YAW_P 2.8
+param set MC_YAWRATE_P 0.35
+param set SYS_AUTOSTART 4010
+param set SYS_RESTART_TYPE 2
+dataman start
+param set CAL_GYRO0_ID 2293768
+param set CAL_ACC0_ID 1376264
+param set CAL_ACC1_ID 1310728
+param set CAL_MAG0_ID 196616
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_ZOFF 0.01
+param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_XOFF 0.01
+param set CAL_MAG0_XOFF 0.01
+param set MPC_XY_P 0.4
+param set MPC_XY_VEL_P 0.2
+param set MPC_XY_VEL_D 0.005
+param set SENS_BOARD_ROT 0
+param set COM_RC_IN_MODE 1
+param set NAV_ACC_RAD 2.0
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+rgbledsim start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+pwm_out_sim mode_pwm
+sleep 1
+sensors start
+commander start
+land_detector start multicopter
+navigator start
+mc_pos_control start
+mc_att_control start
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mavlink start -u 14556 -r 2000000
+mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
+mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
+mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
+mavlink stream -r 80 -s ATTITUDE -u 14556
+mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
+mavlink stream -r 20 -s RC_CHANNELS -u 14556
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
+mavlink boot_complete
+sdlog2 start -r 100 -e -t -a
+ekf2 start
@@ -50,6 +50,7 @@ mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
 mavlink start -u 14556 -r 2000000
+mavlink start -u 14557 -r 2000000 -m onboard
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
@@ -0,0 +1,66 @@
+uorb start
+simulator start -s
+param load
+param set MAV_TYPE 20
+param set MC_PITCHRATE_P 0.3
+param set MC_ROLLRATE_P 0.3
+param set MC_YAW_P 2.0
+param set MC_YAWRATE_P 0.35
+param set VT_TYPE 2
+param set SYS_AUTOSTART 4010
+param set SYS_RESTART_TYPE 2
+dataman start
+param set CAL_GYRO0_ID 2293768
+param set CAL_ACC0_ID 1376264
+param set CAL_ACC1_ID 1310728
+param set CAL_MAG0_ID 196616
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_ZOFF 0.01
+param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_XOFF 0.01
+param set CAL_MAG0_XOFF 0.01
+param set MPC_XY_P 0.15
+param set MPC_XY_VEL_P 0.05
+param set MPC_XY_VEL_D 0.005
+param set MPC_XY_FF 0.1
+param set MPC_Z_VEL_MAX 1.0
+param set SENS_BOARD_ROT 8
+param set COM_RC_IN_MODE 1
+rgbledsim start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+measairspeedsim start
+pwm_out_sim mode_pwm
+sleep 1
+sensors start
+commander start
+land_detector start multicopter
+navigator start
+attitude_estimator_q start
+position_estimator_inav start
+vtol_att_control start
+mc_pos_control start
+mc_att_control start
+fw_pos_control_l1 start
+fw_att_control start
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix
+mavlink start -u 14556 -r 2000000
+mavlink start -u 14557 -r 2000000 -m onboard
+mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
+mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
+mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
+mavlink stream -r 80 -s ATTITUDE -u 14556
+mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
+mavlink stream -r 20 -s RC_CHANNELS -u 14556
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
+mavlink boot_complete
+sdlog2 start -r 200 -e -t -a
@@ -27,6 +27,7 @@ param set MPC_XY_P 0.15
 param set MPC_XY_VEL_P 0.05
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
+param set MPC_Z_VEL_MAX 1.0
 param set SENS_BOARD_ROT 8
 param set COM_RC_IN_MODE 1
 rgbledsim start
@@ -52,6 +53,7 @@ fw_pos_control_l1 start
 fw_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
 mavlink start -u 14556 -r 2000000
+mavlink start -u 14557 -r 2000000 -m onboard
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
@@ -61,4 +63,4 @@ mavlink stream -r 20 -s RC_CHANNELS -u 14556
 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
 mavlink boot_complete
-sdlog2 start -r 100 -e -t -a
+sdlog2 start -r 200 -e -t -a
@@ -32,6 +32,12 @@ param set COM_RC_IN_MODE 1
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
+param set MIS_TAKEOFF_ALT 5.0
+param set MPC_HOLD_MAX_Z 2.0
+param set MPC_HOLD_XY_DZ 0.1
+param set MPC_HOLD_Z_DZ 0.1
+param set MPC_Z_VEL_MAX 2.0
+param set MPC_Z_VEL_P 0.4
 rgbledsim start
 tone_alarm start
 gyrosim start
@@ -51,6 +57,7 @@ mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
 mavlink start -u 14556 -r 2000000
+mavlink start -u 14557 -r 2000000 -m onboard
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
@@ -59,5 +66,6 @@ mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
 mavlink stream -r 20 -s RC_CHANNELS -u 14556
 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
+mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
 mavlink boot_complete
 sdlog2 start -r 100 -e -t -a
@@ -150,6 +150,7 @@ __BEGIN_DECLS
 #define GPIO_TIM3_CH2OUT	GPIO_TIM3_CH2OUT_3
 #define GPIO_TIM3_CH3OUT	GPIO_TIM3_CH3OUT_2
 #define GPIO_TIM3_CH4OUT	GPIO_TIM3_CH4OUT_2
+#define DIRECT_PWM_OUTPUT_CHANNELS	8

 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer 8 for the HRT */
@@ -129,18 +129,6 @@ stm32_boardinitialize(void)

 #include <math.h>

-#ifdef __cplusplus
-__EXPORT int matherr(struct __exception *e)
-{
-	return 1;
-}
-#else
-__EXPORT int matherr(struct exception *e)
-{
-	return 1;
-}
-#endif
-
 __EXPORT int nsh_archinitialize(void)
 {

@@ -182,6 +182,7 @@ __BEGIN_DECLS
 #define GPIO_TIM2_CH2OUT	GPIO_TIM2_CH2OUT_1
 #define GPIO_TIM2_CH3OUT	GPIO_TIM2_CH3OUT_1
 #define GPIO_TIM2_CH4OUT	GPIO_TIM2_CH4OUT_1
+#define DIRECT_PWM_OUTPUT_CHANNELS	4

