Update Matrix.hpp (#4966 )

This was horribly wrong. Matrix is first cast into a matrix of size NxM (which is supposed to be the size of the result - NOT the starting point) so the transpose result becomes garbage. Instead make "Me" an MxN matrix as the original. Took me a whole evening to figure out this problem. Now my Kalman filter finally returns good results.
px4io: set safety on before going into bootloader (#4860 )
2026-06-07 23:40:04 +08:00 · 2016-07-03 12:30:24 +02:00 · 2016-06-21 09:18:45 +02:00 · 2016-06-01 17:16:29 +02:00 · 2016-05-26 20:00:46 +02:00 · 2016-05-21 15:55:32 +02:00
788 changed files with 51980 additions and 29231 deletions
@@ -0,0 +1 @@
+--ignore-dir=Documentation
@@ -2,6 +2,7 @@
 !ROMFS/*/*.d
 !ROMFS/*/*/*.d
 !ROMFS/*/*/*/*.d
+*.px4log
 *.dSYM
 *.o
 *.pyc
@@ -22,6 +23,8 @@ build/*
 build_*/
 core
 cscope.out
+cscope.in.out
+cscope.po.out
 Firmware.sublime-workspace
 user.sublime*
 Images/*.bin
@@ -61,3 +64,12 @@ CMakeLists.txt.user
 GPATH
 GRTAGS
 GTAGS
+*.config
+*.creator
+*.creator.user
+*.files
+*.includes
+
+# uavcan firmware
+ROMFS/px4fmu_common/uavcan/
+vectorcontrol/
@@ -13,9 +13,6 @@
 [submodule "Tools/gencpp"]
 	path = Tools/gencpp
 	url = https://github.com/ros/gencpp.git
-[submodule "src/lib/dspal"]
-	path = src/lib/dspal
-	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -25,6 +22,7 @@
 [submodule "unittests/googletest"]
 	path = unittests/googletest
 	url = https://github.com/google/googletest.git
+	ignore = untracked
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
 	url = https://github.com/PX4/Matrix.git
@@ -37,3 +35,6 @@
 [submodule "cmake/cmake_hexagon"]
 	path = cmake/cmake_hexagon
 	url = https://github.com/ATLFlight/cmake_hexagon
+[submodule "src/drivers/gps/devices"]
+	path = src/drivers/gps/devices
+	url = https://github.com/PX4/GpsDrivers.git
@@ -8,6 +8,10 @@ matrix:
  include:
    - os: linux
      sudo: false
+      env: GCC_VER=4.8
+    - os: linux
+      sudo: false
+      env: GCC_VER=4.9
    - os: osx
      osx_image: xcode7
      sudo: true
@@ -35,7 +39,6 @@ addons:
    - ninja-build
    - python-argparse
    - python-empy
-    - python-serial
    - s3cmd
    - texinfo
    - zlib1g-dev
@@ -43,10 +46,12 @@ addons:
 before_install:
  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
         pushd .
-      && cd ~
-      && wget https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
-      && tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
-      && exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
+      && cd ~ && mkdir gcc && cd gcc
+      && if [ "$GCC_VER" = "4.8" ]; then GCC_URL="https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2" ; fi
+      && if [ "$GCC_VER" = "4.9" ]; then GCC_URL="https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2" ; fi
+      && wget -O gcc.tar.bz2 ${GCC_URL}
+      && tar -jxf gcc.tar.bz2 --strip 1
+      && exportline="export PATH=$HOME/gcc/bin:\$PATH"
      && if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
      && . ~/.profile
      && popd
@@ -60,11 +65,10 @@ before_install:
    elif [ "${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
+      && sudo pip install empy
      ;
    fi

@@ -93,40 +97,25 @@ env:
    - PX4_AWS_BUCKET=px4-travis

 script:
-  - git submodule update --init --recursive
-  - make check_format
-  - arm-none-eabi-gcc --version
-  - echo 'Building POSIX Firmware..' && make posix_sitl_default
-  - echo 'Running Tests..' && make posix_sitl_default test
-  - echo 'Running Unittests..' && cd unittests && ./run_tests.sh
-  - cd ..
-  - echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
-  - echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
-# Only provide UAVCAN firmware binaries for Pixracer and Pixhawk 3
-  - echo 'Building UAVCAN node firmware..' && git clone https://github.com/thiemar/vectorcontrol
-  - cd vectorcontrol
-  - BOARD=s2740vc_1_0 make && BOARD=px4esc_1_6 make
-  - ../Tools/uavcan_copy.sh
-  - cd ..
-  - echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default
-  - echo 'Building NuttX px4-stm32f4discovery Firmware..' && make px4-stm32f4discovery_default
-  - echo 'Running Tests..' && make px4fmu-v2_default test
+  - git submodule update --quiet --init --recursive
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+      arm-none-eabi-gcc --version && make check VECTORCONTROL=1;
+    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
+      make check_posix_sitl_default;
+    fi

 after_success:
-  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-         cp build_px4fmu-v1_default/src/firmware/nuttx/nuttx-px4fmu-v1-default.px4 px4fmu-v1_default.px4
-      && cp build_px4fmu-v2_default/src/firmware/nuttx/nuttx-px4fmu-v2-default.px4 px4fmu-v2_default.px4
-      && cp build_px4fmu-v4_default/src/firmware/nuttx/nuttx-px4fmu-v4-default.px4 px4fmu-v4_default.px4
-      && cp build_px4-stm32f4discovery_default/src/firmware/nuttx/nuttx-px4-stm32f4discovery-default.px4 px4-stm32f4discovery-default.px4
-      && zip Firmware.zip px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 px4-stm32f4discovery-default.px4
-      && ./CI-Tools/s3cmd-put px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 px4-stm32f4discovery-default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
+  - if [[ "${TRAVIS_OS_NAME}" = "linux" && "${GCC_VER}" = "4.8" ]]; then
+         make package_firmware
+      && find . -name \*.px4 -exec cp "{}" . \;
+      && find . -maxdepth 1 -mindepth 1 -type f -name 'nuttx-*-default.px4' | sed 's/.\/nuttx-//' | sed 's/-default.px4//' | xargs -I{} mv nuttx-{}-default.px4 {}_default.px4
+      && ./CI-Tools/s3cmd-put `find . -maxdepth 1 -mindepth 1 -type f -name '*_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
      && ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
      && echo ""
-      && echo "Binaries have been posted to:"
-      && echo https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
+      && echo "Binaries have been posted to:" https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
      ;
    fi

@@ -140,6 +129,7 @@ deploy:
    tags: true
    all_branches: true
    repo: PX4/Firmware
+    condition: $GCC_VER = 4.8

 notifications:
  webhooks:
@@ -147,3 +137,7 @@ notifications:
      - https://webhooks.gitter.im/e/2b9c4a4cb2211f8befba
    on_success: always  # options: [always|never|change] default: always
    on_failure: always  # options: [always|never|change] default: always
+  slack:
+    secure: "QKw73Zel/s3JAbe/7XyO9tPnJwiiGFpYzSjdR8lG3tYFjRdXZnhxG4c+G7bkgkaPTS4Hult33VXE3kcEqOI7+C+eRwRlZhDfL0knQbXVCxjcLjzmUFdoPOwurlgZDw66PFWCi5tZcLKSRo3u4U8ibT4WKi3jm9sDSyOcfBAucMU="
+    on_success: change  # options: [always|never|change] default: always
+    on_failure: always  # options: [always|never|change] default: always
@@ -85,7 +85,7 @@
 # * If a target from add_custom_* is set in a function, explicitly pass it
 #	as an output argument so that the target name is clear to the user.
 #
-# * Avoid use of global variables in functions. Functions in a nested 
+# * Avoid use of global variables in functions. Functions in a nested
 #	scope may use global variables, but this makes it difficult to
 #	resuse functions.
 #
@@ -150,16 +150,6 @@ list(GET config_args 1 BOARD)
 list(GET config_args 2 LABEL)
 set(target_name "${OS}-${BOARD}-${LABEL}")

-if("${OS}" STREQUAL "posix")
-	if (APPLE)
-		set(DF_TARGET darwin)
-	else()
-		set(DF_TARGET linux)
-	endif()
-else()
-	set(DF_TARGET ${OS})
-endif()
-
 message(STATUS "${target_name}")

 # switch to ros CMake file if building ros
@@ -193,6 +183,11 @@ foreach(conf ${px4_required_config})
 	endif()
 endforeach()

+# List the DriverFramework drivers
+if(DEFINED config_df_driver_list)
+	message("DF Drivers: ${config_df_driver_list}")
+endif()
+
 #=============================================================================
 # project definition
 #
@@ -243,12 +238,12 @@ px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
 px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
 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")
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")

 add_custom_target(submodule_clean
 	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
@@ -293,6 +288,7 @@ px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
 px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")

 include_directories(${include_dirs})
+#message("INCLUDE_DIRS=${include_dirs}")
 link_directories(${link_dirs})
 add_definitions(${definitions})

@@ -324,12 +320,29 @@ include_directories(${ep_base}/Install/include)
 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)

+#=============================================================================
+# DriverFramework Drivers
+#
+set(df_driver_libs)
+foreach(driver ${config_df_driver_list})
+	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
+	list(APPEND df_driver_libs df_${driver})
+	message("Adding DF driver: ${driver}")
+endforeach()
+
 #=============================================================================
 # subdirectories
 #
 set(module_libraries)
 foreach(module ${config_module_list})
-	add_subdirectory(src/${module})
+	string(REGEX MATCH "^[./]" external_module ${module})
+	if(external_module)
+		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
+		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
+		add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
+	else()
+		add_subdirectory(src/${module})
+	endif()
 	px4_mangle_name(${module} mangled_name)
 	list(APPEND module_libraries ${mangled_name})
 	#message(STATUS "adding module: ${module}")
@@ -337,7 +350,6 @@ endforeach()

 add_subdirectory(src/firmware/${OS})

-add_subdirectory(src/lib/DriverFramework/framework/src)
 #add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
 if (NOT "${OS}" STREQUAL "nuttx")
 endif()
@@ -599,8 +599,7 @@ RECURSIVE              = YES
 # excluded from the INPUT source files. This way you can easily exclude a
 # subdirectory from a directory tree whose root is specified with the INPUT tag.

-EXCLUDE                = ../src/lib/mathlib/CMSIS \
-			 ../src/modules/attitude_estimator_ekf/codegen
+EXCLUDE                = ../src/modules/attitude_estimator_ekf/codegen

 # The EXCLUDE_SYMLINKS tag can be used select whether or not files or
 # directories that are symbolic links (a Unix filesystem feature) are excluded
@@ -9,7 +9,7 @@ http://www.stack.nl/~dimitri/doxygen/download.html for the correct download.
 Then go to the following website for inforamtion on the install:
 http://www.stack.nl/~dimitri/doxygen/install.html

-Then to generate the html, run the following code while you are in the qgroundcontrol/doc directory:
+Then to generate the html, run the following code while you are in this directory:
 $doxygen Doxyfile

 The html file index.html should be in doc/html unless you changed the output directory. 
@@ -70,6 +70,13 @@
 			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
 			"cmd": ["make posix"],
 			"shell": true
+		},
+		{
+			"name": "MindPX_V2: make and upload",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make upload mindpx-v2_default -j8"],
+			"shell": true
 		}
 	]
 }
@@ -0,0 +1,12 @@
+{
+    "board_id": 9, 
+    "magic": "PX4FWv2",
+    "description": "Firmware for the MindPx-V2  board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "MindPx-v2",
+    "version": "2.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2016 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -109,10 +109,9 @@ endif
 # describe how to build a cmake config
 define cmake-build
 +@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
-+git submodule init
-+Tools/check_submodules.sh 
-+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule sync && git submodule init && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
-+$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(PWD)/build_$@); fi
+@Tools/check_submodules.sh
+@(echo "PX4 CONFIG: $@" && cd $(PWD)/build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef

 # create empty targets to avoid msgs for targets passed to cmake
@@ -122,6 +121,12 @@ $(1):
 .PHONY: $(1)
 endef

+define colorecho
+      @tput setaf 6
+      @echo $1
+      @tput sgr0
+endef
+
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
 #  Do not put any spaces between function arguments.
@@ -141,8 +146,8 @@ px4-stm32f4discovery_default:
 px4fmu-v2_ekf2:
 	$(call cmake-build,nuttx_px4fmu-v2_ekf2)

-px4fmu-v2_lpe:
-	$(call cmake-build,nuttx_px4fmu-v2_lpe)
+mindpx-v2_default:
+	$(call cmake-build,nuttx_mindpx-v2_default)

 posix_sitl_default:
 	$(call cmake-build,$@)
@@ -153,26 +158,50 @@ posix_sitl_lpe:
 posix_sitl_ekf2:
 	$(call cmake-build,$@)

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

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

-qurt_eagle_release:
-	$(call cmake-build,$@)
-
-posix_eagle_release:
-	$(call cmake-build,$@)
-
 qurt_eagle_default:
 	$(call cmake-build,$@)

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

+eagle_default: posix_eagle_default qurt_eagle_default
+
+qurt_eagle_legacy_driver_default:
+	$(call cmake-build,$@)	
+	
+posix_eagle_legacy_driver_default:
+	$(call cmake-build,$@) 
+
+qurt_excelsior_default:
+	$(call cmake-build,$@)
+
+posix_excelsior_default:
+	$(call cmake-build,$@)
+
+excelsior_default: posix_excelsior_default qurt_excelsior_default
+
+posix_rpi2_default:
+	$(call cmake-build,$@)
+
+posix_rpi2_release:
+	$(call cmake-build,$@)
+
 posix: posix_sitl_default

+broadcast: posix_sitl_broadcast
+
 sitl_deprecation:
 	@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
 	@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
@@ -183,34 +212,67 @@ run_sitl_ros: sitl_deprecation

