.ackrc

@@ -1 +0,0 @@
---ignore-dir=Documentation

.gitignore

@@ -2,7 +2,6 @@
 !ROMFS/*/*.d
 !ROMFS/*/*/*.d
 !ROMFS/*/*/*/*.d
-*.px4log
 *.dSYM
 *.o
 *.pyc
@@ -18,15 +17,10 @@
 .~lock.*
 Archives/*
 Build/*
-Testing/
 build/*
-build_*/
 core
 cscope.out
-cscope.in.out
-cscope.po.out
 Firmware.sublime-workspace
-user.sublime*
 Images/*.bin
 Images/*.px4
 mavlink/include/mavlink/v0.9/
@@ -58,18 +52,3 @@ src/platforms/posix/px4_messages/
 src/platforms/posix-arm/px4_messages/
 src/platforms/qurt/px4_messages/
 ROMFS/*/*/rc.autostart
-rootfs/
-*.autosave
-CMakeLists.txt.user
-GPATH
-GRTAGS
-GTAGS
-*.config
-*.creator
-*.creator.user
-*.files
-*.includes
-
-# uavcan firmware
-ROMFS/px4fmu_common/uavcan/
-vectorcontrol/

.gitmodules

@@ -4,8 +4,8 @@
 [submodule "NuttX"]
 	path = NuttX
 	url = git://github.com/PX4/NuttX.git
-[submodule "src/modules/uavcan/libuavcan"]
-	path = src/modules/uavcan/libuavcan
+[submodule "libuavcan"]
+	path = src/lib/uavcan
 	url = git://github.com/UAVCAN/libuavcan.git
 [submodule "Tools/genmsg"]
 	path = Tools/genmsg
@@ -13,31 +13,9 @@
 [submodule "Tools/gencpp"]
 	path = Tools/gencpp
 	url = https://github.com/ros/gencpp.git
-[submodule "Tools/jMAVSim"]
-	path = Tools/jMAVSim
-	url = https://github.com/PX4/jMAVSim.git
-[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
-[submodule "src/lib/matrix"]
-	path = src/lib/matrix
-	url = https://github.com/PX4/Matrix.git
-[submodule "src/lib/DriverFramework"]
-	path = src/lib/DriverFramework
-	url = https://github.com/PX4/DriverFramework.git
-[submodule "src/lib/ecl"]
-	path = src/lib/ecl
-	url = https://github.com/PX4/ecl.git
-[submodule "cmake/cmake_hexagon"]
-	path = cmake/cmake_hexagon
-	url = https://github.com/ATLFlight/cmake_hexagon
-[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
+[submodule "unittests/gtest"]
+	path = unittests/gtest
+	url = https://github.com/sjwilks/gtest.git
+[submodule "src/lib/eigen"]
+	path = src/lib/eigen
+	url = https://github.com/PX4/eigen.git

.travis.yml

@@ -3,18 +3,8 @@
 
 language: cpp
 
-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
+# use travis-ci docker based infrastructure
+sudo: false
 
 cache:
   directories:
@@ -23,74 +13,45 @@ cache:
 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
+    - clang-3.5
+    - g++-4.8
+    - gcc-4.8
     - genromfs
     - libc6-i386
     - libncurses5-dev
-    - ninja-build
     - python-argparse
     - python-empy
+    - python-serial
     - s3cmd
     - texinfo
     - zlib1g-dev
 
-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 [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-         brew tap PX4/homebrew-px4
-      && brew update; brew update
-      && brew install cmake ninja
-      && brew install genromfs
-      && sudo easy_install pip
-      && sudo pip install empy
-      ;
-    fi
-
 before_script:
+  - if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8"; fi
+# General toolchain dependencies
+  - pushd .
+  - cd ~
+  - wget https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+  - tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+  - exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
+  - if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
+  - . ~/.profile
+  - popd
 # setup ccache
   - mkdir -p ~/bin
   - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
   - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-gcc
-  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-size
-  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-objcopy
-  - ln -s /usr/bin/ccache ~/bin/clang++
-  - ln -s /usr/bin/ccache ~/bin/clang++-3.4
-  - ln -s /usr/bin/ccache ~/bin/clang++-3.5
-  - ln -s /usr/bin/ccache ~/bin/clang
-  - ln -s /usr/bin/ccache ~/bin/clang-3.4
-  - ln -s /usr/bin/ccache ~/bin/clang-3.5
+  - ln -s /usr/bin/ccache ~/bin/g++-4.8
+  - ln -s /usr/bin/ccache ~/bin/gcc-4.8
   - export PATH=~/bin:$PATH
 
 env:
   global:
-    - NINJA_BUILD=1
 # AWS KEY: $PX4_AWS_KEY
     - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
 # AWS SECRET: $PX4_AWS_SECRET
@@ -98,27 +59,41 @@ env:
     - PX4_AWS_BUCKET=px4-travis
 
 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
+  - ccache -z
+  - arm-none-eabi-gcc --version
+  - echo 'Building POSIX Firmware..' && echo -en 'travis_fold:start:script.1\\r'
+  - make posix -j4
+  - ccache -s
+  - echo -en 'travis_fold:end:script.1\\r'
+  - echo 'Running Tests..' && echo -en 'travis_fold:start:script.2\\r'
+  - make tests
+  - cat src/modules/systemlib/mixer/mixer_multirotor.generated.h
+  - echo -en 'travis_fold:end:script.2\\r'
+  - echo 'Building NuttX..' && echo -en 'travis_fold:start:script.3\\r'
+  - make archives
+  - ccache -s
+  - echo -en 'travis_fold:end:script.3\\r'
+  - echo 'Building NuttX Firmware..' && echo -en 'travis_fold:start:script.4\\r'
+  - make -j4
+  - make size
+  - ccache -s
+  - echo -en 'travis_fold:end:script.4\\r'
+  - zip Firmware.zip Images/*.px4
 
-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
-      ;
-    fi
+after_script:
+  - git clone git://github.com/PX4/CI-Tools.git
+  - ./CI-Tools/s3cmd-configure
+# upload newest build for this branch with s3 index
+  - ./CI-Tools/s3cmd-put Images/px4*.px4 CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
+# archive newest build by date with s3 index
+  - ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
+  - ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
+# upload top level index.html and timestamp.html
+  - ./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:"
+  - echo https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
 
 deploy:
   provider: releases
@@ -130,7 +105,6 @@ deploy:
     tags: true
     all_branches: true
     repo: PX4/Firmware
-    condition: $GCC_VER = 4.8
 
 notifications:
   webhooks:
@@ -138,7 +112,3 @@ notifications:
       - 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

CMakeLists.txt

@@ -1,382 +1,332 @@
-############################################################################
-#
-# Copyright (c) 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.
-#
-############################################################################
+cmake_minimum_required(VERSION 2.8.3)
+project(px4)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+add_definitions(-D__PX4_ROS)
+add_definitions(-D__EXPORT=)
+add_definitions(-DMAVLINK_DIALECT=common)
 
-#=============================================================================
-# CMAKE CODING STANDARD FOR PX4
-#
-# Structure
-# ---------------------------------------------------------------------------
-#
-# * Common functions should be included in px_base.cmake.
-#
-# * OS/ board specific fucntions should be include in
-#	px_impl_${OS}.cmake or px4_impl_${OS}_${BOARD}.cmake.
-#
-# Formatting
-# ---------------------------------------------------------------------------
-#
-# * Use hard indents to match the px4 source code.
-#
-# * All function and script arguments are upper case.
-#
-# * All local variables are lower case.
-#
-# * All cmake functions are lowercase.
-#
-# * For else, endif, endfunction, etc, never put the name of the statement
-#
-#	Instead of the very confusing:
-#		if (${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 (${var} STREQUAL "2") <-- another condition
-#			# do somthing
-#		else () <-- leave blank
-#			# do somthing
-#		endif () <-- leave blank
-#
-# Functions/Macros
-# ---------------------------------------------------------------------------
-#
-# * Use px4_parse_function_args to parse functions and check for required
-#   arguments. Unless there is only one argument in the function and it is clear.
-#
-# * Never use macros. They allow overwriting global variables and this
-#	makes variable declarations hard to locate.
-#
-# * If a target from add_custom_* is set in a function, explicitly pass it
-#	as an output argument so that the target name is clear to the user.
-#
-# * Avoid use of global variables in functions. Functions in a nested
-#	scope may use global variables, but this makes it difficult to
-#	resuse functions.
-#
-# Included CMake Files
-# ---------------------------------------------------------------------------
-#
-# * All variables in config files must have the prefix "config_".
-#
-# * Never set global variables in an included cmake file,
-#	you may only define functions. This excludes config and Toolchain files.
-#	This makes it clear to the user when variables are being set or targets
-#	are being created.
-#
-# * Setting a global variable in a CMakeLists.txt file is ok, because
-#	each CMakeLists.txt file has scope in the current directory and all
-#	subdirecties, so it is not truly global.
-#
-# * All toolchain files should be included in the cmake
-#	directory and named Toolchain-"name".cmake.
-#
-# Misc
-# ---------------------------------------------------------------------------
-#
-# * If referencing a string variable, don't put it in quotes.
-#	Don't do "${OS}" STREQUAL "posix",
-#	instead type ${OS} STREQUAL "posix". This will throw an
-#	error when ${OS} is not defined instead of silently
-#	evaluating to false.
-#
-#=============================================================================
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  geometry_msgs
+  message_generation
+  cmake_modules
+  gazebo_msgs
+  sensor_msgs
+  mav_msgs
+  libmavconn
+  tf
+)
+find_package(Eigen REQUIRED)
 
-# Warning: Changing this modifies CMake's internal workings
-# and leads to wrong toolchain detection
-cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
 
-# Use clang
-#SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
-#SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
 
-#=============================================================================
-# parameters
-#
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
 
-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")
+################################################
+## Declare ROS messages, services and actions ##
+################################################
 
-#=============================================================================
-# configuration
-#
-# must come before project to set toolchain
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
-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}")
+## Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  rc_channels.msg
+  vehicle_attitude.msg
+  vehicle_attitude_setpoint.msg
+  manual_control_setpoint.msg
+  actuator_controls.msg
+  actuator_controls_0.msg
+  actuator_controls_virtual_mc.msg
+  vehicle_rates_setpoint.msg
+  mc_virtual_rates_setpoint.msg
+  vehicle_attitude.msg
+  vehicle_control_mode.msg
+  actuator_armed.msg
+  parameter_update.msg
+  vehicle_status.msg
+  vehicle_local_position.msg
+  position_setpoint.msg
+  position_setpoint_triplet.msg
+  vehicle_local_position_setpoint.msg
+  vehicle_global_velocity_setpoint.msg
+  offboard_control_mode.msg
+  vehicle_force_setpoint.msg
+  distance_sensor.msg
+)
 
-message(STATUS "${target_name}")
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
 
-# 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
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
 