 /* USB OTG FS
 *
@@ -115,6 +115,7 @@ __BEGIN_DECLS
 #define PX4_SPI_BUS_SENSORS	1
 #define PX4_SPI_BUS_RAMTRON	2
 #define PX4_SPI_BUS_EXT		4
+#define PX4_SPI_BUS_BARO	PX4_SPI_BUS_SENSORS

 /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
 #define PX4_SPIDEV_GYRO		1
@@ -210,6 +211,7 @@ __BEGIN_DECLS
 #define GPIO_TIM1_CH4OUT	GPIO_TIM1_CH4OUT_2
 #define GPIO_TIM4_CH2OUT	GPIO_TIM4_CH2OUT_2
 #define GPIO_TIM4_CH3OUT	GPIO_TIM4_CH3OUT_2
+#define DIRECT_PWM_OUTPUT_CHANNELS	6

 /* USB OTG FS
 *
@@ -65,7 +65,7 @@ __BEGIN_DECLS
 //{0,                      GPIO_PERIPH_3V3_EN,      0},	Owned by the 8266 driver
 //{0,                      GPIO_SBUS_INV,           0},	https://github.com/PX4/Firmware/blob/master/src/modules/px4iofirmware/sbus.c
 //{GPIO_8266_GPIO0,        0,                       0},   Owned by the 8266 driver
-//{0,                      GPIO_SPEKTRUM_POWER,     0},	Owned Spektum driver input to auto pilot
+//{0,                      GPIO_SPEKTRUM_PWR_EN,     0},	Owned Spektum driver input to auto pilot
 //{0,                      GPIO_8266_PD,            0},	Owned by the 8266 driver
 //{0,                      GPIO_8266_RST,           0},	Owned by the 8266 driver

@@ -73,7 +73,7 @@ __BEGIN_DECLS
 /* LEDs */

 #define GPIO_LED1		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
-#define GPIO_LED2		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_LED2		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
 #define GPIO_LED3		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)

 #define GPIO_LED_RED 	GPIO_LED1
@@ -120,15 +120,24 @@ __BEGIN_DECLS

 #define PX4_SPI_BUS_SENSORS	1
 #define PX4_SPI_BUS_RAMTRON	2
+#define PX4_SPI_BUS_BARO	PX4_SPI_BUS_RAMTRON

 /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
 #define PX4_SPIDEV_GYRO			1
 #define PX4_SPIDEV_ACCEL_MAG	2
-#define PX4_SPIDEV_BARO			3
 #define PX4_SPIDEV_MPU			4
 #define PX4_SPIDEV_HMC			5
 #define PX4_SPIDEV_ICM			6

+/* onboard MS5611 and FRAM are both on bus SPI2
+ * spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver
+ * use 3 for the barometer to differentiate
+ */
+#define PX4_SPIDEV_BARO			3
+#if (PX4_SPIDEV_BARO == SPIDEV_FLASH)
+#error PX4_SPIDEV_BARO must not be equal to SPIDEV_FLASH as they share the same bus
+#endif
+
 /* I2C busses */
 #define PX4_I2C_BUS_EXPANSION	1
 #define PX4_I2C_BUS_LED			PX4_I2C_BUS_EXPANSION
@@ -200,6 +209,7 @@ __BEGIN_DECLS
 #define GPIO_TIM1_CH4OUT	GPIO_TIM1_CH4OUT_2
 #define GPIO_TIM4_CH2OUT	GPIO_TIM4_CH2OUT_2
 #define GPIO_TIM4_CH3OUT	GPIO_TIM4_CH3OUT_2
+#define DIRECT_PWM_OUTPUT_CHANNELS	6

 /* USB OTG FS
 *
@@ -214,7 +224,7 @@ __BEGIN_DECLS
 #define HRT_PPM_CHANNEL		3	/* use capture/compare channel 2 */
 #define GPIO_PPM_IN			(GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)

-#define SBUS_SERIAL_PORT	"/dev/ttyS4"
+#define RC_SERIAL_PORT		"/dev/ttyS4"

 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
 #define PWMIN_TIMER			4
@@ -223,15 +233,31 @@ __BEGIN_DECLS

 #define GPIO_RSSI_IN 			(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
 #define GPIO_LED_SAFETY			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
-#define GPIO_SAFETY_SWITCH_IN	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
+#define GPIO_BTN_SAFETY			(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
 #define GPIO_PERIPH_3V3_EN		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
-#define GPIO_SBUS_INV			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+/* for R07, this signal is active low */
+//#define GPIO_SBUS_INV			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+//#define INVERT_RC_INPUT(_s)		stm32_gpiowrite(GPIO_SBUS_INV, 1-_s);
+/* for R12, this signal is active high */
+#define GPIO_SBUS_INV			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+#define INVERT_RC_INPUT(_s)		stm32_gpiowrite(GPIO_SBUS_INV, _s);

 #define GPIO_8266_GPIO0			(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
-#define GPIO_SPEKTRUM_POWER		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
+#define GPIO_SPEKTRUM_PWR_EN		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
 #define GPIO_8266_PD			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
 #define GPIO_8266_RST			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6)

+/* Power switch controls ******************************************************/
+
+#define POWER_SPEKTRUM(_s)			stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (1-_s))
+//#define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
+#define SPEKTRUM_RX_AS_UART()		stm32_configgpio(GPIO_USART1_RX)
+
+// FMUv4 has a separate GPIO for serial RC output
+#define GPIO_RC_OUT			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
+#define SPEKTRUM_RX_AS_GPIO()		stm32_configgpio(GPIO_RC_OUT)
+#define SPEKTRUM_RX_HIGH(_s)		stm32_gpiowrite(GPIO_RC_OUT, (_s))
+
 /****************************************************************************************************
 * Public Types
 ****************************************************************************************************/
@@ -230,9 +230,13 @@ __EXPORT int nsh_archinitialize(void)

 	stm32_configgpio(GPIO_SBUS_INV);
 	stm32_configgpio(GPIO_8266_GPIO0);
-	stm32_configgpio(GPIO_SPEKTRUM_POWER);
+	stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
 	stm32_configgpio(GPIO_8266_PD);
 	stm32_configgpio(GPIO_8266_RST);
+#ifdef GPIO_RC_OUT
+	stm32_configgpio(GPIO_RC_OUT);      /* Serial RC output pin */
+	stm32_gpiowrite(GPIO_RC_OUT, 1);    /* set it high to pull RC input up */
+#endif

