Add a simple commandline tool

This commandline tool will start to capture more and more aspects of the build and deploy process and become a very similar tool compared to ADB

.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

@@ -9,18 +9,25 @@ pipeline {
         script {
           def build_nodes = [:]
           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",
+            armhf: "px4io/px4-dev-armhf:2020-11-18",
+            arm64: "px4io/px4-dev-aarch64:2020-11-18",
+            base: "px4io/px4-dev-base-bionic:2020-11-18",
+            nuttx: "px4io/px4-dev-nuttx-focal:2020-11-18",
             snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
           ]
 
           def armhf_builds = [
-            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default"],
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
             image: docker_images.armhf,
             archive: false
           ]
 
+          def arm64_builds = [
+            target: ["scumaker_pilotpi_arm64"],
+            image: docker_images.arm64,
+            archive: false
+          ]
+
           def base_builds = [
             target: ["px4_sitl_rtps"],
             image: docker_images.base,
@@ -30,25 +37,33 @@ pipeline {
           def nuttx_builds_archive = [
             target: [
                      "airmind_mindpx-v2_default",
+                     "ark_can-flow_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie_default",
+                     "bitcraze_crazyflie21_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",
                      "holybro_kakutef7_default",
                      "holybro_pix32v5_default",
                      "intel_aerofc-v1_default",
                      "modalai_fc-v1_default",
                      "mro_ctrl-zero-f7_default",
+                     "mro_pixracerpro_default",
                      "mro_x21-777_default",
                      "mro_x21_default",
                      "nxp_fmuk66-v3_default",
+                     "nxp_fmuk66-v3_rtps",
                      "nxp_fmuk66-v3_socketcan",
+                     "nxp_fmuk66-e_default",
                      "nxp_fmurt1062-v1_default",
-                     "nxp_rddrone-uavcan146_default",
+                     "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",
                      "px4_fmu-v2_default",
                      "px4_fmu-v2_fixedwing",
@@ -56,13 +71,16 @@ pipeline {
                      "px4_fmu-v2_multicopter",
                      "px4_fmu-v2_rover",
                      "px4_fmu-v2_test",
+                     "px4_fmu-v3_ctrlalloc",
                      "px4_fmu-v3_default",
                      "px4_fmu-v4_cannode",
+                     "px4_fmu-v4_ctrlalloc",
                      "px4_fmu-v4_default",
                      "px4_fmu-v4_optimized",
                      "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_default",
+                     "px4_fmu-v5_ctrlalloc",
                      "px4_fmu-v5_debug",
+                     "px4_fmu-v5_default",
                      "px4_fmu-v5_fixedwing",
                      "px4_fmu-v5_multicopter",
                      "px4_fmu-v5_optimized",
@@ -107,7 +125,7 @@ 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:2020-11-18' }
     //   }
     //   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')
-  }
-}

.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:2020-11-18",
+
+	"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

@@ -17,6 +17,7 @@ jobs:
         check: [
           "check_format",
           "tests",
+          "tests_coverage",
           "px4_fmu-v2_default stack_check",
           "validate_module_configs",
           "shellcheck_all",
@@ -26,11 +27,9 @@ jobs:
           "module_documentation",
           "parameters_metadata",
         ]
-        ubuntu_release: [
-          #bionic,
-          focal
-          ]
-    container: px4io/px4-dev-nuttx-${{ matrix.ubuntu_release }}:2020-04-01
+    container:
+      image: px4io/px4-dev-nuttx-focal:2020-11-18
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
       with:
@@ -57,6 +56,16 @@ jobs:
           echo "max_size = 400M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
-
+    - name: check environment
+      run: |
+          export
+          ulimit -a
     - name: ${{matrix.check}}
       run: make ${{matrix.check}}
+    - name: upload coverage
+      if: contains(matrix.check, 'coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: unittests
+        file: coverage/lcov.info

.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:2020-11-18
     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:2020-11-18
     strategy:
       matrix:
         config: [
@@ -19,6 +19,7 @@ jobs:
           beaglebone_blue_default,
           emlid_navio2_default,
           px4_raspberrypi_default,
+          scumaker_pilotpi_default,
           ]
     steps:
     - uses: actions/checkout@v1

.github/workflows/compile_linux_arm64.yml

@@ -0,0 +1,50 @@
+name: Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:2020-11-18
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s

.github/workflows/compile_macos.yml

@@ -15,7 +15,7 @@ jobs:
       matrix:
         config: [
           px4_fmu-v5_default,
-          px4_sitl_default,
+          px4_sitl
           #tests, # includes px4_sitl
           ]
     steps:
@@ -24,7 +24,7 @@ jobs:
         token: ${{secrets.ACCESS_TOKEN}}
 
     - name: setup
-      run: ./Tools/setup/macos.sh
+      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp

.github/workflows/compile_nuttx.yml

@@ -11,31 +11,39 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-bionic:2020-04-01
+    container: px4io/px4-dev-nuttx-focal:2020-11-18
     strategy:
       matrix:
         config: [
           airmind_mindpx-v2_default,
+          ark_can-flow_canbootloader,
+          ark_can-flow_default,
           av_x-v1_default,
           bitcraze_crazyflie_default,
+          bitcraze_crazyflie21_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,
           holybro_kakutef7_default,
           holybro_pix32v5_default,
           intel_aerofc-v1_default,
           modalai_fc-v1_default,
           mro_ctrl-zero-f7_default,
+          mro_pixracerpro_default,
           mro_x21-777_default,
           mro_x21_default,
-          nxp_fmuk66-v3_default,
           nxp_fmuk66-e_default,
+          nxp_fmuk66-v3_default,
+          nxp_fmuk66-v3_rtps,
           nxp_fmuk66-v3_socketcan,
           nxp_fmurt1062-v1_default,
-          nxp_rddrone-uavcan146_default,
+          nxp_ucans32k146_default,
           omnibus_f4sd_default,
           px4_fmu-v2_default,
           px4_fmu-v2_fixedwing,
@@ -43,11 +51,14 @@ jobs:
           px4_fmu-v2_multicopter,
           px4_fmu-v2_rover,
           px4_fmu-v2_test,
+          px4_fmu-v3_ctrlalloc,
           px4_fmu-v3_default,
           px4_fmu-v4_cannode,
+          px4_fmu-v4_ctrlalloc,
           px4_fmu-v4_default,
           px4_fmu-v4_optimized,
           px4_fmu-v4pro_default,
+          px4_fmu-v5_ctrlalloc,
           px4_fmu-v5_default,
           px4_fmu-v5_fixedwing,
           px4_fmu-v5_multicopter,