 # Other targets
 # --------------------------------------------------------------------
+
+.PHONY: uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean
+.NOTPARALLEL: uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean
+
+uavcan_firmware:
+ifeq ($(VECTORCONTROL),1)
+	$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6")
+	@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
+endif
+
+check: check_px4fmu-v1_default check_px4fmu-v2_default check_px4fmu-v4_default_and_uavcan check_mindpx-v2_default check_px4-stm32f4discovery_default check_posix_sitl_default check_unittest check_format
+
 check_format:
+	$(call colorecho,"Checking formatting with astyle")
+	@./Tools/fix_code_style.sh
 	@./Tools/check_code_style.sh

+check_%:
+	@echo
+	$(call colorecho,"Building" $(subst check_,,$@))
+	@$(MAKE) --no-print-directory $(subst check_,,$@)
+	@echo
+
+check_px4fmu-v4_default: uavcan_firmware
+check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
+	@echo
+ifeq ($(VECTORCONTROL),1)
+	@echo "Cleaning up vectorcontrol firmware"
+	@rm -rf vectorcontrol
+	@rm -rf ROMFS/px4fmu_common/uavcan
+endif
+
+unittest: posix_sitl_default
+	@(cd unittests && cmake -G$(PX4_CMAKE_GENERATOR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) && ctest -j2 --output-on-failure)
+
+package_firmware:
+	@zip --junk-paths Firmware.zip `find . -name \*.px4`
+
 clean:
 	@rm -rf build_*/
-	@(cd NuttX && git clean -d -f -x)
-	@(cd src/modules/uavcan/libuavcan && git clean -d -f -x)
-	@(git submodule sync)
+	@(cd NuttX/nuttx && make clean)
+
+submodulesclean:
+	@git submodule sync
+	@git submodule deinit -f .
+	@git submodule update --init --recursive --force
+
+distclean: submodulesclean
+	@git clean -ff -x -d

 # 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 \
-	gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol
+	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim replay \
+	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 gazebo_plane
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))

 .PHONY: clean

 CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")

-# Future:
-#$(CONFIGS):
-##	@cd Build/$@ && cmake ../.. -DCONFIG=$@
-#	@cd Build/$@ && make
-#
-#clean-all:
-#	@rm -rf Build/*
-#
 #help:
 #	@echo
 #	@echo "Type 'make ' and hit the tab key twice to see a list of the available"
@@ -1,17 +1,17 @@
-## PX4 Flight Core and PX4 Middleware ##
+## PX4 Pro Drone Autopilot ##

 [![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)

 [![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)

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

 *   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/portfolio_category/multicopter/)
-  * [Fixed wing](http://px4.io/portfolio_category/vtol/)
-  * [VTOL](http://px4.io/portfolio_category/plane/)
+  * [Fixed wing](http://px4.io/portfolio_category/plane/)
+  * [VTOL](http://px4.io/portfolio_category/vtol/)
 *   Releases
  * [Downloads](https://github.com/PX4/Firmware/releases)

@@ -20,7 +20,8 @@ then
 	param set FW_AIRSPD_MAX 20
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 14
-	param set FW_ATT_TC 0.3
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
@@ -37,9 +38,8 @@ 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

-param set RWTO_TKOFF 1
-
 set HIL yes
 set MIXER AERT
@@ -14,7 +14,8 @@ then
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 25
 	param set FW_AIRSPD_MAX 40
-	param set FW_ATT_TC 0.3
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 15
 	param set FW_PR_FF 0.8
@@ -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
@@ -1,19 +1,44 @@
 #!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
+
+	param set VT_MOT_COUNT 2
+	param set VT_IDLE_PWM_MC  1080
+	param set VT_TYPE 0
+	param set MAV_TYPE 19
+fi
+
 set MIXER caipirinha_vtol

-set PWM_OUT 12
-set PWM_MAX 2000
-set PWM_RATE 400
-param set VT_MOT_COUNT 2
-param set VT_IDLE_PWM_MC  1080
-param set VT_TYPE 0
+set PWM_OUT 1234
@@ -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
@@ -31,21 +31,17 @@ then
 	param set VT_TILT_MC 0.08
 	param set VT_TILT_TRANS 0.5
 	param set VT_TILT_FW 0.9
+
+	param set VT_MOT_COUNT 6
+	param set VT_FW_MOT_OFFID 34
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TYPE 1
 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_OFFID 34
-param set VT_IDLE_PWM_MC 1080
-param set VT_TYPE 1
@@ -9,13 +9,17 @@

 sh /etc/init.d/rc.vtol_defaults

+if [ $AUTOCNF == yes ]
+then
+    param set VT_MOT_COUNT 4
+    param set VT_IDLE_PWM_MC  1080
+    param set VT_TYPE 0
+    param set VT_ELEV_MC_LOCK 1
+fi
+
 set MIXER quad_x_vtol

 set PWM_OUT 1234
 set PWM_MAX 2000
 set PWM_RATE 400
 set MAV_TYPE 20
-param set VT_MOT_COUNT 4
-param set VT_IDLE_PWM_MC  1080
-param set VT_TYPE 0
-param set VT_ELEV_MC_LOCK 1
@@ -9,13 +9,17 @@

 sh /etc/init.d/rc.vtol_defaults

+if [ $AUTOCNF == yes ]
+then
+    param set VT_MOT_COUNT 4
+    param set VT_IDLE_PWM_MC  1080
+    param set VT_TYPE 0
+    param set VT_ELEV_MC_LOCK 1
+fi
+
 set MIXER quad_+_vtol

 set PWM_OUT 1234
 set PWM_MAX 2000
 set PWM_RATE 400
 set MAV_TYPE 20
-param set VT_MOT_COUNT 4
-param set VT_IDLE_PWM_MC  1080
-param set VT_TYPE 0
-param set VT_ELEV_MC_LOCK 1
@@ -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
@@ -31,20 +33,28 @@ 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
+
+	param set VT_MOT_COUNT 4
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TYPE 2
 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
-
-param set VT_MOT_COUNT 4
-param set VT_IDLE_PWM_MC 1080
-param set VT_TYPE 2
@@ -31,20 +31,18 @@ then
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
+
+	param set VT_MOT_COUNT 4
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TYPE 2
 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
-
-param set VT_MOT_COUNT 4
-param set VT_IDLE_PWM_MC 1080
-param set VT_TYPE 2
@@ -31,21 +31,18 @@ then
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
-	
+
+	param set VT_MOT_COUNT 4
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TYPE 2
 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
-
-param set VT_MOT_COUNT 4
-param set VT_IDLE_PWM_MC 1080
-param set VT_TYPE 2
@@ -18,36 +18,51 @@ then
 	param set PWM_AUX_REV1 1
 	param set PWM_AUX_REV2 1

-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.1
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
+	param set MC_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 6.5
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
+	param set MC_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 2.8
-	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
+	param set MC_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 MPC_Z_VEL_MAX 1.5
+	param set MPC_TKO_SPEED 1.5
+	param set MPC_LAND_SPEED 0.8
+
+	param set FW_THR_CRUISE 65.0
+	param set FW_PR_P 0.08
+	param set FW_PR_FF 0.5
+	param set FW_RR_P 0.05
+	param set FW_RR_FF 0.6
+
+	param set MIS_YAW_TMT 10
+
+	param set VT_ARSP_TRANS 15.0
+	param set VT_ARSP_BLEND 8.0
+	param set VT_B_TRANS_DUR 4.0
+
+	param set VT_MOT_COUNT 4
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TYPE 2
 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
-
-param set VT_MOT_COUNT 4
-param set VT_IDLE_PWM_MC 1080
-param set VT_TYPE 2
@@ -0,0 +1,88 @@
+#!nsh
+#
+# @name Sparkle Tech Ranger VTOL
+#
+# @type Standard VTOL
+#
+# @maintainer Andreas Antener <andreas@uaventure.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_IDLE_PWM_MC 1180
+    param set MAV_TYPE    22
+    param set VT_ARSP_TRANS   15.0
+    param set VT_B_TRANS_DUR  4.0
+    param set VT_TRANS_MIN_TM 5.0
+    param set VT_TRANS_THR    0.6
+    param set VT_TRANS_TIMEOUT    30.0
+
+    param set FW_AIRSPD_MAX   22.0
+    param set FW_AIRSPD_MIN   14.0
+    param set FW_AIRSPD_TRIM  16.0
+    param set FW_L1_PERIOD    25.0
+    param set FW_PR_P 0.060
+    param set FW_P_RMAX_NEG   40.0
+    param set FW_P_RMAX_POS   40.0
+    param set FW_RR_FF    0.4
+    param set FW_RR_P 0.04
+    param set FW_R_RMAX   40.0
+
+    param set MC_PITCHRATE_D  0.004
+    param set MC_PITCHRATE_I  0.0
+    param set MC_PITCHRATE_MAX    60.0
+    param set MC_PITCHRATE_P  0.21
+    param set MC_PITCH_P  4.0
+    param set MC_ROLLRATE_D   0.004
+    param set MC_ROLLRATE_I   0.002
+    param set MC_ROLLRATE_MAX 60.0
+    param set MC_ROLLRATE_P   0.24
+    param set MC_ROLL_P   4.0
+    param set MC_YAWRATE_I    0.02
+    param set MC_YAWRATE_MAX  40.0
+    param set MC_YAWRATE_P    0.18
+    param set MC_YAWRAUTO_MAX 40.0
+
+    param set MIS_TAKEOFF_ALT 2.5
+    param set MIS_YAW_TMT 20.0
+
+    param set MPC_ACC_HOR_MAX 1.0
+    param set MPC_HOLD_MAX_XY 0.5
+    param set MPC_HOLD_MAX_Z  0.5
+    param set MPC_LAND_SPEED  1.0
+    param set MPC_MANTHR_MIN  0.05
+    param set MPC_MAN_Y_MAX   120.0
+    param set MPC_THR_MIN 0.07
+    param set MPC_TILTMAX_AIR 35.0
+    param set MPC_TILTMAX_LND 20.0
+    param set MPC_TKO_SPEED   1.0
+    param set MPC_XY_FF   0.1
+    param set MPC_XY_P    0.3
+    param set MPC_XY_VEL_MAX  3.0
+    param set MPC_XY_VEL_P    0.05
+    param set MPC_Z_FF    0.3
+    param set MPC_Z_P 0.5
+    param set MPC_Z_VEL_MAX   1.0
+    param set MPC_Z_VEL_P 0.1
+
+    param set NAV_ACC_RAD 3.0
+
+    param set PWM_AUX_REV1    1
+    param set PWM_AUX_REV2    1
+    param set PWM_AUX_REV3    1
+    param set PWM_AUX_REV4    1
+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
@@ -0,0 +1,12 @@
+#!nsh
+#
+# @name Passthrough mode for Snapdragon
+#
+# @type custom
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+# This startup can be used on Pixhawk/Pixfalcon/Pixracer for the
+# passthrough of RC input and PWM output.
+
+set VEHICLE_TYPE passthrough
@@ -24,7 +24,8 @@ then
 	param set FW_AIRSPD_MAX 15
 	param set FW_AIRSPD_MIN 10
 	param set FW_AIRSPD_TRIM 13
-	param set FW_ATT_TC 0.3
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
@@ -24,7 +24,8 @@ then
 	param set FW_AIRSPD_MIN 13
 	param set FW_AIRSPD_TRIM 15
 	param set FW_AIRSPD_MAX 25
-	param set FW_ATT_TC 0.3
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
 	param set FW_L1_DAMPING 0.75
 	param set FW_L1_PERIOD 15
 	param set FW_PR_FF 0.2
@@ -24,7 +24,8 @@ then
 	param set FW_AIRSPD_MIN 15
 	param set FW_AIRSPD_TRIM 20
 	param set FW_AIRSPD_MAX 40
-	param set FW_ATT_TC 0.3
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
@@ -25,7 +25,8 @@ then
 	param set FW_AIRSPD_MAX 15
 	param set FW_AIRSPD_MIN 10
 	param set FW_AIRSPD_TRIM 13
-	param set FW_ATT_TC 0.3
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
@@ -0,0 +1,55 @@
+#!nsh
+#
+# @name Sparkle Tech Pigeon
+#
+# @url http://www.sparkletech.hk/
+#
+# @type Flying Wing
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@px4.io>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set FW_AIRSPD_MIN 15
+	param set FW_AIRSPD_TRIM 20
+	param set FW_AIRSPD_MAX 27
+	param set FW_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.75
+	param set FW_L1_PERIOD 15
+	param set FW_PR_FF 0.35
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.05
+	param set FW_P_LIM_MAX 45
+	param set FW_P_LIM_MIN -45
+	param set FW_P_ROLLFF 1
+	param set FW_P_TC 0.3
+	param set FW_RR_FF 0.3
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.03
+	param set FW_R_LIM 40
+	param set FW_R_RMAX 50
+	param set FW_R_TC 0.3
+
+	# Bottom of bay and nominal zero-pitch attitude differ
+	# the payload bay is pitched up about 7 degrees
+	param set SENS_BOARD_Y_OFF 11.9
+
+	param set FW_L1_PERIOD 20.0
+fi
+
+set MIXER phantom
+
+# Provide ESC a constant 1000 us pulse
+set PWM_OUT 4
+set PWM_DISARMED 1000
@@ -14,7 +14,8 @@ then
 	param set FW_AIRSPD_MAX 20
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 16
-	param set FW_ATT_TC 0.3
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
@@ -15,22 +15,22 @@ sh /etc/init.d/4001_quad_x

