cmake: move FindPythonInterp->FindPython

- cmake CMP0148 FindPythonInterp deprecated
ci: publish pr images to registry
2026-05-24 03:27:35 +08:00 · 2024-11-22 21:57:53 -05:00 · 2024-11-22 16:08:12 -05:00 · 2024-11-22 16:08:12 -05:00 · 2024-11-22 16:08:12 -05:00 · 2024-11-22 16:05:58 -05:00
3534 changed files with 222656 additions and 68708 deletions
@@ -1 +0,0 @@
--ignore-dir=Documentation
@@ -1,212 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-  stages {
-
-    stage('Build') {
-      steps {
-        script {
-          def build_nodes = [:]
-          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2022-08-12",
-            arm64: "px4io/px4-dev-aarch64:2022-08-12",
-            base: "px4io/px4-dev-ros2-foxy:2022-08-12",
-            nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
-          ]
-
-          def armhf_builds = [
-            target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
-            image: docker_images.armhf,
-            archive: false
-          ]
-
-          def arm64_builds = [
-            target: ["scumaker_pilotpi_arm64"],
-            image: docker_images.arm64,
-            archive: false
-          ]
-
-          def base_builds = [
-            target: ["px4_sitl_default"],
-            image: docker_images.base,
-            archive: false
-          ]
-
-          def nuttx_builds_archive = [
-            target: [
-                     "airmind_mindpx-v2_default",
-                     "ark_can-flow_canbootloader",
-                     "ark_can-flow_default",
-                     "ark_can-gps_canbootloader",
-                     "ark_can-gps_default",
-                     "ark_cannode_canbootloader",
-                     "ark_cannode_default",
-                     "ark_can-rtk-gps_canbootloader",
-                     "ark_can-rtk-gps_default",
-                     "ark_fmu-v6x_bootloader",
-                     "ark_fmu-v6x_default",
-                     "atl_mantis-edu_default",
-                     "av_x-v1_default",
-                     "bitcraze_crazyflie_default",
-                     "bitcraze_crazyflie21_default",
-                     "cuav_can-gps-v1_canbootloader",
-                     "cuav_can-gps-v1_default",
-                     "cuav_nora_default",
-                     "cuav_x7pro_default",
-                     "cubepilot_cubeorange_default",
-                     "cubepilot_cubeorangeplus_default",
-                     "cubepilot_cubeyellow_default",
-                     "diatone_mamba-f405-mk2_default",
-                     "flywoo_gn-f405_default",
-                     "freefly_can-rtk-gps_canbootloader",
-                     "freefly_can-rtk-gps_default",
-                     "holybro_can-gps-v1_canbootloader",
-                     "holybro_can-gps-v1_default",
-                     "holybro_durandal-v1_default",
-                     "holybro_kakutef7_default",
-                     "holybro_kakuteh7_default",
-                     "holybro_kakuteh7v2_default",
-                     "holybro_kakuteh7mini_default",
-                     "holybro_pix32v5_default",
-                     "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-v2_default",
-                     "mro_ctrl-zero-classic_default",
-                     "mro_ctrl-zero-f7_default",
-                     "mro_ctrl-zero-f7-oem_default",
-                     "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7_default",
-                     "mro_pixracerpro_default",
-                     "mro_x21-777_default",
-                     "mro_x21_default",
-                     "nxp_fmuk66-e_default",
-                     "nxp_fmuk66-e_socketcan",
-                     "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_socketcan",
-                     "nxp_fmurt1062-v1_default",
-                     "nxp_mr-canhubk3_default",
-                     "nxp_ucans32k146_canbootloader",
-                     "nxp_ucans32k146_default",
-                     "omnibus_f4sd_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_stackcheck",
-                     "px4_fmu-v5_uavcanv0periph",
-                     "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",
-                     "thepeach_k1_default",
-                     "thepeach_r1_default",
-                     "uvify_core_default"
-            ],
-            image: docker_images.nuttx,
-            archive: true
-          ]
-
-          def docker_builds = [
-            armhf_builds, base_builds, nuttx_builds_archive
-          ]
-
-          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
-            for (def build_target = 0; build_target < docker_builds[build_type].target.size(); build_target++) {
-              build_nodes.put(docker_builds[build_type].target[build_target],
-                createBuildNode(docker_builds[build_type].archive, docker_builds[build_type].image, docker_builds[build_type].target[build_target])
-                )
-            }
-          }
-
-        parallel build_nodes
-
-        } // script
-      } // steps
-    } // stage Build
-
-    // TODO: actually upload artifacts to S3
-    // stage('S3 Upload') {
-    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
-    //   }
-    //   options {
-    //         skipDefaultCheckout()
-    //   }
-    //   when {
-    //     anyOf {
-    //       branch 'master'
-    //       branch 'beta'
-    //       branch 'stable'
-    //       branch 'pr-jenkins' // for testing
-    //     }
-    //   }
-    //   steps {
-    //     sh 'echo "uploading to S3"'
-    //   }
-    // }
-
-  } // stages
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-  }
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 90, unit: 'MINUTES')
-  }
-}
-
-def createBuildNode(Boolean archive, String docker_image, String target) {
-  return {
-
-    bypass_entrypoint = ''
-
-    node {
-      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
-        docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
-          stage(target) {
-            try {
-              sh('export')
-              checkout(scm)
-              sh('make distclean; git clean -ff -x -d .')
-              sh('git fetch --tags')
-              sh('ccache -s')
-              sh('make ' + target)
-              sh('ccache -s')
-              sh('make sizes')
-              if (archive) {
-                archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/*/*.px4, build/*/*.elf, build/*/*.bin', fingerprint: true, onlyIfSuccessful: true)
-              }
-              sh('make ' + target + ' package')
-              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.tar.bz2', fingerprint: true, onlyIfSuccessful: true)
-              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.deb', fingerprint: true, onlyIfSuccessful: true)
-            }
-            catch (exc) {
-              throw (exc)
-            }
-            finally {
-              sh('make distclean; git clean -ff -x -d .')
-            }
-          }
-        }
-      }
-    }
-  }
-}
@@ -1,904 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-  stages {
-    stage('Hardware Test') {
-
-      parallel {
-
-        stage("cubepilot_cubeorange_test") {
-          stages {
-            stage("build cubepilot_cubeorange_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make cubepilot_cubeorange_bootloader'
-                sh 'make cubepilot_cubeorange_test'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'cubepilot_cubeorange'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'cubepilot_cubeorange_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    // run tests
-                    runTests()
-
-                    // load all airframes
-                    // sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("cuav_x7pro_test") {
-          stages {
-            stage("build cuav_x7pro_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make cuav_x7pro_bootloader'
-                sh 'make cuav_x7pro_test'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'cuav_x7pro'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'cuav_x7pro_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v4_test") {
-          stages {
-            stage("build px4_fmu-v4_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v4_test'
-                sh 'make px4_fmu-v4_test bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v4'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v4pro_test") {
-          stages {
-            stage("build px4_fmu-v4pro_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v4pro_test'
-                sh 'make px4_fmu-v4pro_test bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v4pro'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4pro_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v5_debug") {
-          stages {
-            stage("build px4_fmu-v5_debug") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v5_debug'
-                sh 'make px4_fmu-v5_debug bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v5'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_debug'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    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 "uorb top -1"'
-                    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 "sd_bench"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
-
-                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'   // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-                    checkStatus()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v5_stackcheck") {
-          stages {
-            stage("build px4_fmu-v5_stackcheck") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v5_stackcheck'
-                sh 'make px4_fmu-v5_stackcheck bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v5'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_stackcheck'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    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 "uorb_tests"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
-
-                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'   // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-                    checkStatus()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v5_test") {
-          stages {
-            stage("build px4_fmu-v5_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v5_test'
-                sh 'make px4_fmu-v5_test bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v5'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("nxp_fmuk66-v3_test") {
-          stages {
-            stage("build nxp_fmuk66-v3_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make nxp_fmuk66-v3_test'
-                //sh 'make nxp_fmuk66-v3_test bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'nxp_fmuk66-v3'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'nxp_fmuk66-v3_test'
-                    //sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-      } // parallel
-    } // stage Hardware Test
-  } // stages
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CCACHE_NOHASHDIR = 1
-    CI = true
-  }
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
-    timeout(time: 180, unit: 'MINUTES')
-    skipDefaultCheckout()
-  }
-}
-
-void checkoutSCM() {
-  retry(3) {
-    checkout scm
-    sh 'export'
-    sh 'make distclean; git clean -ff -x -d .'
-    sh 'git fetch --tags'
-    sh 'ccache -z'
-  }
-}
-
-void quickCalibrate() {
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters before
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
-}
-
-void checkStatus() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-
-  // status commands
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
-  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 "uavcan status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-}
-
-void resetParameters() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param reset_all"'
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"'
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SDLOG_DIRS_MAX" --value "1"'
-}
-
-void runTests() {
-
-  // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001'
-
-  resetParameters()
-
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-  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 "sensors stop"' // ignore irrelevant sensor timeouts during test
-  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 "sensors stop"' // ignore irrelevant sensor timeouts during test
-  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"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink_tests" || true' // TODO
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params" || true' // expected to fail after erase
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
-
-  // tests (stop modules first)
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
-  sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
-
-  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
-}
-
-void printTopics() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
-
-  // these are for casually inspecting the system, output failure doesn't matter
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state" || true'
-  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 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'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener heater_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener failsafe_flags" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
-}
-
-void resetBoard() {
-  resetParameters()
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-}
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-09-08",
+	"image": "px4io/px4-dev-nuttx-focal:2022-08-12",

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

@@ -15,6 +15,7 @@
 	"extensions": [
 		"chiehyu.vscode-astyle",
 		"dan-c-underwood.arm",
+		"editorconfig.editorconfig",
 		"fredericbonnet.cmake-test-adapter",
 		"github.vscode-pull-request-github",
 		"marus25.cortex-debug",
@@ -29,7 +30,8 @@
 		"twxs.cmake",
 		"uavcan.dsdl",
 		"wholroyd.jinja",
-		"zixuanwang.linkerscript"
+		"zixuanwang.linkerscript",
+		"ms-vscode.makefile-tools"
 	],

