WIP: in tree Dockerfile and github actions push to github registry

Update submodule ecl to latest Thu May 6 12:39:12 UTC 2021
- ecl in PX4/Firmware (a300d32523e24df3f366a0d564b764261e1c1909): https://github.com/PX4/PX4-ECL/commit/a7b8afe420f438554ad90bcba0f1f4872325e75b - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/29243ac5cbb5d27ac71744e88afcd786df6f748d - Changes: https://github.com/PX4/PX4-ECL/compare/a7b8afe420f438554ad90bcba0f1f4872325e75b...29243ac5cbb5d27ac71744e88afcd786df6f748d 29243ac 2021-05-05 bresch - yaw_reset: reduce minimum vector length to compute yaw error aad4840 2021-05-02 Kabir Mohammed - EKF: increase allowed difference between flow and gyro ODRs
2026-05-24 10:17:34 +08:00 · 2021-05-06 15:08:03 -04:00 · 2021-05-06 13:53:40 -04:00 · 2021-05-06 13:52:43 -04:00 · 2021-05-06 10:20:24 +02:00 · 2021-05-06 08:12:07 +02:00
152 changed files with 1657 additions and 1038 deletions
@@ -9,10 +9,10 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-02-04",
-            arm64: "px4io/px4-dev-aarch64:2021-02-04",
-            base: "px4io/px4-dev-base-bionic:2021-02-04",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
+            armhf: "px4io/px4-dev-armhf:2021-04-29",
+            arm64: "px4io/px4-dev-aarch64:2021-04-29",
+            base: "px4io/px4-dev-base-bionic:2021-04-29",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

@@ -130,7 +130,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+    //     docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -12,7 +12,7 @@ pipeline {
            stage("build cubepilot_cubeorange_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -89,7 +89,7 @@ pipeline {
            stage("build cuav_x7pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -165,7 +165,7 @@ pipeline {
            stage("build px4_fmu-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -241,7 +241,7 @@ pipeline {
            stage("build px4_fmu-v4_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -317,7 +317,7 @@ pipeline {
            stage("build px4_fmu-v4pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -393,7 +393,7 @@ pipeline {
            stage("build px4_fmu-v5_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -469,7 +469,7 @@ pipeline {
            stage("build px4_fmu-v5_debug") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -549,7 +549,7 @@ pipeline {
            stage("build px4_fmu-v5_optimized") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -625,7 +625,7 @@ pipeline {
            stage("build px4_fmu-v5_stackcheck") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -705,7 +705,7 @@ pipeline {
            stage("build modalai_fc-v1_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -781,7 +781,7 @@ pipeline {
            stage("build holybro_durandal-v1_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -858,7 +858,7 @@ pipeline {
            stage("build nxp_fmuk66-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-02-04",
+	"image": "px4io/px4-dev-nuttx-focal:2021-04-29",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

@@ -28,7 +28,7 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-02-04
+      image: ghcr.io/px4/px4-dev:2021-05-06
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-02-04
+    container: px4io/px4-dev-clang:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-02-04
+    container: px4io/px4-dev-armhf:2021-04-29
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-02-04
+    container: px4io/px4-dev-aarch64:2021-04-29
    strategy:
      matrix:
        config: [
@@ -4,6 +4,7 @@ on:
  push:
    branches:
    - 'master'
+    - 'github-actions'
  pull_request:
    branches:
    - '*'
@@ -11,7 +12,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    strategy:
      matrix:
        config: [
@@ -123,6 +124,8 @@ jobs:
      run: make ${{matrix.config}} bloaty_symbols || true
    - name: make ${{matrix.config}} bloaty_templates
      run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_ram
+      run: make ${{matrix.config}} bloaty_ram || true
    - name: make ${{matrix.config}} bloaty_compare_master
      run: make ${{matrix.config}} bloaty_compare_master || true
    - name: ccache post-run
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    strategy:
      matrix:
        config: [
@@ -0,0 +1,31 @@
+name: Build and publish Docker image
+
+on:
+  push:
+    branches:
+    - 'master'
+    - 'github-actions'
+
+jobs:
+  docker:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v1
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and push
+        uses: docker/build-push-action@v2
+        with:
+          context: .
+          platforms: linux/amd64
+          push: true
+          tags: |
+            px4/px4-dev:latest
+            ghcr.io/px4/px4-dev:latest
+
+      - name: Image digest
+        run: echo ${{ steps.docker_build.outputs.digest }}
@@ -23,7 +23,7 @@ jobs:
    needs: enumerate_targets
    strategy:
      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
+    container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -1,131 +0,0 @@
-name: MAVROS Avoidance Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_test_avoidance.test",    vehicle: "iris_obs_avoid", mission: "avoidance",       build_type: "RelWithDebInfo"}
-          - {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:2021-02-04
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    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: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-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 = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    # - name: ecl EKF analysis
-    #   if: always()
-    #   run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ 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_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_avoidance
-        file: coverage/lcov.info
@@ -25,7 +25,7 @@ jobs:
          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -20,7 +20,7 @@ jobs:
          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -26,7 +26,7 @@ jobs:

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -41,7 +41,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -65,7 +65,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -80,7 +80,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -94,7 +94,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -107,7 +107,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: ghcr.io/px4/px4-dev:2021-05-06
    steps:
    - uses: actions/checkout@v1
      with:
@@ -20,7 +20,7 @@ jobs:
          - {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:2021-02-04
+      image: px4io/px4-dev-simulation-focal:2021-04-29
      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/v0.38.0/mavsdk_0.38.0_ubuntu20.04_amd64.deb
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.38.0_ubuntu20.04_amd64.deb
+      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -33,7 +33,7 @@
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/PX4/Micro-CDR.git
-	branch = px4
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -66,3 +66,4 @@
 [submodule "src/drivers/uavcan_v1/legacy_data_types"]
 	path = src/drivers/uavcan_v1/legacy_data_types
 	url = https://github.com/px4/public_regulated_data_types/
+	branch = legacy
@@ -185,6 +185,8 @@ if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage")
 	set(MAX_CUSTOM_OPT_LEVEL -O0)
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
 	set(MAX_CUSTOM_OPT_LEVEL -O1)
+elseif(CMAKE_BUILD_TYPE MATCHES "Release")
+	set(MAX_CUSTOM_OPT_LEVEL -O3)
 else()
 	if(px4_constrained_flash_build)
 		set(MAX_CUSTOM_OPT_LEVEL -Os)
@@ -0,0 +1,29 @@
+#
+# PX4 development environment
+#
+
+FROM ubuntu:20.04
+LABEL maintainer="Daniel Agar <daniel@agar.ca>"
+
+COPY Tools/setup/ubuntu.sh /tmp/ubuntu.sh
+COPY Tools/setup/requirements.txt /tmp/requirements.txt
+RUN DEBIAN_FRONTEND=noninteractive /tmp/ubuntu.sh --no-sim-tools \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# create user with id 1001 (jenkins docker workflow default)
+RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
+
+ENV CCACHE_UMASK=000
+ENV PATH="/usr/lib/ccache:$PATH"
+
+# SITL UDP PORTS
+EXPOSE 14556/udp
+EXPOSE 14557/udp
+
+# create and start as LOCAL_USER_ID
+COPY Tools/setup/entrypoint.sh /usr/local/bin/entrypoint.sh
+ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
+
+CMD ["/bin/bash"]
@@ -15,7 +15,7 @@ pipeline {
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-02-04'
+        //       image 'px4io/px4-dev-ros-melodic:2021-04-29'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-02-04'
+              image 'px4io/px4-dev-ros2-foxy:2021-04-29'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@@ -85,7 +85,7 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh 'make distclean'
@@ -105,7 +105,7 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh 'make distclean'
@@ -125,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh 'make distclean'
@@ -146,7 +146,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-02-04'
+              image 'px4io/px4-dev-nuttx-focal:2021-04-29'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -176,7 +176,7 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -206,7 +206,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -234,7 +234,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -264,7 +264,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -293,7 +293,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -336,7 +336,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
          }
          steps {
            sh('export')
@@ -469,6 +469,7 @@ validate_module_configs:

 clean:
 	@rm -rf "$(SRC_DIR)"/build
+	@git submodule foreach git clean -df

 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
@@ -486,7 +487,7 @@ gazeboclean:

 distclean: gazeboclean
 	@git submodule deinit -f .
-	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
+	@git clean -ff -x -d -e ".cproject" -e ".idea" -e ".project" -e ".settings" -e ".vscode"

 # Help / Error
 # --------------------------------------------------------------------
@@ -23,6 +23,7 @@ param set-default MPC_XY_ERR_MAX 5
 param set-default MPC_XY_VEL_MAX 4
 param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_JERK_MAX 4.5
+param set-default MPC_YAW_MODE 4

 param set-default NAV_ACC_RAD 3

@@ -0,0 +1,13 @@
+custom_data_source: {
+  name: "bloaty_static_ram"
+  base_data_source: "sections"
+
+  rewrite: {
+    pattern: "^\\.bss"
+    replacement: "ram"
+  }
+  rewrite: {
+    pattern: "^\\.data"
+    replacement: "ram"
+  }
+}
@@ -2,10 +2,7 @@

 if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*px4_fmu.* ]]; then
-		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-02-04"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
+	if [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
@@ -30,7 +27,7 @@ fi

 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
+	PX4_DOCKER_REPO="ghcr.io/px4/px4-dev:2021-05-06"
 fi

 # docker hygiene
@@ -67,4 +64,5 @@ docker run -it --rm -w "${SRC_DIR}" \
 	--publish 14556:14556/udp \
 	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
 	--volume=${SRC_DIR}:${SRC_DIR}:rw \
+	-v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY -h $HOSTNAME
 	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
@@ -1,4 +1,4 @@
-#! /usr/bin/env python
+#! /usr/bin/env python3

 from __future__ import print_function

@@ -7,6 +7,7 @@ import os
 import math
 import matplotlib.pyplot as plt
 import numpy as np
+import scipy as sp

 from pyulog import *

@@ -63,6 +64,9 @@ def resampleWithDeltaX(x,y):

    return resampledX,resampledY

+def median_filter(data):
+    return sp.signal.medfilt(data, 31)
+
 parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
 parser.add_argument('filename', metavar='file.ulg', help='ULog input file')
 parser.add_argument('--no_resample', dest='noResample', action='store_const',
@@ -184,12 +188,16 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_0_params['TC_G0_TMIN']-gyro_0_params['TC_G0_TREF'], gyro_0_params['TC_G0_TMAX']-gyro_0_params['TC_G0_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_0_params['TC_G0_TREF']

+    sensor_gyro_0['x'] = median_filter(sensor_gyro_0['x'])
+    sensor_gyro_0['y'] = median_filter(sensor_gyro_0['y'])
+    sensor_gyro_0['z'] = median_filter(sensor_gyro_0['z'])
+
    # fit X axis
    if noResample:
-        coef_gyro_0_x = np.polyfit(temp_rel,sensor_gyro_0['x'],3)
+        coef_gyro_0_x = np.polyfit(temp_rel, sensor_gyro_0['x'], 3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['x'])
-        coef_gyro_0_x = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['x'])
+        coef_gyro_0_x = np.polyfit(temp, sens, 3)

    gyro_0_params['TC_G0_X3_0'] = coef_gyro_0_x[0]
    gyro_0_params['TC_G0_X2_0'] = coef_gyro_0_x[1]
@@ -200,10 +208,10 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):

    # fit Y axis
    if noResample:
-        coef_gyro_0_y = np.polyfit(temp_rel,sensor_gyro_0['y'],3)
+        coef_gyro_0_y = np.polyfit(temp_rel, sensor_gyro_0['y'], 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['y'])
-        coef_gyro_0_y = np.polyfit(temp, sens ,3)
+        coef_gyro_0_y = np.polyfit(temp, sens, 3)

    gyro_0_params['TC_G0_X3_1'] = coef_gyro_0_y[0]
    gyro_0_params['TC_G0_X2_1'] = coef_gyro_0_y[1]
@@ -214,9 +222,9 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):