.github/workflows/compile_nuttx_cannode.yml

@@ -0,0 +1,60 @@
+name: NuttX UAVCAN firmware
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    strategy:
+      matrix:
+        config: [
+          ark_can-flow_default,
+          cuav_can-gps-v1_default,
+          #nxp_ucans32k146_default,
+          px4_fmu-v4_cannode
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_cannode_${{matrix.config}}
+        path: build/${{matrix.config}}/*.uavcan.bin

.github/workflows/coverage.yml

@@ -1,67 +0,0 @@
-name: Coverage
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-04-01
-    strategy:
-      matrix:
-        config: [
-          tests,
-          #python_coverage,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: coverage_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: coverage_${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      env:
-        PX4_CMAKE_BUILD_TYPE: "Coverage"
-      run: make ${{matrix.config}}
-
-    # Report test coverage
-    - name: Upload coverage
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: ${{matrix.config}}
-        file: coverage/lcov.info

.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:2020-11-18
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -49,7 +49,9 @@ jobs:
           ccache -z
 
     - name: check environment
-      run: export
+      run: |
+          export
+          ulimit -a
     - name: Build PX4 and sitl_gazebo
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}

.github/workflows/mavros_mission_tests.yml

@@ -17,15 +17,15 @@ jobs:
         config:
           - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
           - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
-          - {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          - {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
-          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
+          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
+          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
           #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-          - {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+          #- {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:2020-11-18
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -55,7 +55,9 @@ jobs:
           ccache -z
 
     - name: check environment
-      run: export
+      run: |
+          export
+          ulimit -a
     - name: Build PX4 and sitl_gazebo
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}

.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:2020-11-18
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -50,7 +50,9 @@ jobs:
           ccache -z
 
     - name: check environment
-      run: export
+      run: |
+          export
+          ulimit -a
     - name: Build PX4 and sitl_gazebo
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}

.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:2020-11-18
     steps:
     - uses: actions/checkout@v1
       with:
@@ -23,11 +23,11 @@ jobs:
         make airframe_metadata
         cd build/px4_sitl_default/docs
         ls -ls *
-      # TODO: deploy to devguide gitbook and s3
+      # TODO: deploy to userguide gitbook and s3
 
   module:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-04-01
+    container: px4io/px4-dev-base-focal:2020-11-18
     steps:
     - uses: actions/checkout@v1
       with:
@@ -38,11 +38,11 @@ jobs:
         make module_documentation
         cd build/px4_sitl_default/docs
         ls -ls *
-      # TODO: deploy to devguide gitbook and s3
+      # TODO: deploy to userguide gitbook and s3
 
   parameter:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-04-01
+    container: px4io/px4-dev-base-focal:2020-11-18
     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:2020-11-18
     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:2020-11-18
+    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:2020-11-18
     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:2020-11-18
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/sitl_tests.yml

@@ -15,12 +15,12 @@ jobs:
       fail-fast: false
       matrix:
         config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo"} # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo"} # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo"} # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage"} # Zurich
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
     container:
-      image: px4io/px4-dev-simulation-focal:2020-04-01
+      image: px4io/px4-dev-simulation-focal:2020-11-18
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -28,9 +28,9 @@ jobs:
         token: ${{ secrets.ACCESS_TOKEN }}
 
     - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.27.0/mavsdk_0.27.0_ubuntu18.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
     - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.27.0_ubuntu18.04_amd64.deb
+      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp
@@ -60,7 +60,9 @@ jobs:
         PX4_HOME_LON: ${{matrix.config.longitude}}
         PX4_HOME_ALT: ${{matrix.config.altitude}}
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: export
+      run: |
+          export
+          ulimit -a
     - name: Build PX4
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -92,7 +94,7 @@ jobs:
         PX4_HOME_LON: ${{matrix.config.longitude}}
         PX4_HOME_ALT: ${{matrix.config.altitude}}
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
 
     - name: Look at core files
       if: failure()
@@ -106,7 +108,7 @@ jobs:
 
     - name: Upload logs to flight review
       if: failure()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ./build/px4_sitl_default/tmp/rootfs/log/*/*.ulg
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
 
     - name: Upload px4 binary
       if: failure()

.gitignore

@@ -101,8 +101,6 @@ msg/tmp/
 msg/topics_sources/
 platforms/posix/apps.cpp
 platforms/posix/apps.h
-src/lib/flight_tasks/FlightTasks_generated.cpp
-src/lib/flight_tasks/FlightTasks_generated.hpp
 src/lib/parameters/px4_parameters.c
 src/lib/parameters/px4_parameters.h
 src/lib/parameters/px4_parameters_public.h

