ModuleBase add common base type and cleanup

systemcmds/topic_listener: remove excludes
- this is a bit wasteful, but we can afford it for now everywhere listener is enabled
2026-06-12 11:20:05 +08:00 · 2020-11-10 14:03:58 -05:00 · 2020-11-10 13:46:48 -05:00 · 2020-11-10 13:11:51 -05:00 · 2020-11-10 11:04:47 -05:00 · 2020-11-10 10:38:46 -05:00
1681 changed files with 61880 additions and 23857 deletions
@@ -1,123 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-
-  stages {
-
-    stage('Build') {
-      agent {
-        docker {
-          image 'px4io/px4-dev-ros-melodic:2020-04-01'
-          args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-        }
-      }
-      steps {
-        sh 'export'
-        sh 'make distclean'
-        sh 'ccache -s'
-        sh 'git fetch --tags'
-        sh 'make px4_sitl_default'
-        sh 'make px4_sitl_default sitl_gazebo'
-        sh 'make px4_sitl_default package'
-        sh 'ccache -s'
-        stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
-        archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
-      }
-      post {
-        always {
-            sh 'make distclean'
-        }
-      }
-    } // stage Build
-
-    stage('ROS Tests') {
-      steps {
-        script {
-          def missions = [
-            [
-              name: "MC_avoidance",
-              test: "mavros_posix_test_avoidance.test",
-              mission: "avoidance",
-              vehicle: "iris_obs_avoid",
-              run_script: "rostest_avoidance_run.sh"
-            ],
-            [
-              name: "MC_safe_landing",
-              test: "mavros_posix_test_safe_landing.test",
-              mission: "MC_safe_landing",
-              vehicle: "iris_obs_avoid",
-              run_script: "rostest_avoidance_run.sh"
-            ],
-
-          ]
-
-          def test_nodes = [:]
-          for (def i = 0; i < missions.size(); i++) {
-            test_nodes.put(missions[i].name, createTestNode(missions[i]))
-          }
-
-          parallel test_nodes
-        } // script
-      } // steps
-    } // stage ROS Tests
-
-  } //stages
-
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-  }
-
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
-    timeout(time: 60, unit: 'MINUTES')
-  }
-} // pipeline
-
-def createTestNode(Map test_def) {
-  return {
-    node {
-      cleanWs()
-      docker.image("px4io/px4-dev-ros-melodic:2020-04-01").inside('-e HOME=${WORKSPACE}') {
-        stage(test_def.name) {
-          def run_script = test_def.get('run_script', 'rostest_px4_run.sh')
-          def test_ok = true
-          sh('export')
-
-          unstash('px4_sitl_package')
-          sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
-
-          // run test
-          try {
-            sh('px4-px4_sitl_default*/px4/test/' + run_script + ' ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
-
-          } catch (exc) {
-            // save all test artifacts for debugging
-            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
-            test_ok = false
-          }
-
-          // upload log to flight review (https://logs.px4.io/)
-          sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
-
-          // log analysis
-          // process ekf log data
-          try {
-            sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
-          } catch (exc) {
-            // save log analysis artifacts for debugging
-            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
-            // FIXME: don't let the script to fail the build
-            // test_ok = false
-          }
-
-          if (!test_ok) {
-            error('ROS Test failed')
-          }
-        } // stage
-        cleanWs()
-      } // docker.image
-    } // node
-  } // return
-} // createTestNode
@@ -10,17 +10,24 @@ pipeline {
          def build_nodes = [:]
          def docker_images = [
            armhf: "px4io/px4-dev-armhf:2020-04-01",
+            arm64: "px4io/px4-dev-aarch64:latest",
            base: "px4io/px4-dev-base-bionic:2020-04-01",
-            nuttx: "px4io/px4-dev-nuttx-bionic:2020-04-01",
+            nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

          def armhf_builds = [
-            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default"],
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
            image: docker_images.armhf,
            archive: false
          ]

+          def arm64_builds = [
+            target: ["scumaker_pilotpi_arm64"],
+            image: docker_images.arm64,
+            archive: false
+          ]
+
          def base_builds = [
            target: ["px4_sitl_rtps"],
            image: docker_images.base,
@@ -32,12 +39,17 @@ pipeline {
                     "airmind_mindpx-v2_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
+                     "cuav_can-gps-v1_canbootloader",
+                     "cuav_can-gps-v1_default",
+                     "cuav_nora_default",
                     "cuav_x7pro_default",
-                     "hex_cube-orange_default",
-                     "hex_cube-yellow_default",
+                     "cubepilot_cubeorange_console",
+                     "cubepilot_cubeorange_default",
+                     "cubepilot_cubeyellow_console",
+                     "cubepilot_cubeyellow_default",
                     "holybro_durandal-v1_default",
-                     "holybro_durandal-v1_stackcheck",
-                     "holybro_kakutef7",
+                     "holybro_kakutef7_default",
+                     "holybro_pix32v5_default",
                     "intel_aerofc-v1_default",
                     "modalai_fc-v1_default",
                     "mro_ctrl-zero-f7_default",
@@ -45,8 +57,9 @@ pipeline {
                     "mro_x21_default",
                     "nxp_fmuk66-v3_default",
                     "nxp_fmuk66-v3_socketcan",
+                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmurt1062-v1_default",
-                     "nxp_rddrone-uavcan146_default",
+                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
@@ -71,6 +84,7 @@ pipeline {
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
+                     "spracing_h7extreme_default",
                     "uvify_core_default"
            ],
            image: docker_images.nuttx,
@@ -104,7 +118,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+    //     docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -1,90 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-  stages {
-
-    stage('Build') {
-
-      parallel {
-
-        stage('px4_sitl_default (OSX)') {
-          agent {
-            label 'mac'
-          }
-          environment {
-            CCACHE_BASEDIR = "${env.WORKSPACE}"
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'git fetch --tags'
-            sh 'ccache -s'
-            sh 'make px4_sitl_default'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        } // stage px4_sitl_default
-
-        stage('px4_fmu-v5_default (OSX)') {
-          agent {
-            label 'mac'
-          }
-          environment {
-            CCACHE_BASEDIR = "${env.WORKSPACE}"
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'git fetch --tags'
-            sh 'ccache -s'
-            sh 'make px4_fmu-v5_default'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        } // stage px4_fmu-v5_default
-
-        stage('sitl tests (OSX)') {
-          agent {
-            label 'mac'
-          }
-          environment {
-            CCACHE_BASEDIR = "${env.WORKSPACE}"
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'git fetch --tags'
-            sh 'ccache -s'
-            sh 'make tests'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        } // stage sitl tests
-
-      } // parallel
-    } // stage Build
-
-  } // stages
-  environment {
-    CCACHE_CPP2 = '1'
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-  }
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
-    timeout(time: 120, unit: 'MINUTES')
-  }
-}
@@ -12,7 +12,7 @@ pipeline {
            stage("build px4_fmu-v2_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -69,7 +69,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
              }
            }
          }
@@ -80,7 +80,7 @@ pipeline {
            stage("build px4_fmu-v3_default") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -143,7 +143,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -154,7 +154,7 @@ pipeline {
            stage("build px4_fmu-v4_default") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -216,7 +216,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -227,7 +227,7 @@ pipeline {
            stage("build px4_fmu-v4pro_default") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -290,7 +290,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -301,7 +301,7 @@ pipeline {
            stage("build px4_fmu-v5_default") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -341,6 +341,7 @@ pipeline {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
@@ -364,7 +365,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -375,7 +376,7 @@ pipeline {
            stage("build px4_fmu-v5_debug") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -439,7 +440,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -450,7 +451,7 @@ pipeline {
            stage("build px4_fmu-v5_optimized") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -512,7 +513,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -523,7 +524,7 @@ pipeline {
            stage("build px4_fmu-v5_stackcheck") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -587,7 +588,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -598,7 +599,7 @@ pipeline {
            stage("build modalai_fc-v1_default") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -660,7 +661,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -671,7 +672,7 @@ pipeline {
            stage("build holybro_durandal-v1_default") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -710,8 +711,11 @@ pipeline {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set DSHOT_CONFIG 600"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"'    // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_USE_IO 0"'       // for dshot
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
@@ -719,6 +723,7 @@ pipeline {
                }
                stage("status") {
                  steps {
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dshot status"'
                    statusFTDI()
                  }
                }
@@ -735,7 +740,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -746,7 +751,7 @@ pipeline {
            stage("build nxp_fmuk66-v3_default") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -798,7 +803,7 @@ pipeline {
                stage("tests") {
                  steps {
                    // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*` || true' // ignore failures for now (flaky console on test rack)
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
                  }
                }
                stage("reset") {
@@ -808,80 +813,7 @@ pipeline {
                }
              }
              options {
-                timeout(time: 60, unit: 'MINUTES')
-              }
-            } // stage test
-          }
-        }
-
-        stage("mro_ctrl-zero-f7_default") {
-          stages {
-            stage("build mro_ctrl-zero-f7_default") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
-                sh 'make mro_ctrl-zero-f7_default'
-                sh 'make sizes'
-                sh 'ccache -s'
-                stash includes: 'build/mro_ctrl-zero-f7_default/mro_ctrl-zero-f7_default.elf', name: 'mro_ctrl-zero-f7_default'
-              }
-              post {
-                always {
-                    sh 'make distclean'
-                }
-              }
-            } // stage build
-            stage("test") {
-              agent {
-                label 'mro_ctrl-zero-f7'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'mro_ctrl-zero-f7_default'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/mro_ctrl-zero-f7_default/mro_ctrl-zero-f7_default.elf'
-                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
-                  }
-                }
-                // stage("configure") {
-                //   steps {
-                //     // configure
-                //     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                //     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
-                //     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                //     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
-                //   }
-                // }
-                // stage("status") {
-                //   steps {
-                //     statusFTDI()
-                //   }
-                // }
-                // stage("tests") {
-                //   steps {
-                //     // run tests
-                //     sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*` || true' // ignore failures for now (flaky console on test rack)
-                //   }
-                // }
-                // stage("reset") {
-                //   steps {
-                //     cleanupFTDI();
-                //   }
-                // }
-              }
-              options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
@@ -896,7 +828,7 @@ pipeline {
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '40'))
-    timeout(time: 60, unit: 'MINUTES')
+    timeout(time: 90, unit: 'MINUTES')
  }
 }

