.gitignore

@@ -23,7 +23,6 @@ build_*/
 core
 cscope.out
 Firmware.sublime-workspace
-user.sublime*
 Images/*.bin
 Images/*.px4
 mavlink/include/mavlink/v0.9/

.gitmodules

@@ -31,9 +31,3 @@
 [submodule "src/lib/DriverFramework"]
 	path = src/lib/DriverFramework
 	url = https://github.com/PX4/DriverFramework.git
-[submodule "src/lib/ecl"]
-	path = src/lib/ecl
-	url = https://github.com/PX4/ecl.git
-[submodule "cmake/cmake_hexagon"]
-	path = cmake/cmake_hexagon
-	url = https://github.com/ATLFlight/cmake_hexagon

.travis.yml

@@ -27,8 +27,8 @@ addons:
     - ccache
     - clang-3.5
     - cmake
-    - g++-4.9
-    - gcc-4.9
+    - g++-4.8
+    - gcc-4.8
     - genromfs
     - libc6-i386
     - libncurses5-dev
@@ -55,7 +55,7 @@ before_install:
       && mkdir -p ~/bin
       && wget -O ~/bin/astyle https://github.com/PX4/astyle/releases/download/2.05.1/astyle-linux && chmod +x ~/bin/astyle
       && astyle --version
-      && if [ "$CXX" = "g++" ]; then export CXX="g++-4.9" CC="gcc-4.9"; fi
+      && if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8"; fi
       ;
     elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
          brew tap PX4/homebrew-px4
@@ -81,6 +81,8 @@ before_script:
   - ln -s /usr/bin/ccache ~/bin/clang
   - ln -s /usr/bin/ccache ~/bin/clang-3.4
   - ln -s /usr/bin/ccache ~/bin/clang-3.5
+  - ln -s /usr/bin/ccache ~/bin/g++-4.8
+  - ln -s /usr/bin/ccache ~/bin/gcc-4.8
   - export PATH=~/bin:$PATH
 
 env:
@@ -93,23 +95,20 @@ env:
     - PX4_AWS_BUCKET=px4-travis
 
 script:
-  - git submodule update --init --recursive
   - make check_format
   - arm-none-eabi-gcc --version
   - echo 'Building POSIX Firmware..' && make posix_sitl_default
   - echo 'Running Tests..' && make posix_sitl_default test
   - echo 'Running Unittests..' && cd unittests && ./run_tests.sh
   - cd ..
-  - echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
-  - echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
-# Only provide UAVCAN firmware binaries for Pixracer and Pixhawk 3
   - echo 'Building UAVCAN node firmware..' && git clone https://github.com/thiemar/vectorcontrol
   - cd vectorcontrol
   - BOARD=s2740vc_1_0 make && BOARD=px4esc_1_6 make
   - ../Tools/uavcan_copy.sh
   - cd ..
+  - echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
+  - echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
   - echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default
-  - echo 'Building NuttX px4-stm32f4discovery Firmware..' && make px4-stm32f4discovery_default
   - echo 'Running Tests..' && make px4fmu-v2_default test
 
 after_success:
@@ -117,9 +116,8 @@ after_success:
          cp build_px4fmu-v1_default/src/firmware/nuttx/nuttx-px4fmu-v1-default.px4 px4fmu-v1_default.px4
       && cp build_px4fmu-v2_default/src/firmware/nuttx/nuttx-px4fmu-v2-default.px4 px4fmu-v2_default.px4
       && cp build_px4fmu-v4_default/src/firmware/nuttx/nuttx-px4fmu-v4-default.px4 px4fmu-v4_default.px4
-      && 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/$TRAVIS_BRANCH/
+      && zip Firmware.zip px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4
+      && ./CI-Tools/s3cmd-put px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
       && ./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

CMakeLists.txt

@@ -245,7 +245,6 @@ 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")

CONTRIBUTING.md

@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname
 
 ### Edit and build the code
 
-The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://px4.io/dev/code_style) when editing files.
+The [developer guide](http://px4.io/dev/start) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://px4.io/dev/code_style) when editing files.
 
 ### Commit your changes
 

Documentation/Doxyfile

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

Documentation/px4_hil/UserGuide.md

@@ -48,7 +48,7 @@ Download QGC from http://qgroundcontrol.org/downloads and install using the wind
 
 ## PX4
 
-### Platform Requirements
+### Platfrom Requirements
 Linux or Eagle with a working IP interface (?? does this need further instructions?)
 
 ### Build Host Requirements

Makefile

@@ -109,9 +109,7 @@ 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
++@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule update --init --recursive --force && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
 +$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
 endef
 
@@ -135,24 +133,21 @@ px4fmu-v2_default:
 px4fmu-v4_default:
 	$(call cmake-build,nuttx_px4fmu-v4_default)
 
-px4-stm32f4discovery_default:
-	$(call cmake-build,nuttx_px4-stm32f4discovery_default)
-
-px4fmu-v2_ekf2:
-	$(call cmake-build,nuttx_px4fmu-v2_ekf2)
+px4fmu-v2_simple:
+	$(call cmake-build,nuttx_px4fmu-v2_simple)
 
 px4fmu-v2_lpe:
 	$(call cmake-build,nuttx_px4fmu-v2_lpe)
 
+nuttx_sim_simple:
+	$(call cmake-build,$@)
+
 posix_sitl_default:
 	$(call cmake-build,$@)
 
 posix_sitl_lpe:
 	$(call cmake-build,$@)
 
-posix_sitl_ekf2:
-	$(call cmake-build,$@)
-
 ros_sitl_default:
 	$(call cmake-build,$@)
 
@@ -165,12 +160,6 @@ qurt_eagle_release:
 posix_eagle_release:
 	$(call cmake-build,$@)
 
-qurt_eagle_default:
-	$(call cmake-build,$@)
-
-posix_eagle_default:
-	$(call cmake-build,$@)
-
 posix: posix_sitl_default
 
 sitl_deprecation:
@@ -195,8 +184,7 @@ clean:
 # targets handled by cmake
 cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
 	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim \
-	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_tailsitter \
-	gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol
+	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_tailsitter
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
 
 .PHONY: clean

README.md

@@ -9,22 +9,33 @@ This repository contains the [PX4 Flight Core](http://px4.io), with the main app
 *   Official Website: http://px4.io
 *   License: BSD 3-clause (see [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
 *   Supported airframes (more experimental are supported):
-  * [Multicopters](http://px4.io/portfolio_category/multicopter/)
-  * [Fixed wing](http://px4.io/portfolio_category/vtol/)
-  * [VTOL](http://px4.io/portfolio_category/plane/)
+  * [Multicopters](http://px4.io/platforms/multicopters/start)
+  * [Fixed wing](http://px4.io/platforms/planes/start)
+  * [VTOL](http://px4.io/platforms/vtol/start)
+*   Binaries (always up-to-date from master):
+  * [Downloads](http://px4.io/firmware/downloads)
 *   Releases
   * [Downloads](https://github.com/PX4/Firmware/releases)
+*   Forum / Mailing list: [Google Groups](http://groups.google.com/group/px4users)
 
 ### Users ###
 
-Please refer to the [user documentation](http://px4.io) and [user forum](http://discuss.px4.io) for flying drones with the PX4 flight stack.
+Please refer to the [user documentation](https://pixhawk.org/users/start) for flying drones with the PX4 flight stack.
 
 ### Developers ###
 
-  * [Developer Forum / Mailing list](http://groups.google.com/group/px4users)
-  * [Guide for Contributions](https://github.com/PX4/Firmware/blob/master/CONTRIBUTING.md)
-  * [Developer guide](http://dev.px4.io)
+Contributing guide:
+  * [CONTRIBUTING.md](https://github.com/PX4/Firmware/blob/master/CONTRIBUTING.md)
+  * [PX4 Contribution Guide](http://px4.io/dev/contributing)
 
+Software in the Loop guide:
+Use software in the loop [to get started with the codebase](https://pixhawk.org/dev/simulation/native_sitl).
+
+Developer guide:
+http://dev.px4.io
+
+Testing guide:
+http://px4.io/dev/unit_tests
 
 This repository contains code supporting these boards:
   * [Snapdragon Flight](http://dev.px4.io/hardware-snapdragon.html)
@@ -33,3 +44,8 @@ This repository contains code supporting these boards:
   * FMUv4.x (Pixhawk X and [Pixracer](http://dev.px4.io/hardware-pixracer.html))
   * AeroCore (v1 and v2)
   * STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
+
+## NuttShell (NSH) ##
+
+NSH usage documentation:
+http://px4.io/users/serial_connection

ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil

@@ -39,7 +39,5 @@ then
 	param set FW_RR_P 0.3
 fi
 
-param set RWTO_TKOFF 1
-
 set HIL yes
 set MIXER AERT

ROMFS/px4fmu_common/init.d/10020_3dr_quad

@@ -12,11 +12,11 @@ sh /etc/init.d/rc.mc_defaults
 if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.14
+	param set MC_ROLLRATE_P 0.08
 	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_P 0.16
 	param set MC_PITCHRATE_I 0.09
 	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 4

ROMFS/px4fmu_common/init.d/13002_firefly6

@@ -46,6 +46,6 @@ 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_FW_MOT_OFF 23
 param set VT_IDLE_PWM_MC 1080
 param set VT_TYPE 1

ROMFS/px4fmu_common/init.d/13003_quad_tailsitter

@@ -2,7 +2,7 @@
 #
 # @name Quadrotor X Tailsitter
 #
-# @type VTOL Quad Tailsitter
+# @type VTOL Tailsitter
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #

ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter

@@ -2,7 +2,7 @@
 #
 # @name Quadrotor + Tailsitter
 #
-# @type VTOL Quad Tailsitter
+# @type VTOL Tailsitter
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #

ROMFS/px4fmu_common/init.d/13008_QuadRanger

@@ -1,53 +0,0 @@
-#!nsh
-#
-# @name QuadRanger
-#
-# @type Standard VTOL
-#
-# @maintainer Sander Smeets <sander@droneslab.com>
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_TRANS_THR 0.75
-
-	param set PWM_AUX_REV1 1
-	param set PWM_AUX_REV2 1
-
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.1
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 2.8
-	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0.0
-fi
-
-set MIXER vtol_quad_x
-set PWM_OUT 12345678
-
-set MIXER_AUX vtol_AAERT
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1000
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
-
-set MAV_TYPE 22
-
-param set VT_MOT_COUNT 4
-param set VT_IDLE_PWM_MC 1080
-param set VT_TYPE 2

ROMFS/px4fmu_common/init.d/2106_albatross

@@ -2,7 +2,7 @@
 #
 # @name Applied Aeronautics Albatross
 #
-# @type Plane A-Tail
+# @type Standard Plane
 #
 # @output MAIN1 aileron right
 # @output MAIN2 aileron left

ROMFS/px4fmu_common/init.d/4030_solo

@@ -1,88 +0,0 @@
-#!nsh
-#
-# @name 3DR Solo
-#
-# @type Quadrotor x
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    # tuning
-    param set MC_PITCHRATE_P    0.11
-    param set MC_ROLLRATE_P     0.11
-    param set MPC_MANTHR_MIN    0.08
-    param set MPC_XY_VEL_MAX    3.0
-    param set MPC_Z_VEL_MAX     2.0
-
-    # INAV: higher GPS weights for better altitude control
-    param set INAV_W_Z_BARO     0.3
-    param set INAV_W_Z_GPS_P    0.8
-    param set INAV_W_Z_GPS_V    0.8
-
-    # takeoff, land and RTL settings
-    param set MIS_TAKEOFF_ALT   4.0
-    param set COM_DISARM_LAND   1
-    param set RTL_LAND_DELAY    1
-    param set RTL_DESCEND_ALT   5.0
-    param set RTL_RETURN_ALT    15.0
-    param set MPC_TILTMAX_LND   8.0
-    param set MPC_LAND_SPEED    0.4
-    param set MPC_HOLD_MAX_Z    1.5
-    param set MPC_TKO_JMPSPD    2.0
-    param set MPC_TKO_SPEED     1.5
-
-    # setup
-    # main board rotation: pitch 180
-    param set SENS_BOARD_ROT    12
-    # solo external mag rotation
-    param set CAL_MAG0_ROT      30
-    # no safety switch
-    param set CBRK_IO_SAFETY    22027
-    # battery voltage not available yet
-    param set CBRK_SUPPLY_CHK   894281
-
-    # RC configuration
-    param set RC_MAP_MODE_SW    5
-    param set RC_MAP_PITCH      2
-    param set RC_MAP_ROLL       1
-    param set RC_MAP_THROTTLE   3
-    param set RC_MAP_YAW        4
-
-    param set RC1_DZ            10
-    param set RC1_MAX           1988
-    param set RC1_MIN           1003
-    param set RC1_REV           1
-    param set RC1_TRIM          1499
-    param set RC2_DZ            10
-    param set RC2_MAX           1987
-    param set RC2_MIN           1023
-    param set RC2_REV           -1
-    param set RC2_TRIM          1499
-    param set RC3_DZ            10
-    param set RC3_MAX           1877
-    param set RC3_MIN           1023
-    param set RC3_REV           1
-    param set RC3_TRIM          1023
-    param set RC4_DZ            10
-    param set RC4_MAX           1998
-    param set RC4_MIN           1012
-    param set RC4_REV           1
-    param set RC4_TRIM          1500
-    param set RC5_DZ            10
-    param set RC5_MAX           2000
-    param set RC5_MIN           1000
-    param set RC5_REV           1
-    param set RC5_TRIM          1500
-fi
-
-set MIXER solo
-
-set PWM_OUT 1234
-set MIXER_AUX none
-
-# enable high-speed link on telem 1
-set MAVLINK_F "-d /dev/ttyS1 -b 921600 -r 80000 -m onboard -x"