    # fit Z axis
    if noResample:
-        coef_gyro_0_z = np.polyfit(temp_rel,sensor_gyro_0['z'],3)
+        coef_gyro_0_z = np.polyfit(temp_rel, sensor_gyro_0['z'],3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['z'])
+        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['z'])
        coef_gyro_0_z = np.polyfit(temp, sens ,3)

    gyro_0_params['TC_G0_X3_2'] = coef_gyro_0_z[0]
@@ -292,6 +300,10 @@ if num_gyros >= 2 and not math.isnan(sensor_gyro_1['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_1_params['TC_G1_TMIN']-gyro_1_params['TC_G1_TREF'], gyro_1_params['TC_G1_TMAX']-gyro_1_params['TC_G1_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_1_params['TC_G1_TREF']

+    sensor_gyro_1['x'] = median_filter(sensor_gyro_1['x'])
+    sensor_gyro_1['y'] = median_filter(sensor_gyro_1['y'])
+    sensor_gyro_1['z'] = median_filter(sensor_gyro_1['z'])
+
    # fit X axis
    if noResample:
        coef_gyro_1_x = np.polyfit(temp_rel,sensor_gyro_1['x'],3)
@@ -400,6 +412,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_2_params['TC_G2_TMIN']-gyro_2_params['TC_G2_TREF'], gyro_2_params['TC_G2_TMAX']-gyro_2_params['TC_G2_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_2_params['TC_G2_TREF']

+    sensor_gyro_2['x'] = median_filter(sensor_gyro_2['x'])
+    sensor_gyro_2['y'] = median_filter(sensor_gyro_2['y'])
+    sensor_gyro_2['z'] = median_filter(sensor_gyro_2['z'])
+
    # fit X axis
    if noResample:
        coef_gyro_2_x = np.polyfit(temp_rel,sensor_gyro_2['x'],3)
@@ -416,10 +432,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):

    # fit Y axis
    if noResample:
-        coef_gyro_2_y = np.polyfit(temp_rel,sensor_gyro_2['y'],3)
+        coef_gyro_2_y = np.polyfit(temp_rel, sensor_gyro_2['y'], 3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['y'])
-        coef_gyro_2_y = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_2['y'])
+        coef_gyro_2_y = np.polyfit(temp, sens, 3)

    gyro_2_params['TC_G2_X3_1'] = coef_gyro_2_y[0]
    gyro_2_params['TC_G2_X2_1'] = coef_gyro_2_y[1]
@@ -430,10 +446,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):

    # fit Z axis
    if noResample:
-        coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'],3)
+        coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'], 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['z'])
-        coef_gyro_2_z = np.polyfit(temp, sens ,3)
+        coef_gyro_2_z = np.polyfit(temp, sens, 3)

    gyro_2_params['TC_G2_X3_2'] = coef_gyro_2_z[0]
    gyro_2_params['TC_G2_X2_2'] = coef_gyro_2_z[1]
@@ -508,8 +524,12 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_3_params['TC_G3_TMIN']-gyro_3_params['TC_G3_TREF'], gyro_3_params['TC_G3_TMAX']-gyro_3_params['TC_G3_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_3_params['TC_G3_TREF']

+    sensor_gyro_3['x'] = median_filter(sensor_gyro_3['x'])
+    sensor_gyro_3['y'] = median_filter(sensor_gyro_3['y'])
+    sensor_gyro_3['z'] = median_filter(sensor_gyro_3['z'])
+
    # fit X axis
-    coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'],3)
+    coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'], 3)
    gyro_3_params['TC_G3_X3_0'] = coef_gyro_3_x[0]
    gyro_3_params['TC_G3_X2_0'] = coef_gyro_3_x[1]
    gyro_3_params['TC_G3_X1_0'] = coef_gyro_3_x[2]
@@ -518,7 +538,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
    gyro_3_x_resample = fit_coef_gyro_3_x(temp_rel_resample)

    # fit Y axis
-    coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'],3)
+    coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'], 3)
    gyro_3_params['TC_G3_X3_1'] = coef_gyro_3_y[0]
    gyro_3_params['TC_G3_X2_1'] = coef_gyro_3_y[1]
    gyro_3_params['TC_G3_X1_1'] = coef_gyro_3_y[2]
@@ -527,7 +547,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
    gyro_3_y_resample = fit_coef_gyro_3_y(temp_rel_resample)

    # fit Z axis
-    coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'],3)
+    coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'], 3)
    gyro_3_params['TC_G3_X3_2'] = coef_gyro_3_z[0]
    gyro_3_params['TC_G3_X2_2'] = coef_gyro_3_z[1]
    gyro_3_params['TC_G3_X1_2'] = coef_gyro_3_z[2]
@@ -540,8 +560,8 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):

    # draw plots
    plt.subplot(3,1,1)
-    plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'],'b')
-    plt.plot(temp_resample,gyro_3_x_resample,'r')
+    plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'], 'b')
+    plt.plot(temp_resample,gyro_3_x_resample, 'r')
    plt.title('Gyro 2 ({}) Bias vs Temperature'.format(gyro_3_params['TC_G3_ID']))
    plt.ylabel('X bias (rad/s)')
    plt.xlabel('temperature (degC)')
@@ -601,13 +621,17 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
    temp_rel_resample = np.linspace(accel_0_params['TC_A0_TMIN']-accel_0_params['TC_A0_TREF'], accel_0_params['TC_A0_TMAX']-accel_0_params['TC_A0_TREF'], 100)
    temp_resample = temp_rel_resample + accel_0_params['TC_A0_TREF']

+    sensor_accel_0['x'] = median_filter(sensor_accel_0['x'])
+    sensor_accel_0['y'] = median_filter(sensor_accel_0['y'])
+    sensor_accel_0['z'] = median_filter(sensor_accel_0['z'])
+
    # fit X axis
    correction_x = sensor_accel_0['x'] - np.median(sensor_accel_0['x'])
    if noResample:
-        coef_accel_0_x = np.polyfit(temp_rel,correction_x,3)
+        coef_accel_0_x = np.polyfit(temp_rel,correction_x, 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_0_x = np.polyfit(temp, sens ,3)
+        coef_accel_0_x = np.polyfit(temp, sens, 3)

    accel_0_params['TC_A0_X3_0'] = coef_accel_0_x[0]
    accel_0_params['TC_A0_X2_0'] = coef_accel_0_x[1]
@@ -617,12 +641,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
    correction_x_resample = fit_coef_accel_0_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_0['y']-np.median(sensor_accel_0['y'])
+    correction_y = sensor_accel_0['y'] - np.median(sensor_accel_0['y'])
    if noResample:
-        coef_accel_0_y = np.polyfit(temp_rel,correction_y,3)
+        coef_accel_0_y = np.polyfit(temp_rel, correction_y, 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_y)
-        coef_accel_0_y = np.polyfit(temp, sens ,3)
+        coef_accel_0_y = np.polyfit(temp, sens, 3)

    accel_0_params['TC_A0_X3_1'] = coef_accel_0_y[0]
    accel_0_params['TC_A0_X2_1'] = coef_accel_0_y[1]
@@ -632,12 +656,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
    correction_y_resample = fit_coef_accel_0_y(temp_rel_resample)

    # fit Z axis
-    correction_z = sensor_accel_0['z']-np.median(sensor_accel_0['z'])
+    correction_z = sensor_accel_0['z'] - np.median(sensor_accel_0['z'])
    if noResample:
-        coef_accel_0_z = np.polyfit(temp_rel,correction_z,3)
+        coef_accel_0_z = np.polyfit(temp_rel,correction_z, 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_z)
-        coef_accel_0_z = np.polyfit(temp, sens ,3)
+        coef_accel_0_z = np.polyfit(temp, sens, 3)

    accel_0_params['TC_A0_X3_2'] = coef_accel_0_z[0]
    accel_0_params['TC_A0_X2_2'] = coef_accel_0_z[1]
@@ -712,13 +736,17 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
    temp_rel_resample = np.linspace(accel_1_params['TC_A1_TMIN']-accel_1_params['TC_A1_TREF'], accel_1_params['TC_A1_TMAX']-accel_1_params['TC_A1_TREF'], 100)
    temp_resample = temp_rel_resample + accel_1_params['TC_A1_TREF']

+    sensor_accel_1['x'] = median_filter(sensor_accel_1['x'])
+    sensor_accel_1['y'] = median_filter(sensor_accel_1['y'])
+    sensor_accel_1['z'] = median_filter(sensor_accel_1['z'])
+
    # fit X axis
-    correction_x = sensor_accel_1['x']-np.median(sensor_accel_1['x'])
+    correction_x = sensor_accel_1['x'] - np.median(sensor_accel_1['x'])
    if noResample:
-        coef_accel_1_x = np.polyfit(temp_rel,correction_x,3)
+        coef_accel_1_x = np.polyfit(temp_rel, correction_x, 3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_1_x = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, correction_x)
+        coef_accel_1_x = np.polyfit(temp, sens, 3)

    accel_1_params['TC_A1_X3_0'] = coef_accel_1_x[0]
    accel_1_params['TC_A1_X2_0'] = coef_accel_1_x[1]
@@ -728,7 +756,7 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
    correction_x_resample = fit_coef_accel_1_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_1['y']-np.median(sensor_accel_1['y'])
+    correction_y = sensor_accel_1['y'] - np.median(sensor_accel_1['y'])
    if noResample:
        coef_accel_1_y = np.polyfit(temp_rel,correction_y,3)
    else:
@@ -743,12 +771,12 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
    correction_y_resample = fit_coef_accel_1_y(temp_rel_resample)

    # fit Z axis
-    correction_z = (sensor_accel_1['z'])-np.median(sensor_accel_1['z'])
+    correction_z = sensor_accel_1['z'] - np.median(sensor_accel_1['z'])
    if noResample:
-        coef_accel_1_z = np.polyfit(temp_rel,correction_z,3)
+        coef_accel_1_z = np.polyfit(temp_rel,correction_z, 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_z)
-        coef_accel_1_z = np.polyfit(temp, sens ,3)
+        coef_accel_1_z = np.polyfit(temp, sens, 3)

    accel_1_params['TC_A1_X3_2'] = coef_accel_1_z[0]
    accel_1_params['TC_A1_X2_2'] = coef_accel_1_z[1]
@@ -824,13 +852,17 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
    temp_rel_resample = np.linspace(accel_2_params['TC_A2_TMIN']-accel_2_params['TC_A2_TREF'], accel_2_params['TC_A2_TMAX']-accel_2_params['TC_A2_TREF'], 100)
    temp_resample = temp_rel_resample + accel_2_params['TC_A2_TREF']

+    sensor_accel_2['x'] = median_filter(sensor_accel_2['x'])
+    sensor_accel_2['y'] = median_filter(sensor_accel_2['y'])
+    sensor_accel_2['z'] = median_filter(sensor_accel_2['z'])
+
    # fit X axis
-    correction_x = sensor_accel_2['x']-np.median(sensor_accel_2['x'])
+    correction_x = sensor_accel_2['x'] - np.median(sensor_accel_2['x'])
    if noResample:
-        coef_accel_2_x = np.polyfit(temp_rel,correction_x,3)
+        coef_accel_2_x = np.polyfit(temp_rel,correction_x, 3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_2_x = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, correction_x)
+        coef_accel_2_x = np.polyfit(temp, sens, 3)

    accel_2_params['TC_A2_X3_0'] = coef_accel_2_x[0]
    accel_2_params['TC_A2_X2_0'] = coef_accel_2_x[1]
@@ -840,7 +872,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
    correction_x_resample = fit_coef_accel_2_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_2['y']-np.median(sensor_accel_2['y'])
+    correction_y = sensor_accel_2['y'] - np.median(sensor_accel_2['y'])
    if noResample:
        coef_accel_2_y = np.polyfit(temp_rel,correction_y,3)
    else:
@@ -855,7 +887,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
    correction_y_resample = fit_coef_accel_2_y(temp_rel_resample)