.gitmodules

@@ -4,7 +4,7 @@
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/PX4/uavcan.git
+	url = https://github.com/PX4/libuavcan.git
 	branch = px4
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
@@ -12,15 +12,15 @@
 	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
-	url = https://github.com/PX4/sitl_gazebo.git
+	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
-	url = https://github.com/PX4/Matrix.git
+	url = https://github.com/PX4/PX4-Matrix.git
 	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
-	url = https://github.com/PX4/ecl.git
+	url = https://github.com/PX4/PX4-ECL.git
 	branch = master
 [submodule "boards/atlflight/cmake_hexagon"]
 	path = boards/atlflight/cmake_hexagon
@@ -28,23 +28,29 @@
 	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/GpsDrivers.git
+	url = https://github.com/PX4/PX4-GPSDrivers.git
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/PX4/micro-CDR.git
+	url = https://github.com/PX4/Micro-CDR.git
 	branch = px4
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-8.2
+	branch = px4_firmware_nuttx-10.0.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-8.2
+	branch = px4_firmware_nuttx-10.0.0+
 [submodule "platforms/qurt/dspal"]
 	path = platforms/qurt/dspal
 	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
+[submodule "Tools/jsbsim_bridge"]
+	path = Tools/jsbsim_bridge
+	url = https://github.com/PX4/px4-jsbsim-bridge.git
+[submodule "src/examples/gyro_fft/CMSIS_5"]
+	path = src/examples/gyro_fft/CMSIS_5
+	url = https://github.com/ARM-software/CMSIS_5.git

.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

@@ -6,6 +6,16 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    px4_sitl_asan:
+      short: px4_sitl (AddressSanitizer)
+      buildType: AddressSanitizer
+      settings:
+        CONFIG: px4_sitl_default
+    px4_sitl_ubsan:
+      short: px4_sitl (UndefinedBehaviorSanitizer)
+      buildType: UndefinedBehaviorSanitizer
+      settings:
+        CONFIG: px4_sitl_default
     px4_sitl_replay:
       short: px4_sitl_replay
       buildType: RelWithDebInfo
@@ -56,11 +66,36 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: airmind_mindpx-v2_default
+    ark_can-flow_default:
+      short: ark_can-flow_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-flow_default
+    ark_can-flow_canbootloader:
+      short: ark_can-flow_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-flow_canbootloader
     av_x-v1_default:
       short: av_x-v1
       buildType: MinSizeRel
       settings:
         CONFIG: av_x-v1_default
+    bitcraze_crazyflie_default:
+      short: bitcraze_crazyflie
+      buildType: MinSizeRel
+      settings:
+        CONFIG: bitcraze_crazyflie_default
+    cuav_can-gps-v1_default:
+      short: cuav_can-gps-v1_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_can-gps-v1_default
+    cuav_can-gps-v1_canbootloader:
+      short: cuav_can-gps-v1_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_can-gps-v1_canbootloader
     cuav_nora_default:
       short: cuav_nora
       buildType: MinSizeRel
@@ -81,6 +116,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: cubepilot_cubeyellow_default
+    emlid_navio2_default:
+      short: emlid_navio2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: emlid_navio2_default
     holybro_durandal-v1_default:
       short: holybro_durandal-v1
       buildType: MinSizeRel

.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": "${workspaceFolder}/build/px4_sitl_test",
+        "cmakeExplorer.parallelJobs": 1,
+        "cmakeExplorer.suiteDelimiter": "-",
         "cortex-debug.enableTelemetry": false,
+        "cSpell.allowCompoundWords": true,
+        "cSpell.diagnosticLevel": "Hint",
+        "cSpell.showStatus": false,
+        "cSpell.words": [
+                "acro",
+                "rattitude",
+                "nuttx",
+                "esc"
+        ],
         "debug.toolBarLocation": "docked",
         "editor.acceptSuggestionOnEnter": "off",
         "editor.defaultFormatter": "chiehyu.vscode-astyle",
@@ -88,7 +52,6 @@
         "git.ignoreLimitWarning": true,
         "githubPullRequests.defaultMergeMethod": "squash",
         "githubPullRequests.telemetry.enabled": false,
-        "gitlens.advanced.telemetry.enabled": false,
         "files.associations": {
                 "*.jinja": "jinja",
                 "algorithm": "cpp",
@@ -165,18 +128,15 @@
                 "${workspaceFolder}/build": true
         },
         "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:2020-11-18'
         //       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 ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-        //       source /opt/ros/bouncy/setup.sh;
-        //       source /opt/ros/melodic/setup.sh;
-        //       colcon build --event-handlers console_direct+ --symlink-install;
-        //     '''
-        //   }
-        //   post {
-        //     always {
-        //       sh 'rm -rf colcon_ws'
-        //     }
-        //   }
-        //   options {
-        //     checkoutToSubdirectory('colcon_ws/src/Firmware')
-        //   }
-        // }
+
+        stage('Colcon build on ROS2 workspace') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros2-foxy:2020-11-18'
+              args '-e CCACHE_BASEDIR=$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:2020-11-18' }
           }
           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:2020-11-18' }
           }
           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:2020-11-18' }
           }
           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:2020-11-18'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -174,48 +172,20 @@ pipeline {
 
       parallel {
 
-        stage('Devguide') {
+        stage('Userguide') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
           }
           steps {
             sh('export')
             unstash 'metadata_airframes'
             unstash 'metadata_parameters'
             unstash 'metadata_module_documentation'
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/Devguide.git')
-              sh('cp airframes.md Devguide/en/airframes/airframe_reference.md')
-              sh('cp parameters.md Devguide/en/advanced/parameter_reference.md')
-              sh('cp -R modules/*.md Devguide/en/middleware/')
-              sh('cd Devguide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd Devguide; git push origin master || true')
-              sh('rm -rf Devguide')
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-        }
-
-        stage('Userguide') {
-          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
-          }
-          steps {
-            sh('export')
-            unstash 'metadata_airframes'
-            unstash 'metadata_parameters'
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
               sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
               sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
+              sh('cp -R modules/*.md px4_user_guide/en/modules/')
               sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
               sh('cd px4_user_guide; git push origin master || true')
               sh('rm -rf px4_user_guide')
@@ -234,7 +204,7 @@ pipeline {
 
         stage('QGroundControl') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
           }
           steps {
             sh('export')
@@ -260,9 +230,39 @@ pipeline {
           }
         }
 