 if [ $AUTOCNF == yes ]
 then
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.05
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.002
+	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.14
+	param set MC_ROLLRATE_I 0.23
+	param set MC_ROLLRATE_D 0.0025
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.08
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.003
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
+	param set MC_PITCHRATE_P 0.235
+	param set MC_PITCHRATE_I 0.17
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 4
+	param set MC_YAWRATE_P 0.3
+	param set MC_YAWRATE_I 0.2
 	param set MC_YAWRATE_D 0.0
-	param set PWM_MIN 980
+	param set MC_YAW_FF 0.5
+	param set PWM_MIN 1075
 	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 CBRK_IO_SAFETY 22027
+	param set ATT_BIAS_MAX 0.0
 fi
@@ -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 +1,42 @@
+#!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 +1,45 @@
+#!nsh
+#
+# @name Generic 250 Racer
+#
+# @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 8.0
+	param set MC_ROLLRATE_P 0.19
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.0055
+	param set MC_PITCH_P 8.0
+	param set MC_PITCHRATE_P 0.24
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.0065
+	param set MC_YAW_P 4.0
+	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 MC_ROLLRATE_MAX 720.0
+	param set MC_PITCHRATE_MAX 720.0
+	param set MC_YAWRATE_MAX 400.0
+	param set MC_ACRO_R_MAX 360.0
+	param set MC_ACRO_P_MAX 360.0
+
+	param set PWM_MIN 1075
+
+	param set MPC_THR_MIN 0.06
+	param set MPC_MANTHR_MIN 0.06
+
+	param set ATT_BIAS_MAX 0.0
+
+	param set CBRK_IO_SAFETY 22027
+fi
@@ -0,0 +1,23 @@
+#!nsh
+#
+# @name DJI Matrice 100
+#
+# @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 James Goppert <james.goppert@gmail.com>
+#
+
+sh /etc/init.d/4001_quad_x
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLLRATE_P 0.05
+	param set MC_ROLLRATE_D 0.001
+	param set MC_PITCHRATE_P 0.05
+	param set MC_PITCHRATE_D 0.001
+	param set BAT_N_CELLS 6
+fi
@@ -7,9 +7,10 @@ then
 #
 # Default parameters for FW
 #
-	param set NAV_LAND_ALT 90
-	param set NAV_RTL_ALT 100
-	param set NAV_RTL_LAND_T -1
+	param set RTL_RETURN_ALT 100
+	param set RTL_DESCEND_ALT 100
+	param set RTL_LAND_DELAY -1
+
 	param set NAV_ACC_RAD 50

 	param set PE_VELNE_NOISE 0.3
@@ -103,6 +103,12 @@ then
 	set MIXER_AUX none
 fi

+#MindPX has not aux mixer
+if ver hwcmp MINDPX_V2
+then
+        set MIXER_AUX none
+fi
+
 if [ $MIXER_AUX != none -a $AUX_MODE != none ]
 then
 	#
@@ -147,6 +153,7 @@ then
 			set FAILSAFE_AUX none
 		fi

+		# Set min / max for aux out and rates
 		if [ $PWM_AUX_OUT != none ]
 		then
 			#
@@ -157,13 +164,6 @@ 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 +174,23 @@ 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
@@ -181,5 +198,18 @@ then

 	fi
 fi
+
+unset PWM_OUT
+unset PWM_RATE
+unset PWM_ACHDIS
+unset PWM_MIN
+unset PWM_MAX
+unset PWM_AUX_OUT
+unset PWM_AUX_RATE
+unset PWM_AUX_DISARMED
+unset PWM_AUX_MIN
+unset PWM_AUX_MAX
+unset FAILSAFE_AUX
+unset FAILSAFE
 unset OUTPUT_DEV
 unset OUTPUT_AUX_DEV
@@ -18,6 +18,4 @@ fi

 if px4io limit $PX4IO_LIMIT
 then
-else
-	echo "[i] Set PX4IO update rate to $PX4IO_LIMIT Hz failed!"
 fi
@@ -1,18 +0,0 @@
-#!nsh
-#
-# Initialize logging services.
-#
-
-if [ -d /fs/microsd ]
-then
-	if ver hwcmp PX4FMU_V1
-	then
-		if sdlog2 start -r 40 -a -b 3 -t
-		then
-		fi
-	else
-		if sdlog2 start -r 100 -a -b 12 -t
-		then
-		fi
-	fi
-fi
@@ -4,23 +4,31 @@
 # att & pos estimator, att & pos control.
 #

-# The system is defaulting to INAV_ENABLED = 1
-# but users can alternatively try the EKF-based
-# filter by setting INAV_ENABLED = 0
-if param compare INAV_ENABLED 1
+
+#---------------------------------------
+# Estimator group selction
+#
+# INAV
+if param compare SYS_MC_EST_GROUP 0
 then
 	attitude_estimator_q start
 	position_estimator_inav start
-else
-	if param compare LPE_ENABLED 1
-	then
-		attitude_estimator_q start
-		local_position_estimator start
-	else
-		ekf2 start
-	fi
 fi

+# LPE
+if param compare SYS_MC_EST_GROUP 1
+then
+	attitude_estimator_q start
+	local_position_estimator start
+fi
+
+# EKF
+if param compare SYS_MC_EST_GROUP 2
+then
+	ekf2 start
+fi
+#---------------------------------------
+
 if mc_att_control start
 then
 else
@@ -15,20 +15,8 @@ then
 	param set PWM_DISARMED 900
 	param set PWM_MIN 1075
 	param set PWM_MAX 1950
-fi

-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1000
-then
-	param set PWM_MIN 1075
-fi
-if param compare PWM_MAX 2000
-then
-	param set PWM_MAX 1950
-fi
-if param compare PWM_DISARMED 0
-then
-	param set PWM_DISARMED 900
+	param set RTL_LAND_DELAY 0
 fi

 # set environment variables (!= parameters)
@@ -45,3 +33,17 @@ set PWM_AUX_OUT 1234
 set PWM_AUX_DISARMED 1500
 set PWM_AUX_MIN 1000
 set PWM_AUX_MAX 2000
+
+# Transitional support: ensure suitable PWM min/max param values
+if param compare PWM_MIN 1000
+then
+	param set PWM_MIN 1075
+fi
+if param compare PWM_MAX 2000
+then
+	param set PWM_MAX 1950
+fi
+if param compare PWM_DISARMED 0
+then
+	param set PWM_DISARMED 900
+fi
@@ -1,6 +1,6 @@
 #!nsh
 #
-# Standard startup script for PX4FMU v1, v2, v3 onboard sensor drivers.
+# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers.
 #

 if ver hwcmp PX4FMU_V1
@@ -9,6 +9,11 @@ then
 	then
 	fi
 else
+	# Configure all I2C buses to 100 KHz as they
+	# are all external or slow
+	fmu i2c 1 100000
+	fmu i2c 2 100000
+
 	if ms5611 -s start
 	then
 	fi
@@ -30,6 +35,11 @@ then
 	then
 	fi

+	# External I2C bus
+	if lis3mdl -X start
+	then
+	fi
+
 	# Internal I2C bus
 	if hmc5883 -C -T -I -R 4 start
 	then
@@ -64,6 +74,10 @@ then
 		then
 		fi

+		if meas_airspeed start -b 2
+		then
+		fi
+
 	else
 		# FMUv2
 		if mpu6000 start
@@ -78,61 +92,92 @@ then
 		then
 		fi
 	fi
-else
-	if ver hwcmp PX4FMU_V4
+fi
+
+if ver hwcmp PX4FMU_V4
+then
+	# External I2C bus
+	if hmc5883 -C -T -X start
 	then
-		# External I2C bus
-		if hmc5883 -C -T -X start
-		then
-		fi
+	fi

-		# Internal SPI bus is rotated 90 deg yaw
-		if hmc5883 -C -T -S -R 2 start
-		then
-		fi
+	if lis3mdl -R 2 start
+	then
+	fi

-		# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
-		if mpu6000 -R 2 -T 20608 start
-		then
-		fi
+	# Internal SPI bus is rotated 90 deg yaw
+	if hmc5883 -C -T -S -R 2 start
+	then
+	fi

-		# Internal SPI bus mpu9250 is rotated 90 deg yaw
-		if mpu9250 -R 2 start
+	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
+	if mpu6000 -R 2 -T 20608 start
+	then
+	fi
+
+	# Internal SPI bus mpu9250 is rotated 90 deg yaw
+	if mpu9250 -R 2 start
+	then
+	fi
+fi
+
+if ver hwcmp PX4FMU_V1
+then
+	# FMUv1
+	if mpu6000 start
+	then
+	fi
+
+	if l3gd20 start
+	then
+	fi
+
+	# MAG selection
+	if param compare SENS_EXT_MAG 2
+	then
+		if hmc5883 -C -I start
 		then
 		fi
 	else
-		# FMUv1
-		if mpu6000 start
+		# Use only external as primary
+		if param compare SENS_EXT_MAG 1
 		then
-		fi
-
-		if l3gd20 start
-		then
-		fi
-
-		# MAG selection
-		if param compare SENS_EXT_MAG 2
-		then
-			if hmc5883 -C -I start
+			if hmc5883 -C -X start
 			then
 			fi
 		else
-			# Use only external as primary
-			if param compare SENS_EXT_MAG 1
+		# auto-detect the primary, prefer external
+			if hmc5883 start
 			then
-				if hmc5883 -C -X start
-				then
-				fi
-			else
-			# auto-detect the primary, prefer external
-				if hmc5883 start
-				then
-				fi
 			fi
 		fi
 	fi
 fi

+if ver hwcmp MINDPX_V2
+then
+	if mpu6500 start
+	then
+	fi
+
+	if lsm303d start
+	then
+	fi
+
+	if l3gd20 start
+	then
+	fi
+
+	# External I2C bus
+	if hmc5883 -C -T -X start
+	then
+	fi
+
+	if lis3mdl -R 2 start
+	then
+	fi
+fi
+
 if meas_airspeed start
 then
 else
@@ -145,6 +190,10 @@ 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
@@ -3,10 +3,33 @@
 # Standard apps for vtol:
 # att & pos estimator, att & pos control.
 #
+#
+
+
+#---------------------------------------
+# Estimator group selction
+#
+# INAV
+if param compare SYS_MC_EST_GROUP 0
+then
+	attitude_estimator_q start
+	position_estimator_inav start
+fi
+
+# LPE
+if param compare SYS_MC_EST_GROUP 1
+then
+	attitude_estimator_q start
+	local_position_estimator start
+fi
+
+# EKF
+if param compare SYS_MC_EST_GROUP 2
+then
+	ekf2 start
+fi
+#---------------------------------------

-attitude_estimator_q start
-#ekf_att_pos_estimator start
-position_estimator_inav start

 vtol_att_control start
 mc_att_control start
@@ -4,42 +4,46 @@ 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
+	param set MPC_ACC_HOR_MAX 2.0
+	param set RTL_LAND_DELAY 0
 fi

-set PWM_DISARMED 900
-set PWM_MIN 1000
-set PWM_MAX 2000
+# set environment variables (!= parameters)
+set PWM_RATE 400
+# tell the mixer to use parameters for these instead
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
+
+# Transitional support: ensure suitable PWM min/max param values
+if param compare PWM_MIN 1000
+then
+	param set PWM_MIN 1075
+fi
+if param compare PWM_MAX 2000
+then
+	param set PWM_MAX 1950
+fi
+if param compare PWM_DISARMED 0
+then
+	param set PWM_DISARMED 900
+fi
@@ -15,8 +15,6 @@ sercon
 #
 set MODE autostart

-set FRC /fs/microsd/etc/rc.txt
-set FCONFIG /fs/microsd/etc/config.txt
 set TUNE_ERR ML<<CP4CP4CP4CP4CP4
 set LOG_FILE /fs/microsd/bootlog.txt

@@ -26,7 +24,6 @@ set LOG_FILE /fs/microsd/bootlog.txt
 # REBOOTWORK this needs to start after the flight control loop
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
-	echo "[i] microSD mounted: /fs/microsd"
 	# Start playing the startup tune
 	tone_alarm start
 else
@@ -50,6 +47,7 @@ fi
 # Look for an init script on the microSD card.
 # Disable autostart if the script found.
 #
+set FRC /fs/microsd/etc/rc.txt
 if [ -f $FRC ]
 then
 	echo "[i] Executing script: $FRC"
@@ -78,78 +76,12 @@ then
 	param select $PARAM_FILE
 	if param load
 	then
-		echo "[param] Loaded: $PARAM_FILE"
 	else
-		echo "[param] FAILED loading $PARAM_FILE"
 		if param reset
 		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
 	#
@@ -167,6 +99,18 @@ then
 	#then
 	#fi

+	#
+	# Set AUTOCNF flag to use it in AUTOSTART scripts
+	#
+	if param compare SYS_AUTOCONFIG 1
+	then
+		# Wipe out params except RC*
+		param reset_nostart RC*
+		set AUTOCNF yes
+	else
+		set AUTOCNF no
+	fi
+
 	#
 	# Set default values
 	#
@@ -182,6 +126,7 @@ 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
@@ -192,22 +137,8 @@ then
 	set MAVLINK_F default
 	set EXIT_ON_END no
 	set MAV_TYPE none
-	set LOAD_DAPPS yes
-	set GPS yes
-	set GPS_FAKE no
 	set FAILSAFE none
-
-	#
-	# Set AUTOCNF flag to use it in AUTOSTART scripts
-	#
-	if param compare SYS_AUTOCONFIG 1
-	then
-		# Wipe out params except RC*
-		param reset_nostart RC*
-		set AUTOCNF yes
-	else
-		set AUTOCNF no
-	fi
+	set USE_IO yes

 	#
 	# Set USE_IO flag
@@ -217,13 +148,26 @@ then
 		if ver hwcmp PX4FMU_V4
 		then
 			set USE_IO no
-		else
-			set USE_IO yes
+		fi
+
+		if ver hwcmp MINDPX_V2
+		then
+			set USE_IO no
 		fi
 	else
 		set USE_IO no
 	fi