 	"containerUser": "user",
@@ -0,0 +1,14 @@
+root = true
+
+[*]
+insert_final_newline = true
+
+[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
+indent_style = tab
+tab_width = 8
+# Not in the official standard, but supported by many editors
+max_line_length = 120
+
+[*.yaml, *.yml]
+indent_style = space
+indent_size = 2
@@ -1,34 +0,0 @@
---
-name: 🐛 Bug report
-about: Create a report to help us improve
-labels: bug-report
-
---
-
-## Describe the bug
-A clear and concise description of the bug.
-
-## 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
-A clear and concise description of what you expected to happen.
-
-## 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/main/en/getting_started/flight_reporting.html)).
- 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):
- Describe the type of drone.
- Photo of the IMU / autopilot setup if possible.
-
-## Additional context
-Add any other context about the problem here.
@@ -1,20 +0,0 @@
---
-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 Discord (you can find an invite link on this project README).
-
-## 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
-A clear and concise description of what you want to happen.
-
-## Describe possible alternatives
-A clear and concise description of alternative solutions or features you've considered.
-
-## Additional context
-Add any other context or screenshots for the feature request here.
@@ -1,13 +0,0 @@
---
-name: ⛔ Support Question
-about: See http://discuss.px4.io/ for questions about using PX4.
-
---
-
-## 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!
@@ -1,11 +0,0 @@
---
-name: ⛔ Documentation Issue
-about: See https://github.com/PX4/px4_user_guide for documentation issues
-
---
-
-## Attention! Please read the note below
-
-**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
-
-Thanks!
@@ -0,0 +1,94 @@
+name: 🐛 Bug report
+description: Create a report to help us improve
+title: "[Bug] "
+labels: ["bug-report"]
+body:
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: A clear and concise description of the bug.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: To Reproduce
+      description: |
+          Steps to reproduce the behavior.
+          1. Drone switched on '...'
+          2. Uploaded mission '....' (attach QGC mission file)
+          3. Took off '....'
+          4. See error
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Expected behavior
+      description: A clear and concise description of what you expected to happen.
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Screenshot / Media
+      description: Add screenshot / media if you have them
+
+  - type: textarea
+    attributes:
+      label: Flight Log
+      description: |
+          *Always* provide a link to the flight log file:
+          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
+          - 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)
+      placeholder: |
+          # PASTE HERE THE LINK TO THE LOG
+    validations:
+      required: false
+
+  - type: markdown
+    attributes:
+      value: |
+        ## Setup
+
+  - type: textarea
+    attributes:
+      label: Software Version
+      description: |
+          Which version of PX4 are you using?
+      placeholder: |
+          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
+    validations:
+      required: false
+
+  - type: input
+    attributes:
+      label: Flight controller
+      description: Specify your flight controller model (what type is it, where was it bought from, ...).
+    validations:
+      required: false
+
+  - type: dropdown
+    attributes:
+      label: Vehicle type
+      options:
+        - Multicopter
+        - Helicopter
+        - Fixed Wing
+        - Hybrid VTOL
+        - Airship/Balloon
+        - Rover
+        - Boat
+        - Submarine
+        - Other
+
+  - type: textarea
+    attributes:
+      label: How are the different components wired up (including port information)
+      description: Details about how all is wired.
+
+  - type: textarea
+    attributes:
+      label: Additional context
+      description: Add any other context about the problem here.
@@ -0,0 +1,8 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Support Question
+    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
+    about: For questions about using PX4 or related components, please use the discuss forum and discord server
+  - name: Documentation Issue
+    url: https://github.com/PX4/PX4-user_guide/issues
+    about: If you found an issue in documentation, please submit it directly to the docs repository issues
@@ -0,0 +1,35 @@
+name: 🚀 Feature Request
+description: Suggest an idea for this project
+labels: ["feature-request"]
+body:
+  - type: markdown
+    attributes:
+      value: |
+        ## Please note that feature requests are not 'fire and forget'
+        It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing.
+
+  - type: textarea
+    attributes:
+      label: Describe problem solved by the proposed feature
+      description: A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Describe your preferred solution
+      description: A clear and concise description of what you want to happen.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Describe possible alternatives
+      description: A clear and concise description of any alternative solutions or features you've considered.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional context
+      description: Add any other context or screenshots for the feature request here.
@@ -1,24 +0,0 @@
-<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
-  <linearGradient id="smooth" x2="0" y2="100%">
-    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
-    <stop offset="1" stop-opacity=".1"/>
-  </linearGradient>
-
-  <mask id="round">
-    <rect width="90" height="20" rx="3" fill="#fff"/>
-  </mask>
-
-  <g mask="url(#round)">
-    <rect width="42" height="20" fill="#555"/>
-    <rect x="42" width="48" height="20" fill="#E01563"/>
-    <rect width="90" height="20" fill="url(#smooth)"/>
-  </g>
-
-  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
-    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
-    <text x="22" y="14">slack</text>
-    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
-    <text x="65" y="14">Join us!</text>
-  </g>
-</svg>
-
@@ -1,15 +0,0 @@
-# Number of days of inactivity before an issue becomes stale
-daysUntilStale: 90
-# Number of days of inactivity before a stale issue is closed, or `false` to disable
-daysUntilClose: false
-# Issues with these labels will never be considered stale
-exemptLabels:
-  - pinned
-# Label to use when marking an issue as stale
-staleLabel: stale
-# Comment to post when marking an issue as stale. Set to `false` to disable
-markComment: >
-  This issue has been automatically marked as stale because it has not had
-  recent activity. Thank you for your contributions.
-# Comment to post when closing a stale issue. Set to `false` to disable
-closeComment: false
@@ -0,0 +1,158 @@
+# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
+# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
+#   and comment the "runs-on: [runs-on,runner=..." lines.
+# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
+
+name: Build all targets
+
+on:
+  push:
+    tags:
+      - 'v*'
+    branches:
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
+  pull_request:
+    branches:
+      - '*'
+
+jobs:
+  group_targets:
+    name: Scan for Board Targets
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
+      tagname: ${{ steps.set-tag.outputs.tagname }}
+      branchname: ${{ steps.set-branch.outputs.branchname }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Update python packaging to avoid canonicalize_version() error
+        run: |
+            pip3 install -U packaging
+
+      - name: Install Python Dependencies
+        uses: py-actions/py-dependency-install@v4
+        with:
+          path: "./Tools/setup/requirements.txt"
+
+      - id: set-matrix
+        run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"
+
+      - id: set-timestamp
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+
+      - id: set-branch
+        run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
+
+      - name: Debug Matrix Output
+        if: runner.debug == '1'
+        run: |
+          echo "${{ steps.set-timestamp.outputs.timestamp }}"
+          echo "${{ steps.set-branch.outputs.branchname }}"
+          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
+
+  setup:
+    name: Build Group [${{ matrix.group }}]
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    needs: group_targets
+    strategy:
+      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
+      fail-fast: false
+    container:
+      image: ${{ matrix.container }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Git ownership workaround
+        run: git config --system --add safe.directory '*'
+
+      - name: Setup ccache
+        uses: actions/cache@v4
+        with:
+          path: ~/.ccache
+          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+
+      - name: Configure ccache
+        run: |
+            mkdir -p ~/.ccache
+            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+            echo "compression = true" >> ~/.ccache/ccache.conf
+            echo "compression_level = 6" >> ~/.ccache/ccache.conf
+            echo "max_size = 120M" >> ~/.ccache/ccache.conf
+            echo "hash_dir = false" >> ~/.ccache/ccache.conf
+            ccache -s
+            ccache -z
+
+      - name: Building [${{ matrix.group }}]
+        run: |
+            ./Tools/ci/build_all_runner.sh ${{matrix.targets}}
+
+      - name: Arrange Build Artifacts
+        run: |
+          ./Tools/ci/package_build_artifacts.sh
+
+      - name: Upload Build Artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4_${{matrix.group}}_build_artifacts
+          path: artifacts/
+
+      - name: Cache Save
+        run: ccache -s
+
+  artifacts:
+    name: Upload Artifacts to S3
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    needs: [setup, group_targets]
+    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
+    steps:
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: artifacts/
+          merge-multiple: true
+
+      - name: Branch Name
+        run: |
+          echo "${{ needs.group_targets.outputs.branchname }}"
+
+      - name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
+        uses: jakejarvis/s3-sync-action@master
+        with:
+          args: --acl public-read
+        env:
+          AWS_S3_BUCKET: 'px4-travis'
+          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+          AWS_REGION: 'us-west-1'
+          SOURCE_DIR: artifacts/
+          DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/
+
+  release:
+    name: Create Release and Upload Artifacts
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    needs: [setup, group_targets]
+    if: startsWith(github.ref, 'refs/tags/v')
+    steps:
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: artifacts/
+          merge-multiple: true
+
+      - name: Upload Binaries to Release
+        uses: softprops/action-gh-release@v2
+        with:
+          draft: true
+          files: artifacts/*.px4
@@ -16,6 +16,7 @@ jobs:
      matrix:
        check: [
          "check_format",
+          "check_newlines",
          "tests",
          "tests_coverage",
          "px4_fmu-v2_default stack_check",
@@ -23,12 +24,13 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
+          "px4_sitl_allyes",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-09-08
+      image: px4io/px4-dev-nuttx-focal:2022-08-12
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -17,5 +17,7 @@ jobs:
      with:
        token: ${{secrets.ACCESS_TOKEN}}

-    - name: make clang-tidy-quiet
-      run: make clang-tidy-quiet
+    - uses: corrupt952/actions-retry-command@v1.0.7
+      with:
+        command: make clang-tidy-quiet
+        max_attempts: 3
@@ -1,54 +0,0 @@
-name: Linux Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-09-08
-    strategy:
-      matrix:
-        config: [
-          beaglebone_blue_default,
-          emlid_navio2_default,
-          px4_raspberrypi_default,
-          scumaker_pilotpi_default,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s
@@ -1,51 +0,0 @@
-name: Linux ARM64 Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-09-08
-    strategy:
-      matrix:
-        config: [
-          scumaker_pilotpi_arm64,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s
@@ -10,15 +10,19 @@ on:

 jobs:
  build:
-    runs-on: macos-10.15
+    runs-on: macos-latest
    strategy:
      matrix:
        config: [
          px4_fmu-v5_default,
          px4_sitl
-          #tests, # includes px4_sitl
          ]
    steps:
+    - name: install Python 3.10
+      uses: actions/setup-python@v4
+      with:
+        python-version: "3.10"
+
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}
@@ -1,129 +0,0 @@
-name: Nuttx Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
-    strategy:
-      fail-fast: false
-      matrix:
-        config: [
-          airmind_mindpx-v2,
-          ark_can-flow,
-          ark_can-gps,
-          ark_can-rtk-gps,
-          ark_cannode,
-          ark_fmu-v6x,
-          atl_mantis-edu,
-          av_x-v1,
-          bitcraze_crazyflie,
-          bitcraze_crazyflie21,
-          cuav_can-gps-v1,
-          cuav_nora,
-          cuav_x7pro,
-          cubepilot_cubeorange,
-          cubepilot_cubeorangeplus,
-          cubepilot_cubeyellow,
-          diatone_mamba-f405-mk2,
-          freefly_can-rtk-gps,
-          holybro_can-gps-v1,
-          holybro_durandal-v1,
-          holybro_kakutef7,
-          holybro_kakuteh7,
-          holybro_pix32v5,
-          matek_gnss-m9n-f4,
-          matek_h743,
-          matek_h743-mini,
-          matek_h743-slim,
-          modalai_fc-v1,
-          modalai_fc-v2,
-          mro_ctrl-zero-f7,
-          mro_ctrl-zero-f7-oem,
-          mro_ctrl-zero-h7,
-          mro_ctrl-zero-h7-oem,
-          mro_pixracerpro,
-          mro_x21,
-          mro_x21-777,
-          nxp_fmuk66-e,
-          nxp_fmuk66-v3,
-          nxp_fmurt1062-v1,
-          nxp_mr-canhubk3,
-          nxp_ucans32k146,
-          omnibus_f4sd,
-          px4_fmu-v2,
-          px4_fmu-v3,
-          px4_fmu-v4,
-          px4_fmu-v4pro,
-          px4_fmu-v5,
-          px4_fmu-v5x,
-          px4_fmu-v6c,
-          px4_fmu-v6u,
-          px4_fmu-v6x,
-          raspberrypi_pico,
-          sky-drones_smartap-airlink,
-          spracing_h7extreme,
-          uvify_core
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 120M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make all_variants_${{matrix.config}}
-      run: make all_variants_${{matrix.config}}
-      timeout-minutes: 45
-    - name: make ${{matrix.config}} bloaty_compileunits
-      run: make ${{matrix.config}} bloaty_compileunits || true
-    - name: make ${{matrix.config}} bloaty_inlines
-      run: make ${{matrix.config}} bloaty_inlines || true
-    - name: make ${{matrix.config}} bloaty_segments
-      run: make ${{matrix.config}} bloaty_segments || true
-    - name: make ${{matrix.config}} bloaty_symbols
-      run: make ${{matrix.config}} bloaty_symbols || true
-    - name: make ${{matrix.config}} bloaty_templates
-      run: make ${{matrix.config}} bloaty_templates || true
-    - name: make ${{matrix.config}} bloaty_ram
-      run: make ${{matrix.config}} bloaty_ram || true
-    - name: make ${{matrix.config}} bloaty_compare_master
-      run: make ${{matrix.config}} bloaty_compare_master || true
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_package_${{matrix.config}}
-        path: |
-          build/**/*.px4
-          build/**/*.bin
@@ -0,0 +1,46 @@
+name: Ubuntu environment build
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
+  pull_request:
+    branches:
+      - '*'
+
+jobs:
+  build_and_test:
+    name: Build and Test
+    strategy:
+      fail-fast: false
+      matrix:
+        version: ['ubuntu:22.04', 'ubuntu:24.04']
+    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    container:
+      image: ${{ matrix.version }}
+      volumes:
+        - /github/workspace:/github/workspace
+    steps:
+
+      - name: Fix git in container
+        run: |
+          # we only need this because we are running the job in a container
+          # when checkout pulls git it does it in a shared volume
+          # and file ownership changes between steps
+          # first we install git since its missing from the base image
+          # then we mark the directory as safe for other instances
+          # of git to use.
+          apt update && apt install git -y
+          git config --global --add safe.directory $(realpath .)
+
+      - uses: actions/checkout@v4
+
+      - name: Install Deps, Build, and Make Quick Check
+        run: |
+          # we need to install dependencies and build on the same step
+          # given the stateless nature of docker images
+          ./Tools/setup/ubuntu.sh
+          make quick_check
@@ -1,54 +0,0 @@
-name: Deploy metadata for all targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'release/*'
-    - 'pr-metadata-test'
-
-jobs:
-  enumerate_targets:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    outputs:
-      matrix: ${{ steps.set-matrix.outputs.matrix }}
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-    - id: set-matrix
-      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
-  build:
-    runs-on: ubuntu-latest
-    needs: enumerate_targets
-    strategy:
-      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: make ${{matrix.target}}
-      run: make ${{matrix.target}}
-
-    - name: parameter & events metadata
-      run: |
-        make ${{matrix.target}} ver_gen events_json actuators_json
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
-        cd build/${{ matrix.target }}
-        mkdir _metadata || true
-        cp parameters.* events/*.xz actuators.json* _metadata
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
-        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
-
@@ -0,0 +1,102 @@
+
+name: Container build
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
+    tags:
+      - 'v*'
+  pull_request:
+    branches:
+      - '*'
+
+jobs:
+  build:
+    name: Build and Push Container
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: |
+            ghcr.io/PX4/px4-dev
+            px4io/px4-dev
+          tags: |
+            type=schedule
+            type=semver,pattern={{version}}
+            type=semver,pattern={{major}}.{{minor}}
+            type=semver,pattern={{major}}
+            type=ref,event=branch,suffix=-{{date 'YYYYMMDD'}},priority=600
+            type=ref,event=branch,suffix=,priority=500
+            type=ref,event=pr
+            type=sha
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Build and load container image
+        uses: docker/build-push-action@v6
+        id: docker
+        with:
+          context: Tools/setup
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: |
+            linux/amd64
+          load: true
+          push: false
+          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
+          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
+
+      - name: Get Tag Name
+        id: tag_name
+        run: |
+          echo "::set-output name=tag_name::$(echo '${{ fromJSON(steps.docker.outputs.metadata)['image.name'] }}' | sed 's/,.*$//')"
+
+      - name: make quick_check
+        uses: addnab/docker-run-action@v3
+        with:
+          image: ${{ steps.tag_name.outputs.tag_name }}
+          options: -v ${{ github.workspace }}:/workspace
+          run: |
+            cd /workspace
+            git config --global --add safe.directory /workspace
+            make px4_sitl_default
+            make px4_fmu-v6x_default
+
+      - name: Push container image
+        uses: docker/build-push-action@v6
+        with:
+          context: Tools/setup
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: |
+            linux/amd64
+          provenance: mode=max
+          push: true
+          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
+          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
@@ -21,7 +21,7 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-09-08
+      image: px4io/px4-dev-nuttx-focal:2022-08-12
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -0,0 +1,118 @@
+name: FLASH usage analysis
+
+on:
+  push:
+    branches:
+      - 'main'
+  pull_request:
+    branches:
+      - '*'
+
+jobs:
+  analyze_flash:
+    name: Analyzing ${{ matrix.target }}
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    container:
+      image: px4io/px4-dev-nuttx-focal
+    strategy:
+      matrix:
+        target: [px4_fmu-v5x, px4_fmu-v6x]
+    outputs:
+      px4_fmu-v5x: ${{ steps.gen-output.outputs.output_px4_fmu-v5x }}
+      px4_fmu-v6x: ${{ steps.gen-output.outputs.output_px4_fmu-v6x }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: recursive
+
+      - name: Git ownership workaround
+        run: git config --system --add safe.directory '*'
+
+      - name: Build Target
+        run: make ${{ matrix.target }}
+
+      - name: Store the ELF with the change
+        run: cp ./build/${{ matrix.target }}_default/${{ matrix.target }}_default.elf ./with-change.elf
+
+      - name: Clean previous build
+        run: |
+          make clean
+          make distclean
+
+      - name: If it's a PR checkout the base commit
+        if: ${{ github.event.pull_request }}
+        run: git checkout ${{ github.event.pull_request.base.sha }}
+
+      - name: If it's a push checkout the previous commit
+        if: github.event_name == 'push'
+        run: git checkout ${{ github.event.before }}
+
+      - name: Update submodules
+        run: make submodulesupdate
+
+      - name: Build
+        run: make ${{ matrix.target }}
+
+      - name: Store the ELF before the change
+        run: cp ./build/${{ matrix.target }}_default/${{ matrix.target }}_default.elf ./before-change.elf
+
+      - name: bloaty-action
+        uses: carlosperate/bloaty-action@v1.1.0
+        id: bloaty-step
+        with:
+          bloaty-args: -d sections,compileunits -n 0 ./with-change.elf -- ./before-change.elf
+          output-to-summary: true
+
+      - name: Generate output
+        id: gen-output
+        run: |
+          EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
+          echo "output_${{ matrix.target }}<<$EOF" >> $GITHUB_OUTPUT
+          echo "${{ steps.bloaty-step.outputs.bloaty-output-encoded }}" >> $GITHUB_OUTPUT
+          echo "$EOF" >> $GITHUB_OUTPUT
+
+  post_pr_comment:
+    name: Publish Results
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    needs: [analyze_flash]
+    if: ${{ github.event.pull_request }}
+    steps:
+      - name: Find Comment
+        uses: peter-evans/find-comment@v3
+        id: fc
+        with:
+          issue-number: ${{ github.event.pull_request.number }}
+          comment-author: 'github-actions[bot]'
+          body-includes: FLASH Analysis
+
+      - name: Set Build Time
+        id: bt
+        run: |
+          echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
+
+      - name: Create or update comment
+        uses: peter-evans/create-or-update-comment@v4
+        with:
+          comment-id: ${{ steps.fc.outputs.comment-id }}
+          issue-number: ${{ github.event.pull_request.number }}
+          body: |
+            ## FLASH Analysis
+            <details>
+              <summary>px4_fmu-v5x</summary>
+
+              ```
+              ${{ needs.analyze_flash.outputs.px4_fmu-v5x }}
+              ```
+            </details>
+
+            <details>
+              <summary>px4_fmu-v6x</summary>
+
+              ```
+              ${{ needs.analyze_flash.outputs.px4_fmu-v6x }}
+              ```
+            </details>
+
+            **Updated: _${{ steps.bt.outputs.timestamp }}_**
+          edit-mode: replace
@@ -11,6 +11,8 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
    strategy:
      fail-fast: false
      matrix:
@@ -86,7 +88,7 @@ jobs:
      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
    - name: Upload px4 coredump
      if: failure()
-      uses: actions/upload-artifact@v2-preview
+      uses: actions/upload-artifact@v3
      with:
        name: coredump
        path: px4.core
@@ -101,21 +103,21 @@ jobs:

    - name: Upload px4 binary
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: binary
        path: build/px4_sitl_default/bin/px4

    - name: Store PX4 log
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: px4_log
        path: ~/.ros/log/*/*.ulg

    - name: Store ROS log
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: ros_log
        path: ~/.ros/**/rostest-*.log
@@ -11,6 +11,8 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
    strategy:
      fail-fast: false
      matrix:
@@ -81,7 +83,7 @@ jobs:
      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
    - name: Upload px4 coredump
      if: failure()
-      uses: actions/upload-artifact@v2-preview
+      uses: actions/upload-artifact@v3
      with:
        name: coredump
        path: px4.core
@@ -96,21 +98,21 @@ jobs:

    - name: Upload px4 binary
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: binary
        path: build/px4_sitl_default/bin/px4

    - name: Store PX4 log
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: px4_log
        path: ~/.ros/log/*/*.ulg