@@ -904,19 +836,27 @@ void statusFTDI() {
  // run logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger on"'
  // status commands
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "adc test"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "board_adc test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander check"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate accel quick; sleep 2; param show CAL_ACC*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate mag quick; sleep 2; param show CAL_MAG*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "df"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "gps status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener adc_report"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener battery_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener cpuload"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_attitude"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_local_position"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_selector_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor_bias"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener logger_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_fifo"'
@@ -925,12 +865,17 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro_fifo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_mag"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener servorail_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensors_status_imu"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener px4io_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener system_power"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_air_data"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_angular_acceleration"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_angular_velocity"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_attitude"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_imu"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_imu_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_local_position"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_magnetometer"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /dev"'
@@ -942,6 +887,7 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
@@ -954,11 +900,13 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener cpuload; top once; listener cpuload"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb top -1 -a"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
  // stop logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
 }
@@ -967,19 +915,27 @@ void statusSEGGER() {
  // run logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger on"'
  // status commands
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "adc test"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "board_adc test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander check"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate accel quick; sleep 2; param show CAL_ACC*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate mag quick; sleep 2; param show CAL_MAG*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "df -h"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dmesg"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "gps status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener adc_report"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener battery_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener cpuload"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_attitude"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_local_position"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_selector_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_sensor_bias"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener logger_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel_fifo"'
@@ -988,12 +944,17 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro_fifo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_mag"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener servorail_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensors_status_imu"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener px4io_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener system_power"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_air_data"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_angular_acceleration"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_angular_velocity"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_attitude"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_imu"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_imu_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_local_position"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_magnetometer"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /dev"'
@@ -1005,6 +966,7 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status streams"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param show"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
@@ -1017,17 +979,19 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "px4io status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "sd_bench -r 2"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "sensors status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "top once"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener cpuload; top once; listener cpuload"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "uorb status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "uorb top -1 -a"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
  // stop logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
 }

 void cleanupFTDI() {
-  // wipe sdcard
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
@@ -1038,12 +1002,15 @@ void cleanupFTDI() {

  // drop any uncommited hardfaults
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "hardfault_log rearm"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "hardfault_log reset"'

-  // wipe parameters
+  // erase mtd
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd readtest"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd rwtest"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd erase"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param reset"'

  // disable buzzer and cleanup storage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param reset_all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SDLOG_DIRS_MAX 1"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
@@ -1054,7 +1021,7 @@ void cleanupFTDI() {
 }

 void cleanupSEGGER() {
-  // wipe sdcard
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "navigator stop"'
@@ -1065,12 +1032,15 @@ void cleanupSEGGER() {

  // drop any uncommited hardfaults
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "hardfault_log rearm"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "hardfault_log reset"'

-  // wipe parameters
+  // erase mtd
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd readtest"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd rwtest"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd erase"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param reset"'

  // disable buzzer and cleanup storage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param reset_all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SDLOG_DIRS_MAX 1"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
@@ -0,0 +1,42 @@
+// For format details, see https://aka.ms/vscode-remote/devcontainer.json or this file's README at:
+// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
+{
+	"name": "px4-dev-nuttx",
+	"image": "px4io/px4-dev-nuttx-focal:2020-09-14",
+
+	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
+
+	// Set *default* container specific settings.json values on container create.
+	"settings": {
+		"terminal.integrated.shell.linux": "/bin/bash"
+	},
+
+	// Add the IDs of extensions you want installed when the container is created.
+	"extensions": [
+		"chiehyu.vscode-astyle",
+		"dan-c-underwood.arm",
+		"fredericbonnet.cmake-test-adapter",
+		"github.vscode-pull-request-github",
+		"marus25.cortex-debug",
+		"ms-azuretools.vscode-docker",
+		"ms-iot.vscode-ros",
+		"ms-python.python",
+		"ms-vscode.cmake-tools",
+		"ms-vscode.cpptools",
+		"ms-vscode.cpptools-extension-pack",
+		"redhat.vscode-yaml",
+		"streetsidesoftware.code-spell-checker",
+		"twxs.cmake",
+		"uavcan.dsdl",
+		"wholroyd.jinja",
+		"zixuanwang.linkerscript"
+	],
+
+	"containerUser": "user",
+	"containerEnv": {
+		"LOCAL_USER_ID": "${localEnv:UID}"
+	},
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	"forwardPorts": [14556],
+}
@@ -1,7 +1,80 @@
 * text=auto eol=lf
+
+*.cmake  text eol=lf
+*.c      text eol=lf
+*.cc     text eol=lf
+*.cpp    text eol=lf
+*.h      text eol=lf
+*.hh     text eol=lf
+*.hpp    text eol=lf
+*.hxx    text eol=lf
+*.S      text eol=lf
+
+*.ipynb  text eol=lf
+*.m      text eol=lf
+*.mat    binary
+*.py     text eol=lf
+
+*.java   text eol=lf
+*.jar    binary
+*.xml    text eol=lf
+
+# PX4 mixers, msgs, etc
+*.bin    binary
+*.mix    text eol=lf
+*.msg    text eol=lf
+*.config text eol=lf
+*.sdf    text eol=lf
+*.uavcan text eol=lf
+
+# NuttX
+Makefile.* text eol=lf
+*.defs   text eol=lf
+*.ld     text eol=lf
+
+*.csv    text eol=lf
+*.md     text eol=lf
+*.txt    text eol=lf
+
+# Scripts
+*.bash   text eol=lf
+*.sh     text eol=lf
+*.zsh    text eol=lf
+# These are explicitly windows files and should use crlf
+*.ps1    text eol=crlf
 *.{cmd,[cC][mM][dD]} text eol=crlf
 *.{bat,[bB][aA][tT]} text eol=crlf

-*.bin binary
-*.pdf binary
-*.png binary
+# Serialisation
+*.json   text eol=lf
+*.toml   text eol=lf
+*.xml    text eol=lf
+*.yaml   text eol=lf
+*.yml    text eol=lf
+
+# Graphics
+*.png    binary
+*.jpg    binary
+*.jpeg   binary
+*.gif    binary
+*.tif    binary
+*.tiff   binary
+*.ico    binary
+*.pdf    binary
+# SVG treated as an asset (binary) by default.
+*.svg    text eol=lf
+
+# Text files where line endings should be preserved
+*.patch  -text
+
+# Archives
+*.7z     binary
+*.gz     binary
+*.tar    binary
+*.tgz    binary
+*.zip    binary
+
+# everything else
+.gitattributes text eol=lf
+.gitignore     text eol=lf
+Makefile       text eol=lf
@@ -26,11 +26,7 @@ jobs:
          "module_documentation",
          "parameters_metadata",
        ]
-        ubuntu_release: [
-          #bionic,
-          focal
-          ]
-    container: px4io/px4-dev-nuttx-${{ matrix.ubuntu_release }}:2020-04-01
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2020-04-01
+    container: px4io/px4-dev-clang:2020-08-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2020-04-01
+    container: px4io/px4-dev-armhf:2020-08-14
    strategy:
      matrix:
        config: [
@@ -19,6 +19,7 @@ jobs:
          beaglebone_blue_default,
          emlid_navio2_default,
          px4_raspberrypi_default,
+          scumaker_pilotpi_default,
          ]
    steps:
    - uses: actions/checkout@v1
@@ -0,0 +1,50 @@
+name: Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:latest
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -24,7 +24,7 @@ jobs:
        token: ${{secrets.ACCESS_TOKEN}}

