vehicle_status: Remove duplicate failure detector status

for readability. No functional changes.

.ci/Jenkinsfile-compile

@@ -61,18 +61,20 @@ pipeline {
                      "holybro_kakutef7_default",
                      "holybro_kakuteh7_default",
                      "holybro_pix32v5_default",
-                     "matek_h743-slim",
                      "matek_gnss-m9n-f4_canbootloader",
                      "matek_gnss-m9n-f4_default",
+                     "matek_h743-mini_default",
+                     "matek_h743-slim_default",
+                     "matek_h743_default",
                      "modalai_fc-v1_default",
                      "modalai_fc-v1_rtps",
                      "modalai_fc-v2_default",
                      "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
-                     "mro_ctrl-zero-h7_default",
-                     "mro_ctrl-zero-h7_rtps",
                      "mro_ctrl-zero-h7-oem_default",
                      "mro_ctrl-zero-h7-oem_rtps",
+                     "mro_ctrl-zero-h7_default",
+                     "mro_ctrl-zero-h7_rtps",
                      "mro_pixracerpro_default",
                      "mro_pixracerpro_rtps",
                      "mro_x21-777_default",
@@ -87,25 +89,27 @@ pipeline {
                      "nxp_ucans32k146_canbootloader",
                      "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",
-                     "raspberrypi_pico_default",
                      "px4_fmu-v2_default",
                      "px4_fmu-v2_fixedwing",
+                     "px4_fmu-v2_lto",
                      "px4_fmu-v2_multicopter",
                      "px4_fmu-v2_rover",
                      "px4_fmu-v3_default",
                      "px4_fmu-v4_default",
                      "px4_fmu-v4pro_default",
+                     "px4_fmu-v5_cyphal",
                      "px4_fmu-v5_debug",
                      "px4_fmu-v5_default",
+                     "px4_fmu-v5_lto",
                      "px4_fmu-v5_rtps",
                      "px4_fmu-v5_stackcheck",
                      "px4_fmu-v5_uavcanv0periph",
-                     "px4_fmu-v5_uavcanv1",
                      "px4_fmu-v5x_default",
                      "px4_fmu-v6c_default",
                      "px4_fmu-v6u_default",
                      "px4_fmu-v6x_default",
                      "px4_io-v2_default",
+                     "raspberrypi_pico_default",
                      "sky-drones_smartap-airlink_default",
                      "spracing_h7extreme_default",
                      "uvify_core_default"

.ci/Jenkinsfile-hardware

@@ -794,7 +794,7 @@ void resetParameters() {
 void runTests() {
 
   // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'
 
   resetParameters()
 
@@ -809,6 +809,9 @@ void runTests() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
 
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
+
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
@@ -864,12 +867,15 @@ void printTopics() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'

.github/ISSUE_TEMPLATE/1_Bug_report.md

@@ -1,32 +1,34 @@
 ---
-name: Bug report
+name: 🐛 Bug report
 about: Create a report to help us improve
+labels: bug-report
 
 ---
 
-**Describe the bug**
+## Describe the bug
 A clear and concise description of the bug.
 
-**To Reproduce**
+## To Reproduce
 Steps to reproduce the behavior:
 1. Drone switched on '...'
 2. Uploaded mission '....' (attach QGC mission file)
 3. Took off '....'
 4. See error
 
-**Expected behavior**
+## Expected behavior
 A clear and concise description of what you expected to happen.
 
-**Log Files and Screenshots**
+## Log Files and Screenshots
 *Always* provide a link to the flight log file:
 - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
-- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
+- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+- Share the link to the log (Copy and paste the URL of the log)
 
 Add screenshots to help explain your problem.
 
-**Drone (please complete the following information):**
+## Drone (please complete the following information):
 - Describe the type of drone.
 - Photo of the IMU / autopilot setup if possible.
 
-**Additional context**
+## Additional context
 Add any other context about the problem here.

.github/ISSUE_TEMPLATE/2_Feature_request.md

@@ -1,19 +1,20 @@
 ---
 name: 🚀 Feature Request
 about: Suggest an idea for this project
+labels: feature-request
 
 ---
 
 For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
 
-**Describe problem solved by the proposed feature**
+## Describe problem solved by the proposed feature
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
 
-**Describe your preferred solution**
+## Describe your preferred solution
 A clear and concise description of what you want to happen.
 
-**Describe possible alternatives**
+## Describe possible alternatives
 A clear and concise description of alternative solutions or features you've considered.
 
-**Additional context**
+## Additional context
 Add any other context or screenshots for the feature request here.

.github/ISSUE_TEMPLATE/3_Support_question.md

@@ -1,10 +1,13 @@
 ---
 name: ⛔ Support Question
-about: See [PX4 Discuss](http://discuss.px4.io/) for questions about using PX4.
+about: See http://discuss.px4.io/ for questions about using PX4.
 
 ---
 
-We use GitHub issues only to discuss PX4 bugs and new features. For
-questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).
+## Attention! Please read the note below
+
+We use GitHub issues only to discuss PX4 bugs and new features.
+
+**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
 
 Thanks!

.github/ISSUE_TEMPLATE/4_Documentation_issue.md

@@ -1,9 +1,11 @@
 ---
 name: ⛔ Documentation Issue
-about: See https://github.com/PX4/Devguide for documentation issues
+about: See https://github.com/PX4/px4_user_guide for documentation issues
 
 ---
 
-PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).
+## Attention! Please read the note below
+
+**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
 
 Thanks!

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,17 +1,17 @@
 Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
 
-**Describe problem solved by this pull request**
-A clear and concise description of the problem this proposed change will solve.
+## Describe problem solved by this pull request
+A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
 E.g. For this use case I ran into...
 
-**Describe your solution**
+## Describe your solution
 A clear and concise description of what you have implemented.
 
-**Describe possible alternatives**
+## Describe possible alternatives
 A clear and concise description of alternative solutions or features you've considered.
 
-**Test data / coverage**
+## Test data / coverage
 How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
 
-**Additional context**
+## Additional context
 Add any other related context or media.

.github/workflows/compile_nuttx.yml

@@ -21,7 +21,6 @@ jobs:
           ark_can-gps,
           ark_can-rtk-gps,
           ark_cannode,
-          ark_fmu-v6x,
           atl_mantis-edu,
           av_x-v1,
           bitcraze_crazyflie,
@@ -38,8 +37,10 @@ jobs:
           holybro_kakutef7,
           holybro_kakuteh7,
           holybro_pix32v5,
-          matek_h743-slim,
           matek_gnss-m9n-f4,
+          matek_h743,
+          matek_h743-mini,
+          matek_h743-slim,
           modalai_fc-v1,
           modalai_fc-v2,
           mro_ctrl-zero-f7,
@@ -54,7 +55,6 @@ jobs:
           nxp_fmurt1062-v1,
           nxp_ucans32k146,
           omnibus_f4sd,
-          raspberrypi_pico,
           px4_fmu-v2,
           px4_fmu-v3,
           px4_fmu-v4,
@@ -64,6 +64,7 @@ jobs:
           px4_fmu-v6c,
           px4_fmu-v6u,
           px4_fmu-v6x,
+          raspberrypi_pico,
           sky-drones_smartap-airlink,
           spracing_h7extreme,
           uvify_core

.gitmodules

@@ -36,14 +36,14 @@
 [submodule "Tools/jsbsim_bridge"]
 	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/drivers/uavcan_v1/libcanard"]
-	path = src/drivers/uavcan_v1/libcanard
-	url = https://github.com/UAVCAN/libcanard.git
-[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
-	path = src/drivers/uavcan_v1/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types.git
-[submodule "src/drivers/uavcan_v1/legacy_data_types"]
-	path = src/drivers/uavcan_v1/legacy_data_types
+[submodule "src/drivers/cyphal/libcanard"]
+	path = src/drivers/cyphal/libcanard
+	url = https://github.com/opencyphal/libcanard.git
+[submodule "src/drivers/cyphal/public_regulated_data_types"]
+	path = src/drivers/cyphal/public_regulated_data_types
+	url = https://github.com/opencyphal/public_regulated_data_types.git
+[submodule "src/drivers/cyphal/legacy_data_types"]
+	path = src/drivers/cyphal/legacy_data_types
 	url = https://github.com/PX4/public_regulated_data_types.git
 	branch = legacy
 [submodule "src/lib/crypto/monocypher"]

.vscode/cmake-variants.yaml

@@ -131,16 +131,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_cannode_canbootloader
-    ark_fmu-v6x_bootloader:
-      short: ark_fmu-v6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fmu-v6x_bootloader
-    ark_fmu-v6x_default:
-      short: ark_fmu-v6x_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fmu-v6x_default
     atl_mantis-edu_default:
       short: atl_mantis-edu
       buildType: MinSizeRel

.vscode/settings.json

@@ -126,8 +126,6 @@
         },
         "search.showLineNumbers": true,
         "telemetry.enableTelemetry": false,
-        "terminal.integrated.copyOnSelection": true,
-        "terminal.integrated.rightClickBehavior": "paste",
         "terminal.integrated.scrollback": 5000,
         "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
         "workbench.editor.highlightModifiedTabs": true,

CMakeLists.txt

@@ -99,7 +99,7 @@
 #
 #=============================================================================
 
-cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
 
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
@@ -234,6 +234,14 @@ message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 #
 project(px4 CXX C ASM)
 
+# Check if LTO option and check if toolchain supports it
+if(LTO)
+    include(CheckIPOSupported)
+    check_ipo_supported()
+    message(AUTHOR_WARNING "LTO enabled: LTO is highly experimental and should not be used in production")
+    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
+endif()
+
 set(package-contact "px4users@googlegroups.com")
 
 set(CMAKE_CXX_STANDARD 14)

Kconfig

@@ -51,6 +51,13 @@ menu "Toolchain"
         string "Architecture"
         default ""
 
+    config BOARD_LTO
+        bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
+        default n
+        help
+            Enables LTO flag in linker
+            Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later
+
     config BOARD_FULL_OPTIMIZATION
         bool "Full optmization (O3)"
         default n

Makefile

@@ -331,7 +331,7 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status
 
-bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status
 
 .PHONY: coverity_scan

README.md

@@ -6,38 +6,38 @@
 
 [![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)
 
-This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
 PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
 
 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
-* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
-  * [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
-  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
-  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
-  * [Rover](https://docs.px4.io/master/en/frames_rover/)
+* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
+  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/main/en/frames_rover/)
   * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
 
 ## Building a PX4 based drone, rover, boat or robot
 
-The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
-See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
+The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
+See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
 
 
 ## Changing code and contributing
 
-This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
+This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
-Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
-See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
+Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
+See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
 
 
 ### Weekly Dev Call
 
-The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/contribute/#dev_call).
+The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
 
 > **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
 
@@ -88,34 +88,34 @@ This repository contains code supporting Pixhawk standard boards (best supported
   * FMUv6X and FMUv6U (STM32H7, 2021)
     * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
   * FMUv5 and FMUv5X (STM32F7, 2019/20)
-    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
-    * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
-    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
-    * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/skynode)
   * FMUv4 (STM32F4, 2015)
-    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
+    * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
   * FMUv3 (STM32F4, 2014)
-    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
-    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
-    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
+    * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
+    * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
+    * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
   * FMUv2 (STM32F4, 2013)
-    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
-    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
+    * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/main/en/flight_controller/pixfalcon.html)
 
 ### Manufacturer and Community supported
-  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
-  * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
-  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
+  * [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
   * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
-  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
-  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
-  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
+  * [Omnibus F4 SD](https://docs.px4.io/main/en/flight_controller/omnibus_f4_sd.html)
+  * [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
 
-Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
 
 ## Project Roadmap
 

ROMFS/CMakeLists.txt

@@ -112,23 +112,17 @@ add_custom_command(
 		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
 		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 	)
-set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
-add_custom_command(
-	OUTPUT ${romfs_extract_stamp}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
-	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
-	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
-	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
-	VERBATIM
-	)
 