    - name: Store ROS log
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: ros_log
        path: ~/.ros/**/rostest-*.log
@@ -1,131 +0,0 @@
-name: Metadata
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'release/*'
-    - 'pr-metadata-test'
-
-jobs:
-
-  airframe:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: airframe metadata
-      run: |
-        make airframe_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default/docs
-      # TODO: deploy to userguide gitbook
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  module:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: module documentation
-      run: |
-        make module_documentation
-        cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy to userguide gitbook and s3
-
-  parameter:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: parameter metadata
-      run: |
-        make parameters_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  events:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: events metadata
-      run: |
-        make extract_events
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default
-        mkdir _events_full || true
-        cp events/all_events_full.json.xz _events_full/all_events.json.xz
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  uorb_graph:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: uORB graph
-      run: |
-        make uorb_graphs
-        cd Tools/uorb_graph
-        ls -ls *
-      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
-
-  ROS2_msgs:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS2 msgs
-      run: |
-        git clone https://github.com/PX4/px4_msgs.git
-        rm px4_msgs/msg/*.msg
-        cp msg/*.msg px4_msgs/msg/
@@ -0,0 +1,32 @@
+name: Nuttx Target with extra env config
+
+on:
+  push:
+    branches:
+    - 'main'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    strategy:
+      matrix:
+        config: [
+          px4_fmu-v5,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: make ${{matrix.config}}
+      env:
+        PX4_EXTRA_NUTTX_CONFIG: "CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
+      run: |
+        echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
+        make ${{matrix.config}} nuttx_context
+        # Check that the config option is set
+        grep CONFIG_NSH_LOGIN_PASSWORD build/${{matrix.config}}_default/NuttX/nuttx/.config
@@ -10,7 +10,7 @@ on:

 jobs:
  build:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -18,7 +18,7 @@ jobs:
    - name: Install Python3
      run: sudo apt-get install python3 python3-setuptools python3-pip -y
    - name: Install tools
-      run: pip3 install --user mypy types-requests flake8
+      run: python3 -m pip install mypy types-requests flake8 --break-system-packages
    - name: Check MAVSDK test scripts with mypy
      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
    - name: Check MAVSDK test scripts with flake8
@@ -1,3 +1,8 @@
+# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
+# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
+#   and comment the "runs-on: [runs-on,runner=..." lines.
+# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
+
 name: SITL Tests

 on:
@@ -10,126 +15,139 @@ on:

 jobs:
  build:
-    runs-on: ubuntu-latest
+    name: Testing PX4 ${{ matrix.config.model }}
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    container:
+      image: px4io/px4-dev-simulation-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    strategy:
      fail-fast: false
      matrix:
        config:
          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          # - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich

-    container:
-      image: px4io/px4-dev-simulation-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0

-    - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-    - name: Install MAVSDK
-      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      - name: Git Ownership Workaround
+        run: git config --system --add safe.directory '*'

-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
+      - id: set-timestamp
+        name: Set timestamp for cache
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"

-    - name: check environment
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default sitl_gazebo-classic
-    - name: ccache post-run sitl_gazebo-classic
-      run: ccache -s
-    - name: Build MAVSDK tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        DONT_RUN: 1
-      run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
-    - name: ccache post-run mavsdk_tests
-      run: ccache -s
+      - name: Cache Key Config
+        uses: actions/cache@v4
+        with:
+          path: ~/.ccache
+          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}

-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+      - name: Cache Conf Config
+        run: |
+            mkdir -p ~/.ccache
+            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+            echo "compression = true" >> ~/.ccache/ccache.conf
+            echo "compression_level = 6" >> ~/.ccache/ccache.conf
+            echo "max_size = 120M" >> ~/.ccache/ccache.conf
+            echo "hash_dir = false" >> ~/.ccache/ccache.conf
+            ccache -s
+            ccache -z

-    - name: Run SITL tests
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
-      timeout-minutes: 45
+      - name: Build PX4
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: make px4_sitl_default

-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
+      - name: Cache Post-Run [px4_sitl_default]
+        run: ccache -s

-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
+      - name: Build SITL Gazebo
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: make px4_sitl_default sitl_gazebo-classic

