Adds Smart Return To Home capability by recording the flight path in a memory optimimized format. This means the UAV can return to home by using only known-good flight paths.

The flight graph is stored as a series of delta elements at 1m resolution and a list of nodes. Both lists share the same buffer. Each delta element takes up 2 bytes or sometimes 6 bytes if the delta is large. The path can consist of multiple disconnected segments, in which case the gaps are stored as delta elements with a jump-bit set.

Once in a while or when required the graph is consolidated, which means:
 - Points that lie roughly in a line are replaced by a single line
 - Points that lie close to previously recorded lines are pruned
 - For lines that pass close to each other a node element is created

Furthermore:
 - The graph is recorded at a higher precision closer to home
 - If the graph becomes full, the overall precision is reduced and the whole graph is re-consolidated
 - If the graph becomes full once more, all data is removed except for the shortest path home at that moment. One of these actions is repeated at each subsequent fill-up.

Path finding information is generated/refreshed on demand and stored in the nodes. During return-to-home, the best direction to home is continuously evaluated by using the information stored in the nodes.

The graph recording and path finding is implemented in navigator/tracker.cpp.
The graph based return-to-home is implemented in navigator/smart_rtl.cpp.

.ci/Jenkinsfile-SITL_tests

@@ -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

.ci/Jenkinsfile-compile

@@ -11,12 +11,12 @@ pipeline {
           def docker_images = [
             armhf: "px4io/px4-dev-armhf:2020-04-01",
             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_airpi2_default"],
             image: docker_images.armhf,
             archive: false
           ]
@@ -32,9 +32,13 @@ 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",
+                     "cubepilot_cubeorange_console",
                      "cubepilot_cubeorange_default",
+                     "cubepilot_cubeyellow_console",
                      "cubepilot_cubeyellow_default",
                      "holybro_durandal-v1_default",
                      "holybro_durandal-v1_stackcheck",
@@ -47,6 +51,7 @@ pipeline {
                      "mro_x21_default",
                      "nxp_fmuk66-v3_default",
                      "nxp_fmuk66-v3_socketcan",
+                     "nxp_fmuk66-v3_rtps",
                      "nxp_fmurt1062-v1_default",
                      "nxp_rddrone-uavcan146_default",
                      "omnibus_f4sd_default",
@@ -107,7 +112,7 @@ 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()

.ci/Jenkinsfile-compile_mac

@@ -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')
-  }
-}

.ci/Jenkinsfile-hardware

@@ -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'
                 }
               }
@@ -365,7 +365,7 @@ pipeline {
                 }
               }
               options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
               }
             } // stage test
           }
@@ -376,7 +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'
                 }
               }
@@ -440,7 +440,7 @@ pipeline {
                 }
               }
               options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
               }
             } // stage test
           }
@@ -451,7 +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'
                 }
               }
@@ -513,7 +513,7 @@ pipeline {
                 }
               }
               options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
               }
             } // stage test
           }
@@ -524,7 +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'
                 }
               }
@@ -588,7 +588,7 @@ pipeline {
                 }
               }
               options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
               }
             } // stage test
           }
@@ -599,7 +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'
                 }
               }
@@ -661,7 +661,7 @@ pipeline {
                 }
               }
               options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
               }
             } // stage test
           }
@@ -672,7 +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'
                 }
               }
@@ -740,7 +740,7 @@ pipeline {
                 }
               }
               options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
               }
             } // stage test
           }
@@ -751,7 +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'
                 }
               }
@@ -803,7 +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") {
@@ -813,7 +813,7 @@ pipeline {
                 }
               }
               options {
-                timeout(time: 60, unit: 'MINUTES')
+                timeout(time: 90, unit: 'MINUTES')
               }
             } // stage test
           }
@@ -828,7 +828,7 @@ pipeline {
   }
   options {
     buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '40'))
-    timeout(time: 60, unit: 'MINUTES')
+    timeout(time: 90, unit: 'MINUTES')
   }
 }
 
@@ -836,11 +836,13 @@ 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 "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"'
@@ -850,6 +852,8 @@ void statusFTDI() {
   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_sensor"'
+  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 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"'
@@ -858,13 +862,17 @@ 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 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"'
@@ -888,7 +896,7 @@ 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"'
@@ -901,11 +909,13 @@ 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 "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"'
@@ -915,6 +925,8 @@ void statusSEGGER() {
   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_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"'
@@ -923,13 +935,17 @@ 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 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"'
@@ -953,7 +969,7 @@ 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"'
@@ -974,12 +990,15 @@ 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"'
@@ -1001,12 +1020,15 @@ 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"'