+
+set(romfs_copy_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_copy.stamp)
 add_custom_command(
 	OUTPUT
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
-		romfs_copy.stamp
+		${romfs_copy_stamp}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
+	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -137,9 +131,9 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
-	DEPENDS
-		${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
+	WORKING_DIRECTORY ${romfs_gen_root_dir}
+	DEPENDS ${romfs_tar_file}
 	COMMENT "ROMFS: copying, generating airframes"
 	)
 
@@ -311,7 +305,7 @@ add_custom_command(OUTPUT romfs_extras.stamp
 
 add_custom_target(romfs_gen_files_target
 	DEPENDS
-		${romfs_extract_stamp}
+		${romfs_copy_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
 		romfs_extras.stamp
 	)

ROMFS/cannode/init.d/rcS

@@ -86,10 +86,28 @@ unset BOARD_RC_SENSORS
 . ${R}etc/init.d/rc.serial
 
 # Check for flow sensor
-if param compare SENS_EN_PX4FLOW 1
+if param compare -s SENS_EN_PX4FLOW 1
 then
 	px4flow start -X &
 fi
 
+if param compare -s IMU_GYRO_CAL_EN 1
+then
+	gyro_calibration start
+fi
+
+
+if param compare -s MBE_ENABLE 1
+then
+	# conservative mag bias estimation
+	param set-default MBE_LEARN_GAIN 5
+	param set-default IMU_GYRO_CUTOFF 20
+	mag_bias_estimator start
+fi
+
+param set-default SENS_MAG_RATE 100
+
+sensors start
+
 uavcannode start
 unset R

ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter

@@ -0,0 +1,101 @@
+#!/bin/sh
+#
+# @name 6DoF Omnicopter SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Jaeyoung Lim <jalim@ethz.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 255
+
+param set-default CA_ROTOR0_PX 0.14435
+param set-default CA_ROTOR0_PY -0.14435
+param set-default CA_ROTOR0_PZ -0.14435
+param set-default CA_ROTOR0_KM 0.05 # CCW
+param set-default CA_ROTOR0_AX -0.788675
+param set-default CA_ROTOR0_AY -0.211325
+param set-default CA_ROTOR0_AZ -0.57735
+
+param set-default CA_ROTOR1_PX -0.14435
+param set-default CA_ROTOR1_PY -0.14435
+param set-default CA_ROTOR1_PZ -0.14435
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR1_AX 0.211325
+param set-default CA_ROTOR1_AY -0.788675
+param set-default CA_ROTOR1_AZ 0.57735
+
+param set-default CA_ROTOR2_PX 0.14435
+param set-default CA_ROTOR2_PY 0.14435
+param set-default CA_ROTOR2_PZ -0.14435
+param set-default CA_ROTOR2_KM 0.05
+param set-default CA_ROTOR2_AX -0.211325
+param set-default CA_ROTOR2_AY 0.788675
+param set-default CA_ROTOR2_AZ 0.57735
+
+param set-default CA_ROTOR3_PX -0.14435
+param set-default CA_ROTOR3_PY 0.14435
+param set-default CA_ROTOR3_PZ -0.14435
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR3_AX 0.788675
+param set-default CA_ROTOR3_AY 0.211325
+param set-default CA_ROTOR3_AZ -0.57735
+
+param set-default CA_ROTOR4_PX 0.14435
+param set-default CA_ROTOR4_PY -0.14435
+param set-default CA_ROTOR4_PZ 0.14435
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR4_AX 0.788675
+param set-default CA_ROTOR4_AY 0.211325
+param set-default CA_ROTOR4_AZ -0.57735
+
+param set-default CA_ROTOR5_PX -0.14435
+param set-default CA_ROTOR5_PY -0.14435
+param set-default CA_ROTOR5_PZ 0.14435
+param set-default CA_ROTOR5_KM 0.05
+param set-default CA_ROTOR5_AX -0.211325
+param set-default CA_ROTOR5_AY 0.788675
+param set-default CA_ROTOR5_AZ 0.57735
+
+param set-default CA_ROTOR6_PX 0.14435
+param set-default CA_ROTOR6_PY 0.14435
+param set-default CA_ROTOR6_PZ 0.14435
+param set-default CA_ROTOR6_KM 0.05
+param set-default CA_ROTOR6_AX 0.211325
+param set-default CA_ROTOR6_AY -0.788675
+param set-default CA_ROTOR6_AZ 0.57735
+
+param set-default CA_ROTOR7_PX -0.14435
+param set-default CA_ROTOR7_PY 0.14435
+param set-default CA_ROTOR7_PZ 0.14435
+param set-default CA_ROTOR7_KM 0.05
+param set-default CA_ROTOR7_AX -0.788675
+param set-default CA_ROTOR7_AY -0.211325
+param set-default CA_ROTOR7_AZ -0.57735
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+param set-default PWM_MAIN_FUNC7 107
+param set-default PWM_MAIN_FUNC8 108
+
+# disable MC desaturation which improves attitude tracking
+param set-default CA_METHOD 0
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+set MIXER skip
+set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/10040_quadx

@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name QuadrotorX SITL for SIH
+#
+# @type Quadrotor
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set SIH_VEHICLE_TYPE 0

ROMFS/px4fmu_common/init.d-posix/airframes/10041_airplane

@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name Plane SITL for SIH
+#
+# @type Plane
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+
+. ${R}etc/init.d/rc.fw_defaults
+
+set MIXER AERT
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default BAT_N_CELLS 3
+
+param set SIH_T_MAX 6.0
+param set SIH_MASS 0.3
+param set SIH_IXX 0.00402
+param set SIH_IYY 0.0144
+param set SIH_IZZ 0.0177
+param set SIH_IXZ 0.00046
+param set SIH_KDV 0.2
+
+param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
+param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)

ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert

@@ -0,0 +1,45 @@
+#!/bin/sh
+#
+# @name SIH Tailsitter Duo
+#
+# @type VTOL
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 0
+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.3
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default MAV_TYPE 19
+set MAV_TYPE 19
+set MIXER vtol_tailsitter_duo_sat
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default BAT_N_CELLS 3
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0.0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.145
+
+# sih as tailsitter
+param set SIH_VEHICLE_TYPE 2

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

@@ -18,3 +18,7 @@ param set-default LPE_FAKE_ORIGIN 1
 
 param set-default MPC_ALT_MODE 2
 
+param set-default SENS_FLOW_ROT 6
+param set-default SENS_FLOW_MINHGT 0.7
+param set-default SENS_FLOW_MAXHGT 3.0
+param set-default SENS_FLOW_MAXR 2.5

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

@@ -9,7 +9,6 @@
 
 # EKF2
 param set-default EKF2_AID_MASK 2
-param set-default SENS_FLOW_ROT 0
 
 # LPE: Flow-only mode
 param set-default LPE_FUSION 242

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

@@ -25,9 +25,11 @@ param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
 
+param set-default FW_SPOILERS_LND 0.4
+
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25
 
 param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -27,7 +27,7 @@ param set-default FW_RR_P 0.3
 
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25
 
 param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8

ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider

@@ -5,5 +5,5 @@
 
 . ${R}etc/init.d-posix/airframes/1030_plane
 
-param set-default FW_THR_CRUISE 0.0
+param set-default FW_THR_TRIM 0.0
 param set-default RWTO_TKOFF 0

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

@@ -7,6 +7,11 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+# TODO: Enable motor failure detection when the
+# VTOL no longer reports 0A for all ESCs in SITL
+param set-default FD_ACT_EN 0
+param set-default FD_ACT_MOT_TOUT 500
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2
 
@@ -52,7 +57,7 @@ param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_CLMB_MAX 8

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

@@ -51,7 +51,7 @@ param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_P 0.2
-param set-default FW_THR_CRUISE 0.33
+param set-default FW_THR_TRIM 0.33
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_ALT_TC 2

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

@@ -9,7 +9,7 @@
 
 param set-default MAV_TYPE 21
 
-# param set-default SYS_CTRL_ALLOC 1
+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3
 
 param set-default CA_ROTOR_COUNT 4
@@ -64,7 +64,7 @@ param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.38
+param set-default FW_THR_TRIM 0.38
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_CLMB_MAX 8

ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop

@@ -16,7 +16,7 @@ param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_ALT_TC 2

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

@@ -41,7 +41,7 @@ param set-default FW_R_LIM 30
 param set-default FW_MAN_P_MAX 30.0
 param set-default FW_MAN_R_MAX 30.0
 
-param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc.post

@@ -1,6 +1,4 @@
 
-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-
 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
 
 # shellcheck disable=SC2154

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

@@ -35,8 +35,12 @@ px4_add_romfs_files(
 	10016_iris
 	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
+	10019_omnicopter
 	10020_if750a
 	10030_px4vision
+	10040_quadx
+	10041_airplane
+	10042_xvert
 	1010_iris_opt_flow
 	1010_iris_opt_flow.post
 	1011_iris_irlock

ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink

@@ -30,3 +30,12 @@ mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $ud
 
 # Onboard link to gimbal
 mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
+
+# To display for SIH sitl
+if [ "$SIM_MODE" = "sihsim" ]; then
+	udp_sihsim_port_local=$((19450+px4_instance))
+	udp_sihsim_port_remote=$((19410+px4_instance))
+	mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote
+	mavlink stream -r 200 -s HIL_ACTUATOR_CONTROLS -u  $udp_sihsim_port_local
+	mavlink stream -r 25 -s HIL_STATE_QUATERNION -u  $udp_sihsim_port_local
+fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -95,10 +95,9 @@ fi
 
 if param compare SYS_AUTOCONFIG 1
 then
+	# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
+	param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	set AUTOCNF yes
-
-	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 fi
 
 # multi-instance setup
@@ -155,6 +154,8 @@ param set-default SDLOG_DIRS_MAX 7
 
 param set-default TRIG_INTERFACE 3
 
+param set-default SYS_FAILURE_EN 1
+
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
@@ -196,14 +197,6 @@ fi
 
 . "$autostart_file"
 
-#
-# If autoconfig parameter was set, reset it and save parameters.
-#
-if [ $AUTOCNF = yes ]
-then
-	param set SYS_AUTOCONFIG 0
-fi
-
 # Simulator IMU data provided at 250 Hz
 param set IMU_INTEG_RATE 250
 
@@ -211,8 +204,11 @@ param set IMU_INTEG_RATE 250
 . px4-rc.params
 
 dataman start
+# start sih in sih_sim mode, otherwise simulator module
+if [ "$SIM_MODE" = "sihsim" ]; then
+	sih start
 # only start the simulator if not in replay mode, as both control the lockstep time
-if ! replay tryapplyparams
+elif ! replay tryapplyparams
 then
   . px4-rc.simulator
 fi

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

@@ -1,40 +0,0 @@
-#!/bin/sh
-#
-# @name Steadidrone QU4D
-#
-# @type Quadrotor Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_N_CELLS 4
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.13
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.19
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 4
-
-set MIXER quad_w

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

@@ -1,48 +0,0 @@
-#!/bin/sh
-#
-# @name Steadidrone MAVRIK
-#
-# @type Octo Coax Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 motor 5
-# @output MAIN6 motor 6
-# @output MAIN7 motor 7
-# @output MAIN8 motor 8
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default MC_PITCH_P 4
-param set-default MC_PITCHRATE_P 0.24
-param set-default MC_PITCHRATE_I 0.09
-param set-default MC_PITCHRATE_D 0.013
-param set-default MC_PITCHRATE_MAX 180
-
-param set-default MC_ROLL_P 4
-param set-default MC_ROLLRATE_P 0.16
-param set-default MC_ROLLRATE_I 0.07
-param set-default MC_ROLLRATE_D 0.009
-param set-default MC_ROLLRATE_MAX 180
-
-param set-default MC_YAW_P 3
-
-param set-default MPC_HOLD_MAX_XY 0.25
-param set-default MPC_THR_MIN 0.15
-param set-default MPC_Z_VEL_MAX_DN 2
-
-param set-default BAT1_N_CELLS 4
-
-set MIXER octo_cox_w
-
-set PWM_OUT 12345678

