Aero: Update maintainer

ROMFS: Exclude FMUv2 in Stampede
ROMFS: Exclude FMUv2 in Axial Racing
2026-06-06 06:50:06 +08:00 · 2018-01-06 12:19:31 +01:00 · 2018-01-06 11:35:53 +01:00 · 2018-01-06 11:35:53 +01:00 · 2018-01-06 11:35:53 +01:00 · 2018-01-06 11:35:53 +01:00
2232 changed files with 241594 additions and 118459 deletions
@@ -0,0 +1,87 @@
+Checks:          '*
+		,-cert-dcl50-cpp
+		,-cert-err34-c
+		,-cert-err58-cpp
+		,-cert-msc30-c
+		,-cert-msc50-cpp
+		,-clang-analyzer-core.CallAndMessage
+		,-clang-analyzer-core.NullDereference
+		,-clang-analyzer-core.UndefinedBinaryOperatorResult
+		,-clang-analyzer-core.uninitialized.Assign
+		,-clang-analyzer-core.VLASize
+		,-clang-analyzer-cplusplus.NewDelete
+		,-clang-analyzer-cplusplus.NewDeleteLeaks
+		,-clang-analyzer-deadcode.DeadStores
+		,-clang-analyzer-optin.cplusplus.VirtualCall
+		,-clang-analyzer-optin.performance.Padding
+		,-clang-analyzer-security.insecureAPI.strcpy
+		,-clang-analyzer-unix.API
+		,-clang-analyzer-unix.cstring.BadSizeArg
+		,-clang-analyzer-unix.Malloc
+		,-clang-analyzer-unix.MallocSizeof
+		,-cppcoreguidelines-c-copy-assignment-signature
+		,-cppcoreguidelines-interfaces-global-init
+		,-cppcoreguidelines-no-malloc
+		,-cppcoreguidelines-pro-bounds-array-to-pointer-decay
+		,-cppcoreguidelines-pro-bounds-constant-array-index
+		,-cppcoreguidelines-pro-bounds-pointer-arithmetic
+		,-cppcoreguidelines-pro-type-const-cast
+		,-cppcoreguidelines-pro-type-cstyle-cast
+		,-cppcoreguidelines-pro-type-member-init
+		,-cppcoreguidelines-pro-type-reinterpret-cast
+		,-cppcoreguidelines-pro-type-union-access
+		,-cppcoreguidelines-pro-type-vararg
+		,-cppcoreguidelines-special-member-functions
+		,-google-build-using-namespace
+		,-google-explicit-constructor
+		,-google-global-names-in-headers
+		,-google-readability-casting
+		,-google-readability-namespace-comments
+		,-google-readability-todo
+		,-google-runtime-int
+		,-google-runtime-references
+		,-llvm-header-guard
+		,-llvm-include-order
+		,-llvm-namespace-comment
+		,-misc-incorrect-roundings
+		,-misc-macro-parentheses
+		,-misc-misplaced-widening-cast
+		,-misc-redundant-expression
+		,-misc-unconventional-assign-operator
+		,-misc-unused-parameters
+		,-modernize-deprecated-headers
+		,-modernize-loop-convert
+		,-modernize-use-auto
+		,-modernize-use-bool-literals
+		,-modernize-use-default-member-init
+		,-modernize-use-emplace
+		,-modernize-use-equals-default
+		,-modernize-use-equals-delete
+		,-modernize-use-override
+		,-modernize-use-using
+		,-performance-inefficient-string-concatenation
+		,-readability-avoid-const-params-in-decls
+		,-readability-else-after-return
+		,-readability-implicit-bool-cast
+		,-readability-inconsistent-declaration-parameter-name
+		,-readability-non-const-parameter
+		,-readability-redundant-declaration
+		,-readability-redundant-member-init
+		,-readability-simplify-boolean-expr
+		'
+WarningsAsErrors: '*'
+CheckOptions:    
+  - key:             google-readability-braces-around-statements.ShortStatementLines
+    value:           '1'
+  - key:             google-readability-function-size.BranchThreshold
+    value:           '600'
+  - key:             google-readability-function-size.LineThreshold
+    value:           '4000'
+  - key:             google-readability-function-size.StatementThreshold
+    value:           '4000'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '1'
+  - key:             readability-function-size.LineThreshold
+    value:           '4000'
+  - key:             readability-function-size.StatementThreshold
+    value:           '4000'
@@ -0,0 +1,9 @@
+**Bug Report** or **Feature Request**
+
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](slack.px4.io). Issue reports need to contain the items below:
+
+ - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/en/flight-reporting.html))
+ - Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/)
+ - Expected behavior and actual behavior.
+ - Steps to reproduce the problem.
+ - Specifications like the version of the project, operating system, or hardware.
@@ -0,0 +1,33 @@
+# 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
+
@@ -1,10 +1,6 @@
-*.d
-!ROMFS/*/*.d
-!ROMFS/*/*/*.d
-!ROMFS/*/*/*/*.d
-*.px4log
 *.dSYM
 *.o
+*.gch
 *.pyc
 *~
 .*.swp
@@ -16,9 +12,10 @@
 .settings
 .swp
 .~lock.*
-Archives/*
-Build/*
 Testing/
+Packages/*
+s3deploy-branch/
+s3deploy-archive/
 build/*
 build_*/
 core
@@ -27,15 +24,6 @@ cscope.in.out
 cscope.po.out
 Firmware.sublime-workspace
 user.sublime*
-Images/*.bin
-Images/*.px4
-mavlink/include/mavlink/v0.9/
-/nuttx-configs/px4io-v2/src/.depend
-/nuttx-configs/px4io-v2/src/Make.dep
-/nuttx-configs/px4io-v2/src/libboard.a
-/nuttx-configs/px4io-v1/src/.depend
-/nuttx-configs/px4io-v1/src/Make.dep
-/nuttx-configs/px4io-v1/src/libboard.a
 /Documentation/doxy.log
 /Documentation/html/
 /Documentation/doxygen*objdb*tmp
@@ -49,7 +37,6 @@ src/modules/uORB/topics/*
 src/platforms/nuttx/px4_messages/*
 src/platforms/ros/px4_messages/*
 Firmware.zip
-unittests/build
 *.generated.h
 .vagrant
 *.pretty
@@ -64,12 +51,23 @@ CMakeLists.txt.user
 GPATH
 GRTAGS
 GTAGS
-*.config
 *.creator
 *.creator.user
 *.files
 *.includes

-# uavcan firmware
-ROMFS/px4fmu_common/uavcan/
-vectorcontrol/
+# CLion ignores
+.idea
+cmake-build-*/
+
+.vscode
+
+posix-configs/SITL/init/test/*_generated
+
+/airframes.md
+/airframes.xml
+/parameters.md
+/parameters.xml
+/modules
+
+*.gcov
@@ -1,43 +1,61 @@
 [submodule "mavlink/include/mavlink/v1.0"]
 	path = mavlink/include/mavlink/v1.0
-	url = git://github.com/mavlink/c_library.git
-[submodule "NuttX"]
-	path = NuttX
-	url = git://github.com/PX4/NuttX.git
+	url = https://github.com/mavlink/c_library_v1.git
+	branch = master
+[submodule "mavlink/include/mavlink/v2.0"]
+	path = mavlink/include/mavlink/v2.0
+	url = https://github.com/mavlink/c_library_v2.git
+	branch = master
 [submodule "src/modules/uavcan/libuavcan"]
 	path = src/modules/uavcan/libuavcan
-	url = git://github.com/UAVCAN/libuavcan.git
+	url = https://github.com/UAVCAN/libuavcan.git
 [submodule "Tools/genmsg"]
-	path = Tools/genmsg
+	path = msg/tools/genmsg
 	url = https://github.com/ros/genmsg.git
 [submodule "Tools/gencpp"]
-	path = Tools/gencpp
+	path = msg/tools/gencpp
 	url = https://github.com/ros/gencpp.git
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
+	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
 	url = https://github.com/PX4/sitl_gazebo.git
-[submodule "unittests/googletest"]
-	path = unittests/googletest
-	url = https://github.com/google/googletest.git
-	ignore = untracked
+	branch = master
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
 	url = https://github.com/PX4/Matrix.git
+	branch = master
 [submodule "src/lib/DriverFramework"]
 	path = src/lib/DriverFramework
 	url = https://github.com/PX4/DriverFramework.git
+	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
 	url = https://github.com/PX4/ecl.git
+	branch = master
 [submodule "cmake/cmake_hexagon"]
 	path = cmake/cmake_hexagon
 	url = https://github.com/ATLFlight/cmake_hexagon
+	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/GpsDrivers.git
-[submodule "mavlink/include/mavlink/v2.0"]
-	path = mavlink/include/mavlink/v2.0
-	url = git://github.com/mavlink/c_library.git
+	branch = master
+[submodule "src/lib/micro-CDR"]
+	path = src/modules/micrortps_bridge/micro-CDR
+	url = https://github.com/eProsima/micro-CDR.git
+	branch = master
+[submodule "platforms/nuttx/NuttX/nuttx"]
+	path = platforms/nuttx/NuttX/nuttx
+	url = https://github.com/PX4-NuttX/nuttx.git
+	branch = px4_firmware_nuttx-7.22+
+[submodule "platforms/nuttx/NuttX/apps"]
+	path = platforms/nuttx/NuttX/apps
+	url = https://github.com/PX4-NuttX/apps.git
+	branch = px4_firmware_nuttx-7.22+
+[submodule "cmake/configs/uavcan_board_ident"]
+	path = cmake/configs/uavcan_board_ident
+	url = https://github.com/PX4/uavcan_board_ident.git
+	branch = master
@@ -1,144 +1,62 @@
 # Build and autotest script for PX4 Firmware
 # http://travis-ci.org

+sudo: required
+
+services:
+  - docker
+
 language: cpp

+git:
+  depth: 2000
+  submodules: false
+
+env:
+  global:
+    # COVERITY_SCAN_TOKEN
+    - secure: "Q4IAcmo1r5cr/UvhcixQa6QN5e5eTcP7FeidzEbX2+BA38yo2BH5O9YQCvZe2AI1Na8ZCjVx3H2luGgDwOKgzAIAjXjZ2KbmXYc6Ns/j/BXScY05dCCzYEhXKD98NZxIKH9lLN9pYDGRA8pChGRJnVlFOr1JHHHnB801+osHy7M="
+    # AWS KEY: $PX4_AWS_KEY
+    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
+    # AWS SECRET: $PX4_AWS_SECRET
+    - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
+
 matrix:
  fast_finish: true
  include:
-    - os: linux
-      sudo: false
-      env: GCC_VER=4.8
-    - os: linux
-      sudo: false
-      env: GCC_VER=4.9
-    - os: osx
-      osx_image: xcode7
-      sudo: true
+    - env: BUILD_TARGET=coverity_scan
+      dist: trusty
+      if: branch = coverity_scan
+  allow_failures:
+    - env: BUILD_TARGET=tests_coverage

 cache:
-  directories:
-    - $HOME/.ccache
-
-addons:
-  apt:
-    sources:
-    - kubuntu-backports
-    - ubuntu-toolchain-r-test
-    - george-edison55-precise-backports
-    packages:
-    - build-essential
-    - ccache
-    - clang-3.5
-    - cmake
-    - g++-4.9
-    - gcc-4.9
-    - genromfs
-    - libc6-i386
-    - libncurses5-dev
-    - ninja-build
-    - python-argparse
-    - python-empy
-    - s3cmd
-    - texinfo
-    - zlib1g-dev
+  ccache: true

 before_install:
-  - cd ${TRAVIS_BUILD_DIR} && git fetch --unshallow && git fetch --all --tags
-  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-         pushd .
-      && cd ~ && mkdir gcc && cd gcc
-      && if [ "$GCC_VER" = "4.8" ]; then GCC_URL="https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2" ; fi
-      && if [ "$GCC_VER" = "4.9" ]; then GCC_URL="https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2" ; fi
-      && wget -O gcc.tar.bz2 ${GCC_URL}
-      && tar -jxf gcc.tar.bz2 --strip 1
-      && exportline="export PATH=$HOME/gcc/bin:\$PATH"
-      && if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
-      && . ~/.profile
-      && popd
-      && git clone git://github.com/PX4/CI-Tools.git
-      && ./CI-Tools/s3cmd-configure
-      && mkdir -p ~/bin
-      && wget -O ~/bin/astyle https://github.com/PX4/astyle/releases/download/2.05.1/astyle-linux && chmod +x ~/bin/astyle
-      && astyle --version
-      && if [ "$CXX" = "g++" ]; then export CXX="g++-4.9" CC="gcc-4.9"; fi
-      ;
-    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-         brew tap PX4/homebrew-px4
-      && brew update; brew update
-      && brew install cmake ninja
-      && brew install genromfs
-      && sudo easy_install pip
-      && sudo pip install empy
-      ;
+  # install dependencies for the coverity build (target and branch), otherwise exit early
+  - if [[ "${TRAVIS_BRANCH}" = "coverity_scan" ]]; then
+      sudo pip install empy jinja2 numpy toml;
+      echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-;
    fi
-
-before_script:
-# setup ccache
-  - mkdir -p ~/bin
-  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
-  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-gcc
-  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-size
-  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-objcopy
-  - ln -s /usr/bin/ccache ~/bin/clang++
-  - ln -s /usr/bin/ccache ~/bin/clang++-3.4
-  - ln -s /usr/bin/ccache ~/bin/clang++-3.5
-  - ln -s /usr/bin/ccache ~/bin/clang
-  - ln -s /usr/bin/ccache ~/bin/clang-3.4
-  - ln -s /usr/bin/ccache ~/bin/clang-3.5
-  - export PATH=~/bin:$PATH
-
-env:
-  global:
-    - NINJA_BUILD=1
-# AWS KEY: $PX4_AWS_KEY
-    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
-# AWS SECRET: $PX4_AWS_SECRET
-    - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
-    - PX4_AWS_BUCKET=px4-travis
+  # use git:// to fetch instead of https://
+  - git config --global url."git://".insteadOf https://

 script:
-  - git submodule update --quiet --init --recursive
-  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-      arm-none-eabi-gcc --version && make check VECTORCONTROL=1;
-    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-      make check_posix_sitl_default;
-    fi
+  - ./Tools/docker_run.sh make ${BUILD_TARGET}

 after_success:
-  - if [[ "${TRAVIS_OS_NAME}" = "linux" && "${GCC_VER}" = "4.8" ]]; then
-         make package_firmware
-      && find . -name \*.px4 -exec cp "{}" . \;
-      && find . -maxdepth 1 -mindepth 1 -type f -name 'nuttx-*-default.px4' | sed 's/.\/nuttx-//' | sed 's/-default.px4//' | xargs -I{} mv nuttx-{}-default.px4 {}_default.px4
-      && ./CI-Tools/s3cmd-put `find . -maxdepth 1 -mindepth 1 -type f -name '*_default.px4'` build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
-      && ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
-      && ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
-      && ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
-      && ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
-      && echo ""
-      && echo "Binaries have been posted to:" https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
-      ;
+  # upload code coverage
+  - if [ "${TRAVIS_PULL_REQUEST}" = "false" ]; then
+      [ "${BUILD_TARGET}" = "tests_coverage" ] && bash <(curl -s https://codecov.io/bash) -F unittests;
    fi