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
-set(config_module "configs/${CONFIG}")
-include(${config_module})
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  gazebo_msgs
+)
 
-# cmake modules
-include(ExternalProject)
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS src/include
+  LIBRARIES px4
+  CATKIN_DEPENDS message_runtime roscpp rospy std_msgs libmavconn
+  DEPENDS system_lib
+)
 
-# require px4 module interface
-set(px4_required_interface
-	px4_os_prebuild_targets
-	px4_os_add_flags
-	)
-foreach(cmd ${px4_required_interface})
-	if(NOT COMMAND ${cmd})
-		message(FATAL_ERROR "${config_module} must implement ${cmd}")
-	endif()
-endforeach()
-set(px4_required_config
-	config_module_list
-	)
-foreach(conf ${px4_required_config})
-	if(NOT DEFINED ${conf})
-		message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
-	endif()
-endforeach()
+###########
+## Build ##
+###########
 
-# List the DriverFramework drivers
-if(DEFINED config_df_driver_list)
-	message("DF Drivers: ${config_df_driver_list}")
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  src/platforms
+  src/platforms/ros/px4_messages
+  src/include
+  src/modules
+  src/
+  src/lib
+  ${EIGEN_INCLUDE_DIRS}
+  integrationtests
+)
+
+## generate multiplatform wrapper headers
+## note that the message header files are generated as in any ROS project with generate_messages()
+set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
+set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
+set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
+set(MULTIPLATFORM_PREFIX px4_)
+add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_headers.py
+	-d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
+	-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
+
+## Declare a cpp library
+add_library(px4
+  src/platforms/ros/px4_ros_impl.cpp
+  src/platforms/ros/perf_counter.cpp
+  src/platforms/ros/geo.cpp
+  src/lib/mathlib/math/Limits.cpp
+  src/modules/systemlib/circuit_breaker.cpp
+)
+add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
+
+target_link_libraries(px4
+  ${catkin_LIBRARIES}
+)
+
+## Declare a test publisher
+add_executable(publisher
+	src/examples/publisher/publisher_main.cpp
+	src/examples/publisher/publisher_example.cpp)
+add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
+target_link_libraries(publisher
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Declare a test subscriber
+add_executable(subscriber
+	src/examples/subscriber/subscriber_main.cpp
+	src/examples/subscriber/subscriber_example.cpp)
+add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
+target_link_libraries(subscriber
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## MC Attitude Control
+add_executable(mc_att_control
+	src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
+	src/modules/mc_att_control_multiplatform/mc_att_control.cpp
+	src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
+add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_att_control
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## MC Position Control
+add_executable(mc_pos_control
+	src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
+	src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp)
+add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_pos_control
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Attitude Estimator dummy
+add_executable(attitude_estimator
+	src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
+add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(attitude_estimator
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Position Estimator dummy
+add_executable(position_estimator
+	src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
+add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(position_estimator
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Manual input
+add_executable(manual_input
+	src/platforms/ros/nodes/manual_input/manual_input.cpp)
+add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(manual_input
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Multicopter Mixer dummy
+add_executable(mc_mixer
+  src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
+add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_mixer
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Commander dummy
+add_executable(commander
+	src/platforms/ros/nodes/commander/commander.cpp)
+add_dependencies(commander ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(commander
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Mavlink dummy
+add_executable(mavlink
+	src/platforms/ros/nodes/mavlink/mavlink.cpp)
+add_dependencies(mavlink ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mavlink
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Offboard Position Setpoint Demo
+add_executable(demo_offboard_position_setpoints
+	src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp)
+add_dependencies(demo_offboard_position_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(demo_offboard_position_setpoints
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Offboard Attitude Setpoint Demo
+add_executable(demo_offboard_attitude_setpoints
+	src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp)
+add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(demo_offboard_attitude_setpoints
+  ${catkin_LIBRARIES}
+  px4
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest(integrationtests/demo_tests/direct_tests.launch)
+  add_rostest(integrationtests/demo_tests/mavros_tests.launch)
 endif()
 
-#=============================================================================
-# project definition
-#
-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
-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)
-
-#=============================================================================
-# cmake modules
-#
-enable_testing()
-
-#=============================================================================
-# check required toolchain variables
-#
-set(required_variables
-	CMAKE_C_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")
-
-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}
-	)
-
-#=============================================================================
-# external libraries
-#
-px4_os_prebuild_targets(OUT prebuild_targets
-	BOARD ${BOARD}
-	THREADS ${THREADS})
-
-#=============================================================================
-# build flags
-#
-px4_os_add_flags(
-	BOARD ${BOARD}
-	C_FLAGS c_flags
-	CXX_FLAGS cxx_flags
-	EXE_LINKER_FLAGS exe_linker_flags
-	INCLUDE_DIRS include_dirs
-	LINK_DIRS link_dirs
-	DEFINITIONS definitions)
-
-px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
-px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
-px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
-
-include_directories(${include_dirs})
-#message("INCLUDE_DIRS=${include_dirs}")
-link_directories(${link_dirs})
-add_definitions(${definitions})
-
-#=============================================================================
-# source code generation
-#
-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)
-
-#=============================================================================
-# external projects
-#
-
-set(ep_base ${CMAKE_BINARY_DIR}/external)
-set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
-
-# add external project install folders to build
-link_directories(${ep_base}/Install/lib)
-include_directories(${ep_base}/Install/include)
-# add the directories so cmake won't warn
-execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
-execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
-
-#=============================================================================
-# DriverFramework Drivers
-#
-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()
-
-#=============================================================================
-# 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: ${module}")
-endforeach()
-
-# Keep track of external shared libs required for modules
-set(module_external_libraries "${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()
-
-#=============================================================================
-# generate git version
-#
-px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
-
-#=============================================================================
-# packaging
-#
-# Important to having packaging at end of cmake file.
-#
-set(CPACK_PACKAGE_VERSION ${version})
-set(CPACK_PACKAGE_CONTACT ${package_contact})
-set(CPACK_GENERATOR "ZIP")
-set(CPACK_SOURCE_GENERATOR "ZIP")
-include(CPack)
-
-endif() # ros alternative endif
-
-# vim: set noet fenc=utf-8 ff=unix ft=cmake :

CONTRIBUTING.md

@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname
 
 ### Edit and build the code
 
-The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://px4.io/dev/code_style) when editing files.
+The [developer guide](http://px4.io/dev/start) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://px4.io/dev/code_style) when editing files.
 
 ### Commit your changes
 

Documentation/Doxyfile

@@ -281,7 +281,7 @@ TYPEDEF_HIDES_STRUCT   = NO
 # causing a significant performance penality.
 # If the system has enough physical memory increasing the cache will improve the
 # performance by keeping more symbols in memory. Note that the value works on
-# a logarithmic scale so increasing the size by one will roughly double the
+# a logarithmic scale so increasing the size by one will rougly double the
 # memory usage. The cache size is given by this formula:
 # 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
 # corresponding to a cache size of 2^16 = 65536 symbols
@@ -599,7 +599,8 @@ RECURSIVE              = YES
 # excluded from the INPUT source files. This way you can easily exclude a
 # subdirectory from a directory tree whose root is specified with the INPUT tag.
 
-EXCLUDE                = ../src/modules/attitude_estimator_ekf/codegen
+EXCLUDE                = ../src/lib/mathlib/CMSIS \
+			 ../src/modules/attitude_estimator_ekf/codegen
 
 # The EXCLUDE_SYMLINKS tag can be used select whether or not files or
 # directories that are symbolic links (a Unix filesystem feature) are excluded

Documentation/README

@@ -9,7 +9,7 @@ http://www.stack.nl/~dimitri/doxygen/download.html for the correct download.
 Then go to the following website for inforamtion on the install:
 http://www.stack.nl/~dimitri/doxygen/install.html
 
-Then to generate the html, run the following code while you are in this directory:
+Then to generate the html, run the following code while you are in the qgroundcontrol/doc directory:
 $doxygen Doxyfile
 
 The html file index.html should be in doc/html unless you changed the output directory. 

Documentation/px4_hil/UserGuide.md

@@ -48,7 +48,7 @@ Download QGC from http://qgroundcontrol.org/downloads and install using the wind
 
 ## PX4
 
-### Platform Requirements
+### Platfrom Requirements
 Linux or Eagle with a working IP interface (?? does this need further instructions?)
 
 ### Build Host Requirements

Firmware.sublime-project

@@ -33,20 +33,7 @@
 	{
 		"tab_size": 8,
 		"translate_tabs_to_spaces": false,
-		"highlight_line": true,
-		"AStyleFormatter":
-		{
-			"options_c":
-			{
-				"use_only_additional_options": true,
-				"additional_options_file": "${project_path}/Tools/astylerc"
-			},
-			"options_c++":
-			{
-				"use_only_additional_options": true,
-				"additional_options_file": "${project_path}/Tools/astylerc"
-			}
-		}
+	       "highlight_line": true
 	},
 	"build_systems":
 	[
@@ -70,13 +57,6 @@
 			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
 			"cmd": ["make posix"],
 			"shell": true
-		},
-		{
-			"name": "MindPX_V2: make and upload",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make upload mindpx-v2_default -j8"],
-			"shell": true
 		}
 	]
 }

Images/mindpx-v2.prototype

@@ -1,12 +0,0 @@
-{
-    "board_id": 88,
-    "magic": "MindPX",
-    "description": "Firmware for the MindPXFMUv2 board",
-    "image": "", 
-    "build_time": 0, 
-    "summary": "MindPXFMUv2",
-    "version": "2.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}

Images/px4fmu-v4.prototype

@@ -1,12 +0,0 @@
-{
-    "board_id": 11,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the PX4FMUv4 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "PX4FMUv4",
-    "version": "0.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}

Makefile

@@ -1,6 +1,5 @@
-############################################################################
 #
-# Copyright (c) 2015 - 2016 PX4 Development Team. All rights reserved.
+#   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
@@ -29,301 +28,273 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 #
-############################################################################
 
-# Enforce the presence of the GIT repository
 #
-# We depend on our submodules, so we have to prevent attempts to
-# compile without it being present.
-ifeq ($(wildcard .git),)
-    $(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
+# Top-level Makefile for building PX4 firmware images.
+#
+
+TARGETS	:= nuttx posix posix-arm qurt
+EXPLICIT_TARGET	:= $(filter $(TARGETS),$(MAKECMDGOALS))
+ifneq ($(EXPLICIT_TARGET),)
+    export PX4_TARGET_OS=$(EXPLICIT_TARGET)
+    export GOALS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
 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)
+#
+# Get path and tool configuration
+#
+export PX4_BASE		 := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
+include $(PX4_BASE)makefiles/setup.mk
+
+#
+# Get a version string provided by git
+# This assumes that git command is available and that
+# the directory holding this file also contains .git directory
+#
+GIT_DESC := $(shell git log -1 --pretty=format:%H)
+ifneq ($(words $(GIT_DESC)),1)
+    GIT_DESC := "unknown_git_version"
 endif
 
