Merge branch 'beta' into stable

Harmonize Pixracer and Pixhawk OSD API
More autostart items for serial link
2026-06-11 11:40:05 +08:00 · 2016-02-21 01:37:36 +01:00 · 2016-02-19 21:42:45 +01:00 · 2016-02-19 20:36:36 +01:00 · 2016-02-19 14:41:46 +01:00 · 2016-02-19 14:37:26 +01:00
345 changed files with 14200 additions and 6567 deletions
@@ -22,7 +22,10 @@ build/*
 build_*/
 core
 cscope.out
+cscope.in.out
+cscope.po.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
@@ -55,14 +55,13 @@ 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 [ "${TRAVIS_OS_NAME}" = "osx" ]; then
         brew tap PX4/homebrew-px4
      && brew update; brew update
-      && brew install cmake ninja astyle gcc-arm-none-eabi
+      && brew install cmake ninja
      && brew install genromfs
-      && brew install kconfig-frontends
      && sudo easy_install pip
      && sudo pip install pyserial empy
      ;
@@ -81,8 +80,6 @@ before_script:
  - ln -s /usr/bin/ccache ~/bin/clang
  - ln -s /usr/bin/ccache ~/bin/clang-3.4
  - ln -s /usr/bin/ccache ~/bin/clang-3.5
-  - ln -s /usr/bin/ccache ~/bin/g++-4.8
-  - ln -s /usr/bin/ccache ~/bin/gcc-4.8
  - export PATH=~/bin:$PATH

 env:
@@ -95,29 +92,31 @@ env:
    - PX4_AWS_BUCKET=px4-travis

 script:
-  - make check_format
-  - arm-none-eabi-gcc --version
+  - git submodule update --quiet --init --recursive
  - 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 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 'Running Tests..' && make px4fmu-v2_default test
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+         cd ${TRAVIS_BUILD_DIR}
+      && make check_format
+      && arm-none-eabi-gcc --version
+      && echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
+      && echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
+      && echo 'Building UAVCAN node firmware..' && (git clone https://github.com/thiemar/vectorcontrol && cd vectorcontrol && BOARD=s2740vc_1_0 make -s && BOARD=px4esc_1_6 make -s && ../Tools/uavcan_copy.sh)
+      && 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
+      ;
+    fi

 after_success:
  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
         cp build_px4fmu-v1_default/src/firmware/nuttx/nuttx-px4fmu-v1-default.px4 px4fmu-v1_default.px4
      && cp build_px4fmu-v2_default/src/firmware/nuttx/nuttx-px4fmu-v2-default.px4 px4fmu-v2_default.px4
      && cp build_px4fmu-v4_default/src/firmware/nuttx/nuttx-px4fmu-v4-default.px4 px4fmu-v4_default.px4
-      && zip Firmware.zip px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4
-      && ./CI-Tools/s3cmd-put px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$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 +109,8 @@ 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
+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule sync && git submodule update --init --recursive && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
+Tools/check_submodules.sh
 +$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
 endef

@@ -133,24 +134,27 @@ 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:
 	$(call cmake-build,$@)

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

+ros_sitl_default:
+	@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
+
 qurt_eagle_travis:
 	$(call cmake-build,$@)

@@ -160,6 +164,18 @@ qurt_eagle_release:
 posix_eagle_release:
 	$(call cmake-build,$@)

+qurt_eagle_default:
+	$(call cmake-build,$@)
+
+posix_eagle_default:
+	$(call cmake-build,$@)
+	
+posix_rpi2_default:
+	$(call cmake-build,$@)
+
+posix_rpi2_release:
+	$(call cmake-build,$@)
+
 posix: posix_sitl_default

 sitl_deprecation:
@@ -184,7 +200,8 @@ 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_iris_opt_flow 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
@@ -37,6 +37,7 @@ then
 	param set FW_RR_I 0.1
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.3
+	param set RWTO_TKOFF 1
 fi

 set HIL yes
@@ -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
@@ -0,0 +1,41 @@
+#!nsh
+#
+# @name Steadidrone MAVRIK
+#
+# @type Octo Coax Wide
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_PITCH_P 4.0
+	param set MC_PITCHRATE_P 0.24
+	param set MC_PITCHRATE_I 0.09
+	param set MC_PITCHRATE_D 0.013
+	param set MC_PITCHRATE_MAX 180.0
+
+	param set MC_ROLL_P 4.0
+	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_I 0.07
+	param set MC_ROLLRATE_D 0.009
+	param set MC_ROLLRATE_MAX 180.0
+
+	param set MC_YAW_P 3.0
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+
+	param set MPC_HOLD_MAX_XY 0.25
+	param set MPC_THR_MIN 0.15
+	param set MPC_Z_VEL_MAX 2.0
+
+	param set BAT_N_CELLS 4
+fi
+
+set MIXER octo_cox_w
+
+set PWM_OUT 12345678
@@ -1,14 +1,40 @@
 #!nsh
 #
-# @name Duorotor Tailsitter
+# @name Caipiroshka Duo Tailsitter
 #
-# @type VTOL Tailsitter
+# @type VTOL Duo Tailsitter
+#
+# @output MAIN1 motor left
+# @output MAIN2 motor right
+# @output MAIN5 elevon left
+# @output MAIN6 elevon right
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #

 sh /etc/init.d/rc.vtol_defaults

+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.12
+	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 4.5
+	param set MC_PITCHRATE_P 0.3
+	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 3.8
+	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 caipirinha_vtol

 set PWM_OUT 12
@@ -14,12 +14,12 @@ then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.17
 	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_D 0.003
 	param set MC_ROLLRATE_FF 0.0
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.14
 	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_D 0.003
 	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 3.8
 	param set MC_YAW_FF 0.5
@@ -35,17 +35,13 @@ fi

 set MIXER firefly6
 set PWM_OUT 12345678
+set PWM_RATE 400

 set MIXER_AUX firefly6
-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 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>
 #
@@ -14,16 +14,18 @@ then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
 	param set VT_TRANS_THR 0.75
+	param set VT_ARSP_TRANS 12
+	param set VT_ARSP_BLEND 6