-deploy:
-  provider: releases
-  api_key:
-    secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
-  file: "Firmware.zip"
-  skip_cleanup: true
-  on:
-    tags: true
-    all_branches: true
-    repo: PX4/Firmware
-    condition: $GCC_VER = 4.8
-
-notifications:
-  webhooks:
-    urls:
-      - https://webhooks.gitter.im/e/2b9c4a4cb2211f8befba
-    on_success: always  # options: [always|never|change] default: always
-    on_failure: always  # options: [always|never|change] default: always
-  slack:
-    secure: "QKw73Zel/s3JAbe/7XyO9tPnJwiiGFpYzSjdR8lG3tYFjRdXZnhxG4c+G7bkgkaPTS4Hult33VXE3kcEqOI7+C+eRwRlZhDfL0knQbXVCxjcLjzmUFdoPOwurlgZDw66PFWCi5tZcLKSRo3u4U8ibT4WKi3jm9sDSyOcfBAucMU="
-    on_success: change  # options: [always|never|change] default: always
-    on_failure: always  # options: [always|never|change] default: always
+addons:
+  coverity_scan:
+    project:
+      name: "PX4/Firmware"
+      description: "Build submitted via Travis CI"
+    notification_email: ci@px4.io
+    build_command_prepend: "make distclean"
+    build_command: "make posix_sitl_default"
+    branch_pattern: coverity_scan
@@ -61,7 +61,6 @@ flags = [
 'c++',
 '-undef', # get rid of standard definitions to allow us to include arm math header
 '-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
-'-I', 'Build/px4io-v1_default.build/nuttx-export/include/',
 '-I', 'Build/px4io-v2_default.build/nuttx-export/include/',
 '-I', './NuttX/nuttx/arch/arm/include',
 '-include', './src/include/visibility.h',
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -55,24 +55,6 @@
 #
 # * For else, endif, endfunction, etc, never put the name of the statement
 #
-#	Instead of the very confusing:
-#		if (${var} STREQUAL "1") <-- condition now becomes if name
-#			# do somthing
-#		elseif (${var} STREQUAL "2") <-- another condition
-#			# do somthing
-#		else (${var} STREQUAL "1") <-- tag is referring to name of if
-#			# do somthing
-#		endif (${var} STREQUAL "1") <-- tag is referring to name of if
-#
-#	Do this:
-#		if (${var} STREQUAL "1") <-- condition now becomes if name
-#			# do somthing
-#		elseif (${var} STREQUAL "2") <-- another condition
-#			# do somthing
-#		else () <-- leave blank
-#			# do somthing
-#		endif () <-- leave blank
-#
 # Functions/Macros
 # ---------------------------------------------------------------------------
 #
@@ -101,7 +83,7 @@
 #
 # * Setting a global variable in a CMakeLists.txt file is ok, because
 #	each CMakeLists.txt file has scope in the current directory and all
-#	subdirecties, so it is not truly global.
+#	subdirectories, so it is not truly global.
 #
 # * All toolchain files should be included in the cmake
 #	directory and named Toolchain-"name".cmake.
@@ -119,150 +101,215 @@

 # Warning: Changing this modifies CMake's internal workings
 # and leads to wrong toolchain detection
-cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.2 FATAL_ERROR)

-# Use clang
-#SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
-#SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
+set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)

 #=============================================================================
-# parameters
+# git
 #
+include(common/px4_git)

-set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
-set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
-	STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
-set(CONFIG "nuttx_px4fmu-v2_default" CACHE STRING "desired configuration")
-file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
-set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
-set(THREADS "4" CACHE STRING
-	"number of threads to use for external build processes")
-set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
+execute_process(
+	COMMAND git describe --always --tags
+	OUTPUT_VARIABLE git_tag
+	OUTPUT_STRIP_TRAILING_WHITESPACE
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
+
+px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
+px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
+
+define_property(GLOBAL PROPERTY PX4_LIBRARIES
+                 BRIEF_DOCS "PX4 libs"
+                 FULL_DOCS "List of all PX4 module libraries"
+                 )

 #=============================================================================
 # configuration
 #
-# must come before project to set toolchain
+
+set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")

 string(REPLACE "_" ";" config_args ${CONFIG})
 list(GET config_args 0 OS)
 list(GET config_args 1 BOARD)
 list(GET config_args 2 LABEL)
-set(target_name "${OS}-${BOARD}-${LABEL}")
+set(target_name "${OS}_${BOARD}_${LABEL}")

-message(STATUS "${target_name}")
+file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
+set_property(CACHE CONFIG PROPERTY STRINGS ${configs})

-# switch to ros CMake file if building ros
-if (${OS} STREQUAL "ros")
-	include("cmake/ros-CMakeLists.txt")
-else()  # otherwise use the rest of this file
+set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
+set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
+set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")

-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
+if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
+	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
+endif()
+
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)
+
+include(platforms/${OS}/cmake/px4_impl_os.cmake)
 set(config_module "configs/${CONFIG}")
 include(${config_module})

-# cmake modules
-include(ExternalProject)
+include(common/coverage)
+include(common/sanitizers)

+# CMake build type
+# Debug Release RelWithDebInfo MinSizeRel Coverage
+if (NOT CMAKE_BUILD_TYPE)
+	if (${OS} STREQUAL "nuttx")
+		set(PX4_BUILD_TYPE "MinSizeRel")
+	elseif (${OS} STREQUAL "bebop")
+		set(PX4_BUILD_TYPE "MinSizeRel")
+	else()
+		set(PX4_BUILD_TYPE "RelWithDebInfo")
+	endif()
+
+	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
+endif()
+
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
+
+message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
+
+#=============================================================================
+
+message(STATUS "PX4 VERSION: ${git_tag}")
+message(STATUS "CONFIG: ${target_name}")
+message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
+
+#=============================================================================
+# project definition
+#
+project(px4 CXX C ASM)
+
+set(package-contact "px4users@googlegroups.com")
+
+#=============================================================================
+
+# The URL for the elf file for crash logging
+if (DEFINED ENV{BUILD_URI})
+	set(BUILD_URI $ENV{BUILD_URI})
+else()
+	set(BUILD_URI "localhost")
+endif()
+
+add_definitions(-DBUILD_URI=${BUILD_URI})
+
+# Setup install paths
+if (${OS} STREQUAL "posix")
+
+	# Define GNU standard installation directories
+	include(GNUInstallDirs)
+
+	if (NOT CMAKE_INSTALL_PREFIX)
+		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
+	endif()
+
+	# cmake testing only on posix
+	enable_testing()
+	include(CTest)
+endif()
+
+#=============================================================================
 # require px4 module interface
 set(px4_required_interface
 	px4_os_prebuild_targets
 	px4_os_add_flags
 	)
 foreach(cmd ${px4_required_interface})
-	if(NOT COMMAND ${cmd})
+	if (NOT COMMAND ${cmd})
 		message(FATAL_ERROR "${config_module} must implement ${cmd}")
 	endif()
 endforeach()
-set(px4_required_config
-	config_module_list
-	)
+
+set(px4_required_config config_module_list)
 foreach(conf ${px4_required_config})
-	if(NOT DEFINED ${conf})
+	if (NOT DEFINED ${conf})
 		message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
 	endif()
 endforeach()

-# List the DriverFramework drivers
-if(DEFINED config_df_driver_list)
-	message("DF Drivers: ${config_df_driver_list}")
+# force static lib build
+set(BUILD_SHARED_LIBS OFF)
+
+#=============================================================================
+# ccache
+#
+option(CCACHE "Use ccache if available" ON)
+find_program(CCACHE_PROGRAM ccache)
+if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
+	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
+else()
 endif()

 #=============================================================================
-# project definition
+# find programs and packages
 #
-project(px4 CXX C ASM)
-if (NOT ${CMAKE_VERSION} VERSION_LESS 3.0.0)
-	cmake_policy(SET CMP0045 NEW) # error on non-existent target in get prop
-	cmake_policy(SET CMP0046 NEW) # no non-existent targets as dependencies
-	cmake_policy(SET CMP0025 OLD) # still report AppleClang as Clang
-endif()
-if (NOT ${CMAKE_VERSION} VERSION_LESS 3.1.0)
-	cmake_policy(SET CMP0054 NEW) # don't dereference quoted variables
+
+# see if catkin was invoked to build this
+if (CATKIN_DEVEL_PREFIX)
+	message(STATUS "catkin ENABLED")
+	find_package(catkin REQUIRED)
+	if (catkin_FOUND)
+		catkin_package()
+	else()
+		message(FATAL_ERROR "catkin not found")
+	endif()
 endif()

-set(version_major 1)
-set(version_minor 0)
-set(version_patch 1)
-set(version "${version_major}.${version_minor}.${version_patch}")
-set(package-contact "px4users@googlegroups.com")
-
-#=============================================================================
-# programs
-#
 find_package(PythonInterp REQUIRED)
+px4_find_python_module(jinja2 REQUIRED)

 #=============================================================================
-# cmake modules
+# generate compile command database
 #
-enable_testing()
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

 #=============================================================================
 # check required toolchain variables
 #
-set(required_variables
-	CMAKE_C_COMPILER_ID
-	)
+
+# PX4 requires c++11
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# PX4 requires c99
+set(CMAKE_C_STANDARD 99)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+
+set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
 foreach(var ${required_variables})
 	if (NOT ${var})
 		message(FATAL_ERROR "Toolchain/config must define ${var}")
 	endif()
 endforeach()

-#=============================================================================
-# git
-#
-px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
-px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
-px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
-px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
-px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
-px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
-px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
-px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
-px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
-px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
-px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
+# print full c compiler version
+execute_process(COMMAND ${CMAKE_C_COMPILER} --version
+		OUTPUT_VARIABLE c_compiler_version
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		)
+STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version})
+message(STATUS "C compiler: ${c_compiler_version_short}")

-add_custom_target(submodule_clean
-	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-	COMMAND git submodule deinit -f .
-	COMMAND rm -rf .git/modules/*
-	)
-
-#=============================================================================
-# misc targets
-#
-add_custom_target(check_format
-	COMMAND Tools/check_code_style.sh
-	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-	)
-
-add_custom_target(config
-	COMMAND cmake-gui .
-	WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
-	)
+# print full c++ compiler version
+execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
+		OUTPUT_VARIABLE cxx_compiler_version
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		)
+STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
+message(STATUS "C++ compiler: ${cxx_compiler_version_short}")

 #=============================================================================
 # external libraries
@@ -278,39 +325,52 @@ px4_os_add_flags(
 	BOARD ${BOARD}
 	C_FLAGS c_flags
 	CXX_FLAGS cxx_flags
+	OPTIMIZATION_FLAGS optimization_flags
 	EXE_LINKER_FLAGS exe_linker_flags
 	INCLUDE_DIRS include_dirs
 	LINK_DIRS link_dirs
 	DEFINITIONS definitions)

-px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
-px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
-px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
+px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker_flags}" GLUE " ")
+px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${optimization_flags}" GLUE " ")
+px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimization_flags}" GLUE " ")

 include_directories(${include_dirs})
-#message("INCLUDE_DIRS=${include_dirs}")
 link_directories(${link_dirs})
 add_definitions(${definitions})

 #=============================================================================
-# source code generation
+# message, and airframe generation
 #
+include(common/px4_metadata)
+
 add_subdirectory(msg)
-px4_generate_messages(TARGET msg_gen
-	MSG_FILES ${msg_files}
-	OS ${OS}
-	DEPENDS git_genmsg git_gencpp prebuild_targets
-	)
-px4_generate_parameters_xml(OUT parameters.xml BOARD ${BOARD})
-px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
-add_custom_target(xml_gen
-	DEPENDS parameters.xml airframes.xml)
+
+px4_generate_airframes_xml(BOARD ${BOARD})
+
+#=============================================================================
+# DriverFramework
+#
+
+px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
+
+# List the DriverFramework drivers
+if (DEFINED config_df_driver_list)
+	message("DF Drivers: ${config_df_driver_list}")
+endif()
+
+set(df_driver_libs)
+foreach(driver ${config_df_driver_list})
+	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
+	list(APPEND df_driver_libs df_${driver})
+	message("Adding DF driver: ${driver}")
+endforeach()

 #=============================================================================
 # external projects
 #

-set(ep_base ${CMAKE_BINARY_DIR}/external)
+set(ep_base ${PX4_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})

 # add external project install folders to build
@@ -321,62 +381,87 @@ execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)

 #=============================================================================
-# DriverFramework Drivers
+# external modules
 #
-set(df_driver_libs)
-foreach(driver ${config_df_driver_list})
-	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
-	list(APPEND df_driver_libs df_${driver})
-	message("Adding DF driver: ${driver}")
-endforeach()
+set(external_module_paths)
+if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
+	message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")
+	add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules)
+
+	foreach(external_module ${config_module_list_external})
+		add_subdirectory(${EXTERNAL_MODULES_LOCATION}/src/${external_module} external_modules/${external_module})
+		list(APPEND external_module_paths ${EXTERNAL_MODULES_LOCATION}/src/${external_module})
+	endforeach()
+endif()

 #=============================================================================
 # subdirectories
 #
-set(module_libraries)
 foreach(module ${config_module_list})
-	string(REGEX MATCH "^[./]" external_module ${module})
-	if(external_module)
-		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
-		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
-		add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
-	else()
-		add_subdirectory(src/${module})
-	endif()
-	px4_mangle_name(${module} mangled_name)
-	list(APPEND module_libraries ${mangled_name})
-	#message(STATUS "adding module: ${module}")
+	add_subdirectory(src/${module})
 endforeach()