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

@@ -43,7 +43,7 @@ param set-default MPC_YAWRAUTO_MAX 40
 param set-default FW_PR_I 0.02
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_I 0.01
-param set-default FW_THR_CRUISE 0.75
+param set-default FW_THR_TRIM 0.75
 
 param set-default VT_ARSP_BLEND 6
 param set-default VT_ARSP_TRANS 12

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

@@ -14,7 +14,7 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 
-param set-default FW_THR_CRUISE 65
+param set-default FW_THR_TRIM 65
 param set-default FW_RR_FF 0.6
 
 param set-default MIS_YAW_TMT 10

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

@@ -1,37 +0,0 @@
-#!/bin/sh
-#
-# @name CruiseAder Claire
-#
-# @type VTOL Tiltrotor
-# @class VTOL
-#
-# @maintainer Samay Siga <samay_s@icloud.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 21
-
-param set-default PWM_AUX_DISARM 1000
-param set-default PWM_AUX_MAX 2000
-param set-default PWM_AUX_MIN 1000
-param set-default PWM_AUX_RATE 50
-
-param set-default PWM_MAIN_MAX 2000
-
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 13
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TILT_FW 0.9
-param set-default VT_TILT_MC 0.08
-param set-default VT_TILT_TRANS 0.5
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 1
-
-set MIXER claire
-set MIXER_AUX claire
-
-set PWM_OUT 1234

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

@@ -69,4 +69,9 @@ param set-default VT_TYPE 1
 
 set MIXER vtol_convergence
 
-set PWM_OUT 1234
+if ! ver hwcmp MATEK_H743
+then
+	set PWM_OUT 1234
+else
+	set PWM_OUT 3456
+fi	

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

@@ -53,7 +53,7 @@ param set-default FW_T_CLMB_MAX 3
 param set-default FW_T_SINK_MAX 3
 param set-default FW_T_SINK_MIN 1
 param set-default FW_T_VERT_ACC 6
-param set-default FW_THR_CRUISE 0.70
+param set-default FW_THR_TRIM 0.70
 param set-default FW_THR_SLEW_MAX 1
 param set-default FW_MAN_P_MAX 30
 param set-default FW_P_LIM_MAX 15
@@ -131,7 +131,6 @@ param set-default VT_F_TRANS_DUR 1
 param set-default VT_IDLE_PWM_MC 1025
 param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
-param set-default VT_FW_PERM_STAB 1
 param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4
 

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

@@ -39,7 +39,7 @@ param set-default FW_RLL_TO_YAW_FF 0.1
 param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 45
 param set-default FW_R_RMAX 50
-param set-default FW_THR_CRUISE 0.65
+param set-default FW_THR_TRIM 0.65
 param set-default FW_THR_MIN 0.3
 param set-default FW_THR_SLEW_MAX 0.6
 param set-default FW_T_HRATE_FF 0
@@ -62,7 +62,7 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
-param set-default MPC_SPOOLUP_TIME 1.5
+param set-default COM_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8

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

@@ -37,7 +37,7 @@ param set-default SENS_BOARD_ROT 8
 param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_TRIM 0.8
 
 param set-default FW_MAN_P_MAX 25
 param set-default FW_MAN_R_MAX 25

ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2

@@ -32,7 +32,7 @@ param set-default SENS_BOARD_ROT 4
 param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_TRIM 0.8
 
 param set-default FW_MAN_P_MAX 25
 param set-default FW_MAN_R_MAX 25

ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer

@@ -1,45 +0,0 @@
-#!/bin/sh
-#
-# @name IO Camflyer
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_P 0.04
-
-param set-default PWM_MAIN_DISARM 1000
-
-
-set MIXER fw_generic_wing
-
-# Provide ESC a constant 1000 us pulse while disarmed
-set PWM_OUT 4

ROMFS/px4fmu_common/init.d/airframes/3034_fx79

@@ -1,29 +0,0 @@
-#!/bin/sh
-#
-# @name FX-79 Buffalo Flying Wing
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 right aileron
-# @output MAIN2 left aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MAX 30
-param set-default FW_AIRSPD_MIN 13
-
-param set-default NAV_LOITER_RAD 150
-
-set MIXER fw_generic_wing

ROMFS/px4fmu_common/init.d/airframes/3035_viper

@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name Viper
-#
-# @type Flying Wing
-# @class Plane
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-set MIXER Viper

ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod

@@ -1,53 +0,0 @@
-#!/bin/sh
-#
-# @name Modified Parrot Disco
-#
-# @url
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Jan Liphardt <JTLiphardt@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-####################################
-# Airspeed
-####################################
-param set-default FW_AIRSPD_MAX  27 # = 52 knots
-
-####################################
-# Pitch
-####################################
-
-# Pitch rate feed forward (def = 0.5 %/rad/sec)
-param set-default FW_PR_FF 0.35
-
-####################################
-# Roll
-####################################
-
-# Basic limits (def = 50 deg)
-param set-default FW_R_LIM 40
-
-# Roll rate upper limit (def = 70 deg/s)
-param set-default FW_R_RMAX 50
-
-param set-default PWM_MAIN_DISARM 1000
-
-set MIXER fw_generic_wing.main.mix
-
-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4

ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha

@@ -40,7 +40,7 @@ param set-default FW_RR_P 0.013
 param set-default FW_P_RMAX_NEG 70
 param set-default FW_P_RMAX_POS 70
 param set-default FW_R_RMAX 70
-param set-default FW_THR_CRUISE 0.55
+param set-default FW_THR_TRIM 0.55
 
 param set-default LNDFW_AIRSPD_MAX 6
 param set-default LNDFW_XYACC_MAX 4

ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330

@@ -1,21 +0,0 @@
-#!/bin/sh
-#
-# @name DJI F330 w/ DJI ESCs
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_I 0.05
-
-
-# DJI ESCs do not support calibration and need a higher min
-param set-default PWM_MAIN_MIN 1230

ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450

@@ -1,20 +0,0 @@
-#!/bin/sh
-#
-# @name DJI F450 w/ DJI ESCs
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_YAWRATE_P 0.3
-
-# DJI ESCs do not support calibration and need a higher min
-param set-default PWM_MAIN_MIN 1230

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name PX4 Vision Dev Kit v1
+# @name PX4 Vision DevKit Platform
 #
 # @type Quadrotor x
 # @class Copter
@@ -104,7 +104,6 @@ param set-default SDLOG_PROFILE 131
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25
 param set-default SENS_FLOW_MINHGT 0.5
-param set-default SENS_FLOW_ROT 0
 param set-default IMU_GYRO_CUTOFF 100
 param set-default SENS_EN_PMW3901 1
 

ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5

@@ -1,134 +0,0 @@
-#!/bin/sh
-#
-# @name PX4 Vision Dev Kit v1.5
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-# System parameters
-# use FMU motor outputs for less delay in the rate control loop
-param set-default SYS_USE_IO 0
-
-# Commander Parameters
-param set-default COM_OBS_AVOID 1
-param set-default COM_DISARM_LAND 0.5
-
-# EKF2 parameters
-param set-default EKF2_AID_MASK 35
-param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
-param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_POS_X 0.055
-param set-default EKF2_OF_POS_Y 0.02
-param set-default EKF2_OF_POS_Z 0.065
-param set-default EKF2_REQ_HDRIFT 0.3
-param set-default EKF2_REQ_SACC 1
-param set-default EKF2_REQ_VDRIFT 0.3
-param set-default EKF2_RNG_A_HMAX 8
-param set-default EKF2_RNG_A_VMAX 2
-param set-default EKF2_RNG_POS_X 0.055
-param set-default EKF2_RNG_POS_Y -0.01
-param set-default EKF2_RNG_POS_Z 0.065
-param set-default EKF2_PCOEF_XP -0.25
-param set-default EKF2_PCOEF_YN -0.55
-param set-default EKF2_PCOEF_YP -0.55
-
-# MAVLink parameters
-param set-default MAV_0_CONFIG 101
-param set-default MAV_1_CONFIG 102
-param set-default MAV_1_RATE 80000
-param set-default MAV_1_MODE 9
-param set-default SER_TEL1_BAUD 921600
-
-# Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
-param set-default MC_ACRO_P_MAX 200
-param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
-param set-default MC_ACRO_Y_MAX 150
-param set-default MC_PITCHRATE_D 0.0015
-param set-default MC_ROLLRATE_D 0.0015
-param set-default MC_YAWRATE_P 0.3
-
-# Position Control Tuning
-param set-default CP_DIST 6
-param set-default MPC_ACC_DOWN_MAX 5
-param set-default MPC_ACC_HOR_MAX 10
-param set-default MPC_ACC_UP_MAX 4
-param set-default MPC_MANTHR_MIN 0
-param set-default MPC_MAN_Y_MAX 120
-param set-default MPC_TILTMAX_AIR 45
-param set-default MPC_THR_HOVER 0.3
-param set-default MPC_TKO_SPEED 1
-param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_CRUISE 5
-param set-default MPC_XY_VEL_MAX 5
-param set-default MPC_XY_VEL_P_ACC 1.58
-param set-default MPC_XY_TRAJ_P 0.3
-param set-default MPC_Z_TRAJ_P 0.3
-param set-default MPC_Z_VEL_P_ACC 5
-param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_LAND_ALT1 3
-param set-default MPC_LAND_ALT2 1
-param set-default MPC_POS_MODE 3
-param set-default CP_GO_NO_DATA 1
-
-# Navigator Parameters
-param set-default NAV_ACC_RAD 2
-
-# use oneshot motor output protocol
-param set-default PWM_MAIN_RATE 0
-
-# RTL Parameters
-param set-default RTL_DESCEND_ALT 5
-param set-default RTL_RETURN_ALT 5
-
-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
-# Sensors Parameters
-param set-default SENS_CM8JL65_CFG 202
-param set-default SENS_FLOW_MAXHGT 25
-param set-default SENS_FLOW_MINHGT 0.5
-param set-default IMU_GYRO_CUTOFF 100
-param set-default SENS_TFLOW_CFG 103
-
-# Power Parameters
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_A_PER_V 36.364
-param set-default BAT1_V_DIV 18.182
-
-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default THR_MDL_FAC 0.3
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-# Outputs
-param set-default PWM_AUX_FUNC1 101
-param set-default PWM_AUX_FUNC2 102
-param set-default PWM_AUX_FUNC3 103
-param set-default PWM_AUX_FUNC4 104
-

ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100

@@ -1,27 +0,0 @@
-#!/bin/sh
-#
-# @name DJI Matrice 100
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer James Goppert <james.goppert@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_N_CELLS 6
-
-param set-default MC_ROLLRATE_P 0.05
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.001
-param set-default MC_PITCHRATE_P 0.05
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.001
-
-param set-default MC_YAWRATE_I 0
-
-param set-default PWM_MAIN_MIN 1200

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -47,6 +47,7 @@ param set-default COM_RC_LOSS_T 3
 
 # ekf2
 param set-default EKF2_AID_MASK 33
+param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0
 
@@ -173,7 +174,7 @@ param set-default RC1_TRIM          1000
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT    0
+param set-default SENS_FLOW_ROT 0
 
 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"

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

@@ -52,28 +52,21 @@ px4_add_romfs_files(
 
 	# [3000, 3999] Flying wing"
 	3000_generic_wing
-	3030_io_camflyer
 	3031_phantom
 	3032_skywalker_x5
 	3033_wingwing
-	3034_fx79
-	3035_viper
 	3036_pigeon
-	3037_parrot_disco_mod
 	3100_tbs_caipirinha
 
 	# [4000, 4999] Quadrotor x"
 	4001_quad_x
 	4003_qavr5
 	4009_qav250
-	4010_dji_f330
-	4011_dji_f450
 	4014_s500
 	4015_holybro_s500
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4019_x500_v2
-	4020_holybro_px4vision_v1_5
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper
@@ -82,7 +75,6 @@ px4_add_romfs_files(
 	4051_s250aq
 	4052_holybro_qav250
 	4053_holybro_kopis2
-	4060_dji_matrice_100
 	4061_atl_mantis_edu
 	4071_ifo
 	4072_draco
@@ -113,7 +105,6 @@ px4_add_romfs_files(
 	# [10000, 10999] Quadrotor Wide arm / H frame"
 	10015_tbs_discovery
 	10016_3dr_iris
-	10017_steadidrone_qu4d
 	10018_tbs_endurance
 