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -17,7 +17,7 @@ else
 		attitude_estimator_q start
 		local_position_estimator start
 	else
-		ekf2 start
+		ekf_att_pos_estimator start
 	fi
 fi
 

ROMFS/px4fmu_common/init.d/rcS

@@ -60,6 +60,9 @@ unset FRC
 
 if [ $MODE == autostart ]
 then
+	# Try to get an USB console
+	# REBOOTWORK this needs to start after the flight control loop
+	nshterm /dev/ttyACM0 &
 
 	#
 	# Start the ORB (first app to start)
@@ -841,15 +844,6 @@ then
 	px4flow start &
 fi
 
-# Start USB shell if no microSD present, MAVLink else
-if [ $LOG_FILE == /dev/null ]
-then
-	# Try to get an USB console
-	nshterm /dev/ttyACM0 &
-else
-	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
-fi
-
 if [ $EXIT_ON_END == yes ]
 then
 	echo "Exit from nsh"

ROMFS/px4fmu_common/mixers/solo.main.mix

@@ -1,7 +0,0 @@
-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

ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix

@@ -1,24 +0,0 @@
-Mixer for standard vtol plane (SITL) with motor x configuration
-=========================================================
-
-This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration.
-The plane has two ailerons and one elevator. The ailerons and elevator are treated as elevons
-in order to make the standard vtol simulation compatible with the tailsitter simulation.
-
-R: 4x 10000 10000 10000 0
-
-# mixer for the elevons
-M: 2
-O:      10000  10000   0 -10000  10000
-S: 1 0  5000   5000    0 -10000  10000
-S: 1 1 -5000 -5000     0 -10000  10000
-
-M: 2
-O:       10000   10000   0 -10000  10000
-S: 1 0   5000    5000    0 -10000  10000
-S: 1 1   5000    5000    0 -10000  10000
-
-# mixer for the pusher/puller throttle
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 3      0  20000 -10000 -10000  10000

Tools/check_cmake.sh

@@ -6,7 +6,7 @@ then
   exit 1;
 fi
 
-if [[ $cmake_ver == *" 2.8"* ]] || [[ $cmake_ver == *" 2.9"* ]] || [[ $cmake_ver == *" 3.0"* ]] || [[ $cmake_ver == *" 3.1"* ]]
+if [[ $cmake_ver == *"2.8"* ]] || [[ $cmake_ver == *"2.9"* ]] || [[ $cmake_ver == *"3.0"* ]] || [[ $cmake_ver == *"3.1"* ]]
 then
   exit 1;
 fi

Tools/check_submodules.sh

@@ -1,81 +0,0 @@
-#!/usr/bin/env bash
-
-[ -n "$GIT_SUBMODULES_ARE_EVIL" ] && {
-    # GIT_SUBMODULES_ARE_EVIL is set, meaning user doesn't want submodules
-    echo "Skipping submodules. NUTTX_SRC is set to $NUTTX_SRC"
-    exit 0
-}
-
-if [ -f src/modules/uavcan/libuavcan/CMakeLists.txt ]
-then
-	echo "Git submodule config valid."
-else
-	git submodule update --init --recursive
-fi
-
-GITSTATUS=$(git status)
-
-function check_git_submodule {
-
-if [ -d $1 ];
-	then
-	SUBMODULE_STATUS=$(git submodule summary "$1")
-	STATUSRETVAL=$(echo $SUBMODULE_STATUS | grep -A20 -i "$1" | grep "<")
-	if [ -z "$STATUSRETVAL" ]; then
-		echo "Checked $1 submodule, correct version found"
-	else
-		echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
-		echo ""
-		echo -e "New commits required:"
-		echo -e "$SUBMODULE_STATUS"
-		echo ""
-		echo ""
-		echo -e " *******************************************************************************"
-		echo -e " *   \033[31mIF YOU DID NOT CHANGE THIS FILE (OR YOU DON'T KNOW WHAT A SUBMODULE IS):\033[0m  *"
-		echo -e " *   \033[31mHit 'u' and <ENTER> to update ALL submodules and resolve this.\033[0m            *"
-		echo -e " *   (performs \033[94mgit submodule update --init --recursive\033[0m)                        *"
-		echo -e " *******************************************************************************"
-		echo ""
-		echo ""
-		echo -e "   Only for EXPERTS:"
-		echo -e "   $1 submodule is not in the recommended version."
-		echo -e "   Hit 'y' and <ENTER> to continue the build with this version. Hit <ENTER> to resolve manually."
-		echo -e "   Use \033[94mgit add $1 && git commit -m 'Updated $1'\033[0m to choose this version (careful!)"
-		echo ""
-		read user_cmd
-		if [ "$user_cmd" == "y" ]
-		then
-			echo "Continuing build with manually overridden submodule.."
-		else
-			if [ "$user_cmd" == "u" ]
-			then
-				git submodule update --init --recursive
-				echo "Submodule fixed, continuing build.."
-			else
-				echo "Build aborted."
-				exit 1
-			fi
-		fi
-	fi
-else
-	git submodule update --init --recursive;
-	git submodule update;
-fi
-
-}
-
-check_git_submodule NuttX
-check_git_submodule Tools/gencpp
-check_git_submodule Tools/genmsg
-check_git_submodule Tools/jMAVSim
-check_git_submodule Tools/sitl_gazebo
-check_git_submodule cmake/cmake_hexagon
-check_git_submodule mavlink/include/mavlink/v1.0
-check_git_submodule src/lib/DriverFramework
-check_git_submodule src/lib/dspal
-check_git_submodule src/lib/ecl
-check_git_submodule src/lib/matrix
-check_git_submodule src/modules/uavcan/libuavcan
-check_git_submodule unittests/googletest
-
-exit 0

Tools/jMAVSim

@@ -1 +1 @@
-Subproject commit 0876a46d53954db34775151f73db024bcfc656a0
+Subproject commit 4267771753c4bb5d0696a678856620229523162e

Tools/mavlink_px4.py

@@ -752,7 +752,7 @@ class MAVLink_gps_raw_int_message(MAVLink_message):
         '''
         The global position, as returned by the Global Positioning
         System (GPS). This is                 NOT the global position
-        estimate of the system, but rather a RAW sensor value. See
+        estimate of the sytem, but rather a RAW sensor value. See
         message GLOBAL_POSITION for the global position estimate.
         Coordinate frame is right-handed, Z-axis up (GPS frame).
         '''
@@ -2812,7 +2812,7 @@ class MAVLink(object):
                 '''
                 The global position, as returned by the Global Positioning System
                 (GPS). This is                 NOT the global position
-                estimate of the system, but rather a RAW sensor value.
+                estimate of the sytem, but rather a RAW sensor value.
                 See message GLOBAL_POSITION for the global position
                 estimate. Coordinate frame is right-handed, Z-axis up
                 (GPS frame).
@@ -2837,7 +2837,7 @@ class MAVLink(object):
                 '''
                 The global position, as returned by the Global Positioning System
                 (GPS). This is                 NOT the global position
-                estimate of the system, but rather a RAW sensor value.
+                estimate of the sytem, but rather a RAW sensor value.
                 See message GLOBAL_POSITION for the global position
                 estimate. Coordinate frame is right-handed, Z-axis up
                 (GPS frame).

Tools/px4airframes/xmlout.py

@@ -28,55 +28,29 @@ class XMLOutput():
             xml_group = ET.SubElement(xml_parameters, "airframe_group")
             xml_group.attrib["name"] = group.GetName()
             if (group.GetName() == "Standard Plane"):
-                xml_group.attrib["image"] = "Plane"
+                xml_group.attrib["image"] = "AirframeStandardPlane.png"
             elif (group.GetName() == "Flying Wing"):
-                xml_group.attrib["image"] = "FlyingWing"
+                xml_group.attrib["image"] = "AirframeFlyingWing.png"
             elif (group.GetName() == "Quadrotor x"):
-                xml_group.attrib["image"] = "QuadRotorX"
+                xml_group.attrib["image"] = "AirframeQuadRotorX.png"
             elif (group.GetName() == "Quadrotor +"):
-                xml_group.attrib["image"] = "QuadRotorPlus"
+                xml_group.attrib["image"] = "AirframeQuadRotorPlus.png"
             elif (group.GetName() == "Hexarotor x"):
-                xml_group.attrib["image"] = "HexaRotorX"
+                xml_group.attrib["image"] = "AirframeHexaRotorX.png"
             elif (group.GetName() == "Hexarotor +"):
-                xml_group.attrib["image"] = "HexaRotorPlus"
+                xml_group.attrib["image"] = "AirframeHexaRotorPlus.png"
             elif (group.GetName() == "Octorotor +"):
-                xml_group.attrib["image"] = "OctoRotorPlus"
+                xml_group.attrib["image"] = "AirframeOctoRotorPlus.png"
             elif (group.GetName() == "Octorotor x"):
-                xml_group.attrib["image"] = "OctoRotorX"
-            elif (group.GetName() == "Octorotor Coaxial"):
-                xml_group.attrib["image"] = "OctoRotorXCoaxial"
+                xml_group.attrib["image"] = "AirframeOctoRotorX.png"
             elif (group.GetName() == "Quadrotor Wide"):
-                xml_group.attrib["image"] = "QuadRotorWide"
+                xml_group.attrib["image"] = "AirframeQuadRotorH.png"
             elif (group.GetName() == "Quadrotor H"):
-                xml_group.attrib["image"] = "QuadRotorH"
+                xml_group.attrib["image"] = "AirframeQuadRotorH.png"
             elif (group.GetName() == "Simulation"):
-                xml_group.attrib["image"] = "AirframeSimulation"
-            elif (group.GetName() == "Plane A-Tail"):
-                xml_group.attrib["image"] = "PlaneATail"
-            elif (group.GetName() == "VTOL Duo Tailsitter"):
-                xml_group.attrib["image"] = "VTOLDuoRotorTailSitter"
-            elif (group.GetName() == "Standard VTOL"):
-                xml_group.attrib["image"] = "VTOLPlane"
-            elif (group.GetName() == "VTOL Quad Tailsitter"):
-                xml_group.attrib["image"] = "VTOLQuadRotorTailSitter"
-            elif (group.GetName() == "VTOLTiltRotor"):
-                xml_group.attrib["image"] = "VTOLTiltRotor"
-            elif (group.GetName() == "Coaxial Helicopter"):
-                xml_group.attrib["image"] = "HelicopterCoaxial"
-            elif (group.GetName() == "Hexarotor Coaxial"):
-                xml_group.attrib["image"] = "Y6A"
-            elif (group.GetName() == "Y6B"):
-                xml_group.attrib["image"] = "Y6B"
-            elif (group.GetName() == "Tricopter Y-"):
-                xml_group.attrib["image"] = "YMinus"
-            elif (group.GetName() == "Tricopter Y+"):
-                xml_group.attrib["image"] = "YPlus"
-            elif (group.GetName() == "Rover"):
-                xml_group.attrib["image"] = "Rover"
-            elif (group.GetName() == "Boat"):
-                xml_group.attrib["image"] = "Boat"
+                xml_group.attrib["image"] = "AirframeSimulation.png"
             else:
-                xml_group.attrib["image"] = "AirframeUnknown"
+                xml_group.attrib["image"] = ""
             for param in group.GetParams():
                 if (last_param_name == param.GetName() and not board_specific_param_set) or last_param_name != param.GetName():
                     xml_param = ET.SubElement(xml_group, "airframe")

Tools/px4params/srcparser.py

@@ -107,7 +107,7 @@ class SourceParser(object):
     re_remove_dots = re.compile(r'\.+$')
     re_remove_carriage_return = re.compile('\n+')
 
-    valid_tags = set(["group", "board", "min", "max", "unit", "decimal", "reboot_required"])
+    valid_tags = set(["group", "board", "min", "max", "unit", "decimal"])
 
     # Order of parameter groups
     priority = {

Tools/sitl_gazebo

@@ -1 +1 @@
-Subproject commit 57a54ab73740f45f7313cc8179e21cc3b0d53b41
+Subproject commit 03a749a3b3238c014329e9e8da57d102ede6f4f0

Vagrantfile

@@ -37,42 +37,17 @@ Vagrant.configure(2) do |config|
   # the path on the host to the actual folder. The second argument is
   # the path on the guest to mount the folder. And the optional third
   # argument is a set of non-required options.
-  # NFS should be faster: https://stefanwrobel.com/how-to-make-vagrant-performance-not-suck
   config.vm.synced_folder ".", "/Firmware", type: "nfs"
 
   # Provider-specific configuration so you can fine-tune various
   # backing providers for Vagrant. These expose provider-specific options.
   # Example for VirtualBox:
   #
-
-  # This is to configure the machine to be as fast as possible
-  # Alternative: https://github.com/rdsubhas/vagrant-faster
   config.vm.provider "virtualbox" do |vb|
     # Display the VirtualBox GUI when booting the machine
     vb.gui = false
     vb.customize ["modifyvm", :id, "--ioapic", "on"]
-    #vb.customize ["modifyvm", :id, "--cpus", "2"]
-
-    config.vm.provider "virtualbox" do |v|
-      host = RbConfig::CONFIG['host_os']
-
-      # Give VM 1/4 system memory & access to all cpu cores on the host
-      if host =~ /darwin/
-        cpus = `sysctl -n hw.ncpu`.to_i
-        # sysctl returns Bytes and we need to convert to MB
-        mem = `sysctl -n hw.memsize`.to_i / 1024 / 1024 / 4
-      elsif host =~ /linux/
-        cpus = `nproc`.to_i
-        # meminfo shows KB and we need to convert to MB
-        mem = `grep 'MemTotal' /proc/meminfo | sed -e 's/MemTotal://' -e 's/ kB//'`.to_i / 1024 / 4
-      else # sorry Windows folks, I can't help you
-        cpus = 2
-        mem = 1024
-      end
-
-      v.customize ["modifyvm", :id, "--memory", mem]
-      v.customize ["modifyvm", :id, "--cpus", cpus]
-    end
+    vb.customize ["modifyvm", :id, "--cpus", "2"]
 