-# Keep track of external shared libs required for modules
-set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "module_external_libraries")
-
-add_subdirectory(src/firmware/${OS})
-
-#add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
-if (NOT "${OS}" STREQUAL "nuttx")
-endif()
-
-if (config_io_board)
-	add_subdirectory(src/modules/px4iofirmware)
-endif()
+add_subdirectory(platforms/${OS})

 #=============================================================================
-# generate git version
+# generate custom target to print for all executable and module cmake targets
 #
-px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
+if (all_posix_cmake_targets)
+	list(SORT all_posix_cmake_targets)
+	px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
+	add_custom_target(list_cmake_targets
+		COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\""
+		COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:"
+		VERBATIM
+		)
+endif()
+
+
+#=============================================================================
+# uORB graph generation: add a custom target 'uorb_graph'
+#
+set(uorb_graph_config ${BOARD})
+
+set(graph_module_list "")
+foreach(module ${config_module_list})
+	set(graph_module_list "${graph_module_list}" "--src-path" "src/${module}")
+endforeach()
+
+add_custom_command(OUTPUT ${uorb_graph_config}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
+		${module_list}
+		--exclude-path src/examples
+		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	COMMENT "Generating uORB graph"
+)
+add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})

 #=============================================================================
 # packaging
 #
 # Important to having packaging at end of cmake file.
 #
-set(CPACK_PACKAGE_VERSION ${version})
-set(CPACK_PACKAGE_CONTACT ${package_contact})
+set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
+set(CPACK_PACKAGE_VERSION ${git_version})
+set(CPACK_PACKAGE_CONTACT ${package-contact})
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
+set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
+set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
+set(short-description "The px4 autopilot.")
+set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
 set(CPACK_GENERATOR "ZIP")
-set(CPACK_SOURCE_GENERATOR "ZIP")
+set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
+set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
+set(CPACK_PACKAGING_INSTALL_PREFIX "")
+set(CPACK_SET_DESTDIR "OFF")
+if ("${CMAKE_SYSTEM}" MATCHES "Linux")
+	find_program(DPKG_PROGRAM dpkg)
+	if (EXISTS ${DPKG_PROGRAM})
+		list (APPEND CPACK_GENERATOR "DEB")
+	endif()
+endif()
 include(CPack)

-endif() # ros alternative endif
-
 # vim: set noet fenc=utf-8 ff=unix ft=cmake :
@@ -0,0 +1,46 @@
+# Contributor Covenant Code of Conduct
+
+## Our Pledge
+
+In the interest of fostering an open and welcoming environment, we as contributors and maintainers pledge to making participation in our project and our community a harassment-free experience for everyone, regardless of age, body size, disability, ethnicity, gender identity and expression, level of experience, nationality, personal appearance, race, religion, or sexual identity and orientation.
+
+## Our Standards
+
+Examples of behavior that contributes to creating a positive environment include:
+
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members
+
+Examples of unacceptable behavior by participants include:
+
+* The use of sexualized language or imagery and unwelcome sexual attention or advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or electronic address, without explicit permission
+* Other conduct which could reasonably be considered inappropriate in a professional setting
+
+## Our Responsibilities
+
+Project maintainers are responsible for clarifying the standards of acceptable behavior and are expected to take appropriate and fair corrective action in response to any instances of unacceptable behavior.
+
+Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, or to ban temporarily or permanently any contributor for other behaviors that they deem inappropriate, threatening, offensive, or harmful.
+
+## Scope
+
+This Code of Conduct applies both within project spaces and in public spaces when an individual is representing the project or its community. Examples of representing a project or community include using an official project e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. Representation of a project may be further defined and clarified by project maintainers.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by contacting the project team at lorenz@px4.io. The project team will review and investigate all complaints, and will respond in a way that it deems appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. Further details of specific enforcement policies may be posted separately.
+
+Project maintainers who do not follow or enforce the Code of Conduct in good faith may face temporary or permanent repercussions as determined by other members of the project's leadership.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at [http://contributor-covenant.org/version/1/4][version]
+
+[homepage]: http://contributor-covenant.org
+[version]: http://contributor-covenant.org/version/1/4/
@@ -0,0 +1,15 @@
+## This file should be placed in the root directory of your project.
+## Then modify the CMakeLists.txt file in the root directory of your
+## project to incorporate the testing dashboard.
+##
+## # The following are required to submit to the CDash dashboard:
+##   ENABLE_TESTING()
+##   INCLUDE(CTest)
+
+set(CTEST_PROJECT_NAME "PX4 Firmware")
+set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
+
+set(CTEST_DROP_METHOD "http")
+set(CTEST_DROP_SITE "my.cdash.org")
+set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
+set(CTEST_DROP_SITE_CDASH TRUE)
@@ -1,5 +0,0 @@
-#!/bin/bash
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-
-openocd -f interface/olimex-arm-usb-ocd-h.cfg -f $DIR/px4fmu-v1-board.cfg
@@ -1,98 +0,0 @@
-[TOC]
-
-# Introduction
-
-The HIL architecture allows you to test the flight stack replacing the real physical vehicle and sensors with a simulator of vehicle dynamics and sensor outputs.  The flight stack "is not aware" that it is not on a real vehicle.  This is a powerful tool for develping and testing code rapidly in a benchtop environment. 
-
-The flight stack can be run anywhere that supports a network connection to the simulator (with sufficient bandwidth and latency to transport the sensor and actuator messages).  This can be on a standard linux workstation, an on-target linux image, or the on-target DSP image.  These modes can be selected based on the goals of the testing.  Workstation is useful for rapid testing in a tool-rich environment.  DSP image testing is the closest to the final implementation, so is useful for testing actual HW operation, other than the physical sensing and actuation.
-
-## Px4 High-level HIL Architecture
-
-A diagram of the setup described is shown here.  Note that UDP port numbers are only displayed on the socket server and are left blank on the socket client. 
-
-(???NOTES:  This diagram needs to be updated to use control inputs over UDP, either from QGC or from other)
-
-![SITL Diagram](./SITL_Diagram_QGC.png "SITL Diagram")  
-
-## Requirements
-The simulator that is currently supported is jMAVSim.  The setup described here requires PX4 and jMAVSim installed and running.  qGroundControl (QGC) is also required because it is the supported method of providing manual control commands.  
-
-## Assumptions
-
-# Compiling Code
-
-## JMAVSim
-
-### Platform Requirements
-Linux with java-1.7.x or greater
-
-### Build Instructions
-In a clean directory
-```
-> git clone https://github.com/PX4/jMAVSim.git
-> cd jMAVSim
-> git submodule init
-> git submodule update
-> ant
-```
-
-## qGroundControl
-
-### Platform Requirements
-Windows 7
-Logitech Gamepad F310 joystick controller
-
-### Download/Install Instructions
-Download QGC from http://qgroundcontrol.org/downloads and install using the windows executable.
-
-
-## PX4
-
-### Platform Requirements
-Linux or Eagle with a working IP interface (?? does this need further instructions?)
-
-### Build Host Requirements
-(???Notes:  Windows?)
-
-### Download & Build Instructions
-
-### Installing binaries on the Qualcomm Target
-
-# Running PX4 in HIL Mode
-
-## Starting PX4 on Qualcomm Eagle
-
-```
-> adb shell
-# bash
-root@linaro-developer:/# cd ???
-root@linaro-developer:/# ./mainapp
-App name: mainapp
-Enter a command and its args:
-uorb start
-muorb start
-mavlink start -u 14556
-simulator start -p
-```
-
-## Starting jMAVSim
-In the directory where jMAVSim is installed
-```
- java -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp <IPADDR>:14560 -n 100
-```
-replacing <IPADDR> with the IP address of the machine running PX4 (Eagle).  This can be found by running "ifconfig" on that machine.
-
-## Starting qGroundControl
-Launch the qGroundControl application
-1. Set up the communication to the flight stack.  In the menu File:Settings:CommLinks, select Add.  Enter a Link Name of your choice.  Select Link Type: UDP.  Set the listening port to an unused port (example: 14561).  Select Add.  Enter the IP address and port of the PX4 Mavlink app, which is <IPADDR>:14556 with <IPADDR> being the IP address of the Eagle board. Select OK.
-1. Set up the joystick.  Plug in the joystick to your Windows machine.  In the menu File:Settings:CommLinks, check Enable Controllers.  Select "Gamepad F310".  Select "Manual".  Set the axes/channel mapping to 0:Yaw, 1:Throttle, 2:unset, 3:Pitch, 4:Roll.  Seletct "Inverted" for the throttle axis.  Click "Calibrate range".  Move the right joystick through its full range of motion.  Move the left joystick full left then full right.  Move the left joystick full forward (but not full backward).  Click "end calibration."
-1. Connect to the flight stack.  Click Analyze.  Click the "Connect" button in the upper right, and select the connection that you created in the first step.
-
-You should now be connected to the flight stack.  You can see incoming Mavlink packets using the MAVLink Instpector (from Advanced:Tool Widgets)
-
-
-## Controlling PX4 flight in HIL Mode
-The joystick can now be used to fly the simulated vehicle.  The jMAVSim world visualization gives a FPV view, and QGC can be used to display instruments such as artificial horizon and maps (if GPS simulation is enabled).
-
-
-# Debugging/FAQ
@@ -1,2 +0,0 @@
-#!/bin/sh
-git log --pretty=format:"Last change: commit %h - %aN, %ar : %s" -1 $1 || echo no git
@@ -25,7 +25,8 @@
 			[
 				".settings",
 				"nuttx/arch/arm/src/board",
-				"nuttx/arch/arm/src/chip"
+				"nuttx/arch/arm/src/chip",
+				"build_*"
 			]
 		}
 	],
@@ -39,12 +40,12 @@
 			"options_c":
 			{
 				"use_only_additional_options": true,
-				"additional_options_file": "${project_path}/Tools/astylerc"
+				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
 			},
 			"options_c++":
 			{
 				"use_only_additional_options": true,
-				"additional_options_file": "${project_path}/Tools/astylerc"
+				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
 			}
 		}
 	},
@@ -1,12 +0,0 @@
-{
-    "board_id": 19,
-    "magic": "AeroCore",
-    "description": "Firmware for the Gumstix AeroCore board",
-    "image": "",
-    "build_time": 0,
-    "summary": "AEROCORE",
-    "version": "0.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,12 +0,0 @@
-{
-    "board_id": 5, 
-    "magic": "PX4FWv1", 
-    "description": "Firmware for the PX4FMU board", 
-    "image": "", 
-    "build_time": 0, 
-    "summary": "PX4FMU",
-    "version": "0.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,12 +0,0 @@
-{
-    "board_id": 7, 
-    "magic": "PX4FWv1", 
-    "description": "Firmware for the PX4IO board", 
-    "image": "", 
-    "build_time": 0, 
-    "summary": "PX4IO",
-    "version": "0.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,12 +0,0 @@
-{
-    "board_id": 10, 
-    "magic": "PX4FWv2", 
-    "description": "Firmware for the PX4IOv2 board", 
-    "image": "", 
-    "build_time": 0, 
-    "summary": "PX4IOv2",
-    "version": "2.0",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -0,0 +1,663 @@
+pipeline {
+  agent none
+  stages {
+
+    stage('Build') {
+      steps {
+        script {
+          def builds = [:]
+
+
+          // nuttx default targets that are archived and uploaded to s3
+          for (def option in ["px4fmu-v4", "px4fmu-v4pro", "px4fmu-v5", "aerofc-v1"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "git fetch --tags"
+                      sh "make nuttx_${node_name}_default"
+                      sh "make nuttx_${node_name}_rtps"
+                      sh "make sizes"
+                      sh "ccache -s"
+                      archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // special case for fmu-v2/fmu-v3
+          builds["px4fmu-v2"] = {
+            node {
+              stage("Build Test ${node_name}") {
+                docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  stage("${node_name}") {
+                    checkout scm
+                    sh "make clean"
+                    sh "ccache -z"
+                    sh "git fetch --tags"
+                    sh "make px4io-v2_default"
+                    sh "make nuttx_px4fmu-v2_default"
+                    sh "make nuttx_px4fmu-v2_lpe"
+                    sh "make nuttx_px4fmu-v3_default"
+                    sh "make nuttx_px4fmu-v3_rtps"
+                    sh "make sizes"
+                    sh "ccache -s"
+                    archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
+                  }
+                }
+              }
+            }
+          }
+
+
+          // nuttx default targets that are archived and uploaded to s3
+          for (def option in ["aerocore2", "auav-x21", "crazyflie", "mindpx-v2", "nxphlite-v3", "tap-v1"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "git fetch --tags"
+                      sh "make nuttx_${node_name}_default"
+                      sh "make sizes"
+                      sh "ccache -s"
+                      archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // other nuttx default targets
+          for (def option in ["px4-same70xplained-v1", "px4-stm32f4discovery", "px4cannode-v1", "px4esc-v1", "px4nucleoF767ZI-v1", "s2740vc-v1"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make nuttx_${node_name}_default"
+                      sh "make sizes"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // posix_sitl
+          for (def option in ["sitl_default", "sitl_rtps"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-base:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make posix_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // raspberry pi and bebop (armhf)
+          for (def option in ["rpi_cross", "bebop_default"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-raspi:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make posix_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // other armhf (to be merged with raspi and bebop)
+          for (def option in ["ocpoc_ubuntu"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-armhf:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make posix_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // snapdragon eagle (posix + qurt)
+          for (def option in ["eagle_default"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
+                    docker.image("lorenzmeier/px4-dev-snapdragon:2017-12-29").inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                      stage("${node_name}") {
+                        checkout scm
+                        sh "make clean"
+                        sh "ccache -z"
+                        sh "make ${node_name}"
+                        sh "ccache -s"
+                      }
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // GCC7 posix
+          for (def option in ["sitl_default"]) {
+            def node_name = "${option}"
+
+            builds["${node_name} (GCC7)"] = {
+              node {
+                stage("Build Test ${node_name} (GCC7)") {
+                  docker.image('px4io/px4-dev-base-archlinux:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make posix_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+          // GCC7 nuttx
+          for (def option in ["px4fmu-v5_default"]) {
+            def node_name = "${option}"
+
+            builds["${node_name} (GCC7)"] = {
+              node {
+                stage("Build Test ${node_name} (GCC7)") {
+                  docker.image('px4io/px4-dev-base-archlinux:2017-12-08').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make nuttx_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+          parallel builds
+        }
+      }
+    }
+
+    stage('Test') {
+      parallel {
+
+        stage('check style') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-base:2017-12-30'
+              args '-e CI=true'
+            }
+          }
+          steps {
+            sh 'make check_format'
+          }
+        }
+
+        stage('clang analyzer') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-clang:2017-12-30'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+            }
+          }
+          steps {
+            sh 'make clean'
+            sh 'make scan-build'
+            // publish html
+            publishHTML target: [
+              reportTitles: 'clang static analyzer',
+              allowMissing: false,
+              alwaysLinkToLastBuild: true,
+              keepAll: true,
+              reportDir: 'build/scan-build/report_latest',
+              reportFiles: '*',
+              reportName: 'Clang Static Analyzer'
+            ]
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'beta'
+              branch 'stable'
+            }
+          }
+        }
+
+        stage('clang tidy') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-clang:2017-12-30'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+            }
+          }
+          steps {
+            sh 'make clean'
+            sh 'make clang-tidy-quiet'
+          }
+        }
+
+        stage('cppcheck') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-base:ubuntu17.10'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+            }
+          }
+          steps {
+            sh 'make clean'
+            sh 'make cppcheck'
+            // publish html
+            publishHTML target: [
+              reportTitles: 'Cppcheck',
+              allowMissing: false,
+              alwaysLinkToLastBuild: true,
+              keepAll: true,
+              reportDir: 'build/cppcheck/',
+              reportFiles: '*',
+              reportName: 'Cppcheck'
+            ]
+          }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'beta'
+              branch 'stable'
+            }
+          }
+        }
+
+        stage('tests') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-base:2017-12-30'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+            }
+          }
+          steps {
+            sh 'make clean'
+            sh 'make posix_sitl_default test_results_junit'
+            junit 'build/posix_sitl_default/JUnitTestResults.xml'
+          }
+        }
+
+        stage('ROS vtol mission new 1') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1.txt vehicle:=vtol_standard'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_1.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_1.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/*/px4/**.xml'
+              archiveArtifacts '.ros/log/**.log'
+            }
+          }
+        }
+
+        stage('ROS vtol mission new 2') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2.txt vehicle:=vtol_standard'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_2.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_2.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/*/px4/**.xml'
+              archiveArtifacts '.ros/log/**.log'
+            }
+          }
+        }
+
+        stage('ROS vtol mission old 1') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1.txt vehicle:=vtol_standard'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_1.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_1.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/*/px4/**.xml'
+              archiveArtifacts '.ros/log/**.log'
+            }
+          }
+        }
+
+        stage('ROS vtol mission old 2') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2.txt vehicle:=vtol_standard'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_2.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_2.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/*/px4/**.xml'
+              archiveArtifacts '.ros/log/**.log'
+            }
+          }
+        }
+
+        stage('ROS vtol mission old 3') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_3.txt vehicle:=vtol_standard'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_3.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_3.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/*/px4/**.xml'
+              archiveArtifacts '.ros/log/**.log'
+            }
+          }
+        }
+
+        stage('ROS MC mission box') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box.mission vehicle:=iris'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test multirotor_box.mission: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test multirotor_box.mission: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/*/px4/**.xml'
+              archiveArtifacts '.ros/log/**.log'
+            }
+          }
+        }
+
+        stage('ROS offboard att') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS offboard attitude test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS offboard attitude test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/*/px4/**.xml'
+              archiveArtifacts '.ros/log/**.log'
+            }
+          }
+        }
+
+        stage('ROS offboard pos') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS offboard position test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS offboard position test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '**/*.ulg'
+              archiveArtifacts '.ros/*/px4/**.xml'
+              archiveArtifacts '.ros/log/**.log'
+            }
+          }
+        }
+
+        // temporarily disabled until stable
+        //stage('tests coverage') {
+        //  agent {
+        //    docker {
+        //      image 'px4io/px4-dev-base:2017-12-30'
+        //      args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+        //    }
+        //  }
+        //  steps {
+        //    sh 'make clean'
+        //    sh 'make tests_coverage'
+        //    // publish html
+        //    publishHTML target: [
+        //      allowMissing: false,
+        //      alwaysLinkToLastBuild: false,
+        //      keepAll: true,
+        //      reportDir: 'build/posix_sitl_default/coverage-html',
+        //      reportFiles: '*',
+        //      reportName: 'Coverage Report'
+        //    ]
+        //  }
+        //}
+
+      }
+    }
+
+    stage('Generate Metadata') {
+
+      parallel {
+
+        stage('airframe') {
+          agent {
+            docker { image 'px4io/px4-dev-base:2017-12-30' }
+          }
+          steps {
+            sh 'make airframe_metadata'
+            archiveArtifacts(artifacts: 'airframes.md, airframes.xml', fingerprint: true)
+          }
+        }
+
+        stage('parameter') {
+          agent {
+            docker { image 'px4io/px4-dev-base:2017-12-30' }
+          }
+          steps {
+            sh 'make parameters_metadata'
+            archiveArtifacts(artifacts: 'parameters.md, parameters.xml', fingerprint: true)
+          }
+        }
+
+        stage('module') {
+          agent {
+            docker { image 'px4io/px4-dev-base:2017-12-30' }
+          }
+          steps {
+            sh 'make module_documentation'
+            archiveArtifacts(artifacts: 'modules/*.md', fingerprint: true)
+          }
+        }
+
+        stage('uorb graphs') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-nuttx:2017-12-30'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make uorb_graphs'
+            archiveArtifacts(artifacts: 'Tools/uorb_graph/graph_sitl.json')
+          }
+        }
+      }
+    }
+
+    stage('S3 Upload') {
+      agent {
+        docker { image 'px4io/px4-dev-base:2017-12-30' }
+      }
+
+      when {
+        anyOf {
+          branch 'master'
+          branch 'beta'
+          branch 'stable'
+        }
+      }
+
+      steps {
+        sh 'echo "uploading to S3"'
+      }
+    }
+  }
+
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '5'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+}
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2012 - 2017, PX4 Development Team
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@@ -1,41 +0,0 @@
-The PX4 firmware is licensed generally under a permissive 3-clause BSD license. Contributions are required
-to be made under the same license. Any exception to this general rule is listed below.
-
-	/****************************************************************************
-	 *
-	 *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
-	 *
-	 * Redistribution and use in source and binary forms, with or without
-	 * modification, are permitted provided that the following conditions
-	 * are met:
-	 *
-	 * 1. Redistributions of source code must retain the above copyright
-	 *    notice, this list of conditions and the following disclaimer.
-	 * 2. Redistributions in binary form must reproduce the above copyright
-	 *    notice, this list of conditions and the following disclaimer in
-	 *    the documentation and/or other materials provided with the
-	 *    distribution.
-	 * 3. Neither the name PX4 nor the names of its contributors may be
-	 *    used to endorse or promote products derived from this software
-	 *    without specific prior written permission.
-	 *
-	 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-	 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-	 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-	 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-	 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-	 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-	 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-	 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-	 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-	 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-	 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-	 * POSSIBILITY OF SUCH DAMAGE.
-	 *
-	 ****************************************************************************/
-
-
-  - PX4 middleware: BSD 3-clause
-  - PX4 flight control stack: BSD 3-clause
-  - NuttX operating system: BSD 3-clause
-  - Exceptions: Currently only this [400 LOC file](https://github.com/PX4/Firmware/blob/master/src/lib/external_lgpl/tecs/tecs.cpp) remains LGPL, but will be replaced with a BSD implementation.
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2016 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2017 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
@@ -39,26 +39,6 @@ ifeq ($(wildcard .git),)
    $(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
 endif

-CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?)
-ifneq ($(CMAKE_VER),0)
-    $(warning Not a valid CMake version or CMake not installed.)
-    $(warning On Ubuntu, install or upgrade via:)
-    $(warning )
-    $(warning 3rd party PPA:)
-    $(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
-    $(warning sudo apt-get update)
-    $(warning sudo apt-get install cmake)
-    $(warning )
-    $(warning Official website:)
-    $(warning wget https://cmake.org/files/v3.3/cmake-3.3.2-Linux-x86_64.sh)
-    $(warning chmod +x cmake-3.3.2-Linux-x86_64.sh)
-    $(warning sudo mkdir /opt/cmake-3.3.2)
-    $(warning sudo ./cmake-3.3.2-Linux-x86_64.sh --prefix=/opt/cmake-3.3.2 --exclude-subdir)
-    $(warning export PATH=/opt/cmake-3.3.2/bin:$$PATH)
-    $(warning )
-    $(error Fatal)
-endif
-
 # Help
 # --------------------------------------------------------------------
 # Don't be afraid of this makefile, it is just passing
@@ -73,203 +53,181 @@ endif
 # make px4fmu-v2_default test 		(builds and tests)
 #
 # This tells cmake to build the nuttx px4fmu-v2 default config in the
-# directory build_nuttx_px4fmu-v2_default and then call make
+# directory build/nuttx_px4fmu-v2_default and then call make
 # in that directory with the target upload.

 #  explicity set default build target
-all: px4fmu-v2_default
+all: posix_sitl_default

 # Parsing
 # --------------------------------------------------------------------
 # assume 1st argument passed is the main target, the
 # rest are arguments to pass to the makefile generated
 # by cmake in the subdirectory
+FIRST_ARG := $(firstword $(MAKECMDGOALS))
 ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
 j ?= 4

-NINJA_BUILD := $(shell ninja --version 2>/dev/null)
-ifdef NINJA_BUILD
-    PX4_CMAKE_GENERATOR ?= "Ninja"
-    PX4_MAKE = ninja
-    PX4_MAKE_ARGS =
-else
+NINJA_BIN := ninja
+ifndef NO_NINJA_BUILD
+	NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)

-ifdef SYSTEMROOT
-	# Windows
-	PX4_CMAKE_GENERATOR ?= "MSYS Makefiles"
-else
-	PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
+	ifndef NINJA_BUILD
+		NINJA_BIN := ninja-build
+		NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
+	endif
 endif
-    PX4_MAKE = make
-    PX4_MAKE_ARGS = -j$(j) --no-print-directory
+
+ifdef NINJA_BUILD
+	PX4_CMAKE_GENERATOR := Ninja
+	PX4_MAKE := $(NINJA_BIN)
+
+	ifdef VERBOSE
+		PX4_MAKE_ARGS := -v
+	else
+		PX4_MAKE_ARGS :=
+	endif
+else
+	ifdef SYSTEMROOT
+		# Windows
+		PX4_CMAKE_GENERATOR := "MSYS\ Makefiles"
+	else
+		PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
+	endif
+	PX4_MAKE = $(MAKE)
+	PX4_MAKE_ARGS = -j$(j) --no-print-directory
+endif
+
+SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
+
+# check if replay env variable is set & set build dir accordingly
+ifdef replay
+	BUILD_DIR_SUFFIX := _replay
+else
+	BUILD_DIR_SUFFIX :=
+endif
+
+# additional config parameters passed to cmake
+ifdef EXTERNAL_MODULES_LOCATION
+	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
+endif
+
+ifdef PX4_CMAKE_BUILD_TYPE
+	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
 endif

 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
-+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(PWD)/build_$@); fi
-+@Tools/check_submodules.sh
-+@(echo "PX4 CONFIG: $@" && cd $(PWD)/build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
+@$(eval BUILD_DIR = $(SRC_DIR)/build/$@$(BUILD_DIR_SUFFIX))
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(1) || (rm -rf $(BUILD_DIR)); fi
+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef

-define cmake-build-other
-+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
-+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake $(2) -G$(PX4_CMAKE_GENERATOR) || (cd .. && rm -rf $(PWD)/build_$@); fi
-+@(cd $(PWD)/build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
-endef
-
-# create empty targets to avoid msgs for targets passed to cmake
-define cmake-targ
-$(1):
-	@#
-.PHONY: $(1)
-endef
+COLOR_BLUE = \033[0;34m
+NO_COLOR   = \033[m

 define colorecho
-      @tput setaf 6
-      @echo $1
-      @tput sgr0
+@echo "${COLOR_BLUE}${1} ${NO_COLOR}"
 endef

+# Get a list of all config targets cmake/configs/*.cmake
+ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" -maxdepth 1 ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed  -e 's:^.*/::' | sort))
+# Strip off leading nuttx_
+NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS)))
+
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
 #  Do not put any spaces between function arguments.

-px4fmu-v1_default:
-	$(call cmake-build,nuttx_px4fmu-v1_default)
+# All targets.
+$(ALL_CONFIG_TARGETS):
+	$(call cmake-build,$@,$(SRC_DIR))

-px4fmu-v2_default:
-	$(call cmake-build,nuttx_px4fmu-v2_default)
-	
-px4fmu-v2_test:
-	$(call cmake-build,nuttx_px4fmu-v2_test)
+# Abbreviated config targets.