.devcontainer/devcontainer.json

@@ -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],
+}

.github/workflows/checks.yml

@@ -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:

.github/workflows/clang-tidy.yml

@@ -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:

.github/workflows/compile_linux.yml

@@ -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: [

.github/workflows/compile_nuttx.yml

@@ -11,16 +11,20 @@ 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,
+          cubepilot_cubeorange_console,
           cubepilot_cubeorange_default,
+          cubepilot_cubeyellow_console,
           cubepilot_cubeyellow_default,
           holybro_durandal-v1_default,
           holybro_durandal-v1_stackcheck,
@@ -34,6 +38,7 @@ jobs:
           nxp_fmuk66-v3_default,
           nxp_fmuk66-e_default,
           nxp_fmuk66-v3_socketcan,
+          nxp_fmuk66-v3_rtps,
           nxp_fmurt1062-v1_default,
           nxp_rddrone-uavcan146_default,
           omnibus_f4sd_default,

.github/workflows/coverage.yml

@@ -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: [

.github/workflows/hardware_tests_linux.yml

@@ -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

.github/workflows/mavros_avoidance_tests.yml

@@ -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

.github/workflows/mavros_mission_tests.yml

@@ -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

.github/workflows/mavros_offboard_tests.yml

@@ -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

.github/workflows/metadata.yml

@@ -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:

.github/workflows/sitl_tests.yml

@@ -20,7 +20,7 @@ jobs:
           - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo"} # Florida
           - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage"} # 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/v0.30.1/mavsdk_0.30.1_ubuntu18.04_amd64.deb
     - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.27.0_ubuntu18.04_amd64.deb
+      run: dpkg -i mavsdk_0.30.1_ubuntu18.04_amd64.deb
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp

.gitmodules

@@ -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-9.1.0+
 [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-9.1.0+
 [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

.vscode/c_cpp_properties.json

@@ -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
-}
+}

.vscode/cmake-variants.yaml

@@ -61,6 +61,11 @@ 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

.vscode/extensions.json

@@ -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",

.vscode/settings.json

@@ -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"
         }
 }

.vscode/tasks.json

@@ -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"
+        }
     ]
 }

Jenkinsfile

@@ -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')
@@ -206,7 +204,7 @@ 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')
@@ -234,7 +232,7 @@ 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 +258,39 @@ 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 ${BRANCH_NAME} || true')
+              sh('rm -rf micrortps_agent')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
         stage('PX4 ROS msgs') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
           }
           steps {
             sh('export')
@@ -270,12 +298,12 @@ pipeline {
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh("git clone https://${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 +319,7 @@ 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 +362,7 @@ 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')

ROMFS/CMakeLists.txt

@@ -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

ROMFS/cannode/init.d/rcS

@@ -51,7 +51,7 @@ fi
 param select $PARAM_FILE
 if ! param load
 then
-	param reset
+	param reset_all
 fi
 
 #
@@ -61,15 +61,15 @@ set BOARD_RC_DEFAULTS /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
@@ -87,7 +87,7 @@ set BOARD_RC_SENSORS /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
+. /etc/init.d/rc.serial
 
 # Check for flow sensor
 if param compare SENS_EN_PX4FLOW 1

ROMFS/px4fmu_common/CMakeLists.txt

@@ -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()

ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt

@@ -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
+)

ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris

@@ -10,4 +10,3 @@
 sh /etc/init.d/rc.mc_defaults
 
 set MIXER quad_w
-

ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow

@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock

@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar

@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision

@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid

@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps

@@ -5,4 +5,4 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris

ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup

@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity

@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps

@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/10016_iris
+sh /etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam

@@ -3,7 +3,7 @@
 # @name Plane SITL with camera
 #
 
-sh /etc/init.d-posix/1030_plane
+sh /etc/init.d-posix/airframes/1030_plane
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult

@@ -3,7 +3,7 @@
 # @name Plane SITL with catapult
 #
 
-sh /etc/init.d-posix/1030_plane
+sh /etc/init.d-posix/airframes/1030_plane
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1033_plane_lidar