+	# should set to 0.8 for mindpx-v2 borad.
+	if param compare INAV_LIDAR_ERR 0.5
+	then
+		if ver hwcmp MINDPX_V2
+		then
+			param set INAV_LIDAR_ERR 0.8
+			param save
+		fi
+	fi
+
 	#
 	# Set parameters and env variables for selected AUTOSTART
 	#
@@ -245,9 +189,10 @@ then
 	#
 	# Override parameters from user configuration file
 	#
+	set FCONFIG /fs/microsd/etc/config.txt
 	if [ -f $FCONFIG ]
 	then
-		echo "[i] Custom config: $FCONFIG"
+		echo "[i] Custom: $FCONFIG"
 		sh $FCONFIG
 	fi
 	unset FCONFIG
@@ -282,8 +227,6 @@ then

 			set IO_PRESENT yes
 		else
-			echo "PX4IO Trying to update" >> $LOG_FILE
-
 			tone_alarm MLL32CP8MB

 			if px4io start
@@ -308,11 +251,11 @@ then

 					set IO_PRESENT yes
 				else
-					echo "ERROR: PX4IO update failed" >> $LOG_FILE
+					echo "PX4IO update failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 			else
-				echo "ERROR: PX4IO update failed" >> $LOG_FILE
+				echo "PX4IO update failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -320,7 +263,6 @@ then

 		if [ $IO_PRESENT == no ]
 		then
-			echo "[i] ERROR: PX4IO not found"
 			echo "ERROR: PX4IO not found" >> $LOG_FILE
 			tone_alarm $TUNE_ERR
 		fi
@@ -343,7 +285,6 @@ then
 	then
 		# Need IO for output but it not present, disable output
 		set OUTPUT_MODE none
-		echo "[i] ERROR: PX4IO not found, disabling output"

 		# Avoid using ttyS0 for MAVLink on FMUv1
 		if ver hwcmp PX4FMU_V1
@@ -360,13 +301,15 @@ then
 	if [ $HIL == yes ]
 	then
 		set OUTPUT_MODE hil
-		set GPS no
 		if ver hwcmp PX4FMU_V1
 		then
 			set FMU_MODE serial
 		fi
+		unset HIL
+	else
+		unset HIL
+		gps start
 	fi
-	unset HIL

 	# waypoint storage
 	# REBOOTWORK this needs to start in parallel
@@ -378,22 +321,14 @@ then
 	# Sensors System (start before Commander so Preflight checks are properly run)
 	#
 	sh /etc/init.d/rc.sensors
-	
-	if [ $GPS == yes ]
-	then
-		if [ $GPS_FAKE == yes ]
-		then
-			echo "[i] Faking GPS"
-			gps start -f
-		else
-			gps start
-		fi
-	fi
-	unset GPS
-	unset GPS_FAKE

 	# Needs to be this early for in-air-restarts
-	commander start
+	if [ $OUTPUT_MODE == hil ]
+	then
+	    commander start -hil
+	else
+	    commander start
+	fi

 	#
 	# Start primary output
@@ -426,7 +361,7 @@ then
 			then
 				sh /etc/init.d/rc.io
 			else
-				echo "ERROR: PX4IO start failed" >> $LOG_FILE
+				echo "PX4IO start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -435,10 +370,8 @@ then
 		then
 			if fmu mode_$FMU_MODE
 			then
-				echo "[i] FMU mode_$FMU_MODE started"
 			else
-				echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
-				echo "ERROR: FMU start failed" >> $LOG_FILE
+				echo "FMU start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi

@@ -469,9 +402,7 @@ then

 			if mkblctrl $MKBLCTRL_ARG
 			then
-				echo "[i] MK started"
 			else
-				echo "[i] ERROR: MK start failed"
 				echo "ERROR: MK start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
@@ -483,10 +414,8 @@ then
 		then
 			if pwm_out_sim mode_port2_pwm8
 			then
-				echo "[i] PWM SIM output started"
 			else
-				echo "[i] ERROR: PWM SIM output start failed"
-				echo "ERROR: PWM SIM output start failed" >> $LOG_FILE
+				echo "PWM SIM start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -500,11 +429,9 @@ then
 			then
 				if px4io start
 				then
-					echo "[i] PX4IO started"
 					sh /etc/init.d/rc.io
 				else
-					echo "[i] ERROR: PX4IO start failed"
-					echo "ERROR: PX4IO start failed" >> $LOG_FILE
+					echo "PX4IO start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 			fi
@@ -513,10 +440,8 @@ then
 			then
 				if fmu mode_$FMU_MODE
 				then
-					echo "[i] FMU mode_$FMU_MODE started"
 				else
-					echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
-					echo "ERROR: FMU mode_$FMU_MODE start failed" >> $LOG_FILE
+					echo "FMU mode_$FMU_MODE start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi

@@ -550,9 +475,9 @@ 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
@@ -563,10 +488,15 @@ 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 10
+		then
+			frsky_telemetry start -d /dev/ttyS2
+		fi
 		if param compare SYS_COMPANION 921600
 		then
 			mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 80000 -x
@@ -583,6 +513,14 @@ 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
+		if param compare SYS_COMPANION 1921600
+		then
+			mavlink start -d /dev/ttyS2 -b 921600 -r 20000
+		fi
 		# Sensors on the PWM interface bank
 		# clear pins 5 and 6
 		if param compare SENS_EN_LL40LS 1
@@ -598,15 +536,107 @@ then
 		fi
 	fi

+	# Transitional support: Disable safety on all Pixracer boards
+	if ver hwcmp PX4FMU_V4
+	then
+		if param set CBRK_IO_SAFETY 22027
+		then
+		fi
+	fi
+
 	#
-	# UAVCAN
+	# Starting stuff according to UAVCAN_ENABLE value
 	#
-	sh /etc/init.d/rc.uavcan
+	if param greater UAVCAN_ENABLE 0
+	then
+		if uavcan start
+		then
+		else
+			tone_alarm $TUNE_ERR
+		fi
+	fi
+
+	if param greater UAVCAN_ENABLE 1
+	then
+		if uavcan start fw
+		then
+		else
+			tone_alarm $TUNE_ERR
+		fi
+	fi
+
+	#
+	# Optional drivers
+	#
+
+	# Sensors on the PWM interface bank
+	if param compare SENS_EN_LL40LS 1
+	then
+		if pwm_input start
+		then
+			if ll40ls start pwm
+			then
+			fi
+		fi
+	fi
+
+	# sf0x lidar sensor
+	if param compare SENS_EN_SF0X 1
+	then
+		sf0x start
+	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
+
+	if ver hwcmp MINDPX_V2
+	then
+		#mindxp also need flow
+		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
+

 	#
 	# Logging
 	#
-	sh /etc/init.d/rc.logging
+	if [ -d /fs/microsd ]
+	then
+		if ver hwcmp PX4FMU_V1
+		then
+			if sdlog2 start -r 30 -a -b 2 -t
+			then
+			fi
+		else
+			# check if we should increase logging rate for ekf2 replay message logging
+			if param greater EKF2_REC_RPL 0
+			then
+				if sdlog2 start -r 500 -e -b 20 -t
+				then
+				fi
+			else
+				if sdlog2 start -r 100 -a -b 12 -t
+				then
+				fi
+			fi
+		fi
+	fi

 	#
 	# Start up ARDrone Motor interface
@@ -621,7 +651,7 @@ then
 	#
 	if [ $VEHICLE_TYPE == fw ]
 	then
-		echo "[i] FIXED WING"
+		echo "FIXED WING"

 		if [ $MIXER == none ]
 		then
@@ -641,10 +671,7 @@ then
 		sh /etc/init.d/rc.interface

 		# Start standard fixedwing apps
-		if [ $LOAD_DAPPS == yes ]
-		then
-			sh /etc/init.d/rc.fw_apps
-		fi
+		sh /etc/init.d/rc.fw_apps
 	fi

 	#
@@ -652,7 +679,7 @@ then
 	#
 	if [ $VEHICLE_TYPE == mc ]
 	then
-		echo "[i] MULTICOPTER"
+		echo "MULTICOPTER"

 		if [ $MIXER == none ]
 		then
@@ -670,6 +697,10 @@ 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
@@ -686,7 +717,7 @@ 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
@@ -705,10 +736,7 @@ then
 		sh /etc/init.d/rc.interface

 		# Start standard multicopter apps
-		if [ $LOAD_DAPPS == yes ]
-		then
-			sh /etc/init.d/rc.mc_apps
-		fi
+		sh /etc/init.d/rc.mc_apps
 	fi

 	#
@@ -716,11 +744,11 @@ then
 	#
 	if [ $VEHICLE_TYPE == vtol ]
 	then
-		echo "[init] Vehicle type: VTOL"
+		echo "VTOL"

 		if [ $MIXER == none ]
 		then
-			echo "Default mixer for vtol not defined"
+			echo "VTOL mixer undefined"
 		fi

 		if [ $MAV_TYPE == none ]
@@ -753,10 +781,7 @@ then
 		sh /etc/init.d/rc.interface

 		# Start standard vtol apps
-		if [ $LOAD_DAPPS == yes ]
-		then
-			sh /etc/init.d/rc.vtol_apps
-		fi
+		sh /etc/init.d/rc.vtol_apps
 	fi

 	#
@@ -771,14 +796,51 @@ then
 		sh /etc/init.d/rc.interface

 		# Start standard rover apps
-		if [ $LOAD_DAPPS == yes ]
-		then
-			sh /etc/init.d/rc.axialracing_ax10_apps
-		fi
+		sh /etc/init.d/rc.axialracing_ax10_apps

 		param set MAV_TYPE 10
 	fi

+	#
+	# For snapdragon, we need a passthrough mode
+	# Do not run any mavlink instances since we need the serial port for
+	# communication with Snapdragon.
+	#
+	if [ $VEHICLE_TYPE == passthrough ]
+	then
+		mavlink stop-all
+		commander stop
+
+		# Stop multicopter attitude controller if it is running, the controls come
+		# from Snapdragon.
+		if mc_att_control stop
+		then
+		fi
+
+		# Start snapdragon interface on serial port.
+		if ver hwcmp PX4FMU_V2
+		then
+			# On Pixfalcon use the standard telemetry port (Telem 1).
+			snapdragon_rc_pwm start -d /dev/ttyS1
+			px4io start
+		fi
+
+		if ver hwcmp PX4FMU_V4
+		then
+			# On Pixracer use Telem 2 port (TL2).
+			snapdragon_rc_pwm start -d /dev/ttyS2
+			fmu mode_pwm4
+		fi
+
+		pwm failsafe -c 1234 -p 900
+		pwm disarmed -c 1234 -p 900
+
+		# Arm straightaway.
+		pwm arm
+		# Use 400 Hz PWM on all channels.
+		pwm rate -a -r 400
+	fi
+
 	unset MIXER
 	unset MAV_TYPE
 	unset OUTPUT_MODE
@@ -794,7 +856,6 @@ then
 	if [ $VEHICLE_TYPE == none ]
 	then
 		echo "[i] No autostart ID found"
-
 	fi

 	# Start any custom addons
@@ -809,7 +870,6 @@ then
 	# Run no SD alarm
 	if [ $LOG_FILE == /dev/null ]
 	then
-		echo "[i] No microSD card found"
 		# Play SOS
 		tone_alarm error
 	fi
@@ -824,35 +884,9 @@ unset TUNE_ERR
 # Boot is complete, inform MAVLink app(s) that the system is now fully up and running
 mavlink boot_complete

-# Sensors on the PWM interface bank
-if param compare SENS_EN_LL40LS 1
-then
-	if pwm_input start
-	then
-		if ll40ls start pwm
-		then
-		fi
-	fi
-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"
+	echo "NSH EXIT"
 	exit
 fi
 unset EXIT_ON_END
@@ -62,24 +62,3 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
-
-
-Gimbal / flaps / payload mixer for last four channels,
-using the payload control group
-----------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 0  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 1  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 2  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 3  10000  10000      0 -10000  10000
@@ -58,23 +58,3 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
-
-
-Gimbal / flaps / payload mixer for last four channels
-----------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
@@ -62,23 +62,3 @@ endpoints to suit.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000
-
-Gimbal / flaps / payload mixer for last four channels,
-using the payload control group
-----------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 0  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 1  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 2  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 3  10000  10000      0 -10000  10000
@@ -49,22 +49,3 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
-
-Gimbal / flaps / payload mixer for last four channels
-----------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
@@ -51,23 +51,3 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
-
-
-Gimbal / payload mixer for last four channels
-----------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
@@ -47,22 +47,3 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
-
-Gimbal / flaps / payload mixer for last four channels
-----------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
@@ -1,16 +1,39 @@
-#!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. This mixer generates 4 PWM outputs
+on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
+elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
+at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used. 
+
+Motor mixer
+------------
+Channel 1 connects to the right (starboard) motor.
+Channel 2 connects to the left (port) motor.
+
 R: 2- 10000 10000 10000 0

-#mixer for the elevons
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  10000  10000      0 -10000  10000
-S: 1 1  10000  10000      0 -10000  10000
+Zero mixer (2x)
+---------------
+Channels 3,4 are unused.
+
+Z:
+
+Z:
+
+Elevons mixer
+--------------
+Channel 5 connects to the right (starboard) elevon.
+Channel 6 connects to the left (port) elevon.

 M: 2
-O:       10000   10000    0 -10000  10000
-S: 1 0   10000   10000    0 -10000  10000
+O:        7500    7500    0 -10000  10000
+S: 1 0  -10000  -10000    0 -10000  10000
+S: 1 1   10000   10000    0 -10000  10000
+
+M: 2
+O:        7500    7500    0 -10000  10000
+S: 1 0  -10000  -10000    0 -10000  10000
 S: 1 1  -10000  -10000    0 -10000  10000
@@ -47,24 +47,3 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
-
-
-Gimbal / flaps / payload mixer for last four channels
-----------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
-
@@ -0,0 +1,3 @@
+# Octo coaxial with wide arms
+
+R: 8cw 10000 10000 10000 0
@@ -46,22 +46,3 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
-
-Gimbal / flaps / payload mixer for last four channels
-----------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
@@ -0,0 +1,26 @@
+Mixer for SITL plane, using the VTOL airframe for now
+=========================================================
+
+Z:
+
+Z:
+
+Z:
+
+Z:
+
+# mixer for the elevons
+M: 2
+O:      10000  10000   0 -10000  10000
+S: 0 0  5000   5000    0 -10000  10000
+S: 0 1 -5000 -5000     0 -10000  10000
+
+M: 2
+O:       10000   10000   0 -10000  10000
+S: 0 0   5000    5000    0 -10000  10000
+S: 0 1   5000    5000    0 -10000  10000
+
+# mixer for the pusher/puller throttle
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
@@ -6,22 +6,13 @@ are mixed 100%.