 	/* configure the high-resolution time/callout interface */
 	hrt_init();
@@ -284,7 +288,6 @@ __EXPORT int nsh_archinitialize(void)
 	SPI_SETMODE(spi1, SPIDEV_MODE3);
 	SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
 	SPI_SELECT(spi1, PX4_SPIDEV_HMC, false);
-	SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
 	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
 	up_udelay(20);

@@ -298,14 +301,16 @@ __EXPORT int nsh_archinitialize(void)
 		return -ENODEV;
 	}

-	/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
-	 * and de-assert the known chip selects. */
+	/* Default SPI2 to 12MHz and de-assert the known chip selects.
+	 * MS5611 has max SPI clock speed of 20MHz
+	 */

-	// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
+	// XXX start with 10.4 MHz and go up to 20 once validated
 	SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
 	SPI_SETBITS(spi2, 8);
 	SPI_SETMODE(spi2, SPIDEV_MODE3);
 	SPI_SELECT(spi2, SPIDEV_FLASH, false);
+	SPI_SELECT(spi2, PX4_SPIDEV_BARO, false);

 #ifdef CONFIG_MMCSD
 	/* First, get an instance of the SDIO interface */
@@ -151,8 +151,24 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 #ifdef CONFIG_STM32_SPI2
 __EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
-	/* there can only be one device on this bus, so always select it */
-	stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
+	/* SPI select is active low, so write !selected to select the device */
+
+	switch (devid) {
+	case SPIDEV_FLASH:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
+		break;
+
+	case PX4_SPIDEV_BARO:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
+		break;
+
+	default:
+		break;
+	}
 }

 __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
@@ -83,6 +83,13 @@
 #define GPIO_RELAY1_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)
 #define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN11)

+#define GPIO_SPEKTRUM_PWR_EN GPIO_RELAY1_EN
+#define POWER_SPEKTRUM(_s)		stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
+
+#define SPEKTRUM_RX_HIGH(_s)	stm32_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_s))
+#define SPEKTRUM_RX_AS_UART()		stm32_configgpio(GPIO_USART1_RX)
+#define SPEKTRUM_RX_AS_GPIO()		stm32_configgpio(GPIO_USART1_RX_SPEKTRUM)
+
 /* Analog inputs ********************************************************************/

 #define GPIO_ADC_VBATT	(GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
@@ -79,7 +79,7 @@
 #define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
 #define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)

-#define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN10)
+#define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)

 /* Safety switch button *******************************************************/

@@ -88,6 +88,11 @@
 /* Power switch controls ******************************************************/

 #define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+#define POWER_SPEKTRUM(_s)		stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
+
+#define SPEKTRUM_RX_HIGH(_s)	stm32_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_s))
+#define SPEKTRUM_RX_AS_UART()		stm32_configgpio(GPIO_USART1_RX)
+#define SPEKTRUM_RX_AS_GPIO()		stm32_configgpio(GPIO_USART1_RX_SPEKTRUM)

 #define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15)

@@ -34,7 +34,7 @@
 /**
 * @file camera_trigger.cpp
 *
- * External camera-IMU synchronisation and triggering via FMU auxillary pins.
+ * External camera-IMU synchronisation and triggering via FMU auxiliary pins.
 *
 * @author Mohammed Kabir <mhkabir98@gmail.com>
 */
@@ -79,6 +79,8 @@ PARAM_DEFINE_FLOAT(TRIG_ACT_TIME, 0.5f);
 *
 * 0 disables the trigger, 1 sets it to enabled on command, 2 always on
 *
+ * @reboot_required true
+ *
 * @min 0
 * @max 2
 * @group Camera trigger
@@ -56,7 +56,7 @@ pthread_mutex_t filemutex = PTHREAD_MUTEX_INITIALIZER;

 extern "C" {

-#define PX4_MAX_FD 200
+#define PX4_MAX_FD 300
 	static device::file_t *filemap[PX4_MAX_FD] = {};

 	int px4_errno;
@@ -124,7 +124,22 @@ extern "C" {
 				ret = dev->open(filemap[i]);

 			} else {
-				PX4_WARN("exceeded maximum number of file descriptors!");
+
+				const unsigned NAMELEN = 32;
+				char thread_name[NAMELEN] = {};
+
+#ifndef __PX4_QURT
+				int nret = pthread_getname_np(pthread_self(), thread_name, NAMELEN);
+
+				if (nret || thread_name[0] == 0) {
+					PX4_WARN("failed getting thread name");
+				}
+
+				PX4_BACKTRACE();
+#endif
+
+				PX4_WARN("%s: exceeded maximum number of file descriptors, accessing %s",
+					 thread_name, path);
 				ret = -ENOENT;
 			}

@@ -245,12 +260,16 @@ extern "C" {

 		const unsigned NAMELEN = 32;
 		char thread_name[NAMELEN] = {};
+
+#ifndef __PX4_QURT
 		int nret = pthread_getname_np(pthread_self(), thread_name, NAMELEN);

 		if (nret || thread_name[0] == 0) {
 			PX4_WARN("failed getting thread name");
 		}

+#endif
+
 		PX4_DEBUG("Called px4_poll timeout = %d", timeout);
 		px4_sem_init(&sem, 0, 0);

@@ -81,7 +81,7 @@ __BEGIN_DECLS
 /**
 * Default value for a shutdown motor
 */
-#define PWM_MOTOR_OFF	800
+#define PWM_MOTOR_OFF	900

 /**
 * Default minimum PWM in us
@@ -55,11 +55,11 @@
 PARAM_DEFINE_INT32(GMB_USE_MNT, 0);