    # fit Z axis
-    correction_z = sensor_accel_2['z']-np.median(sensor_accel_2['z'])
+    correction_z = sensor_accel_2['z'] - np.median(sensor_accel_2['z'])
    if noResample:
        coef_accel_2_z = np.polyfit(temp_rel,correction_z,3)
    else:
@@ -935,9 +967,13 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
    temp_rel_resample = np.linspace(accel_3_params['TC_A3_TMIN']-accel_3_params['TC_A3_TREF'], accel_3_params['TC_A3_TMAX']-accel_3_params['TC_A3_TREF'], 100)
    temp_resample = temp_rel_resample + accel_3_params['TC_A3_TREF']

+    sensor_accel_3['x'] = median_filter(sensor_accel_3['x'])
+    sensor_accel_3['y'] = median_filter(sensor_accel_3['y'])
+    sensor_accel_3['z'] = median_filter(sensor_accel_3['z'])
+
    # fit X axis
-    correction_x = sensor_accel_3['x']-np.median(sensor_accel_3['x'])
-    coef_accel_3_x = np.polyfit(temp_rel,correction_x,3)
+    correction_x = sensor_accel_3['x'] - np.median(sensor_accel_3['x'])
+    coef_accel_3_x = np.polyfit(temp_rel, correction_x, 3)
    accel_3_params['TC_A3_X3_0'] = coef_accel_3_x[0]
    accel_3_params['TC_A3_X2_0'] = coef_accel_3_x[1]
    accel_3_params['TC_A3_X1_0'] = coef_accel_3_x[2]
@@ -946,8 +982,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
    correction_x_resample = fit_coef_accel_3_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_3['y']-np.median(sensor_accel_3['y'])
-    coef_accel_3_y = np.polyfit(temp_rel,correction_y,3)
+    correction_y = sensor_accel_3['y'] - np.median(sensor_accel_3['y'])
+    coef_accel_3_y = np.polyfit(temp_rel, correction_y, 3)
    accel_3_params['TC_A3_X3_1'] = coef_accel_3_y[0]
    accel_3_params['TC_A3_X2_1'] = coef_accel_3_y[1]
    accel_3_params['TC_A3_X1_1'] = coef_accel_3_y[2]
@@ -956,8 +992,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
    correction_y_resample = fit_coef_accel_3_y(temp_rel_resample)

    # fit Z axis
-    correction_z = sensor_accel_3['z']-np.median(sensor_accel_3['z'])
-    coef_accel_3_z = np.polyfit(temp_rel,correction_z,3)
+    correction_z = sensor_accel_3['z'] - np.median(sensor_accel_3['z'])
+    coef_accel_3_z = np.polyfit(temp_rel, correction_z, 3)
    accel_3_params['TC_A3_X3_2'] = coef_accel_3_z[0]
    accel_3_params['TC_A3_X2_2'] = coef_accel_3_z[1]
    accel_3_params['TC_A3_X1_2'] = coef_accel_3_z[2]
@@ -1024,8 +1060,10 @@ temp_rel = sensor_baro_0['temperature'] - baro_0_params['TC_B0_TREF']
 temp_rel_resample = np.linspace(baro_0_params['TC_B0_TMIN']-baro_0_params['TC_B0_TREF'], baro_0_params['TC_B0_TMAX']-baro_0_params['TC_B0_TREF'], 100)
 temp_resample = temp_rel_resample + baro_0_params['TC_B0_TREF']

+sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
+
 # fit data
-median_pressure = np.median(sensor_baro_0['pressure']);
+median_pressure = np.median(sensor_baro_0['pressure'])
 if noResample:
    coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
 else:
@@ -1081,8 +1119,10 @@ if num_baros >= 2:
    temp_rel_resample = np.linspace(baro_1_params['TC_B1_TMIN']-baro_1_params['TC_B1_TREF'], baro_1_params['TC_B1_TMAX']-baro_1_params['TC_B1_TREF'], 100)
    temp_resample = temp_rel_resample + baro_1_params['TC_B1_TREF']

+    sensor_baro_1['pressure'] = median_filter(sensor_baro_1['pressure'])
+
    # fit data
-    median_pressure = np.median(sensor_baro_1['pressure']);
+    median_pressure = np.median(sensor_baro_1['pressure'])
    if noResample:
        coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
    else:
@@ -1139,8 +1179,10 @@ if num_baros >= 3:
    temp_rel_resample = np.linspace(baro_2_params['TC_B2_TMIN']-baro_2_params['TC_B2_TREF'], baro_2_params['TC_B2_TMAX']-baro_2_params['TC_B2_TREF'], 100)
    temp_resample = temp_rel_resample + baro_2_params['TC_B2_TREF']

+    sensor_baro_2['pressure'] = median_filter(sensor_baro_2['pressure'])
+
    # fit data
-    median_pressure = np.median(sensor_baro_2['pressure']);
+    median_pressure = np.median(sensor_baro_2['pressure'])
    if noResample:
        coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
    else:
@@ -1197,6 +1239,8 @@ if num_baros >= 4:
    temp_rel_resample = np.linspace(baro_3_params['TC_B3_TMIN']-baro_3_params['TC_B3_TREF'], baro_3_params['TC_B3_TMAX']-baro_3_params['TC_B3_TREF'], 100)
    temp_resample = temp_rel_resample + baro_3_params['TC_B3_TREF']

+    sensor_baro_3['pressure'] = median_filter(sensor_baro_3['pressure'])
+
    # fit data
    median_pressure = np.median(sensor_baro_3['pressure'])
    coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa
@@ -0,0 +1,11 @@
+.PHONY: docker_build docker_push all
+
+DATE := $(shell date +%Y-%m-%d)
+
+docker_build:
+	docker build -f Dockerfile -t px4-dev:${DATE} .
+
+docker_push: build
+        docker push px4io/px4-dev:${DATE}
+
+all: docker_build
@@ -155,8 +155,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 			# fix VMWare 3D graphics acceleration for gazebo
 			exportline="export SVGA_VGPU10=0"

-			if grep -Fxq "$exportline" $HOME/.profile; then
-			else
+			if !grep -Fxq "$exportline" $HOME/.profile; then
 				echo $exportline >> $HOME/.profile;
 			fi
 		fi
@@ -0,0 +1,27 @@
+#!/bin/bash
+
+# Start virtual X server in the background
+# - DISPLAY default is :99, set in dockerfile
+# - Users can override with `-e DISPLAY=` in `docker run` command to avoid
+#   running Xvfb and attach their screen
+if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
+	echo "Starting Xvfb"
+	Xvfb :99 -screen 0 1600x1200x24+32 &
+fi
+
+# Check if the ROS_DISTRO is passed and use it
+# to source the ROS environment
+if [ -n "${ROS_DISTRO}" ]; then
+	source "/opt/ros/$ROS_DISTRO/setup.bash"
+fi
+
+# Use the LOCAL_USER_ID if passed in at runtime
+if [ -n "${LOCAL_USER_ID}" ]; then
+	echo "Starting with UID : $LOCAL_USER_ID"
+	# modify existing user's id
+	usermod -u $LOCAL_USER_ID user
+	# run as user
+	exec gosu user "$@"
+else
+	exec "$@"
+fi
@@ -1,24 +1,26 @@
 argcomplete
-argparse>=1.2
+argparse
 cerberus
 coverage
 empy>=3.3
 jinja2>=2.8
+jsonschema
+kconfiglib
 matplotlib>=3.0.*
 numpy>=1.13
 nunavut>=1.1.0
 packaging
-pandas>=0.21
 pkgconfig
 psutil
 pygments
-wheel>=0.31.1
 pymavlink
 pyros-genmsg
 pyserial>=3.0
 pyulog>=0.5.0
 pyyaml
 requests
+serial
 setuptools>=39.2.0
 six>=1.12.0
 toml>=0.9
+wheel>=0.31.1
@@ -31,10 +31,9 @@ done
 # detect if running in docker
 if [ -f /.dockerenv ]; then
 	echo "Running within docker, installing initial dependencies";
-	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
+	apt-get -qq update && DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
 		ca-certificates \
-		gnupg \
-		lsb-core \
+		gosu \
 		sudo \
 		wget \
 		;
@@ -53,7 +52,7 @@ fi

 # check ubuntu version
 # otherwise warn and point to docker?
-UBUNTU_RELEASE="`lsb_release -rs`"
+UBUNTU_RELEASE=$(cat /etc/os-release | grep VERSION_ID | cut -d "\"" -f 2)

 if [[ "${UBUNTU_RELEASE}" == "14.04" ]]; then
 	echo "Ubuntu 14.04 is no longer supported"
@@ -63,16 +62,18 @@ elif [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
 	exit 1
 elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 	echo "Ubuntu 18.04"
+
 elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
+
 fi


 echo
 echo "Installing PX4 general dependencies"

-sudo apt-get update -y --quiet
-sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+sudo apt-get -qq update
+sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
 	astyle \
 	build-essential \
 	ccache \
@@ -93,20 +94,23 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	python3-wheel \
 	rsync \
 	shellcheck \
-	unzip \
-	zip \
 	;

 if [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
 	echo "Installing Ubuntu 16.04 PX4-compatible ccache version"
-	wget -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
+	wget -q -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
 	sudo dpkg -i /tmp/ccache_3.4.1-1_amd64.deb
 fi

 # Python3 dependencies
 echo
 echo "Installing PX4 Python3 dependencies"
-python3 -m pip install --user -r ${DIR}/requirements.txt
+if [ -f /.dockerenv ]; then
+	# system wide for docker
+	python3 -m pip install -r ${DIR}/requirements.txt
+else
+	python3 -m pip install --user --quiet -r ${DIR}/requirements.txt
+fi

 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then
@@ -114,17 +118,11 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo
 	echo "Installing NuttX dependencies"

-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		autoconf \
-		automake \
-		bison \
-		bzip2 \
-		file \
-		flex \
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
+		g++-multilib \
+		gcc-multilib \
 		gdb-multiarch \
-		gperf \
-		libncurses-dev \
-		libtool \
+		genromfs \
 		pkg-config \
 		screen \
 		vim-common \
@@ -150,7 +148,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then

 	else
 		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
+		wget -q -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
 			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;

 		# add arm-none-eabi-gcc to user's PATH
@@ -171,37 +169,36 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	echo "Installing PX4 simulation dependencies"

 	# General simulation dependencies
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
 		bc \
 		;

 	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		java_version=11
 		gazebo_version=9
+		MAVSDK_VERSION=0.39.0
+		wget -q "https://github.com/mavlink/MAVSDK/releases/download/v${MAVSDK_VERSION}/mavsdk_{MAVSDK_VERSION})_ubuntu18.04_amd64.deb" -O /tmp/mavsdk.deb && sudo dpkg -i /tmp/mavsdk.deb
 	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		java_version=14
 		gazebo_version=11
+		MAVSDK_VERSION=0.39.0
+		wget -q "https://github.com/mavlink/MAVSDK/releases/download/v{MAVSDK_VERSION}/mavsdk_{MAVSDK_VERSION}_ubuntu20.04_amd64.deb" -O /tmp/mavsdk.deb && sudo dpkg -i /tmp/mavsdk.deb
 	else
-		java_version=14
 		gazebo_version=11
 	fi
+
 	# Java (jmavsim or fastrtps)
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
 		ant \
-		openjdk-$java_version-jre \
-		openjdk-$java_version-jdk \
+		default-jre-headless \
+		default-jdk-headless \
 		libvecmath-java \
 		;

-	# Set Java 11 as default
-	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
-
 	# Gazebo
 	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+	wget -q http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 	# Update list, since new gazebo-stable.list has been added
-	sudo apt-get update -y --quiet
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+	sudo apt-get update -qq
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
 		dmidecode \
 		gazebo$gazebo_version \
 		gstreamer1.0-plugins-bad \
@@ -90,7 +90,7 @@ static int configure_switch(void);
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -116,6 +116,7 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -106,7 +106,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -116,6 +116,7 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -106,7 +106,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -97,7 +97,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -97,7 +97,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -117,6 +117,7 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -138,7 +138,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -120,7 +120,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -116,6 +116,7 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -139,7 +139,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -115,6 +115,7 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -137,7 +137,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -128,7 +128,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -128,7 +128,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -100,7 +100,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -100,7 +100,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -119,7 +119,7 @@