     # Since make and other tools freak out if they see timestamps
     # from the future and we share directories, tightly lock the host and guest clocks together (clock sync if more than 2 seconds off)
@@ -82,7 +57,7 @@ Vagrant.configure(2) do |config|
     vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-on-restore", "1"]
 
     # Customize the amount of memory on the VM:
-    #vb.memory = "2048"
+    vb.memory = "2048"
   end
   #
   # View the documentation for the provider you are using for more

cmake/cmake_hexagon

@@ -1 +0,0 @@
-Subproject commit 829f22eff345c934ca8939b2385768ca5e33794c

cmake/common/px4_base.cmake

@@ -266,10 +266,6 @@ function(px4_add_module)
 
 	add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
 
-	if(${OS} STREQUAL "qurt" )
-		set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
-	endif()
-
 	if(MAIN)
 		set_target_properties(${MODULE} PROPERTIES
 			COMPILE_DEFINITIONS PX4_MAIN=${MAIN}_app_main)

cmake/configs/nuttx_px4-stm32f4discovery_default.cmake

@@ -1,87 +0,0 @@
-include(nuttx/px4_impl_nuttx)
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
-set(config_module_list
-	#
-	# Board support modules
-	#
-	drivers/device
-	drivers/stm32
-	drivers/led
-	drivers/boards/px4-stm32f4discovery
-
-	#
-	# System commands
-	#
-	systemcmds/bl_update
-	systemcmds/mixer
-	systemcmds/param
-	systemcmds/perf
-	systemcmds/reboot
-	systemcmds/top
-	systemcmds/config
-	systemcmds/nshterm
-	systemcmds/ver
-
-	#
-	# Library modules
-	#
-	modules/param
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/controllib
-	modules/uORB
-
-	#
-	# Libraries
-	#
-	#lib/mathlib/CMSIS
-	lib/mathlib
-	lib/mathlib/math/filter
-	lib/ecl
-	lib/external_lgpl
-	lib/geo
-	lib/conversion
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
-
-	#
-	# Demo apps
-	#
-	#examples/math_demo
-	# Tutorial code from
-	# https://px4.io/dev/px4_simple_app
-	examples/px4_simple_app
-
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
-
-	# Tutorial code from
-	# https://px4.io/dev/debug_values
-	#examples/px4_mavlink_debug
-
-	# Tutorial code from
-	# https://px4.io/dev/example_fixedwing_control
-	#examples/fixedwing_control
-
-	# Hardware test
-	#examples/hwtest
-)
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	MAIN "sercon" STACK "2048")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	MAIN "serdis" STACK "2048")

cmake/configs/nuttx_px4fmu-v1_default.cmake

@@ -27,16 +27,16 @@ set(config_module_list
 	drivers/trone
 	drivers/gps
 	drivers/pwm_out_sim
-	#drivers/hott
-	#drivers/hott/hott_telemetry
-	#drivers/hott/hott_sensors
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
 	drivers/blinkm
 	drivers/airspeed
 	drivers/ets_airspeed
 	drivers/meas_airspeed
 	drivers/frsky_telemetry
 	modules/sensors
-	#drivers/mkblctrl
+	drivers/mkblctrl
 	drivers/px4flow
 
 	#
@@ -73,7 +73,6 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
-	modules/ekf2
 
 	#
 	# Vehicle Control
@@ -114,7 +113,6 @@ set(config_module_list
 	lib/launchdetection
 	lib/terrain_estimation
 	lib/runway_takeoff
-	lib/tailsitter_recovery
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -23,16 +23,16 @@ set(config_module_list
 	drivers/l3gd20
 	drivers/hmc5883
 	drivers/ms5611
-	#drivers/mb12xx
+	drivers/mb12xx
 	drivers/srf02
 	drivers/sf0x
 	drivers/ll40ls
 	drivers/trone
 	drivers/gps
 	drivers/pwm_out_sim
-	#drivers/hott
-	#drivers/hott/hott_telemetry
-	#drivers/hott/hott_sensors
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
 	drivers/blinkm
 	drivers/airspeed
 	drivers/ets_airspeed
@@ -45,7 +45,7 @@ set(config_module_list
 	drivers/gimbal
 	drivers/pwm_input
 	drivers/camera_trigger
-	drivers/bst
+    drivers/bst
 
 	#
 	# System commands
@@ -123,7 +123,6 @@ set(config_module_list
 	lib/launchdetection
 	lib/terrain_estimation
 	lib/runway_takeoff
-	lib/tailsitter_recovery
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config
@@ -133,7 +132,7 @@ set(config_module_list
 	#
 	# OBC challenge
 	#
-	#modules/bottle_drop
+	modules/bottle_drop
 
 	#
 	# Rover apps

cmake/configs/nuttx_px4fmu-v2_simple.cmake

@@ -2,8 +2,6 @@ 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
@@ -23,29 +21,27 @@ set(config_module_list
 	drivers/l3gd20
 	drivers/hmc5883
 	drivers/ms5611
-	#drivers/mb12xx
-	drivers/srf02
+	drivers/mb12xx
 	drivers/sf0x
 	drivers/ll40ls
 	drivers/trone
 	drivers/gps
 	drivers/pwm_out_sim
-	#drivers/hott
-	#drivers/hott/hott_telemetry
-	#drivers/hott/hott_sensors
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
 	drivers/blinkm
 	drivers/airspeed
 	drivers/ets_airspeed
 	drivers/meas_airspeed
 	drivers/frsky_telemetry
 	modules/sensors
-	#drivers/mkblctrl
+	drivers/mkblctrl
 	drivers/px4flow
 	drivers/oreoled
 	drivers/gimbal
 	drivers/pwm_input
 	drivers/camera_trigger
-	drivers/bst
 
 	#
 	# System commands
@@ -57,7 +53,6 @@ set(config_module_list
 	systemcmds/pwm
 	systemcmds/esc_calib
 	systemcmds/reboot
-	#systemcmds/topic_listener
 	systemcmds/top
 	systemcmds/config
 	systemcmds/nshterm
@@ -65,35 +60,6 @@ set(config_module_list
 	systemcmds/dumpfile
 	systemcmds/ver
 
-	#
-	# General system control
-	#
-	modules/commander
-	modules/navigator
-	modules/mavlink
-	modules/gpio_led
-	modules/uavcan
-	modules/land_detector
-
-	#
-	# Estimation modules (EKF/ SO3 / other filters)
-	#
-	# Too high RAM usage due to static allocations
-	# modules/attitude_estimator_ekf
-	modules/attitude_estimator_q
-	modules/ekf2
-	modules/position_estimator_inav
-
-	#
-	# Vehicle Control
-	#
-	# modules/segway # XXX Needs GCC 4.7 fix
-	modules/fw_pos_control_l1
-	modules/fw_att_control
-	modules/mc_att_control
-	modules/mc_pos_control
-	modules/vtol_att_control
-
 	#
 	# Logging
 	#
@@ -121,47 +87,34 @@ set(config_module_list
 	lib/geo_lookup
 	lib/conversion
 	lib/launchdetection
-	lib/terrain_estimation
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config
 	platforms/common 
 	platforms/nuttx/px4_layer
 
-	#
-	# OBC challenge
-	#
-	#modules/bottle_drop
-
-	#
-	# Rover apps
-	#
-	examples/rover_steering_control
-
 	#
 	# Demo apps
 	#
 	#examples/math_demo
 	# Tutorial code from
 	# https://px4.io/dev/px4_simple_app
-	#examples/px4_simple_app
+	examples/px4_simple_app
 
 	# Tutorial code from
 	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
+	examples/px4_daemon_app
 
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
-	#examples/px4_mavlink_debug
+	examples/px4_mavlink_debug
 
 	# Tutorial code from
 	# https://px4.io/dev/example_fixedwing_control
-	#examples/fixedwing_control
+	examples/fixedwing_control
 
 	# Hardware test
-	#examples/hwtest
+	examples/hwtest
 )
 
 set(config_extra_builtin_cmds
@@ -175,12 +128,10 @@ set(config_io_board
 
 set(config_extra_libs
 	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
-	uavcan
-	uavcan_stm32_driver
 	)
 
 set(config_io_extra_libs
-	#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
 	)
 
 add_custom_target(sercon)

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -42,7 +42,6 @@ set(config_module_list
 	drivers/gimbal
 	drivers/pwm_input
 	drivers/camera_trigger
-	drivers/bst
 
 	#
 	# System commands
@@ -81,7 +80,6 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
-	modules/ekf2
 
 	#
 	# Vehicle Control
@@ -123,7 +121,6 @@ set(config_module_list
 	lib/launchdetection
 	lib/terrain_estimation
 	lib/runway_takeoff
-	lib/tailsitter_recovery
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config

cmake/configs/nuttx_sim_simple.cmake

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

cmake/configs/posix_eagle_default.cmake

@@ -35,13 +35,11 @@ set(config_module_list
 
 	lib/mathlib
 	lib/mathlib/math/filter
-	lib/conversion
-	lib/ecl
 	lib/geo
 	lib/geo_lookup
+	lib/conversion
 	lib/terrain_estimation
 	lib/runway_takeoff
-	lib/tailsitter_recovery
 
 	platforms/common
 	platforms/posix/px4_layer

cmake/configs/posix_sitl_default.cmake

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

cmake/configs/posix_sitl_ekf2.cmake

@@ -1,99 +0,0 @@
-include(posix/px4_impl_posix)
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
-
-set(config_module_list
-	drivers/device
-	drivers/boards/sitl
-	drivers/pwm_out_sim
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-	platforms/posix/drivers/adcsim
-	platforms/posix/drivers/gpssim
-	platforms/posix/drivers/tonealrmsim
-	platforms/posix/drivers/accelsim
-	platforms/posix/drivers/airspeedsim
-	platforms/posix/drivers/barosim
-	platforms/posix/drivers/gyrosim
-	platforms/posix/drivers/rgbledsim
-	platforms/posix/drivers/ledsim
-	systemcmds/param
-	systemcmds/mixer
-	systemcmds/ver
-	systemcmds/esc_calib
-	systemcmds/reboot
-	systemcmds/topic_listener
-	systemcmds/perf
-	modules/uORB
-	modules/param
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/sensors
-	modules/simulator
-	modules/mavlink
-	modules/attitude_estimator_ekf
-	modules/attitude_estimator_q
-	modules/ekf_att_pos_estimator
-	modules/ekf2
-	modules/position_estimator_inav
-	modules/navigator
-	modules/vtol_att_control
-	modules/mc_pos_control
-	modules/mc_att_control
-	modules/mc_pos_control_multiplatform
-	modules/mc_att_control_multiplatform
-	modules/land_detector
-	modules/fw_att_control
-	modules/fw_pos_control_l1
-	modules/dataman
-	modules/sdlog2
-	modules/commander
-	modules/controllib
-	lib/mathlib
-	lib/mathlib/math/filter
-	lib/conversion
-	lib/ecl
-	lib/external_lgpl
-	lib/geo
-	lib/geo_lookup
-	lib/launchdetection
-	lib/terrain_estimation
-	lib/runway_takeoff
-	lib/tailsitter_recovery
-	examples/px4_simple_app
-	)
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-set(config_sitl_rcS
-	posix-configs/SITL/init/rcS_ekf2
-	CACHE FILEPATH "init script for sitl"
-	)
-
-set(config_sitl_viewer
-	jmavsim
-	CACHE STRING "viewer for sitl"
-	)
-set_property(CACHE config_sitl_viewer
-	PROPERTY STRINGS "jmavsim;none")
-
-set(config_sitl_debugger
-	disable
-	CACHE STRING "debugger for sitl"
-	)
-set_property(CACHE config_sitl_debugger
-	PROPERTY STRINGS "disable;gdb;lldb")
-
-
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	MAIN "sercon" STACK "2048")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	MAIN "serdis" STACK "2048")

cmake/configs/qurt_eagle_default.cmake

@@ -1,91 +0,0 @@
-include(qurt/px4_impl_qurt)
-
-#if ("${HEXAGON_DRIVERS_ROOT}" #STREQUAL "")
-#	message(FATAL_ERROR "HEXAGON_DRIVERS_ROOT is not set")
-#endif()
-
-#if ("${EAGLE_DRIVERS_SRC}" STREQUAL "")
-#	message(FATAL_ERROR "EAGLE_DRIVERS_SRC is not set")
-#endif()
-
-#include_directories(${HEXAGON_DRIVERS_ROOT}/inc)
-
-# For Actual flight we need to link against the driver dynamic libraries
-#set(target_libraries
-#	-L${HEXAGON_DRIVERS_ROOT}/libs
-# The plan is to replace these with our drivers
-#	mpu9x50
-#	uart_esc
-#	csr_gps
-#	rc_receiver
-#	)
-
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
-
-set(config_module_list
-	#
-	# Board support modules
-	#
-	drivers/device
-	modules/sensors
-# The plan is to replace these with our drivers
-#	$(EAGLE_DRIVERS_SRC)/mpu9x50
-#	$(EAGLE_DRIVERS_SRC)/uart_esc
-#	$(EAGLE_DRIVERS_SRC)/rc_receiver
-#	$(EAGLE_DRIVERS_SRC)/csr_gps
-
-	#
-	# System commands
-	#
-	systemcmds/param
-
-	#
-	# Estimation modules (EKF/ SO3 / other filters)
-	#
-	#modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
-	modules/attitude_estimator_q
-	modules/position_estimator_inav
-
-	#
-	# Vehicle Control
-	#
-	modules/mc_att_control
-	modules/mc_pos_control
-
-	#
-	# Library modules
-	#
-	modules/param
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/uORB
-	modules/commander
-	modules/controllib
-
-	#
-	# Libraries
-	#
-	lib/mathlib
-	lib/mathlib/math/filter
-	lib/geo
-	lib/geo_lookup
-	lib/conversion
-	lib/terrain_estimation
-	lib/runway_takeoff
-	lib/tailsitter_recovery
-
-	#
-	# QuRT port
-	#
-	platforms/common
-	platforms/qurt/px4_layer
-	platforms/posix/work_queue
-
-	#
-	# sources for muorb over fastrpc
-	#
-	modules/muorb/adsp
-	)

cmake/configs/qurt_eagle_hello.cmake

@@ -1,8 +1,6 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
-
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
 
 set(config_module_list
 	drivers/device

cmake/configs/qurt_eagle_hil.cmake

@@ -1,7 +1,6 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
 
 set(config_module_list
 	drivers/device
@@ -50,7 +49,6 @@ set(config_module_list
 	lib/conversion
 	lib/terrain_estimation
 	lib/runway_takeoff
-	lib/tailsitter_recovery
 	modules/controllib
 