 	# [11000, 11999] Hexa Cox
@@ -121,7 +112,6 @@ px4_add_romfs_files(
 
 	# [12000, 12999] Octo Cox
 	12001_octo_cox
-	12002_steadidrone_mavrik
 
 	# [13000, 13999] VTOL
 	13000_generic_vtol_standard
@@ -134,7 +124,6 @@ px4_add_romfs_files(
 	13007_vtol_AAVVT_quad
 	13008_QuadRanger
 	13009_vtol_spt_ranger
-	13010_claire
 	13012_convergence
 	13013_deltaquad
 	13014_vtol_babyshark

ROMFS/px4fmu_common/init.d/rcS

@@ -21,7 +21,6 @@ set +e
 # it wastes flash
 #
 set R /
-set AUTOCNF no
 set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
 set FRC /fs/microsd/etc/rc.txt
@@ -177,13 +176,12 @@ else
 	fi
 
 	#
-	# Set AUTOCNF flag to use it in AUTOSTART scripts.
+	# If the airframe has been previously reset SYS_AUTCONFIG will have been set to 1 and other params will be reset on the next boot.
 	#
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
-		param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
-		set AUTOCNF yes
+		# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
+		param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	fi
 
 	#
@@ -208,6 +206,26 @@ else
 	fi
 	unset BOARD_RC_DEFAULTS
 
+	#
+	# Set parameters and env variables for selected SYS_AUTOSTART.
+	#
+	set AUTOSTART_PATH etc/init.d/rc.autostart
+	if ! param compare SYS_AUTOSTART 0
+	then
+		if param greater SYS_AUTOSTART 1000000
+		then
+			# Use external startup file
+			if [ $SDCARD_AVAILABLE = yes ]
+			then
+				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
+			else
+				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
+			fi
+		fi
+		. ${R}$AUTOSTART_PATH
+	fi
+	unset AUTOSTART_PATH
+
 	#
 	# Start the tone_alarm driver.
 	# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
@@ -245,26 +263,6 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q
 
-	#
-	# Set parameters and env variables for selected AUTOSTART.
-	#
-	set AUTOSTART_PATH etc/init.d/rc.autostart
-	if ! param compare SYS_AUTOSTART 0
-	then
-		if param greater SYS_AUTOSTART 1000000
-		then
-			# Use external startup file
-			if [ $SDCARD_AVAILABLE = yes ]
-			then
-				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
-			else
-				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
-			fi
-		fi
-		. ${R}$AUTOSTART_PATH
-	fi
-	unset AUTOSTART_PATH
-
 	#
 	# Override parameters from user configuration file.
 	#
@@ -274,14 +272,6 @@ else
 		. $FCONFIG
 	fi
 
-	#
-	# If autoconfig parameter was set, reset it and save parameters.
-	#
-	if [ $AUTOCNF = yes ]
-	then
-		param set SYS_AUTOCONFIG 0
-	fi
-
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#
@@ -298,9 +288,9 @@ else
 			tune_control play error
 		fi
 	else
-		if param greater -s UAVCAN_V1_ENABLE 0
+		if param greater -s CYPHAL_ENABLE 0
 		then
-			uavcan_v1 start
+			cyphal start
 		fi
 	fi
 
@@ -313,7 +303,7 @@ else
 	then
 		# Check for the mini using build with px4io fw file
 		# but not a px4IO
-		if ver hwtypecmp V540 V560
+		if ver hwtypecmp V5004000 V5006000
 		then
 			param set SYS_USE_IO 0
 		else
@@ -565,7 +555,6 @@ fi
 # Unset all script parameters to free RAM.
 #
 unset R
-unset AUTOCNF
 unset FCONFIG
 unset FEXTRAS
 unset FRC

ROMFS/px4fmu_common/mixers-sitl/plane_sitl.main.mix

@@ -21,14 +21,16 @@ O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
 # mixer for the left aileron
-M: 1
+M: 2
 O:      10000  10000   0 -10000  10000
 S: 0 0  -10000  -10000    0 -10000  10000
+S: 0 5   10000   10000    0 -10000  10000
 
 # mixer for the right aileron
-M: 1
+M: 2
 O:      10000  10000   0 -10000  10000
 S: 0 0  10000  10000    0 -10000  10000
+S: 0 5  10000  10000    0 -10000  10000
 
 # mixer for the elevator
 M: 1

ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix

@@ -8,22 +8,22 @@ R: 4x
 # tilt servo motor 1
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 
 # tilt servo motor 2
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 
 # tilt servo motor 3
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 
 # tilt servo motor 4
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 
 # mixer for the left aileron
 M: 1

ROMFS/px4fmu_common/mixers/AAERTWF.main.mix

@@ -10,7 +10,7 @@ to output 4 and the wheel to output 5.
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
 
-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------
 
 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -20,11 +20,11 @@ endpoints to suit.
 
 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
 
 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000
 
 Elevator mixer
 ------------

ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix

@@ -11,7 +11,7 @@ to output 4, the wheel to output 5 and the flaps to output 6 and 7.
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
 
-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------
 
 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,11 +21,11 @@ endpoints to suit.
 
 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
 
 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000
 
 V-tail mixers
 -------------

ROMFS/px4fmu_common/mixers/AAVVTWFF_vtail.main.mix

@@ -9,20 +9,20 @@ output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4, the wheel to output 5 and the flaps to output 6 and 7.
 
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+(roll), 1 (pitch), 2 (yaw), 3 (thrust) 4 (flaps), 5 (spoiler).
 
-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------
 
 This mixer assumes that the aileron servos are set up mechanically reversed.
 
 M: 2
 S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
 
 M: 2
 S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000
 
 V-tail mixers
 -------------

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -40,8 +40,6 @@ px4_add_romfs_files(
 	babyshark.main.mix
 	blade130.main.mix
 	CCPM.main.mix
-	claire.aux.mix
-	claire.main.mix
 	cloudship.main.mix
 	coax.main.mix
 	delta.main.mix
@@ -83,7 +81,6 @@ px4_add_romfs_files(
 	tri_y_yaw-.main.mix
 	uuv_x.main.mix
 	vectored6dof.main.mix
-	Viper.main.mix
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix
 	vtol_TTTTAAER.aux.mix

ROMFS/px4fmu_common/mixers/Viper.main.mix

@@ -1,66 +0,0 @@
-Viper Delta-wing mixer
-=================================
-# @board px4_fmu-v2 exclude
-
-Designed for Viper.
-
-TODO (sjwilks): Add mixers for flaps.
-
-This file defines mixers suitable for controlling a delta wing aircraft using
-PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
-servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
-assumed to be unused.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-Elevon mixers
--------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two elevon servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-The scaling factor for roll inputs is adjusted to implement differential travel
-for the elevons.
-
-M: 2
-S: 0 0   7500   7500      0 -10000  10000
-S: 0 1   8000   8000      0 -10000  10000
-
-M: 2
-S: 0 0   7500   7500      0 -10000  10000
-S: 0 1  -8000  -8000      0 -10000  10000
-
-Output 2
---------
-This mixer is empty.
-
-Z:
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-Inputs to the mixer come from channel group 2 (payload), channels 0
-(bay servo 1), 1 (bay servo 2) and 3 (drop release).
------------------------------------------------------
-
-M: 1
-S: 2 0  10000  10000      0 -10000  10000
-
-M: 1
-S: 2 1  10000  10000      0 -10000  10000
-
-M: 1
-S: 2 2  -8000  -8000      0 -10000  10000
-
-

ROMFS/px4fmu_common/mixers/claire.aux.mix

@@ -1,28 +0,0 @@
-# mixer for the CruiseAder Claire tilt mechansim servo and elevons
-
-=======================================================================
-
-
-Tilt mechanism servo mixer
-
----------------------------
-
-M: 1
-
-
-S: 1 4  10000  10000      0 -10000  10000
-
-
-
-Elevon mixers
-
--------------
-
-M: 2
-
-S: 1 0   7500   7500      0 -10000  10000
-S: 1 1   7500   7500      0 -10000  10000
-
-M: 2
-S: 1 0    7500    7500    0 -10000  10000
-S: 1 1   -7500   -7500    0 -10000  10000

ROMFS/px4fmu_common/mixers/claire.main.mix

@@ -1,8 +0,0 @@
-# CruiseAder Claire Main Multirotor mixer for PX4FMU
-# @board px4_fmu-v2 exclude
-
-#
-
-#===========================
-
-R: 4x

ROMFS/px4fmu_common/mixers/firefly6.aux.mix

@@ -6,7 +6,7 @@
 Tilt mechanism servo mixer
 ---------------------------
 M: 1
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 
 Elevon mixers
 -------------

ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix

@@ -5,14 +5,14 @@ Aileron/v-tail/throttle VTOL mixer for PX4FMU
 
 This file defines mixers suitable for controlling a fixed wing aircraft with
 aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU 
+The configuration assumes the aileron servos are connected to PX4FMU
 AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4.
 
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
 
-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------
 
 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -22,11 +22,11 @@ endpoints to suit.
 
 M: 2
 S: 1 0 -10000 -10000      0 -10000  10000
-S: 1 6  10000  10000      0 -10000  10000
+S: 1 5  10000  10000      0 -10000  10000
 
 M: 2
 S: 1 0 -10000 -10000      0 -10000  10000
-S: 1 6 -10000 -10000      0 -10000  10000
+S: 1 5 -10000 -10000      0 -10000  10000
 
 
 V-tail mixers

ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix

@@ -6,19 +6,19 @@
 ---------------------------
 # front left up:2000 down:1000
 M: 1
-S: 1 4      0 -20000  10000 -10000  10000
+S: 1 8      0 -20000  10000 -10000  10000
 
 # front right up:1000 down:2000
 M: 1
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 
 # rear left up:2000 down:1000
 M: 1
-S: 1 4      0 -20000  10000 -10000  10000
+S: 1 8      0 -20000  10000 -10000  10000
 
 # rear right up:1000 down:2000
 M: 1
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 
 
 # Aileron mixer

ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix

@@ -10,12 +10,12 @@ Tilt mechanism servo mixer
 ---------------------------
 #RIGHT up:2000 down:1000
 M: 2
-S: 1 4      0 -20000  10000 -10000  10000
+S: 1 8      0 -20000  10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000
 
 #LEFT up:1000 down:2000
 M: 2
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000
 
 Elevon mixers

ROMFS/px4fmu_test/mixers/AAERTWF.main.mix

@@ -10,7 +10,7 @@ to output 4 and the wheel to output 5.
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
 
-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------
 
 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,12 +21,12 @@ endpoints to suit.
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
 
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000
 
 Elevator mixer
 ------------

ROMFS/px4fmu_test/mixers/AAVVTWFF.main.mix

@@ -9,9 +9,9 @@ output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4, the wheel to output 5 and the flaps to output 6 and 7.
 
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).
 
-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------
 
 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -22,12 +22,12 @@ endpoints to suit.
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
 
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000
 
 V-tail mixers
 -------------

ROMFS/px4fmu_test/mixers/vtol2_test.mix

@@ -10,13 +10,13 @@ Tilt mechanism servo mixer
 #RIGHT up:2000 down:1000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 4      0 -20000   9000 -10000  10000
+S: 1 8      0 -20000   9000 -10000  10000
 S: 0 2   4000   4000      0 -10000  10000
 
 #LEFT up:1000 down:2000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000  -10000 -10000  10000
+S: 1 8      0  20000  -10000 -10000  10000
 S: 0 2   4000   4000      0 -10000  10000
 
 Elevon mixers

ROMFS/px4fmu_test/mixers/vtol_AAVVT.aux.mix

@@ -3,14 +3,14 @@ Aileron/v-tail/throttle VTOL mixer for PX4FMU
 
 This file defines mixers suitable for controlling a fixed wing aircraft with
 aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU 
+The configuration assumes the aileron servos are connected to PX4FMU
 AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4.
 