-px4fmu-v4_default:
-	$(call cmake-build,nuttx_px4fmu-v4_default)
+# nuttx_ is left off by default; provide a rule to allow that.
+$(NUTTX_CONFIG_TARGETS):
+	$(call cmake-build,nuttx_$@,$(SRC_DIR))

-px4-stm32f4discovery_default:
-	$(call cmake-build,nuttx_px4-stm32f4discovery_default)
-
-px4fmu-v2_ekf2:
-	$(call cmake-build,nuttx_px4fmu-v2_ekf2)
-
-mindpx-v2_default:
-	$(call cmake-build,nuttx_mindpx-v2_default)
-
-posix_sitl_default:
-	$(call cmake-build,$@)
-
-posix_sitl_test:
-	$(call cmake-build,$@)
-
-posix_sitl_replay:
-	$(call cmake-build,$@)
-
-posix_sitl_broadcast:
-	$(call cmake-build,$@)
-
-ros_sitl_default:
-	@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
-
-qurt_eagle_travis:
-	$(call cmake-build,$@)
-
-qurt_eagle_default:
-	$(call cmake-build,$@)
-
-posix_eagle_default:
-	$(call cmake-build,$@)
-
-eagle_default: posix_eagle_default qurt_eagle_default
-eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default
-
-qurt_eagle_legacy_driver_default:
-	$(call cmake-build,$@)	
-	
-posix_eagle_legacy_driver_default:
-	$(call cmake-build,$@) 
-
-qurt_excelsior_default:
-	$(call cmake-build,$@)
-
-posix_excelsior_default:
-	$(call cmake-build,$@)
-
-excelsior_default: posix_excelsior_default qurt_excelsior_default
-
-posix_rpi2_default:
-	$(call cmake-build,$@)
-
-posix_rpi2_release:
-	$(call cmake-build,$@)
-
-posix_bebop_default:
-	$(call cmake-build,$@)
+all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)

 posix: posix_sitl_default
-
 broadcast: posix_sitl_broadcast

-sitl_deprecation:
-	@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
-	@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
+# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
+.PHONY: all posix broadcast all_nuttx_targets

-run_sitl_quad: sitl_deprecation
-run_sitl_plane: sitl_deprecation
-run_sitl_ros: sitl_deprecation
+# Multi- config targets.
+eagle_default: posix_eagle_default qurt_eagle_default
+eagle_rtps: posix_eagle_rtps qurt_eagle_default
+eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
+excelsior_default: posix_excelsior_default qurt_excelsior_default
+excelsior_rtps: posix_excelsior_rtps qurt_excelsior_default
+excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
+
+.PHONY: eagle_default eagle_rtps eagle_legacy_default
+.PHONY: excelsior_default excelsior_rtps excelsior_legacy_default

 # Other targets
 # --------------------------------------------------------------------

-.PHONY: gazebo_build uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean
-.NOTPARALLEL: gazebo_build uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware check_rtps

-gazebo_build:
-	@mkdir -p build_gazebo
-	@if [ ! -e $(PWD)/build_gazebo/CMakeCache.txt ];then cd build_gazebo && cmake -Wno-dev -G$(PX4_CMAKE_GENERATOR) $(PWD)/Tools/sitl_gazebo; fi
-	@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS)
-	@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS) sdf
+# QGroundControl flashable NuttX firmware
+qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware

-uavcan_firmware:
-ifeq ($(VECTORCONTROL),1)
-	$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6")
-	@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
-endif
-
-checks_defaults: \
-	check_px4fmu-v1_default \
+# px4fmu NuttX firmware
+px4fmu_firmware: \
+	check_px4io-v2_default \
 	check_px4fmu-v2_default \
+	check_px4fmu-v3_default \
+	check_px4fmu-v4_default \
+	check_px4fmu-v4pro_default \
+	check_px4fmu-v5_default \
+	sizes
+
+misc_qgc_extra_firmware: \
+	check_aerocore2_default \
+	check_aerofc-v1_default \
+	check_auav-x21_default \
+	check_crazyflie_default \
 	check_mindpx-v2_default \
+	check_px4fmu-v2_lpe \
+	check_tap-v1_default \
+	sizes
+
+# Other NuttX firmware
+alt_firmware: \
+	check_nxphlite-v3_default \
+	check_px4-same70xplained-v1_default \
 	check_px4-stm32f4discovery_default \
+	check_px4cannode-v1_default \
+	check_px4esc-v1_default \
+	check_px4nucleoF767ZI-v1_default \
+	check_s2740vc-v1_default \
+	sizes

-checks_bootloaders: \
+# builds with RTPS
+check_rtps: \
+	check_px4fmu-v3_rtps \
+	check_px4fmu-v4_rtps \
+	check_px4fmu-v4pro_rtps \
+	check_posix_sitl_rtps \
+	sizes

+.PHONY: sizes check quick_check check_rtps uorb_graphs

-checks_tests: \
-	check_px4fmu-v2_test
+sizes:
+	@-find build -name *.elf -type f | xargs size 2> /dev/null || :

-checks_alts: \
-	check_px4fmu-v2_ekf2 \
+# All default targets that don't require a special build environment
+check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format

-checks_uavcan: \
-	check_px4fmu-v4_default_and_uavcan
-
-checks_sitls: \
-	check_posix_sitl_default \
-	check_posix_sitl_test \
-
-checks_last: \
-	check_unittest \
-	check_format \
-
-check: checks_defaults checks_tests checks_alts checks_uavcan checks_bootloaders checks_sitls checks_last
-
-check_format:
-	$(call colorecho,"Checking formatting with astyle")
-	@./Tools/fix_code_style.sh
-	@./Tools/check_code_style_all.sh
+# quick_check builds a single nuttx and posix target, runs testing, and checks the style
+quick_check: check_posix_sitl_default check_px4fmu-v4pro_default tests check_format

 check_%:
 	@echo
@@ -277,53 +235,175 @@ check_%:
 	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo

-check_px4fmu-v4_default: uavcan_firmware
-check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
-	@echo
-ifeq ($(VECTORCONTROL),1)
-	@echo "Cleaning up vectorcontrol firmware"
-	@rm -rf vectorcontrol
-	@rm -rf ROMFS/px4fmu_common/uavcan
-endif
+uorb_graphs:
+	@./Tools/uorb_graph/create_from_startupscript.sh
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
+	@$(MAKE) --no-print-directory px4fmu-v2_default uorb_graph
+	@$(MAKE) --no-print-directory px4fmu-v4_default uorb_graph
+	@$(MAKE) --no-print-directory posix_sitl_default uorb_graph

-unittest: posix_sitl_test
-	@export CC=clang
-	@export CXX=clang++
-	@export ASAN_OPTIONS=symbolize=1
-	$(call cmake-build-other,unittest, ../unittests)
-	@(cd build_unittest && ctest -j2 --output-on-failure)
-	
-test_onboard_sitl:
-	@HEADLESS=1 make posix_sitl_test gazebo_iris

-package_firmware:
-	@zip --junk-paths Firmware.zip `find . -name \*.px4`
+.PHONY: coverity_scan
+
+coverity_scan: posix_sitl_default
+
+# Documentation
+# --------------------------------------------------------------------
+.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata
+
+parameters_metadata:
+	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --markdown
+	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --xml
+
+airframe_metadata:
+	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown
+	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --xml
+
+module_documentation:
+	@python $(SRC_DIR)/Tools/px_process_module_doc.py -v --markdown $(SRC_DIR)/modules --src-path $(SRC_DIR)/src
+
+px4_metadata: parameters_metadata airframe_metadata module_documentation
+
+# Astyle
+# --------------------------------------------------------------------
+.PHONY: check_format format
+
+check_format:
+	$(call colorecho,"Checking formatting with astyle")
+	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh
+	@cd $(SRC_DIR) && git diff --check
+
+format:
+	$(call colorecho,"Formatting with astyle")
+	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh --fix
+
+# Testing
+# --------------------------------------------------------------------
+.PHONY: tests tests_coverage tests_mission tests_offboard rostest
+
+tests:
+	@$(MAKE) --no-print-directory posix_sitl_default test_results \
+	ASAN_OPTIONS="color=always:check_initialization_order=1:detect_stack_use_after_return=1" \
+	UBSAN_OPTIONS="color=always"
+
+tests_coverage:
+	@$(MAKE) clean
+	@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
+	@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"
+
+rostest: posix_sitl_default
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo
+
+tests_mission: rostest
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
+
+tests_offboard: rostest
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+
+# static analyzers (scan-build, clang-tidy, cppcheck)
+# --------------------------------------------------------------------
+.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack
+
+scan-build:
+	@export CCC_CC=clang
+	@export CCC_CXX=clang++
+	@rm -rf $(SRC_DIR)/build/posix_sitl_default-scan-build
+	@rm -rf $(SRC_DIR)/build/scan-build/report_latest
+	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-scan-build
+	@cd $(SRC_DIR)/build/posix_sitl_default-scan-build && scan-build cmake $(SRC_DIR) -GNinja -DCONFIG=posix_sitl_default
+	@scan-build -o $(SRC_DIR)/build/scan-build cmake --build $(SRC_DIR)/build/posix_sitl_default-scan-build
+	@find $(SRC_DIR)/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" $(SRC_DIR)/build/scan-build/report_latest \;
+
+posix_sitl_default-clang:
+	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && cmake $(SRC_DIR) $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
+	@$(PX4_MAKE) -C $(SRC_DIR)/build/posix_sitl_default-clang
+
+clang-tidy: posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
+
+# to automatically fix a single check at a time, eg modernize-redundant-void-arg
+#  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
+clang-tidy-fix: posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .
+
+# modified version of run-clang-tidy.py to return error codes and only output relevant results
+clang-tidy-quiet: posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+
+# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
+cppcheck: posix_sitl_default
+	@mkdir -p $(SRC_DIR)/build/cppcheck
+	@cppcheck -i$(SRC_DIR)/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project=$(SRC_DIR)/build/posix_sitl_default/compile_commands.json --xml-version=2 2> $(SRC_DIR)/build/cppcheck/cppcheck-result.xml > /dev/null
+	@cppcheck-htmlreport --source-encoding=ascii --file=$(SRC_DIR)/build/cppcheck/cppcheck-result.xml --report-dir=$(SRC_DIR)/build/cppcheck --source-dir=$(SRC_DIR)/src/
+
+check_stack: px4fmu-v4pro_default
+	@echo "Checking worst case stack usage with checkstack.pl ..."
+	@echo " "
+	@echo "Top 10:"
+	@cd $(SRC_DIR)/build/px4fmu-v4pro_default && mkdir -p stack_usage && arm-none-eabi-objdump -d nuttx_px4fmu-v4pro_default.elf | $(SRC_DIR)/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt
+	@head -n 10 $(SRC_DIR)/build/px4fmu-v4pro_default/stack_usage/checkstack_output.txt | c++filt
+	@echo " "
+	@echo "Symbols with 'main', 'thread' or 'task':"
+	@cat $(SRC_DIR)/build/px4fmu-v4pro_default/stack_usage/checkstack_output.txt | c++filt | grep -E 'thread|main|task'
+
+# Cleanup
+# --------------------------------------------------------------------
+.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean

 clean:
-	@rm -rf build_*/
-	@(cd NuttX/nuttx && make clean)
+	@rm -rf $(SRC_DIR)/build

 submodulesclean:
+	@git submodule foreach --quiet --recursive git clean -ff -x -d
+	@git submodule update --quiet --init --recursive --force || true
 	@git submodule sync --recursive
-	@git submodule deinit -f .
 	@git submodule update --init --recursive --force

-distclean: submodulesclean
-	@git clean -ff -x -d -e ".project" -e ".cproject"
+submodulesupdate:
+	@git submodule update --quiet --init --recursive || true
+	@git submodule sync --recursive
+	@git submodule update --init --recursive

-# targets handled by cmake
-cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
-	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim replay \
-	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
-	gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane gazebo_solo
-$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
+gazeboclean:
+	@rm -rf ~/.gazebo/*

-.PHONY: clean
+distclean: submodulesclean gazeboclean
+	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"

-CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
+# --------------------------------------------------------------------
+
+# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
+%:
+	$(if $(filter $(FIRST_ARG),$@), \
+		$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)

 #help:
 #	@echo
 #	@echo "Type 'make ' and hit the tab key twice to see a list of the available"
 #	@echo "build configurations."
 #	@echo
+
+empty :=
+space := $(empty) $(empty)
+
+# 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 | \
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
+	@echo
+	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
+	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
+
+# Print a list of all config targets.
+list_config_targets:
+	@for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done
@@ -1,35 +1,110 @@
-## PX4 Pro Drone Autopilot ##
+# PX4 Pro Drone Autopilot

-[![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)
+[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)

-[![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
+[![Build Status](http://ci.px4.io:8080/buildStatus/icon?job=Firmware/master)](http://ci.px4.io:8080/blue/organizations/jenkins/Firmware/activity) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)

-This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the src/modules directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)

-*   Official Website: http://px4.io
-*   License: BSD 3-clause (see [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
-*   Supported airframes (more experimental are supported):
-  * [Multicopters](http://px4.io/portfolio_category/multicopter/)
-  * [Fixed wing](http://px4.io/portfolio_category/plane/)
-  * [VTOL](http://px4.io/portfolio_category/vtol/)
-*   Releases
-  * [Downloads](https://github.com/PX4/Firmware/releases)
+This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

-### Users ###
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
+* [Supported airframes](https://docs.px4.io/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
+  * [Multicopters](https://docs.px4.io/en/airframes/airframe_reference.html#copter)
+  * [Fixed wing](https://docs.px4.io/en/airframes/airframe_reference.html#plane)
+  * [VTOL](https://docs.px4.io/en/airframes/airframe_reference.html#vtol)
+  * many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
+* Releases: [Downloads](https://github.com/PX4/Firmware/releases)

-Please refer to the [user documentation](http://px4.io) and [user forum](http://discuss.px4.io) for flying drones with the PX4 flight stack.

-### Developers ###
+## PX4 Users

-  * [Developer Forum / Mailing list](http://groups.google.com/group/px4users)
-  * [Guide for Contributions](https://github.com/PX4/Firmware/blob/master/CONTRIBUTING.md)
-  * [Developer guide](http://dev.px4.io)
+The [PX4 User Guide](https://docs.px4.io/en/) explains how to assemble [supported vehicles](https://docs.px4.io/en/airframes/airframe_reference.html) and fly drones with PX4. 
+See the [forum and chat](https://docs.px4.io/en/#support) if you need help!