 	#

cmake/configs/qurt_eagle_muorb.cmake

@@ -1,8 +1,6 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
-
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
 
 set(config_module_list
 	drivers/device

cmake/configs/qurt_eagle_release.cmake

@@ -20,8 +20,7 @@ set(target_libraries
 	)
 
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
 
 set(config_module_list
 	#
@@ -73,7 +72,6 @@ set(config_module_list
 	lib/conversion
 	lib/terrain_estimation
 	lib/runway_takeoff
-	lib/tailsitter_recovery
 
 	#
 	# QuRT port

cmake/configs/qurt_eagle_test.cmake

@@ -1,7 +1,6 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
 
 set(config_module_list
 	drivers/device

cmake/configs/qurt_eagle_travis.cmake

@@ -3,8 +3,7 @@ include(qurt/px4_impl_qurt)
 # Run a full link with build stubs to make sure qurt target isn't broken
 set(QURT_ENABLE_STUBS "1")
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
 
 set(config_module_list
 	drivers/device
@@ -55,7 +54,6 @@ set(config_module_list
 	lib/ecl
 	lib/terrain_estimation
 	lib/runway_takeoff
-	lib/tailsitter_recovery
 
 	#
 	# QuRT port

cmake/nuttx/px4_impl_nuttx.cmake

@@ -467,14 +467,6 @@ function(px4_os_add_flags)
 			-mfpu=fpv4-sp-d16
 			-mfloat-abi=hard
 			)
-	elseif (${BOARD} STREQUAL "px4-stm32f4discovery")
-		set(cpu_flags
-			-mcpu=cortex-m4
-			-mthumb
-			-march=armv7e-m
-			-mfpu=fpv4-sp-d16
-			-mfloat-abi=hard
-			)
 	elseif (${BOARD} STREQUAL "aerocore")
 		set(cpu_flags
 			-mcpu=cortex-m4

cmake/qurt/px4_impl_qurt.cmake

@@ -172,13 +172,16 @@ function(px4_os_add_flags)
         set(added_definitions
                 -D__PX4_QURT 
 		-D__PX4_POSIX
+		-D__DF_QURT
 		-include ${PX4_INCLUDE_DIR}visibility.h
                 )
 
 	# Add the toolchain specific flags
-        set(added_cflags -O0)
-        set(added_cxx_flags -O0)
+        set(added_cflags ${QURT_CMAKE_C_FLAGS})
+        set(added_cxx_flags ${QURT_CMAKE_CXX_FLAGS})
 
+	# FIXME @jgoppert - how to work around issues like this?
+	# Without changing global variables?
 	# Clear -rdynamic flag which fails for hexagon
 	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
 	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")

cmake/toolchains/Toolchain-hexagon-7.2.10.cmake

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

cmake/toolchains/Toolchain-hexagon.cmake

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

mavlink/include/mavlink/v1.0

@@ -1 +1 @@
-Subproject commit 21d36c9e23867b09145dc61b11941fb606726cc2
+Subproject commit db5cf66d1a7f549ccbaa92b5476e78754e008297

msg/input_rc.msg

@@ -6,12 +6,6 @@ uint8 RC_INPUT_SOURCE_PX4IO_SBUS = 4
 uint8 RC_INPUT_SOURCE_PX4IO_ST24 = 5
 uint8 RC_INPUT_SOURCE_MAVLINK = 6
 uint8 RC_INPUT_SOURCE_QURT = 7
-uint8 RC_INPUT_SOURCE_PX4FMU_SPEKTRUM = 8
-uint8 RC_INPUT_SOURCE_PX4FMU_SBUS = 9
-uint8 RC_INPUT_SOURCE_PX4FMU_ST24 = 10
-uint8 RC_INPUT_SOURCE_PX4FMU_SUMD = 11
-uint8 RC_INPUT_SOURCE_PX4FMU_DSM = 12
-uint8 RC_INPUT_SOURCE_PX4IO_SUMD = 13
 
 uint8 RC_INPUT_MAX_CHANNELS = 18 	# Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
 
@@ -20,7 +14,7 @@ uint64 timestamp_last_signal		# last valid reception time
 uint32 channel_count			# number of channels actually being seen
 int32 rssi				# receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception
 bool rc_failsafe			# explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly.
-bool rc_lost				# RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usUally means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.
+bool rc_lost				# RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usally means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.
 uint16 rc_lost_frame_count		# Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
 uint16 rc_total_frame_count		# Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
 uint16 rc_ppm_frame_length		# Length of a single PPM frame. Zero for non-PPM systems

msg/manual_control_setpoint.msg

@@ -26,7 +26,7 @@ float32 z			 # throttle stick position 0..1
 				 # in general the value corresponds to the demanded throttle by the user,
 				 # if the input is used for setting the setpoint of a vertical position
 				 # controller any value > 0.5 means up and any value < 0.5 means down
-float32 r			 # yaw stick/twist position, -1..1
+float32 r			 # yaw stick/twist positon, -1..1
 				 # in general corresponds to the righthand rotation around the vertical
 				 # (downwards) axis of the vehicle
 float32 flaps			 # flap position

msg/position_setpoint.msg

@@ -33,4 +33,3 @@ float32 a_y			# acceleration y setpoint
 float32 a_z			# acceleration z setpoint
 bool acceleration_valid		# true if acceleration setpoint is valid/should be used
 bool acceleration_is_force	# interprete acceleration as force
-float32 acceptance_radius   # navigation acceptance_radius if we're doint waypoint navigation

msg/rc_parameter_map.msg

@@ -6,6 +6,6 @@ bool[3] valid		#true for RC-Param channels which are mapped to a param
 int32[3] param_index	# corresponding param index, this field is ignored if set to -1, in this case param_id will be used
 char[51] param_id	# MAP_NCHAN * (ID_LEN + 1) chars, corresponding param id, null terminated
 float32[3] scale		# scale to map the RC input [-1, 1] to a parameter value
-float32[3] value0		# initial value around which the parameter value is changed
+float32[3] value0		# inital value around which the parameter value is changed
 float32[3] value_min	# minimal parameter value
 float32[3] value_max	# minimal parameter value

msg/vehicle_command.msg

@@ -31,7 +31,6 @@ uint32 VEHICLE_CMD_DO_SET_SERVO = 183			# Set a servo to a desired PWM value. |S
 uint32 VEHICLE_CMD_DO_REPEAT_SERVO = 184		# Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| 
 uint32 VEHICLE_CMD_DO_FLIGHTTERMINATION=185		# Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| 
 uint32 VEHICLE_CMD_DO_CONTROL_VIDEO = 200		# Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| 
-uint32 VEHICLE_CMD_DO_DIGICAM_CONTROL=203
 uint32 VEHICLE_CMD_DO_MOUNT_CONFIGURE=204		# Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| 
 uint32 VEHICLE_CMD_DO_MOUNT_CONTROL=205			# Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value| 
 uint32 VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST=206		# Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| 

msg/vehicle_command_ack.msg

@@ -1,8 +0,0 @@
-uint8 VEHICLE_RESULT_ACCEPTED = 0
-uint8 VEHICLE_RESULT_TEMPORARILY_REJECTED = 1
-uint8 VEHICLE_RESULT_DENIED = 2
-uint8 VEHICLE_RESULT_UNSUPPORTED = 3
-uint8 VEHICLE_RESULT_FAILED = 4
-
-uint16 command
-uint8 result

msg/vehicle_global_position.msg

@@ -4,18 +4,18 @@
 # estimator, which will take more sources of information into account than just GPS,
 # e.g. control inputs of the vehicle in a Kalman-filter implementation.
 #
-uint64 timestamp		# Time of this estimate since system start, (microseconds)
-uint64 time_utc_usec		# GPS UTC timestamp, (microseconds)
-float64 lat			# Latitude, (degrees)
-float64 lon			# Longitude, (degrees)
-float32 alt			# Altitude AMSL, (meters)
-float32 vel_n			# North velocity in NED earth-fixed frame, (metres/sec)
-float32 vel_e			# East velocity in NED earth-fixed frame, (metres/sec)
-float32 vel_d			# Down velocity in NED earth-fixed frame, (metres/sec)
-float32 yaw 			# Euler yaw angle relative to NED earth-fixed frame, -PI..+PI, (radians)
-float32 eph			# Standard deviation of horizontal position error, (metres)
-float32 epv			# Standard deviation of vertical position error, (metres)
-float32 terrain_alt		# Terrain altitude WGS84, (metres)
+uint64 timestamp		# Time of this estimate, in microseconds since system start
+uint64 time_utc_usec		# GPS UTC timestamp in microseconds
+float64 lat			# Latitude in degrees
+float64 lon			# Longitude in degrees
+float32 alt			# Altitude AMSL in meters
+float32 vel_n			# Ground north velocity, m/s
+float32 vel_e			# Ground east velocity, m/s
+float32 vel_d			# Ground downside velocity, m/s
+float32 yaw 			# Yaw in radians -PI..+PI.
+float32 eph			# Standard deviation of position estimate horizontally
+float32 epv			# Standard deviation of position vertically
+float32 terrain_alt		# Terrain altitude in m, WGS84
 bool terrain_alt_valid		# Terrain altitude estimate is valid
 bool dead_reckoning		# True if this position is estimated through dead-reckoning
-float32 pressure_alt		# Pressure altitude AMSL, (metres)
+float32 pressure_alt		# Pressure altitude

msg/vehicle_gps_position.msg

@@ -1,30 +1,30 @@
 # GPS position in WGS84 coordinates.
-uint64 timestamp_position	# Time of the position estimates since system start, (microseconds)
-int32 lat			# Latitude in 1E-7 degrees
+uint64 timestamp_position	# Timestamp for position information 
+int32 lat			# Latitude in 1E-7 degrees 
 int32 lon			# Longitude in 1E-7 degrees 
-int32 alt			# Altitude in 1E-3 meters above MSL, (millimetres)
-int32 alt_ellipsoid 		# Altitude in 1E-3 meters bove Ellipsoid, (millimetres)
+int32 alt			# Altitude in 1E-3 meters (millimeters) above MSL  
+int32 alt_ellipsoid # Altitude in 1E-3 meters (millimeters) above Ellipsoid
 
-uint64 timestamp_variance	# Time of the accuracy estimates since system start, (microseconds)
-float32 s_variance_m_s		# GPS speed accuracy estimate, (metres/sec)
-float32 c_variance_rad		# GPS course accuracy estimate, (radians) 
+uint64 timestamp_variance
+float32 s_variance_m_s		# speed accuracy estimate m/s 
+float32 c_variance_rad		# course accuracy estimate rad 
 uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   
 
-float32 eph			# GPS horizontal position accuracy (metres) 
-float32 epv			# GPS vertical position accuracy (metres) 
+float32 eph			# GPS HDOP horizontal dilution of position in m 
+float32 epv			# GPS VDOP horizontal dilution of position in m 
 
 int32 noise_per_ms		# GPS noise per millisecond
 int32 jamming_indicator		# indicates jamming is occurring
 
-uint64 timestamp_velocity	# Time of the velocity estimates since system start, (microseconds)
-float32 vel_m_s			# GPS ground speed, (metres/sec) 
-float32 vel_n_m_s		# GPS North velocity, (metres/sec) 
-float32 vel_e_m_s		# GPS East velocity, (metres/sec)
-float32 vel_d_m_s		# GPS Down velocity, (metres/sec) 
-float32 cog_rad			# Course over ground (NOT heading, but direction of movement), -PI..PI, (radians) 
-bool vel_ned_valid		# True if NED velocity is valid 
+uint64 timestamp_velocity	# Timestamp for velocity informations 
+float32 vel_m_s			# GPS ground speed (m/s) 
+float32 vel_n_m_s		# GPS ground speed in m/s 
+float32 vel_e_m_s		# GPS ground speed in m/s 
+float32 vel_d_m_s		# GPS ground speed in m/s 
+float32 cog_rad			# Course over ground (NOT heading, but direction of movement) in rad, -PI..PI 
+bool vel_ned_valid		# Flag to indicate if NED speed is valid 
 
-uint64 timestamp_time		# Time of the UTC timestamp since system start, (microseconds) 
+uint64 timestamp_time		# Timestamp for time information 
 uint64 time_utc_usec		# Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 
 
 uint8 satellites_used		# Number of satellites used 

msg/vehicle_local_position.msg

@@ -1,36 +1,36 @@
 # Fused local position in NED.
 