    - name: setup
-      run: ./Tools/setup/OSX.sh
+      run: ./Tools/setup/macos.sh

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -11,28 +11,35 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-bionic:2020-04-01
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
    strategy:
      matrix:
        config: [
          airmind_mindpx-v2_default,
          av_x-v1_default,
          bitcraze_crazyflie_default,
+          cuav_can-gps-v1_canbootloader,
+          cuav_can-gps-v1_default,
+          cuav_nora_default,
          cuav_x7pro_default,
-          hex_cube-orange_default,
-          hex_cube-yellow_default,
+          cubepilot_cubeorange_console,
+          cubepilot_cubeorange_default,
+          cubepilot_cubeyellow_console,
+          cubepilot_cubeyellow_default,
          holybro_durandal-v1_default,
-          holybro_durandal-v1_stackcheck,
          holybro_kakutef7_default,
+          holybro_pix32v5_default,
          intel_aerofc-v1_default,
          modalai_fc-v1_default,
          mro_ctrl-zero-f7_default,
          mro_x21-777_default,
          mro_x21_default,
          nxp_fmuk66-v3_default,
+          nxp_fmuk66-e_default,
          nxp_fmuk66-v3_socketcan,
+          nxp_fmuk66-v3_rtps,
          nxp_fmurt1062-v1_default,
-          nxp_rddrone-uavcan146_default,
+          nxp_ucans32k146_default,
          omnibus_f4sd_default,
          px4_fmu-v2_default,
          px4_fmu-v2_fixedwing,
@@ -56,6 +63,7 @@ jobs:
          px4_fmu-v5x_default,
          px4_fmu-v6x_default,
          px4_io-v2_default,
+          spracing_h7extreme_default,
          uvify_core_default
          ]
    steps:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-04-01
+    container: px4io/px4-dev-base-focal:2020-09-14
    strategy:
      matrix:
        config: [
@@ -1,29 +0,0 @@
-name: Hardware Linux
-
-on:
-  push:
-    branches:
-    - 'master'
-
-jobs:
-  build:
-    runs-on: [emlid_navio2]
-    steps:
-    - uses: actions/checkout@v1
-
-    - name: Build
-      env:
-        CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
-      run: |
-          make distclean
-          ccache -z
-          make emlid_navio2_default
-          ccache -s
-
-    # sanity check
-    - name: Sanity check
-      run: cd build/emlid_navio2_default/ && ./bin/px4 -s ../../posix-configs/rpi/px4_test.config
-
-    - name: Upload log to flight review
-      run: find . -name *.ulg
-      #run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ./build/px4_sitl_default/tmp/rootfs/log/*/*.ulg
@@ -19,7 +19,7 @@ jobs:
          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-04-01
+      image: px4io/px4-dev-ros-melodic:2020-08-14
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -25,7 +25,7 @@ jobs:
          - {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-04-01
+      image: px4io/px4-dev-ros-melodic:2020-08-14
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -20,7 +20,7 @@ jobs:
          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-04-01
+      image: px4io/px4-dev-ros-melodic:2020-08-14
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -12,7 +12,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-04-01
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -27,7 +27,7 @@ jobs:

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-04-01
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -42,7 +42,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-04-01
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -57,7 +57,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-04-01
+    container: px4io/px4-dev-nuttx-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -70,9 +70,23 @@ jobs:
        ls -ls *
      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/

+  micrortps_agent:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2020-09-14
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: microRTPS agent
+      run: |
+        make px4_sitl_rtps
+        git clone https://github.com/PX4/micrortps_agent.git
+        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
+
  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-bionic:2020-04-01
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -85,7 +99,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-bionic:2020-04-01
+    container: px4io/px4-dev-base-focal:2020-09-14
    steps:
    - uses: actions/checkout@v1
      with:
@@ -15,12 +15,12 @@ jobs:
      fail-fast: false
      matrix:
        config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo"} # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo"} # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo"} # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage"} # Zurich
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
    container:
-      image: px4io/px4-dev-simulation-focal:2020-04-01
+      image: px4io/px4-dev-simulation-focal:2020-08-14
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -28,9 +28,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.27.0/mavsdk_0.27.0_ubuntu18.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.27.0_ubuntu18.04_amd64.deb
+      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -92,7 +92,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json

    - name: Look at core files
      if: failure()
@@ -106,7 +106,7 @@ jobs:

    - name: Upload logs to flight review
      if: failure()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ./build/px4_sitl_default/tmp/rootfs/log/*/*.ulg
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg

    - name: Upload px4 binary
      if: failure()
@@ -12,15 +12,15 @@
 	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
-	url = https://github.com/PX4/sitl_gazebo.git
+	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
-	url = https://github.com/PX4/Matrix.git
+	url = https://github.com/PX4/PX4-Matrix
 	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
-	url = https://github.com/PX4/ecl.git
+	url = https://github.com/PX4/PX4-ECL
 	branch = master
 [submodule "boards/atlflight/cmake_hexagon"]
 	path = boards/atlflight/cmake_hexagon
@@ -28,7 +28,7 @@
 	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/GpsDrivers.git
+	url = https://github.com/PX4/PX4-GPSDrivers
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
@@ -37,14 +37,20 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-8.2
+	branch = px4_firmware_nuttx-10.0.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-8.2
+	branch = px4_firmware_nuttx-10.0.0+
 [submodule "platforms/qurt/dspal"]
 	path = platforms/qurt/dspal
 	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
+[submodule "Tools/jsbsim_bridge"]
+	path = Tools/jsbsim_bridge
+	url = https://github.com/PX4/px4-jsbsim-bridge.git
+[submodule "src/examples/gyro_fft/CMSIS_5"]
+	path = src/examples/gyro_fft/CMSIS_5
+	url = https://github.com/ARM-software/CMSIS_5.git
@@ -1,75 +1,16 @@
 {
    "configurations": [
        {
-            "name": "Linux",
-            "browse": {
-                "limitSymbolsToIncludedHeaders": true,
-                "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db"
-            },
-            "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
-            "compilerPath": "/usr/bin/g++",
+            "name": "PX4",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [],
+            "macFrameworkPath": [],
            "configurationProvider": "ms-vscode.cmake-tools",
            "cppStandard": "c++14",
-            "cStandard": "c11",
-            "defines": [
-                "__PX4_LINUX",
-                "__PX4_POSIX"
-            ],
-            "forcedInclude": [
-                "${workspaceFolder}/src/include/visibility.h"
-            ],
-            "includePath": [
-                "${workspaceFolder}/boards/px4/sitl/src",
-                "${workspaceFolder}/build/px4_sitl_default",
-                "${workspaceFolder}/platforms/common/include",
-                "${workspaceFolder}/platforms/posix/include",
-                "${workspaceFolder}/platforms/posix/src/px4/common/include",
-                "${workspaceFolder}/platforms/posix/src/px4/common/include",
-                "${workspaceFolder}/platforms/posix/src/px4/generic/generic/include",
-                "${workspaceFolder}/src",
-                "${workspaceFolder}/src/include",
-                "${workspaceFolder}/src/lib",
-                "${workspaceFolder}/src/lib",
-                "${workspaceFolder}/src/lib/matrix",
-                "${workspaceFolder}/src/modules"
-            ],
-            "intelliSenseMode": "${default}"
-        },
-        {
-            "name": "Mac",
-            "browse": {
-                "limitSymbolsToIncludedHeaders": true,
-                "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db"
-            },
-            "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
-            "compilerPath": "/usr/bin/clang++",
-            "configurationProvider": "ms-vscode.cmake-tools",
-            "cppStandard": "c++14",
-            "cStandard": "c11",
-            "defines": [
-                "__PX4_DARWIN",
-                "__PX4_POSIX"
-            ],
-            "forcedInclude": [
-                "${workspaceFolder}/src/include/visibility.h"
-            ],
-            "includePath": [
-                "${workspaceFolder}/boards/px4/sitl/src",
-                "${workspaceFolder}/build/px4_sitl_default",
-                "${workspaceFolder}/platforms/common/include",
-                "${workspaceFolder}/platforms/posix/include",
-                "${workspaceFolder}/platforms/posix/src/px4/common/include",
-                "${workspaceFolder}/platforms/posix/src/px4/common/include",
-                "${workspaceFolder}/platforms/posix/src/px4/generic/generic/include",
-                "${workspaceFolder}/src",
-                "${workspaceFolder}/src/include",
-                "${workspaceFolder}/src/lib",
-                "${workspaceFolder}/src/lib",
-                "${workspaceFolder}/src/lib/matrix",
-                "${workspaceFolder}/src/modules"
-            ],
-            "intelliSenseMode": "${default}"
+            "cStandard": "c11"
        }
    ],
    "version": 4
-}
+}
@@ -61,21 +61,36 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: av_x-v1_default
+    cuav_can-gps-v1_default:
+      short: cuav_can-gps-v1_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_can-gps-v1_default
+    cuav_nora_default:
+      short: cuav_nora
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_nora_default
    cuav_x7pro_default:
      short: cuav_x7pro
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_x7pro_default
-    hex_cube-orange_default:
-      short: hex_cube-orange
+    cubepilot_cubeorange_default:
+      short: cubepilot_cubeorange
      buildType: MinSizeRel
      settings:
-        CONFIG: hex_cube-orange_default
-    hex_cube-yellow_default:
-      short: hex_cube-yellow
+        CONFIG: cubepilot_orange_default
+    cubepilot_cubeyellow_default:
+      short: cubepilot_cubeyellow
      buildType: MinSizeRel
      settings:
-        CONFIG: hex_cube-yellow_default
+        CONFIG: cubepilot_cubeyellow_default
+    emlid_navio2_default:
+      short: emlid_navio2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: emlid_navio2_default
    holybro_durandal-v1_default:
      short: holybro_durandal-v1
      buildType: MinSizeRel
@@ -96,6 +111,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: mro_ctrl-zero-f7_default
+    mro_x21-777_default:
+      short: mro_x2.1-777
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_x21-777_default
    nxp_fmuk66-v3_default:
      short: nxp_fmuk66-v3
      buildType: MinSizeRel
@@ -4,6 +4,7 @@
    "recommendations": [
        "chiehyu.vscode-astyle",
        "dan-c-underwood.arm",
+        "fredericbonnet.cmake-test-adapter",
        "github.vscode-pull-request-github",
        "marus25.cortex-debug",
        "ms-azuretools.vscode-docker",
@@ -11,8 +12,9 @@
        "ms-python.python",
        "ms-vscode.cmake-tools",
        "ms-vscode.cpptools",
+        "ms-vscode.cpptools-extension-pack",
        "redhat.vscode-yaml",
-        "timonwong.shellcheck",
+        "streetsidesoftware.code-spell-checker",
        "twxs.cmake",
        "uavcan.dsdl",
        "wholroyd.jinja",
@@ -3,70 +3,34 @@
        "astyle.c.enable": true,
        "astyle.cpp.enable": true,
        "breadcrumbs.enabled": true,
-        "cmake.autoRestartBuild": true,
-        "cmake.buildBeforeRun": true,
-        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
-        "cmake.configureOnOpen": true,
-        "cmake.copyCompileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
-        "cmake.debugConfig": {
-                "name": "SITL shell (gdb)",
-                "type": "cppdbg",
-                "request": "launch",
-                "program": "${command:cmake.launchTargetPath}",
-                "args": [
-                        "${workspaceFolder}/ROMFS/px4fmu_common",
-                        "-s",
-                        "etc/init.d-posix/rcS",
-                        "-t",
-                        "${workspaceFolder}/test_data"
-                ],
-                "stopAtEntry": false,
-                "cwd": "${command:cmake.buildDirectory}/tmp",
-                "environment": [
-                        {
-                                "name": "PX4_SIM_MODEL",
-                                "value": "shell"
-                        }
-                ],
-                "externalConsole": false,
-                "linux": {
-                        "MIMode": "gdb",
-                        "setupCommands": [
-                                {
-                                        "description": "Enable pretty-printing for gdb",
-                                        "text": "-enable-pretty-printing",
-                                        "ignoreFailures": true
-                                },
-                                {
-                                        "description": "PX4 ignore wq signals",
-                                        "text": "handle SIGCONT nostop noprint nopass",
-                                        "ignoreFailures": true
-                                }
-                        ]
-                },
-                "osx": {
-                        "MIMode": "lldb",
-                        "setupCommands": [
-                                {
-                                        "text": "pro hand -p true -s false -n false SIGCONT",
-                                }
-                        ]
-                }
-        },
        "C_Cpp.autoAddFileAssociations": false,
        "C_Cpp.clang_format_fallbackStyle": "none",
-        "C_Cpp.default.browse.databaseFilename": "${workspaceRoot}/.vscode/browse.vc.db",
        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
        "C_Cpp.default.cppStandard": "c++14",
        "C_Cpp.default.cStandard": "c11",
-        "C_Cpp.default.intelliSenseMode": "gcc-x64",
-        "C_Cpp.default.macFrameworkPath": null,
        "C_Cpp.formatting": "Disabled",
        "C_Cpp.intelliSenseEngine": "Default",
-        "C_Cpp.intelliSenseEngineFallback": "Enabled",
        "C_Cpp.vcpkg.enabled": false,
        "C_Cpp.workspaceParsingPriority": "low",
+        "cmake.buildBeforeRun": true,
+        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
+        "cmake.buildTask": true,
+        "cmake.configureOnOpen": true,
+        "cmake.ctest.parallelJobs": 1,
+        "cmake.skipConfigureIfCachePresent": true,
+        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
+        "cmakeExplorer.parallelJobs": 1,
+        "cmakeExplorer.suiteDelimiter": "-",
        "cortex-debug.enableTelemetry": false,
+        "cSpell.allowCompoundWords": true,
+        "cSpell.diagnosticLevel": "Hint",
+        "cSpell.showStatus": false,
+        "cSpell.words": [
+                "acro",
+                "rattitude",
+                "nuttx",
+                "esc"
+        ],
        "debug.toolBarLocation": "docked",
        "editor.acceptSuggestionOnEnter": "off",
        "editor.defaultFormatter": "chiehyu.vscode-astyle",
@@ -88,7 +52,6 @@
        "git.ignoreLimitWarning": true,
        "githubPullRequests.defaultMergeMethod": "squash",
        "githubPullRequests.telemetry.enabled": false,
-        "gitlens.advanced.telemetry.enabled": false,
        "files.associations": {
                "*.jinja": "jinja",
                "algorithm": "cpp",
@@ -166,17 +129,15 @@
        },
        "search.showLineNumbers": true,
        "search.smartCase": true,
-        "shellcheck.exclude": [2154],
        "telemetry.enableTelemetry": false,
        "terminal.integrated.copyOnSelection": true,
-        "terminal.integrated.rightClickCopyPaste": true,
+        "terminal.integrated.rightClickBehavior": "paste",
        "terminal.integrated.scrollback": 5000,
        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
        "workbench.editor.highlightModifiedTabs": true,
        "workbench.enableExperiments": false,
        "workbench.settings.enableNaturalLanguageSearch": false,
-        "workbench.statusBar.feedback.visible": false,
        "yaml.schemas": {
-                "${workspaceRoot}/validation/module_schema.yaml": "${workspaceRoot}/src/modules/*/module.yaml"
+                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
        }
 }
@@ -3,12 +3,58 @@
    // for the documentation about the tasks.json format
    "version": "2.0.0",
    "tasks": [
+        {
+            "label": "build",
+            "type": "shell",
+            "command": "/bin/bash",
+            "args": [
+                "-c",
+                "${command:cmake.tasksBuildCommand}"
+            ],
+            "options": {
+                "cwd": "${command:cmake.buildDirectory}"
+            },
+            "group": {
+                "kind": "build",
+                "isDefault": true,
+            },
+            "problemMatcher": {
+                "base": "$gcc",
+                "fileLocation": ["relative", "${command:cmake.buildDirectory}"]
+            },
+            "presentation":{
+                "echo": false,
+                "showReuseMessage": false,
+                "clear": true,
+                "panel": "shared",
+                "group": "build"
+            }
+        },
+        {
+            "label": "test",
+            "type": "shell",
+            "command": "make tests",
+            "options": {
+                "cwd": "${workspaceFolder}"
+            },
+            "group": {
+                "kind": "test",
+                "isDefault": true,
+            },
+            "presentation":{
+                "echo": true,
+                "showReuseMessage": false,
+                "clear": false,
+                "panel": "shared",
+                "group": "test"
+            }
+        },
        {
            "label": "jmavsim build",
            "type": "shell",
            "command": "ant create_run_jar copy_res",
            "options": {
-                "cwd": "${workspaceRoot}/Tools/jMAVSim"
+                "cwd": "${workspaceFolder}/Tools/jMAVSim"
            },
            "problemMatcher": [],
            "presentation":{
@@ -17,7 +63,7 @@
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": true
+                "clear": false,
            }
        },
        {
@@ -26,7 +72,7 @@
            "dependsOn": "jmavsim build",
            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
            "options": {
-                "cwd": "${workspaceRoot}/Tools/jMAVSim/out/production",
+                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
                "env": {
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
@@ -38,7 +84,7 @@
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": true
+                "clear": false
            },
            "problemMatcher": [
                {
@@ -68,7 +114,7 @@
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": true
+                "clear": false
            },
            "problemMatcher": []
        },
@@ -77,31 +123,31 @@
            "type": "shell",
            "command": "make px4_sitl_default sitl_gazebo",
            "options": {
-                "cwd": "${workspaceRoot}"
+                "cwd": "${workspaceFolder}"
            },
            "problemMatcher": [],
            "presentation":{
                "echo": true,
-                "reveal": "never",
+                "reveal": "always",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": true
+                "clear": false,
            }
        },
        {
-            "label": "gazebo iris",
+            "label": "gazebo start",
            "type": "shell",
            "dependsOn": "gazebo build",
            "options": {
-                "cwd": "${workspaceRoot}",
+                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/iris.world",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -109,7 +155,7 @@
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": true
+                "clear": false
            },
            "problemMatcher": [
                {
@@ -130,106 +176,26 @@
            ]
        },
        {
-            "label": "gazebo plane",
+            "label": "gazebo",
            "type": "shell",
-            "dependsOn": "gazebo build",
+            "dependsOn": "gazebo start",
            "options": {
-                "cwd": "${workspaceRoot}",
+                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/plane.world",
-            "isBackground": true,
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
+            "isBackground": false,
            "presentation": {
                "echo": true,
                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": true
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
-        {
-            "label": "gazebo standard_vtol",
-            "type": "shell",
-            "dependsOn": "gazebo build",
-            "options": {
-                "cwd": "${workspaceRoot}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/standard_vtol.world",
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": true
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
-        {
-            "label": "gazebo tailsitter",
-            "type": "shell",
-            "dependsOn": "gazebo build",
-            "options": {
-                "cwd": "${workspaceRoot}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/tailsitter.world",
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": true
+                "clear": false
            },
            "problemMatcher": [
                {
@@ -254,10 +220,10 @@
            "type": "shell",
            "dependsOn": "gazebo build",
            "options": {
-                "cwd": "${workspaceRoot}",
+                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
@@ -269,7 +235,7 @@
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": true
+                "clear": false
            },
            "problemMatcher": [
                {
@@ -294,12 +260,42 @@
            "type": "shell",
            "command": "killall gzserver",
            "presentation": {
-                "echo": false,
-                "reveal": "never",
+                "echo": true,
+                "reveal": "silent",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
-                "clear": true
+                "clear": false
+            },
+            "problemMatcher": [],
+            "dependsOn":["px4_sitl_cleanup"]
+        },
+        {
+            "label": "px4_sitl_cleanup",
+            "type": "shell",
+            "command": "rm -rfv /tmp/px4*",
+            "presentation": {
+                "echo": true,
+                "reveal": "silent",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": [],
+            "dependsOn":["px4_kill"]
+        },
+        {
+            "label": "px4_kill",
+            "type": "shell",
+            "command": "killall px4 || true",
+            "presentation": {
+                "echo": true,
+                "reveal": "silent",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
            },
            "problemMatcher": []
        },
@@ -308,7 +304,7 @@
            "type": "shell",
            "command": "./Tools/mavlink_shell.py",
            "options": {
-                "cwd": "${workspaceRoot}"
+                "cwd": "${workspaceFolder}"
            },
            "presentation": {
                "echo": true,
@@ -325,7 +321,7 @@
            "type": "shell",
            "command": "miniterm.py --raw - 57600",
            "options": {
-                "cwd": "${workspaceRoot}"
+                "cwd": "${workspaceFolder}"
            },
            "presentation": {
                "echo": true,
@@ -337,5 +333,41 @@
            },
            "problemMatcher": []
        }
+    ],
+    "inputs": [
+        {
+            "type": "pickString",
+            "id": "vehicleModel",
+            "description": "gazebo model",
+            "options": [
+              "iris",
+              "typhoon_h480",
+              "plane",
+              "plane_catapult",
+              "plane_lidar",
+              "standard_vtol",
+              "tailsitter",
+              "tiltrotor",
+              "r1_rover",
+              "boat"
+            ],
+            "default": "iris"
+        },
+        {
+            "type": "pickString",
+            "id": "gazeboWorld",
+            "description": "gazebo world",
+            "options": [
+                "baylands",
+                "empty",
+                "ksql_airport",
+                "mcmillan_airfield",
+                "sonoma_raceway",
+                "warehouse",
+                "windy",
+                "yosemite"
+            ],
+            "default": "empty"
+        }
    ]
 }
@@ -221,20 +221,22 @@ endif()