 R: 4+ 10000 10000 10000 0

-
-Gimbal / payload mixer for last four channels
+Gimbal / payload mixer for last two channels
 -----------------------------------------------------

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
+S: 3 6  10000  10000      0 -10000  10000
@@ -6,21 +6,13 @@ are mixed 100%.

 R: 4h 10000 10000 10000 0

-Gimbal / payload mixer for last four channels
+Gimbal / payload mixer for last two channels
 -----------------------------------------------------

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
+S: 3 6  10000  10000      0 -10000  10000
@@ -0,0 +1,25 @@
+Multirotor mixer for TEST
+===========================
+
+This file defines a single mixer for a quadrotor with a wide configuration.  All controls are mixed 100%.
+
+R: 4w 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
@@ -6,21 +6,13 @@ are mixed 100%.

 R: 4v 10000 10000 10000 0

-Gimbal / payload mixer for last four channels
+Gimbal / payload mixer for last two channels
 -----------------------------------------------------

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
+S: 3 6  10000  10000      0 -10000  10000
@@ -5,21 +5,13 @@ This file defines a single mixer for a quadrotor with a wide configuration.  All

 R: 4w 10000 10000 10000 0

-Gimbal / payload mixer for last four channels
+Gimbal / payload mixer for last two channels
 -----------------------------------------------------

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
+S: 3 6  10000  10000      0 -10000  10000
@@ -1,26 +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
-
-Gimbal / payload mixer for last four channels
-----------------------------------------------------
-
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-
+S: 3 5  10000  10000      0 -10000  10000
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
+S: 3 6  10000  10000      0 -10000  10000
@@ -5,21 +5,17 @@ This file defines a single mixer for a quadrotor in SK450 DeadCat configuration.

 R: 4dc 10000 10000 10000 0

-Gimbal / payload mixer for last four channels
+Gimbal / payload mixer for last three channels
 -----------------------------------------------------

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 3 6  10000  10000      0 -10000  10000

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
+S: 3 7  10000  10000      0 -10000  10000
@@ -0,0 +1,296 @@
+#!/usr/bin/env python
+
+################################################################################################
+# @File MissionCheck.py
+# Automated mission loading, execution and monitoring
+# for Continuous Integration
+#
+# @author Sander Smeets <sander@droneslab.com>
+#
+# Code partly based on DroneKit (c) Copyright 2015-2016, 3D Robotics.
+################################################################################################
+
+
+################################################################################################
+# Settings
+################################################################################################
+
+connection_string       = '127.0.0.1:14540'
+
+import_mission_filename = 'VTOLmission.txt'
+max_execution_time      = 250
+alt_acceptance_radius   = 10
+
+################################################################################################
+# Init
+################################################################################################
+
+# Import DroneKit-Python
+from dronekit import connect, Command
+from pymavlink import mavutil
+import time, sys, argparse
+
+parser = argparse.ArgumentParser()
+parser.add_argument("-c", "--connect", help="connection string")
+parser.add_argument("-f", "--filename", help="mission filename")
+parser.add_argument("-t", "--timeout", help="execution timeout", type=float)
+parser.add_argument("-a", "--altrad", help="altitude acceptance radius", type=float)
+args = parser.parse_args()
+
+if args.connect:
+    connection_string = args.connect
+if args.filename:
+    import_mission_filename = args.filename
+if args.timeout:
+    max_execution_time = args.timeout
+if args.altrad:
+    alt_acceptance_radius = args.altrad
+
+
+
+mission_failed = False
+MAV_MODE_AUTO = 4
+
+# start time counter
+start_time = time.time()
+elapsed_time = time.time() - start_time
+
+
+
+# Connect to the Vehicle
+print "Connecting"
+vehicle = connect(connection_string, wait_ready=True)
+
+while not vehicle.system_status.state == "STANDBY" or vehicle.gps_0.fix_type < 3:
+    if time.time() - start_time > 20:
+        print "FAILED: SITL did not reach standby with GPS fix within 20 seconds"
+        sys.exit(98)
+    print "Waiting for vehicle to initialise... %s " % vehicle.system_status.state
+    time.sleep(1)
+
+# Display basic vehicle state
+print " Type: %s" % vehicle._vehicle_type
+print " Armed?: %s" % vehicle.armed
+print " System status: %s" % vehicle.system_status.state
+print " GPS: %s" % vehicle.gps_0
+print " Alt: %s" % vehicle.location.global_relative_frame.alt
+
+
+################################################################################################
+# Functions
+################################################################################################
+
+
+def readmission(aFileName):
+    """
+    Load a mission from a file into a list. The mission definition is in the Waypoint file
+    format (http://qgroundcontrol.org/mavlink/waypoint_protocol#waypoint_file_format).
+    This function is used by upload_mission().
+    """
+    cmds = vehicle.commands
+    missionlist=[]
+    with open(aFileName) as f:
+        for i, line in enumerate(f):
+            if i==0:
+                if not line.startswith('QGC WPL 110'):
+                    raise Exception('File is not supported WP version')
+            else:
+                linearray=line.split('\t')
+                ln_index=int(linearray[0])
+                ln_currentwp=int(linearray[1])
+                ln_frame=int(linearray[2])
+                ln_command=int(linearray[3])
+                ln_param1=float(linearray[4])
+                ln_param2=float(linearray[5])
+                ln_param3=float(linearray[6])
+                ln_param4=float(linearray[7])
+                ln_param5=float(linearray[8])
+                ln_param6=float(linearray[9])
+                ln_param7=float(linearray[10])
+                ln_autocontinue=int(linearray[11].strip())
+                cmd = Command( 0, 0, 0, ln_frame, ln_command, ln_currentwp, ln_autocontinue, ln_param1, ln_param2, ln_param3, ln_param4, ln_param5, ln_param6, ln_param7)
+                missionlist.append(cmd)
+    return missionlist
+
+
+def upload_mission(aFileName):
+    """
+    Upload a mission from a file.
+    """
+    #Read mission from file
+    missionlist = readmission(aFileName)
+
+    #Clear existing mission from vehicle
+    cmds = vehicle.commands
+    cmds.clear()
+    #Add new mission to vehicle
+    for command in missionlist:
+        cmds.add(command)
+    print ' Uploaded mission with %s items' % len(missionlist)
+    vehicle.commands.upload()
+    return missionlist
+
+
+def download_mission():
+    """
+    Downloads the current mission and returns it in a list.
+    It is used in save_mission() to get the file information to save.
+    """
+    print " Download mission from vehicle"
+    missionlist=[]
+    cmds = vehicle.commands
+    cmds.download()
+    cmds.wait_ready()
+    for cmd in cmds:
+        missionlist.append(cmd)
+    return missionlist
+
+def save_mission(aFileName):
+    """
+    Save a mission in the Waypoint file format
+    (http://qgroundcontrol.org/mavlink/waypoint_protocol#waypoint_file_format).
+    """
+    print "\nSave mission from Vehicle to file: %s" % export_mission_filename
+    #Download mission from vehicle
+    missionlist = download_mission()
+    #Add file-format information
+    output='QGC WPL 110\n'
+    #Add home location as 0th waypoint
+    home = vehicle.home_location
+    output+="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (0,1,0,16,0,0,0,0,home.lat,home.lon,home.alt,1)
+    #Add commands
+    for cmd in missionlist:
+        commandline="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (cmd.seq,cmd.current,cmd.frame,cmd.command,cmd.param1,cmd.param2,cmd.param3,cmd.param4,cmd.x,cmd.y,cmd.z,cmd.autocontinue)
+        output+=commandline
+    with open(aFileName, 'w') as file_:
+        print " Write mission to file"
+        file_.write(output)
+
+
+def printfile(aFileName):
+    """
+    Print a mission file to demonstrate "round trip"
+    """
+    print "\nMission file: %s" % aFileName
+    with open(aFileName) as f:
+        for line in f:
+            print ' %s' % line.strip()
+
+
+################################################################################################
+# Listeners
+################################################################################################
+
+current_sequence = -1
+current_sequence_changed = False
+current_landed_state = -1
+home_position_set = False
+
+#Create a message listener for mission sequence number
+@vehicle.on_message('MISSION_CURRENT')
+def listener(self, name, mission_current):
+    global current_sequence, current_sequence_changed
+    if (current_sequence <> mission_current.seq):
+        current_sequence = mission_current.seq;
+        current_sequence_changed = True
+        print 'current mission sequence: %s' % mission_current.seq
+
+#Create a message listener for mission sequence number
+@vehicle.on_message('EXTENDED_SYS_STATE')
+def listener(self, name, extended_sys_state):
+    global current_landed_state
+    if (current_landed_state <> extended_sys_state.landed_state):
+        current_landed_state = extended_sys_state.landed_state;
+
+#Create a message listener for home position fix
+@vehicle.on_message('HOME_POSITION')
+def listener(self, name, home_position):
+    global home_position_set
+    home_position_set = True
+
+
+
+################################################################################################
+# Start mission test
+################################################################################################
+
+
+while not home_position_set:
+    if time.time() - start_time > 30:
+        print "FAILED: getting home position 30 seconds"
+        sys.exit(98)
+    print "Waiting for home position..."
+    time.sleep(1)
+
+
+#Upload mission from file
+missionlist = upload_mission(import_mission_filename)
+time.sleep(2)
+
+# set mission mode the hard way
+vehicle._master.mav.command_long_send(vehicle._master.target_system, vehicle._master.target_component,
+                                           mavutil.mavlink.MAV_CMD_DO_SET_MODE, 0,
+                                           MAV_MODE_AUTO,
+                                           0, 0, 0, 0, 0, 0)
+time.sleep(1)
+
+
+# Arm vehicle
+vehicle.armed = True
+
+while not vehicle.system_status.state == "ACTIVE":
+    if time.time() - start_time > 30:
+        print "FAILED: vehicle did not arm within 30 seconds"
+        sys.exit(98)
+    print "Waiting for vehicle to arm..."
+    time.sleep(1)
+
+
+
+# Wait for completion of mission items
+while (current_sequence < len(missionlist)-1 and elapsed_time < max_execution_time):
+    time.sleep(.2)
+    if current_sequence > 0 and current_sequence_changed:
+
+        if missionlist[current_sequence-1].z - alt_acceptance_radius > vehicle.location.global_relative_frame.alt or missionlist[current_sequence-1].z + alt_acceptance_radius < vehicle.location.global_relative_frame.alt:
+            print "waypoint %s out of bounds altitude %s gps altitude: %s" % (current_sequence, missionlist[current_sequence-1].z, vehicle.location.global_relative_frame.alt)
+            mission_failed = True
+        current_sequence_changed = False
+    elapsed_time = time.time() - start_time
+
+if elapsed_time < max_execution_time:
+    print "Mission items have been executed"
+
+# wait for the vehicle to have landed
+while (current_landed_state != 1 and elapsed_time < max_execution_time):
+    time.sleep(1)
+    elapsed_time = time.time() - start_time
+
+if elapsed_time < max_execution_time:
+    print "Vehicle has landed"
+
+# Disarm vehicle
+vehicle.armed = False
+
+# count elapsed time
+elapsed_time = time.time() - start_time
+
+# Close vehicle object before exiting script
+vehicle.close()
+time.sleep(2)
+
+# Validate time constraint
+if elapsed_time <= max_execution_time and not mission_failed:
+    print "Mission succesful time elapsed %s" % elapsed_time
+    sys.exit(0)
+
+if elapsed_time > max_execution_time:
+    print "Mission FAILED to execute within %s seconds" % max_execution_time
+    sys.exit(99)
+
+if mission_failed:
+    print "Mission FAILED out of bounds"
+    sys.exit(100)
+
+print "Mission FAILED something strange happened"
+sys.exit(101)
@@ -0,0 +1,9 @@
+QGC WPL 110
+0	1	0	16	0	0	0	0	47.3979949951	8.54559612274	25.0	1
+1	0	2	3000	4.0	0.0	0.0	0.0	47.3980331421	8.54578971863	25.0	1
+2	0	3	16	0.0	0.0	-0.0	0.0	47.399269104	8.54557228088	25.0	1
+3	0	3	16	0.0	0.0	-0.0	0.0	47.3992652893	8.54230213165	25.0	1
+4	0	3	16	0.0	0.0	-0.0	0.0	47.3974761963	8.54239082336	25.0	1
+5	0	3	16	0.0	0.0	-0.0	0.0	47.3976669312	8.54509449005	25.0	1
+6	0	2	3000	3.0	0.0	0.0	0.0	47.3977851868	8.54526233673	25.0	1
+7	0	3	21	25.0	0.0	-0.0	0.0	47.3979797363	8.54460906982	25.0	1
@@ -0,0 +1,25 @@
+#!/bin/bash
+
+if [[ "$#" < 2 ]]; then
+	echo "usage: adb_upload.sh SRC1 [SRC2 ...] DEST"
+	exit
+fi
+
+echo "Wait for device..."
+adb wait-for-device
+echo "Uploading..."
+
+# Get last argument
+for last; do true; done
+
+# Go through source files and push them one by one.
+i=0
+for arg
+do
+	if [[ $((i+1)) == "$#" ]]; then
+		break
+	fi
+	# echo "Pushing $arg to $last"
+	adb push $arg $last
+	((i+=1))
+done
@@ -25,17 +25,15 @@ 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 \
                 src/modules/systemlib \
-                 src/modules/controllib \
+                 src/lib/controllib \
                   -path './Build' -prune -o \
                   -path './mavlink' -prune -o \
                   -path './NuttX' -prune -o \
                   -path './src/lib/eigen' -prune -o \
-                   -path './src/lib/mathlib/CMSIS' -prune -o \
                   -path './src/modules/uavcan/libuavcan' -prune -o \
                   -path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
                   -path './src/modules/ekf_att_pos_estimator' -prune -o \
@@ -6,34 +6,29 @@
    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
+# The .git exists in a submodule if init and update have been done.
+if [ -f $1"/.git" ] || [ -d $1"/.git" ];
+then
 	SUBMODULE_STATUS=$(git submodule summary "$1")
-	STATUSRETVAL=$(echo $SUBMODULE_STATUS | grep -A20 -i "$1" | grep "<")
-	if [ -z "$STATUSRETVAL" ]; then
-		echo "Checked $1 submodule, correct version found"
-	else
+	STATUSRETVAL=$(echo $SUBMODULE_STATUS | grep -A20 -i "$1")
+	if ! [[ -z "$STATUSRETVAL" ]];
+	then
 		echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
 		echo ""
-		echo -e "New commits required:"
+		echo -e "Different commits:"
 		echo -e "$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 " *   (performs \033[94mgit submodule sync --recursive\033[0m                                  *"
+		echo -e " *    and \033[94mgit submodule update --init --recursive\033[0m )                            *"
 		echo -e " *******************************************************************************"
 		echo ""
 		echo ""
@@ -49,6 +44,7 @@ if [ -d $1 ];
 		else
 			if [ "$user_cmd" == "u" ]
 			then
+				git submodule sync --recursive
 				git submodule update --init --recursive
 				echo "Submodule fixed, continuing build.."
 			else
@@ -58,8 +54,10 @@ if [ -d $1 ];
 		fi
 	fi
 else
-	git submodule update --init --recursive;
-	git submodule update;
+	echo "REINITIALIZING GIT SUBMODULES"
+	echo "no git repo found in $1/.git"
+	git submodule sync --recursive;
+	git submodule update --init --recursive $1;
 fi