-uint64 timestamp			# Time of this estimate since system start, (microseconds)
-bool xy_valid				# true if x and y are valid
-bool z_valid				# true if z is valid
-bool v_xy_valid				# true if vy and vy are valid
-bool v_z_valid				# true if vz is valid
+uint64 timestamp		# Time of this estimate, in microseconds since system start
+bool xy_valid			# true if x and y are valid
+bool z_valid			# true if z is valid
+bool v_xy_valid		# true if vy and vy are valid
+bool v_z_valid			# true if vz is valid
 
 # Position in local NED frame
-float32 x				# North position in NED earth-fixed frame, (metres)
-float32 y				# East position in NED earth-fixed frame, (metres)
-float32 z				# Down position (negative altitude) in NED earth-fixed frame, (metres)
+float32 x				# X position in meters in NED earth-fixed frame
+float32 y				# X position in meters in NED earth-fixed frame
+float32 z				# Z position in meters in NED earth-fixed frame (negative altitude)
 
 # Velocity in NED frame
-float32 vx 				# North velocity in NED earth-fixed frame, (metres/sec)
-float32 vy				# East velocity in NED earth-fixed frame, (metres/sec)
-float32 vz				# Down velocity in NED earth-fixed frame, (metres/sec)
+float32 vx 				# Ground X Speed (Latitude), m/s in NED
+float32 vy				# Ground Y Speed (Longitude), m/s in NED
+float32 vz				# Ground Z Speed (Altitude), m/s	in NED
 
 # Heading
-float32 yaw				# Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI,  (radians) 
+float32 yaw
 
-# Position of reference point (local NED frame origin) in global (GPS / WGS84) frame
-bool xy_global				# true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
-bool z_global				# true if z is valid and has valid global reference (ref_alt)
-uint64 ref_timestamp			# Time when reference position was set since system start, (microseconds)
-float64 ref_lat				# Reference point latitude, (degrees)
-float64 ref_lon				# Reference point longitude, (degrees)
-float32 ref_alt				# Reference altitude AMSL, MUST be set to current (not at reference point!) ground level, (metres)
+# Reference position in GPS / WGS84 frame
+bool xy_global			# true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
+bool z_global			# true if z is valid and has valid global reference (ref_alt)
+uint64 ref_timestamp	# Time when reference position was set
+float64 ref_lat		# Reference point latitude in degrees
+float64 ref_lon		# Reference point longitude in degrees
+float32 ref_alt			# Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level
 
 # Distance to surface
-float32 dist_bottom			# Distance from from bottom surface to ground, (metres)
-float32 dist_bottom_rate		# Rate of change of distance from bottom surface to ground, (metres/sec)
-uint64 surface_bottom_timestamp		# Time when new bottom surface found since system start, (microseconds)
-bool dist_bottom_valid			# true if distance to bottom surface is valid
-float32 eph				# Standard deviation of horizontal position error, (metres)
-float32 epv				# Standard deviation of vertical position error, (metres)
+float32 dist_bottom		# Distance to bottom surface (ground)
+float32 dist_bottom_rate		# Distance to bottom surface (ground) change rate
+uint64 surface_bottom_timestamp		# Time when new bottom surface found
+bool dist_bottom_valid	# true if distance to bottom surface is valid
+float32 eph
+float32 epv

msg/vehicle_status.msg

@@ -10,8 +10,7 @@ uint8 MAIN_STATE_OFFBOARD = 7
 uint8 MAIN_STATE_STAB = 8
 uint8 MAIN_STATE_RATTITUDE = 9
 uint8 MAIN_STATE_AUTO_TAKEOFF = 10
-uint8 MAIN_STATE_AUTO_LAND = 11
-uint8 MAIN_STATE_MAX = 12
+uint8 MAIN_STATE_MAX = 11
 
 # If you change the order, add or remove arming_state_t states make sure to update the arrays
 # in state_machine_helper.cpp as well.
@@ -105,7 +104,6 @@ uint16 counter   # incremented by the writing thread everytime new data is store
 uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
 
 uint8 main_state		    	# main state machine
-uint8 main_state_prev       # previous main state
 uint8 nav_state				# set navigation state machine to specified value
 uint8 arming_state			# current arming state
 uint8 hil_state				# current hil state

nuttx-configs/px4fmu-v4/include/board.h

@@ -215,7 +215,7 @@
 #define GPIO_UART4_RX	GPIO_UART4_RX_1
 #define GPIO_UART4_TX	GPIO_UART4_TX_1
 
-#define GPIO_USART6_RX	GPIO_USART6_RX_1	/* RC_INPUT */
+#define GPIO_USART6_RX	GPIO_USART6_RX_1
 #define GPIO_USART6_TX	GPIO_USART6_TX_1
 
 #define GPIO_UART7_RX	GPIO_UART7_RX_1
@@ -257,10 +257,9 @@
 #define GPIO_SPI1_MOSI	(GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI1_SCK	(GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
 
-
 #define GPIO_SPI2_MISO	(GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI2_MOSI	(GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
 
 /************************************************************************************
  * Public Data

nuttx-configs/px4fmu-v4/nsh/defconfig

@@ -552,7 +552,7 @@ CONFIG_UART7_SERIAL_CONSOLE=y
 # USART1 Configuration
 #
 CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=2000
+CONFIG_USART1_TXBUFSIZE=1100
 CONFIG_USART1_BAUD=115200
 CONFIG_USART1_BITS=8
 CONFIG_USART1_PARITY=0
@@ -669,7 +669,7 @@ CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=4000
 CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_PRODUCTID=0x0012
+CONFIG_CDCACM_PRODUCTID=0x0011
 CONFIG_CDCACM_VENDORSTR="3D Robotics"
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v4.x"
 # CONFIG_USBMSC is not set

posix-configs/SITL/init/rcS_ekf2_jmavsim_iris

@@ -1,62 +0,0 @@
-uorb start
-simulator start -s
-param load
-param set MAV_TYPE 2
-param set MC_PITCHRATE_P 0.15
-param set MC_PITCH_P 7
-param set MC_ROLL_P 7
-param set MC_ROLLRATE_P 0.15
-param set MC_YAW_P 2.8
-param set MC_YAWRATE_P 0.35
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-dataman start
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set MPC_XY_P 0.4
-param set MPC_XY_VEL_P 0.2
-param set MPC_XY_VEL_D 0.005
-param set SENS_BOARD_ROT 0
-param set COM_RC_IN_MODE 1
-param set NAV_ACC_RAD 2.0
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 10.0
-rgbledsim start
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-adcsim start
-gpssim start
-pwm_out_sim mode_pwm
-sleep 1
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
-mavlink start -u 14556 -r 2000000
-mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 80 -s ATTITUDE -u 14556
-mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-mavlink boot_complete
-sdlog2 start -r 100 -e -t -a
-ekf2 start

posix-configs/SITL/init/rcS_gazebo_iris

@@ -50,7 +50,6 @@ mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
 mavlink start -u 14556 -r 2000000
-mavlink start -u 14557 -r 2000000 -m onboard
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556

posix-configs/SITL/init/rcS_gazebo_standard_vtol

@@ -1,66 +0,0 @@
-uorb start
-simulator start -s
-param load
-param set MAV_TYPE 20
-param set MC_PITCHRATE_P 0.3
-param set MC_ROLLRATE_P 0.3
-param set MC_YAW_P 2.0
-param set MC_YAWRATE_P 0.35
-param set VT_TYPE 2
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-dataman start
-param set CAL_GYRO0_ID 2293768
-param set CAL_ACC0_ID 1376264
-param set CAL_ACC1_ID 1310728
-param set CAL_MAG0_ID 196616
-param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 0.01
-param set CAL_ACC0_YOFF -0.01
-param set CAL_ACC0_ZOFF 0.01
-param set CAL_ACC0_XSCALE 1.01
-param set CAL_ACC0_YSCALE 1.01
-param set CAL_ACC0_ZSCALE 1.01
-param set CAL_ACC1_XOFF 0.01
-param set CAL_MAG0_XOFF 0.01
-param set MPC_XY_P 0.15
-param set MPC_XY_VEL_P 0.05
-param set MPC_XY_VEL_D 0.005
-param set MPC_XY_FF 0.1
-param set MPC_Z_VEL_MAX 1.0
-param set SENS_BOARD_ROT 8
-param set COM_RC_IN_MODE 1
-rgbledsim start
-tone_alarm start
-gyrosim start
-accelsim start
-barosim start
-adcsim start
-gpssim start
-measairspeedsim start
-pwm_out_sim mode_pwm
-sleep 1
-sensors start
-commander start
-land_detector start multicopter
-navigator start
-attitude_estimator_q start
-position_estimator_inav start
-vtol_att_control start
-mc_pos_control start
-mc_att_control start
-fw_pos_control_l1 start
-fw_att_control start
-mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix
-mavlink start -u 14556 -r 2000000
-mavlink start -u 14557 -r 2000000 -m onboard
-mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 80 -s ATTITUDE -u 14556
-mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
-mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-mavlink boot_complete
-sdlog2 start -r 200 -e -t -a

posix-configs/SITL/init/rcS_gazebo_tailsitter

@@ -27,7 +27,6 @@ param set MPC_XY_P 0.15
 param set MPC_XY_VEL_P 0.05
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
-param set MPC_Z_VEL_MAX 1.0
 param set SENS_BOARD_ROT 8
 param set COM_RC_IN_MODE 1
 rgbledsim start
@@ -53,7 +52,6 @@ fw_pos_control_l1 start
 fw_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
 mavlink start -u 14556 -r 2000000
-mavlink start -u 14557 -r 2000000 -m onboard
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
@@ -63,4 +61,4 @@ mavlink stream -r 20 -s RC_CHANNELS -u 14556
 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
 mavlink boot_complete
-sdlog2 start -r 200 -e -t -a
+sdlog2 start -r 100 -e -t -a

posix-configs/SITL/init/rcS_jmavsim_iris

@@ -32,12 +32,6 @@ param set COM_RC_IN_MODE 1
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
-param set MIS_TAKEOFF_ALT 5.0
-param set MPC_HOLD_MAX_Z 2.0
-param set MPC_HOLD_XY_DZ 0.1
-param set MPC_HOLD_Z_DZ 0.1
-param set MPC_Z_VEL_MAX 2.0
-param set MPC_Z_VEL_P 0.4
 rgbledsim start
 tone_alarm start
 gyrosim start
@@ -57,7 +51,6 @@ mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
 mavlink start -u 14556 -r 2000000
-mavlink start -u 14557 -r 2000000 -m onboard
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
@@ -66,6 +59,5 @@ mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
 mavlink stream -r 20 -s RC_CHANNELS -u 14556
 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
-mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
 mavlink boot_complete
 sdlog2 start -r 100 -e -t -a

src/drivers/boards/aerocore/board_config.h

@@ -150,7 +150,6 @@ __BEGIN_DECLS
 #define GPIO_TIM3_CH2OUT	GPIO_TIM3_CH2OUT_3
 #define GPIO_TIM3_CH3OUT	GPIO_TIM3_CH3OUT_2
 #define GPIO_TIM3_CH4OUT	GPIO_TIM3_CH4OUT_2
-#define DIRECT_PWM_OUTPUT_CHANNELS	8
 
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer 8 for the HRT */

src/drivers/boards/px4-stm32f4discovery/px4discovery_init.c

@@ -129,6 +129,18 @@ stm32_boardinitialize(void)
 
 #include <math.h>
 
+#ifdef __cplusplus
+__EXPORT int matherr(struct __exception *e)
+{
+	return 1;
+}
+#else
+__EXPORT int matherr(struct exception *e)
+{
+	return 1;
+}
+#endif
+
 __EXPORT int nsh_archinitialize(void)
 {
 

src/drivers/boards/px4fmu-v1/board_config.h

@@ -182,7 +182,6 @@ __BEGIN_DECLS
 #define GPIO_TIM2_CH2OUT	GPIO_TIM2_CH2OUT_1
 #define GPIO_TIM2_CH3OUT	GPIO_TIM2_CH3OUT_1
 #define GPIO_TIM2_CH4OUT	GPIO_TIM2_CH4OUT_1
-#define DIRECT_PWM_OUTPUT_CHANNELS	4
 
 /* USB OTG FS
  *

src/drivers/boards/px4fmu-v2/board_config.h

@@ -115,7 +115,6 @@ __BEGIN_DECLS
 #define PX4_SPI_BUS_SENSORS	1
 #define PX4_SPI_BUS_RAMTRON	2
 #define PX4_SPI_BUS_EXT		4
-#define PX4_SPI_BUS_BARO	PX4_SPI_BUS_SENSORS
 
 /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
 #define PX4_SPIDEV_GYRO		1
@@ -211,7 +210,6 @@ __BEGIN_DECLS
 #define GPIO_TIM1_CH4OUT	GPIO_TIM1_CH4OUT_2
 #define GPIO_TIM4_CH2OUT	GPIO_TIM4_CH2OUT_2
 #define GPIO_TIM4_CH3OUT	GPIO_TIM4_CH3OUT_2
-#define DIRECT_PWM_OUTPUT_CHANNELS	6
 