 /**
- * Auxilary switch to set mount operation mode.
+ * Auxiliary switch to set mount operation mode.
 *
 * Set to 0 to disable manual mode control.
 *
- * If set to an auxilary switch:
+ * If set to an auxiliary switch:
 * Switch off means the gimbal is put into safe/locked position.
 * Switch on means the gimbal can move freely, and landing gear
 * will be retracted if applicable.
@@ -72,7 +72,7 @@ typedef struct {
 	uint32_t msl_altitude;  ///< MSL altitude in meters * 10^2
 	uint32_t ground_speed; ///< velocity in m/s
 	int32_t heading; ///< heading in degrees * 10^2
-	uint8_t satellites; ///< number of sattelites used
+	uint8_t satellites; ///< number of satellites used
 	uint8_t fix_type;  ///< fix type: XXX correct for that
 	uint32_t date;
 	uint32_t utc_time;
@@ -44,8 +44,8 @@
 * @author Hannes Delago
 *   (rework, add ubx7+ compatibility)
 *
- * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
- * @see http://www.u-blox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf
+ * @see https://www2.u-blox.com/images/downloads/Product_Docs/u-blox6-GPS-GLONASS-QZSS-V14_ReceiverDescriptionProtocolSpec_Public_(GPS.G6-SW-12013).pdf
+ * @see https://www.u-blox.com/sites/default/files/products/documents/u-bloxM8_ReceiverDescrProtSpec_%28UBX-13003221%29_Public.pdf
 */

 #include <assert.h>
@@ -182,7 +182,7 @@ hott_sensors_thread_main(int argc, char *argv[])

 		recv_data(uart, &buffer[0], &size, &id);

-		// Determine which moduel sent it and process accordingly.
+		// Determine which module sent it and process accordingly.
 		if (id == GAM_SENSOR_ID) {
 			publish_gam_message(buffer);

@@ -291,7 +291,7 @@ build_gps_response(uint8_t *buffer, size_t *size)
 		msg.altitude_L = (uint8_t)alt & 0xff;
 		msg.altitude_H = (uint8_t)(alt >> 8) & 0xff;

-		/* Get any (and probably only ever one) _home_sub postion report */
+		/* Get any (and probably only ever one) _home_sub position report */
 		bool updated;
 		orb_check(_home_sub, &updated);

@@ -211,7 +211,7 @@ struct gps_module_msg {
 	uint8_t resolution_L;		/**< 48 = Low Byte m/s resolution 0.01m 48 = 30000 = 0.00m/s (1=0.01m/s) */
 	uint8_t resolution_H;		/**< 117 = High Byte m/s resolution 0.01m */
 	uint8_t unknown1;		/**< 120 = 0m/3s */
-	uint8_t gps_num_sat;		/**< GPS.Satellites (number of satelites) (1 byte) */
+	uint8_t gps_num_sat;		/**< GPS.Satellites (number of satellites) (1 byte) */
 	uint8_t gps_fix_char;		/**< GPS.FixChar. (GPS fix character. display, if DGPS, 2D oder 3D) (1 byte) */
 	uint8_t home_direction;		/**< HomeDirection (direction from starting point to Model position) (1 byte) */
 	uint8_t angle_x_direction;	/**< angle x-direction (1 byte) */
@@ -265,7 +265,7 @@ MS5611_I2C::_read_prom()

 		/* check if all bytes are zero */
 		if (i == 0) {
-			/* initalize to first byte read */
+			/* initialize to first byte read */
 			last_val = prom_buf[0];
 		}

@@ -829,7 +829,7 @@ struct ms5611_bus_option {
 	{ MS5611_BUS_SPI_EXTERNAL, "/dev/ms5611_spi_ext", &MS5611_spi_interface, PX4_SPI_BUS_EXT, NULL },
 #endif
 #ifdef PX4_SPIDEV_BARO
-	{ MS5611_BUS_SPI_INTERNAL, "/dev/ms5611_spi_int", &MS5611_spi_interface, PX4_SPI_BUS_SENSORS, NULL },
+	{ MS5611_BUS_SPI_INTERNAL, "/dev/ms5611_spi_int", &MS5611_spi_interface, PX4_SPI_BUS_BARO, NULL },
 #endif
 #ifdef PX4_I2C_BUS_ONBOARD
 	{ MS5611_BUS_I2C_INTERNAL, "/dev/ms5611_int", &MS5611_i2c_interface, PX4_I2C_BUS_ONBOARD, NULL },
@@ -536,7 +536,7 @@ void PWMIN::print_info(void)


 /*
- * Handle the interupt, gathering pulse data
+ * Handle the interrupt, gathering pulse data
 */
 static int pwmin_tim_isr(int irq, void *context)
 {
@@ -502,8 +502,8 @@ PWMSim::task_main()
 				    PX4_ISFINITE(outputs.output[i]) &&
 				    outputs.output[i] >= -1.0f &&
 				    outputs.output[i] <= 1.0f) {
-					/* scale for PWM output 900 - 2100us */
-					outputs.output[i] = 1500 + (600 * outputs.output[i]);
+					/* scale for PWM output 1000 - 2000us */
+					outputs.output[i] = 1500 + (500 * outputs.output[i]);

 				} else {
 					/*
@@ -90,12 +90,8 @@
 # include <systemlib/ppm_decode.h>
 #endif

-/*
- * This is the analog to FMU_INPUT_DROP_LIMIT_US on the IO side
- */
-
-#define CONTROL_INPUT_DROP_LIMIT_US		2000
-#define NAN_VALUE	(0.0f/0.0f)
+#define SCHEDULE_INTERVAL	2000	/**< The schedule interval in usec (500 Hz) */
+#define NAN_VALUE	(0.0f/0.0f)		/**< NaN value for throttle lock mode */

 class PX4FMU : public device::CDev
 {
@@ -123,15 +119,28 @@ public:
 	int		set_i2c_bus_clock(unsigned bus, unsigned clock_hz);

 private:
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
-	static const unsigned _max_actuators = 4;
-#endif
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
-	static const unsigned _max_actuators = 6;
-#endif
-#if defined(CONFIG_ARCH_BOARD_AEROCORE)
-	static const unsigned _max_actuators = 8;
-#endif
+	enum RC_SCAN {
+		RC_SCAN_PPM = 0,
+		RC_SCAN_SBUS,
+		RC_SCAN_DSM,
+		RC_SCAN_SUMD,
+		RC_SCAN_ST24
+	};
+	enum RC_SCAN _rc_scan_state = RC_SCAN_SBUS;
+
+	char const *RC_SCAN_STRING[5] = {
+		"PPM",
+		"SBUS",
+		"DSM",
+		"SUMD",
+		"ST24"
+	};
+
+	hrt_abstime _rc_scan_begin = 0;
+	bool _rc_scan_locked = false;
+	bool _report_lock = true;
+
+	static const unsigned _max_actuators = DIRECT_PWM_OUTPUT_CHANNELS;