+        stage('microRTPS agent') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+          }
+          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 ${BRANCH_NAME} || true')
+              sh('rm -rf micrortps_agent')
+            }
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'pr-jenkins' // for testing
+            }
+          }
+        }
+
         stage('PX4 ROS msgs') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
           }
           steps {
             sh('export')
@@ -270,12 +270,12 @@ pipeline {
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh("git clone https://${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 +291,7 @@ pipeline {
 
         stage('PX4 ROS2 bridge') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
           }
           steps {
             sh('export')
@@ -334,7 +334,7 @@ pipeline {
 
         stage('S3') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2020-04-01' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
           }
           steps {
             sh('export')

Makefile

@@ -271,6 +271,7 @@ misc_qgc_extra_firmware: \
 	check_intel_aerofc-v1_default \
 	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
+	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
 	check_px4_fmu-v2_lpe \
 	sizes
@@ -361,8 +362,10 @@ tests:
 
 tests_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
-	@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"
+	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
+	@mkdir -p coverage
+	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
+
 
 rostest: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo

README.md

@@ -1,20 +1,20 @@
 # PX4 Drone Autopilot
 
-[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)
+[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
 
-[![Nuttx Targets](https://github.com/PX4/Firmware/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/Firmware/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22SITL+Tests%22)
+[![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
 
 [![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
 
-This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
   * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
   * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
   * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
   * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
-* Releases: [Downloads](https://github.com/PX4/Firmware/releases)
+* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
 
 ## PX4 Users
@@ -40,32 +40,43 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
 
 ## Maintenance Team
 
-  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
-    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
+  * Project: Founder
+    * [Lorenz Meier](https://github.com/LorenzMeier)
+  * Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
+    * [Ramon Roche](https://github.com/mrpollo)
   * Communication Architecture
     * [Beat Kueng](https://github.com/bkueng)
     * [Julian Oes](https://github.com/JulianOes)
   * UI in QGroundControl
     * [Gus Grubba](https://github.com/dogmaphobic)
-  * [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
+  * [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
     * [Mathieu Bresciani](https://github.com/bresch)
-  * [Multicopter Software Architecture](https://github.com/PX4/Firmware/labels/multicopter)
+  * [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
     * [Matthias Grob](https://github.com/MaEtUgR)
-  * [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
+  * [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
     * [Roman Bapst](https://github.com/RomanBapst)
-  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
+  * [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
     * [Roman Bapst](https://github.com/RomanBapst)
-  * OS / NuttX [David Sidrane](https://github.com/davids5)
-  * Driver Architecture [Daniel Agar](https://github.com/dagar)
-  * Commander Architecture [Julian Oes](https://github.com/julianoes)
-  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) [Daniel Agar](https://github.com/dagar)
-  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [Paul Riseborough](https://github.com/priseborough)
+  * OS / NuttX
+    * [David Sidrane](https://github.com/davids5)
+  * Driver Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture
+    * [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
+    * [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
+    * [Paul Riseborough](https://github.com/priseborough)
   * Vision based navigation
     * [Julian Kent](https://github.com/jkflying)
-  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
-  * RTPS/ROS2 Interface - [Nuno Marques](https://github.com/TSC21)
+  * Obstacle Avoidance
+    * [Martina Rivizzigno](https://github.com/mrivi)
+  * RTPS/ROS2 Interface
+    * [Nuno Marques](https://github.com/TSC21)
 
-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
 
 ## Supported Hardware
 
@@ -97,4 +108,4 @@ Additional information about supported hardware can be found in [PX4 user Guide
 
 ## Project Roadmap
 
-A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).
+A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).

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

@@ -14,7 +14,7 @@ set +e
 # NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
 #------------------------------------------------------------------------------
-
+set R /
 #
 # Mount the procfs.
 #
@@ -51,28 +51,28 @@ fi
 param select $PARAM_FILE
 if ! param load
 then
-	param reset
+	param reset_all
 fi
 
 #
 # Optional board defaults: rc.board_defaults
 #
-set BOARD_RC_DEFAULTS /etc/init.d/rc.board_defaults
+set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
 if [ -f $BOARD_RC_DEFAULTS ]
 then
 	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
-	sh $BOARD_RC_DEFAULTS
+	. $BOARD_RC_DEFAULTS
 fi
 unset BOARD_RC_DEFAULTS
 
 #
 # Start system state indicator.
 #
-rgbled start -X
-rgbled_ncp5623c start -X
+rgbled start -X -q
+rgbled_ncp5623c start -X -q
 rgbled_pwm start
 
-if param greater LIGHT_EN_BLINKM 0
+if param greater -s LIGHT_EN_BLINKM 0
 then
 	if blinkm start -X
 	then
@@ -83,11 +83,11 @@ fi
 #
 # board sensors: rc.sensors
 #
-set BOARD_RC_SENSORS /etc/init.d/rc.board_sensors
+set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 if [ -f $BOARD_RC_SENSORS ]
 then
 	echo "Board sensors: ${BOARD_RC_SENSORS}"
-	sh $BOARD_RC_SENSORS
+	. $BOARD_RC_SENSORS
 fi
 unset BOARD_RC_SENSORS
 
@@ -95,7 +95,7 @@ unset BOARD_RC_SENSORS
 # Start UART/Serial device drivers.
 # Note: rc.serial is auto-generated from Tools/serial/generate_config.py
 #
-sh /etc/init.d/rc.serial
+. ${R}etc/init.d/rc.serial
 