 #=============================================================================

-# gold linker - use if available
-include(CMakeDependentOption)
-CMAKE_DEPENDENT_OPTION(USE_LD_GOLD
-                      "Use GNU gold linker" ON
-                      "NOT WIN32;NOT APPLE" OFF
-)
+# gold linker - use if available (posix only for now)
+if(${PX4_PLATFORM} STREQUAL "posix")
+	include(CMakeDependentOption)
+	CMAKE_DEPENDENT_OPTION(USE_LD_GOLD
+			"Use GNU gold linker" ON
+			"NOT WIN32;NOT APPLE" OFF
+	)

-if(USE_LD_GOLD)
-	execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE LD_VERSION)
-	if("${LD_VERSION}" MATCHES "GNU gold")
-		set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold")
-		set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold")
-	else()
-		set(USE_LD_GOLD OFF)
+	if(USE_LD_GOLD)
+		execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE LD_VERSION)
+		if("${LD_VERSION}" MATCHES "GNU gold")
+			set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold")
+			set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold")
+		else()
+			set(USE_LD_GOLD OFF)
+		endif()
 	endif()
 endif()

@@ -12,12 +12,10 @@ pipeline {
        }
      }
      parallel {
-
-        // TODO: temporarily disabled 2020-06-03 waiting on mavlink update
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2020-04-01'
+        //       image 'px4io/px4-dev-ros-melodic:2020-08-20'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -54,42 +52,42 @@ pipeline {
        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
        //   }
        // }
-        //
-        // stage('Colcon build on ROS2 workspace') {
-        //   agent {
-        //     docker {
-        //       image 'px4io/px4-dev-ros2-dashing:2020-04-01'
-        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-        //     }
-        //   }
-        //   steps {
-        //     sh 'ls -l'
-        //     sh '''#!/bin/bash -l
-        //       echo $0;
-        //       unset ROS_DISTRO;
-        //       mkdir -p colcon_ws/src;
-        //       cd colcon_ws;
-        //       git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
-        //       git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
-        //       git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-        //       source /opt/ros/bouncy/setup.sh;
-        //       source /opt/ros/melodic/setup.sh;
-        //       colcon build --event-handlers console_direct+ --symlink-install;
-        //     '''
-        //   }
-        //   post {
-        //     always {
-        //       sh 'rm -rf colcon_ws'
-        //     }
-        //   }
-        //   options {
-        //     checkoutToSubdirectory('colcon_ws/src/Firmware')
-        //   }
-        // }
+
+        stage('Colcon build on ROS2 workspace') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros2-foxy:2020-08-20'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'ls -l'
+            sh '''#!/bin/bash -l
+              echo $0;
+              unset ROS_DISTRO;
+              mkdir -p colcon_ws/src;
+              cd colcon_ws;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
+              git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
+              source /opt/ros/bouncy/setup.sh;
+              source /opt/ros/melodic/setup.sh;
+              colcon build --event-handlers console_direct+ --symlink-install;
+            '''
+          }
+          post {
+            always {
+              sh 'rm -rf colcon_ws'
+            }
+          }
+          options {
+            checkoutToSubdirectory('colcon_ws/src/Firmware')
+          }
+        }

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh 'make distclean'
@@ -108,7 +106,7 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh 'make distclean'
@@ -127,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh 'make distclean'
@@ -147,7 +145,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
+              image 'px4io/px4-dev-nuttx-focal:2020-09-14'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -176,7 +174,7 @@ pipeline {

        stage('Devguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -206,16 +204,18 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
            unstash 'metadata_airframes'
            unstash 'metadata_parameters'
+            unstash 'metadata_module_documentation'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
+              sh('cp -R modules/*.md px4_user_guide/en/modules/')
              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
              sh('cd px4_user_guide; git push origin master || true')
              sh('rm -rf px4_user_guide')
@@ -234,7 +234,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -260,9 +260,39 @@ pipeline {
          }
        }