 	Mode		_mode;
 	unsigned	_pwm_default_rate;
@@ -146,11 +155,11 @@ private:
 	orb_advert_t	_outputs_pub;
 	unsigned	_num_outputs;
 	int		_class_instance;
-	int		_sbus_fd;
-	int		_dsm_fd;
+	int		_rcs_fd;
+	uint8_t _rcs_buf[SBUS_FRAME_SIZE];

 	volatile bool	_initialized;
-	bool		_servo_armed;
+	bool		_throttle_armed;
 	bool		_pwm_on;

 	MixerGroup	*_mixers;
@@ -189,7 +198,7 @@ private:
 	int		set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate);
 	int		pwm_ioctl(file *filp, int cmd, unsigned long arg);
 	void		update_pwm_rev_mask();
-	void	publish_pwm_outputs(uint16_t *values, size_t numvalues);
+	void		publish_pwm_outputs(uint16_t *values, size_t numvalues);

 	struct GPIOConfig {
 		uint32_t	input;
@@ -211,6 +220,14 @@ private:
 	/* do not allow to copy due to ptr data members */
 	PX4FMU(const PX4FMU &);
 	PX4FMU operator=(const PX4FMU &);
+	void fill_rc_in(uint16_t raw_rc_count,
+			uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS],
+			hrt_abstime now, bool frame_drop, bool failsafe,
+			unsigned frame_drops, int rssi);
+	void dsm_bind_ioctl(int dsmMode);
+	void set_rc_scan_state(RC_SCAN _rc_scan_state);
+	void rc_io_invert();
+	void rc_io_invert(bool invert);
 };

 const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
@@ -292,10 +309,9 @@ PX4FMU::PX4FMU() :
 	_outputs_pub(nullptr),
 	_num_outputs(0),
 	_class_instance(0),
-	_sbus_fd(-1),
-	_dsm_fd(-1),
+	_rcs_fd(-1),
 	_initialized(false),
-	_servo_armed(false),
+	_throttle_armed(false),
 	_pwm_on(false),
 	_mixers(nullptr),
 	_groups_required(0),
@@ -321,11 +337,9 @@ PX4FMU::PX4FMU() :
 	memset(_controls, 0, sizeof(_controls));
 	memset(_poll_fds, 0, sizeof(_poll_fds));

-#ifdef HRT_PPM_CHANNEL
 	// rc input, published to ORB
 	memset(&_rc_in, 0, sizeof(_rc_in));
 	_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
-#endif

 #ifdef GPIO_SBUS_INV
 	// this board has a GPIO to control SBUS inversion
@@ -627,6 +641,56 @@ PX4FMU::cycle_trampoline(void *arg)
 	dev->cycle();
 }

+void PX4FMU::fill_rc_in(uint16_t raw_rc_count,
+			uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS],
+			hrt_abstime now, bool frame_drop, bool failsafe,
+			unsigned frame_drops, int rssi = -1)
+{
+	// fill rc_in struct for publishing
+	_rc_in.channel_count = raw_rc_count;
+
+	if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
+		_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
+	}
+
+	for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
+		_rc_in.values[i] = raw_rc_values[i];
+	}
+
+	_rc_in.timestamp_publication = now;
+	_rc_in.timestamp_last_signal = _rc_in.timestamp_publication;
+	_rc_in.rc_ppm_frame_length = 0;
+
+	if (rssi == -1) {
+		_rc_in.rssi =
+			(!frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
+	}
+
+	_rc_in.rc_failsafe = failsafe;
+	_rc_in.rc_lost = false;
+	_rc_in.rc_lost_frame_count = frame_drops;
+	_rc_in.rc_total_frame_count = 0;
+}
+
+#ifdef RC_SERIAL_PORT
+void PX4FMU::set_rc_scan_state(RC_SCAN newState)
+{
+//    warnx("RCscan: %s failed, trying %s", PX4FMU::RC_SCAN_STRING[_rc_scan_state], PX4FMU::RC_SCAN_STRING[newState]);
+	_rc_scan_begin = 0;
+	_rc_scan_state = newState;
+}
+
+void PX4FMU::rc_io_invert(bool invert)
+{
+	INVERT_RC_INPUT(invert);
+
+	if (!invert) {
+		// set FMU_RC_OUTPUT high to pull RC_INPUT up
+		stm32_gpiowrite(GPIO_RC_OUT, 1);
+	}
+}
+#endif
+
 void
 PX4FMU::cycle()
 {
@@ -645,19 +709,18 @@ PX4FMU::cycle()

 		update_pwm_rev_mask();

-#ifdef SBUS_SERIAL_PORT
-		_sbus_fd = sbus_init(SBUS_SERIAL_PORT, true);
-#endif
-
-#ifdef DSM_SERIAL_PORT
-		// XXX rather than opening it we need to cycle between protocols until one is locked in
-		//_dsm_fd = dsm_init(DSM_SERIAL_PORT);
+#ifdef RC_SERIAL_PORT
+		// dsm_init sets some file static variables and returns a file descriptor
+		_rcs_fd = dsm_init(RC_SERIAL_PORT);
+		// assume SBUS input
+		sbus_config(_rcs_fd, false);
+		// disable CPPM input by mapping it away from the timer capture input
+		stm32_configgpio(GPIO_PPM_IN & ~(GPIO_AF_MASK | GPIO_PUPD_MASK));
 #endif

 		_initialized = true;
 	}

-
 	if (_groups_subscribed != _groups_required) {
 		subscribe();
 		_groups_subscribed = _groups_required;
@@ -728,8 +791,8 @@ PX4FMU::cycle()
 						//main_out_latency = hrt_absolute_time() - _controls[i].timestamp - 250;

 						/* do only correct within the current phase */
-						if (abs(main_out_latency) > CONTROL_INPUT_DROP_LIMIT_US) {
-							main_out_latency = CONTROL_INPUT_DROP_LIMIT_US;
+						if (abs(main_out_latency) > SCHEDULE_INTERVAL) {
+							main_out_latency = SCHEDULE_INTERVAL;
 						}

 						if (main_out_latency < 250) {
@@ -783,7 +846,7 @@ PX4FMU::cycle()
 			uint16_t pwm_limited[_max_actuators];