 /* RC Serial port */
 #define RC_SERIAL_PORT          "/dev/ttyS4"
-#define RC_SERIAL_SINGLEWIRE
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 #define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)

@@ -100,7 +100,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -26,6 +26,7 @@ CONFIG_BOARD_LOOPSPERMSEC=15175
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
+CONFIG_CAN_CONNS=1
 CONFIG_CDCACM=y
 CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_PRODUCTID=0x001c
@@ -123,6 +124,7 @@ CONFIG_NETUTILS_TELNETD=y
 CONFIG_NET_BROADCAST=y
 CONFIG_NET_CAN=y
 CONFIG_NET_CAN_NOTIFIER=y
+CONFIG_NET_CAN_RAW_FILTER_MAX=0
 CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ICMP=y
@@ -339,7 +339,7 @@ __END_DECLS
 #define LED_TIM3_CH4OUT   /* PTC8  RGB_B */ PIN_FTM3_CH4_1

 /* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+#define BOARD_DMA_ALLOC_POOL_SIZE 2048

 /* This board provides the board_on_reset interface */

@@ -117,7 +117,7 @@ __END_DECLS
 void board_on_reset(int status)
 {
 	for (int i = 0; i < 6; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -25,6 +25,7 @@ CONFIG_BOARD_LOOPSPERMSEC=15175
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
+CONFIG_CAN_CONNS=1
 CONFIG_CDCACM=y
 CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_PRODUCTID=0x001c
@@ -122,6 +123,7 @@ CONFIG_NETUTILS_TELNETD=y
 CONFIG_NET_BROADCAST=y
 CONFIG_NET_CAN=y
 CONFIG_NET_CAN_NOTIFIER=y
+CONFIG_NET_CAN_RAW_FILTER_MAX=0
 CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ICMP=y
@@ -343,7 +343,7 @@ __END_DECLS
 #define LED_TIM3_CH4OUT   /* PTC8  RGB_B */ PIN_FTM3_CH4_1

 /* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+#define BOARD_DMA_ALLOC_POOL_SIZE 2048

 /* This board provides the board_on_reset interface */

@@ -117,7 +117,7 @@ __END_DECLS
 void board_on_reset(int status)
 {
 	for (int i = 0; i < 6; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -90,6 +90,12 @@
 #define BOARD_LED_G_BIT   (1 << BOARD_LED_G)
 #define BOARD_LED_B_BIT   (1 << BOARD_LED_B)

+/* Board revision detection pin
+ * 0 equals UCANS32K146-01
+ * 1 equals UCANS32K146B
+ */
+#define BOARD_REVISION_DETECT_PIN  (GPIO_INPUT | PIN_PORTA | PIN10 )
+
 /* If CONFIG_ARCH_LEDs is defined, then NuttX will control the LEDs on board
 * the UCANS32K146.  The following definitions describe how NuttX
 * controls the LEDs:
@@ -152,11 +158,9 @@
 /* CAN selections ***********************************************************/
 #define PIN_CAN0_TX      PIN_CAN0_TX_4      /* PTE5 */
 #define PIN_CAN0_RX      PIN_CAN0_RX_4      /* PTE4 */
-#define PIN_CAN0_ENABLE  (GPIO_OUTPUT | PIN_PORTE | PIN11 )
-#define CAN0_ENABLE_OUT  0
+#define PIN_CAN0_STB     (GPIO_OUTPUT | PIN_PORTE | PIN11 )
 #define PIN_CAN1_TX      PIN_CAN1_TX_1      /* PTA13 */
 #define PIN_CAN1_RX      PIN_CAN1_RX_1      /* PTA12 */
-#define PIN_CAN1_ENABLE  (GPIO_OUTPUT | PIN_PORTE | PIN10 )
-#define CAN1_ENABLE_OUT  0
+#define PIN_CAN1_STB     (GPIO_OUTPUT | PIN_PORTE | PIN10 )

 #endif  /* __BOARDS_ARM_RDDRONE_UAVCAN146_INCLUDE_BOARD_H */
@@ -151,5 +151,20 @@ int s32k1xx_bringup(void)

 #endif
 #endif
+
+#ifdef CONFIG_S32K1XX_FLEXCAN
+	s32k1xx_pinconfig(BOARD_REVISION_DETECT_PIN);
+
+	if (s32k1xx_gpioread(BOARD_REVISION_DETECT_PIN)) {
+		/* STB high -> active CAN phy */
+		s32k1xx_pinconfig(PIN_CAN0_STB  | GPIO_OUTPUT_ONE);
+
+	} else {
+		/* STB low -> active CAN phy */
+		s32k1xx_pinconfig(PIN_CAN0_STB  | GPIO_OUTPUT_ZERO);
+	}
+
+#endif
+
 	return ret;
 }
@@ -71,7 +71,18 @@ __EXPORT void s32k1xx_board_initialize(void)
 	// Can GPIO
 	s32k1xx_pinconfig(PIN_CAN0_TX);
 	s32k1xx_pinconfig(PIN_CAN0_RX);
-	s32k1xx_pinconfig(PIN_CAN0_ENABLE  | GPIO_OUTPUT_ZERO);
+
+	s32k1xx_pinconfig(BOARD_REVISION_DETECT_PIN);
+
+	if (s32k1xx_gpioread(BOARD_REVISION_DETECT_PIN)) {
+		/* STB high -> active CAN phy */
+		s32k1xx_pinconfig(PIN_CAN0_STB  | GPIO_OUTPUT_ONE);
+
+	} else {
+		/* STB low -> active CAN phy */
+		s32k1xx_pinconfig(PIN_CAN0_STB  | GPIO_OUTPUT_ZERO);
+	}
+
 	//s32k1xx_gpiowrite
 #if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
 	s32k1xx_pinconfig(GPIO_GETNODEINFO_JUMPER);
@@ -101,7 +112,14 @@ void board_deinitialize(void)
 	} while ((regval & CAN_MCR_LPMACK) == 0);


-	s32k1xx_pinconfig(PIN_CAN0_ENABLE  | GPIO_OUTPUT_ONE);
+	if (s32k1xx_gpioread(BOARD_REVISION_DETECT_PIN)) {
+		/* STB high -> standby CAN phy */
+		s32k1xx_pinconfig(PIN_CAN0_STB  | GPIO_OUTPUT_ZERO);
+
+	} else {
+		/* STB low -> standby CAN phy */
+		s32k1xx_pinconfig(PIN_CAN0_STB  | GPIO_OUTPUT_ONE);
+	}
 }

 /****************************************************************************
@@ -116,6 +116,7 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -37,7 +37,7 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		imu/invensense/icm20948 # required for ak09916 mag
-		irlock
+		#irlock
 		lights # all available light drivers
 		#lights/rgbled_pwm
 		#magnetometer # all available magnetometer drivers
@@ -91,7 +91,7 @@ px4_add_board(
 		#rover_pos_control
 		sensors
 		#sih
-		temperature_compensation
+		#temperature_compensation
 		#uuv_att_control
 		#uuv_pos_control
 		#vmount
@@ -139,7 +139,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -146,6 +146,7 @@ CONFIG_NSH_STRERROR=y
 CONFIG_NSH_TELNET=y
 CONFIG_NSH_TELNET_LOGIN=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -143,7 +143,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -140,7 +140,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -128,7 +128,6 @@ CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NET_UDP_WRITE_BUFFERS=y
-CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -140,7 +140,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -121,7 +121,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -71,6 +71,13 @@ if (BLOATY_PROGRAM)
 		USES_TERMINAL
 		)

+	# bloaty statically allocated RAM
+	add_custom_target(bloaty_ram
+		COMMAND ${BLOATY_PROGRAM} -c ${PX4_SOURCE_DIR}/Tools/bloaty_static_ram.bloaty -d bloaty_static_ram,compileunits --source-filter ^ram$ ${BLOATY_OPTS} $<TARGET_FILE:px4>
+		DEPENDS px4
+		USES_TERMINAL
+		)
+
 	# bloaty compare with last master build
 	add_custom_target(bloaty_compare_master
 		COMMAND wget -c -N --no-verbose https://s3.amazonaws.com/px4-travis/Firmware/master/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf -O master.elf
@@ -28,7 +28,6 @@ uint32 tx_buffer_overruns               # number of TX buffer overruns

 float32 rx_rate_avg                     # transmit rate average (Bytes/s)
 uint32 rx_message_count                 # count of total messages received
-uint32 rx_message_count_supported       # count of total messages received from supported systems and components (for loss statistics)
 uint32 rx_message_lost_count
 uint32 rx_buffer_overruns               # number of RX buffer overruns
 uint32 rx_parse_errors                  # number of parse errors
@@ -5,3 +5,8 @@ bool ground_contact	# true if vehicle has ground contact but is not landed (1. s
 bool maybe_landed	# true if the vehicle might have landed (2. stage)
 bool landed		# true if vehicle is currently landed on the ground (3. stage)
 bool in_ground_effect # indicates if from the perspective of the landing detector the vehicle might be in ground effect (baro). This flag will become true if the vehicle is not moving horizontally and is descending (crude assumption that user is landing).
+bool in_descend
+bool has_low_throttle
+bool vertical_movement
+bool horizontal_movement
+bool close_to_ground_or_skipped_check
@@ -48,7 +48,7 @@ struct wq_config_t {

 namespace wq_configurations
 {
-static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1920, 0}; // PX4 inner loop highest priority
+static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1952, 0}; // PX4 inner loop highest priority
 static constexpr wq_config_t ctrl_alloc{"wq:ctrl_alloc", 9500, 0}; // PX4 control allocation, same priority as rate_ctrl

 static constexpr wq_config_t SPI0{"wq:SPI0", 2336, -1};
@@ -104,10 +104,10 @@ int up_pwm_servo_init(uint32_t channel_mask)
 	return OK;
 }

-void up_pwm_servo_deinit(void)
+void up_pwm_servo_deinit(uint32_t channel_mask)
 {
 	/* disable the timers */
-	up_pwm_servo_arm(false);
+	up_pwm_servo_arm(false, channel_mask);
 }

 int up_pwm_servo_set_rate_group_update(unsigned channel, unsigned rate)
@@ -154,8 +154,8 @@ uint32_t up_pwm_servo_get_rate_group(unsigned group)
 }

 void
-up_pwm_servo_arm(bool armed)
+up_pwm_servo_arm(bool armed, uint32_t channel_mask)
 {
-	io_timer_set_enable(armed, IOTimerChanMode_OneShot, IO_TIMER_ALL_MODES_CHANNELS);
-	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, IO_TIMER_ALL_MODES_CHANNELS);
+	io_timer_set_enable(armed, IOTimerChanMode_OneShot, channel_mask);
+	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, channel_mask);
 }
@@ -112,7 +112,8 @@ int kinetis_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, boo
 #define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  kinetis_gpiosetevent(pinset,r,f,e,fp,a)

 #define _PX4_MAKE_GPIO(pin_ftmx, io)    ((((uint32_t)(pin_ftmx)) & ~(_PIN_MODE_MASK | _PIN_OPTIONS_MASK)) |(io))
-#define PX4_MAKE_GPIO_INPUT(gpio) _PX4_MAKE_GPIO(gpio, GPIO_PULLUP)
-#define PX4_MAKE_GPIO_OUTPUT(gpio) _PX4_MAKE_GPIO(gpio, GPIO_HIGHDRIVE)
+#define PX4_MAKE_GPIO_INPUT(gpio) _PX4_MAKE_GPIO((gpio), GPIO_PULLUP)
+#define PX4_MAKE_GPIO_INPUT_PULL_DOWN(gpio) _PX4_MAKE_GPIO((gpio), GPIO_PULLDOWN)
+#define PX4_MAKE_GPIO_OUTPUT(gpio) _PX4_MAKE_GPIO((gpio), GPIO_HIGHDRIVE)