-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavsdk
-        file: coverage/lcov.info
+      - name: Cache Post-Run [sitl_gazebo-classic]
+        run: ccache -s
+
+      - name: Download MAVSDK
+        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+
+      - name: Install MAVSDK
+        run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+
+      - name: Check PX4 Environment Variables
+        env:
+          PX4_HOME_LAT: ${{matrix.config.latitude}}
+          PX4_HOME_LON: ${{matrix.config.longitude}}
+          PX4_HOME_ALT: ${{matrix.config.altitude}}
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: |
+            export
+            ulimit -a
+
+      - name: Build PX4 / MAVSDK tests
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+          DONT_RUN: 1
+        run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
+
+      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
+        run: ccache -s
+
+      - name: Core Dump Settings
+        run: |
+            ulimit -c unlimited
+            echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+      - name: Run SITL / MAVSDK Tests
+        env:
+          PX4_HOME_LAT: ${{matrix.config.latitude}}
+          PX4_HOME_LON: ${{matrix.config.longitude}}
+          PX4_HOME_ALT: ${{matrix.config.altitude}}
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
+        timeout-minutes: 45
+
+      - name: Upload failed logs
+        if: failure()
+        uses: actions/upload-artifact@v4
+        with:
+          name: failed-${{matrix.config.model}}-logs.zip
+          path: |
+            logs/**/**/**/*.log
+            logs/**/**/**/*.ulg
+            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
+
+      - name: Look at Core files
+        if: failure() && ${{ hashFiles('px4.core') != '' }}
+        run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+
+      - name: Upload PX4 coredump
+        if: failure() && ${{ hashFiles('px4.core') != '' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: coredump
+          path: px4.core
+
+      - name: Setup & Generate Coverage Report
+        if: contains(matrix.config.build_type, 'Coverage')
+        run: |
+            git config --global credential.helper "" # disable the keychain credential helper
+            git config --global --add credential.helper store # enable the local store credential helper
+            echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+            git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+            mkdir -p coverage
+            lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+
+      - name: Upload Coverage Information to Codecov
+        if: contains(matrix.config.build_type, 'Coverage')
+        uses: codecov/codecov-action@v4
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          flags: mavsdk
+          file: coverage/lcov.info
@@ -0,0 +1,16 @@
+name: 'Handle stale issues and PRs'
+on:
+  schedule:
+    - cron: '30 1 * * *'
+
+jobs:
+  stale:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/stale@v8
+        with:
+          days-before-stale: 30
+          days-before-close: -1
+          stale-issue-label: 'stale'
+          stale-pr-label: 'stale'
+          remove-stale-when-updated: true
@@ -1,33 +0,0 @@
-# How to install:
-#   gem install github_changelog_generator
-# How to run:
-#   github_changelog_generator -u PX4 -p Firmware
-# Description:
-#   The following params are sensible defaults for the PX4 project,
-#   if you want to do a changelog before a release you need to update since-tag and future-releases,
-
-# Params:
-#   github_changelog_generator --help for all options
-
-# max-issues
-#   max threshold for github api queries
-#   make sure you set your CHANGELOG_GITHUB_TOKEN before
-#   running
-max-issues=1500
-
-# exclude-tags-regex
-#   excludes release candidates
-exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
-
-# since-tag
-#   version of last stable release
-#   you need to change this depending on what you need
-#   if you want a changelog between versions this is the lowest version
-since-tag=1.6.5
-
-# future-release
-#   version you are about to release
-#   if you want a changelog between a version and all unreleased changes grouped as a release
-#     eg: v1.6.5 to v1.7.0
-future-release=v1.7.0
-
@@ -2,10 +2,6 @@
 	path = src/modules/mavlink/mavlink
 	url = https://github.com/mavlink/mavlink.git
 	branch = master
-[submodule "src/drivers/uavcan/libuavcan"]
-	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/dronecan/libuavcan.git
-	branch = main
 [submodule "Tools/simulation/jmavsim/jMAVSim"]
 	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -21,7 +17,7 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.3.0+-v1.14
+	branch = px4_firmware_nuttx-10.3.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
@@ -62,3 +58,34 @@
 	path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
 	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
 	branch = px4
+[submodule "src/lib/cdrstream/cyclonedds"]
+	path = src/lib/cdrstream/cyclonedds
+	url = https://github.com/px4/cyclonedds
+[submodule "src/lib/cdrstream/rosidl"]
+	path = src/lib/cdrstream/rosidl
+	url = https://github.com/px4/rosidl
+[submodule "src/modules/zenoh/zenoh-pico"]
+	path = src/modules/zenoh/zenoh-pico
+	url = https://github.com/px4/zenoh-pico
+	branch = dev/1.0.0-px4
+[submodule "src/lib/heatshrink/heatshrink"]
+	path = src/lib/heatshrink/heatshrink
+	url = https://github.com/PX4/heatshrink.git
+	branch = px4
+[submodule "Tools/simulation/gz"]
+	path = Tools/simulation/gz
+	url = https://github.com/PX4/PX4-gazebo-models.git
+	branch = main
+[submodule "boards/modalai/voxl2/libfc-sensor-api"]
+	path = boards/modalai/voxl2/libfc-sensor-api
+	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
+[submodule "src/drivers/actuators/vertiq_io/iq-module-communication-cpp"]
+	path = src/drivers/actuators/vertiq_io/iq-module-communication-cpp
+	url = https://github.com/PX4/iq-module-communication-cpp.git
+	branch = master
+[submodule "src/drivers/uavcan/libdronecan/dsdl"]
+	path = src/drivers/uavcan/libdronecan/dsdl
+	url = https://github.com/PX4/DSDL.git
+[submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
+	path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
+	url = https://github.com/dronecan/pydronecan
@@ -1,35 +0,0 @@
-language: cpp
-
-git:
-  depth: 100
-  submodules: false
-
-matrix:
-  fast_finish: true
-  include:
-    - os: linux
-      dist: xenial
-      # In order to stay under the coverity rate limit, we only run this weekly
-      # and not on push which is configured in travis-ci settings.
-      if: branch = main
-
-before_install:
-    - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
-
-install:
-    - export PATH=$HOME/.local/bin:$PATH
-    - pip install --user --upgrade pip
-    - pip install --user -r Tools/setup/requirements.txt
-
-script:
-    - make
-
-addons:
-  coverity_scan:
-    project:
-      name: "PX4/Firmware"
-      description: "Build submitted via Travis CI"
-    notification_email: ci@px4.io
-    build_command_prepend: "make distclean"
-    build_command: "make px4_sitl_default"
-    branch_pattern: coverity_scan
@@ -2,4 +2,4 @@
 	{
 		"name": "PX4 detect"
 	}
-]
+]
@@ -71,6 +71,26 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v5x_default
+    px4_fmu-v6c_default:
+      short: px4_fmu-v6c
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6c_default
+    px4_fmu-v6c_bootloader:
+      short: px4_fmu-v6c_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6c_bootloader
+    px4_fmu-v6u_default:
+      short: px4_fmu-v6u
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6u_default
+    px4_fmu-v6u_bootloader:
+      short: px4_fmu-v6u_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6u_bootloader
    px4_fmu-v6x_default:
      short: px4_fmu-v6x
      buildType: MinSizeRel
@@ -81,6 +101,21 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v6x_bootloader
+    px4_fmu-v6xrt_default:
+      short: px4_fmu-v6xrt
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6xrt_default
+    px4_fmu-v6xrt_bootloader:
+      short: px4_fmu-v6xrt_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6xrt_bootloader
+    3dr_ctrl-zero-h7-oem-revg_default:
+      short: 3dr_ctrl-zero-h7-oem-revg
+      buildType: MinSizeRel
+      settings:
+        CONFIG: 3dr_ctrl-zero-h7-oem-revg_default
    airmind_mindpx-v2_default:
      short: airmind_mindpx-v2
      buildType: MinSizeRel
@@ -121,6 +156,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-rtk-gps_canbootloader
+    ark_septentrio-gps_default:
+      short: ark_septentrio-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_septentrio-gps_default
+    ark_septentrio-gps_canbootloader:
+      short: ark_septentrio-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_septentrio-gps_canbootloader
    ark_cannode_default:
      short: ark_cannode_default
      buildType: MinSizeRel
@@ -141,6 +186,26 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_fmu-v6x_default
+    ark_fpv_bootloader:
+      short: ark_fpv_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_fpv_bootloader
+    ark_fpv_default:
+      short: ark_fpv_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_fpv_default
+    ark_pi6x_bootloader:
+      short: ark_pi6x_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_pi6x_bootloader
+    ark_pi6x_default:
+      short: ark_pi6x_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_pi6x_default
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
@@ -176,11 +241,21 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_x7pro_default
+    cuav_7-nano_default:
+      short: cuav_7-nano
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_7-nano_default
    cubepilot_cubeorange_test:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
      settings:
        CONFIG: cubepilot_cubeorange_test
+    cubepilot_cubeorangeplus_test:
+      short: cubepilot_cubeorangeplus
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cubepilot_cubeorangeplus_test
    emlid_navio2_default:
      short: emlid_navio2
      buildType: MinSizeRel
@@ -226,6 +301,21 @@ CONFIG:
      buildType: MiniSizeRel
      settings:
        CONFIG: matek_gnss-m9n-f4_default
+    micoair_h743_default:
+      short: micoair_h743
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743_default
+    micoair_h743-aio_bootloader:
+      short: micoair_h743-aio_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-aio_bootloader
+    micoair_h743-aio_default:
+      short: micoair_h743-aio
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-aio_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -276,8 +366,33 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: nxp_mr-canhubk3_fmu
+    nxp_tropic-community_default:
+      short: nxp_tropic-community_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_tropic-community_default
    raspberrypi_pico_default:
      short: raspberrypi_pico
      buildType: MinSizeRel
      settings:
        CONFIG: raspberrypi_pico_default
+    zeroone_x6_default:
+      short: zeroone_x6
+      buildType: MinSizeRel
+      settings:
+        CONFIG: zeroone_x6_default
+    zeroone_x6_bootloader:
+      short: zeroone_x6_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: zeroone_x6_bootloader
+    x-mav_ap-h743v2_bootloader:
+      short: x-mav_ap-h743v2-boot
+      buildType: MinSizeRel
+      settings:
+        CONFIG: x-mav_ap-h743v2_bootloader
+    x-mav_ap-h743v2_default:
+      short: x-mav_ap-h743v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: x-mav_ap-h743v2_default
@@ -4,6 +4,7 @@
    "recommendations": [
        "chiehyu.vscode-astyle",
        "dan-c-underwood.arm",
+        "editorconfig.editorconfig",
        "fredericbonnet.cmake-test-adapter",
        "github.vscode-pull-request-github",
        "marus25.cortex-debug",
@@ -18,6 +19,7 @@
        "twxs.cmake",
        "uavcan.dsdl",
        "wholroyd.jinja",
-        "zixuanwang.linkerscript"
+        "zixuanwang.linkerscript",
+        "ms-vscode.makefile-tools"
    ]
 }
@@ -15,6 +15,7 @@
        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
        "cmake.configureOnOpen": true,
        "cmake.ctest.parallelJobs": 1,
+        "cmake.options.statusBarVisibility": "compact",
        "cmake.skipConfigureIfCachePresent": true,
        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
        "cmakeExplorer.parallelJobs": 1,
@@ -127,5 +128,6 @@
        "terminal.integrated.scrollback": 15000,
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        }
+        },
+        "ros.distro": "humble"
 }
@@ -1,172 +0,0 @@
-# This file is NOT licensed under the GPLv3, which is the license for the rest
-# of YouCompleteMe.
-#
-# Here's the license text for this file:
-#
-# This is free and unencumbered software released into the public domain.
-#
-# Anyone is free to copy, modify, publish, use, compile, sell, or
-# distribute this software, either in source code form or as a compiled
-# binary, for any purpose, commercial or non-commercial, and by any
-# means.
-#
-# In jurisdictions that recognize copyright laws, the author or authors
-# of this software dedicate any and all copyright interest in the
-# software to the public domain. We make this dedication for the benefit
-# of the public at large and to the detriment of our heirs and
-# successors. We intend this dedication to be an overt act of
-# relinquishment in perpetuity of all present and future rights to this
-# software under copyright law.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
-# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
-# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
-# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
-# OTHER DEALINGS IN THE SOFTWARE.
-#
-# For more information, please refer to <http://unlicense.org/>
-
-import os
-import ycm_core
-
-# These are the compilation flags that will be used in case there's no
-# compilation database set (by default, one is not set).
-# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
-flags = [
-'-Wall',
-'-Wextra',
-'-Werror',
-#'-Wc++98-compat',
-'-Wno-long-long',
-'-Wno-variadic-macros',
-'-fexceptions',
-'-DNDEBUG',
-# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
-# source code needs it.
-#'-DUSE_CLANG_COMPLETER',
-# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
-# language to use when compiling headers. So it will guess. Badly. So C++
-# headers will be compiled as C headers. You don't want that so ALWAYS specify
-# a "-std=<something>".
-# For a C project, you would set this to something like 'c99' instead of
-# 'c++14'.
-'-std=c++14',
-# ...and the same thing goes for the magic -x option which specifies the
-# language that the files to be compiled are written in. This is mostly
-# relevant for c++ headers.
-# For a C project, you would set this to 'c' instead of 'c++'.
-'-x',
-'c++',
-'-undef', # get rid of standard definitions to allow us to include arm math header
-'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
-'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
-'-I', './NuttX/nuttx/arch/arm/include',
-'-include', './src/include/visibility.h',
-'-I', './src',
-'-I', './src/modules',
-'-I', './src/include',
-'-I', './src/lib',
-'-I', './NuttX',
-]
-
-
-# Set this to the absolute path to the folder (NOT the file!) containing the
-# compile_commands.json file to use that instead of 'flags'. See here for
-# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
-#
-# Most projects will NOT need to set this to anything; you can just change the
-# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
-compilation_database_folder = ''
-
-if os.path.exists( compilation_database_folder ):
-  database = ycm_core.CompilationDatabase( compilation_database_folder )
-else:
-  database = None
-
-SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
-
-def DirectoryOfThisScript():
-  return os.path.dirname( os.path.abspath( __file__ ) )
-
-
-def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
-  if not working_directory:
-    return list( flags )
-  new_flags = []
-  make_next_absolute = False
-  path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
-  for flag in flags:
-    new_flag = flag
-
-    if make_next_absolute:
-      make_next_absolute = False
-      if not flag.startswith( '/' ):
-        new_flag = os.path.join( working_directory, flag )
-
-    for path_flag in path_flags:
-      if flag == path_flag:
-        make_next_absolute = True
-        break
-
-      if flag.startswith( path_flag ):
-        path = flag[ len( path_flag ): ]
-        new_flag = path_flag + os.path.join( working_directory, path )
-        break
-
-    if new_flag:
-      new_flags.append( new_flag )
-  return new_flags
-
-
-def IsHeaderFile( filename ):
-  extension = os.path.splitext( filename )[ 1 ]
-  return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
-
-
-def GetCompilationInfoForFile( filename ):
-  # The compilation_commands.json file generated by CMake does not have entries
-  # for header files. So we do our best by asking the db for flags for a
-  # corresponding source file, if any. If one exists, the flags for that file
-  # should be good enough.
-  if IsHeaderFile( filename ):
-    basename = os.path.splitext( filename )[ 0 ]
-    for extension in SOURCE_EXTENSIONS:
-      replacement_file = basename + extension
-      if os.path.exists( replacement_file ):
-        compilation_info = database.GetCompilationInfoForFile(
-          replacement_file )
-        if compilation_info.compiler_flags_:
-          return compilation_info
-    return None
-  return database.GetCompilationInfoForFile( filename )
-
-
-def FlagsForFile( filename, **kwargs ):
-  if database:
-    # Bear in mind that compilation_info.compiler_flags_ does NOT return a
-    # python list, but a "list-like" StringVec object
-    compilation_info = GetCompilationInfoForFile( filename )
-    if not compilation_info:
-      return None
-
-    final_flags = MakeRelativePathsInFlagsAbsolute(
-      compilation_info.compiler_flags_,
-      compilation_info.compiler_working_dir_ )
-
-    # NOTE: This is just for YouCompleteMe; it's highly likely that your project
-    # does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
-    # ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
-    #try:
-    #  final_flags.remove( '-stdlib=libc++' )
-    #except ValueError:
-    #  pass
-  else:
-    relative_to = DirectoryOfThisScript()
-    final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
-
-  return {
-    'flags': final_flags,
-    'do_cache': True
-  }
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2024 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
@@ -113,12 +113,20 @@ include(px4_parse_function_args)
 include(px4_git)

 execute_process(
-	COMMAND git describe --exclude ext/* --always --tags
+	COMMAND git describe --exclude ext/* --tags --match "v[0-9]*"
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
+	RESULTS_VARIABLE GIT_DESCRIBE_RESULT
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)

+# if proper git tag unavilable default to v0.0.0
+if(NOT ${GIT_DESCRIBE_RESULT} MATCHES "0")
+	set(PX4_GIT_TAG "v0.0.0")
+endif()
+
+message(STATUS "PX4_GIT_TAG: ${PX4_GIT_TAG}")
+
 # git describe to X.Y.Z version
 string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})

@@ -132,7 +140,9 @@ list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
 string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
 list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)

-message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
+# # Capture only the hash part after 'g'
+string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}")
+set(PX4_GIT_HASH ${CMAKE_MATCH_1})

 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 BRIEF_DOCS "PX4 module libs"
@@ -148,6 +158,7 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                 BRIEF_DOCS "PX4 module paths"
                 FULL_DOCS "List of paths to all PX4 modules"
                 )
+
 define_property(GLOBAL PROPERTY PX4_SRC_FILES
                 BRIEF_DOCS "src files from all PX4 modules & libs"
                 FULL_DOCS "SRC files from px4_add_{module,library}"
@@ -162,9 +173,10 @@ set(config_module_list)
 set(config_kernel_list)

 # Find Python
-find_package(PythonInterp 3)
+find_package(Python COMPONENTS Interpreter)
+
 # We have a custom error message to tell users how to install python3.
-if(NOT PYTHONINTERP_FOUND)
+if(NOT Python_FOUND)
 	message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
 		"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
 		"    macOS: brew install python")
@@ -173,7 +185,7 @@ endif()
 option(PYTHON_COVERAGE "Python code coverage" OFF)
 if(PYTHON_COVERAGE)
 	message(STATUS "python coverage enabled")
-	set(PYTHON_EXECUTABLE coverage run -p)
+	set(Python_EXECUTABLE coverage run -p)
 endif()

 include(px4_config)
@@ -397,8 +409,15 @@ include(px4_add_gtest)
 if(BUILD_TESTING)
 	include(gtest)