 # Check for flow sensor
 if param compare SENS_EN_PX4FLOW 1
@@ -104,3 +104,4 @@ then
 fi
 
 uavcannode start
+unset R

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/1041_tailsitter

@@ -1,46 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor + Tailsitter
-#
-# @type VTOL Quad Tailsitter
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
-	param set FW_L1_PERIOD 12
-
-	param set MC_ROLLRATE_P 0.3
-
-	param set MIS_LTRMIN_ALT 10
-	param set MIS_TAKEOFF_ALT 10
-	param set MIS_YAW_TMT 10
-
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1
-	param set MPC_XY_P 0.15
-	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 1
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_Z_VEL_P_ACC 16
-
-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
-
-	param set VT_F_TRANS_DUR 1.5
-	param set VT_F_TRANS_THR 0.7
-	param set VT_TYPE 0
-
-fi
-
-set MAV_TYPE 20
-
-set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
-set MIXER custom

ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor

@@ -1,52 +0,0 @@
-#!/bin/sh
-#
-# @name VTOL Tiltrotor
-#
-# @type VTOL Tiltrotor
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set FW_ARSP_MODE 1
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
-	param set FW_L1_PERIOD 12
-
-	param set MC_ROLLRATE_P 0.3
-
-	param set MIS_LTRMIN_ALT 10
-	param set MIS_TAKEOFF_ALT 10
-	param set MIS_YAW_TMT 10
-
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1
-	param set MPC_XY_P 0.15
-	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 1
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_Z_VEL_P_ACC 16
-
-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
-
-	param set VT_F_TRANS_DUR 5.0
-	param set VT_F_TRANS_THR 0.75
-	param set VT_FWD_THRUST_SC 1.1
-	param set VT_TILT_FW 1
-	param set VT_TILT_TRANS 0.6
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_TYPE 1
-	param set VT_B_TRANS_DUR 8
-
-fi
-
-set MAV_TYPE 21
-
-set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
-set MIXER custom

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

@@ -7,7 +7,6 @@
 # @maintainer Julian Oes <julian@oes.ch>
 #
 
-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_w
-

ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc

@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc
+
+if [ $AUTOCNF = yes ]
+then
+	param set MPC_USE_HTE 0
+
+	param set VM_MASS 1.5
+	param set VM_INERTIA_XX 0.03
+	param set VM_INERTIA_YY 0.03
+	param set VM_INERTIA_ZZ 0.05
+
+	param set CA_AIRFRAME 0
+	param set CA_METHOD 1
+	param set CA_ACT0_MIN 0.0
+	param set CA_ACT1_MIN 0.0
+	param set CA_ACT2_MIN 0.0
+	param set CA_ACT3_MIN 0.0
+	param set CA_ACT0_MAX 1.0
+	param set CA_ACT1_MAX 1.0
+	param set CA_ACT2_MAX 1.0
+	param set CA_ACT3_MAX 1.0
+
+	param set CA_MC_R0_PX 0.1515
+	param set CA_MC_R0_PY 0.245
+	param set CA_MC_R0_CT 6.5
+	param set CA_MC_R0_KM 0.05
+	param set CA_MC_R1_PX -0.1515
+	param set CA_MC_R1_PY -0.1875
+	param set CA_MC_R1_CT 6.5
+	param set CA_MC_R1_KM 0.05
+	param set CA_MC_R2_PX 0.1515
+	param set CA_MC_R2_PY -0.245
+	param set CA_MC_R2_CT 6.5
+	param set CA_MC_R2_KM -0.05
+	param set CA_MC_R3_PX -0.1515
+	param set CA_MC_R3_PY 0.1875
+	param set CA_MC_R3_CT 6.5
+	param set CA_MC_R3_KM -0.05
+
+fi
+
+set MIXER direct

ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a

@@ -6,7 +6,7 @@
 # @type Quadrotor
 #
 
-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision

@@ -6,6 +6,6 @@
 # @type Quadrotor
 #
 
-sh /etc/init.d/airframes/4016_holybro_px4vision
+. ${R}etc/init.d/airframes/4016_holybro_px4vision
 
 set MIXER quad_x

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
+. ${R}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
+. ${R}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
+. ${R}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
+. ${R}etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo

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

ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic

@@ -3,7 +3,7 @@
 # @name UUV
 #
 
-sh /etc/init.d/rc.uuv_defaults
+. ${R}etc/init.d/rc.uuv_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus

@@ -3,7 +3,7 @@
 # @name Hippocampus UUV
 #
 
-sh /etc/init.d/rc.uuv_defaults
+. ${R}etc/init.d/rc.uuv_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy

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

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1
+	param set FW_LND_ANG 8
+	param set FW_THR_LND_MAX 0
+
+	param set FW_L1_PERIOD 12
+
+	param set FW_MAN_P_MAX 30
+
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PR_FF 0.2
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_THR_CRUISE 0.25
+
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 30
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

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
+. ${R}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
+. ${R}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
+. ${R}etc/init.d-posix/airframes/1030_plane
 
 if [ $AUTOCNF = yes ]
 then

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

@@ -3,7 +3,7 @@
 # @name Plane SITL
 #
 
-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric

@@ -3,7 +3,7 @@
 # @name Plane SITL
 #
 
-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod

@@ -3,7 +3,7 @@
 # @name Plane SITL
 #
 
-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo

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

ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol

@@ -5,41 +5,50 @@
 # @type Standard VTOL
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
+	param set FW_MAN_P_MAX 30
+	param set FW_PR_FF 0.2
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.25
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
 
 	param set MC_ROLLRATE_P 0.3
+	param set MC_YAW_P 1.6
 
-	param set MIS_LTRMIN_ALT 10
 	param set MIS_TAKEOFF_ALT 10
-	param set MIS_YAW_TMT 10
 
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P_ACC 3
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_Z_VEL_MAX_DN 1.5
 