 }
@@ -72,10 +70,13 @@ check_git_submodule Tools/sitl_gazebo
 check_git_submodule cmake/cmake_hexagon
 check_git_submodule mavlink/include/mavlink/v1.0
 check_git_submodule src/lib/DriverFramework
-check_git_submodule src/lib/dspal
+check_git_submodule src/lib/DriverFramework/cmake/cmake_hexagon
+check_git_submodule src/lib/DriverFramework/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
+check_git_submodule src/drivers/gps/devices
+
+exit 0

-exit 0
@@ -9,6 +9,10 @@ if [ "$ASTYLE_VER" != "$ASTYLE_VER_REQUIRED" ]; then
  exit 1
 fi

+if [[ $# -eq 0 ]] ; then
+  exit 0
+fi
+
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 astyle \
    --options=$DIR/astylerc          \
@@ -106,6 +106,7 @@ print("""
 * Tool for listening to topics when running flight stack on linux.
 */

+#include <drivers/drv_hrt.h>
 #include <px4_middleware.h>
 #include <px4_app.h>
 #include <px4_config.h>
@@ -125,6 +126,14 @@ print("""
 #define PRId64 "lld"
 #endif

+static bool check_timeout(const hrt_abstime& time) {
+    if (hrt_elapsed_time(&time) > 2*1000*1000) {
+		printf("Waited for 2 seconds without a message. Giving up.\\n");
+        return true;
+    }
+    return false;
+}
+
 """)
 for m in messages:
 	print("#include <uORB/topics/%s.h>" % m)
@@ -136,12 +145,12 @@ 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])
@@ -154,11 +163,15 @@ 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\thrt_abstime start_time = hrt_absolute_time();")
+	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\tif (updated) {")
-	print("\t\tprintf(\"\\nTOPIC: %s #%%d\\n\", i);" % m)
+	print("\t\t\tstart_time = hrt_absolute_time();")
+	print("\t\t\ti++;")
+	print("\t\t\tprintf(\"\\nTOPIC: %s #%%d\\n\", i);" % m)
 	print("\t\t\torb_copy(ID,sub,&container);")
 	for item in message_elements[index+1]:
 		if item[0] == "float":
@@ -190,11 +203,21 @@ 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} else {")
+	print("\t\t\t\tif (check_timeout(start_time)) {")
+	print("\t\t\t\t\tbreak;")
+	print("\t\t\t\t}")
 	print("\t\t\t}")
 	print("\t\t}")
 print("\t} else {")
@@ -22,6 +22,10 @@ class XMLOutput():
        xml_parameters = ET.Element("airframes")
        xml_version = ET.SubElement(xml_parameters, "version")
        xml_version.text = "1"
+        xml_version = ET.SubElement(xml_parameters, "airframe_version_major")
+        xml_version.text = "1"
+        xml_version = ET.SubElement(xml_parameters, "airframe_version_minor")
+        xml_version.text = "1"
        last_param_name = ""
        board_specific_param_set = False
        for group in groups:
@@ -45,6 +49,8 @@ class XMLOutput():
                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"] = "QuadRotorWide"
            elif (group.GetName() == "Quadrotor H"):
@@ -59,7 +65,7 @@ class XMLOutput():
                xml_group.attrib["image"] = "VTOLPlane"
            elif (group.GetName() == "VTOL Quad Tailsitter"):
                xml_group.attrib["image"] = "VTOLQuadRotorTailSitter"
-            elif (group.GetName() == "VTOLTiltRotor"):
+            elif (group.GetName() == "VTOL Tiltrotor"):
                xml_group.attrib["image"] = "VTOLTiltRotor"
            elif (group.GetName() == "Coaxial Helicopter"):
                xml_group.attrib["image"] = "HelicopterCoaxial"
@@ -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", "reboot_required"])
+    valid_tags = set(["group", "board", "min", "max", "unit", "decimal", "increment", "reboot_required", "value", "boolean"])

    # Order of parameter groups
    priority = {
@@ -118,7 +144,7 @@ class SourceParser(object):
    def __init__(self):
        self.param_groups = {}

-    def Parse(self, contents):
+    def Parse(self, scope, contents):
        """
        Incrementally parse program contents and append all found parameters
        to the list.
@@ -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
@@ -208,6 +241,7 @@ class SourceParser(object):
                    if defval != "" and self.re_is_a_number.match(defval):
                        defval = self.re_cut_type_specifier.sub('', defval)
                    param = Parameter(name, tp, defval)
+                    param.SetField("scope", scope)
                    param.SetField("short_desc", name)
                    # If comment was found before the parameter declaration,
                    # inject its data into the newly created parameter.
@@ -226,6 +260,8 @@ 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 +314,13 @@ 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):
@@ -33,6 +33,8 @@ class SourceScanner(object):
        Scans provided file and passes its contents to the parser using
        parser.Parse method.
        """
+        prefix = ".." + os.path.sep + "src" + os.path.sep
+        scope = re.sub(prefix, '', os.path.dirname(os.path.relpath(path)))
        with codecs.open(path, 'r', 'utf-8') as f:
            try:
                contents = f.read()
@@ -40,4 +42,4 @@ class SourceScanner(object):
                contents = ''
                print('Failed reading file: %s, skipping content.' % path)
                pass
-        return parser.Parse(contents)
+        return parser.Parse(scope, contents)
@@ -22,6 +22,10 @@ class XMLOutput():
        xml_parameters = ET.Element("parameters")
        xml_version = ET.SubElement(xml_parameters, "version")
        xml_version.text = "3"
+        xml_version = ET.SubElement(xml_parameters, "parameter_version_major")
+        xml_version.text = "1"
+        xml_version = ET.SubElement(xml_parameters, "parameter_version_minor")
+        xml_version.text = "9"
        importtree = ET.parse(inject_xml_file_name)
        injectgroups = importtree.getroot().findall("group")
        for igroup in injectgroups:
@@ -52,6 +56,13 @@ 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)

@@ -1,12 +1,95 @@
 #!/usr/bin/env python
 import xml.etree.ElementTree as ET
 import os
+import re
+import codecs

-if len(os.sys.argv) != 2:
+class Scope(object):
+	"""
+	Single parameter group
+	"""
+	re_deep_lines = re.compile(r'.*\/.*\/')
+	def __init__(self, ):
+		self.scope = set()
+
+
+	def __str__(self):
+		return self.scope.__str__()
+
+	def Add(self, scope):
+		"""
+		Add Scope to set
+		"""
+		self.scope.add(scope)
+
+	def Has(self, scope):
+		"""
+		Check for existance
+		"""
+		if len(self.scope) == 0:
+			return True
+		# Anything in the form xxxxx/yyyyy/zzzzz....
+		# is treated as xxxxx/yyyyy
+		while (self.re_deep_lines.match(scope)):
+			scope = os.path.dirname(scope)
+		return scope in self.scope
+			
+
+
+class CMakeParser(object):
+	"""
+	Parses provided data and stores all found paths in scope.
+	"""
+	re_split_lines = re.compile(r'[\r\n]+')
+	re_comment = re.compile(r'^\#')
+	re_start = re.compile(r'set\s*\(\s*config_module_list')
+	re_end = re.compile(r'\)\s*')
+
+	def Parse(self, scope, contents):
+		"""
+		Incrementally parse cmake file contents and append all found path scope
+		to scope.
+		"""
+		# This code is essentially a comment-parsing grammar. "state"
+		# represents parser state. It contains human-readable state
+		# names.
+		state = None
+		for line in self.re_split_lines.split(contents):
+			line = line.strip()
+			# Ignore empty lines
+			if line == "":
+				continue
+			if self.re_comment.match(line):
+				continue
+			elif self.re_start.match(line):
+				state = "gather"
+				continue
+			elif state is not None and state == "gather":
+				if self.re_end.match(line):
+					return True
+				scope.Add(line)
+		return False
+
+
+if len(os.sys.argv) < 2:
 	print("Error in %s" % os.sys.argv[0])
-	print("Usage: %s <parameters.xml>" % os.sys.argv[0])
+	print("Usage: %s <parameters.xml> [cmake-file-scoping] " % os.sys.argv[0])
 	raise SystemExit

+
+scope = Scope()
+if len(os.sys.argv) == 3:
+	with codecs.open(os.sys.argv[2], 'r', 'utf-8') as f:
+		try:
+			contents = f.read()
+			f.close()
+			parser  = CMakeParser()
+			parser.Parse(scope, contents)
+		except:
+			contents = ''
+			print('Failed reading file: %s, skipping scoping.' % os.sys.argv[2])
+			pass
+
 fp_header = open("px4_parameters.h", "w")
 fp_src = open("px4_parameters.c", "w")

@@ -30,14 +113,19 @@ end_name = ""

 for group in root:
 	if group.tag == "group" and "no_code_generation" not in group.attrib:
-		header += """
+		section = """
 	/*****************************************************************
 	 * %s
 	 ****************************************************************/""" % group.attrib["name"]
 		for param in group:
+			scope_ = param.find('scope').text
+			if not scope.Has(scope_):
+				continue
 			if not start_name:
 				start_name = param.attrib["name"]
 			end_name = param.attrib["name"]
+			header += section
+			section =""
 			header += """
 	const struct param_info_s __param__%s;""" % param.attrib["name"]
 header += """
@@ -63,12 +151,14 @@ struct px4_parameters_t px4_parameters = {
 i=0
 for group in root:
 	if group.tag == "group" and "no_code_generation" not in group.attrib:
-
-		src += """
+		section = """
 	/*****************************************************************
 	 * %s
 	 ****************************************************************/""" % group.attrib["name"]
 		for param in group:
+			scope_ = param.find('scope').text
+			if not scope.Has(scope_):
+				continue
 			if not start_name:
 				start_name = param.attrib["name"]
 			end_name = param.attrib["name"]
@@ -78,6 +168,8 @@ for group in root:
 			elif (param.attrib["type"] == "INT32"):
 				val_str = ".val.i = "
 			i+=1
+			src += section
+			section =""
 			src += """
 	{
 		"%s",
@@ -97,4 +189,5 @@ __END_DECLS

 fp_header.write(header)
 fp_src.write(src)
-
+fp_header.close()
+fp_src.close()
@@ -108,6 +108,7 @@ if args.parameter_xml != None:
 	bytes = f.read()
 	desc['parameter_xml_size'] = len(bytes)
 	desc['parameter_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
+        desc['mav_autopilot'] = 12 # 12 = MAV_AUTOPILOT_PX4
 if args.airframe_xml != None:
 	f = open(args.airframe_xml, "rb")
 	bytes = f.read()
@@ -71,6 +71,7 @@ def main():
                         const="",
                         metavar="BOARD",
                         help="Board to create airframes xml for")
+    parser.add_argument("-v", "--verbose", help="verbose output")
    args = parser.parse_args()

    # Check for valid command
@@ -84,7 +85,7 @@ def main():
    parser = srcparser.SourceParser()

    # Scan directories, and parse the files
-    print("Scanning source path " + args.airframes_path)
+    if args.verbose: print("Scanning source path " + args.airframes_path)
    if not scanner.ScanDir(args.airframes_path, parser):
        sys.exit(1)
    # We can't validate yet
@@ -94,16 +95,16 @@ def main():

    # Output to XML file
    if args.xml:
-        print("Creating XML file " + args.xml)
+        if args.verbose: print("Creating XML file " + args.xml)
        out = xmlout.XMLOutput(param_groups, args.board)
        out.Save(args.xml)

    if args.start_script:
-        print("Creating start script " + args.start_script)
+        if args.verbose: print("Creating start script " + args.start_script)
        out = rcout.RCOutput(param_groups, args.board)
        out.Save(args.start_script)

-    print("All done!")
+    if (args.verbose): print("All done!")


 if __name__ == "__main__":
@@ -107,6 +107,7 @@ def main():
                        metavar="SUMMARY",
                        default="Automagically updated parameter documentation from code.",
                        help="DokuWiki page edit summary")
+    parser.add_argument("-v", "--verbose", help="verbose output")
    args = parser.parse_args()

    # Check for valid command
@@ -120,7 +121,7 @@ def main():
    parser = srcparser.SourceParser()

    # Scan directories, and parse the files
-    print("Scanning source path " + args.src_path)
+    if (args.verbose): print("Scanning source path " + args.src_path)
    if not scanner.ScanDir(args.src_path, parser):
        sys.exit(1)
    if not parser.Validate():
@@ -129,7 +130,7 @@ def main():

    # Output to XML file
    if args.xml:
-        print("Creating XML file " + args.xml)
+        if args.verbose: print("Creating XML file " + args.xml)
        out = xmlout.XMLOutput(param_groups, args.board, os.path.join(args.src_path, args.inject_xml))
        out.Save(args.xml)

@@ -147,7 +148,7 @@ def main():
            else:
                print("Error: You need to specify DokuWiki XML-RPC username and password!")