-# Help
-# --------------------------------------------------------------------
-# Don't be afraid of this makefile, it is just passing
-# arguments to cmake to allow us to keep the wiki pages etc.
-# that describe how to build the px4 firmware
-# the same even when using cmake instead of make.
-#
-# Example usage:
-#
-# make px4fmu-v2_default 			(builds)
-# make px4fmu-v2_default upload 	(builds and uploads)
-# 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
-# in that directory with the target upload.
+GIT_DESC_SHORT := $(shell echo $(GIT_DESC) | cut -c1-16)
 
-#  explicity set default build target
-all: px4fmu-v2_default
+#
+# Canned firmware configurations that we (know how to) build.
+#
+KNOWN_CONFIGS		:= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/config_*.mk))))
+CONFIGS			?= $(KNOWN_CONFIGS)
 
-# Parsing
-# --------------------------------------------------------------------
-# assume 1st argument passed is the main target, the
-# rest are arguments to pass to the makefile generated
-# by cmake in the subdirectory
-ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
-j ?= 4
+#
+# Boards that we (know how to) build NuttX export kits for.
+#
+KNOWN_BOARDS		:= $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_*.mk))))
+BOARDS			?= $(KNOWN_BOARDS)
 
-NINJA_BUILD := $(shell ninja --version 2>/dev/null)
-ifdef NINJA_BUILD
-    PX4_CMAKE_GENERATOR ?= "Ninja"
-    PX4_MAKE = ninja
-    PX4_MAKE_ARGS =
+#
+# Debugging
+#
+MQUIET			 = --no-print-directory
+#MQUIET			 = --print-directory
+
+################################################################################
+# No user-serviceable parts below
+################################################################################
+
+#
+# If the user has listed a config as a target, strip it out and override CONFIGS.
+#
+FIRMWARE_GOAL		 = firmware
+EXPLICIT_CONFIGS	:= $(filter $(CONFIGS),$(MAKECMDGOALS))
+ifneq ($(EXPLICIT_CONFIGS),)
+CONFIGS			:= $(EXPLICIT_CONFIGS)
+.PHONY:			$(EXPLICIT_CONFIGS)
+$(EXPLICIT_CONFIGS):	all
+
+#
+# If the user has asked to upload, they must have also specified exactly one
+# config.
+#
+ifneq ($(filter upload,$(MAKECMDGOALS)),)
+ifneq ($(words $(EXPLICIT_CONFIGS)),1)
+$(error In order to upload, exactly one board config must be specified)
+endif
+FIRMWARE_GOAL		 = upload
+.PHONY: upload
+upload:
+	@:
+endif
+endif
+
+ifeq ($(PX4_TARGET_OS),nuttx)
+include $(PX4_BASE)makefiles/nuttx/firmware_nuttx.mk
+endif
+ifeq ($(PX4_TARGET_OS),posix)
+include $(PX4_BASE)makefiles/posix/firmware_posix.mk
+endif
+ifeq ($(PX4_TARGET_OS),posix-arm)
+include $(PX4_BASE)makefiles/posix/firmware_posix.mk
+endif
+ifeq ($(PX4_TARGET_OS),qurt)
+include $(PX4_BASE)makefiles/qurt/firmware_qurt.mk
+endif
+
+#
+# Versioning
+#
+
+GIT_VER_FILE = $(PX4_VERSIONING_DIR).build_git_ver
+GIT_HEADER_FILE = $(PX4_VERSIONING_DIR)build_git_version.h
+
+$(GIT_VER_FILE) :
+	$(Q) if [ ! -f $(GIT_VER_FILE) ]; then \
+		$(MKDIR) -p $(PX4_VERSIONING_DIR); \
+		$(ECHO) "" > $(GIT_VER_FILE); \
+	fi
+
+.PHONY: checkgitversion
+checkgitversion: $(GIT_VER_FILE)
+	$(Q) if [ "$(GIT_DESC)" != "$(shell cat $(GIT_VER_FILE))" ]; then \
+		$(ECHO) "/* Auto Magically Generated file */" > $(GIT_HEADER_FILE); \
+		$(ECHO) "/* Do not edit! */" >> $(GIT_HEADER_FILE); \
+		$(ECHO) "#define PX4_GIT_VERSION_STR  \"$(GIT_DESC)\"" >> $(GIT_HEADER_FILE); \
+		$(ECHO) "#define PX4_GIT_VERSION_BINARY 0x$(GIT_DESC_SHORT)" >> $(GIT_HEADER_FILE); \
+		$(ECHO) $(GIT_DESC) > $(GIT_VER_FILE); \
+	fi
+#
+# Sizes
+#
+
+.PHONY: size
+size:
+	$(Q) for elfs in Build/*; do if [ -f  $$elfs/firmware.elf ]; then  $(SIZE) $$elfs/firmware.elf; fi done
+
+
+#
+# Submodule Checks
+#
+
+.PHONY: checksubmodules
+checksubmodules:
+	$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
+
+.PHONY: updatesubmodules
+updatesubmodules:
+	$(Q) (git submodule init)
+	$(Q) (git submodule update)
+
+MSG_DIR = $(PX4_BASE)msg
+UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
+MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
+TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
+MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/$(PX4_TARGET_OS)/px4_messages
+MULTIPLATFORM_PREFIX = px4_
+TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
+MULTI_TOPICHEADER_TEMP_DIR = $(BUILD_DIR)multi_topics_temporary
+GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
+GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
+
+.PHONY: generateuorbtopicheaders
+generateuorbtopicheaders: checksubmodules
+	@$(ECHO) "Generating uORB topic headers"
+	$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
+		$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
+		-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(UORB_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR))
+	@$(ECHO) "Generating multiplatform uORB topic wrapper headers"
+	$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
+		$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
+		-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(MULTI_TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
+
+#
+# Testing targets
+#
+testbuild:
+	$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
+	$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
+
+nuttx posix posix-arm qurt: 
+ifeq ($(GOALS),)
+	$(MAKE) PX4_TARGET_OS=$@ $(GOALS)
 else
-
-ifdef SYSTEMROOT
-	# Windows
-	PX4_CMAKE_GENERATOR ?= "MSYS Makefiles"
-else
-	PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
-endif
-    PX4_MAKE = make
-    PX4_MAKE_ARGS = -j$(j) --no-print-directory
+	export PX4_TARGET_OS=$@
 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))
-endef
+sitl_quad:
+	$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rcS
+sitl_quad_gazebo:
+	$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros
+sitl_plane:
+	$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing
 
-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
+qurtrun:
+	$(MAKE) PX4_TARGET_OS=qurt sim
 
-# create empty targets to avoid msgs for targets passed to cmake
-define cmake-targ
-$(1):
-	@#
-.PHONY: $(1)
-endef
-
-define colorecho
-      @tput setaf 6
-      @echo $1
-      @tput sgr0
-endef
-
-# ADD CONFIGS HERE
-# --------------------------------------------------------------------
-#  Do not put any spaces between function arguments.
-
-px4fmu-v1_default:
-	$(call cmake-build,nuttx_px4fmu-v1_default)
-
-px4fmu-v2_default:
-	$(call cmake-build,nuttx_px4fmu-v2_default)
-	
-px4fmu-v2_test:
-	$(call cmake-build,nuttx_px4fmu-v2_test)
-
-px4fmu-v4_default:
-	$(call cmake-build,nuttx_px4fmu-v4_default)
-
-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:
-	$(call cmake-build,$@)
-
-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."
-
-run_sitl_quad: sitl_deprecation
-run_sitl_plane: sitl_deprecation
-run_sitl_ros: sitl_deprecation
-
-# 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
-
-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) $(PX4_MAKE_ARGS) sdf
-
-uavcan_firmware:
-ifeq ($(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 \
-	check_px4fmu-v2_default \
-	check_mindpx-v2_default \
-	check_px4-stm32f4discovery_default \
-
-checks_bootloaders: \
-
-
-checks_tests: \
-	check_px4fmu-v2_test
-
-checks_alts: \
-	check_px4fmu-v2_ekf2 \
-
-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
+#
+# Unittest targets. Builds and runs the host-level
+# unit tests.
+.PHONY: tests
+tests:	generateuorbtopicheaders
+	$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) unittests)
 
+.PHONY: format check_format
 check_format:
-	$(call colorecho,"Checking formatting with astyle")
-	@./Tools/fix_code_style.sh
-	@./Tools/check_code_style_all.sh
+	$(Q) (./Tools/check_code_style.sh | sort -n)
 
-check_%:
-	@echo
-	$(call colorecho,"Building" $(subst check_,,$@))
-	@$(MAKE) --no-print-directory $(subst check_,,$@)
-	@echo
+#
+# Cleanup targets.  'clean' should remove all built products and force
+# a complete re-compilation, 'distclean' should remove everything
+# that's generated leaving only files that are in source control.
+#
+.PHONY:	clean
+clean:
+	@echo > /dev/null
+	$(Q) $(RMDIR) $(BUILD_DIR)*.build
+	$(Q) $(RMDIR) $(PX4_VERSIONING_DIR)
+	$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
+	$(Q) $(RMDIR) $(TOPICHEADER_TEMP_DIR)
+	$(Q) $(RMDIR) $(MULTI_TOPICHEADER_TEMP_DIR)
 
-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
+.PHONY:	distclean
+distclean: clean
+	@echo > /dev/null
+	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
+	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
+
+#
+# Print some help text
+#
+.PHONY: help
+help:
+	@$(ECHO) ""
+	@$(ECHO) " PX4 firmware builder"
+	@$(ECHO) " ===================="
+	@$(ECHO) ""
+	@$(ECHO) "  Available targets:"
+	@$(ECHO) "  ------------------"
+	@$(ECHO) ""
+ifeq ($(PX4_TARGET_OS),nuttx)
+	@$(ECHO) "  archives"
+	@$(ECHO) "    Build the NuttX RTOS archives that are used by the firmware build."
+	@$(ECHO) ""
+endif
+	@$(ECHO) "  all"
+	@$(ECHO) "    Build all firmware configs: $(CONFIGS)"
+	@$(ECHO) "    A limited set of configs can be built with CONFIGS=<list-of-configs>"
+	@$(ECHO) ""
+	@for config in $(CONFIGS); do \
+		$(ECHO) "  $$config"; \
+		$(ECHO) "    Build just the $$config firmware configuration."; \
+		$(ECHO) ""; \
+	done
+	@$(ECHO) "  clean"
+	@$(ECHO) "    Remove all firmware build pieces."
+	@$(ECHO) ""
+ifeq ($(PX4_TARGET_OS),nuttx)
+	@$(ECHO) "  distclean"
+	@$(ECHO) "    Remove all compilation products, including NuttX RTOS archives."
+	@$(ECHO) ""
+	@$(ECHO) "  upload"
+	@$(ECHO) "    When exactly one config is being built, add this target to upload the"
+	@$(ECHO) "    firmware to the board when the build is complete. Not supported for"
+	@$(ECHO) "    all configurations."
+	@$(ECHO) ""
+endif
+	@$(ECHO) "  testbuild"
+	@$(ECHO) "    Perform a complete clean build of the entire tree."
+	@$(ECHO) ""
+	@$(ECHO) "  Common options:"
+	@$(ECHO) "  ---------------"
+	@$(ECHO) ""
+	@$(ECHO) "  V=1"
+	@$(ECHO) "    If V is set, more verbose output is printed during the build. This can"
+	@$(ECHO) "    help when diagnosing issues with the build or toolchain."
+	@$(ECHO) ""
+ifeq ($(PX4_TARGET_OS),nuttx)
+	@$(ECHO) "  To see help for a specifix target use 'make <target> help' where target is"
+	@$(ECHO) "  one of: "
+	@$(ECHO) "     nuttx"
+	@$(ECHO) "     posix"
+	@$(ECHO) "     qurt"
+	@$(ECHO) ""
 endif
 