 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80
 
-	param set VT_F_TRANS_DUR 5
+	param set VT_FWD_THRUST_EN 4
 	param set VT_F_TRANS_THR 0.75
-	param set VT_ARSP_TRANS 16
 	param set VT_MOT_ID 1234
 	param set VT_FW_MOT_OFFID 1234
-	param set VT_TYPE 2
 	param set VT_B_TRANS_DUR 8
+	param set VT_TYPE 2
 
 fi
 

ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter

@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name Quadrotor + Tailsitter
+#
+# @type VTOL Quad Tailsitter
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_L1_PERIOD 12
+	param set FW_MAN_P_MAX 30
+	param set FW_PR_I 0.2
+	param set FW_PR_P 0.3
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.33
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
+
+	param set MC_ROLLRATE_P 0.3
+
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_D_ACC 0.1
+
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80
+
+	param set VT_F_TRANS_DUR 1.5
+	param set VT_F_TRANS_THR 0.7
+	param set VT_TYPE 0
+
+	param set WV_EN 0
+
+fi
+
+set MAV_TYPE 20
+
+set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor

@@ -0,0 +1,56 @@
+#!/bin/sh
+#
+# @name VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_L1_PERIOD 12
+	param set FW_MAN_P_MAX 30
+	param set FW_PR_FF 0.2
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.38
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
+
+	param set MC_YAW_P 1.6
+
+	param set MIS_TAKEOFF_ALT 10
+
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_D_ACC 0.1
+
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80
+
+	param set VT_B_TRANS_DUR 8
+	param set VT_FWD_THRUST_EN 4
+	param set VT_MOT_ID 1234
+	param set VT_TILT_TRANS 0.6
+	param set VT_TYPE 1
+
+fi
+
+set MAV_TYPE 21
+
+set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover

@@ -3,7 +3,7 @@
 # @name Rover
 #
 
-sh /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover

@@ -4,7 +4,7 @@
 # @type Rover
 # @class Rover
 
-sh /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1

@@ -8,7 +8,7 @@
 # @maintainer ThunderFly s.r.o.
 #
 
-sh /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat

@@ -3,7 +3,7 @@
 # @name Boat
 #
 
-sh /etc/init.d/rc.boat_defaults
+. ${R}etc/init.d/rc.boat_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1

@@ -10,7 +10,7 @@
 #
 #
 
-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship

@@ -9,7 +9,7 @@
 # @output MAIN3 port thruster
 # @output MAIN4 tail thruster
 
-sh /etc/init.d/rc.airship_defaults
+. ${R}etc/init.d/rc.airship_defaults
 
 set MIXER cloudship
 set PWM_OUT 1234

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>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_w

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

@@ -1,11 +1,13 @@
 #!/bin/sh
 #
-# @name Typhoon H480 SITL
+# @name Hexacopter SITL model for JSBSim
 #
 # @type Hexarotor x
 #
+# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
+#
 
-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then
@@ -19,11 +21,11 @@ then
 	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 0
+	param set MNT_MODE_IN 4
+	param set MNT_DO_STAB 2
 	param set MAV_PROTO_VER 2
 fi
 

ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480

@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name Typhoon H480 SITL
+#
+# @type Hexarotor x
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.1000
+	param set MC_PITCHRATE_I 0.0400
+	param set MC_PITCHRATE_D 0.0010
+	param set MC_PITCH_P 9.0
+	param set MC_ROLLRATE_P 0.1000
+	param set MC_ROLLRATE_I 0.0400
+	param set MC_ROLLRATE_D 0.0010
+	param set MC_ROLL_P 9.0
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3
+
+	param set RTL_DESCEND_ALT 10
+
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 0
+	param set MAV_PROTO_VER 2
+fi
+
+set MAV_TYPE 13
+
+set MIXER hexa_x

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc

@@ -0,0 +1,75 @@
+#!/bin/sh
+#
+# @name Typhoon H480 SITL
+#
+# @type Hexarotor x
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc
+
+if [ $AUTOCNF = yes ]
+then
+	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 0
+	param set MAV_PROTO_VER 2
+
+	param set MPC_USE_HTE 0
+
+	param set VM_MASS 2.66
+	param set VM_INERTIA_XX 0.06
+	param set VM_INERTIA_YY 0.06
+	param set VM_INERTIA_ZZ 0.10
+
+	param set CA_AIRFRAME 0
+	param set CA_METHOD 1
+	param set CA_ACT0_MIN 0.0
+	param set CA_ACT1_MIN 0.0
+	param set CA_ACT2_MIN 0.0
+	param set CA_ACT3_MIN 0.0
+	param set CA_ACT4_MIN 0.0
+	param set CA_ACT5_MIN 0.0
+	param set CA_ACT0_MAX 1.0
+	param set CA_ACT1_MAX 1.0
+	param set CA_ACT2_MAX 1.0
+	param set CA_ACT3_MAX 1.0
+	param set CA_ACT4_MAX 1.0
+	param set CA_ACT5_MAX 1.0
+
+	param set CA_MC_R0_PX 0.0
+	param set CA_MC_R0_PY 1.0
+	param set CA_MC_R0_CT 9.5
+	param set CA_MC_R0_KM -0.05
+	param set CA_MC_R1_PX 0.0
+	param set CA_MC_R1_PY -1.0
+	param set CA_MC_R1_CT 9.5
+	param set CA_MC_R1_KM 0.05
+	param set CA_MC_R2_PX 0.866025
+	param set CA_MC_R2_PY -0.5
+	param set CA_MC_R2_CT 9.5
+	param set CA_MC_R2_KM -0.05
+	param set CA_MC_R3_PX -0.866025
+	param set CA_MC_R3_PY 0.5
+	param set CA_MC_R3_CT 9.5
+	param set CA_MC_R3_KM 0.05
+	param set CA_MC_R4_PX 0.866025
+	param set CA_MC_R4_PY 0.5
+	param set CA_MC_R4_CT 9.5
+	param set CA_MC_R4_KM 0.05
+	param set CA_MC_R5_PX -0.866025
+	param set CA_MC_R5_PY -0.5
+	param set CA_MC_R5_CT 9.5
+	param set CA_MC_R5_KM -0.05
+fi
+
+set MAV_TYPE 13
+
+# set MIXER hexa_x
+set MIXER direct