-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.17
 	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_D 0.004
 	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCH_P 6.0
+	param set MC_PITCHRATE_P 0.19
 	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_D 0.004
 	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 2.8
 	param set MC_YAW_FF 0.5
@@ -31,17 +33,25 @@ then
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
+
+	param set FW_PR_FF 0.5
+	param set FW_PR_I 0.02
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.08
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.01
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.05
+	param set FW_THR_CRUISE 0.75
 fi

 set MIXER vtol_quad_x
-set PWM_OUT 12345678
+set PWM_OUT 1234
+set PWM_RATE 400

 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 PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950

 set MAV_TYPE 22

@@ -34,14 +34,12 @@ then
 fi

 set MIXER vtol_quad_x
-set PWM_OUT 12345678
+set PWM_OUT 1234
+set PWM_RATE 400

 set MIXER_AUX vtol_delta
-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 PWM_ACHDIS 3
+set PWM_AUX_DISARMED 950

 set MAV_TYPE 22

@@ -31,18 +31,15 @@ then
 	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 PWM_OUT 1234
+set PWM_RATE 400

 set MIXER_AUX vtol_AAVVT
-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 PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950

 set MAV_TYPE 22

@@ -0,0 +1,57 @@
+#!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 7.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_FF 0.0
+	param set MC_YAW_P 3.5
+	param set MC_YAW_FF 0.7
+	param set MC_YAWRATE_P 0.6
+	param set MC_YAWRATE_I 0.04
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
+
+	param set MPC_ACC_HOR_MAX 2.0
+
+	param set VT_ARSP_TRANS 15.0
+	param set VT_ARSP_BLEND 10.0
+	param set VT_B_TRANS_DUR 4.0
+fi
+
+set MIXER vtol_quad_x
+set PWM_OUT 1234
+set PWM_RATE 400
+
+set MIXER_AUX vtol_AAERT
+set PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950
+
+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
@@ -30,9 +30,3 @@ then
 	# DJI ESCs do not support calibration and need a higher min
 	param set PWM_MIN 1230
 fi
-
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1075
-then
-	param set PWM_MIN 1230
-fi
@@ -18,11 +18,11 @@ then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.01
+	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.15
 	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.01
+	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.1
@@ -30,9 +30,3 @@ then
 	# DJI ESCs do not support calibration and need a higher min
 	param set PWM_MIN 1230
 fi
-
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1075
-then
-	param set PWM_MIN 1230
-fi
@@ -14,11 +14,11 @@ then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.16
 	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.01
+	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.16
 	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.01
+	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.1
@@ -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"
@@ -0,0 +1,42 @@
+#!nsh
+#
+# @name Reaper 500 Quad
+#
+# @type Quadrotor x
+#
+# @maintainer Blankered
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set MC_ROLL_P 6.5
+    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 0.14
+    param set MC_PITCHRATE_I 0.09
+    param set MC_PITCHRATE_D 0.004
+    param set MC_YAW_P 4
+
+    param set NAV_ACC_RAD 2.0
+    param set RTL_RETURN_ALT 30.0
+    param set RTL_DESCEND_ALT 10.0
+fi
+
+set MIXER quad_h
+
+set PWM_RATE 50
+set PWM_OUT 1234
+set PWM_MIN 1100
+set PWM_MAX 1900
+set PWM_DISARMED 1500
+
+set MIXER_AUX pass
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+set PWM_AUX_DISARMED 950
@@ -0,0 +1,37 @@
+#!nsh
+#
+# @name generic_250
+#
+# @type Quadrotor x
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Mark Whitehorn <kd0aij@gmail.com>
+#
+
+sh /etc/init.d/4001_quad_x
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.005
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_D 0.005
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set PWM_MIN 980
+	param set MPC_THR_MIN 0.06
+	param set MPC_MANTHR_MIN 0.06
+	param set MC_ROLLRATE_MAX 360.0
+	param set MC_PITCHRATE_MAX 360.0
+	param set MC_YAWRATE_MAX 200.0
+	param set ATT_BIAS_MAX 0.0
+fi
@@ -147,6 +147,7 @@ then
 			set FAILSAFE_AUX none
 		fi

+		# Set min / max for aux out and rates
 		if [ $PWM_AUX_OUT != none ]
 		then
 			#
@@ -157,13 +158,6 @@ then
 				pwm rate -c $PWM_AUX_OUT -r $PWM_AUX_RATE -d $OUTPUT_AUX_DEV
 			fi

-			#
-			# Set disarmed, min and max PWM_AUX values
-			#
-			if [ $PWM_AUX_DISARMED != none ]
-			then
-				pwm disarmed -c $PWM_AUX_OUT -p $PWM_AUX_DISARMED -d $OUTPUT_AUX_DEV
-			fi
 			if [ $PWM_AUX_MIN != none ]
 			then
 				pwm min -c $PWM_AUX_OUT -p $PWM_AUX_MIN -d $OUTPUT_AUX_DEV
@@ -174,6 +168,23 @@ then
 			fi
 		fi