-unittest: posix_sitl_test
-	@export CC=clang
-	@export CXX=clang++
-	@export ASAN_OPTIONS=symbolize=1
-	$(call cmake-build-other,unittest, ../unittests)
-	@(cd build_unittest && ctest -j2 --output-on-failure)
-	
-test_onboard_sitl:
-	@HEADLESS=1 make posix_sitl_test gazebo_iris
-
-package_firmware:
-	@zip --junk-paths Firmware.zip `find . -name \*.px4`
-
-clean:
-	@rm -rf build_*/
-	@(cd NuttX/nuttx && make clean)
-
-submodulesclean:
-	@git submodule sync --recursive
-	@git submodule deinit -f .
-	@git submodule update --init --recursive --force
-
-distclean: submodulesclean
-	@git clean -ff -x -d -e ".project" -e ".cproject"
-
-# targets handled by cmake
-cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
-	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim replay \
-	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
-	gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane gazebo_solo
-$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
-
-.PHONY: clean
-
-CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
-
-#help:
-#	@echo
-#	@echo "Type 'make ' and hit the tab key twice to see a list of the available"
-#	@echo "build configurations."
-#	@echo

NuttX

@@ -1 +1 @@
-Subproject commit f0f4bdc872d324f64e9d93d6f8989d3c1dfa2633
+Subproject commit 8004677d8c9222685f331409469e78a66375d55f

README.md

@@ -1,35 +1,49 @@
-## PX4 Pro Drone Autopilot ##
+## PX4 Flight Core and PX4 Middleware ##
 
 [![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)
 
 [![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)
 
-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.
+This repository contains the PX4 Flight Core, with the main applications located in the src/modules directory. It also contains the PX4 Drone Platform, which contains drivers and middleware to run drones.
 
 *   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/)
+  * [Multicopters](http://px4.io/platforms/multicopters/start)
+  * [Fixed wing](http://px4.io/platforms/planes/start)
+  * [VTOL](http://px4.io/platforms/vtol/start)
+*   Binaries (always up-to-date from master):
+  * [Downloads](http://px4.io/firmware/downloads)
 *   Releases
   * [Downloads](https://github.com/PX4/Firmware/releases)
+*   Mailing list: [Google Groups](http://groups.google.com/group/px4users)
 
 ### Users ###
 
-Please refer to the [user documentation](http://px4.io) and [user forum](http://discuss.px4.io) for flying drones with the PX4 flight stack.
+Please refer to the [user documentation](https://pixhawk.org/users/start) for flying drones with the PX4 flight stack.
 
 ### Developers ###
 
-  * [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)
+Contributing guide:
+  * [CONTRIBUTING.md](https://github.com/PX4/Firmware/blob/master/CONTRIBUTING.md)
+  * [PX4 Contribution Guide](http://px4.io/dev/contributing)
 
+Software in the Loop guide:
+Use software in the loop [to get started with the codebase](https://github.com/PX4/Firmware/tree/master/posix-configs/SITL)
+
+Developer guide:
+http://px4.io/dev/
+
+Testing guide:
+http://px4.io/dev/unit_tests
 
 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))
+  * FMUv2.x
   * AeroCore (v1 and v2)
   * STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
+
+## NuttShell (NSH) ##
+
+NSH usage documentation:
+http://px4.io/users/serial_connection

ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil

@@ -20,8 +20,7 @@ then
 	param set FW_AIRSPD_MAX 20
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 14
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
@@ -38,8 +37,10 @@ then
 	param set FW_RR_I 0.1
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.3
-	param set RWTO_TKOFF 1
 fi
 
+# Enable gamepad / joystick support
+param set COM_RC_IN_MODE 2
+
 set HIL yes
 set MIXER AERT

ROMFS/px4fmu_common/init.d/10015_tbs_discovery

@@ -11,6 +11,7 @@ sh /etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF == yes ]
 then
+	# TODO review MC_YAWRATE_I
 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.1
 	param set MC_ROLLRATE_I 0.05
@@ -28,3 +29,11 @@ fi
 set MIXER quad_w
 
 set PWM_OUT 1234
+set PWM_MIN 1200
+
+set MIXER_AUX pass
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1000
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000

ROMFS/px4fmu_common/init.d/10016_3dr_iris

@@ -13,11 +13,11 @@ if [ $AUTOCNF == yes ]
 then
 	# TODO tune roll/pitch separately
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_P 0.13
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.004
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_P 0.13
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 2.5
@@ -25,10 +25,13 @@ then
 	param set MC_YAWRATE_I 0.25
 	param set MC_YAWRATE_D 0.0
 
-	param set BAT_V_DIV 12.27559
-	param set BAT_A_PER_V 15.39103
+	param set BAT_V_SCALING 0.00989
+	param set BAT_C_SCALING 0.0124
 fi
 
 set MIXER quad_w
 
 set PWM_OUT 1234
+
+set PWM_MIN 1200
+set PWM_MAX 1950

ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d

@@ -30,4 +30,7 @@ fi
 
 set MIXER quad_w
 
+set PWM_MIN 1210
+set PWM_MAX 2100
+
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/10019_sk450_deadcat

@@ -30,6 +30,7 @@ fi
 set MIXER sk450_deadcat
 
 set PWM_OUT 1234
+set PWM_MIN 1050
 
 set PWM_AUX_OUT 1234
 # set PWM_AUX_MIN 900

ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil

@@ -11,4 +11,7 @@ sh /etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 
+# Enable gamepad / joystick support
+param set COM_RC_IN_MODE 2
+
 set HIL yes

ROMFS/px4fmu_common/init.d/10020_3dr_quad

@@ -12,11 +12,11 @@ sh /etc/init.d/rc.mc_defaults
 if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.14
+	param set MC_ROLLRATE_P 0.08
 	param set MC_ROLLRATE_I 0.1
 	param set MC_ROLLRATE_D 0.004
 	param set MC_PITCH_P 6.0
-	param set MC_PITCHRATE_P 0.14
+	param set MC_PITCHRATE_P 0.16
 	param set MC_PITCHRATE_I 0.09
 	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 4

ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil

@@ -11,4 +11,7 @@ sh /etc/init.d/rc.mc_defaults
 
 set MIXER quad_+
 
+# Enable gamepad / joystick support
+param set COM_RC_IN_MODE 2
+
 set HIL yes

ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil

@@ -11,4 +11,7 @@ sh /etc/init.d/rc.fw_defaults
 
 set HIL yes
 
+# Enable gamepad / joystick support
+param set COM_RC_IN_MODE 2
+
 set MIXER AERT

ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil

@@ -14,8 +14,7 @@ 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_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 15
 	param set FW_PR_FF 0.8
@@ -37,5 +36,8 @@ fi
 
 set HIL yes
 
+# Enable gamepad / joystick support
+param set COM_RC_IN_MODE 2
+
 # Set the AERT mixer for HIL (even if the malolo is a flying wing)
 set MIXER AERT

ROMFS/px4fmu_common/init.d/11001_hexa_cox

@@ -4,17 +4,6 @@
 #
 # @type Hexarotor Coaxial
 #
-# @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 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>
 #
 

ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik

@@ -1,41 +0,0 @@
-#!nsh
-#
-# @name Steadidrone MAVRIK
-#
-# @type Octo Coax Wide
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_PITCH_P 4.0
-	param set MC_PITCHRATE_P 0.24
-	param set MC_PITCHRATE_I 0.09
-	param set MC_PITCHRATE_D 0.013
-	param set MC_PITCHRATE_MAX 180.0
-
-	param set MC_ROLL_P 4.0
-	param set MC_ROLLRATE_P 0.16
-	param set MC_ROLLRATE_I 0.07
-	param set MC_ROLLRATE_D 0.009
-	param set MC_ROLLRATE_MAX 180.0
-
-	param set MC_YAW_P 3.0
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
-
-	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 BAT_N_CELLS 4
-fi
-
-set MIXER octo_cox_w
-
-set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

@@ -1,44 +1,19 @@
 #!nsh
 #
-# @name Caipiroshka Duo Tailsitter
+# @name Duorotor Tailsitter
 #
-# @type VTOL Duo Tailsitter
-#
-# @output MAIN1 motor left
-# @output MAIN2 motor right
-# @output MAIN5 elevon left
-# @output MAIN6 elevon right
+# @type VTOL Tailsitter
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLL_P 6.0
-	param set MC_ROLLRATE_P 0.12
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 4.5
-	param set MC_PITCHRATE_P 0.3
-	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 3.8
-	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_D 0.0
-	param set MC_YAWRATE_FF 0.0
-
-	param set VT_MOT_COUNT 2
-	param set VT_IDLE_PWM_MC  1080
-	param set VT_TYPE 0
-	param set MAV_TYPE 19
-fi
-
 set MIXER caipirinha_vtol
 
-set PWM_OUT 1234
+set PWM_OUT 12
+set PWM_MAX 2000
+set PWM_RATE 400
+param set VT_MOT_COUNT 2
+param set VT_IDLE_PWM_MC  1080
+param set VT_TYPE 0

ROMFS/px4fmu_common/init.d/13002_firefly6

@@ -14,12 +14,12 @@ then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.17
 	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_D 0.004
 	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_FF 0.5
@@ -31,17 +31,20 @@ then
 	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 6
-	param set VT_FW_MOT_OFFID 34
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 1
 fi
 
 set MIXER firefly6
 set PWM_OUT 12345678
-set PWM_RATE 400
 
 set MIXER_AUX firefly6
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1000
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
 
 set MAV_TYPE 21
+
+param set VT_MOT_COUNT 6
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 1