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc.post

@@ -0,0 +1,10 @@
+
+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local

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

@@ -0,0 +1,79 @@
+############################################################################
+#
+#   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
+	10017_iris_ctrlalloc
+	10020_if750a
+	10030_px4vision
+	1010_iris_opt_flow
+	1010_iris_opt_flow.post
+	1011_iris_irlock
+	1012_iris_rplidar
+	1013_iris_vision
+	1013_iris_vision.post
+	1014_solo
+	1015_iris_obs_avoid
+	1015_iris_obs_avoid.post
+	1016_iris_rtps
+	1016_iris_rtps.post
+	1017_iris_opt_flow_mockup
+	1018_iris_vision_velocity
+	1019_iris_dual_gps
+	1020_uuv_generic
+	1021_uuv_hippocampus
+	1022_uuv_bluerov2_heavy
+	1030_plane
+	1031_plane_cam
+	1032_plane_catapult
+	1033_plane_lidar
+	1033_rascal
+	1034_rascal-electric
+	1035_techpod
+	1036_malolo
+	1040_standard_vtol
+	1041_tailsitter
+	1042_tiltrotor
+	1060_rover
+	1061_r1_rover
+	1062_tf-r1
+	1070_boat
+	3010_quadrotor_x
+	3011_hexarotor_x
+	17001_tf-g1
+	2507_cloudship
+	6011_typhoon_h480
+	6011_typhoon_h480.post
+	6012_typhoon_ctrlalloc
+	6012_typhoon_ctrlalloc.post
+)

ROMFS/px4fmu_common/init.d-posix/rc.replay

@@ -2,6 +2,17 @@
 
 # EKF2 replay script
 
+# shellcheck disable=SC2154
+if [ ! -f ${replay} ]; then
+	echo "Invalid replay log file ${replay}"
+	exit 1
+fi
+
+if [ ! -f replay_params.txt ]; then
+	echo "Creating $(pwd)/replay_params.txt"
+	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
+fi
+
 publisher_rules_file="orb_publisher.rules"
 cat <<EOF > "$publisher_rules_file"
 restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -15,19 +15,19 @@ SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
 # shellcheck disable=SC2154
 if [ "$replay_mode" = "ekf2" ]
 then
-	sh etc/init.d-posix/rc.replay
+	. ${R}etc/init.d-posix/rc.replay
 	exit 0
 fi
 
 # initialize script variables
 set AUX_MODE                    none
 set IO_PRESENT                  no
-set LOG_FILE                    bootlog.txt
 set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
+set EXTRA_MIXER_MODE            none
 set PWM_OUT                     none
 set SDCARD_MIXERS_PATH          etc/mixers
 set USE_IO                      no
@@ -44,17 +44,15 @@ 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  [init] Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
 		exit 1
+	else
+		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi
 
-# clear bootlog
-[ -f $LOG_FILE ] && rm $LOG_FILE
-
-
 uorb start
 
 # Load parameters
@@ -65,12 +63,12 @@ if [ -f $PARAM_FILE ]
 then
 	if param load
 	then
-		echo "[param] Loaded: $PARAM_FILE"
+		echo "INFO  [init] Loaded: $PARAM_FILE"
 	else
-		echo "[param] FAILED loading $PARAM_FILE"
+		echo "ERROR  [init] FAILED loading $PARAM_FILE"
 	fi
 else
-	echo "[param] parameter file not found, creating $PARAM_FILE"
+	echo "INFO  [init] parameter file not found, creating $PARAM_FILE"
 fi
 
 # exit early when the minimal shell is requested
@@ -101,7 +99,7 @@ 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 +117,16 @@ if [ $AUTOCNF = yes ]
 then
 	param set SYS_AUTOSTART $REQUESTED_AUTOSTART
 
-	param set BAT_N_CELLS 3
-
-	param set CAL_ACC0_ID 1311244
-	param set CAL_ACC_PRIME 1311244
-
-	param set CAL_GYRO0_ID 1311244
-	param set CAL_GYRO_PRIME 1311244
+	param set BAT_N_CELLS 4
 
+	param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
+	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
 	param set CAL_MAG0_ID 197388
-	param set CAL_MAG_PRIME 197388
+	param set CAL_MAG1_ID 197644
 
 	param set CBRK_AIRSPD_CHK 0
 	param set CBRK_SUPPLY_CHK 894281
@@ -136,31 +134,14 @@ then
 	# Don't require RC calibration and configuration
 	param set COM_RC_IN_MODE 1
 
-	param set EKF2_ANGERR_INIT 0.01
-	param set EKF2_GBIAS_INIT 0.01
-
-	# Prevent high accel bias
-	param set COM_ARM_EKF_AB 0.005
-
 	# Speedup SITL startup
 	param set EKF2_REQ_GPS_H 0.5
 
-	# LPE: GPS only mode
-	param set LPE_FUSION 145
-
-	param set MC_PITCH_P 6
-	param set MC_PITCHRATE_P 0.2
-	param set MC_ROLL_P 6
-	param set MC_ROLLRATE_P 0.2
-
-	param set MPC_Z_VEL_P_ACC 12.0
-	param set MPC_Z_VEL_I_ACC 3.0
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 4.0
-	param set MPC_XY_VEL_I_ACC 0.4
-	param set MPC_XY_VEL_D_ACC 0.32
-
-	param set RTL_RETURN_ALT 30
+	# Multi-EKF
+	param set EKF2_MULTI_IMU 3
+	param set SENS_IMU_MODE 0
+	param set EKF2_MULTI_MAG 2
+	param set SENS_MAG_MODE 0
 