+	# Ensure there's no -R without any filter expression since that trips newer ctest versions
+	if(TESTFILTER)
+		set(TESTFILTERARG "-R")
+	else()
+		set(TESTFILTERARG "")
+	endif()
+
 	add_custom_target(test_results
-			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
+			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test ${TESTFILTERARG} ${TESTFILTER}
 			DEPENDS
 				px4
 				examples__dyn_hello
@@ -414,6 +433,8 @@ endif()
 #
 add_library(parameters_interface INTERFACE)
 add_library(kernel_parameters_interface INTERFACE)
+add_library(events_interface INTERFACE)
+add_library(kernel_events_interface INTERFACE)

 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -440,8 +461,11 @@ add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
 	target_link_libraries(parameters_interface INTERFACE usr_parameters)
 	target_link_libraries(kernel_parameters_interface INTERFACE parameters)
+	target_link_libraries(events_interface INTERFACE usr_events)
+	target_link_libraries(kernel_events_interface INTERFACE events)
 else()
 	target_link_libraries(parameters_interface INTERFACE parameters)
+	target_link_libraries(events_interface INTERFACE events)
 endif()

 # firmware added last to generate the builtin for included modules
@@ -458,7 +482,7 @@ foreach(module ${config_module_list})
 endforeach()

 add_custom_command(OUTPUT ${uorb_graph_config}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
 		${graph_module_list} --src-path src/lib
 		--merge-depends
 		--exclude-path src/examples
@@ -479,7 +503,7 @@ include(package)

 # install python requirements using configured python
 add_custom_target(install_python_requirements
-	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	COMMAND ${Python_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
@@ -828,7 +828,7 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.

-EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
+EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libdronecan \
                         @CMAKE_SOURCE_DIR@/src/examples \
                         @CMAKE_SOURCE_DIR@/src/templates

@@ -1,83 +0,0 @@
-{
-	"folders":
-	[
-		{
-			"path": ".",
-			"file_exclude_patterns":
-			[
-				"*.o",
-				"*.a",
-				"*.d",
-				".built",
-				".context",
-				".depend",
-				".config",
-				".version",
-				"Make.dep",
-				".configured",
-				"*.sublime-project",
-				"*.sublime-workspace",
-				".project",
-				".cproject",
-				"cscope.out"
-			],
-			"folder_exclude_patterns":
-			[
-				".settings",
-				"nuttx/arch/arm/src/board",
-				"nuttx/arch/arm/src/chip",
-				"build_*"
-			]
-		}
-	],
-	"settings":
-	{
-		"tab_size": 8,
-		"translate_tabs_to_spaces": false,
-		"highlight_line": true,
-		"AStyleFormatter":
-		{
-			"options_c":
-			{
-				"use_only_additional_options": true,
-				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
-			},
-			"options_c++":
-			{
-				"use_only_additional_options": true,
-				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
-			}
-		}
-	},
-	"build_systems":
-	[
-		{
-			"name": "PX4: make all",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make"],
-			"shell": true
-		},
-		{
-			"name": "PX4: make and upload",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make upload px4_fmu-v2_default -j8"],
-			"shell": true
-		},
-		{
-			"name": "PX4: make posix",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make posix"],
-			"shell": true
-		},
-		{
-			"name": "MindPX_V2: make and upload",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make upload mindpx-v2_default -j8"],
-			"shell": true
-		}
-	]
-}
@@ -94,7 +94,7 @@ pipeline {

        stage('failsafe docs') {
          agent {
-            docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-nuttx-focal:2022-08-12' }
          }
          steps {
            sh '''#!/bin/bash -l
@@ -105,6 +105,7 @@ pipeline {
            ./emsdk activate latest;
            cd ..;
            . ./_emscripten_sdk/emsdk_env.sh;
+            git fetch --all --tags;
            make failsafe_web;
            cd build/px4_sitl_default_failsafe_web;
            mkdir -p failsafe_sim;
@@ -125,7 +126,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-08-18'
+              image 'px4io/px4-dev-nuttx-focal:2022-08-12'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -170,9 +171,9 @@ pipeline {
              sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
              sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
-              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
+              sh('cp -R graph_*.json PX4-user_guide/public/middleware/')  // vitepress
              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
+              sh('cp -R failsafe_sim/* PX4-user_guide/public/config/failsafe')  // vitepress
              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
              sh('cd PX4-user_guide; git push origin main || true')
              sh('rm -rf PX4-user_guide')
@@ -230,7 +231,9 @@ pipeline {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'main' branch
              sh('rm -f px4_msgs/msg/*.msg')
+              sh('rm -f px4_msgs/srv/*.srv')
              sh('cp msg/*.msg px4_msgs/msg/')
+              sh('cp srv/*.srv px4_msgs/srv/')
              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
              sh('cd px4_msgs; git push origin main || true')
              sh('rm -rf px4_msgs')
@@ -185,6 +185,17 @@ menu "Serial ports"
        string "EXT2 tty port"
 endmenu

+menu "File paths"
+
+    config BOARD_ROOT_PATH
+        string "PX4 Root file path"
+        default "/fs/microsd"
+
+    config BOARD_PARAM_FILE
+        string "Parameter file"
+        default "/fs/mtd_params"
+endmenu
+
 menu "drivers"
 source "src/drivers/Kconfig"
 endmenu
@@ -205,3 +216,5 @@ menu "platforms"
 depends on PLATFORM_QURT || PLATFORM_POSIX
 source "platforms/common/Kconfig"
 endmenu
+
+source "src/lib/*/Kconfig"
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2024 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
@@ -169,7 +169,7 @@ endif

 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
-	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	override CMAKE_ARGS += -DPython_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

 # Functions
@@ -266,7 +266,6 @@ px4fmu_firmware: \

 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
-	check_nxp_fmurt1062-v1_default \
 	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \
@@ -324,7 +323,37 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: ark_fmu-v6x_bootloader 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
+bootloaders_update: \
+	3dr_ctrl-zero-h7-oem-revg_bootloader \
+	ark_fmu-v6x_bootloader \
+	ark_fpv_bootloader \
+	ark_pi6x_bootloader \
+	cuav_nora_bootloader \
+	cuav_x7pro_bootloader \
+	cuav_7-nano_bootloader \
+	cubepilot_cubeorange_bootloader \
+	cubepilot_cubeorangeplus_bootloader \
+	hkust_nxt-dual_bootloader \
+	hkust_nxt-v1_bootloader \
+	holybro_durandal-v1_bootloader \
+	holybro_kakuteh7_bootloader \
+	holybro_kakuteh7mini_bootloader \
+	holybro_kakuteh7v2_bootloader \
+	matek_h743_bootloader \
+	matek_h743-mini_bootloader \
+	matek_h743-slim_bootloader \
+        micoair_h743_bootloader \
+        micoair_h743-aio_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 \
+	px4_fmu-v6xrt_bootloader \
+	siyi_n7_bootloader
 	git status

 .PHONY: coverity_scan
@@ -355,9 +384,9 @@ doxygen:
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
 	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll

-# Astyle
+# Style
 # --------------------------------------------------------------------
-.PHONY: check_format format
+.PHONY: check_format format check_newlines

 check_format:
 	$(call colorecho,'Checking formatting with astyle')
@@ -368,6 +397,10 @@ format:
 	$(call colorecho,'Formatting with astyle')
 	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix

+check_newlines:
+	$(call colorecho,'Checking for missing or duplicate newlines at the end of files')
+	@"$(SRC_DIR)"/Tools/astyle/check_newlines.sh
+
 # Testing
 # --------------------------------------------------------------------
 .PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
@@ -484,7 +517,9 @@ validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
 	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
+	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
+	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
 	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

@@ -519,14 +554,14 @@ distclean:
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
 %:
 	$(if $(filter $(FIRST_ARG),$@), \
-		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
+		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) list_config_targets' to get a list of all possible [configuration] targets."),@#)

 # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
 help:
 	@echo "Usage: $(MAKE) <target>"
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
-		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
+		awk -v RS= -F: '/(^|\n)# Files(\n|$$)/,/(^|\n)# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
 		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
@@ -63,8 +63,9 @@ Note: This is the source of truth for the active maintainers of PX4 ecosystem.
 | Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
 | Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
 | Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
+| Rover | [Christian Friedrich](https://github.com/chfriedrich98) |
 | Boat | x |
-| Rover | x |
+

 See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.

@@ -103,7 +104,7 @@ These boards fully comply with Pixhawk Standard, and are maintained by the PX4-A

 These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.

-* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
+* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/ark_v6x.html)
 * [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
 * [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
 * [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
@@ -114,11 +115,11 @@ These boards are maintained to be compatible with PX4-Autopilot by the Manufactu

 ### Community supported

-These boards don't fully comply industry standards, and thus is solely maintained by the PX4 publc community members.
+These boards don't fully comply industry standards, and thus is solely maintained by the PX4 public community members.

 ### Experimental

-These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
+These boards are not maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.

 * [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
 * [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
@@ -120,17 +120,21 @@ add_custom_command(
 		${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_gen_root_dir}/init.d/rc.filepaths
 		${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
+	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
 		--board ${PX4_BOARD}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
+		--rc-dir ${romfs_gen_root_dir}/init.d
+		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
 	DEPENDS ${romfs_tar_file}
@@ -320,12 +324,13 @@ add_custom_target(romfs_gen_files_target
 	DEPENDS
 		${romfs_copy_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
+		${romfs_gen_root_dir}/init.d/rc.filepaths
 		romfs_extras.stamp
 	)

 add_custom_command(
 	OUTPUT romfs_pruned.stamp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_pruned.stamp
 	DEPENDS
 		romfs_copy.stamp
@@ -21,25 +21,14 @@ set R /
 #
 ver all

-if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
-then
-	set PARAM_FILE /fs/mtd_params
-fi
-
-if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
-then
-	set PARAM_FILE /dev/eeeprom0
-fi
-
-if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
-then
-	set PARAM_FILE /mnt/qspi/params
-fi
+# Load param file location from kconfig
+. ${R}etc/init.d/rc.filepaths

 #
 # Load parameters.
 #
 param select $PARAM_FILE
+
 if ! param load
 then
 	param reset_all
@@ -29,4 +29,3 @@ 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
-
@@ -30,4 +30,3 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default EKF2_RNG_A_HMAX 10
-
@@ -94,4 +94,3 @@ param set-default CA_METHOD 0
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
-
@@ -12,4 +12,3 @@ 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
-
@@ -19,21 +19,18 @@ param set-default SENS_EN_MAGSIM 1
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

+# Square quadrotor X PX4 numbering
 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_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 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_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
@@ -21,12 +21,8 @@ param set-default SENS_EN_ARSPDSIM 1
 param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