+## PX4 Developers
+
+This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
+
+Developers should read the [Guide for Contributions](https://dev.px4.io/en/contribute/).
+See the [forum and chat](https://dev.px4.io/en/#support) if you need help!
+
+
+### Weekly Dev Call
+
+The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/#dev_call).
+
+> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform.
+
+
+## Maintenance Team
+
+  * Project / Founder - [Lorenz Meier](https://github.com/LorenzMeier)
+    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
+  * Communication Architecture
+    * [Beat Kueng](https://github.com/bkueng)
+    * [Julian Oes](https://github.com/JulianOes)
+  * UI / UX
+    * [Donald Gagne](https://github.com/DonLakeFlyer)
+    * [Gus Grubba](https://github.com/dogmaphobic)
+  * [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
+    * [Dennis Mannhart](https://github.com/Stifael)
+    * [Matthias Grob](https://github.com/MaEtUgR)
+  * [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
+    * [Daniel Agar](https://github.com/dagar)
+    * [Mathieu Bresciani](https://github.com/bresch)
+    * [Sander Smeets](https://github.com/sanderux)
+    * [Roman Bapst](https://github.com/tumbili)
+    * [Andreas Antener](https://github.com/AndreasAntener)
+  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
+    * [Daniel Agar](https://github.com/dagar)
+    * [Paul Riseborough](https://github.com/priseborough)
+  * Racers - [Matthias Grob](https://github.com/MaEtUgR)
+  * OS / drivers - [David Sidrane](https://github.com/davids5)
+  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) / Industrial - [Pavel Kirienko](https://github.com/pavel-kirienko)
+  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [James Goppert](https://github.com/jgoppert), [Paul Riseborough](https://github.com/priseborough)
+  * Vision based navigation
+    * [Christoph Tobler](https://github.com/ChristophTobler)
+    * [Mohammed Kabir](https://github.com/mhkabir)
+  * Obstacle Avoidance - [Vilhjalmur Vilhjalmsson](https://github.com/vilhjalmur89)
+  * [Snapdragon](https://github.com/PX4/Firmware/labels/snapdragon)
+    * [Christoph Tobler](https://github.com/ChristophTobler)
+    * [Mark Charlebois](https://github.com/mcharleb)
+  * [Intel Aero](https://github.com/PX4/Firmware/labels/intel%20aero)
+    * [Sugnan Prabhu](https://github.com/sugnanprabhu)
+    * [José Roberto de Souza](https://github.com/zehortigoza)
+  * [Raspberry Pi / Navio](https://github.com/PX4/Firmware/labels/raspberry_pi) - [Beat Kueng](https://github.com/bkueng)
+  * [Parrot Bebop](https://github.com/PX4/Firmware/labels/bebop) - [Michael Schaeuble](https://github.com/eyeam3)
+  * [Airmind MindPX / MindRacer](https://github.com/PX4/Firmware/labels/mindpx) - [Henry Zhang](https://github.com/iZhangHui)
+  * RTPS/ROS2 Interface - [Vicente Monge](https://github.com/vicenteeprosima)
+
+See also [About Us](http://px4.io/about-us/#development_team) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
+
+## Supported Hardware
+
 This repository contains code supporting these boards:
-  * [Snapdragon Flight](http://dev.px4.io/hardware-snapdragon.html)
-  * FMUv1.x
-  * FMUv2.x ([Pixhawk](http://dev.px4.io/hardware-pixhawk.html), Pixhawk 2 and [Pixfalcon](http://dev.px4.io/hardware-pixfalcon.html))
-  * FMUv4.x (Pixhawk X and [Pixracer](http://dev.px4.io/hardware-pixracer.html))
-  * AeroCore (v1 and v2)
-  * STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
+  * [Snapdragon Flight](https://docs.px4.io/en/flight_controller/snapdragon_flight.html)
+  * [Intel Aero](https://docs.px4.io/en/flight_controller/intel_aero.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/en/flight_controller/raspberry_pi_navio2.html)
+  * [Parrot Bebop 2](https://dev.px4.io/en/advanced/parrot_bebop.html)
+  * FMUv2.x
+    * [Pixhawk](https://docs.px4.io/en/flight_controller/pixhawk.html)
+    * [Pixhawk Mini](https://docs.px4.io/en/flight_controller/pixhawk_mini.html)
+    * [Pixfalcon](https://docs.px4.io/en/flight_controller/pixfalcon.html)
+  * FMUv3.x [Pixhawk 2](https://pixhawk.org/modules/pixhawk2)
+  * FMUv4.x
+    * [Pixracer](https://docs.px4.io/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/en/flight_controller/pixhawk3_pro.html)
+  * FMUv5.x (ARM Cortex M7, future Pixhawk)
+  * [STM32F4Discovery](http://www.st.com/en/evaluation-tools/stm32f4discovery.html) (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
+  * [Gumstix AeroCore](https://www.gumstix.com/aerocore-2/) (only v2)
+  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
+  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/en/flight_controller/crazyflie2.html)
+
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/en/flight_controller/).
+
+## Project Roadmap
+
+A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).
@@ -0,0 +1,46 @@
+
+message(STATUS "ROMFS: ${config_romfs_root}")
+
+set(romfs_temp_dir ${PX4_BINARY_DIR}/ROMFS/${config_romfs_root})
+set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
+
+# directory setup
+# copy all romfs files, process airframes, prune comments
+file(GLOB_RECURSE init_airframes ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/*/[1-9]*)
+add_custom_command(OUTPUT ${romfs_temp_dir}/init.d/rcS ${romfs_temp_dir}/init.d/rc.autostart
+	COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		-a ${romfs_temp_dir}/init.d
+		-s ${romfs_temp_dir}/init.d/rc.autostart
+		--board ${BOARD}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
+		--folder ${romfs_temp_dir} --board ${BOARD}
+	DEPENDS
+		${romfs_src_files}
+		${init_airframes}
+		${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d/rcS
+		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	)
+
+set(romfs_dependencies)
+list(APPEND romfs_dependencies
+	${romfs_temp_dir}/init.d/rcS
+	${romfs_temp_dir}/init.d/rc.autostart
+	)
+	
+# create romfs.bin
+add_custom_command(OUTPUT romfs.img
+	COMMAND ${GENROMFS} -f romfs.img -d ${romfs_temp_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
+	DEPENDS ${romfs_dependencies}
+	)
+
+# create romfs.o
+add_custom_command(OUTPUT nsh_romfsimg.c
+	COMMAND xxd -i romfs.img nsh_romfsimg.c
+	COMMAND sed 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && mv nsh_romfsimg.c.tmp nsh_romfsimg.c
+	DEPENDS romfs.img
+	)
+
+add_library(romfs STATIC nsh_romfsimg.c)
+add_dependencies(romfs platforms__common)
+set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
@@ -3,11 +3,14 @@
 # @name HILStar (XPlane)
 #
 # @type Simulation
+# @class Plane
 #
 # @output MAIN1 aileron
 # @output MAIN2 elevator
 # @output MAIN3 rudder
 # @output MAIN4 throttle
+# @output MAIN5 flaps
+# @output MAIN6 gear
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -41,5 +44,5 @@ then
 	param set RWTO_TKOFF 1
 fi

-set HIL yes
+param set SYS_HITL 1
 set MIXER AERT
@@ -3,8 +3,21 @@
 # @name Team Blacksheep Discovery
 #
 # @type Quadrotor Wide
+# @class Copter
 #
-# @maintainer Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -3,8 +3,19 @@
 # @name 3DR Iris Quadrotor
 #
 # @type Quadrotor Wide
+# @class Copter
 #
-# @maintainer Anton Babushkin <anton@px4.io>
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -29,6 +40,6 @@ then
 	param set BAT_A_PER_V 15.39103
 fi

-set MIXER quad_w
+set MIXER quad_dc

 set PWM_OUT 1234
@@ -3,8 +3,21 @@
 # @name Steadidrone QU4D
 #
 # @type Quadrotor Wide
+# @class Copter
 #
-# @maintainer Thomas Gubler <thomas@px4.io>
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -3,8 +3,21 @@
 # @name Team Blacksheep Discovery Endurance
 #
 # @type Quadrotor Wide
+# @class Copter
 #
-# @maintainer Simon Wilks <simon@px4.io>
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -27,11 +40,10 @@ then
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0

-	param set MPC_XY_FF 0.2
 	param set MPC_XY_VEL_MAX 2
+	param set PWM_MIN 1080
 fi

 set MIXER quad_w

 set PWM_OUT 1234
-set PWM_MIN 1080
@@ -1,39 +0,0 @@
-#!nsh
-#
-# @name HobbyKing SK450 DeadCat modification
-#
-# @type Quadrotor Wide
-#
-# @maintainer Anton Matosov <anton.matosov@gmail.com>
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLL_P 6.0
-	param set MC_ROLLRATE_P 0.08
-	param set MC_ROLLRATE_I 0.03
-	param set MC_ROLLRATE_D 0.0015
-	
-	param set MC_PITCH_P 6.0
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.03
-	param set MC_PITCHRATE_D 0.0015
-	
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.1
-	param set MC_YAWRATE_I 0.07
-	param set MC_YAWRATE_D 0.0
-fi
-
-set MIXER sk450_deadcat
-
-set PWM_OUT 1234
-
-set PWM_AUX_OUT 1234
-# set PWM_AUX_MIN 900
-# set PWM_AUX_MAX 2100
-set PWM_AUX_RATE 100
-
-gimbal start
@@ -3,12 +3,11 @@
 # @name HIL Quadcopter X
 #
 # @type Simulation
+# @class Copter
 #
-# @maintainer Anton Babushkin <anton@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

-sh /etc/init.d/rc.mc_defaults
+sh /etc/init.d/4001_quad_x

-set MIXER quad_x
-
-set HIL yes
+param set SYS_HITL 1
@@ -1,14 +0,0 @@
-#!nsh
-#
-# @name HIL Quadcopter +
-#
-# @type Simulation
-#
-# @maintainer Anton Babushkin <anton@px4.io>
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-set MIXER quad_+
-
-set HIL yes
@@ -1,14 +0,0 @@
-#!nsh
-#
-# @name HIL Rascal 110 (Flightgear)
-#
-# @type Simulation
-#
-# @maintainer Thomas Gubler <thomas@px4.io>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-set HIL yes
-
-set MIXER AERT
@@ -1,41 +0,0 @@
-#!nsh
-#
-# @name HIL Malolo 1 (Flightgear)
-#
-# @type Simulation
-#
-# @maintainer Thomas Gubler <thomas@px4.io>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set FW_AIRSPD_MIN 12
-	param set FW_AIRSPD_TRIM 25
-	param set FW_AIRSPD_MAX 40
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
-	param set FW_L1_DAMPING 0.74
-	param set FW_L1_PERIOD 15
-	param set FW_PR_FF 0.8
-	param set FW_PR_I 0.05
-	param set FW_PR_IMAX 0.2
-	param set FW_PR_P 0.1
-	param set FW_P_ROLLFF 0
-	param set FW_RR_FF 0.6
-	param set FW_RR_I 0.02
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.1
-	param set FW_R_LIM 45
-	param set FW_R_RMAX 0
-	param set FW_YR_FF 0.0
-	param set FW_YR_I 0
-	param set FW_YR_IMAX 0.2
-	param set FW_YR_P 0.0
-fi
-
-set HIL yes
-
-# Set the AERT mixer for HIL (even if the malolo is a flying wing)
-set MIXER AERT
@@ -1,15 +1,16 @@
 #!nsh
 #
-# @name Generic Hexa coaxial geometry
+# @name Generic Hexarotor coaxial geometry
 #
 # @type Hexarotor Coaxial
+# @class Copter
 #
 # @output MAIN1 front right top, CW; angle:60; direction:CW
 # @output MAIN2 front right bottom, CCW; angle:60; direction:CCW
 # @output MAIN3 back top, CW; angle:180; direction:CW
 # @output MAIN4 back bottom, CCW; angle:180; direction:CCW
 # @output MAIN5 front left top, CW; angle:-60; direction:CW
-# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW 
+# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW
 #
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
@@ -3,6 +3,16 @@
 # @name Generic 10" Octo coaxial geometry
 #
 # @type Octorotor Coaxial
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+# @output MAIN7 motor 7
+# @output MAIN8 motor 8
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -3,6 +3,16 @@
 # @name Steadidrone MAVRIK
 #
 # @type Octo Coax Wide
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+# @output MAIN7 motor 7
+# @output MAIN8 motor 8
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
@@ -31,7 +41,7 @@ then

 	param set MPC_HOLD_MAX_XY 0.25
 	param set MPC_THR_MIN 0.15
-	param set MPC_Z_VEL_MAX 2.0
+	param set MPC_Z_VEL_MAX_DN 2.0

 	param set BAT_N_CELLS 4
 fi
@@ -0,0 +1,37 @@
+#!nsh
+#
+# @name Generic Quadplane VTOL
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Aileron 1
+# @output AUX2 Aileron 2
+# @output AUX3 Elevator
+# @output AUX4 Rudder
+# @output AUX5 Throttle
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+fi
+
+set MIXER quad_x
+set PWM_OUT 1234
+set PWM_RATE 400
+
+set MIXER_AUX vtol_AAERT
+set PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950
+
+set MAV_TYPE 22
@@ -3,11 +3,12 @@
 # @name Caipiroshka Duo Tailsitter
 #
 # @type VTOL Duo Tailsitter
+# @class VTOL
 #
-# @output MAIN1 motor left
-# @output MAIN2 motor right
-# @output MAIN5 elevon left
-# @output MAIN6 elevon right
+# @output MAIN1 motor right
+# @output MAIN2 motor left
+# @output MAIN5 elevon right
+# @output MAIN6 elevon left
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
@@ -1,10 +1,21 @@
 #!nsh
 #
 # @name BirdsEyeView Aerobotics FireFly6
-#
 # @type VTOL Tiltrotor
+# @class VTOL
 #
-# @maintainer Roman Bapst <roman@px4.io>
+# @maintainer Roman Bapst <roman@uaventure.com>
+#
+# @output MAIN1 Front right motor bottom
+# @output MAIN2 Front right motor top
+# @output MAIN3 Back motor bottom
+# @output MAIN4 Back motor top
+# @output MAIN5 Front left motor bottom
+# @output MAIN6 Front left motor top
+# @output AUX1 Tilt servo
+# @output AUX2 Elevon 1
+# @output AUX3 Elevon 2
+# @output AUX4 Gear
 #

 sh /etc/init.d/rc.vtol_defaults
@@ -12,16 +23,16 @@ sh /etc/init.d/rc.vtol_defaults
 if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.17
+	param set MC_ROLLRATE_P 0.19
 	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_D 0.005
 	param set MC_ROLLRATE_FF 0.0
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.14
 	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_D 0.004
 	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 3.8
+	param set MC_YAW_P 4.0
 	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02
@@ -3,6 +3,7 @@
 # @name Quadrotor X Tailsitter
 #
 # @type VTOL Quad Tailsitter
+# @class VTOL
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
@@ -3,9 +3,21 @@
 # @name Quadrotor + Tailsitter
 #
 # @type VTOL Quad Tailsitter
+# @class VTOL
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 4
+# @output MAIN4 motor 5
+# @output MAIN5 elevon left
+# @output MAIN6 elevon right
+# @output MAIN7 canard surface
+# @output MAIN8 rudder
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
+# @board px4fmu-v2 exclude
+#

 sh /etc/init.d/rc.vtol_defaults

@@ -1,11 +1,22 @@
 #!nsh
 #
-# @name Fun Cub Quad VTOL.
+# @name Fun Cub Quad VTOL
 #
 # @type Standard VTOL
+# @class VTOL
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Aileron 1
+# @output AUX2 Aileron 2
+# @output AUX3 Elevator
+# @output AUX4 Rudder
+# @output AUX5 Throttle
+#

 sh /etc/init.d/rc.vtol_defaults

@@ -33,6 +44,8 @@ then
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_MAX 40
+	param set MC_YAWRAUTO_MAX 40

 	param set FW_PR_FF 0.5
 	param set FW_PR_I 0.02
@@ -49,7 +62,7 @@ then
 	param set VT_TYPE 2
 fi