 /* USB OTG FS
  *

src/drivers/boards/px4fmu-v4/board_config.h

@@ -65,7 +65,7 @@ __BEGIN_DECLS
 //{0,                      GPIO_PERIPH_3V3_EN,      0},	Owned by the 8266 driver
 //{0,                      GPIO_SBUS_INV,           0},	https://github.com/PX4/Firmware/blob/master/src/modules/px4iofirmware/sbus.c
 //{GPIO_8266_GPIO0,        0,                       0},   Owned by the 8266 driver
-//{0,                      GPIO_SPEKTRUM_PWR_EN,     0},	Owned Spektum driver input to auto pilot
+//{0,                      GPIO_SPEKTRUM_POWER,     0},	Owned Spektum driver input to auto pilot
 //{0,                      GPIO_8266_PD,            0},	Owned by the 8266 driver
 //{0,                      GPIO_8266_RST,           0},	Owned by the 8266 driver
 
@@ -73,7 +73,7 @@ __BEGIN_DECLS
 /* LEDs */
 
 #define GPIO_LED1		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
-#define GPIO_LED2		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_LED2		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
 #define GPIO_LED3		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)
 
 #define GPIO_LED_RED 	GPIO_LED1
@@ -120,24 +120,15 @@ __BEGIN_DECLS
 
 #define PX4_SPI_BUS_SENSORS	1
 #define PX4_SPI_BUS_RAMTRON	2
-#define PX4_SPI_BUS_BARO	PX4_SPI_BUS_RAMTRON
 
 /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
 #define PX4_SPIDEV_GYRO			1
 #define PX4_SPIDEV_ACCEL_MAG	2
+#define PX4_SPIDEV_BARO			3
 #define PX4_SPIDEV_MPU			4
 #define PX4_SPIDEV_HMC			5
 #define PX4_SPIDEV_ICM			6
 
-/* onboard MS5611 and FRAM are both on bus SPI2
- * spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver
- * use 3 for the barometer to differentiate
- */
-#define PX4_SPIDEV_BARO			3
-#if (PX4_SPIDEV_BARO == SPIDEV_FLASH)
-#error PX4_SPIDEV_BARO must not be equal to SPIDEV_FLASH as they share the same bus
-#endif
-
 /* I2C busses */
 #define PX4_I2C_BUS_EXPANSION	1
 #define PX4_I2C_BUS_LED			PX4_I2C_BUS_EXPANSION
@@ -209,7 +200,6 @@ __BEGIN_DECLS
 #define GPIO_TIM1_CH4OUT	GPIO_TIM1_CH4OUT_2
 #define GPIO_TIM4_CH2OUT	GPIO_TIM4_CH2OUT_2
 #define GPIO_TIM4_CH3OUT	GPIO_TIM4_CH3OUT_2
-#define DIRECT_PWM_OUTPUT_CHANNELS	6
 
 /* USB OTG FS
  *
@@ -224,7 +214,7 @@ __BEGIN_DECLS
 #define HRT_PPM_CHANNEL		3	/* use capture/compare channel 2 */
 #define GPIO_PPM_IN			(GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
 
-#define RC_SERIAL_PORT		"/dev/ttyS4"
+#define SBUS_SERIAL_PORT	"/dev/ttyS4"
 
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
 #define PWMIN_TIMER			4
@@ -233,31 +223,15 @@ __BEGIN_DECLS
 
 #define GPIO_RSSI_IN 			(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
 #define GPIO_LED_SAFETY			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
-#define GPIO_BTN_SAFETY			(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
+#define GPIO_SAFETY_SWITCH_IN	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
 #define GPIO_PERIPH_3V3_EN		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
-/* for R07, this signal is active low */
-//#define GPIO_SBUS_INV			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
-//#define INVERT_RC_INPUT(_s)		stm32_gpiowrite(GPIO_SBUS_INV, 1-_s);
-/* for R12, this signal is active high */
-#define GPIO_SBUS_INV			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
-#define INVERT_RC_INPUT(_s)		stm32_gpiowrite(GPIO_SBUS_INV, _s);
+#define GPIO_SBUS_INV			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
 #define GPIO_8266_GPIO0			(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
-#define GPIO_SPEKTRUM_PWR_EN		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
+#define GPIO_SPEKTRUM_POWER		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
 #define GPIO_8266_PD			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
 #define GPIO_8266_RST			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6)
 
-/* Power switch controls ******************************************************/
-
-#define POWER_SPEKTRUM(_s)			stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (1-_s))
-//#define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
-#define SPEKTRUM_RX_AS_UART()		stm32_configgpio(GPIO_USART1_RX)
-
-// FMUv4 has a separate GPIO for serial RC output
-#define GPIO_RC_OUT			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
-#define SPEKTRUM_RX_AS_GPIO()		stm32_configgpio(GPIO_RC_OUT)
-#define SPEKTRUM_RX_HIGH(_s)		stm32_gpiowrite(GPIO_RC_OUT, (_s))
-
 /****************************************************************************************************
  * Public Types
  ****************************************************************************************************/

src/drivers/boards/px4fmu-v4/px4fmu_init.c

@@ -230,13 +230,9 @@ __EXPORT int nsh_archinitialize(void)
 
 	stm32_configgpio(GPIO_SBUS_INV);
 	stm32_configgpio(GPIO_8266_GPIO0);
-	stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
+	stm32_configgpio(GPIO_SPEKTRUM_POWER);
 	stm32_configgpio(GPIO_8266_PD);
 	stm32_configgpio(GPIO_8266_RST);
-#ifdef GPIO_RC_OUT
-	stm32_configgpio(GPIO_RC_OUT);      /* Serial RC output pin */
-	stm32_gpiowrite(GPIO_RC_OUT, 1);    /* set it high to pull RC input up */
-#endif
 
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
@@ -288,6 +284,7 @@ __EXPORT int nsh_archinitialize(void)
 	SPI_SETMODE(spi1, SPIDEV_MODE3);
 	SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
 	SPI_SELECT(spi1, PX4_SPIDEV_HMC, false);
+	SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
 	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
 	up_udelay(20);
 
@@ -301,16 +298,14 @@ __EXPORT int nsh_archinitialize(void)
 		return -ENODEV;
 	}
 
-	/* Default SPI2 to 12MHz and de-assert the known chip selects.
-	 * MS5611 has max SPI clock speed of 20MHz
-	 */
+	/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
+	 * and de-assert the known chip selects. */
 
-	// XXX start with 10.4 MHz and go up to 20 once validated
+	// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
 	SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
 	SPI_SETBITS(spi2, 8);
 	SPI_SETMODE(spi2, SPIDEV_MODE3);
 	SPI_SELECT(spi2, SPIDEV_FLASH, false);
-	SPI_SELECT(spi2, PX4_SPIDEV_BARO, false);
 
 #ifdef CONFIG_MMCSD
 	/* First, get an instance of the SDIO interface */

src/drivers/boards/px4fmu-v4/px4fmu_spi.c

@@ -151,24 +151,8 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 #ifdef CONFIG_STM32_SPI2
 __EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
-	/* SPI select is active low, so write !selected to select the device */
-
-	switch (devid) {
-	case SPIDEV_FLASH:
-		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
-		break;
-
-	case PX4_SPIDEV_BARO:
-		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
-		break;
-
-	default:
-		break;
-	}
+	/* there can only be one device on this bus, so always select it */
+	stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
 }
 
 __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)

src/drivers/boards/px4io-v1/board_config.h

@@ -83,13 +83,6 @@
 #define GPIO_RELAY1_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)
 #define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN11)
 
-#define GPIO_SPEKTRUM_PWR_EN GPIO_RELAY1_EN
-#define POWER_SPEKTRUM(_s)		stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
-
-#define SPEKTRUM_RX_HIGH(_s)	stm32_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_s))
-#define SPEKTRUM_RX_AS_UART()		stm32_configgpio(GPIO_USART1_RX)
-#define SPEKTRUM_RX_AS_GPIO()		stm32_configgpio(GPIO_USART1_RX_SPEKTRUM)
-
 /* Analog inputs ********************************************************************/
 
 #define GPIO_ADC_VBATT	(GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)

src/drivers/boards/px4io-v2/board_config.h

@@ -79,7 +79,7 @@
 #define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
 #define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
 
-#define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
+#define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN10)
 
 /* Safety switch button *******************************************************/
 
@@ -88,11 +88,6 @@
 /* Power switch controls ******************************************************/
 
 #define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
-#define POWER_SPEKTRUM(_s)		stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
-
-#define SPEKTRUM_RX_HIGH(_s)	stm32_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_s))
-#define SPEKTRUM_RX_AS_UART()		stm32_configgpio(GPIO_USART1_RX)
-#define SPEKTRUM_RX_AS_GPIO()		stm32_configgpio(GPIO_USART1_RX_SPEKTRUM)
 
 #define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15)
 

src/drivers/camera_trigger/camera_trigger.cpp

@@ -34,7 +34,7 @@
 /**
  * @file camera_trigger.cpp
  *
- * External camera-IMU synchronisation and triggering via FMU auxiliary pins.
+ * External camera-IMU synchronisation and triggering via FMU auxillary pins.
  *
  * @author Mohammed Kabir <mhkabir98@gmail.com>
  */

src/drivers/camera_trigger/camera_trigger_params.c

@@ -79,8 +79,6 @@ PARAM_DEFINE_FLOAT(TRIG_ACT_TIME, 0.5f);
  *
  * 0 disables the trigger, 1 sets it to enabled on command, 2 always on
  *
- * @reboot_required true
- *
  * @min 0
  * @max 2
  * @group Camera trigger

src/drivers/device/vdev_posix.cpp

@@ -56,7 +56,7 @@ pthread_mutex_t filemutex = PTHREAD_MUTEX_INITIALIZER;
 
 extern "C" {
 
-#define PX4_MAX_FD 300
+#define PX4_MAX_FD 200
 	static device::file_t *filemap[PX4_MAX_FD] = {};
 
 	int px4_errno;
@@ -124,22 +124,7 @@ extern "C" {
 				ret = dev->open(filemap[i]);
 
 			} else {
-
-				const unsigned NAMELEN = 32;
-				char thread_name[NAMELEN] = {};
-
-#ifndef __PX4_QURT
-				int nret = pthread_getname_np(pthread_self(), thread_name, NAMELEN);
-
-				if (nret || thread_name[0] == 0) {
-					PX4_WARN("failed getting thread name");
-				}
-
-				PX4_BACKTRACE();
-#endif
-
-				PX4_WARN("%s: exceeded maximum number of file descriptors, accessing %s",
-					 thread_name, path);
+				PX4_WARN("exceeded maximum number of file descriptors!");
 				ret = -ENOENT;
 			}
 
@@ -260,16 +245,12 @@ extern "C" {
 
 		const unsigned NAMELEN = 32;
 		char thread_name[NAMELEN] = {};
-
-#ifndef __PX4_QURT
 		int nret = pthread_getname_np(pthread_self(), thread_name, NAMELEN);
 
 		if (nret || thread_name[0] == 0) {
 			PX4_WARN("failed getting thread name");
 		}
 
-#endif
-
 		PX4_DEBUG("Called px4_poll timeout = %d", timeout);
 		px4_sem_init(&sem, 0, 0);
 

src/drivers/drv_pwm_output.h

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

src/drivers/gimbal/gimbal_params.c

@@ -55,11 +55,11 @@
 PARAM_DEFINE_INT32(GMB_USE_MNT, 0);
 
 /**
- * Auxiliary switch to set mount operation mode.
+ * Auxilary switch to set mount operation mode.
  *
  * Set to 0 to disable manual mode control.
  *
- * If set to an auxiliary switch:
+ * If set to an auxilary switch:
  * Switch off means the gimbal is put into safe/locked position.
  * Switch on means the gimbal can move freely, and landing gear
  * will be retracted if applicable.

src/drivers/gps/mtk.h

@@ -72,7 +72,7 @@ typedef struct {
 	uint32_t msl_altitude;  ///< MSL altitude in meters * 10^2
 	uint32_t ground_speed; ///< velocity in m/s
 	int32_t heading; ///< heading in degrees * 10^2
-	uint8_t satellites; ///< number of satellites used
+	uint8_t satellites; ///< number of sattelites used
 	uint8_t fix_type;  ///< fix type: XXX correct for that
 	uint32_t date;
 	uint32_t utc_time;

src/drivers/gps/ubx.cpp

@@ -44,8 +44,8 @@
  * @author Hannes Delago
  *   (rework, add ubx7+ compatibility)
  *
- * @see https://www2.u-blox.com/images/downloads/Product_Docs/u-blox6-GPS-GLONASS-QZSS-V14_ReceiverDescriptionProtocolSpec_Public_(GPS.G6-SW-12013).pdf
- * @see https://www.u-blox.com/sites/default/files/products/documents/u-bloxM8_ReceiverDescrProtSpec_%28UBX-13003221%29_Public.pdf
+ * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
+ * @see http://www.u-blox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf
  */
 
 #include <assert.h>

src/drivers/hott/hott_sensors/hott_sensors.cpp

@@ -182,7 +182,7 @@ hott_sensors_thread_main(int argc, char *argv[])
 
 		recv_data(uart, &buffer[0], &size, &id);
 
-		// Determine which module sent it and process accordingly.
+		// Determine which moduel sent it and process accordingly.
 		if (id == GAM_SENSOR_ID) {
 			publish_gam_message(buffer);
 

src/drivers/hott/messages.cpp

@@ -291,7 +291,7 @@ build_gps_response(uint8_t *buffer, size_t *size)
 		msg.altitude_L = (uint8_t)alt & 0xff;
 		msg.altitude_H = (uint8_t)(alt >> 8) & 0xff;
 