ROMFS/px4fmu_common/init.d/13003_quad_tailsitter

@@ -2,24 +2,20 @@
 #
 # @name Quadrotor X Tailsitter
 #
-# @type VTOL Quad Tailsitter
+# @type VTOL Tailsitter
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
-then
-    param set VT_MOT_COUNT 4
-    param set VT_IDLE_PWM_MC  1080
-    param set VT_TYPE 0
-    param set VT_ELEV_MC_LOCK 1
-fi
-
 set MIXER quad_x_vtol
 
 set PWM_OUT 1234
 set PWM_MAX 2000
 set PWM_RATE 400
 set MAV_TYPE 20
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC  1080
+param set VT_TYPE 0
+param set VT_ELEV_MC_LOCK 1

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

@@ -2,24 +2,20 @@
 #
 # @name Quadrotor + Tailsitter
 #
-# @type VTOL Quad Tailsitter
+# @type VTOL Tailsitter
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
-then
-    param set VT_MOT_COUNT 4
-    param set VT_IDLE_PWM_MC  1080
-    param set VT_TYPE 0
-    param set VT_ELEV_MC_LOCK 1
-fi
-
 set MIXER quad_+_vtol
 
 set PWM_OUT 1234
 set PWM_MAX 2000
 set PWM_RATE 400
 set MAV_TYPE 20
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC  1080
+param set VT_TYPE 0
+param set VT_ELEV_MC_LOCK 1

ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad

@@ -1,6 +1,6 @@
 #!nsh
 #
-# @name Fun Cub Quad VTOL.
+# @name Generic AAERT tailplane airframe with Quad VTOL.
 #
 # @type Standard VTOL
 #
@@ -14,18 +14,16 @@ then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
 	param set VT_TRANS_THR 0.75
-	param set VT_ARSP_TRANS 12
-	param set VT_ARSP_BLEND 6
 
-	param set MC_ROLL_P 6.0
-	param set MC_ROLLRATE_P 0.17
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_D 0.003
 	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 6.0
-	param set MC_PITCHRATE_P 0.19
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.12
 	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.004
+	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_FF 0.5
@@ -33,28 +31,20 @@ then
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
-
-	param set FW_PR_FF 0.5
-	param set FW_PR_I 0.02
-	param set FW_PR_IMAX 0.4
-	param set FW_PR_P 0.08
-	param set FW_RR_FF 0.6
-	param set FW_RR_I 0.01
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.05
-	param set FW_THR_CRUISE 0.75
-
-	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 PWM_OUT 1234
-set PWM_RATE 400
+set PWM_OUT 12345678
 
 set MIXER_AUX vtol_AAERT
-set PWM_ACHDIS 5
-set PWM_AUX_DISARMED 950
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1000
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
 
 set MAV_TYPE 22
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 2

ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta

@@ -1,48 +0,0 @@
-#!nsh
-#
-# @name Generic quad delta VTOL.
-#
-# @type Standard VTOL
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-
-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 0.75
-
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.002
-	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_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 2.8
-	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_D 0.0
-	param set MC_YAWRATE_FF 0.0
-
-	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 PWM_OUT 1234
-set PWM_RATE 400
-
-set MIXER_AUX vtol_delta
-set PWM_ACHDIS 3
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad

@@ -1,48 +0,0 @@
-#!nsh
-#
-# @name Generic AAVVT v-tail plane airframe with Quad VTOL.
-#
-# @type Standard VTOL
-#
-# @maintainer Sander Smeets <sander@droneslab.com>
-#
-
-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 0.75
-
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.002
-	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_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 2.8
-	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_D 0.0
-	param set MC_YAWRATE_FF 0.0
-
-	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 PWM_OUT 1234
-set PWM_RATE 400
-
-set MIXER_AUX vtol_AAVVT
-set PWM_ACHDIS 5
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/13008_QuadRanger

@@ -1,68 +0,0 @@
-#!nsh
-#
-# @name QuadRanger
-#
-# @type Standard VTOL
-#
-# @maintainer Sander Smeets <sander@droneslab.com>
-#
-
-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 0.75
-
-	param set PWM_AUX_REV1 1
-	param set PWM_AUX_REV2 1
-
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_D 0.004
-	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 3.5
-	param set MC_YAW_FF 0.7
-	param set MC_YAWRATE_P 0.6
-	param set MC_YAWRATE_I 0.04
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0.0
-
-	param set MPC_ACC_HOR_MAX 2.0
-	param set MPC_Z_VEL_MAX 1.5
-	param set MPC_TKO_SPEED 1.5
-	param set MPC_LAND_SPEED 0.8
-
-	param set FW_THR_CRUISE 65.0
-	param set FW_PR_P 0.08
-	param set FW_PR_FF 0.5
-	param set FW_RR_P 0.05
-	param set FW_RR_FF 0.6
-
-	param set MIS_YAW_TMT 10
-
-	param set VT_ARSP_TRANS 15.0
-	param set VT_ARSP_BLEND 8.0
-	param set VT_B_TRANS_DUR 4.0
-
-	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 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

ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger

@@ -1,88 +0,0 @@
-#!nsh
-#
-# @name Sparkle Tech Ranger VTOL
-#
-# @type Standard VTOL
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-
-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_IDLE_PWM_MC 1180
-    param set MAV_TYPE    22
-    param set VT_ARSP_TRANS   15.0
-    param set VT_B_TRANS_DUR  4.0
-    param set VT_TRANS_MIN_TM 5.0
-    param set VT_TRANS_THR    0.6
-    param set VT_TRANS_TIMEOUT    30.0
-
-    param set FW_AIRSPD_MAX   22.0
-    param set FW_AIRSPD_MIN   14.0
-    param set FW_AIRSPD_TRIM  16.0
-    param set FW_L1_PERIOD    25.0
-    param set FW_PR_P 0.060
-    param set FW_P_RMAX_NEG   40.0
-    param set FW_P_RMAX_POS   40.0
-    param set FW_RR_FF    0.4
-    param set FW_RR_P 0.04
-    param set FW_R_RMAX   40.0
-
-    param set MC_PITCHRATE_D  0.004
-    param set MC_PITCHRATE_I  0.0
-    param set MC_PITCHRATE_MAX    60.0
-    param set MC_PITCHRATE_P  0.21
-    param set MC_PITCH_P  4.0
-    param set MC_ROLLRATE_D   0.004
-    param set MC_ROLLRATE_I   0.002
-    param set MC_ROLLRATE_MAX 60.0
-    param set MC_ROLLRATE_P   0.24
-    param set MC_ROLL_P   4.0
-    param set MC_YAWRATE_I    0.02
-    param set MC_YAWRATE_MAX  40.0
-    param set MC_YAWRATE_P    0.18
-    param set MC_YAWRAUTO_MAX 40.0
-
-    param set MIS_TAKEOFF_ALT 2.5
-    param set MIS_YAW_TMT 20.0
-
-    param set MPC_ACC_HOR_MAX 1.0
-    param set MPC_HOLD_MAX_XY 0.5
-    param set MPC_HOLD_MAX_Z  0.5
-    param set MPC_LAND_SPEED  1.0
-    param set MPC_MANTHR_MIN  0.05
-    param set MPC_MAN_Y_MAX   120.0
-    param set MPC_THR_MIN 0.07
-    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
-
-    param set PWM_AUX_REV1    1
-    param set PWM_AUX_REV2    1
-    param set PWM_AUX_REV3    1
-    param set PWM_AUX_REV4    1
-fi
-
-set MIXER vtol_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

ROMFS/px4fmu_common/init.d/15001_coax_heli

@@ -1,64 +0,0 @@
-#!nsh
-#
-# @name Esky (Big) Lama v4
-#
-# @type Coaxial Helicopter
-# 
-# @output MAIN1 Left swashplate servomotor, pitch axis
-# @output MAIN2 Right swashplate servomotor, roll axis
-# @output MAIN3 Upper rotor (CCW)
-# @output MAIN4 Lower rotor (CW)
-#
-# @maintainer Emmanuel Roussel
-#
-
-sh /etc/init.d/rc.mc_defaults
-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
-
-	param set PWM_DISARMED 900
-	param set PWM_MIN 1075
-	param set PWM_MAX 1950
-
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.17
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.005
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.17
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.005
-	param set MC_PITCHRATE_FF 0
-	param set MC_YAW_P 2
-	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_P 0.1
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0
-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

ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm

@@ -1,12 +0,0 @@
-#!nsh
-#
-# @name Passthrough mode for Snapdragon
-#
-# @type custom
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-# This startup can be used on Pixhawk/Pixfalcon/Pixracer for the
-# passthrough of RC input and PWM output.
-
-set VEHICLE_TYPE passthrough

ROMFS/px4fmu_common/init.d/2101_fw_AERT

@@ -6,8 +6,8 @@
 #
 # @output MAIN1 aileron
 # @output MAIN2 elevator
-# @output MAIN3 rudder
-# @output MAIN4 throttle
+# @output MAIN4 rudder
+# @output MAIN3 throttle
 # @output MAIN5 flaps
 #
 # @output AUX1 feed-through of RC AUX1 channel
@@ -20,9 +20,3 @@
 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

ROMFS/px4fmu_common/init.d/2104_fw_AETR

@@ -20,9 +20,3 @@
 sh /etc/init.d/rc.fw_defaults
 
 set MIXER AETR
-
-# 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

ROMFS/px4fmu_common/init.d/2105_maja

@@ -1,50 +0,0 @@
-#!nsh
-#
-# @name Bormatec Maja
-#
-# @type Standard Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 aileron
-# @output MAIN3 elevator
-# @output MAIN4 rudder
-# @output MAIN5 throttle
-# @output MAIN6 wheel
-# @output MAIN7 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 Andreas Antener <andreas@uaventure.com>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    param set FW_AIRSPD_MIN 10
-    param set FW_AIRSPD_TRIM 15
-    param set FW_AIRSPD_MAX 20
-
-    param set FW_MAN_P_MAX 55
-    param set FW_MAN_R_MAX 55
-    param set FW_R_LIM 55
-
-    param set FW_WR_FF 0.2
-    param set FW_WR_I 0.2
-    param set FW_WR_IMAX 0.8
-    param set FW_WR_P 1
-    param set FW_W_RMAX 0
-
-    # set disarmed value for the ESC
-    param set PWM_DISARMED 1000
-fi
-
-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

ROMFS/px4fmu_common/init.d/2106_albatross

@@ -1,51 +0,0 @@
-#!nsh
-#
-# @name Applied Aeronautics Albatross
-#
-# @type Plane A-Tail
-#
-# @output MAIN1 aileron right
-# @output MAIN2 aileron left
-# @output MAIN3 v-tail right
-# @output MAIN4 v-tail left
-# @output MAIN5 throttle
-# @output MAIN6 wheel
-# @output MAIN7 flaps right
-# @output MAIN8 flaps left
-#
-# @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 Andreas Antener <andreas@uaventure.com>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    param set FW_AIRSPD_MIN 10
-    param set FW_AIRSPD_TRIM 15
-    param set FW_AIRSPD_MAX 20
-
-    param set FW_MAN_P_MAX 55
-    param set FW_MAN_R_MAX 55
-    param set FW_R_LIM 55
-
-    param set FW_WR_FF 0.2
-    param set FW_WR_I 0.2
-    param set FW_WR_IMAX 0.8
-    param set FW_WR_P 1
-    param set FW_W_RMAX 0
-
-    # set disarmed value for the ESC
-    param set PWM_DISARMED 1000
-fi
-
-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