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).
 
-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------
 
 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,12 +21,12 @@ endpoints to suit.
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000
-S: 1 6  10000  10000      0 -10000  10000
+S: 1 5  10000  10000      0 -10000  10000
 
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000
-S: 1 6 -10000 -10000      0 -10000  10000
+S: 1 5 -10000 -10000      0 -10000  10000
 
 
 V-tail mixers

ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix

@@ -10,13 +10,13 @@ Tilt mechanism servo mixer
 #RIGHT up:2000 down:1000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 4      0 -20000  10000 -10000  10000
+S: 1 8      0 -20000  10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000
 
 #LEFT up:1000 down:2000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000
 
 Elevon mixers

Tools/HIL/run_nsh_cmd.py

@@ -95,7 +95,7 @@ def do_nsh_cmd(port_url, baudrate, cmd):
 
 
     timeout_start = time.monotonic()
-    timeout = 240 # 4 minutes
+    timeout = 600 # 10 minutes
 
     return_code = 0
 

Tools/astyle/files_to_check_code_style.sh

@@ -13,8 +13,7 @@ exec find boards msg src platforms test \
     -path platforms/qurt/dspal -prune -o \
     -path src/drivers/uavcan/libuavcan -prune -o \
     -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
-    -path src/drivers/uavcan_v1/libcanard -prune -o \
-    -path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
+    -path src/drivers/cyphal/libcanard -prune -o \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/events/libevents -prune -o \
     -path src/lib/parameters/uthash -prune -o \

Tools/jmavsim_run.sh

@@ -5,12 +5,13 @@ set -e
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 cd "$SCRIPT_DIR/jMAVSim"
 
-tcp_port=4560
+port=4560
 extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-while getopts ":b:d:p:qsr:f:i:loat" opt; do
+protocol="tcp"
+while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -18,11 +19,14 @@ while getopts ":b:d:p:qsr:f:i:loat" opt; do
 		d)
 			device="$OPTARG"
 			;;
+		u)
+			protocol="udp"
+			;;
 		i)
 			ip="$OPTARG"
 			;;
 		p)
-			tcp_port=$OPTARG
+			port=$OPTARG
 			;;
 		q)
 			extra_args="$extra_args -qgc"
@@ -53,7 +57,11 @@ while getopts ":b:d:p:qsr:f:i:loat" opt; do
 done
 
 if [ "$device" == "" ]; then
-	device="-tcp $ip:$tcp_port"
+	if [ "$protocol" == "tcp" ]; then
+		device="-tcp $ip:$port"
+	else
+		device="-udp $port"
+	fi
 else
 	device="-serial $device $baudrate"
 fi

Tools/kconfig/board_cmake_to_kconfig.py

@@ -1,72 +0,0 @@
-#!/bin/python3
-
-import parse_cmake.parsing as cmp
-import glob
-import pprint
-import re
-import os
-
-__location__ = os.path.realpath(
-    os.path.join(os.getcwd(), os.path.dirname(__file__)))
-
-serial_regex = r"(\D\D\D\d):(/dev/ttyS\d+)"
-io_regex = r"IO (.*)"
-romfs_regex = r"ROMFSROOT (.*)"
-arch_regex = r"ARCHITECTURE (.*)"
-toolchain_regex = r"TOOLCHAIN (.*)"
-
-
-
-def stripComments(code):
-    code = str(code)
-    return re.sub(r'(?m) *#.*\n?', '', code)
-
-lut = {}
-with open(os.path.join(__location__, "cmake_kconfig_lut.txt"),'r') as lookup:
-    for line in lookup:
-        if ',' in line:
-            key, value = line.strip().split(',')
-            lut[key] = value
-
-#for name in glob.glob('boards/*/*/*.cmake'):
-px4_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '../../'))
-
-for name in glob.glob(px4_dir + '/boards/*/*/*.cmake'):
-    print(name)
-    with open(name, 'r') as f:
-        romfs_set = False
-        w = open(name.replace(".cmake",".px4board"), "w")
-        for line in f:
-            clean_line = stripComments(line.strip())
-            value = lut.get(clean_line)
-            if value is not None:
-                print(value, file=w)
-                print(value)
-            else:
-                matches = re.finditer(serial_regex, clean_line, re.MULTILINE)
-                for matchNum, match in enumerate(matches, start=1):
-                    print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"")
-                    print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"", file=w)
-                matches = re.finditer(io_regex, clean_line, re.MULTILINE)
-                for matchNum, match in enumerate(matches, start=1):
-                    print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"")
-                    print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"", file=w)
-                matches = re.finditer(romfs_regex, clean_line, re.MULTILINE)
-                for matchNum, match in enumerate(matches, start=1):
-                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"")
-                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"", file=w)
-                    romfs_set = True
-                matches = re.finditer(arch_regex, clean_line, re.MULTILINE)
-                for matchNum, match in enumerate(matches, start=1):
-                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"")
-                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"", file=w)
-                matches = re.finditer(toolchain_regex, clean_line, re.MULTILINE)
-                for matchNum, match in enumerate(matches, start=1):
-                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"")
-                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"", file=w)
-
-    if(romfs_set == False):
-        print("CONFIG_BOARD_ROMFSROOT=\"\"", file=w)
-
-
-    w.close()

Tools/kconfig/cmake_kconfig_lut.txt

@@ -1,204 +0,0 @@
-PLATFORM nuttx,CONFIG_PLATFORM_NUTTX=y
-PLATFORM posix,CONFIG_PLATFORM_POSIX=y
-CONSTRAINED_MEMORY,CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONSTRAINED_FLASH,CONFIG_BOARD_CONSTRAINED_FLASH=y
-NO_HELP,CONFIG_BOARD_NO_HELP=y
-EXTERNAL_METADATA,CONFIG_BOARD_EXTERNAL_METADATA=y
-BUILD_BOOTLOADER,CONFIG_BOARD_BUILD_BOOTLOADER=y
-UAVCAN_INTERFACES 2,CONFIG_BOARD_UAVCAN_INTERFACES=2
-UAVCAN_INTERFACES 1,CONFIG_BOARD_UAVCAN_INTERFACES=1
-UAVCAN_TIMER_OVERRIDE 2,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
-UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=1
-UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=0
-TESTING,CONFIG_BOARD_TESTING=y
-ETHERNET,CONFIG_BOARD_ETHERNET=y
-adc/ads1115,CONFIG_DRIVERS_ADC_ADS1115=y
-adc/board_adc,CONFIG_DRIVERS_ADC_BOARD_ADC=y
-barometer,CONFIG_COMMON_BAROMETERS=y
-barometer/bmp280,CONFIG_DRIVERS_BAROMETER_BMP280=y
-barometer/bmp388,CONFIG_DRIVERS_BAROMETER_BMP388=y
-barometer/dps310,CONFIG_DRIVERS_BAROMETER_DPS310=y
-barometer/lps22hb,CONFIG_DRIVERS_BAROMETER_LPS22HB=y
-barometer/lps25h,CONFIG_DRIVERS_BAROMETER_LPS25H=y
-barometer/lps33hw,CONFIG_DRIVERS_BAROMETER_LPS33HW=y
-barometer/mpl3115a2,CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
-barometer/ms5611,CONFIG_DRIVERS_BAROMETER_MS5611=y
-barometer/tcbp001ta,CONFIG_DRIVERS_BAROMETER_TCBP001TA=y
-batt_smbus,CONFIG_DRIVERS_BATT_SMBUS=y
-bootloaders,CONFIG_DRIVERS_BOOTLOADERS=y
-camera_capture,CONFIG_DRIVERS_CAMERA_CAPTURE=y
-camera_trigger,CONFIG_DRIVERS_CAMERA_TRIGGER=y
-differential_pressure,CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-distance_sensor,CONFIG_COMMON_DISTANCE_SENSOR=y
-distance_sensor/ll40ls,CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
-distance_sensor/lightware_laser_serial,CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
-distance_sensor/broadcom/afbrs50,CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
-distance_sensor/vl53l0x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
-distance_sensor/vl53l1x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
-distance_sensor/srf05,CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
-dshot,CONFIG_DRIVERS_DSHOT=y
-gps,CONFIG_DRIVERS_GPS=y
-heater,CONFIG_DRIVERS_HEATER=y
-imu,CONFIG_COMMON_IMU=y
-imu/adis16477,CONFIG_DRIVERS_IMU_ADIS16477=y
-imu/adis16497,CONFIG_DRIVERS_IMU_ADIS16497=y
-imu/analog_devices/adis16448,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
-imu/analog_devices/adis16470,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
-imu/bosch/bmi055,CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
-imu/bosch/bmi088,CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-imu/fxas21002c,CONFIG_DRIVERS_IMU_FXAS21002C=y
-imu/fxos8701cq,CONFIG_DRIVERS_IMU_FXOS8701CQ=y
-imu/invensense/icm20602,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-imu/invensense/icm20608g,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y
-imu/invensense/icm20649,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
-imu/invensense/icm20689,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
-imu/invensense/icm20948,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-imu/invensense/icm40609d,CONFIG_DRIVERS_IMU_INVENSENSE_ICM40609D=y
-imu/invensense/icm42605,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
-imu/invensense/icm42688p,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-imu/invensense/mpu6000,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-imu/invensense/mpu6500,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
-imu/invensense/mpu9250,CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-imu/l3gd20,CONFIG_DRIVERS_IMU_L3GD20=y
-imu/lsm303d,CONFIG_DRIVERS_IMU_LSM303D=y
-imu/st,CONFIG_DRIVERS_IMU_ST=y
-irlock,CONFIG_DRIVERS_IRLOCK=y
-lights,CONFIG_COMMON_LIGHT=y
-lights/neopixel,CONFIG_DRIVERS_LIGHTS_NEOPIXEL=y
-lights/rgbled,CONFIG_DRIVERS_LIGHTS_RGBLED=y
-lights/rgbled_ncp5623c,CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
-lights/rgbled_pwm,CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
-magnetometer,CONFIG_COMMON_MAGNETOMETER=y
-magnetometer/akm/ak09916,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916=y
-magnetometer/akm/ak8963,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
-magnetometer/bosch/bmm150,CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
-magnetometer/hmc5883,CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-magnetometer/isentek/ist8308,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
-magnetometer/isentek/ist8310,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-magnetometer/lis2mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y
-magnetometer/lis3mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-magnetometer/lsm303agr,CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
-magnetometer/lsm9ds1_mag,CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y
-magnetometer/qmc5883l,CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-magnetometer/rm3100,CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
-magnetometer/vtrantech/vcm1193l,CONFIG_DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L=y
-optical_flow,CONFIG_COMMON_OPTICAL_FLOW=y
-optical_flow/paw3902,CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
-optical_flow/paw3901,CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
-optical_flow/px4flow,CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
-optical_flow/thoneflow,CONFIG_DRIVERS_OPTICAL_FLOW_THONEFLOW=y
-osd,CONFIG_DRIVERS_OSD=y
-pca9685,CONFIG_DRIVERS_PCA9685=y
-pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
-power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
-pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
-protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
-pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
-pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y
-pwm_out,CONFIG_DRIVERS_PWM_OUT=y
-px4io,CONFIG_DRIVERS_PX4IO=y
-rc_input,CONFIG_DRIVERS_RC_INPUT=y
-roboclaw,CONFIG_DRIVERS_ROBOCLAW=y
-rpi_rc_in,CONFIG_DRIVERS_RPI_RC_IN=y
-rpm,CONFIG_DRIVERS_RPM=y
-safety_button,CONFIG_DRIVERS_SAFETY_BUTTON=y
-smart_battery/batmon,CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
-spektrum_rc,CONFIG_DRIVERS_SPEKTRUM_RC=y
-telemetry,CONFIG_DRIVERS_TELEMETRY=y
-test_ppm,CONFIG_DRIVERS_TEST_PPM=y
-tone_alarm,CONFIG_DRIVERS_TONE_ALARM=y
-uavcan,CONFIG_DRIVERS_UAVCAN=y
-uavcannode,CONFIG_DRIVERS_UAVCANNODE=y
-uavcannode_gps_demo,CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=y
-airship_att_control,CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
-airspeed_selector,CONFIG_MODULES_AIRSPEED_SELECTOR=y
-velocity_controller,CONFIG_MODULES_ANGULAR_VELOCITY_CONTROLLER=y
-attitude_estimator_q,CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
-battery_status,CONFIG_MODULES_BATTERY_STATUS=y
-camera_feedback,CONFIG_MODULES_CAMERA_FEEDBACK=y
-commander,CONFIG_MODULES_COMMANDER=y
-control_allocator,CONFIG_MODULES_CONTROL_ALLOCATOR=y
-dataman,CONFIG_MODULES_DATAMAN=y
-ekf2,CONFIG_MODULES_EKF2=y
-esc_battery,CONFIG_MODULES_ESC_BATTERY=y
-events,CONFIG_MODULES_EVENTS=y
-flight_mode_manager,CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-fw_att_control,CONFIG_MODULES_FW_ATT_CONTROL=y
-fw_pos_control_l1,CONFIG_MODULES_FW_POS_CONTROL_L1=y
-gyro_calibration,CONFIG_MODULES_GYRO_CALIBRATION=y
-gyro_fft,CONFIG_MODULES_GYRO_FFT=y
-land_detector,CONFIG_MODULES_LAND_DETECTOR=y
-landing_target_estimator,CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-load_mon,CONFIG_MODULES_LOAD_MON=y
-local_position_estimator,CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
-logger,CONFIG_MODULES_LOGGER=y
-mavlink,CONFIG_MODULES_MAVLINK=y
-mc_att_control,CONFIG_MODULES_MC_ATT_CONTROL=y
-mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
-mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
-micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
-microdds_client,CONFIG_MODULES_MICRODDS_CLIENT=y
-navigator,CONFIG_MODULES_NAVIGATOR=y
-px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
-rc_update,CONFIG_MODULES_RC_UPDATE=y
-replay,CONFIG_MODULES_REPLAY=y
-rover_pos_control,CONFIG_MODULES_ROVER_POS_CONTROL=y
-sensors,CONFIG_MODULES_SENSORS=y
-sih,CONFIG_MODULES_SIH=y
-simulator,CONFIG_MODULES_SIMULATOR=y
-temperature_compensation,CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-uuv_att_control,CONFIG_MODULES_UUV_ATT_CONTROL=y
-uuv_pos_control,CONFIG_MODULES_UUV_POS_CONTROL=y
-gimbal,CONFIG_MODULES_GIMBAL=y
-vtol_att_control,CONFIG_MODULES_VTOL_ATT_CONTROL=y
-bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
-dmesg,CONFIG_SYSTEMCMDS_DMESG=y
-dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
-dyn,CONFIG_SYSTEMCMDS_DYN=y
-failure,CONFIG_SYSTEMCMDS_FAILURE=y
-gpio,CONFIG_SYSTEMCMDS_GPIO=y
-hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-i2cdetect,CONFIG_SYSTEMCMDS_I2CDETECT=y
-led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
-mft,CONFIG_SYSTEMCMDS_MFT=y
-microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
-mixer,CONFIG_SYSTEMCMDS_MIXER=y
-motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
-mtd,CONFIG_SYSTEMCMDS_MTD=y
-netman,CONFIG_SYSTEMCMDS_NETMAN=y
-nshterm,CONFIG_SYSTEMCMDS_NSHTERM=y
-param,CONFIG_SYSTEMCMDS_PARAM=y
-perf,CONFIG_SYSTEMCMDS_PERF=y
-pwm,CONFIG_SYSTEMCMDS_PWM=y
-reboot,CONFIG_SYSTEMCMDS_REBOOT=y
-reflect,CONFIG_SYSTEMCMDS_REFLECT=y
-sd_bench,CONFIG_SYSTEMCMDS_SD_BENCH=y
-serial_tet,CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-shutdown,CONFIG_SYSTEMCMDS_SHUTDOWN=y
-system_time,CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-tests,CONFIG_SYSTEMCMDS_TESTS=y
-top,CONFIG_SYSTEMCMDS_TOP=y
-topic_listener,CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-tune_control,CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-uorb,CONFIG_SYSTEMCMDS_UORB=y
-usb_connected,CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-ver,CONFIG_SYSTEMCMDS_VER=y
-work_queue,CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-dyn_hello,CONFIG_EXAMPLES_DYN_HELLO=y
-fake_gps,CONFIG_EXAMPLES_FAKE_GPS=y
-fake_gyro,CONFIG_EXAMPLES_FAKE_GYRO=y
-fake_imu,CONFIG_EXAMPLES_FAKE_IMU=y
-fake_magnetometer,CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
-fixedwing_control,CONFIG_EXAMPLES_FIXEDWING_CONTROL=y
-hello,CONFIG_EXAMPLES_HELLO=y
-hwtest,CONFIG_EXAMPLES_HWTEST=y
-matlab_csv_serial,CONFIG_EXAMPLES_MATLAB_CSV_SERIAL=y
-px4_mavlink_debug,CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
-px4_simple_app,CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
-rover_steering_control,CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
-uuv_example_app,CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
-work_item,CONFIG_EXAMPLES_WORK_ITEM=y
-add_compile_options(-Wno-narrowing),CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
--D__PX4_LINUX,CONFIG_BOARD_LINUX=y