+        stage('microRTPS agent') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+          }
+          steps {
+            sh('export')
+            sh('git fetch --all --tags')
+            sh('make distclean')
+            sh('make px4_sitl_rtps')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
+              sh("rm -rf micrortps_agent/src micrortps_agent/idl")
+              sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
+              sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
+              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
+              sh('rm -rf micrortps_agent')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -270,12 +300,12 @@ pipeline {
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'master' branch
-              sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin master || true')
              // 'ros1' branch
              sh('cd px4_msgs; git checkout ros1')
-              sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin ros1 || true')
              sh('rm -rf px4_msgs')
@@ -291,7 +321,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -334,7 +364,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
          }
          steps {
            sh('export')
@@ -63,7 +63,7 @@ all: px4_sitl_default
 space := $(subst ,, )

 define make_list
-     $(shell cat .github/workflows/compile_${1}.yml | sed -E 's/[[:space:]]+(.*),/check_\1/g' | grep check_${2})
+     $(shell cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
 endef

 # Parsing
@@ -77,7 +77,7 @@ ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
 # Get -j or --jobs argument as suggested in:
 # https://stackoverflow.com/a/33616144/8548472
 MAKE_PID := $(shell echo $$PPID)
-j := $(shell ps T | sed -n 's/.*$(MAKE_PID).*$(MAKE).* \(-j\|--jobs\) *\([0-9][0-9]*\).*/\2/p')
+j := $(shell ps T | sed -n 's|.*$(MAKE_PID).*$(MAKE).* \(-j\|--jobs\) *\([0-9][0-9]*\).*|\2|p')

 # Default j for clang-tidy
 j_clang_tidy := $(or $(j),4)
@@ -189,9 +189,9 @@ endef
 define cmake-cache-check
 	@# change to build folder which fails if it doesn't exist and CACHED_CMAKE_OPTIONS stays empty
 	@# fetch all previously configured and cached options from the build folder and transform them into the OPTION=VALUE format without type (e.g. :BOOL)
-	@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's/\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)/\1\2/gp' ))
+	@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's|\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)|\1\2|gp' ))
 	@# transform the options in CMAKE_ARGS into the OPTION=VALUE format without -D
-	@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's/-D\([^[:blank:]]*=[^[:blank:]]*\)/\1/gp' ))
+	@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's|-D\([^[:blank:]]*=[^[:blank:]]*\)|\1|gp' ))
 	@# find each currently desired option in the already cached ones making sure the complete configured string value is the same
 	@$(eval VERIFIED_CMAKE_OPTIONS = $(foreach option,$(DESIRED_CMAKE_OPTIONS),$(strip $(findstring $(option)$(space),$(CACHED_CMAKE_OPTIONS)))))
 	@# if the complete list of desired options is found in the list of verified options we don't need to reconfigure and CMAKE_CACHE_CHECK stays empty
@@ -206,7 +206,7 @@ define colorecho
 endef

 # Get a list of all config targets boards/*/*.cmake
-ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's/boards\///' | sed -e 's/\.cmake//' | sed -e 's/\//_/g' | sort)
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)

 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -370,14 +370,14 @@ rostest: px4_sitl_default
 tests_integration: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
-	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 100
+	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json

 tests_integration_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
-	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 100
+	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
 	@mkdir -p coverage
 	@lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info

@@ -2,7 +2,7 @@

 [![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)

-[![Build Status](http://ci.px4.io:8080/buildStatus/icon?job=PX4/Firmware/master)](http://ci.px4.io:8080/blue/organizations/jenkins/PX4%2FFirmware/activity) [![Nuttx Targets](https://github.com/PX4/Firmware/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/Firmware/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22SITL+Tests%22)
+[![Nuttx Targets](https://github.com/PX4/Firmware/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/Firmware/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22SITL+Tests%22)

 [![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)

@@ -40,8 +40,12 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co

 ## Maintenance Team

-  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
-    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
+  * Project: Founder
+    * [Lorenz Meier](https://github.com/LorenzMeier)
+  * Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * [Dev Call](https://github.com/PX4/Firmware/labels/devcall)
+    * [Ramon Roche](https://github.com/mrpollo)
  * Communication Architecture
    * [Beat Kueng](https://github.com/bkueng)
    * [Julian Oes](https://github.com/JulianOes)
@@ -55,15 +59,22 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
    * [Roman Bapst](https://github.com/RomanBapst)
  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
    * [Roman Bapst](https://github.com/RomanBapst)
-  * OS / NuttX [David Sidrane](https://github.com/davids5)
-  * Driver Architecture [Daniel Agar](https://github.com/dagar)
-  * Commander Architecture [Julian Oes](https://github.com/julianoes)
-  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) [Daniel Agar](https://github.com/dagar)
-  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [Paul Riseborough](https://github.com/priseborough)
+  * OS / NuttX
+    * [David Sidrane](https://github.com/davids5)
+  * Driver Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture
+    * [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan)
+    * [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
+    * [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation
    * [Julian Kent](https://github.com/jkflying)
-  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
-  * RTPS/ROS2 Interface - [Nuno Marques](https://github.com/TSC21)
+  * Obstacle Avoidance
+    * [Martina Rivizzigno](https://github.com/mrivi)
+  * RTPS/ROS2 Interface
+    * [Nuno Marques](https://github.com/TSC21)

 See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).

@@ -34,7 +34,7 @@
 message(STATUS "ROMFS: ${config_romfs_root}")

 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
-set(romfs_gen_root_dir ${PX4_BINARY_DIR}/genromfs)
+set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)

 set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
 set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
@@ -81,21 +81,48 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
 if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
+# create list of relative romfs file names
+set(romfs_copy_files_relative)
+foreach(romfs_file IN LISTS romfs_copy_files)
+	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
+	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
+endforeach()
+# copy the ROMFS files by creating a tar and extracting it to the build
+# directory (which preserves the directory structure)
+file(MAKE_DIRECTORY ${romfs_gen_root_dir})
+set(romfs_tar_file ${PX4_BINARY_DIR}/romfs_files.tar)
+add_custom_command(
+	OUTPUT ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E tar cf ${romfs_tar_file} ${romfs_copy_files_relative}
+	WORKING_DIRECTORY ${romfs_src_dir}
+	DEPENDS
+		${romfs_copy_files}
+		${jinja_templates}
+		${module_config_files}
+		${romfs_cmake_files}
+		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
+		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	)
+set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
+add_custom_command(
+	OUTPUT ${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
+	WORKING_DIRECTORY ${romfs_gen_root_dir}
+	DEPENDS ${romfs_tar_file}
+	)
+
 add_custom_command(
 	OUTPUT
-		${romfs_gen_root_dir}/init.d/rcS
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
 		romfs_copy.stamp
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}
-	# TODO: we should only copy the files in ${romfs_copy_files}
-	COMMAND ${CMAKE_COMMAND} -E copy_directory ${romfs_src_dir} ${romfs_gen_root_dir}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/init.d-posix
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/mixers-sitl
-	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/mixers/CMakeLists.txt
-	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/CMakeLists.txt
-	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/airframes/CMakeLists.txt
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -106,32 +133,13 @@ add_custom_command(
 		--config-files ${module_config_files} #--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
 	DEPENDS
-		${jinja_templates}
-		${module_config_files}
-		${romfs_cmake_files}
-		${romfs_copy_files}
-		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py
-		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
-		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+		${romfs_extract_stamp}
 	COMMENT "ROMFS: copying, generating airframes"
 	)

 # copy extras into ROMFS
 set(extras_dependencies)

-if(config_bl_file)
-	file(MAKE_DIRECTORY ${PX4_BINARY_DIR}/romfs_extras)
-	configure_file(${config_bl_file} ${PX4_BINARY_DIR}/romfs_extras COPYONLY)
-
-	list(APPEND extras_dependencies
-		${config_bl_file}
-		)
-endif()
-
 # copy px4io binary if configured
 if(config_io_board)
 	list(APPEND extras_dependencies
@@ -179,17 +187,35 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})

 endforeach()

+list(APPEND extras_dependencies
+	${config_romfs_extra_dependencies}
+	)
+
+if (config_romfs_extra_files)
+	set(extras_copy_cmd COMMAND ${CMAKE_COMMAND} -E copy_if_different ${config_romfs_extra_files} ${romfs_gen_root_dir}/extras/)
+else()
+	set(extras_copy_cmd "")
+endif()
 add_custom_command(OUTPUT romfs_extras.stamp
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras/
 	COMMAND ${CMAKE_COMMAND} -E copy_directory ${PX4_BINARY_DIR}/romfs_extras/ ${romfs_gen_root_dir}/extras/
+	${extras_copy_cmd}
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_extras.stamp
 	DEPENDS
 		romfs_copy.stamp
+		${config_romfs_extra_files}
 		${extras_dependencies}
 	COMMENT "ROMFS: copying extras"
 	)