+		# Set disarmed values for aux out
+
+		# Transitional support until all configs
+		# are updated
+		if [ $PWM_ACHDIS == none ]
+		then
+			set PWM_ACHDIS ${PWM_AUX_OUT}
+		fi
+
+		#
+		# Set disarmed, min and max PWM_AUX values
+		#
+		if [ $PWM_AUX_DISARMED != none -a $PWM_ACHDIS != none ]
+		then
+			pwm disarmed -c $PWM_ACHDIS -p $PWM_AUX_DISARMED -d $OUTPUT_AUX_DEV
+		fi
+
 		if [ $FAILSAFE_AUX != none ]
 		then
 			pwm failsafe -d $OUTPUT_AUX_DEV $FAILSAFE
@@ -17,7 +17,7 @@ else
 		attitude_estimator_q start
 		local_position_estimator start
 	else
-		ekf_att_pos_estimator start
+		ekf2 start
 	fi
 fi

@@ -145,6 +145,10 @@ else
 	fi
 fi

+if sf10a start
+then
+fi
+
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
 if sensors start
@@ -4,40 +4,25 @@ set VEHICLE_TYPE vtol

 if [ $AUTOCNF == yes ]
 then
-	#
-	#Default controller parameters for MC
-	#
 	param set MC_ROLL_P 6.0
-	param set MC_ROLLRATE_P 0.1
-	param set MC_ROLLRATE_I 0.0
-	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 6.0
-	param set MC_PITCHRATE_P 0.2
-	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.0
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.3
-
-	#
-	# Default parameters for FW
-	#
-	param set FW_PR_FF 0.3
-	param set FW_PR_I 0.000
-	param set FW_PR_IMAX 0.2
-	param set FW_PR_P 0.02
-	param set FW_RR_FF 0.3
-	param set FW_RR_I 0.00
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.02

 	param set PE_VELNE_NOISE 0.5
 	param set PE_VELD_NOISE 0.3
 	param set PE_POSNE_NOISE 0.5
 	param set PE_POSD_NOISE 1.25
 	param set PE_ABIAS_PNOISE 0.0001
+
+	#
+	# Default parameters for mission and position handling
+	#
+	param set NAV_ACC_RAD 3
+	param set MPC_TKO_SPEED 1.0
+	param set MPC_LAND_SPEED 0.7
+	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_XY_VEL_MAX 4.0
+	param set MIS_YAW_TMT 10
 fi

 set PWM_DISARMED 900
@@ -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)
@@ -89,70 +86,6 @@ then
 		fi
 	fi

-	# Compare existing params and save defaults
-	# this only needs to be in for 1-2 releases
-	if param compare RC_MAP_THROTTLE 0
-	then
-		# So this is a default setup,
-		# now lets find out if channel 3
-		# is calibrated
-		if param compare RC3_MIN 1000
-		then
-			# This is default, do nothing
-		else
-			# Set old default
-			param set RC_MAP_THROTTLE 3
-		fi
-	fi
-
-	# Compare existing params and save defaults
-	# this only needs to be in for 1-2 releases
-	if param compare RC_MAP_ROLL 0
-	then
-		# So this is a default setup,
-		# now lets find out if channel 1
-		# is calibrated
-		if param compare RC1_MIN 1000
-		then
-			# This is default, do nothing
-		else
-			# Set old default
-			param set RC_MAP_ROLL 1
-		fi
-	fi
-
-	# Compare existing params and save defaults
-	# this only needs to be in for 1-2 releases
-	if param compare RC_MAP_PITCH 0
-	then
-		# So this is a default setup,
-		# now lets find out if channel 2
-		# is calibrated
-		if param compare RC2_MIN 1000
-		then
-			# This is default, do nothing
-		else
-			# Set old default
-			param set RC_MAP_PITCH 2
-		fi
-	fi
-
-	# Compare existing params and save defaults
-	# this only needs to be in for 1-2 releases
-	if param compare RC_MAP_YAW 0
-	then
-		# So this is a default setup,
-		# now lets find out if channel 4
-		# is calibrated
-		if param compare RC4_MIN 1000
-		then
-			# This is default, do nothing
-		else
-			# Set old default
-			param set RC_MAP_YAW 4
-		fi
-	fi
-
 	#
 	# Start system state indicator
 	#
@@ -185,6 +118,7 @@ then
 	set PWM_MAX none
 	set PWM_AUX_OUT none
 	set PWM_AUX_RATE none
+	set PWM_ACHDIS none
 	set PWM_AUX_DISARMED none
 	set PWM_AUX_MIN none
 	set PWM_AUX_MAX none
@@ -553,9 +487,9 @@ then
 			# Avoid using ttyS1 for MAVLink on FMUv4
 			if ver hwcmp PX4FMU_V4
 			then
-				set MAVLINK_F "-r 1200 -d /dev/ttyS2"
+				set MAVLINK_F "-r 1200 -d /dev/ttyS1"
 				# Start MAVLink on Wifi (ESP8266 port)
-				mavlink start -r 800000 -b 921600 -d /dev/ttyS0
+				mavlink start -r 20000 -m config -b 921600 -d /dev/ttyS0
 			fi
 		fi
 	fi
@@ -566,8 +500,9 @@ then
 	#
 	# MAVLink onboard / TELEM2
 	#
-	if ver hwcmp PX4FMU_V2
+	if ver hwcmp PX4FMU_V1
 	then
+	else
 		# XXX We need a better way for runtime eval of shell variables,
 		# but this works for now
 		if param compare SYS_COMPANION 921600
@@ -586,6 +521,10 @@ then
 		then
 			mavlink start -d /dev/ttyS2 -b 57600 -m magic -r 5000 -x
 		fi
+		if param compare SYS_COMPANION 357600
+		then
+			mavlink start -d /dev/ttyS2 -b 57600 -r 1000
+		fi
 		# Sensors on the PWM interface bank
 		# clear pins 5 and 6
 		if param compare SENS_EN_LL40LS 1
@@ -673,6 +612,10 @@ then
 			then
 				set MAV_TYPE 2
 			fi
+			if [ $MIXER == quad_h ]
+			then
+				set MAV_TYPE 2
+			fi
 			if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
 			then
 				set MAV_TYPE 15
@@ -689,7 +632,7 @@ then
 			then
 				set MAV_TYPE 14
 			fi
-			if [ $MIXER == octo_cox ]
+			if [ $MIXER == octo_cox -o $MIXER == octo_cox_w ]
 			then
 				set MAV_TYPE 14
 			fi
@@ -838,12 +781,26 @@ then
 	fi
 fi