 __END_DECLS
@@ -105,10 +105,10 @@ int up_pwm_servo_init(uint32_t channel_mask)
 	return OK;
 }

-void up_pwm_servo_deinit(void)
+void up_pwm_servo_deinit(uint32_t channel_mask)
 {
 	/* disable the timers */
-	up_pwm_servo_arm(false);
+	up_pwm_servo_arm(false, channel_mask);
 }

 int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
@@ -155,8 +155,8 @@ uint32_t up_pwm_servo_get_rate_group(unsigned group)
 }

 void
-up_pwm_servo_arm(bool armed)
+up_pwm_servo_arm(bool armed, uint32_t channel_mask)
 {
-	io_timer_set_enable(armed, IOTimerChanMode_OneShot, IO_TIMER_ALL_MODES_CHANNELS);
-	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, IO_TIMER_ALL_MODES_CHANNELS);
+	io_timer_set_enable(armed, IOTimerChanMode_OneShot, channel_mask);
+	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, channel_mask);
 }
@@ -105,6 +105,7 @@ int imxrt_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, bool
 #define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  imxrt_gpiosetevent(pinset,r,f,e,fp,a)

 #define PX4_MAKE_GPIO_INPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_SCHMITT_TRIGGER | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ))
+#define PX4_MAKE_GPIO_INPUT_PULL_DOWN(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_SCHMITT_TRIGGER | IOMUX_PULL_DOWN_100K | IOMUX_DRIVE_HIZ))
 #define PX4_MAKE_GPIO_OUTPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM  | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST))

 __END_DECLS
@@ -102,10 +102,10 @@ int up_pwm_servo_init(uint32_t channel_mask)
 	return OK;
 }

-void up_pwm_servo_deinit(void)
+void up_pwm_servo_deinit(uint32_t channel_mask)
 {
 	/* disable the timers */
-	up_pwm_servo_arm(false);
+	up_pwm_servo_arm(false, channel_mask);
 }

 int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
@@ -152,8 +152,8 @@ uint32_t up_pwm_servo_get_rate_group(unsigned group)
 }

 void
-up_pwm_servo_arm(bool armed)
+up_pwm_servo_arm(bool armed, uint32_t channel_mask)
 {
-	io_timer_set_enable(armed, IOTimerChanMode_OneShot, IO_TIMER_ALL_MODES_CHANNELS);
-	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, IO_TIMER_ALL_MODES_CHANNELS);
+	io_timer_set_enable(armed, IOTimerChanMode_OneShot, channel_mask);
+	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, channel_mask);
 }
@@ -65,7 +65,7 @@
 static const uint32_t modes[] = {
 	/*                                      to  tb   */
 	/* BOARD_RESET_MODE_CLEAR                5   y   */  0,
-	/* BOARD_RESET_MODE_BOOT_TO_BL           0   n   */  0xb0070001,
+	/* BOARD_RESET_MODE_BOOT_TO_BL           0   n   */  0xb007b007,
 	/* BOARD_RESET_MODE_BOOT_TO_VALID_APP    0   y   */  0xb0070002,
 	/* BOARD_RESET_MODE_CAN_BL               10  n   */  0xb0080000,
 	/* BOARD_RESET_MODE_RTC_BOOT_FWOK        0   n   */  0xb0093a26
@@ -103,6 +103,7 @@ __BEGIN_DECLS
 #define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  stm32_gpiosetevent(pinset,r,f,e,fp,a)

 #define PX4_MAKE_GPIO_INPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))
+#define PX4_MAKE_GPIO_INPUT_PULL_DOWN(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN))
 #define PX4_MAKE_GPIO_OUTPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))

 #define PX4_GPIO_PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_2MHz))
@@ -769,7 +769,7 @@ int io_timer_set_rate(unsigned timer, unsigned rate)
 			int changeOneShot = reallocate_channel_resources(channels, IOTimerChanMode_OneShot, IOTimerChanMode_PWMOut);
 			int changeDshot = reallocate_channel_resources(channels, IOTimerChanMode_Dshot, IOTimerChanMode_PWMOut);

-			if (changeOneShot && changeDshot) {
+			if (changeOneShot || changeDshot) {
 				io_timer_set_PWM_mode(timer);
 			}

@@ -109,10 +109,10 @@ int up_pwm_servo_init(uint32_t channel_mask)
 	return OK;
 }

-void up_pwm_servo_deinit(void)
+void up_pwm_servo_deinit(uint32_t channel_mask)
 {
 	/* disable the timers */
-	up_pwm_servo_arm(false);
+	up_pwm_servo_arm(false, channel_mask);
 }

 int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
@@ -158,8 +158,8 @@ uint32_t up_pwm_servo_get_rate_group(unsigned group)
 }

 void
-up_pwm_servo_arm(bool armed)
+up_pwm_servo_arm(bool armed, uint32_t channel_mask)
 {
-	io_timer_set_enable(armed, IOTimerChanMode_OneShot, IO_TIMER_ALL_MODES_CHANNELS);
-	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, IO_TIMER_ALL_MODES_CHANNELS);
+	io_timer_set_enable(armed, IOTimerChanMode_OneShot, channel_mask);
+	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, channel_mask);
 }
@@ -46,3 +46,4 @@ add_subdirectory(tfmini)
 add_subdirectory(ulanding_radar)
 add_subdirectory(vl53l0x)
 add_subdirectory(vl53l1x)
+add_subdirectory(gy_us42)
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2021 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_module(
+	MODULE drivers__distance_sensor__gy_us42
+	MAIN gy_us42
+	SRCS
+		GY_US42.cpp
+		GY_US42.hpp
+		GY_US42_main.cpp
+	DEPENDS
+		drivers_rangefinder
+		px4_work_queue
+	)
@@ -0,0 +1,133 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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.
+ *
+ ****************************************************************************/
+
+#include "GY_US42.hpp"
+
+GY_US42::GY_US42(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
+	I2C(DRV_DIST_DEVTYPE_GY_US42, MODULE_NAME, bus, address, bus_frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
+	_px4_rangefinder(get_device_id(), rotation)
+{
+	_px4_rangefinder.set_max_distance(GY_US42_MAX_DISTANCE);
+	_px4_rangefinder.set_min_distance(GY_US42_MIN_DISTANCE);
+}
+
+GY_US42::~GY_US42()
+{
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+}
+
+int GY_US42::init()
+{
+	// I2C init (and probe) first.
+	if (I2C::init() != OK) {
+		return PX4_ERROR;
+	}
+
+	_state = STATE::POWERON_WAIT;
+	ScheduleDelayed(2000);
+	return OK;
+}
+
+int GY_US42::collect()
+{
+	// Read from the sensor.
+	uint8_t val[2] = {};
+	perf_begin(_sample_perf);
+
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
+	int ret = transfer(nullptr, 0, val, 2);
+
+	if (ret < 0) {
+		PX4_DEBUG("error reading from sensor: %d", ret);
+		perf_count(_comms_errors);
+		perf_end(_sample_perf);
+		return ret;
+	}
+
+	uint16_t distance_cm = val[0] << 8 | val[1];
+	float distance_m = float(distance_cm) * 1e-2f;
+
+	_px4_rangefinder.update(timestamp_sample, distance_m);
+
+	perf_end(_sample_perf);
+	return PX4_OK;
+}
+
+int GY_US42::measure()
+{
+	uint8_t cmd[1] = {GY_US42_TAKE_RANGE_REG};
+
+	// Send the command to begin a measurement.
+	int ret = transfer(cmd, 1, nullptr, 0);
+
+	if (ret != PX4_OK) {
+		perf_count(_comms_errors);
+		PX4_DEBUG("i2c::transfer returned %d", ret);
+		return ret;
+	}
+
+	return PX4_OK;
+}
+
+void GY_US42::RunImpl()
+{
+	switch (_state) {
+	case STATE::INIT:
+		// do nothing
+		break;
+
+	case STATE::POWERON_WAIT:
+		measure();
+		_state = STATE::MEASURE_WAIT;
+		ScheduleOnInterval(GY_US42_CONVERSION_INTERVAL, GY_US42_CONVERSION_INTERVAL);
+		break;
+
+	case STATE::MEASURE_WAIT:
+		collect();
+		measure();
+		// forever loop
+		break;
+
+	case STATE::MODIFYADDR_WAIT:
+		break;
+	}
+}
+
+void GY_US42::print_status()
+{
+	I2CSPIDriverBase::print_status();
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+}
@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file GY_US42.cpp
+ *
+ * Driver for the GY-US42 sonar range finder on I2C.
+ */
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
+#include <drivers/device/i2c.h>
+#include <drivers/drv_hrt.h>
+#include <lib/perf/perf_counter.h>
+
+/* Configuration Constants */
+#define GY_US42_BASEADDR 				0x70 	// 7-bit address. 8-bit address is 0xE0.
+
+/* GY_US42 Registers addresses */
+#define GY_US42_TAKE_RANGE_REG			0x51	// Measure range Register.
+#define GY_US42_SET_ADDRESS_CMD1			0xAA	// Change address 1 cmd.
+#define GY_US42_SET_ADDRESS_CMD2			0xA5	// Change address 2 cmd.
+
+/* Device limits */
+#define GY_US42_MIN_DISTANCE 			(0.20f)
+#define GY_US42_MAX_DISTANCE 			(7.2f)
+
+#define GY_US42_CONVERSION_INTERVAL 		50000	// 50ms for one sonar.
+
+class GY_US42 : public device::I2C, public I2CSPIDriver<GY_US42>
+{
+public:
+	GY_US42(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
+		int address = GY_US42_BASEADDR);
+	~GY_US42() override;
+
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	int init() override;
+	void print_status() override;
+
+	void RunImpl();
+
+private:
+
+	enum class STATE : uint8_t {
+		INIT,
+		POWERON_WAIT,
+		MEASURE_WAIT,
+		MODIFYADDR_WAIT
+	};
+	STATE _state{STATE::INIT};
+
+	int collect();
+	int measure();
+
+	/**
+	 * Test whether the device supported by the driver is present at a
+	 * specific address.
+	 * @param address The I2C bus address to probe.
+	 * @return True if the device is present.
+	 */
+
+	PX4Rangefinder _px4_rangefinder;
+
+	perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com_err")};
+	perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED,  MODULE_NAME": read")};
+};
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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.
+ *
+ ****************************************************************************/
+
+#include "GY_US42.hpp"
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+
+void
+GY_US42::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("gy_us42", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+I2CSPIDriverBase *GY_US42::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+				       int runtime_instance)
+{
+	GY_US42 *instance = new GY_US42(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency);
+
+	if (instance == nullptr) {
+		PX4_ERR("alloc failed");
+		return nullptr;
+	}
+
+	if (instance->init() != PX4_OK) {
+		delete instance;
+		return nullptr;
+	}
+
+	return instance;
+}
+
+extern "C" __EXPORT int gy_us42_main(int argc, char *argv[])
+{
+	int ch;
+	using ThisDriver = GY_US42;
+	BusCLIArguments cli{true, false};
+	cli.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
+	cli.default_i2c_frequency = 100000;
+
+	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
+		switch (ch) {
+		case 'R':
+			cli.orientation = atoi(cli.optarg());
+			break;
+		}
+	}
+
+	const char *verb = cli.optarg();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_GY_US42);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}
@@ -317,8 +317,14 @@ __EXPORT extern int	up_pwm_servo_init(uint32_t channel_mask);

 /**
 * De-initialise the PWM servo outputs.
+ *
+ * @param channel_mask  Bitmask of channels (LSB = channel 0) to enable.
+ *      This allows some of the channels to remain configured
+ *      as GPIOs or as another function.
+ *      A value of 0 is ALL channels
+ *
 */
-__EXPORT extern void	up_pwm_servo_deinit(void);
+__EXPORT extern void	up_pwm_servo_deinit(uint32_t channel_mask);

 /**
 * Arm or disarm servo outputs.
@@ -330,8 +336,14 @@ __EXPORT extern void	up_pwm_servo_deinit(void);
 *
 * @param armed		If true, outputs are armed; if false they
 *			are disarmed.
+ *
+ * @param channel_mask  Bitmask of channels (LSB = channel 0) to enable.
+ *      This allows some of the channels to remain configured
+ *      as GPIOs or as another function.
+ *      A value of 0 is ALL channels
+ *
 */
-__EXPORT extern void	up_pwm_servo_arm(bool armed);
+__EXPORT extern void	up_pwm_servo_arm(bool armed, uint32_t channel_mask);