@@ -3,7 +3,7 @@
 # @name Plane SITL with downward facing LIDAR.
 #
 
-sh /etc/init.d-posix/1030_plane
+sh /etc/init.d-posix/airframes/1030_plane
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/3010_quadrotor_x

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Quadrotor SITL model for JSBSim
+#
+# @type Quadrotor Wide
+#
+# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_w

ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x

@@ -0,0 +1,35 @@
+#!/bin/sh
+#
+# @name Hexacopter SITL model for JSBSim
+#
+# @type Hexarotor x
+#
+# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
+#
+
+sh /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

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -0,0 +1,73 @@
+############################################################################
+#
+#   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
+	1030_plane
+	1031_plane_cam
+	1032_plane_catapult
+	1033_plane_lidar
+	1033_rascal
+	1034_rascal-electric
+	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
+)

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -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
@@ -119,16 +121,14 @@ if [ $AUTOCNF = yes ]
 then
 	param set SYS_AUTOSTART $REQUESTED_AUTOSTART
 
-	param set BAT_N_CELLS 3
+	param set BAT_N_CELLS 4
 
 	param set CAL_ACC0_ID 1311244
-	param set CAL_ACC_PRIME 1311244
-
+	param set CAL_ACC1_ID 1311500
 	param set CAL_GYRO0_ID 1311244
-	param set CAL_GYRO_PRIME 1311244
-
+	param set CAL_GYRO1_ID 1311500
 	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
@@ -197,7 +197,7 @@ fi
 
 # Autostart ID
 autostart_file=''
-for f in etc/init.d-posix/"$(param show -q SYS_AUTOSTART)"_*
+for f in etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
 do
 	filename=$(basename "$f")
 	case "$filename" in

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -34,6 +34,8 @@
 add_subdirectory(airframes)
 
 px4_add_romfs_files(
+	rc.airship_apps
+	rc.airship_defaults
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface

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

@@ -15,7 +15,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-sh /etc/init.d/rc.fw_defaults
+. /etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery

@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.mc_defaults
+. /etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris

@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.mc_defaults
+. /etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d

@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.mc_defaults
+. /etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance

@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.mc_defaults
+. /etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil

@@ -8,7 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-sh /etc/init.d/rc.mc_defaults
+. /etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -8,7 +8,7 @@
 # @maintainer Roman Bapst <roman@auterion.com>
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox

@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.mc_defaults
+. /etc/init.d/rc.mc_defaults
 
 set MIXER hexa_cox
 

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -8,7 +8,7 @@
 # @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
 #
 
-sh /etc/init.d/rc.mc_defaults
+. /etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox

@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.mc_defaults
+. /etc/init.d/rc.mc_defaults
 
 set MIXER octo_cox
 

ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik

@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.mc_defaults
+. /etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard

@@ -18,7 +18,7 @@
 # @output AUX5 Throttle
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol

@@ -13,7 +13,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/13002_firefly6

@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter

@@ -8,7 +8,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

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

@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad

@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta

@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad

@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger

@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger

@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/13010_claire

@@ -12,7 +12,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/13012_convergence

@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -17,7 +17,7 @@
 # @output MAIN8 Pusher reverse channel
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo

@@ -5,8 +5,6 @@
 # @type VTOL Octoplane
 # @class VTOL
 #
-# @maintainer
-#
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
 # @output MAIN3 motor 3
@@ -21,11 +19,12 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter

@@ -16,7 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+

@@ -16,7 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.mc_defaults
+. /etc/init.d/rc.mc_defaults
 
 set MIXER tri_y_yaw+
 

ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-

@@ -16,7 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.mc_defaults
+. /etc/init.d/rc.mc_defaults
 
 set MIXER tri_y_yaw-
 

ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli

@@ -17,7 +17,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.mc_defaults
+. /etc/init.d/rc.mc_defaults
 set MIXER coax
 
 if [ $AUTOCNF = yes ]

ROMFS/px4fmu_common/init.d/airframes/16001_helicopter

@@ -18,7 +18,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.mc_defaults
+. /etc/init.d/rc.mc_defaults
 
 # Configure as helicopter (number 4 defined in commander_helper.cpp)
 set MAV_TYPE 4

ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2

@@ -24,7 +24,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.fw_defaults
+. /etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then