+if ver hwcmp PX4FMU_V4
+then
+	frsky_telemetry start -d /dev/ttyS6
+fi
+
 if ver hwcmp PX4FMU_V2
 then
 	# Check for flow sensor - as it is a background task, launch it last
 	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"
@@ -1,10 +1,27 @@
-#!nsh
-# Caipirinha vtol mixer for PX4FMU
-#
-#===========================
+Caipirinha tailsitter mixer
+============================
+
+This file defines a mixer for the TBS Caipirinha tailsitter edition. This vehicle
+has two motors in total, one attached to each wing. It also has two elevons which
+are located in the slipstream of the propellers.
+
+Motor mixer
+------------
+When standing in front of the vehicle the first motor should be on the left side
+while the second motor should be on the right side.
+
 R: 2- 10000 10000 10000 0

-#mixer for the elevons
+Zero mixer (2x)
+---------------
+
+Z:
+
+Z:
+
+Elevons mixer
+--------------
+
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000
@@ -0,0 +1,3 @@
+# Octo coaxial with wide arms
+
+R: 8cw 10000 10000 10000 0
@@ -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
@@ -25,7 +25,6 @@ for fn in $(find src/examples \
                 src/modules/uORB \
                 src/modules/bottle_drop \
                 src/modules/dataman \
-                 src/modules/fixedwing_backside \
                 src/modules/segway \
                 src/modules/local_position_estimator \
                 src/modules/unit_test \
@@ -0,0 +1,81 @@
+#!/usr/bin/env bash
+
+[ -n "$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 "$1")
+	if [ -z "$STATUSRETVAL" ]; then
+		echo "Checked $1 submodule, correct version found"
+	else
+		echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
+		echo ""
+		echo -e "Different commits:"
+		echo -e "$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;
+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/cmake_hexagon
+check_git_submodule src/lib/DriverFramework/dspal
+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
@@ -136,12 +136,12 @@ extern "C" __EXPORT int listener_main(int argc, char *argv[]);
 int listener_main(int argc, char *argv[]) {
 	int sub = -1;
 	orb_id_t ID;
-	if(argc < 3) {
-		printf("need at least two arguments: topic name, number of messages to print\\n");
+	if(argc < 2) {
+		printf("need at least two arguments: topic name. [optional number of messages to print]\\n");
 		return 1;
 	}
 """)
-print("\tunsigned num_msgs = atoi(argv[2]);")
+print("\tunsigned num_msgs = (argc > 2) ? atoi(argv[2]) : 1;")
 print("\tif (strncmp(argv[1],\"%s\",50) == 0) {" % messages[0])
 print("\t\tsub = orb_subscribe(ORB_ID(%s));" % messages[0])
 print("\t\tID = ORB_ID(%s);" % messages[0])
@@ -154,9 +154,11 @@ for index,m in enumerate(messages[1:]):
 	print("\t\tstruct %s_s container;" % m)
 	print("\t\tmemset(&container, 0, sizeof(container));")
 	print("\t\tbool updated;")
-	print("\t\tfor (unsigned i = 0; i < num_msgs; i++) {")
+	print("\t\tunsigned i = 0;")
+	print("\t\twhile(i < num_msgs) {")
 	print("\t\t\torb_check(sub,&updated);")
-	print("\t\t\tupdated = true;")
+	print("\t\t\tif (i == 0) { updated = true; } else { usleep(500); }")
+	print("\t\t\ti++;")
 	print("\t\t\tif (updated) {")
 	print("\t\tprintf(\"\\nTOPIC: %s #%%d\\n\", i);" % m)
 	print("\t\t\torb_copy(ID,sub,&container);")
@@ -190,9 +192,15 @@ for index,m in enumerate(messages[1:]):
 		elif item[0] == "int32":
 			print("\t\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
 		elif item[0] == "uint32":
-			print("\t\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
-		elif item[0] == "uint8":
 			print("\t\t\tprintf(\"%s: %%u\\n\",container.%s);" % (item[1], item[1]))
+		elif item[0] == "int16":
+			print("\t\t\tprintf(\"%s: %%d\\n\",(int)container.%s);" % (item[1], item[1]))
+		elif item[0] == "uint16":
+			print("\t\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
+		elif item[0] == "int8":
+			print("\t\t\tprintf(\"%s: %%d\\n\",(int)container.%s);" % (item[1], item[1]))
+		elif item[0] == "uint8":
+			print("\t\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
 		elif item[0] == "bool":
 			print("\t\t\tprintf(\"%s: %%s\\n\",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
 	print("\t\t\t}")
@@ -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 +28,57 @@ 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() == "Octo Coax Wide"):
+                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() == "VTOL Tiltrotor"):
+                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")
@@ -51,6 +51,7 @@ class Parameter(object):

    def __init__(self, name, type, default = ""):
        self.fields = {}
+        self.values = {}
        self.name = name
        self.type = type
        self.default = default
@@ -70,6 +71,12 @@ class Parameter(object):
        """
        self.fields[code] = value