 /**
 * Set the servo update rate for all rate groups.
@@ -176,6 +176,7 @@

 #define DRV_DIST_DEVTYPE_SIM 0x9a
 #define DRV_DIST_DEVTYPE_SRF05 0x9b
+#define DRV_DIST_DEVTYPE_GY_US42 0x9c


 #define DRV_GPS_DEVTYPE_ASHTECH 0xA0
@@ -530,11 +530,27 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],

 	} else {
 		for (int i = 0; i < (int)num_outputs; i++) {
-			if (outputs[i] == DSHOT_DISARM_VALUE) {
+
+			uint16_t output = outputs[i];
+
+			// DShot 3D splits the throttle ranges in two.
+			// This is in terms of DShot values, code below is in terms of actuator_output
+			// Direction 1) 48 is the slowest, 1047 is the fastest.
+			// Direction 2) 1049 is the slowest, 2047 is the fastest.
+			if (_param_dshot_3d_enable.get()) {
+				if (output >= _param_dshot_3d_dead_l.get() && output <= _param_dshot_3d_dead_h.get()) {
+					output = DSHOT_DISARM_VALUE;
+
+				} else if (output < 1000 && output > 0) { //Todo: allow actuator 0 or dshot 48 to be used
+					output = 999 - output;
+				}
+			}
+
+			if (output == DSHOT_DISARM_VALUE) {
 				up_dshot_motor_command(i, DShot_cmd_motor_stop, i == requested_telemetry_index);

 			} else {
-				up_dshot_motor_data_set(i, math::min(outputs[i], static_cast<uint16_t>(DSHOT_MAX_THROTTLE)),
+				up_dshot_motor_data_set(i, math::min(output, static_cast<uint16_t>(DSHOT_MAX_THROTTLE)),
 							i == requested_telemetry_index);
 			}
 		}
@@ -231,6 +231,9 @@ private:
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::DSHOT_CONFIG>)   _param_dshot_config,
 		(ParamFloat<px4::params::DSHOT_MIN>)    _param_dshot_min,
+		(ParamBool<px4::params::DSHOT_3D_ENABLE>) _param_dshot_3d_enable,
+		(ParamInt<px4::params::DSHOT_3D_DEAD_H>) _param_dshot_3d_dead_h,
+		(ParamInt<px4::params::DSHOT_3D_DEAD_L>) _param_dshot_3d_dead_l,
 		(ParamInt<px4::params::MOT_POLE_COUNT>) _param_mot_pole_count
 	)
 };
@@ -14,7 +14,7 @@ parameters:
                long: |
                    This enables/disables DShot. The different modes define different
                    speeds, for example DShot150 = 150kb/s. Not all ESCs support all modes.
-                    
+
                    Note: this enables DShot on the FMU outputs. For boards with an IO it is the
                    AUX outputs.
            type: enum
@@ -40,6 +40,37 @@ parameters:
            decimal: 2
            increment: 0.01
            default: 0.055
+        DSHOT_3D_ENABLE:
+            description:
+                short: Allows for 3d mode when using DShot and suitable mixer
+                long: |
+                    WARNING: ESC must be configured for 3D mode, and DSHOT_MIN set to 0.
+                    This splits the throttle ranges in two.
+                    Direction 1) 48 is the slowest, 1047 is the fastest.
+                    Direction 2) 1049 is the slowest, 2047 is the fastest.
+                    When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.
+            type: boolean
+            default: 0
+        DSHOT_3D_DEAD_H:
+            description:
+                short: DSHOT 3D deadband high
+                long: |
+                    When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin.
+                    This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
+            type: int32
+            min: 1000
+            max: 1999
+            default: 1000
+        DSHOT_3D_DEAD_L:
+            description:
+                short: DSHOT 3D deadband low
+                long: |
+                    When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin.
+                    This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
+            type: int32
+            min: 0
+            max: 1000
+            default: 1000
        MOT_POLE_COUNT: # only used by dshot so far, so keep it under the dshot group
            description:
                short: Number of magnetic poles of the motors
@@ -51,4 +82,3 @@ parameters:
                    Typical motors for 5 inch props have 14 poles.
            type: int32
            default: 14
-
@@ -47,6 +47,7 @@ px4_add_module(
 		devices/src/ubx.cpp
 		devices/src/rtcm.cpp
 		devices/src/emlid_reach.cpp
+		devices/src/femtomes.cpp
 	MODULE_CONFIG
 		module.yaml
 	DEPENDS
@@ -67,6 +67,7 @@
 # include "devices/src/ashtech.h"
 # include "devices/src/emlid_reach.h"
 # include "devices/src/mtk.h"
+# include "devices/src/femtomes.h"
 #endif // CONSTRAINED_FLASH
 #include "devices/src/ubx.h"

@@ -82,7 +83,8 @@ typedef enum {
 	GPS_DRIVER_MODE_UBX,
 	GPS_DRIVER_MODE_MTK,
 	GPS_DRIVER_MODE_ASHTECH,
-	GPS_DRIVER_MODE_EMLIDREACH
+	GPS_DRIVER_MODE_EMLIDREACH,
+	GPS_DRIVER_MODE_FEMTOMES
 } gps_driver_mode_t;

 /* struct for dynamic allocation of satellite info data */
@@ -774,6 +776,11 @@ GPS::run()
 			_helper = new GPSDriverEmlidReach(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
 			set_device_type(DRV_GPS_DEVTYPE_EMLID_REACH);
 			break;
+
+		case GPS_DRIVER_MODE_FEMTOMES:
+			_helper = new GPSDriverFemto(&GPS::callback, this, &_report_gps_pos/*, _p_report_sat_info*/);
+			set_device_type(DRV_GPS_DEVTYPE_FEMTOMES);
+			break;
 #endif // CONSTRAINED_FLASH

 		default:
@@ -912,6 +919,10 @@ GPS::run()
 				break;

 			case GPS_DRIVER_MODE_EMLIDREACH:
+				_mode = GPS_DRIVER_MODE_FEMTOMES;
+				break;
+
+			case GPS_DRIVER_MODE_FEMTOMES:
 #endif // CONSTRAINED_FLASH
 				_mode = GPS_DRIVER_MODE_UBX;
 				px4_usleep(500000); // tried all possible drivers. Wait a bit before next round
@@ -969,6 +980,10 @@ GPS::print_status()
 	case GPS_DRIVER_MODE_EMLIDREACH:
 		PX4_INFO("protocol: EMLIDREACH");
 		break;
+
+	case GPS_DRIVER_MODE_FEMTOMES:
+		PX4_INFO("protocol: FEMTOMES");
+		break;
 #endif // CONSTRAINED_FLASH

 	default:
@@ -1135,7 +1150,7 @@ $ gps reset warm

 	PRINT_MODULE_USAGE_PARAM_STRING('i', "uart", "spi|uart", "GPS interface", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('j', "uart", "spi|uart", "secondary GPS interface", true);
-	PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, "ubx|mtk|ash|eml", "GPS Protocol (default=auto select)", true);
+	PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, "ubx|mtk|ash|eml|fem", "GPS Protocol (default=auto select)", true);

 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 	PRINT_MODULE_USAGE_COMMAND_DESCR("reset", "Reset GPS device");
@@ -1276,6 +1291,9 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)

 			} else if (!strcmp(myoptarg, "eml")) {
 				mode = GPS_DRIVER_MODE_EMLIDREACH;
+
+			} else if (!strcmp(myoptarg, "fem")) {
+				mode = GPS_DRIVER_MODE_FEMTOMES;
 #endif // CONSTRAINED_FLASH
 			} else {
 				PX4_ERR("unknown protocol: %s", myoptarg);
@@ -115,12 +115,13 @@ PARAM_DEFINE_FLOAT(GPS_YAW_OFFSET, 0.f);
 * Auto-detection will probe all protocols, and thus is a bit slower.
 *
 * @min 0
- * @max 4
+ * @max 5
 * @value 0 Auto detect
 * @value 1 u-blox
 * @value 2 MTK
 * @value 3 Ashtech / Trimble
 * @value 4 Emlid Reach
+ * @value 5 Femtomes
 *
 * @reboot_required true
 * @group GPS
@@ -135,12 +136,13 @@ PARAM_DEFINE_INT32(GPS_1_PROTOCOL, 1);
 * Auto-detection will probe all protocols, and thus is a bit slower.
 *
 * @min 0
- * @max 4
+ * @max 5
 * @value 0 Auto detect
 * @value 1 u-blox
 * @value 2 MTK
 * @value 3 Ashtech / Trimble
 * @value 4 Emlid Reach
+ * @value 5 Femtomes
 *
 * @reboot_required true
 * @group GPS
@@ -84,8 +84,6 @@ int PAW3902::init()
 		return PX4_ERROR;
 	}

-	Reset();
-
 	// force to low light mode (1) initially
 	ChangeMode(Mode::LowLight, true);

@@ -150,24 +148,6 @@ bool PAW3902::DataReadyInterruptDisable()
 	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
 }

-bool PAW3902::Reset()
-{
-	DataReadyInterruptDisable();
-
-	// Power on reset
-	RegisterWrite(Register::Power_Up_Reset, 0x5A);
-	usleep(1000);
-
-	// Read from registers 0x02, 0x03, 0x04, 0x05 and 0x06 one time regardless of the motion state
-	RegisterRead(Register::Motion);
-	RegisterRead(Register::Delta_X_L);
-	RegisterRead(Register::Delta_X_H);
-	RegisterRead(Register::Delta_Y_L);
-	RegisterRead(Register::Delta_Y_H);
-
-	return true;
-}
-
 void PAW3902::exit_and_cleanup()
 {
 	DataReadyInterruptDisable();
@@ -183,6 +163,7 @@ bool PAW3902::ChangeMode(Mode newMode, bool force)

 		// Issue a soft reset
 		RegisterWrite(Register::Power_Up_Reset, 0x5A);
+		px4_usleep(1000);

 		uint32_t interval_us = 0;

@@ -206,6 +187,10 @@ bool PAW3902::ChangeMode(Mode newMode, bool force)
 			break;
 		}

+		EnableLed();
+
+		_discard_reading = 3;
+
 		if (DataReadyInterruptConfigure()) {
 			// backup schedule as a watchdog timeout
 			ScheduleDelayed(500_ms);
@@ -214,17 +199,6 @@ bool PAW3902::ChangeMode(Mode newMode, bool force)
 			ScheduleOnInterval(interval_us);
 		}

-		// Discard the first three motion data.
-		for (int i = 0; i < 3; i++) {
-			RegisterRead(Register::Motion);
-			RegisterRead(Register::Delta_X_L);
-			RegisterRead(Register::Delta_X_H);
-			RegisterRead(Register::Delta_Y_L);
-			RegisterRead(Register::Delta_Y_H);
-		}
-
-		EnableLed();
-
 		_mode = newMode;
 	}

@@ -232,11 +206,6 @@ bool PAW3902::ChangeMode(Mode newMode, bool force)
 	_low_to_superlow_counter = 0;
 	_low_to_bright_counter = 0;
 	_superlow_to_low_counter = 0;
-	// Approximate Resolution = (Register Value + 1) * (50 / 8450) ≈ 0.6% of data point in Figure 19
-	// The maximum register value is 0xA8. The minimum register value is 0.
-	uint8_t resolution = RegisterRead(Register::Resolution);
-	PX4_DEBUG("Resolution: %X", resolution);
-	PX4_DEBUG("Resolution is approx: %.3f", (double)((resolution + 1.0f) * (50.0f / 8450.0f)));

 	return true;
 }
@@ -582,9 +551,9 @@ void PAW3902::ModeSuperLowLight()
 void PAW3902::EnableLed()
 {
 	// Enable LED_N controls
-	RegisterWriteVerified(0x7F, 0x14);
-	RegisterWriteVerified(0x6F, 0x1c);
-	RegisterWriteVerified(0x7F, 0x00);
+	RegisterWrite(0x7F, 0x14);
+	RegisterWrite(0x6F, 0x1c);
+	RegisterWrite(0x7F, 0x00);
 }

 uint8_t PAW3902::RegisterRead(uint8_t reg, int retries)
@@ -663,11 +632,17 @@ void PAW3902::RunImpl()
 	// update for next iteration
 	_previous_collect_timestamp = timestamp_sample;