-param set-default BAT_N_CELLS 3
-
-param set-default SIH_T_MAX 6.0
+param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402
 param set-default SIH_IYY 0.0144
@@ -45,9 +41,9 @@ param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TRQ_P 1
 param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 202
@@ -30,19 +30,15 @@ param set-default MAV_TYPE 19
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

-param set-default BAT_N_CELLS 3
-
-param set-default SIH_T_MAX 2.0
+param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2
 # IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
 param set-default SIH_IXX 0.00354
 param set-default SIH_IYY 0.000625
 param set-default SIH_IZZ 0.00300
-param set-default SIH_IXZ 0.0
+param set-default SIH_IXZ 0
 param set-default SIH_KDV 0.2
 param set-default SIH_L_ROLL 0.145

@@ -31,6 +31,7 @@ param set-default PWM_MAIN_FUNC4 104

 # EKF2
 param set-default EKF2_GPS_CTRL 0
+param set-default EKF2_HGT_REF 0
 param set-default EKF2_EVP_NOISE 0.05
 param set-default EKF2_EVA_NOISE 0.05
 param set-default EKF2_OF_CTRL 1
@@ -39,9 +40,12 @@ param set-default EKF2_OF_CTRL 1
 param set-default LPE_FUSION 242
 param set-default LPE_FAKE_ORIGIN 1

+# Commander
+# param set-default COM_HOME_EN 0 # Disable setting of home position
+
 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_MAXHGT 15
 param set-default SENS_FLOW_MAXR 2.5
@@ -30,4 +30,3 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default LPE_FUSION 242
-
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_gazebo-classic_iris
+. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris

 # EKF2: Vision position and heading, no GPS
 param set-default EKF2_EV_DELAY 5
@@ -18,4 +18,3 @@ param set-default LPE_FUSION 132

 # AEQ: External heading set to use vision input
 param set-default ATT_EXT_HDG_M 1
-
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor with a depth camera (forward-facing)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor with a depth camera (downward-facing)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris
@@ -8,37 +8,36 @@
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY 0.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.0000
-param set-default CA_ROTOR0_PY -0.3000
-param set-default CA_ROTOR0_PZ -0.3000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 0.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.0000
-param set-default CA_ROTOR1_PY 0.3000
-param set-default CA_ROTOR1_PZ -0.3000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 0.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX 0.0000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.3000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY 0.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX 0.0000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.3000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY 0
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY -0.3
+param set-default CA_ROTOR0_PZ -0.3
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 0
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY 0.3
+param set-default CA_ROTOR1_PZ -0.3
+param set-default CA_ROTOR2_AX 1
+param set-default CA_ROTOR2_AY 0
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX 0
+param set-default CA_ROTOR2_PY 0.3
+param set-default CA_ROTOR2_PZ 0.3
+param set-default CA_ROTOR3_AX 1
+param set-default CA_ROTOR3_AY 0
+param set-default CA_ROTOR3_AZ 0
+param set-default CA_ROTOR3_KM 0
+param set-default CA_ROTOR3_PX 0
+param set-default CA_ROTOR3_PY -0.3
+param set-default CA_ROTOR3_PZ 0.3

 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
-
@@ -9,49 +9,49 @@ param set-default CA_AIRFRAME 7

 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY -1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.5000
-param set-default CA_ROTOR0_PY 0.3000
-param set-default CA_ROTOR0_PZ 0.2000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.5000
-param set-default CA_ROTOR1_PY -0.3000
-param set-default CA_ROTOR1_PZ 0.2000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -0.5000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.2000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY -1.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX -0.5000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.2000
-param set-default CA_ROTOR4_AZ -1.0000
-param set-default CA_ROTOR4_KM 0.0000
-param set-default CA_ROTOR4_PX 0.5000
-param set-default CA_ROTOR4_PY 0.5000
-param set-default CA_ROTOR5_AZ 1.0000
-param set-default CA_ROTOR5_KM 0.0000
-param set-default CA_ROTOR5_PX 0.5000
-param set-default CA_ROTOR5_PY -0.5000
-param set-default CA_ROTOR6_AZ 1.0000
-param set-default CA_ROTOR6_KM 0.0000
-param set-default CA_ROTOR6_PX -0.5000
-param set-default CA_ROTOR6_PY 0.5000
-param set-default CA_ROTOR7_KM 0.0000
-param set-default CA_ROTOR7_PX -0.5000
-param set-default CA_ROTOR7_PY -0.5000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY -1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX 0.5
+param set-default CA_ROTOR0_PY 0.3
+param set-default CA_ROTOR0_PZ 0.2
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX 0.5
+param set-default CA_ROTOR1_PY -0.3
+param set-default CA_ROTOR1_PZ 0.2
+param set-default CA_ROTOR2_AX 1
+param set-default CA_ROTOR2_AY 1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -0.5
+param set-default CA_ROTOR2_PY 0.3
+param set-default CA_ROTOR2_PZ 0.2
+param set-default CA_ROTOR3_AX 1
+param set-default CA_ROTOR3_AY -1
+param set-default CA_ROTOR3_AZ 0
+param set-default CA_ROTOR3_KM 0
+param set-default CA_ROTOR3_PX -0.5
+param set-default CA_ROTOR3_PY -0.3
+param set-default CA_ROTOR3_PZ 0.2
+param set-default CA_ROTOR4_AZ -1
+param set-default CA_ROTOR4_KM 0
+param set-default CA_ROTOR4_PX 0.5
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR5_AZ 1
+param set-default CA_ROTOR5_KM 0
+param set-default CA_ROTOR5_PX 0.5
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR6_AZ 1
+param set-default CA_ROTOR6_KM 0
+param set-default CA_ROTOR6_PX -0.5
+param set-default CA_ROTOR6_PY 0.5
+param set-default CA_ROTOR7_KM 0
+param set-default CA_ROTOR7_PX -0.5
+param set-default CA_ROTOR7_PY -0.5

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -61,4 +61,3 @@ 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
-
@@ -54,9 +54,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -68,5 +68,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
-
@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -57,9 +56,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -41,7 +41,6 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -57,9 +56,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -71,4 +70,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -42,9 +41,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -56,4 +55,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -42,9 +41,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -40,9 +40,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -54,4 +54,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -42,9 +41,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -56,4 +55,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
@@ -48,9 +48,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -62,4 +62,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -55,9 +54,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -23,9 +23,7 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -47,9 +45,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -8,7 +8,6 @@


 param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0

 param set-default NPFG_PERIOD 12

@@ -36,7 +35,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-#param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
@@ -47,9 +45,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -61,7 +59,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2

 param set-default CA_SV_CS_COUNT 3
@@ -37,7 +37,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
@@ -47,6 +47,8 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

+param set-default FW_AIRSPD_MAX 25
+param set-default FW_THR_ASPD_MAX 0.4
 param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
@@ -62,19 +64,17 @@ param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

 param set-default MC_AIRMODE 1
+param set-default MC_ROLL_P 4
 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6
+param set-default MC_YAWRATE_P 0.3
+

 param set-default MIS_TAKEOFF_ALT 10

-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
 param set-default NAV_ACC_RAD 5

 param set-default VT_FWD_THRUST_EN 4
+param set-default VT_FWD_THRUST_SC 1
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_TYPE 2
-
@@ -50,11 +50,11 @@ param set-default SENS_IMU_MODE 1

 param set-default FW_P_TC 0.6

-param set-default FW_PR_FF 0.1
+param set-default FW_PR_FF 0.0
 param set-default FW_PSP_OFF 2
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_I 0.2
-param set-default FW_RR_P 0.3
+param set-default FW_RR_P 0.5
 param set-default FW_THR_TRIM 0.35
 param set-default FW_THR_MAX 0.8
 param set-default FW_THR_MIN 0.05
@@ -66,8 +66,6 @@ param set-default FW_T_SINK_MIN 1.6
 param set-default MC_AIRMODE 1
 param set-default MC_ROLL_P 3
 param set-default MC_PITCH_P 3
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_PITCHRATE_P 0.3

 param set-default VT_ARSP_TRANS 10
 param set-default VT_B_TRANS_DUR 5
@@ -77,4 +75,3 @@ param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_TYPE 0

 param set-default WV_EN 0
-
@@ -31,7 +31,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_TL_COUNT 2
@@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2

 param set-default CA_SV_CS_COUNT 3
@@ -37,7 +37,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
@@ -88,4 +88,3 @@ param set-default PWM_MAIN_FUNC11 422
 param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10
-
@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -57,9 +56,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -33,7 +33,7 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 0

-parm set-default FD_FAIL_R 70
+param set-default FD_FAIL_R 70

 param set-default FW_P_TC 0.6

@@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+param set-default GND_WHEEL_BASE 2

 param set-default CA_AIRFRAME 5

@@ -31,4 +31,3 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
-
@@ -4,31 +4,9 @@
 # @type Rover
 # @class Rover

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

-param set-default GND_L1_DIST 5
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_D 3
-param set-default GND_SPEED_I 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 4
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-param set-default GND_THR_MIN 0
-
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
-
-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
-
-param set-default CA_AIRFRAME 6
-
-param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102
-
@@ -29,7 +29,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 3.0
+param set-default GND_WHEEL_BASE 3

 param set-default CA_AIRFRAME 5

@@ -38,4 +38,3 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
-
@@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+param set-default GND_WHEEL_BASE 2

 param set-default CA_AIRFRAME 9

@@ -41,4 +41,3 @@ param set-default CA_R_REV 3

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
-
@@ -14,7 +14,7 @@

 param set-default FW_AIRSPD_STALL 8

-param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_P_RMAX_NEG 20
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1

@@ -37,7 +37,7 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30

-param set-default FW_MAN_R_MAX 30.0
+param set-default FW_MAN_R_MAX 30

 param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
@@ -64,4 +64,3 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
-
@@ -14,7 +14,7 @@

 param set-default FW_AIRSPD_STALL 5

-param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_P_RMAX_NEG 20
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1

@@ -29,9 +29,9 @@ param set-default NAV_LOITER_RAD 50
 # Parameters related to autogyro takeoff PR
 #param set-default AG_TKOFF 1
 #param set-default AG_PROT_TYPE 1
-#param set-default AG_PROT_MIN_RPM 50.0
-#param set-default AG_PROT_TRG_RPM 900.0
-#param set-defoult AG_ROTOR_RPM 900.0
+#param set-default AG_PROT_MIN_RPM 50
+#param set-default AG_PROT_TRG_RPM 900
+#param set-defoult AG_ROTOR_RPM 900

 param set-default FW_ARSP_SCALE_EN 0

@@ -42,7 +42,7 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30

-param set-default FW_MAN_R_MAX 30.0
+param set-default FW_MAN_R_MAX 30

 param set-default FW_THR_CRUISE 0.8
 param set-default FW_THR_IDLE 0
@@ -69,4 +69,3 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
-
@@ -14,21 +14,21 @@
 param set-default CA_AIRFRAME 9

 param set-default CA_ROTOR_COUNT 3
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PY 2.0000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PY -2.0000
-param set-default CA_ROTOR2_AY -1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -10.0000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PY -2
+param set-default CA_ROTOR2_AY -1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -10

 param set-default CA_SV_CS_COUNT 1
-param set-default CA_SV_CS0_TRQ_P 1.0000
+param set-default CA_SV_CS0_TRQ_P 1

 param set-default CA_R_REV 7

@@ -36,4 +36,3 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 103
-
@@ -13,9 +13,9 @@ param set-default MAV_TYPE 13