ROMFS/px4fmu_common/init.d/3030_io_camflyer

@@ -24,8 +24,7 @@ then
 	param set FW_AIRSPD_MAX 15
 	param set FW_AIRSPD_MIN 10
 	param set FW_AIRSPD_TRIM 13
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15

ROMFS/px4fmu_common/init.d/3031_phantom

@@ -24,8 +24,7 @@ then
 	param set FW_AIRSPD_MIN 13
 	param set FW_AIRSPD_TRIM 15
 	param set FW_AIRSPD_MAX 25
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.75
 	param set FW_L1_PERIOD 15
 	param set FW_PR_FF 0.2

ROMFS/px4fmu_common/init.d/3032_skywalker_x5

@@ -24,8 +24,7 @@ then
 	param set FW_AIRSPD_MIN 15
 	param set FW_AIRSPD_TRIM 20
 	param set FW_AIRSPD_MAX 40
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15

ROMFS/px4fmu_common/init.d/3033_wingwing

@@ -14,7 +14,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Lorenz Meier <lorenz@px4.io>
+# @maintainer Simon Wilks <simon@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
@@ -25,8 +25,7 @@ then
 	param set FW_AIRSPD_MAX 15
 	param set FW_AIRSPD_MIN 10
 	param set FW_AIRSPD_TRIM 13
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
@@ -40,9 +39,6 @@ then
 	param set FW_RR_P 0.04
 fi
 
-# Configure this as plane
-set MAV_TYPE 1
-# Set mixer
 set MIXER wingwing
 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4

ROMFS/px4fmu_common/init.d/3036_pigeon

@@ -1,55 +0,0 @@
-#!nsh
-#
-# @name Sparkle Tech Pigeon
-#
-# @url http://www.sparkletech.hk/
-#
-# @type Flying Wing
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Simon Wilks <simon@px4.io>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set FW_AIRSPD_MIN 15
-	param set FW_AIRSPD_TRIM 20
-	param set FW_AIRSPD_MAX 27
-	param set FW_ATT_TC 0.3
-	param set FW_L1_DAMPING 0.75
-	param set FW_L1_PERIOD 15
-	param set FW_PR_FF 0.35
-	param set FW_PR_IMAX 0.2
-	param set FW_PR_P 0.05
-	param set FW_P_LIM_MAX 45
-	param set FW_P_LIM_MIN -45
-	param set FW_P_ROLLFF 1
-	param set FW_P_TC 0.3
-	param set FW_RR_FF 0.3
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.03
-	param set FW_R_LIM 40
-	param set FW_R_RMAX 50
-	param set FW_R_TC 0.3
-
-	# Bottom of bay and nominal zero-pitch attitude differ
-	# the payload bay is pitched up about 7 degrees
-	param set SENS_BOARD_Y_OFF 11.9
-
-	param set FW_L1_PERIOD 20.0
-fi
-
-set MIXER phantom
-
-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4
-set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

@@ -14,8 +14,7 @@ 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_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15

ROMFS/px4fmu_common/init.d/4009_qav250

@@ -1,36 +0,0 @@
-#!nsh
-#
-# @name Lumenier QAV250
-#
-# @type Quadrotor x
-#
-# @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 Mark Whitehorn <kd0aij@gmail.com>
-#
-
-sh /etc/init.d/4001_quad_x
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLL_P 6.0
-	param set MC_ROLLRATE_P 0.14
-	param set MC_ROLLRATE_I 0.23
-	param set MC_ROLLRATE_D 0.0025
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.235
-	param set MC_PITCHRATE_I 0.17
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
-	param set PWM_MIN 1075
-	param set MPC_THR_MIN 0.06
-	param set MPC_MANTHR_MIN 0.06
-	param set CBRK_IO_SAFETY 22027
-	param set ATT_BIAS_MAX 0.0
-fi

ROMFS/px4fmu_common/init.d/4010_dji_f330

@@ -16,11 +16,11 @@ sh /etc/init.d/4001_quad_x
 if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_P 0.13
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_P 0.13
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
@@ -30,3 +30,9 @@ then
 	# DJI ESCs do not support calibration and need a higher min
 	param set PWM_MIN 1230
 fi
+
+# Transitional support: ensure suitable PWM min/max param values
+if param compare PWM_MIN 1075
+then
+	param set PWM_MIN 1230
+fi

ROMFS/px4fmu_common/init.d/4011_dji_f450

@@ -15,14 +15,15 @@ sh /etc/init.d/4001_quad_x
 
 if [ $AUTOCNF == yes ]
 then
+	# TODO REVIEW
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_P 0.16
 	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_D 0.01
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_P 0.16
 	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_D 0.01
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.1
@@ -30,3 +31,9 @@ then
 	# DJI ESCs do not support calibration and need a higher min
 	param set PWM_MIN 1230
 fi
+
+# Transitional support: ensure suitable PWM min/max param values
+if param compare PWM_MIN 1075
+then
+	param set PWM_MIN 1230
+fi

ROMFS/px4fmu_common/init.d/4012_quad_x_can

@@ -14,11 +14,11 @@ then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.16
 	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_D 0.01
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.16
 	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_D 0.01
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.1

ROMFS/px4fmu_common/init.d/4030_solo

@@ -1,88 +0,0 @@
-#!nsh
-#
-# @name 3DR Solo
-#
-# @type Quadrotor x
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    # tuning
-    param set MC_PITCHRATE_P    0.11
-    param set MC_ROLLRATE_P     0.11
-    param set MPC_MANTHR_MIN    0.08
-    param set MPC_XY_VEL_MAX    3.0
-    param set MPC_Z_VEL_MAX     2.0
-
-    # INAV: higher GPS weights for better altitude control
-    param set INAV_W_Z_BARO     0.3
-    param set INAV_W_Z_GPS_P    0.8
-    param set INAV_W_Z_GPS_V    0.8
-
-    # takeoff, land and RTL settings
-    param set MIS_TAKEOFF_ALT   4.0
-    param set COM_DISARM_LAND   1
-    param set RTL_LAND_DELAY    1
-    param set RTL_DESCEND_ALT   5.0
-    param set RTL_RETURN_ALT    15.0
-    param set MPC_TILTMAX_LND   8.0
-    param set MPC_LAND_SPEED    0.4
-    param set MPC_HOLD_MAX_Z    1.5
-    param set MPC_TKO_JMPSPD    2.0
-    param set MPC_TKO_SPEED     1.5
-
-    # setup
-    # main board rotation: pitch 180
-    param set SENS_BOARD_ROT    12
-    # solo external mag rotation
-    param set CAL_MAG0_ROT      30
-    # no safety switch
-    param set CBRK_IO_SAFETY    22027
-    # battery voltage not available yet
-    param set CBRK_SUPPLY_CHK   894281
-
-    # RC configuration
-    param set RC_MAP_MODE_SW    5
-    param set RC_MAP_PITCH      2
-    param set RC_MAP_ROLL       1
-    param set RC_MAP_THROTTLE   3
-    param set RC_MAP_YAW        4
-
-    param set RC1_DZ            10
-    param set RC1_MAX           1988
-    param set RC1_MIN           1003
-    param set RC1_REV           1
-    param set RC1_TRIM          1499
-    param set RC2_DZ            10
-    param set RC2_MAX           1987
-    param set RC2_MIN           1023
-    param set RC2_REV           -1
-    param set RC2_TRIM          1499
-    param set RC3_DZ            10
-    param set RC3_MAX           1877
-    param set RC3_MIN           1023
-    param set RC3_REV           1
-    param set RC3_TRIM          1023
-    param set RC4_DZ            10
-    param set RC4_MAX           1998
-    param set RC4_MIN           1012
-    param set RC4_REV           1
-    param set RC4_TRIM          1500
-    param set RC5_DZ            10
-    param set RC5_MAX           2000
-    param set RC5_MIN           1000
-    param set RC5_REV           1
-    param set RC5_TRIM          1500
-fi
-
-set MIXER solo
-
-set PWM_OUT 1234
-set MIXER_AUX none
-
-# enable high-speed link on telem 1
-set MAVLINK_F "-d /dev/ttyS1 -b 921600 -r 80000 -m onboard -x"

ROMFS/px4fmu_common/init.d/4040_reaper

@@ -1,42 +0,0 @@
-#!nsh
-#
-# @name Reaper 500 Quad
-#
-# @type Quadrotor x
-#
-# @maintainer Blankered
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    param set MC_ROLL_P 6.5
-    param set MC_ROLLRATE_P 0.14
-    param set MC_ROLLRATE_I 0.1
-    param set MC_ROLLRATE_D 0.004
-    param set MC_PITCH_P 6.0
-    param set MC_PITCHRATE_P 0.14
-    param set MC_PITCHRATE_I 0.09
-    param set MC_PITCHRATE_D 0.004
-    param set MC_YAW_P 4
-
-    param set NAV_ACC_RAD 2.0
-    param set RTL_RETURN_ALT 30.0
-    param set RTL_DESCEND_ALT 10.0
-fi
-
-set MIXER quad_h
-
-set PWM_RATE 50
-set PWM_OUT 1234
-set PWM_MIN 1100
-set PWM_MAX 1900
-set PWM_DISARMED 1500
-
-set MIXER_AUX pass
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
-set PWM_AUX_DISARMED 950

ROMFS/px4fmu_common/init.d/4050_generic_250

@@ -1,45 +0,0 @@
-#!nsh
-#
-# @name Generic 250 Racer
-#
-# @type Quadrotor x
-#
-# @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 Mark Whitehorn <kd0aij@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 0.19
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_D 0.0055
-	param set MC_PITCH_P 8.0
-	param set MC_PITCHRATE_P 0.24
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.0065
-	param set MC_YAW_P 4.0
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
-	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

ROMFS/px4fmu_common/init.d/4060_dji_matrice_100

@@ -1,23 +0,0 @@
-#!nsh
-#
-# @name DJI Matrice 100
-#
-# @type Quadrotor x
-#
-# @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 James Goppert <james.goppert@gmail.com>
-#
-
-sh /etc/init.d/4001_quad_x
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLLRATE_P 0.05
-	param set MC_ROLLRATE_D 0.001
-	param set MC_PITCHRATE_P 0.05
-	param set MC_PITCHRATE_D 0.001
-	param set BAT_N_CELLS 6
-fi