+    def SetEnumValue(self, code, value):
+        """
+        Set named enum value
+        """
+        self.values[code] = value
+
    def GetFieldCodes(self):
        """
        Return list of existing field codes in convenient order
@@ -87,7 +94,26 @@ class Parameter(object):
        if not fv:
                # required because python 3 sorted does not accept None
                return ""
-        return self.fields.get(code)
+        return fv
+
+    def GetEnumCodes(self):
+        """
+        Return list of existing value codes in convenient order
+        """
+        keys = self.values.keys()
+        #keys = sorted(keys)
+        #keys = sorted(keys, key=lambda x: self.priority.get(x, 0), reverse=True)
+        return keys
+
+    def GetEnumValue(self, code):
+        """
+        Return value of the given enum code or None if not found.
+        """
+        fv =  self.values.get(code)
+        if not fv:
+                # required because python 3 sorted does not accept None
+                return ""
+        return fv

 class SourceParser(object):
    """
@@ -107,7 +133,7 @@ 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", "value"])

    # Order of parameter groups
    priority = {
@@ -137,6 +163,7 @@ class SourceParser(object):
                short_desc = None
                long_desc = None
                tags = {}
+                def_values = {}
            elif state is not None and state != "comment-processed":
                m = self.re_comment_end.search(line)
                if m:
@@ -156,7 +183,12 @@ class SourceParser(object):
                        m = self.re_comment_tag.match(comment_content)
                        if m:
                            tag, desc = m.group(1, 2)
-                            tags[tag] = desc
+                            if (tag == "value"):
+                                # Take the meta info string and split the code and description
+                                metainfo = desc.split(" ",  1)
+                                def_values[metainfo[0]] = metainfo[1]
+                            else:
+                                tags[tag] = desc
                            current_tag = tag
                            state = "wait-tag-end"
                        elif state == "wait-short":
@@ -191,6 +223,7 @@ class SourceParser(object):
                defval = ""
                # Non-empty line outside the comment
                m = self.re_px4_param_default_definition.match(line)
+                # Default value handling
                if m:
                    name_m, defval_m = m.group(1,2)
                    default_var[name_m] = defval_m
@@ -226,6 +259,8 @@ class SourceParser(object):
                                return False
                            else:
                                param.SetField(tag, tags[tag])
+                        for def_value in def_values:
+                            param.SetEnumValue(def_value, def_values[def_value])
                    # Store the parameter
                    if group not in self.param_groups:
                        self.param_groups[group] = ParameterGroup(group)
@@ -278,6 +313,13 @@ class SourceParser(object):
                    if default != "" and float(default) > float(max):
                        sys.stderr.write("Default value is larger than max: {0} default:{1} max:{2}\n".format(name, default, max))
                        return False
+                for code in param.GetEnumCodes():
+                        if not self.IsNumber(code):
+                            sys.stderr.write("Min value not number: {0} {1}\n".format(name, code))
+                            return False
+                        if param.GetEnumValue(code) == "":
+                            sys.stderr.write("Description for enum value is empty: {0} {1}\n".format(name, code))
+                            return False
        return True

    def GetParamGroups(self):
@@ -52,6 +52,13 @@ class XMLOutput():
                            xml_field.text = value
                if last_param_name != param.GetName():
                    board_specific_param_set = False
+                
+                if len(param.GetEnumCodes()) > 0:
+                    xml_values = ET.SubElement(xml_param, "values")
+                    for code in param.GetEnumCodes():
+                        xml_value = ET.SubElement(xml_values, "value")
+                        xml_value.attrib["code"] = code;
+                        xml_value.text = param.GetEnumValue(code)
        indent(xml_parameters)
        self.xml_document = ET.ElementTree(xml_parameters)

@@ -1,8 +1,7 @@
 #!/usr/bin/env python
 ############################################################################
 #
-#   Copyright (C) 2014 PX4 Development Team. All rights reserved.
-#   Author: Julian Oes <joes@student.ethz.ch>
+#   Copyright (C) 2014-2015 PX4 Development Team. All rights reserved.

 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -37,48 +36,53 @@
 """
 px_romfs_pruner.py:
 Delete all comments and newlines before ROMFS is converted to an image
+
+@author: Julian Oes <julian@oes.ch>
 """

 from __future__ import print_function
-import argparse, re
+import argparse
+import re
 import os


 def main():
+    # Parse commandline arguments
+    parser = argparse.ArgumentParser(description="ROMFS pruner.")
+    parser.add_argument('--folder', action="store",
+                        help="ROMFS scratch folder.")
+    args = parser.parse_args()

-        # Parse commandline arguments
-        parser = argparse.ArgumentParser(description="ROMFS pruner.")
-        parser.add_argument('--folder', action="store", help="ROMFS scratch folder.")
-        args = parser.parse_args()
+    print("Pruning ROMFS files.")

-        print("Pruning ROMFS files.")
+    # go through
+    for (root, dirs, files) in os.walk(args.folder):
+        for file in files:
+            # only prune text files
+            if ".zip" in file or ".bin" in file or ".swp" in file \
+                    or ".data" in file or ".DS_Store" in file \
+                    or file.startswith("."):
+                continue

-        # go through
-        for (root, dirs, files) in os.walk(args.folder):
-                for file in files:
-                        # only prune text files
-                        if ".zip" in file or ".bin" in file or ".swp" in file or ".data" in file or ".DS_Store" in file:
-                                continue
+            file_path = os.path.join(root, file)