 			/* the PWM limit call takes care of out of band errors, NaN and constrains */
-			pwm_limit_calc(_servo_armed, arm_nothrottle(), num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm,
+			pwm_limit_calc(_throttle_armed, arm_nothrottle(), num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm,
 				       outputs, pwm_limited, &_pwm_limit);

 			/* output to the servos */
@@ -803,14 +866,10 @@ PX4FMU::cycle()
 		orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);

 		/* update the armed status and check that we're not locked down */
-		bool set_armed = (_armed.armed || _armed.prearmed) && !_armed.lockdown;
-
-		if (_servo_armed != set_armed) {
-			_servo_armed = set_armed;
-		}
+		_throttle_armed = _armed.armed && !_armed.lockdown;

 		/* update PWM status if armed or if disarmed PWM values are set */
-		bool pwm_on = (set_armed || _num_disarmed_set > 0);
+		bool pwm_on = (_armed.armed || _num_disarmed_set > 0);

 		if (_pwm_on != pwm_on) {
 			_pwm_on = pwm_on;
@@ -825,74 +884,237 @@ PX4FMU::cycle()
 		orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate);

 		update_pwm_rev_mask();
+
+		int32_t dsm_bind_val;
+		param_t dsm_bind_param;
+
+		/* see if bind parameter has been set, and reset it to -1 */
+		param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val);
+
+		if (dsm_bind_val > -1) {
+			dsm_bind_ioctl(dsm_bind_val);
+			dsm_bind_val = -1;
+			param_set(dsm_bind_param, &dsm_bind_val);
+		}
 	}

 	bool rc_updated = false;

-#ifdef SBUS_SERIAL_PORT
+#ifdef RC_SERIAL_PORT
+	// This block scans for a supported serial RC input and locks onto the first one found
+	// Scan for 100 msec, then switch protocol
+	constexpr hrt_abstime rc_scan_max = 100 * 1000;
+
 	bool sbus_failsafe, sbus_frame_drop;
 	uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
 	uint16_t raw_rc_count;
-	bool sbus_updated = sbus_input(_sbus_fd, &raw_rc_values[0], &raw_rc_count, &sbus_failsafe, &sbus_frame_drop,
-				       input_rc_s::RC_INPUT_MAX_CHANNELS);
+	unsigned frame_drops;
+	bool dsm_11_bit;

-	if (sbus_updated) {
-		// we have a new PPM frame. Publish it.
-		_rc_in.channel_count = raw_rc_count;

-		if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
-			_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
-		}
-
-		for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
-			_rc_in.values[i] = raw_rc_values[i];
-		}
-
-		_rc_in.timestamp_publication = hrt_absolute_time();
-		_rc_in.timestamp_last_signal = _rc_in.timestamp_publication;
-
-		_rc_in.rc_ppm_frame_length = 0;
-		_rc_in.rssi = (!sbus_frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
-		_rc_in.rc_failsafe = sbus_failsafe;
-		_rc_in.rc_lost = false;
-		_rc_in.rc_lost_frame_count = sbus_dropped_frames();
-		_rc_in.rc_total_frame_count = 0;
-
-		rc_updated = true;
+	if (_report_lock && _rc_scan_locked) {
+		_report_lock = false;
+		warnx("RCscan: %s RC input locked", RC_SCAN_STRING[_rc_scan_state]);
 	}

-#endif
+	// read all available data from the serial RC input UART
+	hrt_abstime now = hrt_absolute_time();
+	int newBytes = ::read(_rcs_fd, &_rcs_buf[0], SBUS_FRAME_SIZE);