+	if (_discard_reading > 0) {
+		_discard_reading--;
+		ResetAccumulatedData();
+		return;
+	}
+
 	// check SQUAL & Shutter values
 	// To suppress false motion reports, discard Delta X and Delta Y values if the SQUAL and Shutter values meet the condition
-	// Bright Mode,			SQUAL < 0x19, Shutter ≥ 0x1FF0
-	// Low Light Mode,		SQUAL < 0x46, Shutter ≥ 0x1FF0
-	// Super Low Light Mode,	SQUAL < 0x55, Shutter ≥ 0x0BC0
+	// Bright Mode,          SQUAL < 0x19, Shutter ≥ 0x1FF0
+	// Low Light Mode,       SQUAL < 0x46, Shutter ≥ 0x1FF0
+	// Super Low Light Mode, SQUAL < 0x55, Shutter ≥ 0x0BC0
 	const uint16_t shutter = (buf.data.Shutter_Upper << 8) | buf.data.Shutter_Lower;

 	bool data_valid = true;
@@ -677,7 +652,6 @@ void PAW3902::RunImpl()
 		if ((buf.data.SQUAL < 0x19) && (shutter >= 0x1FF0)) {
 			// false motion report, discarding
 			perf_count(_false_motion_perf);
-			ResetAccumulatedData();
 			data_valid = false;
 		}

@@ -699,7 +673,6 @@ void PAW3902::RunImpl()
 		if ((buf.data.SQUAL < 0x46) && (shutter >= 0x1FF0)) {
 			// false motion report, discarding
 			perf_count(_false_motion_perf);
-			ResetAccumulatedData();
 			data_valid = false;
 		}

@@ -732,11 +705,14 @@ void PAW3902::RunImpl()
 		if ((buf.data.SQUAL < 0x55) && (shutter >= 0x0BC0)) {
 			// false motion report, discarding
 			perf_count(_false_motion_perf);
-			ResetAccumulatedData();
 			data_valid = false;
 		}

-		if (shutter < 0x03E8) {
+		if (shutter < 0x01F4) {
+			// should not operate with Shutter < 0x01F4 in Mode 2
+			ChangeMode(Mode::LowLight);
+
+		} else if (shutter < 0x03E8) {
 			// SuperLowLight -> LowLight
 			_superlow_to_low_counter++;