-    print("All done!")
+    #print("All done!")


 if __name__ == "__main__":
@@ -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'):
@@ -0,0 +1,5 @@
+#!/usr/bin/env bash
+
+make px4fmu-v2_default
+cp build_px4fmu-v2_default/parameters.xml ../qgroundcontrol/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+cp build_px4fmu-v2_default/airframes.xml ../qgroundcontrol/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
@@ -0,0 +1,187 @@
+#!/usr/bin/env python
+#
+#       __geotagging__
+#       Tag the images recorded during a flight with geo location extracted from
+#       a PX4 log file.
+# 
+#       This file accepts *.jpg format images and reads position information
+#       from a *.px4log file
+#
+#       Example Syntax:
+#       python geotagging.py --logfile=log001.px4log --input=images/
+#                            --output=imagesWithTag/
+#
+#   Author: Andreas Bircher, Wingtra, http://wingtra.com, in 2016
+#
+
+import glob
+import os
+import pyexiv2
+import fractions
+from PIL import Image
+from PIL.ExifTags import TAGS
+import sys
+from shutil import copyfile
+from optparse import OptionParser
+from numpy import genfromtxt
+import shutil
+import csv
+
+class TriggerList( object ):
+    def __init__( self ):
+        self.CAMT_seq = []
+        self.CAMT_timestamp = []
+        self.GPOS_Lat = []
+        self.GPOS_Lon = []
+        self.GPOS_Alt = []
+
+class ImageList( object ):
+    def __init__( self ):
+        self.jpg = []
+        self.raw = []
+
+def to_degree(value, loc):
+    if value < 0:
+        loc_value = loc[0]
+    elif value > 0:
+        loc_value = loc[1]
+    else:
+        loc_value = ""
+    absolute_value = abs(value)
+    deg =  int(absolute_value)
+    t1 = (absolute_value-deg)*60
+    min = int(t1)
+    sec = round((t1 - min)* 60, 5)
+    return (deg, min, sec, loc_value)
+
+def SetGpsLocation(file_name, lat, lng, alt):
+    """
+        Adding GPS tag
+
+    """
+    lat_deg = to_degree(lat, ["S", "N"])
+    lng_deg = to_degree(lng, ["W", "E"])
+
+    exiv_lat = (pyexiv2.Rational(lat_deg[0] * 60 + lat_deg[1], 60), pyexiv2.Rational(lat_deg[2] * 100, 6000), pyexiv2.Rational(0, 1))
+    exiv_lng = (pyexiv2.Rational(lng_deg[0] * 60 + lng_deg[1], 60), pyexiv2.Rational(lng_deg[2] * 100, 6000), pyexiv2.Rational(0, 1))
+
+    exiv_image = pyexiv2.ImageMetadata(file_name)
+    exiv_image.read()
+
+    exiv_image["Exif.GPSInfo.GPSLatitude"] = exiv_lat
+    exiv_image["Exif.GPSInfo.GPSLatitudeRef"] = lat_deg[3]
+    exiv_image["Exif.GPSInfo.GPSLongitude"] = exiv_lng
+    exiv_image["Exif.GPSInfo.GPSLongitudeRef"] = lng_deg[3]
+    exiv_image["Exif.GPSInfo.GPSAltitude"] = pyexiv2.Rational(alt, 1)
+    exiv_image["Exif.GPSInfo.GPSAltitudeRef"] = '0'
+    exiv_image["Exif.Image.GPSTag"] = 654
+    exiv_image["Exif.GPSInfo.GPSMapDatum"] = "WGS-84"
+    exiv_image["Exif.GPSInfo.GPSVersionID"] = '2 0 0 0'
+
+    exiv_image.write(True)
+
+def LoadPX4log(px4_log_file):
+    """
+       load px4 log file and extract trigger locations
+    """
+    os.system('python sdlog2_dump.py ' + px4_log_file + ' -f log.csv')
+    f = open('log.csv', 'rb')
+    reader = csv.reader(f)
+    headers = reader.next()
+    line = {}
+    for h in headers:
+        line[h] = []
+
+    for row in reader:
+        for h, v in zip(headers, row):
+            line[h].append(v)
+
+    trigger_list = TriggerList()
+    for seq in range(0, len(line['CAMT_seq']) - 1):
+        if line['CAMT_seq'][seq] != line['CAMT_seq'][seq + 1]:
+            trigger_list.CAMT_seq.append(line['CAMT_seq'][seq + 1])
+            trigger_list.CAMT_timestamp.append(line['CAMT_timestamp'][seq + 1])
+            trigger_list.GPOS_Lat.append(line['GPOS_Lat'][seq + 1])
+            trigger_list.GPOS_Lon.append(line['GPOS_Lon'][seq + 1])
+            trigger_list.GPOS_Alt.append(line['GPOS_Alt'][seq + 1])
+    return trigger_list
+
+def LoadImageList(input_folder):
+    """
+       load the image list
+    """
+    image_list = ImageList()
+    for jpg_image in glob.glob(input_folder + "/*.jpg"):
+        image_list.jpg.append(jpg_image)
+    for jpg_image in glob.glob(input_folder + "/*.JPG"):
+        image_list.jpg.append(jpg_image)
+    for raw_image in glob.glob(input_folder + "/*.RC"):
+        image_list.raw.append(raw_image)
+    if len(image_list.jpg) != len(image_list.raw) and len(image_list.jpg) * len(image_list.raw) != 0:
+        print("Unequal number of jpg and raw images")
+    if len(image_list.jpg) == 0 and len(image_list.raw) == 0:
+        print("No images found")
+    image_list.jpg = sorted(image_list.jpg)
+    image_list.raw = sorted(image_list.raw)
+    return image_list
+
+def FilterTrigger(trigger_list, image_list):
+    """
+       filter triggers to allow exact matching with recorded images
+    """
+    if len(image_list.jpg) != len(trigger_list.CAMT_seq) and len(image_list.raw) != len(trigger_list.CAMT_seq):
+        # filter trigger list to match the number of pics
+        print("No trigger filter implemented yet.")
+
+    return trigger_list
+
+def TagImages(trigger_list, image_list, output_folder):
+    """
+       load px4 log file and extract trigger locations
+    """
+    for image in range(len(image_list.jpg)):
+        base_path, filename = os.path.split(image_list.jpg[image])
+        copyfile(image_list.jpg[image], output_folder + "/" + filename)
+        SetGpsLocation(output_folder + "/" + filename, float(trigger_list.GPOS_Lat[image]), float(trigger_list.GPOS_Lon[image]), float(trigger_list.GPOS_Alt[image]))
+    for image in range(len(image_list.raw)):
+        base_path, filename = os.path.split(image_list.raw[image])
+        copyfile(image_list.raw[image], output_folder + "/" + filename)
+        SetGpsLocation(output_folder + "/" + filename, float(trigger_list.GPOS_Lat[image]), float(trigger_list.GPOS_Lon[image]), float(trigger_list.GPOS_Alt[image]))
+
+def main():
+    """
+        Main method
+    """
+    parser = OptionParser()
+    parser.add_option("-l", "--logfile", dest = "LogFile", 
+                    help = "PX4 log file containing recorded positions", 
+                    metavar = "string")
+    parser.add_option("-i", "--input", dest = "InputFolder",
+                    help = "Input folder containing untagged images in alphabetical order",
+                    type = "string")
+    parser.add_option("-o", "--output", dest = "OutputFolder",
+                    help = "Output folder to contain tagged images",
+                    type = "string")
+    
+    (options, args) = parser.parse_args()
+    if not options.LogFile:
+        print "please type python " \
+              "geotagging.py --logfile=[filename] --intput=[folder] [--output=[folder]]"     
+    elif not options.InputFolder:
+        print "please type python " \
+              "geotagging.py --logfile=[filename] --intput=[folder] [--output=[folder]]s"
+    else:
+        trigger_list = LoadPX4log(options.LogFile)
+        image_list = LoadImageList(options.InputFolder)
+
+        if not options.OutputFolder:
+            options.OutputFolder = "imagesWithTag"
+        if not os.path.exists(options.OutputFolder):
+            os.makedirs(options.OutputFolder)
+
+        trigger_list = FilterTrigger(trigger_list, image_list)
+
+        TagImages(trigger_list, image_list, options.OutputFolder)
+
+if __name__ == "__main__":
+    main()
@@ -48,6 +48,7 @@ class SDLog2Parser:
        "i": ("i", None),
        "I": ("I", None),
        "f": ("f", None),
+        "d": ("d", None),
        "n": ("4s", None),
        "N": ("16s", None),
        "Z": ("64s", None),
@@ -14,6 +14,10 @@ echo program: $program
 echo model: $model
 echo build_path: $build_path

+mkdir -p $build_path/src/firmware/posix/rootfs/fs/microsd
+mkdir -p $build_path/src/firmware/posix/rootfs/eeprom
+touch $build_path/src/firmware/posix/rootfs/eeprom/parameters
+
 if [ "$chroot" == "1" ]
 then
 	chroot_enabled=-c
@@ -29,7 +33,7 @@ then
 	model="iris"
 fi

-if [ "$#" != 5 ]
+if [ "$#" -lt 5 ]
 then
 	echo usage: sitl_run.sh rc_script debugger program model build_path
 	echo ""
@@ -48,6 +52,7 @@ fi

 set -e

+cd $build_path/..
 cp Tools/posix_lldbinit $build_path/src/firmware/posix/.lldbinit
 cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit

@@ -56,9 +61,11 @@ SIM_PID=0
 if [ "$program" == "jmavsim" ] && [ "$no_sim" == "" ]
 then
 	cd Tools/jMAVSim
-	ant
-	java -Djava.ext.dirs= -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp 127.0.0.1:14560 &
+	ant create_run_jar copy_res
+	cd out/production
+	java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
 	SIM_PID=`echo $!`
+	cd ../..
 elif [ "$program" == "gazebo" ] && [ "$no_sim" == "" ]
 then
 	if [ -x "$(command -v gazebo)" ]
@@ -74,6 +81,7 @@ then
 		cd Tools/sitl_gazebo/Build
 		cmake -Wno-dev ..
 		make -j4
+		make sdf
 		gzserver --verbose ../worlds/${model}.world &
 		SIM_PID=`echo $!`
 		gzclient --verbose &
@@ -82,11 +90,24 @@ then
 		echo "You need to have gazebo simulator installed!"
 		exit 1
 	fi
+elif [ "$program" == "replay" ] && [ "$no_sim" == "" ]
+then
+	echo "Replaying logfile: $logfile"
+	# This is not a simulator, but a log file to replay
+
+	# Check if we need to creat a param file to allow user to change parameters
+	if ! [ -f "${build_path}/src/firmware/posix/rootfs/replay_params.txt" ]
+		then
+		touch ${build_path}/src/firmware/posix/rootfs/replay_params.txt
+	fi
 fi
+
 cd $build_path/src/firmware/posix
-mkdir -p rootfs/fs/microsd
-mkdir -p rootfs/eeprom
-touch rootfs/eeprom/parameters
+
+if [ "$logfile" != "" ]
+then
+	cp $logfile rootfs/replay.px4log
+fi

 # Do not exit on failure now from here on because we want the complete cleanup
 set +e
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash

 EXEDIR=`pwd`
 BASEDIR=$(dirname $0)
@@ -90,7 +90,7 @@ include(CMakeParseArguments)
 #		endfunction()
 #
 #		test(NAME "hello" LIST a b c)
-#		
+#
 #		OUTPUT:
 #			name: hello
 #			list: a b c
@@ -138,13 +138,11 @@ 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 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}
 		DEPENDS ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
 		)
 endfunction()
@@ -227,7 +225,9 @@ endfunction()
 #	Usage:
 #		px4_add_module(MODULE <string>
 #			[ MAIN <string> ]
-#			[ STACK <string> ]
+#			[ STACK <string> ] !!!!!DEPRECATED, USE STACK_MAIN INSTEAD!!!!!!!!!
+#			[ STACK_MAIN <string> ]
+#			[ STACK_MAX <string> ]
 #			[ COMPILE_FLAGS <list> ]
 #			[ INCLUDES <list> ]
 #			[ DEPENDS <string> ]
@@ -236,7 +236,9 @@ endfunction()
 #	Input:
 #		MODULE			: unique name of module
 #		MAIN			: entry point, if not given, assumed to be library
-#		STACK			: size of stack
+#		STACK			: deprecated use stack main instead
+#		STACK_MAIN		: size of stack for main function
+#		STACK_MAX		: maximum stack size of any frame
 #		COMPILE_FLAGS	: compile flags
 #		LINK_FLAGS		: link flags
 #		SRCS			: source files
@@ -250,7 +252,7 @@ endfunction()
 #		px4_add_module(MODULE test
 #			SRCS
 #				file.cpp
-#			STACK 1024
+#			STACK_MAIN 1024
 #			DEPENDS
 #				git_nuttx
 #			)
@@ -259,15 +261,43 @@ function(px4_add_module)

 	px4_parse_function_args(
 		NAME px4_add_module
-		ONE_VALUE MODULE MAIN STACK PRIORITY
+		ONE_VALUE MODULE MAIN STACK STACK_MAIN STACK_MAX PRIORITY
 		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS
 		REQUIRED MODULE
 		ARGN ${ARGN})

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

+	# set defaults if not set
+	set(MAIN_DEFAULT MAIN-NOTFOUND)
+	set(STACK_MAIN_DEFAULT 1024)
+	set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
+
+	# default stack max to stack main
+	if(NOT STACK_MAIN AND STACK)
+		set(STACK_MAIN ${STACK})
+		message(AUTHOR_WARNING "STACK deprecated, USE STACK_MAIN instead!!!!!!!!!!!!")
+	endif()
+
+	foreach(property MAIN STACK_MAIN PRIORITY)
+		if(NOT ${property})
+			set(${property} ${${property}_DEFAULT})
+		endif()
+		set_target_properties(${MODULE} PROPERTIES ${property}
+			${${property}})
+	endforeach()
+
+	# default stack max to stack main
+	if(NOT STACK_MAX)
+		set(STACK_MAX ${STACK_MAIN})
+	endif()
+	set_target_properties(${MODULE} PROPERTIES STACK_MAX
+		${STACK_MAX})
+
 	if(${OS} STREQUAL "qurt" )
 		set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
+	elseif(${OS} STREQUAL "nuttx" )
+		list(APPEND COMPILE_FLAGS -Wframe-larger-than=${STACK_MAX})
 	endif()

 	if(MAIN)
@@ -292,8 +322,8 @@ function(px4_add_module)