-set MIXER vtol_quad_x
+set MIXER quad_x
 set PWM_OUT 1234
 set PWM_RATE 400

@@ -1,11 +1,20 @@
 #!nsh
 #
-# @name Generic quad delta VTOL.
+# @name Generic quad delta VTOL
 #
 # @type Standard VTOL
+# @class VTOL
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Right elevon
+# @output AUX2 Left elevon
+# @output AUX3 Motor
+#

 sh /etc/init.d/rc.vtol_defaults

@@ -15,29 +24,35 @@ then
 	param set VT_MOT_COUNT 4
 	param set VT_TRANS_THR 0.75

-	param set MC_ROLL_P 7.0
+	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_I 0.01
 	param set MC_ROLLRATE_D 0.003
 	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.12
-	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.01
 	param set MC_PITCHRATE_D 0.003
 	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 2.8
+	param set MC_YAW_P 3.5
 	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_MAX 50
+	param set MC_YAWRAUTO_MAX 20
+
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P 0.1
+	param set MPC_ACC_HOR_MAX 2.0

 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
 fi

-set MIXER vtol_quad_x
+set MIXER quad_x
 set PWM_OUT 1234
 set PWM_RATE 400

@@ -3,6 +3,7 @@
 # @name Generic AAVVT v-tail plane airframe with Quad VTOL.
 #
 # @type Standard VTOL
+# @class VTOL
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
@@ -31,13 +32,15 @@ then
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_MAX 40
+	param set MC_YAWRAUTO_MAX 40

 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
 fi

-set MIXER vtol_quad_x
+set MIXER quad_x
 set PWM_OUT 1234
 set PWM_RATE 400

@@ -3,6 +3,7 @@
 # @name QuadRanger
 #
 # @type Standard VTOL
+# @class VTOL
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
@@ -34,9 +35,11 @@ then
 	param set MC_YAWRATE_I 0.04
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_MAX 40.0
+	param set MC_YAWRAUTO_MAX 40.0

 	param set MPC_ACC_HOR_MAX 2.0
-	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_TKO_SPEED 1.5
 	param set MPC_LAND_SPEED 0.8

@@ -57,7 +60,7 @@ then
 	param set VT_TYPE 2
 fi

-set MIXER vtol_quad_x
+set MIXER quad_x
 set PWM_OUT 1234
 set PWM_RATE 400

@@ -3,6 +3,7 @@
 # @name Sparkle Tech Ranger VTOL
 #
 # @type Standard VTOL
+# @class VTOL
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
@@ -45,6 +46,7 @@ then
    param set MC_YAWRATE_I    0.02
    param set MC_YAWRATE_MAX  40.0
    param set MC_YAWRATE_P    0.18
+    param set MC_YAWRATE_MAX  40.0
    param set MC_YAWRAUTO_MAX 40.0

    param set MIS_TAKEOFF_ALT 2.5
@@ -60,13 +62,10 @@ then
    param set MPC_TILTMAX_AIR 35.0
    param set MPC_TILTMAX_LND 20.0
    param set MPC_TKO_SPEED   1.0
-    param set MPC_XY_FF   0.1
    param set MPC_XY_P    0.3
    param set MPC_XY_VEL_MAX  3.0
    param set MPC_XY_VEL_P    0.05
-    param set MPC_Z_FF    0.3
    param set MPC_Z_P 0.5
-    param set MPC_Z_VEL_MAX   1.0
    param set MPC_Z_VEL_P 0.1

    param set NAV_ACC_RAD 3.0
@@ -77,7 +76,7 @@ then
    param set PWM_AUX_REV4    1
 fi

-set MIXER vtol_quad_x
+set MIXER quad_x
 set PWM_OUT 1234
 set PWM_RATE 400

@@ -0,0 +1,40 @@
+#!nsh
+#
+# @name CruiseAder Claire
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer Samay Siga <samay_s@icloud.com>
+#
+# @board px4fmu-v2 exclude
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+param set VT_TYPE 1
+param set VT_TILT_MC 0.08
+param set VT_TILT_TRANS 0.5
+param set VT_TILT_FW 0.9
+
+param set VT_MOT_COUNT 4
+param set VT_FW_MOT_OFFID 13
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 1
+fi
+
+set MIXER claire
+set PWM_OUT 1234
+set PWM_RATE 400
+set PWM_MAX 2000
+
+set MIXER_AUX claire
+set PWM_AUX_RATE 50
+set PWM_AUX_RATE 123
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+set PWM_AUX_DISARMED 1000
+
+set MAV_TYPE 21
@@ -0,0 +1,83 @@
+#!nsh
+#
+# @name E-flite Convergence
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer Andreas Antener <andreas@uaventure.com>
+#
+# @output MAIN1 Motor right
+# @output MAIN2 Motor left
+# @output MAIN3 Motor back
+# @output MAIN4 empty
+# @output MAIN5 Tilt servo right
+# @output MAIN6 Tilt servo left
+# @output MAIN7 Elevon right
+# @output MAIN8 Elevon left
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set VT_MOT_COUNT 3
+    param set VT_FW_MOT_OFFID 3
+    param set VT_IDLE_PWM_MC 1080
+    param set VT_TYPE 1
+
+    param set VT_B_TRANS_DUR  1.0
+    param set VT_FW_DIFTHR_EN 1
+    param set VT_FW_DIFTHR_SC 0.17
+    param set VT_FW_PERM_STAB 0
+    param set VT_F_TRANS_DUR  1.2
+    param set VT_F_TR_OL_TM   4.0
+    param set VT_TILT_FW  1.0
+    param set VT_TILT_MC  0.0
+    param set VT_TILT_TRANS   0.45
+    param set VT_TRANS_MIN_TM 1.2
+    param set VT_TRANS_P2_DUR 1.3
+
+    param set FW_L1_PERIOD 17
+    param set FW_MAN_R_MAX 50.0
+    param set FW_ACRO_X_MAX   270
+    param set FW_ACRO_Y_MAX   270
+    param set FW_ACRO_Z_MAX   180
+    param set FW_PR_FF    0.5
+    param set FW_PR_P 0.08
+    param set FW_PSP_OFF  5.0
+    param set FW_P_LIM_MAX    30
+    param set FW_P_LIM_MIN    -30
+    param set FW_P_RMAX_NEG   60
+    param set FW_P_RMAX_POS   60
+    param set FW_RR_FF    0.33
+    param set FW_RR_P 0.11
+    param set FW_YR_FF    0.3
+    param set FW_YR_P 0.05
+    param set MC_PITCHRATE_D  0.003
+    param set MC_PITCHRATE_P  0.15
+    param set MC_PITCH_P  6.0
+    param set MC_ROLLRATE_D   0.003
+    param set MC_ROLLRATE_P   0.15
+    param set MC_ROLL_P   6.0
+    param set MC_YAWRATE_MAX  120
+    param set MC_YAWRATE_P    0.27
+    param set MC_YAW_FF   0.35
+    param set MC_YAW_P    2.5
+
+    param set MC_YAWRATE_P 0.3
+    param set MPC_LAND_SPEED 1.2
+    param set MPC_TKO_SPEED 2.5
+    param set MPC_Z_VEL_MAX_UP 3.0
+
+    param set CBRK_AIRSPD_CHK 162128
+    param set FW_ARSP_MODE 2
+
+    param set SENS_BOARD_ROT 8
+fi
+
+set MIXER vtol_convergence
+set PWM_OUT 1234
+set PWM_RATE 400
+
+set MAV_TYPE 21
@@ -0,0 +1,124 @@
+#!nsh
+#
+# @name DeltaQuad
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer Sander Smeets <sander@droneslab.com>
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 Right elevon
+# @output MAIN6 Left elevon
+# @output MAIN7 Pusher motor
+# @output MAIN8 Pusher reverse channel
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+	param set VT_TRANS_THR 1
+	param set VT_DWN_PITCH_MAX 8
+	param set VT_FW_QC_P 55
+	param set VT_FW_QC_R 55
+	param set VT_TRANS_MIN_TM 8
+	param set VT_B_TRANS_DUR 5
+	param set VT_WV_LND_EN 1
+	param set VT_WV_LTR_EN 1
+	param set VT_FWD_THRUST_SC 2
+	param set VT_F_TRANS_DUR 1
+	param set VT_IDLE_PWM_MC 1025
+
+	param set FW_ARSP_MODE 2
+	param set FW_L1_PERIOD 25
+	param set FW_PR_FF 0.7
+	param set FW_PR_I 0.18
+	param set FW_PR_P 0.15
+	param set FW_P_TC 0.5
+	param set FW_PSP_OFF 5
+	param set FW_R_LIM 35
+	param set FW_RR_FF 0.9
+	param set FW_RR_I 0.08
+	param set FW_RR_P 0.18
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_CLMB_MAX 3
+	param set FW_T_SINK_MAX 3
+	param set FW_T_SINK_MIN 1
+	param set FW_T_VERT_ACC 6
+	param set FW_THR_CRUISE 0.68
+	param set FW_THR_SLEW_MAX 1
+	param set FW_MAN_P_MAX 30
+	param set FW_P_LIM_MAX 20
+	param set FW_P_LIM_MIN -25
+	param set FW_P_RMAX_NEG 45
+	param set FW_P_RMAX_POS 45
+	param set FW_R_RMAX 50
+
+	param set LNDMC_ALT_MAX 9999
+	param set LNDMC_XY_VEL_MAX 1
+	param set LNDMC_Z_VEL_MAX 0.7
+
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_I 0.01
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_ROLLRATE_MAX 80
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0.0
+	param set MC_PITCHRATE_MAX 80
+	param set MC_YAW_P 3.5
+	param set MC_YAW_FF 0.5
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_MAX 20
+	param set MC_YAWRAUTO_MAX 20
+
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P 0.1
+	param set MPC_XY_VEL_MAX 4
+	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_LAND_SPEED 1.5
+	param set MPC_MAN_R_MAX 30
+	param set MPC_TILTMAX_LND 35
+	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_Z_VEL_MAX_UP 1.5
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_HOLD_MAX_XY 0.5
+	param set MPC_HOLD_MAX_Z 0.5
+
+	param set CBRK_AIRSPD_CHK 162128
+	param set CBRK_IO_SAFETY 22027
+
+	param set EKF2_GPS_POS_X -0.12
+	param set EKF2_IMU_POS_X -0.12
+	param set EKF2_TAU_VEL 0.5
+
+	param set SYS_COMPANION 57600
+fi
+
+set MIXER deltaquad
+set PWM_OUT 1234
+set PWM_RATE 400
+
+param set PWM_MAIN_DIS5 1500
+param set PWM_MAIN_DIS6 1500
+param set PWM_MAIN_DIS7 900
+param set PWM_MAIN_DIS8 900
+
+set MIXER_AUX pass
+set PWM_AUX_OUT 12345
+set PWM_AUX_DISARMED 950
+
+set MAV_TYPE 22
@@ -3,6 +3,12 @@
 # @name Generic Tricopter Y+ Geometry
 #
 # @type Tricopter Y+
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 yaw servo
 #
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
@@ -3,6 +3,12 @@
 # @name Generic Tricopter Y- Geometry
 #
 # @type Tricopter Y-
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 yaw servo
 #
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
@@ -11,6 +17,4 @@ sh /etc/init.d/rc.mc_defaults

 set MIXER tri_y_yaw-

-set PWM_OUT 1234 
-
-
+set PWM_OUT 1234
@@ -3,7 +3,8 @@
 # @name Esky (Big) Lama v4
 #
 # @type Coaxial Helicopter
-# 
+# @class Copter
+#
 # @output MAIN1 Left swashplate servomotor, pitch axis
 # @output MAIN2 Right swashplate servomotor, roll axis
 # @output MAIN3 Upper rotor (CCW)
@@ -17,11 +18,6 @@ set MIXER coax

 if [ $AUTOCNF == yes ]
 then
-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.25
-
 	param set NAV_ACC_RAD 2.0
 	param set RTL_RETURN_ALT 30.0
 	param set RTL_DESCEND_ALT 10.0
@@ -51,14 +47,8 @@ fi
 # use PWM parameters for throttle channel
 set PWM_OUT 34
 set PWM_RATE 400
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX

 # This is the gimbal pass mixer
 set MIXER_AUX pass
 set PWM_AUX_RATE 50
 set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1500
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
@@ -0,0 +1,57 @@
+#!nsh
+#
+# @name Blade 130X
+#
+# @type Helicopter
+# @class Copter
+#
+# @maintainer Bart Slinger <bartslinger@gmail.com>
+#
+# @output MAIN1 main motor
+# @output MAIN2 front swashplate servo
+# @output MAIN3 right swashplate servo
+# @output MAIN4 left swashplate servo
+# @output MAIN5 tail-rotor servo
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+# Configure as helicopter (number 4 defined in commander_helper.cpp)
+set MAV_TYPE 4
+
+set MIXER blade130
+
+#set PWM_OUT 1234
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 5.0
+	param set MC_ROLLRATE_P 0.0
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.0
+	param set MC_ROLLRATE_FF 0.15
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.0
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.0
+	param set MC_PITCHRATE_FF 0.15
+	param set MC_YAW_P 3.0
+	param set MC_YAWRATE_P 0.1
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.0
+	param set MC_ROLLRATE_MAX 720.0
+	param set MC_PITCHRATE_MAX 720.0
+	param set MC_YAWRATE_MAX 400.0
+	param set MC_ACRO_R_MAX 360.0
+	param set MC_ACRO_P_MAX 360.0
+
+	param set PWM_MIN 1075
+
+	param set MPC_THR_MIN 0.06
+	param set MPC_MANTHR_MIN 0.06
+
+	param set ATT_BIAS_MAX 0.0
+
+	param set CBRK_IO_SAFETY 22027
+fi
@@ -3,6 +3,13 @@
 # @name Passthrough mode for Snapdragon
 #
 # @type custom
+# @class Tool
+#
+# @board px4fmu-v2 exclude
+# @board px4fmu-v3 exclude
+# @board px4fmu-v4pro exclude
+# @board px4fmu-v5 exclude
+# @board aerofc-v1 exclude
 #
 # @maintainer Julian Oes <julian@oes.ch>
 #
@@ -1,12 +0,0 @@
-#!nsh
-#
-# @name Multiplex Easystar
-#
-# @type Standard Plane
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-sh /etc/init.d/rc.fw_defaults
- 
-set MIXER easystar
@@ -1,14 +1,16 @@
 #!nsh
 #
-# @name Standard AETR Plane
+# @name Standard Plane
 #
 # @type Standard Plane
+# @class Plane
 #
 # @output MAIN1 aileron
 # @output MAIN2 elevator
 # @output MAIN3 throttle
 # @output MAIN4 rudder
 # @output MAIN5 flaps
+# @output MAIN6 gear
 #
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
@@ -19,10 +21,10 @@

 sh /etc/init.d/rc.fw_defaults

-set MIXER AETR
+set MIXER AETRFG

-# use PWM parameters for throttle channel
-set PWM_OUT 3
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
+set PWM_RATE 50
+set PWM_AUX_RATE 50
+
+# rate must be set by group (see pwm info)
+# throttle is in the same group as servos
@@ -1,28 +0,0 @@
-#!nsh
-#
-# @name Standard AERT Plane
-#
-# @type Standard Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 elevator
-# @output MAIN3 rudder
-# @output MAIN4 throttle
-# @output MAIN5 flaps
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-set MIXER AERT
-
-# use PWM parameters for throttle channel
-set PWM_OUT 4
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
@@ -1,22 +0,0 @@
-#!nsh
-#
-# @name Skywalker (3DR Aero)
-#
-# @type Standard Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 elevator
-# @output MAIN4 rudder
-# @output MAIN3 throttle
-# @output MAIN5 flaps
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-set MIXER skywalker
@@ -1,20 +0,0 @@
-#!nsh
-#
-# @name Skyhunter 1800
-#
-# @type Standard Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 elevator
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-set MIXER AET
@@ -3,6 +3,7 @@
 # @name Bormatec Maja
 #
 # @type Standard Plane
+# @class Plane
 #
 # @output MAIN1 aileron
 # @output MAIN2 aileron
@@ -45,6 +46,3 @@ set MIXER AAERTWF