+add_custom_target(romfs_gen_files_target
+	DEPENDS
+		${romfs_extract_stamp}
+		${romfs_gen_root_dir}/init.d/rc.serial
+		romfs_extras.stamp
+	)
+
 add_custom_command(
 	OUTPUT romfs_pruned.stamp
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
@@ -220,7 +246,11 @@ if("${CONFIG_FS_CROMFS}" STREQUAL "y")
 		COMMENT "ROMFS: generating image"
 	)

-else()
+	add_library(romfs STATIC nsh_romfsimg.c)
+	add_dependencies(romfs prebuild_targets)
+	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
+
+elseif("${CONFIG_FS_ROMFS}" STREQUAL "y")
 	# create romfs.img
 	find_program(GENROMFS genromfs)
 	if(NOT GENROMFS)
@@ -255,13 +285,13 @@ else()
 		COMMAND ${SED} 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c
 		DEPENDS romfs.img
 	)
+
+	add_library(romfs STATIC nsh_romfsimg.c)
+	add_dependencies(romfs prebuild_targets)
+	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
 endif()


-add_library(romfs STATIC nsh_romfsimg.c)
-add_dependencies(romfs prebuild_targets)
-set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
-

 # shellcheck
 find_program(SHELLCHECK_PATH shellcheck)
@@ -271,11 +301,15 @@ if(SHELLCHECK_PATH)
 	# TODO: fix SC2086, SC2166
 	add_custom_target(shellcheck
 		COMMAND ${SHELLCHECK_PATH} --shell=sh
+			--exclude=SC1090 # SC1090: use of source (.) - Can't follow non-constant source. Use a directive to specify location.
+			--exclude=SC1091 # SC1091: use of source (.) - Not following: xxxx openBinaryFile: does not exist (No such file or directory)
 			--exclude=SC2121 # SC2121: To assign a variable, use just 'var=value'
 			--exclude=SC2086 # SC2086: Double quote to prevent globbing and word splitting.
 			--exclude=SC2166 # SC2166: Prefer [ p ] || [ q ] as [ p -o q ] is not well defined.
 			--exclude=SC2154 # SC2154: <var> is referenced but not assigned (NuttX uses different asssignment)
 			--exclude=SC2164 # SC2164: Use 'cd ... || exit' or 'cd ... || return' in case cd fails.
+			--exclude=SC2169 # SC2169: In dash, 'source' in place of '.' is not supported. (we alias it)
+			--exclude=SC2039 # SC2039: In POSIX sh, 'source' in place of '.' is undefined. (we alias it)
 			--exclude=SC2181 # SC2181: Check exit code directly with e.g. 'if mycmd;', not indirectly with $?.
 			`find ${romfs_gen_root_dir}/init.d -type f`
 		DEPENDS ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -14,7 +14,7 @@ set +e
 # NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
 #------------------------------------------------------------------------------
-
+set R /
 #
 # Mount the procfs.
 #
@@ -51,25 +51,25 @@ fi
 param select $PARAM_FILE
 if ! param load
 then
-	param reset
+	param reset_all
 fi

 #
 # Optional board defaults: rc.board_defaults
 #
-set BOARD_RC_DEFAULTS /etc/init.d/rc.board_defaults
+set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
 if [ -f $BOARD_RC_DEFAULTS ]
 then
 	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
-	sh $BOARD_RC_DEFAULTS
+	. $BOARD_RC_DEFAULTS
 fi
 unset BOARD_RC_DEFAULTS

 #
 # Start system state indicator.
 #
-rgbled start -X
-rgbled_ncp5623c start -X
+rgbled start -X -q
+rgbled_ncp5623c start -X -q
 rgbled_pwm start

 if param greater LIGHT_EN_BLINKM 0
@@ -83,11 +83,11 @@ fi
 #
 # board sensors: rc.sensors
 #
-set BOARD_RC_SENSORS /etc/init.d/rc.board_sensors
+set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 if [ -f $BOARD_RC_SENSORS ]
 then
 	echo "Board sensors: ${BOARD_RC_SENSORS}"
-	sh $BOARD_RC_SENSORS
+	. $BOARD_RC_SENSORS
 fi
 unset BOARD_RC_SENSORS

@@ -95,7 +95,7 @@ unset BOARD_RC_SENSORS
 # Start UART/Serial device drivers.
 # Note: rc.serial is auto-generated from Tools/serial/generate_config.py
 #
-sh /etc/init.d/rc.serial
+. ${R}etc/init.d/rc.serial

 # Check for flow sensor
 if param compare SENS_EN_PX4FLOW 1
@@ -104,3 +104,4 @@ then
 fi

 uavcannode start
+unset R
@@ -33,3 +33,8 @@

 add_subdirectory(init.d)
 add_subdirectory(mixers)
+# TODO: make this configurable from the board config, or better combine
+if("${PX4_BOARD}" MATCHES "sitl")
+	add_subdirectory(mixers-sitl)
+	add_subdirectory(init.d-posix)
+endif()
@@ -1,2 +0,0 @@
-# shellcheck disable=SC2154
-micrortps_client start -t UDP
@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# 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.
+#
+############################################################################
+
+add_subdirectory(airframes)
+
+px4_add_romfs_files(
+	rc.replay
+	rcS
+)
@@ -7,7 +7,6 @@
 # @maintainer Julian Oes <julian@oes.ch>
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_w
-
@@ -6,7 +6,7 @@
 # @type Quadrotor
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -6,6 +6,6 @@
 # @type Quadrotor
 #

-sh /etc/init.d/airframes/4016_holybro_px4vision
+. ${R}etc/init.d/airframes/4016_holybro_px4vision

 set MIXER quad_x
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,4 +5,4 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris
@@ -0,0 +1,4 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-sh /etc/init.d-posix/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name UUV
 #

-sh /etc/init.d/rc.uuv_defaults
+. ${R}etc/init.d/rc.uuv_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Hippocampus UUV
 #

-sh /etc/init.d/rc.uuv_defaults
+. ${R}etc/init.d/rc.uuv_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# @name BlueROV2 Heavy Configuration
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+
+fi
+
+set PWM_OUT 12345678
+set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
+set MIXER custom
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #

-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL with camera
 #

-sh /etc/init.d-posix/1030_plane
+. ${R}etc/init.d-posix/airframes/1030_plane

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL with catapult
 #

-sh /etc/init.d-posix/1030_plane
+. ${R}etc/init.d-posix/airframes/1030_plane

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL with downward facing LIDAR.
 #

-sh /etc/init.d-posix/1030_plane
+. ${R}etc/init.d-posix/airframes/1030_plane

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #

-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #

-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -0,0 +1,47 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1
+	param set FW_LND_ANG 8
+	param set FW_THR_LND_MAX 0
+
+	param set FW_L1_PERIOD 15
+
+	param set FW_P_TC 0.5
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.7
+	param set FW_RR_FF 0.20
+	param set FW_RR_I 0.02
+	param set FW_RR_P 0.22
+
+	param set FW_L1_PERIOD 12
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 30
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -0,0 +1,56 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15
+
+	param set FW_L1_PERIOD 25
+
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -5,7 +5,7 @@
 # @type Standard VTOL
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -14,6 +14,9 @@ then
 	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12

+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.01
+
 	param set MC_ROLLRATE_P 0.3

 	param set MIS_LTRMIN_ALT 10
@@ -22,7 +25,7 @@ then

 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
+	param set MPC_THR_HOVER 0.58
 	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P_ACC 3
@@ -5,7 +5,7 @@
 # @type VTOL Quad Tailsitter
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -16,17 +16,13 @@ then

 	param set MC_ROLLRATE_P 0.3

-	param set MIS_LTRMIN_ALT 10
-	param set MIS_TAKEOFF_ALT 10
 	param set MIS_YAW_TMT 10

 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1
+	param set MPC_THR_MIN 0.3
 	param set MPC_XY_P 0.15
 	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_P_ACC 1
 	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_Z_VEL_P_ACC 16
@@ -38,6 +34,8 @@ then
 	param set VT_F_TRANS_THR 0.7
 	param set VT_TYPE 0

+	param set WV_EN 0
+
 fi

 set MAV_TYPE 20
@@ -5,11 +5,11 @@
 # @type VTOL Tiltrotor
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
-	param set FW_ARSP_MODE 2
+	param set FW_ARSP_MODE 1
 	param set FW_AIRSPD_MAX 25
 	param set FW_AIRSPD_MIN 14
 	param set FW_AIRSPD_TRIM 16
@@ -3,7 +3,7 @@
 # @name Rover
 #

-sh /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -4,7 +4,7 @@
 # @type Rover
 # @class Rover