-		/* Get any (and probably only ever one) _home_sub position report */
+		/* Get any (and probably only ever one) _home_sub postion report */
 		bool updated;
 		orb_check(_home_sub, &updated);
 

src/drivers/hott/messages.h

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

src/drivers/ms5611/ms5611_i2c.cpp

@@ -265,7 +265,7 @@ MS5611_I2C::_read_prom()
 
 		/* check if all bytes are zero */
 		if (i == 0) {
-			/* initialize to first byte read */
+			/* initalize to first byte read */
 			last_val = prom_buf[0];
 		}
 

src/drivers/ms5611/ms5611_nuttx.cpp

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

src/drivers/pwm_input/pwm_input.cpp

@@ -536,7 +536,7 @@ void PWMIN::print_info(void)
 
 
 /*
- * Handle the interrupt, gathering pulse data
+ * Handle the interupt, gathering pulse data
  */
 static int pwmin_tim_isr(int irq, void *context)
 {

src/drivers/pwm_out_sim/pwm_out_sim.cpp

@@ -502,8 +502,8 @@ PWMSim::task_main()
 				    PX4_ISFINITE(outputs.output[i]) &&
 				    outputs.output[i] >= -1.0f &&
 				    outputs.output[i] <= 1.0f) {
-					/* scale for PWM output 1000 - 2000us */
-					outputs.output[i] = 1500 + (500 * outputs.output[i]);
+					/* scale for PWM output 900 - 2100us */
+					outputs.output[i] = 1500 + (600 * outputs.output[i]);
 
 				} else {
 					/*

src/drivers/px4fmu/fmu.cpp

@@ -90,8 +90,12 @@
 # include <systemlib/ppm_decode.h>
 #endif
 
-#define SCHEDULE_INTERVAL	2000	/**< The schedule interval in usec (500 Hz) */
-#define NAN_VALUE	(0.0f/0.0f)		/**< NaN value for throttle lock mode */
+/*
+ * This is the analog to FMU_INPUT_DROP_LIMIT_US on the IO side
+ */
+
+#define CONTROL_INPUT_DROP_LIMIT_US		2000
+#define NAN_VALUE	(0.0f/0.0f)
 
 class PX4FMU : public device::CDev
 {
@@ -119,28 +123,15 @@ public:
 	int		set_i2c_bus_clock(unsigned bus, unsigned clock_hz);
 
 private:
-	enum RC_SCAN {
-		RC_SCAN_PPM = 0,
-		RC_SCAN_SBUS,
-		RC_SCAN_DSM,
-		RC_SCAN_SUMD,
-		RC_SCAN_ST24
-	};
-	enum RC_SCAN _rc_scan_state = RC_SCAN_SBUS;
-
-	char const *RC_SCAN_STRING[5] = {
-		"PPM",
-		"SBUS",
-		"DSM",
-		"SUMD",
-		"ST24"
-	};
-
-	hrt_abstime _rc_scan_begin = 0;
-	bool _rc_scan_locked = false;
-	bool _report_lock = true;
-
-	static const unsigned _max_actuators = DIRECT_PWM_OUTPUT_CHANNELS;
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
+	static const unsigned _max_actuators = 4;
+#endif
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
+	static const unsigned _max_actuators = 6;
+#endif
+#if defined(CONFIG_ARCH_BOARD_AEROCORE)
+	static const unsigned _max_actuators = 8;
+#endif
 
 	Mode		_mode;
 	unsigned	_pwm_default_rate;
@@ -155,11 +146,11 @@ private:
 	orb_advert_t	_outputs_pub;
 	unsigned	_num_outputs;
 	int		_class_instance;
-	int		_rcs_fd;
-	uint8_t _rcs_buf[SBUS_FRAME_SIZE];
+	int		_sbus_fd;
+	int		_dsm_fd;
 
 	volatile bool	_initialized;
-	bool		_throttle_armed;
+	bool		_servo_armed;
 	bool		_pwm_on;
 
 	MixerGroup	*_mixers;
@@ -198,7 +189,7 @@ private:
 	int		set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate);
 	int		pwm_ioctl(file *filp, int cmd, unsigned long arg);
 	void		update_pwm_rev_mask();
-	void		publish_pwm_outputs(uint16_t *values, size_t numvalues);
+	void	publish_pwm_outputs(uint16_t *values, size_t numvalues);
 
 	struct GPIOConfig {
 		uint32_t	input;
@@ -220,14 +211,6 @@ private:
 	/* do not allow to copy due to ptr data members */
 	PX4FMU(const PX4FMU &);
 	PX4FMU operator=(const PX4FMU &);
-	void fill_rc_in(uint16_t raw_rc_count,
-			uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS],
-			hrt_abstime now, bool frame_drop, bool failsafe,
-			unsigned frame_drops, int rssi);
-	void dsm_bind_ioctl(int dsmMode);
-	void set_rc_scan_state(RC_SCAN _rc_scan_state);
-	void rc_io_invert();
-	void rc_io_invert(bool invert);
 };
 
 const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
@@ -309,9 +292,10 @@ PX4FMU::PX4FMU() :
 	_outputs_pub(nullptr),
 	_num_outputs(0),
 	_class_instance(0),
-	_rcs_fd(-1),
+	_sbus_fd(-1),
+	_dsm_fd(-1),
 	_initialized(false),
-	_throttle_armed(false),
+	_servo_armed(false),
 	_pwm_on(false),
 	_mixers(nullptr),
 	_groups_required(0),
@@ -337,9 +321,11 @@ PX4FMU::PX4FMU() :
 	memset(_controls, 0, sizeof(_controls));
 	memset(_poll_fds, 0, sizeof(_poll_fds));
 
+#ifdef HRT_PPM_CHANNEL
 	// rc input, published to ORB
 	memset(&_rc_in, 0, sizeof(_rc_in));
 	_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
+#endif
 
 #ifdef GPIO_SBUS_INV
 	// this board has a GPIO to control SBUS inversion
@@ -641,56 +627,6 @@ PX4FMU::cycle_trampoline(void *arg)
 	dev->cycle();
 }
 
-void PX4FMU::fill_rc_in(uint16_t raw_rc_count,
-			uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS],
-			hrt_abstime now, bool frame_drop, bool failsafe,
-			unsigned frame_drops, int rssi = -1)
-{
-	// fill rc_in struct for publishing
-	_rc_in.channel_count = raw_rc_count;
-
-	if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
-		_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
-	}
-
-	for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
-		_rc_in.values[i] = raw_rc_values[i];
-	}
-
-	_rc_in.timestamp_publication = now;
-	_rc_in.timestamp_last_signal = _rc_in.timestamp_publication;
-	_rc_in.rc_ppm_frame_length = 0;
-
-	if (rssi == -1) {
-		_rc_in.rssi =
-			(!frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
-	}
-
-	_rc_in.rc_failsafe = failsafe;
-	_rc_in.rc_lost = false;
-	_rc_in.rc_lost_frame_count = frame_drops;
-	_rc_in.rc_total_frame_count = 0;
-}
-
-#ifdef RC_SERIAL_PORT
-void PX4FMU::set_rc_scan_state(RC_SCAN newState)
-{
-//    warnx("RCscan: %s failed, trying %s", PX4FMU::RC_SCAN_STRING[_rc_scan_state], PX4FMU::RC_SCAN_STRING[newState]);
-	_rc_scan_begin = 0;
-	_rc_scan_state = newState;
-}
-
-void PX4FMU::rc_io_invert(bool invert)
-{
-	INVERT_RC_INPUT(invert);
-
-	if (!invert) {
-		// set FMU_RC_OUTPUT high to pull RC_INPUT up
-		stm32_gpiowrite(GPIO_RC_OUT, 1);
-	}
-}
-#endif
-
 void
 PX4FMU::cycle()
 {
@@ -709,18 +645,19 @@ PX4FMU::cycle()
 
 		update_pwm_rev_mask();
 
-#ifdef RC_SERIAL_PORT
-		// dsm_init sets some file static variables and returns a file descriptor
-		_rcs_fd = dsm_init(RC_SERIAL_PORT);
-		// assume SBUS input
-		sbus_config(_rcs_fd, false);
-		// disable CPPM input by mapping it away from the timer capture input
-		stm32_configgpio(GPIO_PPM_IN & ~(GPIO_AF_MASK | GPIO_PUPD_MASK));
+#ifdef SBUS_SERIAL_PORT
+		_sbus_fd = sbus_init(SBUS_SERIAL_PORT, true);
+#endif
+
+#ifdef DSM_SERIAL_PORT
+		// XXX rather than opening it we need to cycle between protocols until one is locked in
+		//_dsm_fd = dsm_init(DSM_SERIAL_PORT);
 #endif
 
 		_initialized = true;
 	}
 
+
 	if (_groups_subscribed != _groups_required) {
 		subscribe();
 		_groups_subscribed = _groups_required;
@@ -791,8 +728,8 @@ PX4FMU::cycle()
 						//main_out_latency = hrt_absolute_time() - _controls[i].timestamp - 250;
 
 						/* do only correct within the current phase */
-						if (abs(main_out_latency) > SCHEDULE_INTERVAL) {
-							main_out_latency = SCHEDULE_INTERVAL;
+						if (abs(main_out_latency) > CONTROL_INPUT_DROP_LIMIT_US) {
+							main_out_latency = CONTROL_INPUT_DROP_LIMIT_US;
 						}
 
 						if (main_out_latency < 250) {
@@ -846,7 +783,7 @@ PX4FMU::cycle()
 			uint16_t pwm_limited[_max_actuators];
 
 			/* the PWM limit call takes care of out of band errors, NaN and constrains */
-			pwm_limit_calc(_throttle_armed, arm_nothrottle(), num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm,
+			pwm_limit_calc(_servo_armed, arm_nothrottle(), num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm,
 				       outputs, pwm_limited, &_pwm_limit);
 
 			/* output to the servos */
@@ -866,10 +803,14 @@ PX4FMU::cycle()
 		orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
 
 		/* update the armed status and check that we're not locked down */
-		_throttle_armed = _armed.armed && !_armed.lockdown;
+		bool set_armed = (_armed.armed || _armed.prearmed) && !_armed.lockdown;
+
+		if (_servo_armed != set_armed) {
+			_servo_armed = set_armed;
+		}
 
 		/* update PWM status if armed or if disarmed PWM values are set */
-		bool pwm_on = (_armed.armed || _num_disarmed_set > 0);
+		bool pwm_on = (set_armed || _num_disarmed_set > 0);
 
 		if (_pwm_on != pwm_on) {
 			_pwm_on = pwm_on;
@@ -884,237 +825,74 @@ PX4FMU::cycle()
 		orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate);
 
 		update_pwm_rev_mask();
-
-		int32_t dsm_bind_val;
-		param_t dsm_bind_param;
-
-		/* see if bind parameter has been set, and reset it to -1 */
-		param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val);
-
-		if (dsm_bind_val > -1) {
-			dsm_bind_ioctl(dsm_bind_val);
-			dsm_bind_val = -1;
-			param_set(dsm_bind_param, &dsm_bind_val);
-		}
 	}
 
 	bool rc_updated = false;
 
-#ifdef RC_SERIAL_PORT
-	// This block scans for a supported serial RC input and locks onto the first one found
-	// Scan for 100 msec, then switch protocol
-	constexpr hrt_abstime rc_scan_max = 100 * 1000;
-
+#ifdef SBUS_SERIAL_PORT
 	bool sbus_failsafe, sbus_frame_drop;
 	uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
 	uint16_t raw_rc_count;
-	unsigned frame_drops;
-	bool dsm_11_bit;
+	bool sbus_updated = sbus_input(_sbus_fd, &raw_rc_values[0], &raw_rc_count, &sbus_failsafe, &sbus_frame_drop,
+				       input_rc_s::RC_INPUT_MAX_CHANNELS);
 
+	if (sbus_updated) {
+		// we have a new PPM frame. Publish it.
+		_rc_in.channel_count = raw_rc_count;
 
-	if (_report_lock && _rc_scan_locked) {
-		_report_lock = false;
-		warnx("RCscan: %s RC input locked", RC_SCAN_STRING[_rc_scan_state]);
+		if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
+			_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
+		}
+
+		for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
+			_rc_in.values[i] = raw_rc_values[i];
+		}
+
+		_rc_in.timestamp_publication = hrt_absolute_time();
+		_rc_in.timestamp_last_signal = _rc_in.timestamp_publication;
+
+		_rc_in.rc_ppm_frame_length = 0;
+		_rc_in.rssi = (!sbus_frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
+		_rc_in.rc_failsafe = sbus_failsafe;
+		_rc_in.rc_lost = false;
+		_rc_in.rc_lost_frame_count = sbus_dropped_frames();
+		_rc_in.rc_total_frame_count = 0;
+
+		rc_updated = true;
 	}
 
-	// read all available data from the serial RC input UART
-	hrt_abstime now = hrt_absolute_time();
-	int newBytes = ::read(_rcs_fd, &_rcs_buf[0], SBUS_FRAME_SIZE);
+#endif
 