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -7,16 +7,17 @@ then
 #
 # Default parameters for FW
 #
-	param set RTL_RETURN_ALT 100
-	param set RTL_DESCEND_ALT 100
-	param set RTL_LAND_DELAY -1
-
+	param set NAV_LAND_ALT 90
+	param set NAV_RTL_ALT 100
+	param set NAV_RTL_LAND_T -1
 	param set NAV_ACC_RAD 50
 
 	param set PE_VELNE_NOISE 0.3
 	param set PE_VELD_NOISE 0.35
 	param set PE_POSNE_NOISE 0.5
 	param set PE_POSD_NOISE 1.0
+	param set PE_GBIAS_PNOISE 0.000001
+	param set PE_ABIAS_PNOISE 0.0002
 fi
 
 # This is the gimbal pass mixer

ROMFS/px4fmu_common/init.d/rc.interface

@@ -45,10 +45,10 @@ then
 
 	if mixer load $OUTPUT_DEV $MIXER_FILE
 	then
-		echo "INFO  [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
+		echo "[i] Mixer: $MIXER_FILE on $OUTPUT_DEV"
 	else
-		echo "ERROR [init] Error loading mixer: $MIXER_FILE"
-		echo "ERROR:[init] Could not load mixer: $MIXER_FILE" >> $LOG_FILE
+		echo "[i] Error loading mixer: $MIXER_FILE"
+		echo "ERROR: Could not load mixer: $MIXER_FILE" >> $LOG_FILE
 		tone_alarm $TUNE_ERR
 	fi
 
@@ -56,8 +56,8 @@ then
 else
 	if [ $MIXER != skip ]
 	then
-		echo "ERROR [init] Mixer not defined"
-		echo "ERROR [init] Mixer not defined" >> $LOG_FILE
+		echo "[i] Mixer not defined"
+		echo "ERROR: Mixer not defined" >> $LOG_FILE
 		tone_alarm $TUNE_ERR
 	fi
 fi
@@ -97,19 +97,7 @@ then
 	fi
 fi
 
-# This is a FMUv2+ thing
-if ver hwcmp PX4FMU_V1
-then
-	set MIXER_AUX none
-fi
-
-#MindPX has not aux mixer
-if ver hwcmp MINDPX_V2
-then
-        set MIXER_AUX none
-fi
-
-if [ $MIXER_AUX != none -a $AUX_MODE != none ]
+if [ $MIXER_AUX != none ]
 then
 	#
 	# Load aux mixer
@@ -129,18 +117,18 @@ then
 		fi
 	fi
 
-	if [ $MIXER_AUX_FILE != none ]
+	if [ $MIXER_AUX_FILE != none -a $FMU_MODE == pwm ]
 	then
-		if fmu mode_$AUX_MODE
+		if fmu mode_pwm
 		then
 			if [ -e $OUTPUT_AUX_DEV ]
 			then
 				if mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
 				then
-					echo "INFO  [init] Mixer: $MIXER_AUX_FILE on $OUTPUT_AUX_DEV"
+					echo "[i] Mixer: $MIXER_AUX_FILE on $OUTPUT_AUX_DEV"
 				else
-					echo "ERROR [init] Error loading mixer: $MIXER_AUX_FILE"
-					echo "ERROR [init] Could not load mixer: $MIXER_AUX_FILE" >> $LOG_FILE
+					echo "[i] Error loading mixer: $MIXER_AUX_FILE"
+					echo "ERROR: Could not load mixer: $MIXER_AUX_FILE" >> $LOG_FILE
 				fi
 			else
 				set PWM_AUX_OUT none
@@ -153,7 +141,6 @@ then
 			set FAILSAFE_AUX none
 		fi
 
-		# Set min / max for aux out and rates
 		if [ $PWM_AUX_OUT != none ]
 		then
 			#
@@ -164,6 +151,13 @@ then
 				pwm rate -c $PWM_AUX_OUT -r $PWM_AUX_RATE -d $OUTPUT_AUX_DEV
 			fi
 
+			#
+			# Set disarmed, min and max PWM_AUX values
+			#
+			if [ $PWM_AUX_DISARMED != none ]
+			then
+				pwm disarmed -c $PWM_AUX_OUT -p $PWM_AUX_DISARMED -d $OUTPUT_AUX_DEV
+			fi
 			if [ $PWM_AUX_MIN != none ]
 			then
 				pwm min -c $PWM_AUX_OUT -p $PWM_AUX_MIN -d $OUTPUT_AUX_DEV
@@ -174,23 +168,6 @@ then
 			fi
 		fi
 
-		# Set disarmed values for aux out
-
-		# Transitional support until all configs
-		# are updated
-		if [ $PWM_ACHDIS == none ]
-		then
-			set PWM_ACHDIS ${PWM_AUX_OUT}
-		fi
-
-		#
-		# Set disarmed, min and max PWM_AUX values
-		#
-		if [ $PWM_AUX_DISARMED != none -a $PWM_ACHDIS != none ]
-		then
-			pwm disarmed -c $PWM_ACHDIS -p $PWM_AUX_DISARMED -d $OUTPUT_AUX_DEV
-		fi
-
 		if [ $FAILSAFE_AUX != none ]
 		then
 			pwm failsafe -d $OUTPUT_AUX_DEV $FAILSAFE
@@ -198,18 +175,5 @@ then
 
 	fi
 fi
-
-unset PWM_OUT
-unset PWM_RATE
-unset PWM_ACHDIS
-unset PWM_MIN
-unset PWM_MAX
-unset PWM_AUX_OUT
-unset PWM_AUX_RATE
-unset PWM_AUX_DISARMED
-unset PWM_AUX_MIN
-unset PWM_AUX_MAX
-unset FAILSAFE_AUX
-unset FAILSAFE
 unset OUTPUT_DEV
 unset OUTPUT_AUX_DEV

ROMFS/px4fmu_common/init.d/rc.io

@@ -18,4 +18,6 @@ fi
 
 if px4io limit $PX4IO_LIMIT
 then
+else
+	echo "[i] Set PX4IO update rate to $PX4IO_LIMIT Hz failed!"
 fi

ROMFS/px4fmu_common/init.d/rc.logging

@@ -0,0 +1,18 @@
+#!nsh
+#
+# Initialize logging services.
+#
+
+if [ -d /fs/microsd ]
+then
+	if ver hwcmp PX4FMU_V1
+	then
+		if sdlog2 start -r 40 -a -b 3 -t
+		then
+		fi
+	else
+		if sdlog2 start -r 100 -a -b 12 -t
+		then
+		fi
+	fi
+fi

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -4,31 +4,28 @@
 # att & pos estimator, att & pos control.
 #
 
-
-#---------------------------------------
-# Estimator group selction
-#
-# INAV
-if param compare SYS_MC_EST_GROUP 0
+# The system is defaulting to INAV_ENABLED = 1
+# but users can alternatively try the EKF-based
+# filter by setting INAV_ENABLED = 0
+if param compare INAV_ENABLED 1
 then
-	attitude_estimator_q start
+	# The system is defaulting to EKF_ATT_ENABLED = 1
+	# and uses the older EKF filter. However users can
+	# enable the new quaternion based complimentary
+	# filter by setting EKF_ATT_ENABLED = 0.
+	# Note that on FMUv1, the EKF att estimator is not
+	# available and the Q estimator runs instead.
+	if param compare EKF_ATT_ENABLED 1
+	then
+		attitude_estimator_ekf start
+	else
+		attitude_estimator_q start
+	fi
 	position_estimator_inav start
+else
+	ekf_att_pos_estimator start
 fi
 
-# LPE
-if param compare SYS_MC_EST_GROUP 1
-then
-	attitude_estimator_q start
-	local_position_estimator start
-fi
-
-# EKF
-if param compare SYS_MC_EST_GROUP 2
-then
-	ekf2 start
-fi
-#---------------------------------------
-
 if mc_att_control start
 then
 else

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -8,6 +8,8 @@ then
 	param set PE_VELD_NOISE 0.35
 	param set PE_POSNE_NOISE 0.5
 	param set PE_POSD_NOISE 1.25
+	param set PE_GBIAS_PNOISE 0.000001
+	param set PE_ABIAS_PNOISE 0.0001
 
 	param set NAV_ACC_RAD 2.0
 	param set RTL_RETURN_ALT 30.0
@@ -15,8 +17,20 @@ then
 	param set PWM_DISARMED 900
 	param set PWM_MIN 1075
 	param set PWM_MAX 1950
+fi
 
-	param set RTL_LAND_DELAY 0
+# Transitional support: ensure suitable PWM min/max param values
+if param compare PWM_MIN 1000
+then
+	param set PWM_MIN 1075
+fi
+if param compare PWM_MAX 2000
+then
+	param set PWM_MAX 1950
+fi
+if param compare PWM_DISARMED 0
+then
+	param set PWM_DISARMED 900
 fi
 
 # set environment variables (!= parameters)
@@ -33,17 +47,3 @@ set PWM_AUX_OUT 1234
 set PWM_AUX_DISARMED 1500
 set PWM_AUX_MIN 1000
 set PWM_AUX_MAX 2000
-
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1000
-then
-	param set PWM_MIN 1075
-fi
-if param compare PWM_MAX 2000
-then
-	param set PWM_MAX 1950
-fi
-if param compare PWM_DISARMED 0
-then
-	param set PWM_DISARMED 900
-fi

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -1,27 +1,10 @@
 #!nsh
 #
-# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers.
+# Standard startup script for PX4FMU v1, v2, v3 onboard sensor drivers.
 #
 
-if ver hwcmp PX4FMU_V1
+if ms5611 start
 then
-	if ms5611 start
-	then
-	fi
-else
-	# Configure all I2C buses to 100 KHz as they
-	# are all external or slow
-	fmu i2c 1 100000
-	fmu i2c 2 100000
-
-	if ms5611 -s start
-	then
-	fi
-
-	# Blacksheep telemetry
-	if bst start
-	then
-	fi
 fi
 
 if adc start
@@ -35,11 +18,6 @@ then
 	then
 	fi
 
-	# External I2C bus
-	if lis3mdl -X start
-	then
-	fi
-
 	# Internal I2C bus
 	if hmc5883 -C -T -I -R 4 start
 	then
@@ -74,10 +52,6 @@ then
 		then
 		fi
 
-		if meas_airspeed start -b 2
-		then
-		fi
-
 	else
 		# FMUv2
 		if mpu6000 start
@@ -92,37 +66,7 @@ then
 		then
 		fi
 	fi
-fi
-
-if ver hwcmp PX4FMU_V4
-then
-	# External I2C bus
-	if hmc5883 -C -T -X start
-	then
-	fi
-
-	if lis3mdl -R 2 start
-	then
-	fi
-
-	# Internal SPI bus is rotated 90 deg yaw
-	if hmc5883 -C -T -S -R 2 start
-	then
-	fi
-
-	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
-	if mpu6000 -R 2 -T 20608 start
-	then
-	fi
-
-	# Internal SPI bus mpu9250 is rotated 90 deg yaw
-	if mpu9250 -R 2 start
-	then
-	fi
-fi
-
-if ver hwcmp PX4FMU_V1
-then
+else
 	# FMUv1
 	if mpu6000 start
 	then
@@ -154,30 +98,6 @@ then
 	fi
 fi
 