-sh /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -8,7 +8,7 @@
 # @maintainer ThunderFly s.r.o.
 #

-sh /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -3,7 +3,7 @@
 # @name Boat
 #

-sh /etc/init.d/rc.boat_defaults
+. ${R}etc/init.d/rc.boat_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -10,7 +10,7 @@
 #
 #

-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# @name Cloudship
+# @type Airship
+# @class Airship
+#
+# @output MAIN1 thrust tilt
+# @output MAIN2 starboard thruster
+# @output MAIN3 port thruster
+# @output MAIN4 tail thruster
+
+. ${R}etc/init.d/rc.airship_defaults
+
+set MIXER cloudship
+set PWM_OUT 1234
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Quadrotor SITL model for JSBSim
+#
+# @type Quadrotor Wide
+#
+# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_w
@@ -0,0 +1,35 @@
+#!/bin/sh
+#
+# @name Hexacopter SITL model for JSBSim
+#
+# @type Hexarotor x
+#
+# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCH_P 6.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLL_P 6.0
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3
+
+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
+
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 4
+	param set MNT_DO_STAB 2
+	param set MAV_PROTO_VER 2
+fi
+
+set MAV_TYPE 13
+
+set MIXER hexa_x
@@ -5,7 +5,7 @@
 # @type Hexarotor x
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -0,0 +1,76 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# 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.
+#
+############################################################################
+
+px4_add_romfs_files(
+	10016_iris
+	10020_if750a
+	10030_px4vision
+	1010_iris_opt_flow
+	1010_iris_opt_flow.post
+	1011_iris_irlock
+	1012_iris_rplidar
+	1013_iris_vision
+	1013_iris_vision.post
+	1014_solo
+	1015_iris_obs_avoid
+	1015_iris_obs_avoid.post
+	1016_iris_rtps
+	1016_iris_rtps.post
+	1017_iris_opt_flow_mockup
+	1018_iris_vision_velocity
+	1019_iris_dual_gps
+	1020_uuv_generic
+	1021_uuv_hippocampus
+	1022_uuv_bluerov2_heavy
+	1030_plane
+	1031_plane_cam
+	1032_plane_catapult
+	1033_plane_lidar
+	1033_rascal
+	1034_rascal-electric
+	1035_techpod
+	1036_malolo
+	1040_standard_vtol
+	1041_tailsitter
+	1042_tiltrotor
+	1060_rover
+	1061_r1_rover
+	1062_tf-r1
+	1070_boat
+	3010_quadrotor_x
+	3011_hexarotor_x
+	17001_tf-g1
+	2507_cloudship
+	6011_typhoon_h480
+	6011_typhoon_h480.post
+)
@@ -2,6 +2,17 @@

 # EKF2 replay script

+# shellcheck disable=SC2154
+if [ ! -f ${replay} ]; then
+	echo "Invalid replay log file ${replay}"
+	exit 1
+fi
+
+if [ ! -f replay_params.txt ]; then
+	echo "Creating $(pwd)/replay_params.txt"
+	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
+fi
+
 publisher_rules_file="orb_publisher.rules"
 cat <<EOF > "$publisher_rules_file"
 restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
@@ -15,7 +15,7 @@ SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
 # shellcheck disable=SC2154
 if [ "$replay_mode" = "ekf2" ]
 then
-	sh etc/init.d-posix/rc.replay
+	. ${R}etc/init.d-posix/rc.replay
 	exit 0
 fi

@@ -44,10 +44,12 @@ else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
-	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
+	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "Error: Unknown model '$PX4_SIM_MODEL'"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
 		exit 1
+	else
+		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi

@@ -101,7 +103,7 @@ then
 	set AUTOCNF yes

 	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_nostart RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
+	param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
 fi

 # multi-instance setup
@@ -119,63 +121,31 @@ if [ $AUTOCNF = yes ]
 then
 	param set SYS_AUTOSTART $REQUESTED_AUTOSTART

-	param set BAT_N_CELLS 3
-
-	param set CAL_ACC0_ID 1311244
-	param set CAL_ACC_PRIME 1311244
-
-	param set CAL_GYRO0_ID 1311244
-	param set CAL_GYRO_PRIME 1311244
+	param set BAT_N_CELLS 4

+	param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
 	param set CAL_MAG0_ID 197388
-	param set CAL_MAG_PRIME 197388
+	param set CAL_MAG1_ID 197644

 	param set CBRK_AIRSPD_CHK 0
 	param set CBRK_SUPPLY_CHK 894281

-	param set COM_DISARM_LAND 0.5
-	param set COM_OBL_ACT 2
-	param set COM_OBL_RC_ACT 0
+	# Don't require RC calibration and configuration
 	param set COM_RC_IN_MODE 1

-	param set EKF2_AID_MASK 1
-	param set EKF2_ANGERR_INIT 0.01
-	param set EKF2_HGT_MODE 0
-	param set EKF2_GBIAS_INIT 0.01
-
-	# Prevent high accel bias
-	param set COM_ARM_EKF_AB 0.005
-
 	# Speedup SITL startup
 	param set EKF2_REQ_GPS_H 0.5

-	# LPE: GPS only mode
-	param set LPE_FUSION 145
-
-
-	param set MC_PITCH_P 6
-	param set MC_PITCHRATE_P 0.2
-	param set MC_ROLL_P 6
-	param set MC_ROLLRATE_P 0.2
-
-	param set MPC_ALT_MODE 0
-	param set MPC_HOLD_MAX_Z 2
-	param set MPC_Z_VEL_P_ACC 12.0
-	param set MPC_Z_VEL_I_ACC 3.0
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 4.0
-	param set MPC_XY_VEL_I_ACC 0.4
-	param set MPC_XY_VEL_D_ACC 0.32
-
-	param set MPC_SPOOLUP_TIME 0.5
-	param set MPC_TKO_RAMP_T 1
-
-	param set NAV_ACC_RAD 2
-	param set NAV_DLL_ACT 2
-
-	param set RTL_DESCEND_ALT 5
-	param set RTL_LAND_DELAY 5
-	param set RTL_RETURN_ALT 30
+	# Multi-EKF
+	param set EKF2_MULTI_IMU 3
+	param set SENS_IMU_MODE 0
+	param set EKF2_MULTI_MAG 2
+	param set SENS_MAG_MODE 0

 	# By default log from boot until first disarm.
 	param set SDLOG_MODE 1
@@ -212,7 +182,8 @@ fi

 # Autostart ID
 autostart_file=''
-for f in etc/init.d-posix/"$(param show -q SYS_AUTOSTART)"_*
+# shellcheck disable=SC2231
+for f in ${R}etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
 do
 	filename=$(basename "$f")
 	case "$filename" in
@@ -229,7 +200,7 @@ if [ ! -e "$autostart_file" ]; then
 	exit 1
 fi

-sh "$autostart_file"
+. "$autostart_file"

 #
 # If autoconfig parameter was set, reset it and save parameters.
@@ -245,6 +216,7 @@ if ! replay tryapplyparams
 then
 	simulator start -c $simulator_tcp_port
 fi
+load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
@@ -268,7 +240,7 @@ fi
 # Note: rc.vehicle_setup is the entry point for rc.interface,
 #       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
 #
-sh etc/init.d/rc.vehicle_setup
+. ${R}etc/init.d/rc.vehicle_setup

 # GCS link
 mavlink start -x -u $udp_gcs_port_local -r 4000000
@@ -289,7 +261,7 @@ mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offbo
 mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

 # execute autostart post script if any
-[ -e "$autostart_file".post ] && sh "$autostart_file".post
+[ -e "$autostart_file".post ] && . "$autostart_file".post

 # Run script to start logging
 if param compare SYS_MC_EST_GROUP 2
@@ -298,7 +270,7 @@ then
 else
 	set LOGGER_ARGS "-p vehicle_attitude"
 fi
-sh etc/init.d/rc.logging
+. ${R}etc/init.d/rc.logging

 mavlink boot_complete
 replay trystart
@@ -34,6 +34,9 @@
 add_subdirectory(airframes)

 px4_add_romfs_files(
+	rc.airship_apps
+	rc.airship_defaults
+	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
@@ -15,7 +15,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -8,7 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_x
 set PWM_OUT 1234
@@ -8,7 +8,7 @@
 # @maintainer Roman Bapst <roman@auterion.com>
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 set MIXER hexa_cox

@@ -8,7 +8,7 @@
 # @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_x
 set PWM_OUT 1234
@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 set MIXER octo_cox

@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #

-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -18,7 +18,7 @@
 # @output AUX5 Throttle
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -13,7 +13,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -8,7 +8,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults

 if [ $AUTOCNF = yes ]
 then
--- a/Show More
+++ b/Show More