-	switch (_rc_scan_state) {
-	case RC_SCAN_SBUS:
-		if (_rc_scan_begin == 0) {
-			_rc_scan_begin = now;
-			// Configure serial port for SBUS
-			sbus_config(_rcs_fd, false);
-			rc_io_invert(true);
-
-		} else if (_rc_scan_locked
-			   || now - _rc_scan_begin < rc_scan_max) {
-
-			// parse new data
-			if (newBytes > 0) {
-				rc_updated = sbus_parse(now, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count, &sbus_failsafe,
-							&sbus_frame_drop, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
-
-				if (rc_updated) {
-					// we have a new SBUS frame. Publish it.
-					_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS;
-					fill_rc_in(raw_rc_count, raw_rc_values, now,
-						   sbus_frame_drop, sbus_failsafe, frame_drops);
-					_rc_scan_locked = true;
-				}
-			}
-
-		} else {
-			// Scan the next protocol
-			set_rc_scan_state(RC_SCAN_DSM);
-		}
-
-		break;
-
-	case RC_SCAN_DSM:
-		if (_rc_scan_begin == 0) {
-			_rc_scan_begin = now;
-//			// Configure serial port for DSM
-			dsm_config(_rcs_fd);
-			rc_io_invert(false);
-
-		} else if (_rc_scan_locked
-			   || now - _rc_scan_begin < rc_scan_max) {
-
-			if (newBytes > 0) {
-				// parse new data
-				rc_updated = dsm_parse(now, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count,
-						       &dsm_11_bit, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
-
-				if (rc_updated) {
-					// we have a new DSM frame. Publish it.
-					_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM;
-					fill_rc_in(raw_rc_count, raw_rc_values, now,
-						   false, false, frame_drops);
-					_rc_scan_locked = true;
-				}
-			}
-
-		} else {
-			// Scan the next protocol
-			set_rc_scan_state(RC_SCAN_ST24);
-		}
-
-		break;
-
-	case RC_SCAN_ST24:
-		if (_rc_scan_begin == 0) {
-			_rc_scan_begin = now;
-//			// Configure serial port for DSM
-			dsm_config(_rcs_fd);
-			rc_io_invert(false);
-
-		} else if (_rc_scan_locked
-			   || now - _rc_scan_begin < rc_scan_max) {
-
-			if (newBytes > 0) {
-				// parse new data
-				uint8_t st24_rssi, rx_count;
-
-				rc_updated = false;
-
-				for (unsigned i = 0; i < newBytes; i++) {
-					/* set updated flag if one complete packet was parsed */
-					st24_rssi = RC_INPUT_RSSI_MAX;
-					rc_updated = (OK == st24_decode(_rcs_buf[i], &st24_rssi, &rx_count,
-									&raw_rc_count, raw_rc_values, input_rc_s::RC_INPUT_MAX_CHANNELS));
-				}
-
-				if (rc_updated) {
-					// we have a new ST24 frame. Publish it.
-					_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_ST24;
-					fill_rc_in(raw_rc_count, raw_rc_values, now,
-						   false, false, frame_drops, st24_rssi);
-					_rc_scan_locked = true;
-				}
-			}
-
-		} else {
-			// Scan the next protocol
-			set_rc_scan_state(RC_SCAN_SUMD);
-		}
-
-		break;
-
-	case RC_SCAN_SUMD:
-		if (_rc_scan_begin == 0) {
-			_rc_scan_begin = now;
-//			// Configure serial port for DSM
-			dsm_config(_rcs_fd);
-			rc_io_invert(false);
-
-		} else if (_rc_scan_locked
-			   || now - _rc_scan_begin < rc_scan_max) {
-
-			if (newBytes > 0) {
-				// parse new data
-				uint8_t sumd_rssi, rx_count;
-
-				rc_updated = false;
-
-				for (unsigned i = 0; i < newBytes; i++) {
-					/* set updated flag if one complete packet was parsed */
-					sumd_rssi = RC_INPUT_RSSI_MAX;
-					rc_updated = (OK == sumd_decode(_rcs_buf[i], &sumd_rssi, &rx_count,
-									&raw_rc_count, raw_rc_values, input_rc_s::RC_INPUT_MAX_CHANNELS));
-				}
-
-				if (rc_updated) {
-					// we have a new SUMD frame. Publish it.
-					_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SUMD;
-					fill_rc_in(raw_rc_count, raw_rc_values, now,
-						   false, false, frame_drops, sumd_rssi);
-					_rc_scan_locked = true;
-				}
-			}
-
-		} else {
-			// Scan the next protocol
-			set_rc_scan_state(RC_SCAN_SUMD);
-		}
-
-		set_rc_scan_state(RC_SCAN_PPM);
-		break;
-
-	case RC_SCAN_PPM:
-		// skip PPM if it's not supported
-#ifdef HRT_PPM_CHANNEL
-		if (_rc_scan_begin == 0) {
-			_rc_scan_begin = now;
-			// Configure timer input pin for CPPM
-			stm32_configgpio(GPIO_PPM_IN);
-			rc_io_invert(false);
-
-		} else if (_rc_scan_locked
-			   || now - _rc_scan_begin < rc_scan_max) {
-
-			// see if we have new PPM input data
-			if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal)
-			    && ppm_decoded_channels > 3) {
-				// we have a new PPM frame. Publish it.
-				rc_updated = true;
-				_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
-				fill_rc_in(ppm_decoded_channels, ppm_buffer, now,
-					   false, false, 0);
-				_rc_scan_locked = true;
-			}
-
-		} else {
-			// disable CPPM input by mapping it away from the timer capture input
-			stm32_configgpio(GPIO_PPM_IN & ~(GPIO_AF_MASK | GPIO_PUPD_MASK));
-			// Scan the next protocol
-			set_rc_scan_state(RC_SCAN_SBUS);
-		}
-
-#else   // skip PPM if it's not supported
-		set_rc_scan_state(RC_SCAN_SBUS);
-
-#endif  // HRT_PPM_CHANNEL
-
-		break;
-	}
-
-#else  // RC_SERIAL_PORT not defined
 #ifdef HRT_PPM_CHANNEL
 
 	// see if we have new PPM input data
-	if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal)
-	    && ppm_decoded_channels > 3) {
+	if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal) &&
+	    ppm_decoded_channels > 3) {
 		// we have a new PPM frame. Publish it.
+		_rc_in.channel_count = ppm_decoded_channels;
+
+		if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
+			_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
+		}
+
+		for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
+			_rc_in.values[i] = ppm_buffer[i];
+		}
+
+		_rc_in.timestamp_publication = ppm_last_valid_decode;
+		_rc_in.timestamp_last_signal = ppm_last_valid_decode;
+
+		_rc_in.rc_ppm_frame_length = ppm_frame_length;
+		_rc_in.rssi = RC_INPUT_RSSI_MAX;
+		_rc_in.rc_failsafe = false;
+		_rc_in.rc_lost = false;
+		_rc_in.rc_lost_frame_count = 0;
+		_rc_in.rc_total_frame_count = 0;
+
 		rc_updated = true;
-		fill_rc_in(ppm_decoded_channels, ppm_buffer, hrt_absolute_time(),
-			   false, false, 0);
 	}
 
-#endif  // HRT_PPM_CHANNEL
-#endif  // RC_SERIAL_PORT
+#endif
 
 	if (rc_updated) {
 		/* lazily advertise on first publication */
@@ -1127,7 +905,7 @@ PX4FMU::cycle()
 	}
 
 	work_queue(HPWORK, &_work, (worker_t)&PX4FMU::cycle_trampoline, this,
-		   USEC2TICK(SCHEDULE_INTERVAL - main_out_latency));
+		   USEC2TICK(CONTROL_INPUT_DROP_LIMIT_US - main_out_latency));
 }
 
 void PX4FMU::work_stop()
@@ -1603,38 +1381,6 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-#ifdef RC_SERIAL_PORT
-
-	case DSM_BIND_START:
-		/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
-		warnx("fmu pwm_ioctl: DSM_BIND_START, arg: %lu", arg);
-
-		if (arg == DSM2_BIND_PULSES ||
-		    arg == DSMX_BIND_PULSES ||
-		    arg == DSMX8_BIND_PULSES) {
-
-			dsm_bind(DSM_CMD_BIND_POWER_DOWN, 0);
-			usleep(500000);
-
-			dsm_bind(DSM_CMD_BIND_SET_RX_OUT, 0);
-
-			dsm_bind(DSM_CMD_BIND_POWER_UP, 0);
-			usleep(72000);
-
-			dsm_bind(DSM_CMD_BIND_SEND_PULSES, arg);
-			usleep(50000);
-
-			dsm_bind(DSM_CMD_BIND_REINIT_UART, 0);
-
-			ret = OK;
-
-		} else {
-			ret = -EINVAL;
-		}
-
-		break;
-#endif
-
 	case MIXERIOCRESET:
 		if (_mixers != nullptr) {
 			delete _mixers;
@@ -1937,9 +1683,9 @@ PX4FMU::peripheral_reset(int ms)
 
 	stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 0);
 
-	bool last = stm32_gpioread(GPIO_SPEKTRUM_PWR_EN);
+	bool last =  stm32_gpioread(GPIO_SPEKTRUM_POWER);
 	/* Keep Spektum on to discharge rail*/
-	stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, 1);
+	stm32_gpiowrite(GPIO_SPEKTRUM_POWER, 1);
 
 	/* wait for the peripheral rail to reach GND */
 	usleep(ms * 1000);
@@ -1948,7 +1694,7 @@ PX4FMU::peripheral_reset(int ms)
 	/* re-enable power */
 
 	/* switch the peripheral rail back on */
-	stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, last);
+	stm32_gpiowrite(GPIO_SPEKTRUM_POWER, last);
 	stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 1);
 #endif
 }
@@ -2103,26 +1849,6 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
 	return ret;
 }
 
-void
-PX4FMU::dsm_bind_ioctl(int dsmMode)
-{
-	if (!_armed.armed) {
-//      mavlink_log_info(_mavlink_fd, "[FMU] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
-		warnx("[FMU] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
-		int ret = ioctl(nullptr, DSM_BIND_START,
-				(dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES));
-
-		if (ret) {
-//            mavlink_log_critical(_mavlink_fd, "binding failed.");
-			warnx("binding failed.");
-		}
-
-	} else {
-//        mavlink_log_info(_mavlink_fd, "[FMU] system armed, bind request rejected");
-		warnx("[FMU] system armed, bind request rejected");
-	}
-}
-
 namespace
 {
 
@@ -2516,7 +2242,7 @@ fmu_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(verb, "info")) {
-#ifdef RC_SERIAL_PORT
+#ifdef SBUS_SERIAL_PORT
 		warnx("frame drops: %u", sbus_dropped_frames());
 #endif
 		return 0;

src/drivers/px4fmu/px4fmu_params.c

@@ -47,8 +47,6 @@
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
- * @reboot_required true
- *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -60,8 +58,6 @@ PARAM_DEFINE_INT32(PWM_AUX_REV1, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
- * @reboot_required true
- *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -73,8 +69,6 @@ PARAM_DEFINE_INT32(PWM_AUX_REV2, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
- * @reboot_required true
- *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -86,8 +80,6 @@ PARAM_DEFINE_INT32(PWM_AUX_REV3, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
- * @reboot_required true
- *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -99,8 +91,6 @@ PARAM_DEFINE_INT32(PWM_AUX_REV4, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
- * @reboot_required true
- *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -112,8 +102,6 @@ PARAM_DEFINE_INT32(PWM_AUX_REV5, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
- * @reboot_required true
- *
  * @min 0
  * @max 1
  * @group PWM Outputs

src/drivers/px4io/px4io_params.c

@@ -47,8 +47,6 @@
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
- * @reboot_required true
- *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -60,8 +58,6 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV1, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
- * @reboot_required true
- *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -73,8 +69,6 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV2, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
- * @reboot_required true
- *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -86,8 +80,6 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV3, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
- * @reboot_required true
- *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -99,8 +91,6 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV4, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
- * @reboot_required true
- *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -112,8 +102,6 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV5, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
- * @reboot_required true
- *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -125,8 +113,6 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV6, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
- * @reboot_required true
- *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -138,8 +124,6 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV7, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
- * @reboot_required true
- *
  * @min 0
  * @max 1
  * @group PWM Outputs

src/drivers/stm32/drv_hrt.c

@@ -599,7 +599,7 @@ error:
 #endif /* HRT_PPM_CHANNEL */
 
 /**
- * Handle the compare interrupt by calling the callout dispatcher
+ * Handle the compare interupt by calling the callout dispatcher
  * and then re-scheduling the next deadline.
  */
 static int
@@ -750,7 +750,7 @@ hrt_store_absolute_time(volatile hrt_abstime *now)
 }
 
 /**
- * Initialise the high-resolution timing module.
+ * Initalise the high-resolution timing module.
  */
 void
 hrt_init(void)

src/examples/hwtest/CMakeLists.txt

@@ -33,7 +33,6 @@
 px4_add_module(
 	MODULE examples__hwtest
 	MAIN ex_hwtest
-	STACK 2000
 	SRCS
 		hwtest.c
 	DEPENDS

src/examples/matlab_csv_serial/CMakeLists.txt

@@ -33,7 +33,6 @@
 px4_add_module(
 	MODULE examples__matlab_csv_serial
 	MAIN matlab_csv_serial
-	STACK 2000
 	SRCS
 		matlab_csv_serial.c
 	DEPENDS

src/examples/px4_simple_app/CMakeLists.txt

@@ -33,7 +33,6 @@
 px4_add_module(
 	MODULE examples__px4_simple_app
 	MAIN px4_simple_app
-	STACK 2000
 	SRCS
 		px4_simple_app.c
 	DEPENDS

src/firmware/nuttx/CMakeLists.txt

@@ -51,7 +51,7 @@ if(NOT ${BOARD} STREQUAL "sim")
 		)
 	if (config_io_board)
 	    add_dependencies(romfs fw_io)
-	endif()
+    endif()
 	set(fw_file
 		${CMAKE_CURRENT_BINARY_DIR}/${OS}-${BOARD}-${LABEL}.px4)