Tools/px4moduledoc/srcparser.py

@@ -16,7 +16,7 @@ class ModuleDocumentation(object):
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation', 'autotune']
     valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor']
+                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
 
     max_line_length = 80 # wrap lines that are longer than this
 

Tools/setup/ubuntu.sh

@@ -200,13 +200,12 @@ if [[ $INSTALL_SIM == "true" ]]; then
 
 	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 		java_version=11
-		gazebo_version=9
 	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 		java_version=13
-		gazebo_version=11
+	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		java_version=11
 	else
 		java_version=14
-		gazebo_version=11
 	fi
 	# Java (jmavsim or fastrtps)
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -220,20 +219,30 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
 
 	# Gazebo
+	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+		gazebo_version=9
+		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		gazebo_packages="gazebo libgazebo-dev"
+	else
+		# default and Ubuntu 20.04
+		gazebo_version=11
+		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	fi
+
 	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 -
 	# 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 \
 		dmidecode \
-		gazebo$gazebo_version \
+		$gazebo_packages \
 		gstreamer1.0-plugins-bad \
 		gstreamer1.0-plugins-base \
 		gstreamer1.0-plugins-good \
 		gstreamer1.0-plugins-ugly \
 		gstreamer1.0-libav \
 		libeigen3-dev \
-		libgazebo$gazebo_version-dev \
 		libgstreamer-plugins-base1.0-dev \
 		libimage-exiftool-perl \
 		libopencv-dev \

Tools/sitl_gazebo

@@ -1 +1 @@
-Subproject commit 48440d7b5c78a21182415266334981f1163f4b2c
+Subproject commit 5610c3fb441a2f3babc8ad7a63c8c4ce3e40abfa

Tools/sitl_run.sh

@@ -74,6 +74,9 @@ if [ "$model" == "" ] || [ "$model" == "none" ]; then
 	if [ "$program" == "jsbsim" ]; then
 		echo "empty model, setting rascal as default for jsbsim"
 		model="rascal"
+	elif [ "$program" == "sihsim" ]; then
+		echo "empty model, setting quadx as default for sihsim"
+		model="quadx"
 	else
 		echo "empty model, setting iris as default"
 		model="iris"
@@ -214,6 +217,12 @@ elif [ "$program" == "jsbsim" ] && [ -z "$no_sim" ]; then
 	fi
 	"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml" 2> /dev/null &
 	JSBSIM_PID=$!
+elif [ "$program" == "sihsim" ] && [ ! -n "$no_sim" ]; then
+	export SIM_MODE="sihsim"
+	if [ "$model" != "airplane" ] && [ "$model" != "quadx" ] && [ "$model" != "xvert" ]; then
+		echo "Model ${model} not compatible with with sih. sih supports [quadx,airplane,xvert]."
+		exit 1
+	fi
 fi
 
 pushd "$rootfs" >/dev/null

boards/ark/can-flow/default.px4board

@@ -2,6 +2,7 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
@@ -10,7 +11,16 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
+# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/ark/can-flow/init/rc.board_sensors

@@ -3,6 +3,8 @@
 # board sensors init
 #------------------------------------------------------------------------------
 
+param set-default IMU_GYRO_RATEMAX 1000
+
 # Internal SPI
 paw3902 -s start -Y 180
 

boards/ark/can-gps/default.px4board

@@ -4,7 +4,6 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -14,5 +13,18 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/ark/can-gps/init/rc.board_defaults

@@ -4,6 +4,7 @@
 #------------------------------------------------------------------------------
 
 param set-default CBRK_IO_SAFETY 0
+param set-default MBE_ENABLE 1
 
 safety_button start
 tone_alarm start

boards/ark/can-rtk-gps/default.px4board

@@ -4,7 +4,6 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -14,5 +13,18 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/ark/can-rtk-gps/init/rc.board_defaults

@@ -5,6 +5,7 @@
 
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_GPS_RTCM 1
+param set-default MBE_ENABLE 1
 
 safety_button start
 tone_alarm start

boards/ark/fmu-v6x/init/rc.board_defaults

@@ -1,19 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-# Mavlink ethernet (CFG 1000)
-param set-default MAV_2_CONFIG 1000
-param set-default MAV_2_BROADCAST 1
-param set-default MAV_2_MODE 0
-param set-default MAV_2_RADIO_CTL 0
-param set-default MAV_2_RATE 100000
-param set-default MAV_2_REMOTE_PRT 14550
-param set-default MAV_2_UDP_PRT 14550
-
-param set-default SENS_EN_INA238 0
-param set-default SENS_EN_INA228 0
-param set-default SENS_EN_INA226 1
-
-safety_button start

boards/ark/fmu-v6x/init/rc.board_sensors

@@ -1,47 +0,0 @@
-#!/bin/sh
-#
-# PX4 FMUv6X specific board sensors init
-#------------------------------------------------------------------------------
-board_adc start
-
-if param compare SENS_EN_INA226 1
-then
-	# Start Digital power monitors
-	ina226 -X -b 1 -t 1 -k start
-	ina226 -X -b 2 -t 2 -k start
-fi
-
-if param compare SENS_EN_INA228 1
-then
-	# Start Digital power monitors
-	ina228 -X -b 1 -t 1 -k start
-	ina228 -X -b 2 -t 2 -k start
-fi
-
-if param compare SENS_EN_INA238 1
-then
-	# Start Digital power monitors
-	ina238 -X -b 1 -t 1 -k start
-	ina238 -X -b 2 -t 2 -k start
-fi
-
-# Internal SPI bus IIM42652
-iim42652 -R 3 -s -b 1 start
-
-# Internal SPI bus ICM42688p
-icm42688p -R 9 -s -b 2 start
-
-# Internal SPI bus ICM42688p
-icm42688p -R 6 -s -b 3 start
-
-# Internal magnetometer on I2c
-bmm150 -I start
-
-# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
-ist8310 -X -b 1 -R 10 start
-
-# Possible internal Baro
-bmp388 -I start
-
-# Baro on I2C3
-ms5611 -X start

boards/ark/fmu-v6x/nuttx-config/include/board_dma_map.h

@@ -1,87 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-// DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
-//                                                     V
-
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     /* 1 DMA1:37 ICM-20649 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     /* 2 DMA1:38 ICM-20649 */
-
-#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0     /* 3 DMA1:39 ICM-42688-P */
-#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0     /* 4 DMA1:40 ICM-42688-P */
-
-//#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
-//#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
-
-//#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0 /*  DMA1:43 Telem3 */
-//#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0 /*  DMA1:44 Telem3 */
-
-//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
-//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
-
-//#define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 EXT2 */
-//#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 EXT2 */
-
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
-#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */
-
-// Assigned in timer_config.cpp
-
-// Timer 4                                          /* 7 DMA1:32 TIM4UP */
-// Timer 5                                          /* 8 DMA1:50 TIM5UP */
-
-// DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
-//                                                     V
-
-#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 DMA2:61 BMI088 */
-#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 DMA2:62 BMI088 */
-
-#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
-#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
-
-#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
-#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66  TELEM2 */
-
-#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79  TELEM1 */
-#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80  TELEM1 */
-
-//#define DMAMAP_UART8_RX   DMAMAP_DMA12_UART8RX_1  /*  DMA1:81  GPS2 */
-//#define DMAMAP_UART8_TX   DMAMAP_DMA12_UART8TX_1  /*  DMA1:82  GPS2 */
-
-// DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
-//                                                     V
-
-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       /* 1 BDMA:11 SPI J11 */
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       /* 2 BDMA:12 SPI J11 */