+	switch (_rc_scan_state) {
+	case RC_SCAN_SBUS:
+		if (_rc_scan_begin == 0) {
+			_rc_scan_begin = now;
+			// Configure serial port for SBUS
+			sbus_config(_rcs_fd, false);
+			rc_io_invert(true);
+
+		} else if (_rc_scan_locked
+			   || now - _rc_scan_begin < rc_scan_max) {
+
+			// parse new data
+			if (newBytes > 0) {
+				rc_updated = sbus_parse(now, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count, &sbus_failsafe,
+							&sbus_frame_drop, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
+
+				if (rc_updated) {
+					// we have a new SBUS frame. Publish it.
+					_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS;
+					fill_rc_in(raw_rc_count, raw_rc_values, now,
+						   sbus_frame_drop, sbus_failsafe, frame_drops);
+					_rc_scan_locked = true;
+				}
+			}
+
+		} else {
+			// Scan the next protocol
+			set_rc_scan_state(RC_SCAN_DSM);
+		}
+
+		break;
+
+	case RC_SCAN_DSM:
+		if (_rc_scan_begin == 0) {
+			_rc_scan_begin = now;
+//			// Configure serial port for DSM
+			dsm_config(_rcs_fd);
+			rc_io_invert(false);
+
+		} else if (_rc_scan_locked
+			   || now - _rc_scan_begin < rc_scan_max) {
+
+			if (newBytes > 0) {
+				// parse new data
+				rc_updated = dsm_parse(now, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count,
+						       &dsm_11_bit, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
+
+				if (rc_updated) {
+					// we have a new DSM frame. Publish it.
+					_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM;
+					fill_rc_in(raw_rc_count, raw_rc_values, now,
+						   false, false, frame_drops);
+					_rc_scan_locked = true;
+				}
+			}
+
+		} else {
+			// Scan the next protocol
+			set_rc_scan_state(RC_SCAN_ST24);
+		}
+
+		break;
+
+	case RC_SCAN_ST24:
+		if (_rc_scan_begin == 0) {
+			_rc_scan_begin = now;
+//			// Configure serial port for DSM
+			dsm_config(_rcs_fd);
+			rc_io_invert(false);
+
+		} else if (_rc_scan_locked
+			   || now - _rc_scan_begin < rc_scan_max) {
+
+			if (newBytes > 0) {
+				// parse new data
+				uint8_t st24_rssi, rx_count;
+
+				rc_updated = false;
+
+				for (unsigned i = 0; i < newBytes; i++) {
+					/* set updated flag if one complete packet was parsed */
+					st24_rssi = RC_INPUT_RSSI_MAX;
+					rc_updated = (OK == st24_decode(_rcs_buf[i], &st24_rssi, &rx_count,
+									&raw_rc_count, raw_rc_values, input_rc_s::RC_INPUT_MAX_CHANNELS));
+				}
+
+				if (rc_updated) {
+					// we have a new ST24 frame. Publish it.
+					_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_ST24;
+					fill_rc_in(raw_rc_count, raw_rc_values, now,
+						   false, false, frame_drops, st24_rssi);
+					_rc_scan_locked = true;
+				}
+			}
+
+		} else {
+			// Scan the next protocol
+			set_rc_scan_state(RC_SCAN_SUMD);
+		}
+
+		break;
+
+	case RC_SCAN_SUMD:
+		if (_rc_scan_begin == 0) {
+			_rc_scan_begin = now;
+//			// Configure serial port for DSM
+			dsm_config(_rcs_fd);
+			rc_io_invert(false);
+
+		} else if (_rc_scan_locked
+			   || now - _rc_scan_begin < rc_scan_max) {
+
+			if (newBytes > 0) {
+				// parse new data
+				uint8_t sumd_rssi, rx_count;
+
+				rc_updated = false;
+
+				for (unsigned i = 0; i < newBytes; i++) {
+					/* set updated flag if one complete packet was parsed */
+					sumd_rssi = RC_INPUT_RSSI_MAX;
+					rc_updated = (OK == sumd_decode(_rcs_buf[i], &sumd_rssi, &rx_count,
+									&raw_rc_count, raw_rc_values, input_rc_s::RC_INPUT_MAX_CHANNELS));
+				}
+
+				if (rc_updated) {
+					// we have a new SUMD frame. Publish it.
+					_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SUMD;
+					fill_rc_in(raw_rc_count, raw_rc_values, now,
+						   false, false, frame_drops, sumd_rssi);
+					_rc_scan_locked = true;
+				}
+			}
+
+		} else {
+			// Scan the next protocol
+			set_rc_scan_state(RC_SCAN_SUMD);
+		}
+
+		set_rc_scan_state(RC_SCAN_PPM);
+		break;
+
+	case RC_SCAN_PPM:
+		// skip PPM if it's not supported
+#ifdef HRT_PPM_CHANNEL
+		if (_rc_scan_begin == 0) {
+			_rc_scan_begin = now;
+			// Configure timer input pin for CPPM
+			stm32_configgpio(GPIO_PPM_IN);
+			rc_io_invert(false);
+
+		} else if (_rc_scan_locked
+			   || now - _rc_scan_begin < rc_scan_max) {
+
+			// see if we have new PPM input data
+			if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal)
+			    && ppm_decoded_channels > 3) {
+				// we have a new PPM frame. Publish it.
+				rc_updated = true;
+				_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
+				fill_rc_in(ppm_decoded_channels, ppm_buffer, now,
+					   false, false, 0);
+				_rc_scan_locked = true;
+			}
+
+		} else {
+			// disable CPPM input by mapping it away from the timer capture input
+			stm32_configgpio(GPIO_PPM_IN & ~(GPIO_AF_MASK | GPIO_PUPD_MASK));
+			// Scan the next protocol
+			set_rc_scan_state(RC_SCAN_SBUS);
+		}
+
+#else   // skip PPM if it's not supported
+		set_rc_scan_state(RC_SCAN_SBUS);
+
+#endif  // HRT_PPM_CHANNEL
+
+		break;
+	}
+
+#else  // RC_SERIAL_PORT not defined
 #ifdef HRT_PPM_CHANNEL

 	// see if we have new PPM input data
-	if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal) &&
-	    ppm_decoded_channels > 3) {
+	if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal)
+	    && ppm_decoded_channels > 3) {
 		// we have a new PPM frame. Publish it.
-		_rc_in.channel_count = ppm_decoded_channels;
-
-		if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
-			_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
-		}
-
-		for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
-			_rc_in.values[i] = ppm_buffer[i];
-		}
-
-		_rc_in.timestamp_publication = ppm_last_valid_decode;
-		_rc_in.timestamp_last_signal = ppm_last_valid_decode;
-
-		_rc_in.rc_ppm_frame_length = ppm_frame_length;
-		_rc_in.rssi = RC_INPUT_RSSI_MAX;
-		_rc_in.rc_failsafe = false;
-		_rc_in.rc_lost = false;
-		_rc_in.rc_lost_frame_count = 0;
-		_rc_in.rc_total_frame_count = 0;
-
 		rc_updated = true;
+		fill_rc_in(ppm_decoded_channels, ppm_buffer, hrt_absolute_time(),
+			   false, false, 0);
 	}

-#endif
+#endif  // HRT_PPM_CHANNEL
+#endif  // RC_SERIAL_PORT

 	if (rc_updated) {
 		/* lazily advertise on first publication */
@@ -905,7 +1127,7 @@ PX4FMU::cycle()
 	}

 	work_queue(HPWORK, &_work, (worker_t)&PX4FMU::cycle_trampoline, this,
-		   USEC2TICK(CONTROL_INPUT_DROP_LIMIT_US - main_out_latency));
+		   USEC2TICK(SCHEDULE_INTERVAL - main_out_latency));
 }

 void PX4FMU::work_stop()
@@ -1381,6 +1603,38 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}

+#ifdef RC_SERIAL_PORT
+
+	case DSM_BIND_START:
+		/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
+		warnx("fmu pwm_ioctl: DSM_BIND_START, arg: %lu", arg);
+
+		if (arg == DSM2_BIND_PULSES ||
+		    arg == DSMX_BIND_PULSES ||
+		    arg == DSMX8_BIND_PULSES) {
+
+			dsm_bind(DSM_CMD_BIND_POWER_DOWN, 0);
+			usleep(500000);
+
+			dsm_bind(DSM_CMD_BIND_SET_RX_OUT, 0);
+
+			dsm_bind(DSM_CMD_BIND_POWER_UP, 0);
+			usleep(72000);
+
+			dsm_bind(DSM_CMD_BIND_SEND_PULSES, arg);
+			usleep(50000);
+
+			dsm_bind(DSM_CMD_BIND_REINIT_UART, 0);
+
+			ret = OK;
+
+		} else {
+			ret = -EINVAL;
+		}
+
+		break;
+#endif
+
 	case MIXERIOCRESET:
 		if (_mixers != nullptr) {
 			delete _mixers;
@@ -1683,9 +1937,9 @@ PX4FMU::peripheral_reset(int ms)

 	stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 0);