 	# store module properties in target
 	# COMPILE_FLAGS and LINK_FLAGS are passed to compiler/linker by cmake
-	# STACK, MAIN, PRIORITY are PX4 specific
-	foreach (prop COMPILE_FLAGS LINK_FLAGS STACK MAIN PRIORITY)
+	# STACK_MAIN, MAIN, PRIORITY are PX4 specific
+	foreach (prop COMPILE_FLAGS LINK_FLAGS STACK_MAIN MAIN PRIORITY)
 		if (${prop})
 			set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
 		endif()
@@ -347,11 +377,11 @@ function(px4_generate_messages)
 		list(APPEND msg_files_out ${msg_out_path}/${msg}.h)
 	endforeach()
 	add_custom_command(OUTPUT ${msg_files_out}
-		COMMAND ${PYTHON_EXECUTABLE} 
+		COMMAND ${PYTHON_EXECUTABLE}
 			Tools/px_generate_uorb_topic_headers.py
 			${QUIET}
 			-d msg
-			-o ${msg_out_path} 
+			-o ${msg_out_path}
 			-e msg/templates/uorb
 			-t ${CMAKE_BINARY_DIR}/topics_temporary
 		DEPENDS ${DEPENDS} ${MSG_FILES}
@@ -368,11 +398,11 @@ function(px4_generate_messages)
 		list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
 	endforeach()
 	add_custom_command(OUTPUT ${msg_multi_files_out}
-		COMMAND ${PYTHON_EXECUTABLE} 
+		COMMAND ${PYTHON_EXECUTABLE}
 			Tools/px_generate_uorb_topic_headers.py
 			${QUIET}
 			-d msg
-			-o ${msg_multi_out_path} 
+			-o ${msg_multi_out_path}
 			-e msg/templates/px4/uorb
 			-t ${CMAKE_BINARY_DIR}/multi_topics_temporary/${OS}
 			-p "px4_"
@@ -441,6 +471,26 @@ function(px4_add_upload)
 		)
 endfunction()

+
+function(px4_add_adb_push)
+	px4_parse_function_args(
+		NAME px4_add_upload
+		ONE_VALUE OS BOARD OUT DEST
+		MULTI_VALUE FILES DEPENDS
+		REQUIRED OS BOARD OUT FILES DEPENDS DEST
+		ARGN ${ARGN})
+
+	add_custom_target(${OUT}
+		COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
+		DEPENDS ${DEPENDS}
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		COMMENT "uploading ${BUNDLE}"
+		VERBATIM
+		USES_TERMINAL
+		)
+endfunction()
+
+
 #=============================================================================
 #
 #	px4_add_common_flags
@@ -490,9 +540,10 @@ function(px4_add_common_flags)
 	set(warnings
 		-Wall
 		-Werror
-		-Wno-sign-compare
 		-Wextra
-		#-Wshadow # very verbose due to eigen
+		-Wpacked
+		-Wno-sign-compare
+		-Wshadow
 		-Wfloat-equal
 		-Wpointer-arith
 		-Wmissing-declarations
@@ -512,14 +563,11 @@ function(px4_add_common_flags)
 		#               but generates too many false positives
 		)

-	if (${OS} STREQUAL "nuttx")
-		list(APPEND warnings -Wframe-larger-than=1024)
-	endif()
-
 	if (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
 		# QuRT 6.4.X compiler identifies as Clang but does not support this option
 		if (NOT ${OS} STREQUAL "qurt")
 			list(APPEND warnings
+				-Qunused-arguments
 				-Wno-unused-const-variable
 				-Wno-varargs
 			)
@@ -534,15 +582,32 @@ 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)
+
+		if ("${OS}" STREQUAL "qurt")
+			set(PIC_FLAG -fPIC)
+		endif()
+		set(optimization_flags
+			-fno-strict-aliasing
+			-fomit-frame-pointer
+			-funsafe-math-optimizations
+			-ffunction-sections
+			-fdata-sections
+			${PIC_FLAG}
+			)
+	endif()

 	if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
 		list(APPEND optimization_flags
@@ -585,6 +650,15 @@ function(px4_add_common_flags)
 		-D__CUSTOM_FILE_IO__
 		)

+	if (NOT (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*"))
+		# -fcheck-new is a no-op for Clang in general
+		# and has no effect, but can generate a compile
+		# error for some OS
+		list(APPEND cxx_compile_flags
+			-fcheck-new
+		)
+	endif()
+
 	set(visibility_flags
 		-fvisibility=hidden
 		-include visibility.h
@@ -638,14 +712,11 @@ function(px4_add_common_flags)
 		-DCONFIG_ARCH_BOARD_${board_config}
 		)

-	if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
-		set(added_exe_link_flags
+	if (NOT (APPLE AND (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")))
+		set(added_exe_linker_flags
 			-Wl,--warn-common
 			-Wl,--gc-sections
-			)
-	else()
-		set(added_exe_link_flags
-			-Wl,--warn-common
+			#,--print-gc-sections
 			)
 	endif()

@@ -670,7 +741,7 @@ endfunction()
 #	Input:
 #		dirname					: path to module dir
 #
-#	Output: 
+#	Output:
 #		newname					: module name
 #
 #	Example:
@@ -701,16 +772,23 @@ endfunction()
 function(px4_create_git_hash_header)
 	px4_parse_function_args(
 		NAME px4_create_git_hash_header
-		ONE_VALUE HEADER 
-		REQUIRED HEADER 
+		ONE_VALUE HEADER
+		REQUIRED HEADER
 		ARGN ${ARGN})
+	execute_process(
+		COMMAND git describe --tags
+		OUTPUT_VARIABLE git_tag
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		)
+	#message(STATUS "GIT_TAG = ${git_tag}")
 	execute_process(
 		COMMAND git rev-parse HEAD
 		OUTPUT_VARIABLE git_desc
 		OUTPUT_STRIP_TRAILING_WHITESPACE
 		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 		)
-	message(STATUS "GIT_DESC = ${git_desc}")
+	#message(STATUS "GIT_DESC = ${git_desc}")
 	set(git_desc_short)
 	string(SUBSTRING ${git_desc} 1 16 git_desc_short)
 	configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
@@ -759,22 +837,23 @@ endfunction()
 #	Generates a source file with all parameters.
 #
 #	Usage:
-#		px4_generate_parameters_source(OUT <list-source-files> XML <param-xml-file>)
+#		px4_generate_parameters_source(OUT <list-source-files> XML <param-xml-file> [SCOPE <cmake file for scoping>])
 #
 #	Input:
-#		XML : the parameters.xml file
-#		DEPS : target dependencies
+#		XML   : the parameters.xml file
+#		SCOPE : the cmake file used to limit scope of the paramaters
+#		DEPS  : target dependencies
 #
 #	Output:
 #		OUT	: the generated source files
 #
 #	Example:
-#		px4_generate_parameters_source(OUT param_files XML parameters.xml)
+#		px4_generate_parameters_source(OUT param_files XML parameters.xml SCOPE ${OS}_${BOARD}_${LABEL}.cmake )
 #
 function(px4_generate_parameters_source)
 	px4_parse_function_args(
 		NAME px4_generate_parameters_source
-		ONE_VALUE OUT XML DEPS
+		ONE_VALUE OUT XML SCOPE DEPS
 		REQUIRED OUT XML
 		ARGN ${ARGN})
 	set(generated_files
@@ -782,9 +861,12 @@ function(px4_generate_parameters_source)
 		${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.c)
 	set_source_files_properties(${generated_files}
 		PROPERTIES GENERATED TRUE)
+	if ("${config_generate_parameters_scope}" STREQUAL "ALL")
+		set(SCOPE "")
+	endif()
 	add_custom_command(OUTPUT ${generated_files}
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML}
-		DEPENDS ${XML} ${DEPS}
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
+		DEPENDS ${XML} ${DEPS} ${SCOPE}
 		)
 	set(${OUT} ${generated_files} PARENT_SCOPE)
 endfunction()
@@ -0,0 +1,199 @@
+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
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	#drivers/px4io
+	drivers/test_ppm
+	drivers/boards/mindpx-v2
+	#drivers/rgbled
+	drivers/rgbled_pwm
+	#drivers/mpu6000
+	#drivers/mpu6050
+	drivers/mpu6500
+	#drivers/mpu9250
+	drivers/lsm303d
+	drivers/l3gd20
+	drivers/hmc5883
+	drivers/ms5611
+	#drivers/mb12xx
+	#drivers/srf02
+	drivers/srf02_i2c
+	drivers/hc_sr04
+	#drivers/sf0x
+	#drivers/ll40ls
+	#drivers/trone
+	drivers/gps
+	drivers/pwm_out_sim
+	#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/px4flow
+	#drivers/oreoled
+	drivers/gimbal
+	drivers/pwm_input
+	drivers/camera_trigger
+	drivers/bst
+	drivers/snapdragon_rc_pwm
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	#systemcmds/topic_listener
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	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/ekf_att_pos_estimator
+	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
+	#
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	lib/DriverFramework/framework
+	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
+
+	# 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
+	)
+
+set(config_io_board
+	px4io-v2
+	)
+
+set(config_extra_libs
+	uavcan
+	uavcan_stm32_driver
+	)
+
+set(config_io_extra_libs
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "sercon" STACK_MAIN "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "serdis" STACK_MAIN "2048")
@@ -30,19 +30,20 @@ set(config_module_list
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
-	modules/controllib
 	modules/uORB

 	#
 	# Libraries
 	#
 	#lib/mathlib/CMSIS
+	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter
 	lib/ecl
 	lib/external_lgpl
 	lib/geo
 	lib/conversion
+	lib/DriverFramework/framework
 	platforms/nuttx

 	# had to add for cmake, not sure why wasn't in original config
@@ -80,8 +81,12 @@ set(config_extra_builtin_cmds

 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
-	MAIN "sercon" STACK "2048")
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "sercon"
+	STACK_MAIN "2048")

 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
-	MAIN "serdis" STACK "2048")
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "serdis"
+	STACK_MAIN "2048")
@@ -36,7 +36,8 @@ set(config_module_list
 	drivers/meas_airspeed
 	drivers/frsky_telemetry
 	modules/sensors
-	#drivers/mkblctrl
+	drivers/camera_trigger
+	drivers/mkblctrl
 	drivers/px4flow

 	#
@@ -96,14 +97,13 @@ set(config_module_list
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
-	modules/controllib
 	modules/uORB
 	modules/dataman

 	#
 	# Libraries
 	#
-	#lib/mathlib/CMSIS
+	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter
 	lib/ecl
@@ -115,6 +115,7 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/runway_takeoff
 	lib/tailsitter_recovery
+	lib/DriverFramework/framework
 	platforms/nuttx

 	# had to add for cmake, not sure why wasn't in original config
@@ -165,17 +166,19 @@ set(config_io_board
 	)

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

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

 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
-	MAIN "sercon" STACK "2048")
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "sercon"
+	STACK_MAIN "2048")

 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
-	MAIN "serdis" STACK "2048")
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "serdis"
+	STACK_MAIN "2048")
@@ -41,11 +41,14 @@ set(config_module_list
 	modules/sensors
 	#drivers/mkblctrl
 	drivers/px4flow
-	drivers/oreoled
+	#drivers/oreoled
 	drivers/gimbal
 	drivers/pwm_input
 	drivers/camera_trigger
 	drivers/bst
+	drivers/snapdragon_rc_pwm
+	drivers/lis3mdl
+	drivers/bmi160

 	#
 	# System commands
@@ -78,11 +81,10 @@ set(config_module_list
 	#
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
-	# Too high RAM usage due to static allocations
-	# modules/attitude_estimator_ekf
 	modules/attitude_estimator_q
 	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
+	modules/local_position_estimator

 	#
 	# Vehicle Control
@@ -105,14 +107,13 @@ set(config_module_list
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
-	modules/controllib
 	modules/uORB
 	modules/dataman

 	#
 	# Libraries
 	#
-	#lib/mathlib/CMSIS
+	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter
 	lib/ecl
@@ -124,6 +125,7 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/runway_takeoff
 	lib/tailsitter_recovery
+	lib/DriverFramework/framework
 	platforms/nuttx

 	# had to add for cmake, not sure why wasn't in original config
@@ -138,7 +140,7 @@ set(config_module_list
 	#
 	# Rover apps
 	#
-	examples/rover_steering_control
+	#examples/rover_steering_control

 	#
 	# Demo apps
@@ -174,19 +176,19 @@ 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
 	)

 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
-	MAIN "sercon" STACK "2048")
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "sercon" STACK_MAIN "2048")

 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
-	MAIN "serdis" STACK "2048")
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "serdis" STACK_MAIN "2048")
@@ -105,14 +105,13 @@ set(config_module_list
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
-	modules/controllib
 	modules/uORB
 	modules/dataman

 	#
 	# Libraries
 	#
-	#lib/mathlib/CMSIS
+	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter
 	lib/ecl
@@ -124,6 +123,7 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/runway_takeoff
 	lib/tailsitter_recovery
+	lib/DriverFramework/framework
 	platforms/nuttx

 	# had to add for cmake, not sure why wasn't in original config
@@ -174,19 +174,19 @@ 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
 	)

 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
-	MAIN "sercon" STACK "2048")
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "sercon" STACK_MAIN "2048")

 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
-	MAIN "serdis" STACK "2048")
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "serdis" STACK_MAIN "2048")
@@ -1,5 +0,0 @@
-include(cmake/configs/nuttx_px4fmu-v2_default.cmake)
-
-list(APPEND config_module_list
-	modules/local_position_estimator
-	)
--- a/Show More
+++ b/Show More