-                        file_path = os.path.join(root, file)
-
-                        # read file line by line
-                        pruned_content = ""
-                        with open(file_path, "rU") as f:
-                                for line in f:
-
-                                        # handle mixer files differently than startup files
-                                        if file_path.endswith(".mix"):
-                                                if line.startswith(("Z:", "M:", "R: ", "O:", "S:")):
-                                                        pruned_content += line
-                                        else:
-                                                if not line.isspace() and not line.strip().startswith("#"):
-                                                        pruned_content += line
-                       # overwrite old scratch file
-                        with open(file_path, "wb") as f:
-                                pruned_content = re.sub("\r\n", "\n", pruned_content)
-                                f.write(pruned_content.encode("ascii", errors='strict'))
+            # read file line by line
+            pruned_content = ""
+            with open(file_path, "rU") as f:
+                for line in f:
+                    # handle mixer files differently than startup files
+                    if file_path.endswith(".mix"):
+                        if line.startswith(("Z:", "M:", "R: ", "O:", "S:")):
+                                            pruned_content += line
+                    else:
+                        if not line.isspace() \
+                                and not line.strip().startswith("#"):
+                            pruned_content += line
+            # overwrite old scratch file
+            with open(file_path, "wb") as f:
+                pruned_content = re.sub("\r\n", "\n", pruned_content)
+                f.write(pruned_content.encode("ascii", errors='strict'))


 if __name__ == '__main__':
-        main()
+    main()
@@ -449,8 +449,9 @@ class uploader(object):
                if self.board_type != fw.property('board_id'):
                        msg = "Firmware not suitable for this board (board_type=%u board_id=%u)" % (
                                self.board_type, fw.property('board_id'))
+                        print("WARNING: %s" % msg)
                        if args.force:
-                                print("WARNING: %s" % msg)
+                                print("FORCED WRITE, FLASHING ANYWAY!")
                        else:
                                raise IOError(msg)
                if self.fw_maxsize < fw.property('image_size'):
@@ -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
@@ -138,13 +138,15 @@ function(px4_add_git_submodule)
 	string(REPLACE "/" "_" NAME ${PATH})
 	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
 		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-		COMMAND git submodule init ${PATH}
+		COMMAND git submodule update --init --recursive ${PATH}
 		COMMAND touch ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
 		DEPENDS ${CMAKE_SOURCE_DIR}/.gitmodules
 		)
 	add_custom_target(${TARGET}
 		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-		COMMAND git submodule update --recursive ${PATH}
+# This is NOT a good approach as it overwrites checked out branches
+# behind the back of a developer
+		#COMMAND git submodule update --recursive ${PATH}
 		DEPENDS ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
 		)
 endfunction()
@@ -266,6 +268,10 @@ 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)
@@ -530,15 +536,28 @@ function(px4_add_common_flags)
 		)
 	endif()

-	set(max_optimization -Os)
+	if ($ENV{MEMORY_DEBUG} MATCHES "1")
+		set(max_optimization -O0)

-	set(optimization_flags
-		-fno-strict-aliasing
-		-fomit-frame-pointer
-		-funsafe-math-optimizations
-		-ffunction-sections
-		-fdata-sections
-		)
+		set(optimization_flags
+			-fno-strict-aliasing
+			-fno-omit-frame-pointer
+			-funsafe-math-optimizations
+			-ffunction-sections
+			-fdata-sections
+			-g -fsanitize=address
+			)
+	else()
+		set(max_optimization -Os)
+
+		set(optimization_flags
+			-fno-strict-aliasing
+			-fomit-frame-pointer
+			-funsafe-math-optimizations
+			-ffunction-sections
+			-fdata-sections
+			)
+	endif()

 	if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
 		list(APPEND optimization_flags
@@ -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
@@ -0,0 +1,47 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+
+set(config_module_list
+	drivers/device
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/topic_listener
+	systemcmds/perf
+	modules/uORB
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/sensors
+	modules/mavlink
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/navigator
+	modules/vtol_att_control
+	modules/mc_pos_control
+	modules/mc_att_control
+	modules/land_detector
+	modules/fw_att_control
+	modules/fw_pos_control_l1
+	modules/dataman
+	modules/sdlog2
+	modules/commander
+	modules/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/conversion
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+)
@@ -0,0 +1,56 @@
+include(posix/px4_impl_posix)
+
+if ("${RPI_TOOLCHAIN_DIR}" STREQUAL "")
+	set(RPI_TOOLCHAIN_DIR /opt/rpi_toolchain)
+endif()
+
+set(CMAKE_PROGRAM_PATH 
+	"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
+	${CMAKE_PROGRAM_PATH}
+	)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+
+set(config_module_list
+	drivers/device
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	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/mavlink
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/navigator
+	modules/vtol_att_control
+	modules/mc_pos_control
+	modules/mc_att_control
+	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
+)
@@ -34,6 +34,7 @@ set(config_module_list
 	modules/mavlink
 	modules/attitude_estimator_ekf
 	modules/attitude_estimator_q
+	modules/ekf2
 	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/navigator
@@ -59,6 +60,7 @@ 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)
@@ -3,3 +3,4 @@ float32 indicated_airspeed_m_s		# indicated airspeed in meters per second, -1 if
 float32 true_airspeed_m_s		# true filtered airspeed in meters per second, -1 if unknown
 float32 true_airspeed_unfiltered_m_s	# true airspeed in meters per second, -1 if unknown
 float32 air_temperature_celsius		# air temperature in degrees celsius, -1000 if unknown
+float32 confidence			# confidence value from 0 to 1 for this sensor
@@ -3,3 +3,4 @@ float32 voltage_v		# Battery voltage in volts, 0 if unknown
 float32 voltage_filtered_v	# Battery voltage in volts, filtered, 0 if unknown
 float32 current_a		# Battery current in amperes, -1 if unknown
 float32 discharged_mah		# Discharged amount in mAh, -1 if unknown
+bool is_powering_off		# Power off event imminent indication, false if unknown
@@ -0,0 +1,7 @@
+uint64 timestamp		# Timestamp in microseconds since boot
+float32[6] vel_pos_innov  # velocity and position innovations
+float32[3] mag_innov 	# earth magnetic field innovations
+float32 heading_innov 	# heading innovation
+float32[6] vel_pos_innov_var 	# velocity and position innovation variances
+float32[3] mag_innov_var	# earth magnetic field innovation variance
+float32 heading_innov_var 	# heading innovation variance
@@ -5,3 +5,14 @@ uint8 nan_flags			# Bitmask to indicate NaN states
 uint8 health_flags		# Bitmask to indicate sensor health states (vel, pos, hgt)
 uint8 timeout_flags		# Bitmask to indicate timeout flags (vel, pos, hgt)
 float32[28] covariances	# Diagonal Elements of Covariance Matrix
+uint16 gps_check_fail_flags     # Bitmask to indicate status of GPS checks - see definition below
+# bits are true when corresponding test has failed
+# 0 : minimum required sat count fail
+# 1 : minimum required GDoP fail
+# 2 : maximum allowed horizontal position error fail
+# 3 : maximum allowed vertical position error fail
+# 4 : maximum allowed speed error fail
+# 5 : maximum allowed horizontal position drift fail
+# 6 : maximum allowed vertical position drift fail
+# 7 : maximum allowed horizontal speed fail
+# 8 : maximum allowed vertical velocity discrepancy fail
@@ -1,3 +1,12 @@
+###############################################################################################
+# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_attitude_setpoint.msg
+#	mc_virtual_attitude_setpoint.msg
+#	fw_virtual_attitude_setpoint.msg
+#
+###############################################################################################

 uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data

@@ -21,3 +30,8 @@ float32 thrust					# Thrust in Newton the power system should generate
 bool roll_reset_integral			# Reset roll integral part (navigation logic change)
 bool pitch_reset_integral			# Reset pitch integral part (navigation logic change)
 bool yaw_reset_integral				# Reset yaw integral part (navigation logic change)
+
+bool fw_control_yaw					# control heading with rudder (used for auto takeoff on runway)
+bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane mode)
+
+bool apply_flaps
@@ -1,6 +1,16 @@
+###############################################################################################
+# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_rates_setpoint.msg
+#	mc_virtual_rates_setpoint.msg
+#	fw_virtual_rates_setpoint.msg
+#
+###############################################################################################
+
 uint64 timestamp    # in microseconds since system start

 float32 roll	    # body angular rates in NED frame
 float32 pitch	    # body angular rates in NED frame
-float32 yaw	    # body angular rates in NED frame
+float32 yaw			# body angular rates in NED frame
 float32 thrust	    # thrust normalized to 0..1
@@ -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
@@ -38,8 +38,9 @@ float32 aux5			 # default function: payload drop

 uint8 mode_switch		 # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
 uint8 return_switch		 # return to launch 2 position switch (mandatory): _NORMAL_, RTL
-uint8 rattitude_switch		 # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
+uint8 rattitude_switch	 # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
 uint8 posctl_switch		 # position control 2 position switch (optional): _ALTCTL_, POSCTL
 uint8 loiter_switch		 # loiter 2 position switch (optional): _MISSION_, LOITER
 uint8 acro_switch		 # acro 2 position switch (optional): _MANUAL_, ACRO
-uint8 offboard_switch		 # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
+uint8 offboard_switch	 # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
+uint8 kill_switch		 # throttle kill: _NORMAL_, KILL
@@ -1,3 +1,12 @@
+###############################################################################################
+# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_attitude_setpoint.msg
+#	mc_virtual_attitude_setpoint.msg
+#	fw_virtual_attitude_setpoint.msg
+#
+###############################################################################################

 uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data

@@ -21,3 +30,8 @@ float32 thrust					# Thrust in Newton the power system should generate
 bool roll_reset_integral			# Reset roll integral part (navigation logic change)
 bool pitch_reset_integral			# Reset pitch integral part (navigation logic change)
 bool yaw_reset_integral				# Reset yaw integral part (navigation logic change)
+
+bool fw_control_yaw					# control heading with rudder (used for auto takeoff on runway)
+bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane mode)
+
+bool apply_flaps
@@ -1,6 +1,16 @@
+###############################################################################################
+# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_rates_setpoint.msg
+#	mc_virtual_rates_setpoint.msg
+#	fw_virtual_rates_setpoint.msg
+#
+###############################################################################################
+
 uint64 timestamp    # in microseconds since system start