 # use PWM parameters for throttle channel
 set PWM_OUT 5
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
@@ -3,6 +3,7 @@
 # @name Applied Aeronautics Albatross
 #
 # @type Plane A-Tail
+# @class Plane
 #
 # @output MAIN1 aileron right
 # @output MAIN2 aileron left
@@ -46,6 +47,3 @@ set MIXER AAVVTWFF

 # use PWM parameters for throttle channel
 set PWM_OUT 5
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
@@ -0,0 +1,51 @@
+#!nsh
+#
+# @name Generic Dodecarotor cox geometry
+#
+# @type Dodecarotor cox
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+#
+# @output AUX1 motor 7
+# @output AUX2 motor 8
+# @output AUX3 motor 9
+# @output AUX4 motor 10
+# @output AUX5 motor 11
+# @output AUX6 motor 12
+#
+# @maintainer Ian McNanie <ianmcnanie@gmail.com>
+# @maintainer William Peale <develop707@gmail.com>
+#
+
+set VEHICLE_TYPE mc
+
+if [ $AUTOCNF == yes ]
+then
+	param set NAV_ACC_RAD 2.0
+	param set RTL_RETURN_ALT 30.0
+	param set RTL_DESCEND_ALT 10.0
+	param set PWM_MIN 1075
+	param set PWM_MAX 1950
+	param set PWM_RATE 400
+
+	param set RTL_LAND_DELAY 0
+fi
+
+set PWM_AUX_RATE 400
+# Note: May Have to set these parameters manually. They don't appear to save.
+set PWM_AUX_DISARMED 900
+param set PWM_AUX_MIN 1075
+param set PWM_AUX_MAX 1950
+
+set MIXER dodeca_top_cox
+set MIXER_AUX dodeca_bottom_cox
+
+# Need to set all 8 channels
+set PWM_OUT 12345678
+set PWM_AUX_OUT 123456
@@ -0,0 +1,18 @@
+#!nsh
+#
+# @name Generic Flying Wing
+#
+# @type Flying Wing
+# @class Plane
+#
+# @maintainer
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+
+fi
+
+set MIXER fw_generic_wing
@@ -5,6 +5,7 @@
 # @url https://pixhawk.org/platforms/planes/bormatec_camflyer_q
 #
 # @type Flying Wing
+# @class Plane
 #
 # @output MAIN1 left aileron
 # @output MAIN2 right aileron
@@ -14,7 +15,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Simon Wilks <simon@px4.io>
+# @maintainer Simon Wilks <simon@uaventure.com>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -42,7 +43,8 @@ then
 	param set FW_RR_P 0.04
 fi

-set MIXER Q
+set MIXER fw_generic_wing
+
 # Provide ESC a constant 1000 us pulse while disarmed
 set PWM_OUT 4
 set PWM_DISARMED 1000
@@ -5,6 +5,7 @@
 # @url https://pixhawk.org/platforms/planes/z-84_wing_wing
 #
 # @type Flying Wing
+# @class Plane
 #
 # @output MAIN1 left aileron
 # @output MAIN2 right aileron
@@ -14,7 +15,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Simon Wilks <simon@px4.io>
+# @maintainer Simon Wilks <simon@uaventure.com>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -5,6 +5,7 @@
 # @url https://pixhawk.org/platforms/planes/skywalker_x5
 #
 # @type Flying Wing
+# @class Plane
 #
 # @output MAIN1 left aileron
 # @output MAIN2 right aileron
@@ -14,7 +15,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
+# @maintainer Julian Oes <julian@px4.io>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -39,4 +40,4 @@ then
 	param set FW_RR_P 0.04
 fi

-set MIXER X5
+set MIXER fw_generic_wing
@@ -2,9 +2,10 @@
 #
 # @name Wing Wing (aka Z-84) Flying Wing
 #
-# @url https://pixhawk.org/platforms/planes/z-84_wing_wing
+# @url https://docs.px4.io/en/framebuild_plane/wing_wing_z84.html
 #
 # @type Flying Wing
+# @class Plane
 #
 # @output MAIN1 left aileron
 # @output MAIN2 right aileron
@@ -3,8 +3,9 @@
 # @name FX-79 Buffalo Flying Wing
 #
 # @type Flying Wing
+# @class Plane
 #
-# @maintainer Simon Wilks <simon@px4.io>
+# @maintainer Simon Wilks <simon@uaventure.com>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -4,8 +4,9 @@
 # @name Viper
 #
 # @type Flying Wing
+# @class Plane
 #
-# @maintainer Simon Wilks <simon@px4.io>
+# @maintainer Simon Wilks <simon@uaventure.com>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -5,6 +5,7 @@
 # @url http://www.sparkletech.hk/
 #
 # @type Flying Wing
+# @class Plane
 #
 # @output MAIN1 left aileron
 # @output MAIN2 right aileron
@@ -14,7 +15,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Simon Wilks <simon@px4.io>
+# @maintainer Simon Wilks <simon@uaventure.com>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -0,0 +1,91 @@
+#!nsh
+#
+# @name Modified Parrot Disco
+#
+# @url
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Jan Liphardt <JTLiphardt@gmail.com>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	
+	####################################
+	# Airspeed
+	####################################
+
+	param set FW_AIRSPD_MIN  15 # = 29 knots
+	param set FW_AIRSPD_TRIM 20 # = 39 knots
+	param set FW_AIRSPD_MAX  27 # = 52 knots
+	
+	####################################
+	# The Main L1 Controller
+	####################################
+
+	param set FW_L1_PERIOD 20 #units of meters
+	
+	#Damping factor for L1 control (def = 0.75)
+	param set FW_L1_DAMPING 0.75
+
+	####################################
+	# Pitch
+	####################################
+
+	# Basic limits (def = +/- 45 deg)
+	param set FW_P_LIM_MAX  45
+	param set FW_P_LIM_MIN -45
+	
+	# Time Constant (def = 0.4s)	
+	param set FW_P_TC 0.4
+
+	# Pitch rate feed forward (def = 0.5 %/rad/sec)
+	param set FW_PR_FF 0.35
+	
+	# Pitch rate integrator limit (def = 0.4)
+	param set FW_PR_IMAX 0.4
+	
+	# Pitch rate proportional gain (def = 0.08 %/rad/sec)
+	param set FW_PR_P 0.08
+	
+	####################################
+	# Roll
+	####################################
+
+	# Basic limits (def = 50 deg)	
+	param set FW_R_LIM 40
+	
+	# Roll rate upper limit (def = 70 deg/s)
+	param set FW_R_RMAX 50
+
+	# Roll Time Constant (def = 0.4 s)
+	param set FW_R_TC 0.4	
+	
+	# Roll rate feed forward (def = 0.5 %/rad/sec)	
+	param set FW_RR_FF 0.5
+
+	# Roll rate proportional Gain (def = 0.05 %/rad/sec)
+	param set FW_RR_P 0.05
+
+	# Roll Integrator Anti-Windup
+	param set FW_RR_IMAX 0.2
+	
+fi
+
+set MIXER fw_generic_wing.main.mix
+
+# Provide ESC a constant 1000 us pulse
+set PWM_OUT 4
+set PWM_DISARMED 1000
@@ -3,6 +3,7 @@
 # @name TBS Caipirinha
 #
 # @type Flying Wing
+# @class Plane
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -11,36 +12,45 @@ sh /etc/init.d/rc.fw_defaults

 if [ $AUTOCNF == yes ]
 then
-	param set FW_AIRSPD_MAX 20
-	param set FW_AIRSPD_MIN 12
-	param set FW_AIRSPD_TRIM 16
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
-	param set FW_L1_DAMPING 0.74
-	param set FW_L1_PERIOD 16
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 12.5
+	param set FW_AIRSPD_TRIM 16.5
+	param set LNDFW_AIRSPD_MAX 6
+	param set LNDFW_VELI_MAX 4
+	param set LNDFW_VEL_XY_MAX 3
+	param set LNDFW_VEL_Z_MAX 5
+	param set FW_R_TC 0.4
+	param set FW_P_TC 0.4
+	param set FW_THR_CRUISE 0.55
+	param set FW_L1_DAMPING 0.75
+	param set FW_L1_PERIOD 15
 	param set FW_LND_ANG 15
-	param set FW_LND_FLALT 5
+	param set FW_LND_FLALT 8
 	param set FW_LND_HHDIST 15
 	param set FW_LND_HVIRT 13
-	param set FW_LND_TLALT 5
+	param set FW_LND_TLALT 10
 	param set FW_THR_LND_MAX 0
-	param set FW_PR_FF 0.35
+	param set FW_P_LIM_MAX 20
+	param set FW_P_LIM_MIN -30
+	param set FW_R_LIM 45
+	param set FW_PR_FF 0.45
 	param set FW_PR_IMAX 0.4
-	param set FW_PR_P 0.08
-	param set FW_RR_FF 0.6
+	param set FW_PR_P 0.005
+	param set FW_RR_FF 0.45
 	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.04
+	param set FW_RR_P 0.013
+	param set FW_P_RMAX_NEG 70
+	param set FW_P_RMAX_POS 70
+	param set FW_R_RMAX 70
 	param set SYS_COMPANION 157600
-	param set PWM_MAIN_REV0 1
 	param set PWM_MAIN_REV1 1
+	param set PWM_MAIN_REV2 1
 	param set PWM_DISARMED 0
 	param set PWM_MIN 900
 	param set PWM_MAX 2100
+	param set MIS_TAKEOFF_ALT 50
+	param set NAV_LOITER_RAD 30
 fi

-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
-
 set MIXER caipi
 set PWM_OUT 1234
@@ -1,12 +1,21 @@
 #!nsh
 #
-# @name Generic Quadrotor X config
+# @name Generic Quadrotor x
 #
 # @type Quadrotor x
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
 #
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -0,0 +1,31 @@
+#!nsh
+#
+# @name Generic Quadrotor x with mount (e.g. gimbal)
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @output AUX1 Mount pitch
+# @output AUX2 Mount roll
+# @output AUX3 Mount yaw
+# @output AUX4 Mount retract
+#
+# @maintainer Leon Mueller <thedevleon>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+set MIXER_AUX mount
+set PWM_AUX_OUT 123456
+set PWM_AUX_RATE 50
+
@@ -0,0 +1,35 @@
+#!nsh
+#
+# @name Lumenier QAV-R (raceblade) 5" arms
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @board px4fmu-v2 exclude
+#
+# @maintainer James Goppert <james.goppert@gmail.com>
+#
+
+sh /etc/init.d/4001_quad_x
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 8.0
+	param set MC_ROLLRATE_P 0.08
+	param set MC_ROLLRATE_I 0.16
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 8.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.15
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+	param set MC_TPA_BREAK_P 0.7
+	param set MC_TPA_RATE_P 0.3
+	param set PWM_MIN 1075
+	param set MPC_THR_MIN 0.06
+	param set MPC_MANTHR_MIN 0.06
+fi
@@ -0,0 +1,27 @@
+#!nsh
+#
+# @name H4 680mm with Z1 Tiny2 Gimbal
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Leon Mueller <thedevleon>
+#
+
+sh /etc/init.d/4002_quad_x_mount
+
+# The Z1 Tiny2 can handle up to 400Hz
+# and works with min 1020us, middle 1520us, max 2020us
+# see http://www.zhiyun-tech.com/uploadfile/datedown/instruction/Tiny2_English_instructionV1.03.pdf
+# under Gimbal Connection Instruction
+
+set PWM_AUX_RATE 400
+set PWM_AUX_DISARMED 1520
+set PWM_AUX_MIN 1020
+set PWM_AUX_MAX 2020
+
+# Start FrSky telemetry on SERIAL4 (ttyS6, designated "SERIAL4/5" on the case)
+frsky_telemetry start -d /dev/ttyS6
+
+# GPIO LED
+gpio_led start -p 6
@@ -1,39 +0,0 @@
-#!nsh
-#
-# @name AR.Drone Frame
-#
-# @type Quadrotor x
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-#
-# Load default params for this platform
-#
-if [ $AUTOCNF == yes ]
-then
-    # Set all params here, then disable autoconfig
-    param set MC_ROLL_P 6.0
-    param set MC_ROLLRATE_P 0.14
-    param set MC_ROLLRATE_I 0.1
-    param set MC_ROLLRATE_D 0.002
-    param set MC_PITCH_P 6.0
-    param set MC_PITCHRATE_P 0.14
-    param set MC_PITCHRATE_I 0.1
-    param set MC_PITCHRATE_D 0.002
-    param set MC_YAW_P 2.0
-    param set MC_YAWRATE_P 0.2
-    param set MC_YAWRATE_I 0.2
-    param set MC_YAWRATE_D 0.0
-    param set MC_YAW_FF 0.8
-
-    param set BAT_V_SCALING 0.00838095238
-fi
-
-set OUTPUT_MODE ardrone
-set USE_IO no
-set MIXER skip
-# set MAV_TYPE because no specific mixer is set
-set MAV_TYPE 2
--- a/Show More
+++ b/Show More