boards/ark/fmu-v6x/src/board_config.h

@@ -1,525 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016, 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * PX4FMU-v6x internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-
-#include <stm32_gpio.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
-#undef TRACE_PINS
-
-/* PX4IO connection configuration */
-
-#define BOARD_USES_PX4IO_VERSION       2
-#define PX4IO_SERIAL_DEVICE            "/dev/ttyS5"
-#define PX4IO_SERIAL_TX_GPIO           GPIO_USART6_TX
-#define PX4IO_SERIAL_RX_GPIO           GPIO_USART6_RX
-#define PX4IO_SERIAL_BASE              STM32_USART6_BASE
-#define PX4IO_SERIAL_VECTOR            STM32_IRQ_USART6
-#define PX4IO_SERIAL_TX_DMAMAP         DMAMAP_USART6_TX
-#define PX4IO_SERIAL_RX_DMAMAP         DMAMAP_USART6_RX
-#define PX4IO_SERIAL_RCC_REG           STM32_RCC_APB2ENR
-#define PX4IO_SERIAL_RCC_EN            RCC_APB2ENR_USART6EN
-#define PX4IO_SERIAL_CLOCK             STM32_PCLK2_FREQUENCY
-#define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
-
-/* Configuration ************************************************************************************/
-
-#define BOARD_HAS_LTC44XX_VALIDS      2 //  N Bricks
-#define BOARD_HAS_USB_VALID           1 // LTC Has USB valid
-#define BOARD_HAS_NBAT_V              2d // 2 Digital Voltage
-#define BOARD_HAS_NBAT_I              2d // 2 Digital Current
-
-/* PX4FMU GPIOs ***********************************************************************************/
-
-/* Trace Clock and D0-D3 are available on the trace connector
- *
- * TRACECLK PE2  - Dedicated       - Trace Connector Pin 1
- * TRACED0  PE3  - nLED_RED        - Trace Connector Pin 3
- * TRACED1  PE4  - nLED_GREEN      - Trace Connector Pin 5
- * TRACED2  PE5  - nLED_BLUE       - Trace Connector Pin 7
- * TRACED3  PE6  - nARMED          - Trace Connector Pin 8
-
- */
-
-/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
-
-#if !defined(TRACE_PINS)
-#  define GPIO_nLED_RED        /* PE3 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
-#  define GPIO_nLED_GREEN      /* PE4 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
-#  define GPIO_nLED_BLUE       /* PE5 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
-
-#  define BOARD_HAS_CONTROL_STATUS_LEDS      1
-#  define BOARD_OVERLOAD_LED     LED_RED
-#  define BOARD_ARMED_STATE_LED  LED_BLUE
-
-#else
-
-#  define GPIO_TRACECLK1 (GPIO_TRACECLK |GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN2)
-#  define GPIO_TRACED0   (GPIO_TRACED0_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN3)
-#  define GPIO_TRACED1   (GPIO_TRACED1_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN4)
-#  define GPIO_TRACED2   (GPIO_TRACED2_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN5)
-#  define GPIO_TRACED3   (GPIO_TRACED3_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN6)
-//#define GPIO_TRACESWO                        //(GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN3)
-
-#  undef  BOARD_HAS_CONTROL_STATUS_LEDS
-#  undef  BOARD_OVERLOAD_LED
-#  undef  BOARD_ARMED_STATE_LED
-
-#  define GPIO_nLED_RED    GPIO_TRACED0
-#  define GPIO_nLED_GREEN  GPIO_TRACED1
-#  define GPIO_nLED_BLUE   GPIO_TRACED2
-#  define GPIO_nARMED      GPIO_TRACED3
-#  define GPIO_nARMED_INIT GPIO_TRACED3
-#endif
-
-
-/* SPI */
-
-#define SPI6_nRESET_EXTERNAL1       /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
-#define GPIO_SYNC                   /* PE9  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_100MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
-
-/* I2C busses */
-
-/* Devices on the onboard buses.
- *
- * Note that these are unshifted addresses.
- */
-#define GPIO_I2C2_DRDY1_BMP388      /* PG5  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
-
-/*
- * ADC channels
- *
- * These are the channel numbers of the ADCs of the microcontroller that
- * can be used by the Px4 Firmware in the adc driver
- */
-
-/* ADC defines to be used in sensors.cpp to read from a particular channel */
-
-#define ADC1_CH(n)                  (n)
-
-/* N.B. there is no offset mapping needed for ADC3 because */
-#define ADC3_CH(n)                  (n)
-
-/* We are only use ADC3 for REV/VER.
- * ADC3_6V6 and ADC3_3V3 are mapped back to ADC1
- * To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3
- * respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO
- * PA0SO of 0.
- *
- *  0 Analog switch closed (pads are connected through the analog switch)
- *
- * So ADC3_INP0 is GPIO_ADC123_INP12
- *    ADC3_INP1 is GPIO_ADC12_INP13
- */
-
-/* Define GPIO pins used as ADC N.B. Channel numbers must match below  */
-
-#define PX4_ADC_GPIO  \
-	/* PA0  */  GPIO_ADC1_INP16,   \
-	/* PA4  */  GPIO_ADC12_INP18,  \
-	/* PB0  */  GPIO_ADC12_INP9,   \
-	/* PB1  */  GPIO_ADC12_INP5,   \
-	/* PC2  */  GPIO_ADC123_INP12, \
-	/* PC3  */  GPIO_ADC12_INP13,  \
-	/* PF12 */  GPIO_ADC1_INP6,    \
-	/* PH3  */  GPIO_ADC3_INP14,   \
-	/* PH4  */  GPIO_ADC3_INP15
-
-/* Define Channel numbers must match above GPIO pin IN(n)*/
-#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL     /* PA0  */  ADC1_CH(16)
-#define ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL     /* PA4  */  ADC1_CH(18)
-#define ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL     /* PB0  */  ADC1_CH(9)
-#define ADC_SCALED_V5_CHANNEL                   /* PB1  */  ADC1_CH(5)
-#define ADC_ADC3_6V6_CHANNEL                    /* PC2  */  ADC3_CH(12)
-#define ADC_ADC3_3V3_CHANNEL                    /* PC3  */  ADC3_CH(13)
-#define ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL     /* PF12 */  ADC1_CH(6)
-#define ADC_HW_VER_SENSE_CHANNEL                /* PH3  */  ADC3_CH(14)
-#define ADC_HW_REV_SENSE_CHANNEL                /* PH4  */  ADC3_CH(15)
-
-#define ADC_CHANNELS \
-	((1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \
-	 (1 << ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL) | \
-	 (1 << ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL) | \
-	 (1 << ADC_SCALED_V5_CHANNEL)               | \
-	 (1 << ADC_ADC3_6V6_CHANNEL)                | \
-	 (1 << ADC_ADC3_3V3_CHANNEL))               | \
-	(1 << ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL)
-
-/* HW has to large of R termination on ADC todo:change when HW value is chosen */
-
-#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
-
-#define SYSTEM_ADC_BASE STM32_ADC1_BASE
-
-/* HW has to large of R termination on ADC todo:change when HW value is chosen */
-#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
-
-/* HW Version and Revision drive signals Default to 1 to detect */
-#define BOARD_HAS_HW_VERSIONING
-
-#define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
-#define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
-#define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
-#define HW_INFO_INIT           {'V','6','X','x', 'x',0}
-#define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */
-
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 and Rev 3 Sensor sets
-//                 Base/FMUM
-#define V6X00   HW_VER_REV(0x0,0x0) // FMUV6X,                 Rev 0
-#define V6X01   HW_VER_REV(0x0,0x1) // FMUV6X,     BMI388 I2C2 Rev 1
-#define V6X03   HW_VER_REV(0x0,0x3) // FMUV6X,     Sensor Set  Rev 3
-#define V6X04   HW_VER_REV(0x0,0x4) // FMUV6X,     Sensor Set  Rev 4
-#define V6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
-#define V6X13   HW_VER_REV(0x1,0x3) // NO PX4IO,   Sensor Set  Rev 3
-#define V6X14   HW_VER_REV(0x1,0x4) // NO PX4IO,   Sensor Set  Rev 4
-#define V6X40   HW_VER_REV(0x4,0x0) // FMUV6X,                    HB CM4 base Rev 0
-#define V6X41   HW_VER_REV(0x4,0x1) // FMUV6X,     BMI388 I2C2    HB CM4 base Rev 1
-#define V6X43   HW_VER_REV(0x4,0x3) // FMUV6X,     Sensor Set     HB CM4 base Rev 3
-#define V6X44   HW_VER_REV(0x4,0x4) // FMUV6X,     Sensor Set     HB CM4 base Rev 4
-#define V6X50   HW_VER_REV(0x5,0x0) // FMUV6X,                    HB Mini Rev 0
-#define V6X51   HW_VER_REV(0x5,0x1) // FMUV6X,     BMI388 I2C2    HB Mini Rev 1
-#define V6X53   HW_VER_REV(0x5,0x3) // FMUV6X,     Sensor Set     HB Mini Rev 3
-#define V6X54   HW_VER_REV(0x5,0x4) // FMUV6X,     Sensor Set     HB Mini Rev 4
-
-
-/* HEATER
- * PWM in future
- */
-#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
-
-/* PE6 is nARMED
- *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
- *  While armed it shall be configured at a GPIO OUT set LOW
- */
-#if !defined(TRACE_PINS)
-#define GPIO_nARMED_INIT     /* PE6 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
-#define GPIO_nARMED          /* PE6 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
-#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
-#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
-#endif
-
-
-/* PWM
- */
-#define DIRECT_PWM_OUTPUT_CHANNELS   9
-
-
-/* Power supply control and monitoring GPIOs */
-
-#define GPIO_nPOWER_IN_A                /* PG1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
-#define GPIO_nPOWER_IN_B                /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
-#define GPIO_nPOWER_IN_C                /* PG3  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN3)
-
-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
-#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_B /* Brick 2 Is Chosen  */
-#define BOARD_NUMBER_BRICKS             2
-#define BOARD_NUMBER_DIGITAL_BRICKS     2
-#define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */
-
-#define GPIO_VDD_5V_PERIPH_nEN          /* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
-#define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
-#define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
-#define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
-#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
-#define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
-
-/* Spare GPIO */
-
-#define GPIO_PG6                        /* PG6  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN6)
-#define GPIO_PD15                       /* PD15 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN15)
-
-/* ETHERNET GPIO */
-
-#define GPIO_ETH_POWER_EN              /* PG15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN15)
-
-/* NFC GPIO */
-
-#define GPIO_NFC_GPIO                   /* PC0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN0)
-
-
-/* Define True logic Power Control in arch agnostic form */
-
-#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
-#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
-#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
-#define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
-#define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
-#define VDD_3V3_ETH_POWER_EN(on_true)      px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true))
-
-
-/* Tone alarm output */
-
-#define TONE_ALARM_TIMER        14  /* Timer 14 */
-#define TONE_ALARM_CHANNEL      1  /* PF9 GPIO_TIM14_CH1OUT_2 */
-
-#define GPIO_BUZZER_1           /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9)
-
-#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
-#define GPIO_TONE_ALARM         GPIO_TIM14_CH1OUT_2
-
-/* USB OTG FS
- *
- * PA9  OTG_FS_VBUS VBUS sensing
- */
-#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
-
-/* High-resolution timer */
-#define HRT_TIMER               8  /* use timer8 for the HRT */
-#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
-
-#define HRT_PPM_CHANNEL         /* T8C1 */  1  /* use capture/compare channel 1 */
-#define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
-
-/* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
-
-/* Input Capture Channels. */
-#define INPUT_CAP1_TIMER                  1
-#define INPUT_CAP1_CHANNEL     /* T1C2 */ 2
-#define GPIO_INPUT_CAP1        /*  PE11 */ GPIO_TIM1_CH2IN
-
-/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
-#define PWMIN_TIMER                       4
-#define PWMIN_TIMER_CHANNEL    /* T4C2 */ 2
-#define GPIO_PWM_IN            /* PD13 */ GPIO_TIM4_CH2IN_2
-
-/* Safety Switch is HW version dependent on having an PX4IO
- * So we init to a benign state with the _INIT definition
- * and provide the the non _INIT one for the driver to make a run time
- * decision to use it.
- */
-#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT   /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN10)
-#define GPIO_nSAFETY_SWITCH_LED_OUT        /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
-
-/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
-#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT
-
-#define GPIO_SAFETY_SWITCH_IN              /* PF5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN5)
-/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
-#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
-
-/* Power switch controls ******************************************************/
-
-#define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
-
-/*
- * FMUv6X has a separate RC_IN
- *
- * GPIO PPM_IN on PI5 T8CH1
- * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
- *   Inversion is possible in the UART and can drive  GPIO PPM_IN as an output
- */
-
-#define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
-#define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
-#define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
-
-#define SDIO_SLOTNO                    0  /* Only one slot */
-#define SDIO_MINOR                     0
-
-/* SD card bringup does not work if performed on the IDLE thread because it
- * will cause waiting.  Use either:
- *
- *  CONFIG_LIB_BOARDCTL=y, OR
- *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
- */
-
-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
-   !defined(CONFIG_BOARD_INITTHREAD)
-#  warning SDIO initialization cannot be perfomed on the IDLE thread
-#endif
-
-/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
- * this board support the ADC system_power interface, and therefore
- * provides the true logic GPIO BOARD_ADC_xxxx macros.
- */
-#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-#define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
-
-/* FMUv6X never powers off the Servo rail */
-
-#define BOARD_ADC_SERVO_VALID     (1)
-
-#if !defined(BOARD_HAS_LTC44XX_VALIDS) || BOARD_HAS_LTC44XX_VALIDS == 0
-#  define BOARD_ADC_BRICK1_VALID  (1)
-#  define BOARD_ADC_BRICK2_VALID  (0)
-#elif BOARD_HAS_LTC44XX_VALIDS == 1
-#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#  define BOARD_ADC_BRICK2_VALID  (0)
-#elif BOARD_HAS_LTC44XX_VALIDS == 2
-#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
-#elif BOARD_HAS_LTC44XX_VALIDS == 3
-#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
-#  define BOARD_ADC_BRICK3_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
-#elif BOARD_HAS_LTC44XX_VALIDS == 4
-#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
-#  define BOARD_ADC_BRICK3_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
-#  define BOARD_ADC_BRICK4_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK4_VALID))
-#else
-#  error Unsupported BOARD_HAS_LTC44XX_VALIDS value
-#endif
-
-#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
-#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
-
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-
-#define BOARD_HAS_ON_RESET 1
-
-#if defined(TRACE_PINS)
-#define GPIO_TRACE                          \
-	GPIO_TRACECLK1,                           \
-	GPIO_TRACED0,                             \
-	GPIO_TRACED1,                             \
-	GPIO_TRACED2,                             \
-	GPIO_TRACED3
-#else
-#define GPIO_TRACE (GPIO_OUTPUT|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
-#endif
-
-#define PX4_GPIO_INIT_LIST { \
-		GPIO_TRACE,                       \
-		PX4_ADC_GPIO,                     \
-		GPIO_HW_VER_REV_DRIVE,            \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_CAN2_TX,                     \
-		GPIO_CAN2_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
-		GPIO_nPOWER_IN_A,                 \
-		GPIO_nPOWER_IN_B,                 \
-		GPIO_nPOWER_IN_C,                 \
-		GPIO_VDD_5V_PERIPH_nEN,           \
-		GPIO_VDD_5V_PERIPH_nOC,           \
-		GPIO_VDD_5V_HIPOWER_nEN,          \
-		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
-		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
-		GPIO_VDD_3V3_SD_CARD_EN,          \
-		GPIO_PD15,                        \
-		GPIO_SYNC,                        \
-		SPI6_nRESET_EXTERNAL1,            \
-		GPIO_ETH_POWER_EN,                \
-		GPIO_NFC_GPIO,                    \
-		GPIO_TONE_ALARM_IDLE,             \
-		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
-		GPIO_SAFETY_SWITCH_IN,            \
-		GPIO_PG6,                         \
-		GPIO_nARMED_INIT                  \
-	}
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-#define PX4_I2C_BUS_MTD      4,5
-
-
-#define BOARD_NUM_IO_TIMERS 5
-
-__BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************
- * Name: stm32_sdio_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int stm32_sdio_initialize(void);
-
-/****************************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
- *
- ****************************************************************************************************/
-
-extern void stm32_spiinitialize(void);
-
-extern void stm32_usbinitialize(void);
-
-extern void board_peripheral_reset(int ms);
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS

boards/ark/fmu-v6x/src/led.c

@@ -1,235 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013 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 px4fmu2_led.c
- *
- * PX4FMU LED backend.
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-extern void led_toggle(int led);
-__END_DECLS
-
-#ifdef CONFIG_ARCH_LEDS
-static bool nuttx_owns_leds = true;
-//                                B  R  S  G
-//                                0  1  2  3
-static const uint8_t xlatpx4[] = {1, 2, 4, 0};
-#  define xlat(p) xlatpx4[(p)]
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
-	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
-	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
-	GPIO_nSAFETY_SWITCH_LED_OUT,  // Indexed by LED_SAFETY by xlatpx4
-};
-
-#else
-
-#  define xlat(p) (p)
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
-	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
-	0,                                  // Indexed by LED_SAFETY (defaulted to an input)
-	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
-};
-
-#endif
-
-__EXPORT void led_init(void)
-{
-	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
-		if (g_ledmap[l] != 0) {
-			stm32_configgpio(g_ledmap[l]);
-		}
-	}
-}
-
-static void phy_set_led(int led, bool state)
-{
-	/* Drive Low to switch on */
-
-	if (g_ledmap[led] != 0) {
-		stm32_gpiowrite(g_ledmap[led], !state);
-	}
-}
-
-static bool phy_get_led(int led)
-{
-	/* If Low it is on */
-	if (g_ledmap[led] != 0) {
-		return !stm32_gpioread(g_ledmap[led]);
-	}
-
-	return false;
-}
-
-__EXPORT void led_on(int led)
-{
-	phy_set_led(xlat(led), true);
-}
-
-__EXPORT void led_off(int led)
-{
-	phy_set_led(xlat(led), false);
-}
-
-__EXPORT void led_toggle(int led)
-{
-	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
-}
-
-#ifdef CONFIG_ARCH_LEDS
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: board_autoled_initialize
- ****************************************************************************/
-
-void board_autoled_initialize(void)
-{
-	led_init();
-}
-
-/****************************************************************************
- * Name: board_autoled_on
- ****************************************************************************/
-
-void board_autoled_on(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_HEAPALLOCATE:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_IRQSENABLED:
-		phy_set_led(BOARD_LED_BLUE, false);
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_STACKCREATED:
-		phy_set_led(BOARD_LED_GREEN, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-
-	case LED_IDLE : /* IDLE */
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-	}
-}
-
-/****************************************************************************
- * Name: board_autoled_off
- ****************************************************************************/
-
-void board_autoled_off(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, false);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, false);
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-
-	case LED_IDLE : /* IDLE */
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-	}
-}
-
-#endif /* CONFIG_ARCH_LEDS */

boards/ark/fmu-v6x/src/manifest.c

@@ -1,202 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022 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 manifest.c
- *
- * This module supplies the interface to the manifest of hardware that is
- * optional and dependent on the HW REV and HW VER IDs
- *
- * The manifest allows the system to know whether a hardware option
- * say for example the PX4IO is an no-pop option vs it is broken.
- *
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <inttypes.h>
-#include <stdbool.h>
-#include <syslog.h>
-
-#include "systemlib/px4_macros.h"
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-typedef struct {
-	uint32_t                hw_ver_rev; /* the version and revision */
-	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
-} px4_hw_mft_list_entry_t;
-
-typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
-#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
-
-static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
-
-// List of components on a specific board configuration
-// The index of those components is given by the enum (px4_hw_mft_item_id_t)
-// declared in board_common.h
-static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0650[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-};
-
-
-static px4_hw_mft_list_entry_t mft_lists[] = {
-//  ver_rev
-	{V6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
-	{V6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
-	{V6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
-	{V6X40, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, //                       HB CM4 base
-	{V6X41, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2  HB CM4 base
-	{V6X43, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3
-	{V6X44, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 4
-	{V6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, //                       HB Mini
-	{V6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2  HB Mini
-	{V6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
-	{V6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4
-	{V6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
-	{V6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
-	{V6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4
-	{V6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4
-};
-
-/************************************************************************************
- * Name: board_query_manifest
- *
- * Description:
- *   Optional returns manifest item.
- *
- * Input Parameters:
- *   manifest_id - the ID for the manifest item to retrieve
- *
- * Returned Value:
- *   0 - item is not in manifest => assume legacy operations
- *   pointer to a manifest item
- *
- ************************************************************************************/
-
-__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
-{
-	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
-
-	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
-		ver_rev |= board_get_hw_revision();
-
-		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
-			if (mft_lists[i].hw_ver_rev == ver_rev) {
-				boards_manifest = &mft_lists[i];
-				break;
-			}
-		}
-
-		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
-		}
-	}
-
-	px4_hw_mft_item rv = &device_unsupported;
-
-	if (boards_manifest != px4_hw_mft_list_uninitialized &&
-	    id < boards_manifest->entries) {
-		rv = &boards_manifest->mft[id];
-	}
-
-	return rv;
-}

boards/ark/fmu-v6x/src/mtd.cpp

@@ -1,104 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2022 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 <nuttx/spi/spi.h>
-#include <px4_platform_common/px4_manifest.h>
-//                                                              KiB BS    nB
-static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM 32K 512 X 64
-	.bus_type = px4_mft_device_t::SPI,
-	.devid    = SPIDEV_FLASH(0)
-};
-static const px4_mft_device_t i2c3 = {             // 24LC64T on Base  8K 32 X 256
-	.bus_type = px4_mft_device_t::I2C,
-	.devid    = PX4_MK_I2C_DEVID(3, 0x51)
-};
-
-
-static const px4_mtd_entry_t fmum_fram = {
-	.device = &spi5,
-	.npart = 2,
-	.partd = {
-		{
-			.type = MTD_PARAMETERS,
-			.path = "/fs/mtd_params",
-			.nblocks = 32
-		},
-		{
-			.type = MTD_WAYPOINTS,
-			.path = "/fs/mtd_waypoints",
-			.nblocks = 32
-
-		}
-	},
-};
-
-static const px4_mtd_entry_t base_eeprom = {
-	.device = &i2c3,
-	.npart = 2,
-	.partd = {
-		{
-			.type = MTD_MFT,
-			.path = "/fs/mtd_mft",
-			.nblocks = 248
-		},
-		{
-			.type = MTD_NET,
-			.path = "/fs/mtd_net",
-			.nblocks = 8 // 256 = 32 * 8
-
-		}
-	},
-};
-
-static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs   = 2,
-	.entries = {
-		&fmum_fram,
-		&base_eeprom,
-	}
-};
-
-static const px4_mft_entry_s mtd_mft = {
-	.type = MTD,
-	.pmft = (void *) &board_mtd_config,
-};
-
-static const px4_mft_s mft = {
-	.nmft = 1,
-	.mfts = &mtd_mft
-};
-
-const px4_mft_s *board_get_manifest(void)
-{
-	return &mft;
-}