 float32 roll	    # body angular rates in NED frame
 float32 pitch	    # body angular rates in NED frame
-float32 yaw	    # body angular rates in NED frame
+float32 yaw			# body angular rates in NED frame
 float32 thrust	    # thrust normalized to 0..1
@@ -6,7 +6,8 @@ bool warning			# true if mission is valid, but has potentially problematic items
 bool reached			# true if mission has been reached
 bool finished			# true if mission has been completed
 bool stay_in_failsafe		# true if the commander should not switch out of the failsafe mode
-bool flight_termination	# true if the navigator demands a flight termination from the commander app
+bool flight_termination		# true if the navigator demands a flight termination from the commander app
 bool item_do_jump_changed	# true if the number of do jumps remaining has changed
 uint32 item_changed_index	# indicate which item has changed
 uint32 item_do_jump_remaining	# set to the number of do jumps remaining for that item
+bool mission_failure		# true if the mission cannot continue or be completed for some reason
@@ -1 +1,2 @@
 uint64 timestamp	# time at which the latest parameter was updated
+bool saved		# wether the change has already been saved to disk
@@ -23,6 +23,7 @@ float64 lon			# longitude, in deg
 float32 alt			# altitude AMSL, in m
 float32 yaw			# yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw
 bool yaw_valid			# true if yaw setpoint valid
+bool disable_mc_yaw_control		# control yaw for mc (used for vtol weather-vane mode)
 float32 yawspeed		# yawspeed (only for multirotors, in rad/s)
 bool yawspeed_valid		# true if yawspeed setpoint valid
 float32 loiter_radius		# loiter radius (only for fixed wing), in m
@@ -33,3 +34,4 @@ 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
@@ -1,4 +1,4 @@
-int32 RC_CHANNELS_FUNCTION_MAX=20
+int32 RC_CHANNELS_FUNCTION_MAX=21
 uint8 RC_CHANNELS_FUNCTION_THROTTLE=0
 uint8 RC_CHANNELS_FUNCTION_ROLL=1
 uint8 RC_CHANNELS_FUNCTION_PITCH=2
@@ -19,11 +19,12 @@ uint8 RC_CHANNELS_FUNCTION_PARAM_1=16
 uint8 RC_CHANNELS_FUNCTION_PARAM_2=17
 uint8 RC_CHANNELS_FUNCTION_PARAM_3_5=18
 uint8 RC_CHANNELS_FUNCTION_RATTITUDE=19
+uint8 RC_CHANNELS_FUNCTION_KILLSWITCH=20
 uint64 timestamp						# Timestamp in microseconds since boot time
 uint64 timestamp_last_valid					# Timestamp of last valid RC signal
-float32[20] channels						# Scaled to -1..1 (throttle: 0..1)
+float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
 uint8 channel_count						# Number of valid channels
-int8[20] function						# Functions mapping
+int8[21] function						# Functions mapping
 uint8 rssi							# Receive signal strength index
 bool signal_lost						# Control signal lost, should be checked together with topic timeout
 uint32 frame_drop_count						# Number of dropped frames
@@ -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
@@ -1,3 +1,12 @@
+###############################################################################################
+# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_attitude_setpoint.msg
+#	mc_virtual_attitude_setpoint.msg
+#	fw_virtual_attitude_setpoint.msg
+#
+###############################################################################################

 uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data

@@ -23,5 +32,6 @@ bool pitch_reset_integral			# Reset pitch integral part (navigation logic change
 bool yaw_reset_integral				# Reset yaw integral part (navigation logic change)

 bool fw_control_yaw					# control heading with rudder (used for auto takeoff on runway)
+bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane mode)

 bool apply_flaps
@@ -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)
@@ -1,6 +1,16 @@
+###############################################################################################
+# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_rates_setpoint.msg
+#	mc_virtual_rates_setpoint.msg
+#	fw_virtual_rates_setpoint.msg
+#
+###############################################################################################
+
 uint64 timestamp    # in microseconds since system start

 float32 roll	    # body angular rates in NED frame
 float32 pitch	    # body angular rates in NED frame
-float32 yaw	    # body angular rates in NED frame
+float32 yaw			# body angular rates in NED frame
 float32 thrust	    # thrust normalized to 0..1
@@ -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
@@ -115,10 +117,9 @@ uint32 system_id			# system id, inspired by MAVLink's system ID field
 uint32 component_id			# subsystem / component id, inspired by MAVLink's component ID field

 bool is_rotary_wing			# True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter
-bool vtol_in_transition		# True if VTOL is doing a transition
 bool is_vtol				# True if the system is VTOL capable
 bool vtol_fw_permanent_stab		# True if vtol should stabilize attitude for fw in manual mode
-bool in_transition_mode
+bool in_transition_mode			# True if VTOL is doing a transition

 bool condition_battery_voltage_valid
 bool condition_system_in_air_restore		# true if we can restore in mid air
@@ -149,9 +150,11 @@ bool data_link_lost_cmd				# datalink to GCS lost mode commanded
 uint8 data_link_lost_counter			# counts unique data link lost events
 bool engine_failure				# Set to true if an engine failure is detected
 bool engine_failure_cmd				# Set to true if an engine failure mode is commanded
+bool vtol_transition_failure		# Set to true if vtol transition failed
+bool vtol_transition_failure_cmd	# Set to true if vtol transition failure mode is commanded
 bool gps_failure				# Set to true if a gps failure is detected
 bool gps_failure_cmd				# Set to true if a gps failure mode is commanded
-
+bool mission_failure				# Set to true if mission could not continue/finish
 bool barometer_failure				# Set to true if a barometer failure is detected

 bool offboard_control_signal_found_once
@@ -1,5 +1,6 @@
-uint64 timestamp		# Microseconds since system boot
-bool vtol_in_rw_mode		# true: vtol vehicle is in rotating wing mode
+uint64 timestamp				# Microseconds since system boot
+bool vtol_in_rw_mode			# true: vtol vehicle is in rotating wing mode
 bool vtol_in_trans_mode
-bool fw_permanent_stab		# In fw mode stabilize attitude even if in manual mode
-float32 airspeed_tot		# Estimated airspeed over control surfaces
+bool vtol_transition_failsafe	# vtol in transition failsafe mode
+bool fw_permanent_stab			# In fw mode stabilize attitude even if in manual mode
+float32 airspeed_tot			# Estimated airspeed over control surfaces
@@ -667,7 +667,7 @@ CONFIG_CDCACM_NWRREQS=4
 CONFIG_CDCACM_NRDREQS=4
 CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=4000
+CONFIG_CDCACM_TXBUFSIZE=8000
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_PRODUCTID=0x0011
 CONFIG_CDCACM_VENDORSTR="3D Robotics"
@@ -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
--- a/Show More
+++ b/Show More