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	d72d6ea28e	WIP: in tree Dockerfile and github actions push to github registry	2021-05-06 15:08:03 -04:00
PX4 BuildBot	e265ebabc5	Update submodule ecl to latest Thu May 6 12:39:12 UTC 2021 - ecl in PX4/Firmware (a300d32523e24df3f366a0d564b764261e1c1909): https://github.com/PX4/PX4-ECL/commit/a7b8afe420f438554ad90bcba0f1f4872325e75b - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/29243ac5cbb5d27ac71744e88afcd786df6f748d - Changes: https://github.com/PX4/PX4-ECL/compare/a7b8afe420f438554ad90bcba0f1f4872325e75b...29243ac5cbb5d27ac71744e88afcd786df6f748d `29243ac` 2021-05-05 bresch - yaw_reset: reduce minimum vector length to compute yaw error `aad4840` 2021-05-02 Kabir Mohammed - EKF: increase allowed difference between flow and gyro ODRs	2021-05-06 13:53:40 -04:00
Daniel Agar	9419f9c5e8	Update submodule mavlink v2.0 to latest Thu May 6 12:39:02 UTC 2021	2021-05-06 13:52:43 -04:00
Silvan Fuhrer	08dab18a8b	vtol_type: in FW, set min PWM to PWM_DEFAULT_MIN instead of PWM_MOTOR_OFF Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-05-06 10:20:24 +02:00
benjinne	099c2d13f6	dshot: add 3D capability	2021-05-06 08:12:07 +02:00
Daniel Agar	177ee4cbca	drivers/optical_flow/paw3902: properly discard samples after mode change - respect mode 2 shutter requirements from datasheet (should not operate with Shutter < 0x01F4 in Mode 2) - sensor reset is handled by mode change	2021-05-05 21:48:01 -04:00
Daniel Agar	b1ebd16c61	ekf2: improve selector reset handling - handle reset count rollover (uint8_t) - compute full reset delta if primary estimator instance has changed or if we missed a reset	2021-05-05 21:45:13 -04:00
Alessandro Simovic	d1d5eba320	follow-me: log follow_target msg	2021-05-05 16:13:50 -04:00
Alessandro Simovic	48f3bd4078	follow-me: formatting	2021-05-05 16:13:50 -04:00
Alessandro Simovic	5f19eeaaa5	follow_target: copy also velocity fields from uorb	2021-05-05 16:13:50 -04:00
Alessandro Simovic	2d6bc9b6e0	follow_target: use actual velocity measurement	2021-05-05 16:13:50 -04:00
Alessandro Simovic	5d9b3504f7	follow-target: correctly set "updated" flag	2021-05-05 16:13:50 -04:00
Alessandro Simovic	f1fca0939f	follow-target: name variable correctly	2021-05-05 16:13:50 -04:00
David Sidrane	3702140e24	PWMOut:Arm once all channels are initalized.	2021-05-05 20:48:06 +02:00
David Sidrane	3d166d3279	PWM:Add Channel mask to up_pwm_servo_arm & up_pwm_servo_deinit	2021-05-05 20:48:06 +02:00
David Sidrane	19fa5cfe25	px4_fmu-v6x: Disable OTG_ID_GPIO	2021-05-05 20:48:06 +02:00
David Sidrane	baa37c1143	px4_fmu-v5x: Disable OTG_ID_GPIO	2021-05-05 20:48:06 +02:00
David Sidrane	0385245ae1	px4_fmu-v5: Disable OTG_ID_GPIO	2021-05-05 20:48:06 +02:00
David Sidrane	1f61dcfb06	modalai_fc-v1: Disable OTG_ID_GPIO	2021-05-05 20:48:06 +02:00
David Sidrane	3779ff3690	holybro_pix32v5: Disable OTG_ID_GPIO	2021-05-05 20:48:06 +02:00
David Sidrane	21cf26a69f	holybro_durandal-v1: Disable OTG_ID_GPIO	2021-05-05 20:48:06 +02:00
David Sidrane	a654c37306	cuav_x7pro: Disable OTG_ID_GPIO	2021-05-05 20:48:06 +02:00
David Sidrane	07e38563ba	cuav_nora: Disable OTG_ID_GPIO	2021-05-05 20:48:06 +02:00
David Sidrane	d5b60f7002	NuttX with WIP OTG_ID	2021-05-05 20:48:06 +02:00
David Sidrane	923af2c65b	spracing_h7extreme: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	2d3800fa25	px4_fmu-v6x: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	4f8c1ccfe8	px4_fmu-v6u: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	7dd57d55f6	px4_fmu-v5x: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	69bf437e9a	px4_fmu-v5: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	633fbe147a	nxp_fmuk66-v3: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	118839e75c	nxp_fmuk66-e: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	3f5a0e49a4	mro_pixracerpro: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	86360d076c	mro_ctrl-zero-h7: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	3820f761b1	mro_ctrl-zero-h7-oem: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	50d3af1ba1	mro_ctrl-zero-f7: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	867aa9d4bc	mro_ctrl-zero-f7-oem: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	310d166899	modalai_fc-v1: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	9c761d9ae5	holybro_pix32v5: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	b3b74eaaf6	holybro_kakutef7: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	4c8dca738c	holybro_durandal-v1: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	4da1ec1146	cubepilot_cubeyellow: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	1a5741f984	cubepilot_cubeorange: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	4d4d8ed887	cuav_x7pro: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	eae01a06e7	cuav_nora: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	d6a54910b4	av_x-v1: Initalize PWM as input with Pull Downs	2021-05-05 20:48:06 +02:00
David Sidrane	362db92515	Define PX4_MAKE_GPIO_INPUT_PULL_DOWN	2021-05-05 20:48:06 +02:00
David Sidrane	dd4ffb3c0c	PWMOut:Fix pwm status	2021-05-05 20:48:06 +02:00
David Sidrane	44cdc52ef8	PWMOut:Use rates from single instance & init all instances channels	2021-05-05 20:48:06 +02:00
David Sidrane	dcbfc9de2d	io_timer:Fixed imposible logic	2021-05-05 20:48:06 +02:00
Peter van der Perk	9a085126fd	FMUK66 free up some RAM	2021-05-05 18:52:56 +02:00
Jukka Laitinen	ac6e7a1c6c	FlightTaskManualAltitude: Fix double->float conversion in initialization This gives an error on some new compilers, e.g. riscv64-unknown-elf 10.2.0 Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-05-05 09:31:07 +02:00
Jukka Laitinen	532f370e7d	Fix implicit float to double conversions The both results of ?: should be of same type, and some compilers give error on this: " implicit conversion from 'float' to 'double' to match other result of conditional" Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-05-05 09:31:07 +02:00
Peter van der Perk	62dc926891	Add support for UCANS32K146B board revision	2021-05-04 22:13:24 -04:00
Daniel Agar	c1d3be4258	Makefile: keep git clean for submodules to resolve incomplete dependency problems	2021-05-04 21:22:56 -04:00
Daniel Agar	68a9e981b1	boards: px4_fmu-v5_optimized disable temperature_compensation to save flash	2021-05-04 21:20:32 -04:00
Daniel Agar	f5b6656a6c	cmake: set MAX_CUSTOM_OPT_LEVEL to -O3 if Release	2021-05-04 21:20:32 -04:00
Daniel Agar	3b7ce61901	px4_work_queue: increase wq:rate_ctrl stack slightly	2021-05-04 17:40:56 -04:00
Daniel Agar	3ec40a5956	collision_prevention: fix CP_GO_NO_DATA parameter type	2021-05-04 16:41:32 -04:00
Peter van der Perk	24c2967511	legacy_data_types specify branch	2021-05-04 13:23:14 -04:00
Matthias Grob	ee87257a8d	FlightModeManager: move velocity control feedback into FlightTask This was only handled outside because FlightTaks lived in the multicopter position controller which produces the data that was needed but now it doesn't make sense anymore to handle this subscription separately. It's better to have it inside the base task to have the data available on task activation sucht that e.g. Altitude mode can take over smoothly from Position mode.	2021-05-04 16:47:48 +02:00
Matthias Grob	c28533677d	MulticopterLandDetector: use setpoint generation to infer decend intent For any normal use case where a downwards velocity setpoint is set this works exactly the same as before. E.g. autonomous landing, landing in Altitude or Position mode The advantage is that the very common case where a vehicle tries to hold a constant altitude but fails to do so e.g. during a hard brake with too much lift the resulting downwards velocity was interpreted as descend intent and since the vehicle already struggled to hold altitude with low thrust and was not moving fast anymore because it was braking this lead to a lot more false positives on certain vehicle types. The disadvantage is that not setting a downwards velocity setpoint but just moving the position setpoint into the ground does not result in land detection anymore. We do not use this method of landing anymore for quite a while. It's not recommended and I wonder if there's some rare use case like offboard where this is done. We could add an additional case for the specific case to land with a position setpoint only.	2021-05-04 16:43:33 +02:00
Matthias Grob	2e292abfff	MulticopterLandDetector: Make land detection time configurable The tree stages used arbitrary 350, 250 300ms totally 900ms So this changes it to each stage to a third of the parameter. Default it is 1 second -> 333ms per stage.	2021-05-04 16:43:33 +02:00
RomanBapst	269ce07cb5	land detector: log more states in order to facilitate debugging ground contact state Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-05-04 16:43:33 +02:00
Daniel Agar	3348869ae1	Makefile: git clean properly preserve project files (.project, .cproject, etc)	2021-05-04 09:49:50 -04:00
Jari Nippula	04b7ee43bc	protocol_splitter: Sp2Header defined as union (#17511 ) Aligned with agent_protocol_splitter to make byte access easier for checksum generation Co-authored-by: Nuno Marques <n.marques21@hotmail.com>	2021-05-04 10:09:24 +02:00
Mikołaj Grzybek	4e69952ee4	arch.sh: Syntax error fix Script failed for me with following error PX4-Autopilot/Tools/setup/arch.sh: line 159: syntax error near unexpected token `else' PX4-Autopilot/Tools/setup/arch.sh: line 159: ` else' Seems like there is nothing to do in case of positive if case. Changed code should maintain logic	2021-05-04 10:06:39 +02:00
RomanBapst	cd4378b8c6	vtol: init boolean consistently Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-05-03 18:58:26 -04:00
Thomas	ab10e68a40	update Quadchute trigger from mavlink PR 1569	2021-05-03 21:44:27 +03:00
Thomas	bf9758247b	add VEHICLE_VTOL_STATE_QC and remove hardcoding	2021-05-03 21:44:27 +03:00
Thomas	d3ddbe8db5	Allow quadchute from external command	2021-05-03 21:44:27 +03:00
Peter van der Perk	ecc5154a44	Reflect dynamically allocate block pointers instead of using heap	2021-05-03 14:04:02 -04:00
David Sidrane	cd2aceb363	stm32_common:board_reset Fix reboot -b broke by canbootloader	2021-05-03 05:21:25 -07:00
Silvan Fuhrer	2c6b3eeb02	Navigator: NAV_CMD_DO_VTOL_TRANSITION: accept once in correct vtol state Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-05-03 08:40:54 +02:00
Silvan Fuhrer	5579a1d789	Navigator: remove WORK_ITEM_TYPE_CMD_BEFORE_MOVE It was used to make the vehicle needing to accept the waypoint after a VTOL transition in the new VTOL mode Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-05-03 08:40:54 +02:00
Silvan Fuhrer	3c4b0c1b8c	tiltrotor: only allow increasing tilt during first part of transition Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-05-02 21:51:09 -04:00
Jukka Laitinen	fa9fdce6e6	sensors/vehicle_gps_position: Fix raw_dt and present_dt calculation in gps_blending If the GPS data is passed from companion computer, there may be inaccuracies with timesync. This may cause time deltas to overflow. Make the time delta calculation using floats directly, wich results in negative numbers in case there are such inaccuracies. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-05-02 13:59:50 -04:00
Daniel Agar	e78a4287f9	parameters: attempt import multiple times	2021-05-02 13:48:16 -04:00
Daniel Agar	3b24abaa1b	Makefile: clean use git clean to delete all gitignore files recursively	2021-05-02 13:47:54 -04:00
Daniel Agar	feebb24106	logger: skip multi-EKF logging if CONSTRAINED_MEMORY	2021-05-02 13:47:28 -04:00
Femtomes	783a780207	drivers/gps: add femtomes gps driver protocol	2021-05-02 13:46:39 -04:00
Julian Oes	abee13df1a	mavlink: improve rx stats printf	2021-05-02 13:45:39 -04:00
Julian Oes	d96ba2d88a	mavlink: use 4s for HITL This is more inline with SITL.	2021-05-02 13:45:39 -04:00
Julian Oes	e9a1599355	mavlink: clang-tidy fix	2021-05-02 13:45:39 -04:00
Julian Oes	aa0752ad86	mavlink: fix pthread usage	2021-05-02 13:45:39 -04:00
Julian Oes	5784f1d951	mavlink: add detailed stats about rx messages	2021-05-02 13:45:39 -04:00
Julian Oes	370d9ee409	mavlink: use px4::atomic instead of volatile	2021-05-02 13:45:39 -04:00
Julian Oes	4498509426	mavlink: move thread handling into MavlinkReceiver In my opinion this makes it much cleaner and will allow mavlink main to directly call the receiver.	2021-05-02 13:45:39 -04:00
Julian Oes	71bd35fcaa	mavlink: keep track of seq for any component Instead of only keeping track of the sequence ID of specific "supported" components, we now keep track of any sysid/compid of an incoming message. Before this change, unknown components (such as jMAVSim) would completely screw up the mavlink message stats and create confusion (at least in my case). With this change we currently keep track of up to 8 other components. Once we reach the limit, we will print a warning.	2021-05-02 13:45:39 -04:00
Julian Oes	6ae23e7b7b	mavlink: fix HITL battery status publication Without these fields the pre-arm check would complain and fail. Also, the voltage is adjusted to be at around 70% rather than 30% which would almost start to trigger warnings.	2021-05-02 13:45:39 -04:00
Julian Oes	cfcc074e9d	mavlink: remove unused methods	2021-05-02 13:45:39 -04:00
Daniel Agar	b4e0a8396e	Tools/process_sensor_caldata.py - median filter sensor data - this makes it a bit easier to see what's going on now that the raw sensor data (sensor_accel, sensor_gyro) is completely unfiltered	2021-05-02 13:42:09 -04:00
Daniel Agar	5ec5a12f5e	Tools/setup: update ubuntu.sh with current NuttX dependencies	2021-05-02 13:10:47 -04:00
TSC21	18dc0e4900	update submodule micro-CDR	2021-05-02 13:05:16 -04:00
Daniel Agar	6e2343a485	Jenkins: fix new px4io/px4-dev-nuttx-focal container tag	2021-05-02 12:34:48 -04:00
SalimTerryLi	514d4fd57b	drivers/distance_sensor: GY-SR04 sonar range finder driver	2021-05-02 12:09:35 -04:00
PX4 BuildBot	32d354e5fe	Update submodule ecl to latest Sun May 2 12:39:08 UTC 2021 - ecl in PX4/Firmware (cb999f37d4891ebfbbc21b4ce9b3851888b39ad4): https://github.com/PX4/PX4-ECL/commit/5d34d7a24ef72b826c320a3259ee0ec68b1936df - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/a7b8afe420f438554ad90bcba0f1f4872325e75b - Changes: https://github.com/PX4/PX4-ECL/compare/5d34d7a24ef72b826c320a3259ee0ec68b1936df...a7b8afe420f438554ad90bcba0f1f4872325e75b `a7b8afe` 2021-04-30 Eike - Allow rangefinder fusion in vision height mode (Fix for #994) (#999) `4ac57d3` 2021-04-25 Daniel Agar - EKF: increase fault flags value size to fit current flag bits (> 16)	2021-05-02 11:47:36 -04:00
Daniel Agar	92dc1a71a6	github actions delete MAVROS avoidance tests - these aren't currently running properly on github actions, but continue to use build resources	2021-05-02 11:44:06 -04:00
Daniel Agar	165420598e	Update submodule mavlink v2.0 to latest Sat May 1 00:38:27 UTC 2021	2021-05-01 19:17:28 -04:00
PX4 BuildBot	8ef10c9b38	Update submodule public_regulated_data_types to latest Sat May 1 12:41:36 UTC 2021 - public_regulated_data_types in PX4/Firmware (bb5225ddae32f3a85f6c01fa5957f1b30cb73a14): https://github.com/UAVCAN/public_regulated_data_types/commit/309b251a7e8d713d6bf428e18e28d91d5f07b73e - public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae - Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/309b251a7e8d713d6bf428e18e28d91d5f07b73e...1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae 1337b1c 2021-04-23 Pavel Kirienko - Update the `nominal_voltage` in battery parameters (#114)	2021-05-01 19:17:02 -04:00
PX4 BuildBot	199db72d5f	Update submodule public_regulated_data_types to latest Sat May 1 12:41:39 UTC 2021 - public_regulated_data_types in PX4/Firmware (d052cf4a6963d576e0e108b6c95b6fa4fab57584): https://github.com/UAVCAN/public_regulated_data_types/commit/309b251a7e8d713d6bf428e18e28d91d5f07b73e - public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae - Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/309b251a7e8d713d6bf428e18e28d91d5f07b73e...1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae 1337b1c 2021-04-23 Pavel Kirienko - Update the `nominal_voltage` in battery parameters (#114)	2021-05-01 19:16:42 -04:00
mcsauder	4eb758edf0	Alphabetize flight_mode_manager CMakeLists.txt list, and group/format types in FlightTask.cpp/hpp.	2021-05-01 10:46:27 -04:00
Yannick Fuhrer	759a60ac82	Update rc.vtol_defaults based on our experience with VTOL it makes sense to change the yaw mode default. You always want your VTOL to yaw in transition direction before starting the transition.	2021-05-01 10:45:14 -04:00
PX4 BuildBot	dd0465070c	Update submodule jMAVSim to latest Sat May 1 12:41:22 UTC 2021 - jMAVSim in PX4/Firmware (`d2a118ee86`): https://github.com/PX4/jMAVSim/commit/358b6cca4093646eb96e0cb075e45efa8f4a0c48 - jMAVSim current upstream: https://github.com/PX4/jMAVSim/commit/2b610caab81726ab79019de0f2fa8cff5e341bd5 - Changes: https://github.com/PX4/jMAVSim/compare/358b6cca4093646eb96e0cb075e45efa8f4a0c48...2b610caab81726ab79019de0f2fa8cff5e341bd5 2b610ca 2021-04-21 Julian Oes - Merge pull request #126 from PX4/pr-forwarding 75f2aa3 2021-04-21 Julian Oes - Serial/TCP/UDP ports: mark messages as forwarded	2021-05-01 10:31:43 -04:00
Daniel Agar	186bc2bda4	Update submodule GPSDrivers to latest Sat May 1 00:38:31 UTC 2021	2021-05-01 10:31:09 -04:00
PX4 BuildBot	d2a118ee86	Update submodule sitl_gazebo to latest Sat May 1 00:38:24 UTC 2021 - sitl_gazebo in PX4/Firmware (283138e87d46e573ce101033e01a59b273430928): https://github.com/PX4/PX4-SITL_gazebo/commit/05e2cd9c03ffa77f0c0d5bd3e788d33e06480b25 - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/4c27fc7dd659c262257abeea2308e2f1c54e9029 - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/05e2cd9c03ffa77f0c0d5bd3e788d33e06480b25...4c27fc7dd659c262257abeea2308e2f1c54e9029 4c27fc7 2021-04-20 JaeyoungLim - Update mavsdk versions for firmware SITL tests (#741)	2021-04-30 21:04:25 -04:00
David Sidrane	92344b96b3	CI Update to 2021-04-29	2021-04-30 14:32:40 -04:00
Julian Oes	4f52c0b6da	mavsdk_tests: unused var and index fix	2021-04-29 21:08:33 -04:00
Julian Oes	f16913c175	mavsdk_tests: fix timeout at 1x speed	2021-04-29 21:08:33 -04:00
Julian Oes	e7fcfbf658	mavsdk_tests: use global position instead of local We are currently not testing with flow only anyway, so we might as well remove this for now.	2021-04-29 21:08:33 -04:00
Julian Oes	43fccece61	mavsdk_tests: check installed version Starting with MAVSDK 0.39.0 we can specify the version required. This way we can fail at configure time instead of later during compilation or linking.	2021-04-29 21:08:33 -04:00
Julian Oes	14e51098e5	workflows: use MAVSDK_VERSION in sitl_tests	2021-04-29 21:08:33 -04:00
Julian Oes	7384bd2675	mavsdk_tests: specify required MAVSDK version This way it can be better picked up by CI scripts.	2021-04-29 21:08:33 -04:00
Daniel Agar	64688b04d8	boards: mro pixracerpro set BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT instead of RC_SERIAL_SINGLEWIRE	2021-04-29 21:06:39 -04:00
Peter van der Perk	96bc58f0eb	CMake Bloaty add static ram usage breakout	2021-04-29 10:16:43 -04:00
TSC21	4f098a01bc	drivers: protocol_splitter: some style updates	2021-04-29 11:57:35 +02:00
Jari Nippula	9980d2a556	Utilize header struct instead of control bytes directly	2021-04-29 09:37:48 +02:00
Jari Nippula	757f1df068	Protocol_splitter: 4-byte header with checksum	2021-04-29 09:37:48 +02:00