-	bool last =  stm32_gpioread(GPIO_SPEKTRUM_POWER);
+	bool last = stm32_gpioread(GPIO_SPEKTRUM_PWR_EN);
 	/* Keep Spektum on to discharge rail*/
-	stm32_gpiowrite(GPIO_SPEKTRUM_POWER, 1);
+	stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, 1);

 	/* wait for the peripheral rail to reach GND */
 	usleep(ms * 1000);
@@ -1694,7 +1948,7 @@ PX4FMU::peripheral_reset(int ms)
 	/* re-enable power */

 	/* switch the peripheral rail back on */
-	stm32_gpiowrite(GPIO_SPEKTRUM_POWER, last);
+	stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, last);
 	stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 1);
 #endif
 }
@@ -1849,6 +2103,26 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
 	return ret;
 }

+void
+PX4FMU::dsm_bind_ioctl(int dsmMode)
+{
+	if (!_armed.armed) {
+//      mavlink_log_info(_mavlink_fd, "[FMU] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
+		warnx("[FMU] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
+		int ret = ioctl(nullptr, DSM_BIND_START,
+				(dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES));
+
+		if (ret) {
+//            mavlink_log_critical(_mavlink_fd, "binding failed.");
+			warnx("binding failed.");
+		}
+
+	} else {
+//        mavlink_log_info(_mavlink_fd, "[FMU] system armed, bind request rejected");
+		warnx("[FMU] system armed, bind request rejected");
+	}
+}
+
 namespace
 {

@@ -2242,7 +2516,7 @@ fmu_main(int argc, char *argv[])
 	}

 	if (!strcmp(verb, "info")) {
-#ifdef SBUS_SERIAL_PORT
+#ifdef RC_SERIAL_PORT
 		warnx("frame drops: %u", sbus_dropped_frames());
 #endif
 		return 0;
@@ -47,6 +47,8 @@
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
+ * @reboot_required true
+ *
 * @min 0
 * @max 1
 * @group PWM Outputs
@@ -58,6 +60,8 @@ PARAM_DEFINE_INT32(PWM_AUX_REV1, 0);
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
+ * @reboot_required true
+ *
 * @min 0
 * @max 1
 * @group PWM Outputs
@@ -69,6 +73,8 @@ PARAM_DEFINE_INT32(PWM_AUX_REV2, 0);
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
+ * @reboot_required true
+ *
 * @min 0
 * @max 1
 * @group PWM Outputs
@@ -80,6 +86,8 @@ PARAM_DEFINE_INT32(PWM_AUX_REV3, 0);
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
+ * @reboot_required true
+ *
 * @min 0
 * @max 1
 * @group PWM Outputs
@@ -91,6 +99,8 @@ PARAM_DEFINE_INT32(PWM_AUX_REV4, 0);
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
+ * @reboot_required true
+ *
 * @min 0
 * @max 1
 * @group PWM Outputs
@@ -102,6 +112,8 @@ PARAM_DEFINE_INT32(PWM_AUX_REV5, 0);
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
+ * @reboot_required true
+ *
 * @min 0
 * @max 1
 * @group PWM Outputs
@@ -47,6 +47,8 @@
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
+ * @reboot_required true
+ *
 * @min 0
 * @max 1
 * @group PWM Outputs
@@ -58,6 +60,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV1, 0);
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
+ * @reboot_required true
+ *
 * @min 0
 * @max 1
 * @group PWM Outputs
@@ -69,6 +73,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV2, 0);
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
+ * @reboot_required true
+ *
 * @min 0
 * @max 1
 * @group PWM Outputs
@@ -80,6 +86,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV3, 0);
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
+ * @reboot_required true
+ *
 * @min 0
 * @max 1
 * @group PWM Outputs
@@ -91,6 +99,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV4, 0);
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
+ * @reboot_required true
+ *
 * @min 0
 * @max 1
 * @group PWM Outputs
@@ -102,6 +112,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV5, 0);
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
+ * @reboot_required true
+ *
 * @min 0
 * @max 1
 * @group PWM Outputs
@@ -113,6 +125,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV6, 0);
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
+ * @reboot_required true
+ *
 * @min 0
 * @max 1
 * @group PWM Outputs
@@ -124,6 +138,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV7, 0);
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
+ * @reboot_required true
+ *
 * @min 0
 * @max 1
 * @group PWM Outputs
@@ -599,7 +599,7 @@ error:
 #endif /* HRT_PPM_CHANNEL */

 /**
- * Handle the compare interupt by calling the callout dispatcher
+ * Handle the compare interrupt by calling the callout dispatcher
 * and then re-scheduling the next deadline.
 */
 static int
@@ -750,7 +750,7 @@ hrt_store_absolute_time(volatile hrt_abstime *now)
 }

 /**
- * Initalise the high-resolution timing module.
+ * Initialise the high-resolution timing module.
 */
 void
 hrt_init(void)
@@ -33,6 +33,7 @@
 px4_add_module(
 	MODULE examples__hwtest
 	MAIN ex_hwtest
+	STACK 2000
 	SRCS
 		hwtest.c
 	DEPENDS
@@ -33,6 +33,7 @@
 px4_add_module(
 	MODULE examples__matlab_csv_serial
 	MAIN matlab_csv_serial
+	STACK 2000
 	SRCS
 		matlab_csv_serial.c
 	DEPENDS
@@ -33,6 +33,7 @@
 px4_add_module(
 	MODULE examples__px4_simple_app
 	MAIN px4_simple_app
+	STACK 2000
 	SRCS
 		px4_simple_app.c
 	DEPENDS
@@ -51,7 +51,7 @@ if(NOT ${BOARD} STREQUAL "sim")
 		)
 	if (config_io_board)
 	    add_dependencies(romfs fw_io)
-    endif()
+	endif()
 	set(fw_file
 		${CMAKE_CURRENT_BINARY_DIR}/${OS}-${BOARD}-${LABEL}.px4)

--- a/Show More
+++ b/Show More