 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCH_P 6.0
+param set-default MC_PITCH_P 6
 param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLL_P 6.0
+param set-default MC_ROLL_P 6
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3

@@ -27,11 +27,11 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2


-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -1
 param set-default CA_ROTOR1_KM 0.05
 param set-default CA_ROTOR2_PX 0.866025
 param set-default CA_ROTOR2_PY -0.5
@@ -52,3 +52,4 @@ param set-default SIM_GZ_EC_MAX3 1000
 param set-default SIM_GZ_EC_MAX4 1000

 param set-default MPC_THR_HOVER 0.60
+param set-default NAV_DLL_ACT 2
@@ -24,33 +24,33 @@ param set-default FW_LND_ANG 8
 param set-default NPFG_PERIOD 12

 param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
+param set-default FW_PR_FF 0.2
 param set-default FW_PR_I 0.5
 param set-default TRIM_PITCH -0.15

-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-
 param set-default FW_RR_FF 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
+param set-default FW_RR_P 0.4
+param set-default FW_RR_I 0.7

-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
+param set-default FW_R_RMAX 56.15
+
+param set-default FW_YR_FF 0.3
+param set-default FW_YR_P 1.3
+param set-default FW_YR_I 0.7
+
+param set-default FW_PSP_OFF 0
+param set-default FW_P_LIM_MIN -15

 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_TRIM 0.25
-
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_CLMB_MAX 5
+param set-default FW_T_SINK_MAX 3.5
+param set-default FW_T_SINK_MIN 3

 param set-default FW_W_EN 1

+param set-default FD_ESCS_EN 0
+
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -70,9 +70,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10
@@ -40,8 +40,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2

 param set-default SIM_GZ_EC_FUNC1 101
@@ -66,7 +66,6 @@ param set-default SIM_GZ_SV_FUNC2 202
 param set-default SIM_GZ_SV_FUNC3 203

 param set-default COM_RC_IN_MODE 1
-param set-default ASPD_PRIMARY 1

 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TYPE 1
@@ -74,9 +73,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1

-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -102,8 +101,9 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default NAV_ACC_RAD 5
+param set-default NAV_DLL_ACT 2

 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
+param set-default VT_F_TRANS_THR 0.3
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0
@@ -52,12 +52,8 @@ param set-default MAV_1_MODE 9
 # param set-default SER_TEL1_BAUD 921600	Not found

 # 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
@@ -79,7 +75,6 @@ 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
@@ -101,39 +96,22 @@ param set-default IMU_GYRO_CUTOFF 100

 # Power Parameters
 param set-default BAT1_N_CELLS 4
-# param set-default BAT1_A_PER_V 36.364		Not found
-# param set-default BAT1_V_DIV 18.182		Not found
-
-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027

 param set-default THR_MDL_FAC 0.3

+# Square quadrotor X PX4 numbering
 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_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 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_PX -1
+param set-default CA_ROTOR3_PY 1
 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
-
-# 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 SIM_GZ_EC_FUNC1 101
 param set-default SIM_GZ_EC_FUNC2 102
 param set-default SIM_GZ_EC_FUNC3 103
@@ -149,4 +127,4 @@ param set-default SIM_GZ_EC_MAX2 1100
 param set-default SIM_GZ_EC_MAX3 1100
 param set-default SIM_GZ_EC_MAX4 1100

-
+param set-default NAV_DLL_ACT 2
@@ -0,0 +1,78 @@
+#!/bin/sh
+#
+# @name Advanced Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}
+
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
+param set-default FW_LND_ANG 8
+
+param set-default FW_PR_FF 0.08
+param set-default FW_PR_I 0.3
+param set-default FW_PR_P 0.08
+
+param set-default FW_RR_FF 0.05
+param set-default FW_RR_I 0.2
+param set-default FW_RR_P 0.03
+
+param set-default FW_YR_FF 0.3
+param set-default FW_YR_I 0.4
+param set-default FW_YR_P 0.2
+
+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_SPOILERS_LND 0.4
+
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+param set-default FW_THR_MAX 0.6
+
+param set-default FW_T_CLMB_R_SP 5
+param set-default FW_T_CLMB_MAX 6
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_MIN1 10
+param set-default SIM_GZ_EC_MAX1 1600
+
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_FUNC2 202
+param set-default SIM_GZ_SV_FUNC3 203
+param set-default SIM_GZ_SV_FUNC4 204
+param set-default SIM_GZ_SV_FUNC5 205
+param set-default SIM_GZ_SV_FUNC6 206
@@ -0,0 +1,56 @@
+#!/bin/sh
+# @name Aion Robotics R1 Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+# Rover parameters
+param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAX_ACCEL 5
+param set-default RD_MAX_DECEL 10
+param set-default RD_MAX_JERK 30
+param set-default RD_MAX_THR_YAW_R 1.5
+param set-default RD_YAW_RATE_P 0.25
+param set-default RD_YAW_RATE_I 0.01
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
+param set-default RD_MAX_SPEED 2
+param set-default RD_MAX_THR_SPD 2.15
+param set-default RD_SPEED_P 0.1
+param set-default RD_SPEED_I 0.01
+param set-default RD_MAX_YAW_RATE 180
+param set-default RD_MISS_SPD_DEF 2
+param set-default RD_TRANS_DRV_TRN 0.349066
+param set-default RD_TRANS_TRN_DRV 0.174533
+param set-default RD_MAX_YAW_ACCEL 1000
+
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 30
+param set-default PP_LOOKAHD_MIN 2
+param set-default PP_LOOKAHD_GAIN 1
+
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
+# Actuator mapping
+param set-default SIM_GZ_WH_FUNC1 101 # right wheel
+param set-default SIM_GZ_WH_MIN1 70
+param set-default SIM_GZ_WH_MAX1 130
+param set-default SIM_GZ_WH_DIS1 100
+
+param set-default SIM_GZ_WH_FUNC2 102 # left wheel
+param set-default SIM_GZ_WH_MIN2 70
+param set-default SIM_GZ_WH_MAX2 130
+param set-default SIM_GZ_WH_DIS2 100
+
+param set-default SIM_GZ_WH_REV 1 # reverse right wheel
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 mono cam
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_mono_cam}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -0,0 +1,94 @@
+#!/bin/sh
+# @name Gazebo lawnmower
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+# We can arm and drive in manual mode when it slides and GPS check fails:
+param set-default COM_ARM_WO_GPS 1
+
+# Rover parameters
+param set-default RD_WHEEL_TRACK 0.9
+param set-default RD_YAW_RATE_I 0.1
+param set-default RD_YAW_RATE_P 5
+param set-default RD_MAX_ACCEL 1
+param set-default RD_MAX_JERK 3
+param set-default RD_MAX_SPEED 8
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
+param set-default RD_MAX_YAW_RATE 30
+param set-default RD_MISS_SPD_DEF 8
+param set-default RD_TRANS_DRV_TRN 0.349066
+param set-default RD_TRANS_TRN_DRV 0.174533
+
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 30
+param set-default PP_LOOKAHD_MIN 2
+param set-default PP_LOOKAHD_GAIN 1
+
+# Actuator mapping - set SITL motors/servos output parameters:
+
+# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
+param set-default SIM_GZ_WH_FUNC1 101 # right wheel
+#param set-default SIM_GZ_WH_MIN1 0
+#param set-default SIM_GZ_WH_MAX1 200
+#param set-default SIM_GZ_WH_DIS1 100
+#param set-default SIM_GZ_WH_FAIL1 100
+
+param set-default SIM_GZ_WH_FUNC2 102 # left wheel
+#param set-default SIM_GZ_WH_MIN2 0
+#param set-default SIM_GZ_WH_MAX2 200
+#param set-default SIM_GZ_WH_DIS2 100
+#param set-default SIM_GZ_WH_FAIL2 100
+
+param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
+
+# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation.
+# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate
+# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator
+# controls in practical scenarios.
+
+# Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
+param set-default SIM_GZ_SV_FUNC3 203
+param set-default SIM_GZ_SV_MIN3 0
+param set-default SIM_GZ_SV_MAX3 1000
+param set-default SIM_GZ_SV_DIS3 500
+param set-default SIM_GZ_SV_FAIL3 500
+
+# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
+#    - on minimum when disarmed or failed:
+param set-default SIM_GZ_SV_FUNC4 204
+param set-default SIM_GZ_SV_MIN4 0
+param set-default SIM_GZ_SV_MAX4 1000
+param set-default SIM_GZ_SV_DIS4 500
+param set-default SIM_GZ_SV_FAIL4 500
+
+# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
+
+# Strobes, PCA9685 servo channel 5, "Servo 5" (205) - flashing indicates Mission mode:
+#param set-default SIM_GZ_SV_FUNC5 205
+#param set-default SIM_GZ_SV_MIN5 1000
+#param set-default SIM_GZ_SV_MAX5 2000
+#param set-default SIM_GZ_SV_DIS5 1000
+#param set-default SIM_GZ_SV_FAIL5 1000
+
+# Horn, PCA9685 servo channel 6, "Servo 6" (206) - for alarms like GPS failure:
+#param set-default SIM_GZ_SV_FUNC6 206
+
+# Spare PCA9685 servo channel 7 on "RC AUX2" (408) - right knob, or "Servo 7" (207):
+#param set-default SIM_GZ_SV_FUNC7 207
+
+# Spare PCA9685 servo channel 8 - "Servo 8" (208):
+#param set-default SIM_GZ_SV_FUNC8 208
@@ -0,0 +1,51 @@
+#!/bin/sh
+# @name Rover Ackermann
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+# Rover parameters
+param set-default NAV_ACC_RAD 0.5
+param set-default RA_ACC_RAD_GAIN 2
+param set-default RA_ACC_RAD_MAX 3
+param set-default RA_LAT_ACCEL_I 0.01
+param set-default RA_LAT_ACCEL_P 0.1
+param set-default RA_MAX_ACCEL 3
+param set-default RA_MAX_DECEL 6
+param set-default RA_MAX_JERK 15
+param set-default RA_MAX_LAT_ACCEL 4
+param set-default RA_MAX_SPEED 3
+param set-default RA_MAX_STR_ANG 0.5236
+param set-default RA_MAX_STR_RATE 360
+param set-default RA_MAX_THR_SPEED 3.1
+param set-default RA_SPEED_I 0.01
+param set-default RA_SPEED_P 0.1
+param set-default RA_WHEEL_BASE 0.321
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
+# Wheels
+param set-default SIM_GZ_WH_FUNC1 101
+param set-default SIM_GZ_WH_MIN1 0
+param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_DIS1 100
+
+# Steering
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_REV 1
--- a/Show More
+++ b/Show More