 	# By default log from boot until first disarm.
 	param set SDLOG_MODE 1
@@ -197,7 +178,8 @@ fi
 
 # Autostart ID
 autostart_file=''
-for f in etc/init.d-posix/"$(param show -q SYS_AUTOSTART)"_*
+# shellcheck disable=SC2231
+for f in ${R}etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
 do
 	filename=$(basename "$f")
 	case "$filename" in
@@ -210,11 +192,11 @@ do
 	esac
 done
 if [ ! -e "$autostart_file" ]; then
-	echo "Error: no autostart file found ($autostart_file)"
+	echo "ERROR  [init] no autostart file found ($autostart_file)"
 	exit 1
 fi
 
-sh "$autostart_file"
+. "$autostart_file"
 
 #
 # If autoconfig parameter was set, reset it and save parameters.
@@ -230,6 +212,7 @@ if ! replay tryapplyparams
 then
 	simulator start -c $simulator_tcp_port
 fi
+load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
@@ -238,7 +221,7 @@ commander start
 navigator start
 
 
-if ! param compare -s MNT_MODE_IN -1
+if param greater -s MNT_MODE_IN -1
 then
 	vmount start
 fi
@@ -253,28 +236,34 @@ fi
 # Note: rc.vehicle_setup is the entry point for rc.interface,
 #       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
 #
-sh etc/init.d/rc.vehicle_setup
+. ${R}etc/init.d/rc.vehicle_setup
 
-# GCS link
-mavlink start -x -u $udp_gcs_port_local -r 4000000
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
-mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
+if [ -e etc/init.d-posix/rc.mavlink_override ]
+then
+	echo "Running non-default mavlink config rc.mavlink_override"
+	sh etc/init.d-posix/rc.mavlink_override
+else
+	# GCS link
+	mavlink start -x -u $udp_gcs_port_local -r 4000000
+	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
+	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
+	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
+	mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
+	mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
+	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
 
-# API/Offboard link
-mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
+	# API/Offboard link
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
 
-# Onboard link to camera
-mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+	# Onboard link to camera
+	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
 
+fi
 # execute autostart post script if any
-[ -e "$autostart_file".post ] && sh "$autostart_file".post
+[ -e "$autostart_file".post ] && . "$autostart_file".post
 
 # Run script to start logging
 if param compare SYS_MC_EST_GROUP 2
@@ -283,7 +272,7 @@ then
 else
 	set LOGGER_ARGS "-p vehicle_attitude"
 fi
-sh etc/init.d/rc.logging
+. ${R}etc/init.d/rc.logging
 
 mavlink boot_complete
 replay trystart

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -34,6 +34,11 @@
 add_subdirectory(airframes)
 
 px4_add_romfs_files(
+	rc.airship_apps
+	rc.airship_defaults
+	rc.balloon_apps
+	rc.balloon_defaults
+	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
@@ -51,4 +56,5 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
+	rc.ctrlalloc
 )

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
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then

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

@@ -19,11 +19,12 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then

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

@@ -17,11 +17,12 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then

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

@@ -19,11 +19,12 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then

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

@@ -19,11 +19,12 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then
@@ -45,7 +46,7 @@ then
 
 	param set MPC_XY_VEL_MAX 2
 
-	param set PWM_MIN 1080
+	param set PWM_MAIN_MIN 1080
 fi
 
 set MIXER quad_w

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
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234

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

@@ -7,8 +7,12 @@
 #
 # @maintainer Roman Bapst <roman@auterion.com>
 #
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#
 
-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
@@ -51,7 +55,6 @@ then
 	param set NAV_LOITER_RAD 80
 
 	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
 	param set RTL_RETURN_ALT 30
 
 	param set SDLOG_DIRS_MAX 7

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

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

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
+. ${R}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
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER octo_cox
 

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

@@ -16,11 +16,12 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then

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

@@ -17,13 +17,17 @@
 # @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
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
 	param set PWM_AUX_DIS5 950
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set VT_TYPE 2
 	param set VT_MOT_ID 1234

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

@@ -12,8 +12,12 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#
 
-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
@@ -47,4 +51,4 @@ set MAV_TYPE 19
 
 set MIXER vtol_tailsitter_duo
 
-set PWM_OUT 1234
+set PWM_OUT 123456

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

@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
@@ -42,7 +42,7 @@ then
 	param set MC_YAWRATE_D 0
 	param set MC_YAWRATE_FF 0
 
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set VT_FW_MOT_OFFID 34
 	param set VT_IDLE_PWM_MC 1080

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

@@ -7,13 +7,17 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#
 
-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
-	param set PWM_MAX 2000
-	param set PWM_RATE 400
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_RATE 400
 
 	param set VT_MOT_ID 1234
 	param set VT_IDLE_PWM_MC  1080
@@ -25,4 +29,4 @@ set MAV_TYPE 20
 
 set MIXER quad_x_vtol
 
-set PWM_OUT 1234
+set PWM_OUT 1234

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

@@ -21,12 +21,12 @@
 # @board bitcraze_crazyflie exclude
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
-	param set PWM_MAX 2000
-	param set PWM_RATE 400
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_RATE 400
 
 	param set VT_IDLE_PWM_MC  1080
 	param set VT_TYPE 0

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

@@ -17,17 +17,18 @@
 # @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
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
 	param set PWM_AUX_DIS5 950
 
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set MC_ROLL_P 6
 	param set MC_ROLLRATE_P 0.17