-if ver hwcmp MINDPX_V2
-then
-	if mpu6500 start
-	then
-	fi
-
-	if lsm303d start
-	then
-	fi
-
-	if l3gd20 start
-	then
-	fi
-
-	# External I2C bus
-	if hmc5883 -C -T -X start
-	then
-	fi
-
-	if lis3mdl -R 2 start
-	then
-	fi
-fi
-
 if meas_airspeed start
 then
 else
@@ -190,12 +110,13 @@ else
 	fi
 fi
 
-if sf10a start
+# Check for flow sensor
+if px4flow start &
 then
 fi
 
-# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
-usleep 20000
-if sensors start
-then
-fi
+#
+# Start sensors
+#
+sensors start
+

ROMFS/px4fmu_common/init.d/rc.uavcan

@@ -3,27 +3,16 @@
 # UAVCAN initialization script.
 #
 
-#
-# Starting stuff according to UAVCAN_ENABLE value
-#
-if param greater UAVCAN_ENABLE 0
+if param compare UAVCAN_ENABLE 1
 then
 	if uavcan start
 	then
+		# First sensor publisher to initialize takes lowest instance ID
+		# This delay ensures that UAVCAN-interfaced sensors would be allocated on lowest instance IDs
+		sleep 1
 		echo "[i] UAVCAN started"
 	else
 		echo "[i] ERROR: Could not start UAVCAN"
 		tone_alarm $TUNE_ERR
 	fi
 fi
-
-if param greater UAVCAN_ENABLE 1
-then
-	if uavcan start fw
-	then
-		echo "[i] UAVCAN servers started"
-	else
-		echo "[i] ERROR: Could not start UAVCAN servers"
-		tone_alarm $TUNE_ERR
-	fi
-fi

ROMFS/px4fmu_common/init.d/rc.usb

@@ -3,7 +3,24 @@
 # USB MAVLink start
 #
 
-mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+mavlink start -r 800000 -d /dev/ttyACM0 -x
+# Enable a number of interesting streams we want via USB
+mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 300
+mavlink stream -d /dev/ttyACM0 -s MISSION_ITEM -r 50
+mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
+mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW_RAD -r 10
+mavlink stream -d /dev/ttyACM0 -s DISTANCE_SENSOR -r 10
+mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
+mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 100
+mavlink stream -d /dev/ttyACM0 -s ACTUATOR_CONTROL_TARGET0 -r 30
+mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS -r 5
+mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
+mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_1 -r 20
+mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
+mavlink stream -d /dev/ttyACM0 -s LOCAL_POSITION_NED -r 30
+mavlink stream -d /dev/ttyACM0 -s MANUAL_CONTROL -r 5
+mavlink stream -d /dev/ttyACM0 -s HIGHRES_IMU -r 100
+mavlink stream -d /dev/ttyACM0 -s GPS_RAW_INT -r 20
 
 # Exit shell to make it available to MAVLink
 exit

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -3,33 +3,10 @@
 # Standard apps for vtol:
 # att & pos estimator, att & pos control.
 #
-#
-
-
-#---------------------------------------
-# Estimator group selction
-#
-# INAV
-if param compare SYS_MC_EST_GROUP 0
-then
-	attitude_estimator_q start
-	position_estimator_inav start
-fi
-
-# LPE
-if param compare SYS_MC_EST_GROUP 1
-then
-	attitude_estimator_q start
-	local_position_estimator start
-fi
-
-# EKF
-if param compare SYS_MC_EST_GROUP 2
-then
-	ekf2 start
-fi
-#---------------------------------------
 
+attitude_estimator_q start
+#ekf_att_pos_estimator start
+position_estimator_inav start
 
 vtol_att_control start
 mc_att_control start
@@ -39,6 +16,6 @@ fw_pos_control_l1 start
 
 #
 # Start Land Detector
-# Multicopter for now until we have something for VTOL
+# Fixed wing for now until we have something for VTOL
 #
-land_detector start vtol
+land_detector start fixedwing

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -4,46 +4,43 @@ set VEHICLE_TYPE vtol
 
 if [ $AUTOCNF == yes ]
 then
+	#
+	#Default controller parameters for MC
+	#
 	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 6.0
+	param set MC_PITCHRATE_P 0.2
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 4
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.3
+
+	#
+	# Default parameters for FW
+	#
+	param set FW_PR_FF 0.3
+	param set FW_PR_I 0.000
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.02
+	param set FW_RR_FF 0.3
+	param set FW_RR_I 0.00
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.02
 
 	param set PE_VELNE_NOISE 0.5
 	param set PE_VELD_NOISE 0.3
 	param set PE_POSNE_NOISE 0.5
 	param set PE_POSD_NOISE 1.25
+	param set PE_GBIAS_PNOISE 0.000001
 	param set PE_ABIAS_PNOISE 0.0001
-
-	#
-	# Default parameters for mission and position handling
-	#
-	param set NAV_ACC_RAD 3
-	param set MPC_TKO_SPEED 1.0
-	param set MPC_LAND_SPEED 0.7
-	param set MPC_Z_VEL_MAX 1.5
-	param set MPC_XY_VEL_MAX 4.0
-	param set MIS_YAW_TMT 10
-	param set MPC_ACC_HOR_MAX 2.0
-	param set RTL_LAND_DELAY 0
 fi
 
-# set environment variables (!= parameters)
-set PWM_RATE 400
-# tell the mixer to use parameters for these instead
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
-
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1000
-then
-	param set PWM_MIN 1075
-fi
-if param compare PWM_MAX 2000
-then
-	param set PWM_MAX 1950
-fi
-if param compare PWM_DISARMED 0
-then
-	param set PWM_DISARMED 900
-fi
+set PWM_DISARMED 900
+set PWM_MIN 1000
+set PWM_MAX 2000

ROMFS/px4fmu_common/init.d/rcS

@@ -15,6 +15,8 @@ sercon
 #
 set MODE autostart
 
+set FRC /fs/microsd/etc/rc.txt
+set FCONFIG /fs/microsd/etc/config.txt
 set TUNE_ERR ML<<CP4CP4CP4CP4CP4
 set LOG_FILE /fs/microsd/bootlog.txt
 
@@ -24,6 +26,7 @@ set LOG_FILE /fs/microsd/bootlog.txt
 # REBOOTWORK this needs to start after the flight control loop
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
+	echo "[i] microSD mounted: /fs/microsd"
 	# Start playing the startup tune
 	tone_alarm start
 else
@@ -32,9 +35,9 @@ else
 	then
 		if mount -t vfat /dev/mmcsd0 /fs/microsd
 		then
-			echo "INFO  [init] MicroSD card formatted"
+			echo "[i] microSD card formatted"
 		else
-			echo "ERROR [init] Format failed"
+			echo "[i] format failed"
 			tone_alarm MNBG
 			set LOG_FILE /dev/null
 		fi
@@ -47,10 +50,9 @@ fi
 # Look for an init script on the microSD card.
 # Disable autostart if the script found.
 #
-set FRC /fs/microsd/etc/rc.txt
 if [ -f $FRC ]
 then
-	echo "INFO  [init] Executing script: $FRC"
+	echo "[i] Executing script: $FRC"
 	sh $FRC
 	set MODE custom
 fi
@@ -58,6 +60,9 @@ unset FRC
 
 if [ $MODE == autostart ]
 then
+	# Try to get an USB console
+	# REBOOTWORK this needs to start after the flight control loop
+	nshterm /dev/ttyACM0 &
 
 	#
 	# Start the ORB (first app to start)
@@ -76,7 +81,9 @@ then
 	param select $PARAM_FILE
 	if param load
 	then
+		echo "[param] Loaded: $PARAM_FILE"
 	else
+		echo "[param] FAILED loading $PARAM_FILE"
 		if param reset
 		then
 		fi
@@ -99,18 +106,6 @@ then
 	#then
 	#fi
 
-	#
-	# Set AUTOCNF flag to use it in AUTOSTART scripts
-	#
-	if param compare SYS_AUTOCONFIG 1
-	then
-		# Wipe out params except RC*
-		param reset_nostart RC*
-		set AUTOCNF yes
-	else
-		set AUTOCNF no
-	fi
-
 	#
 	# Set default values
 	#
@@ -126,73 +121,59 @@ then
 	set PWM_MAX none
 	set PWM_AUX_OUT none
 	set PWM_AUX_RATE none
-	set PWM_ACHDIS none
 	set PWM_AUX_DISARMED none
 	set PWM_AUX_MIN none
 	set PWM_AUX_MAX none
 	set FAILSAFE_AUX none
 	set MK_MODE none
 	set FMU_MODE pwm
-	set AUX_MODE pwm
 	set MAVLINK_F default
 	set EXIT_ON_END no
 	set MAV_TYPE none
+	set LOAD_DAPPS yes
+	set GPS yes
+	set GPS_FAKE no
 	set FAILSAFE none
-	set USE_IO yes
+
+	#
+	# Set AUTOCNF flag to use it in AUTOSTART scripts
+	#
+	if param compare SYS_AUTOCONFIG 1
+	then
+		# Wipe out params except RC*
+		param reset_nostart RC*
+		set AUTOCNF yes
+	else
+		set AUTOCNF no
+	fi
 
 	#
 	# Set USE_IO flag
 	#
 	if param compare SYS_USE_IO 1
 	then
-		if ver hwcmp PX4FMU_V4
-		then
-			set USE_IO no
-		fi
-
-		if ver hwcmp MINDPX_V2
-		then
-			set USE_IO no
-		fi
+		set USE_IO yes
 	else
 		set USE_IO no
 	fi
 
-	# should set to 0.8 for mindpx-v2 borad.
-	if param compare INAV_LIDAR_ERR 0.5
-	then
-		if ver hwcmp MINDPX_V2
-		then
-			param set INAV_LIDAR_ERR 0.8
-			param save
-		fi
-	fi
-
 	#
 	# Set parameters and env variables for selected AUTOSTART
 	#
 	if param compare SYS_AUTOSTART 0
 	then
-		echo "INFO  [init] No autostart"
+		echo "[i] No autostart"
 	else
 		sh /etc/init.d/rc.autostart
 	fi
 	unset MODE
 
-	#
-	# Wipe incompatible settings for boards not having two outputs
-	if ver hwcmp PX4FMU_V4
-	then
-		set MIXER_AUX none
-	fi
-
 	#
 	# Override parameters from user configuration file
 	#
-	set FCONFIG /fs/microsd/etc/config.txt
 	if [ -f $FCONFIG ]
 	then
-		echo "INFO  [init] Custom: $FCONFIG"
+		echo "[i] Custom config: $FCONFIG"
 		sh $FCONFIG
 	fi
 	unset FCONFIG
@@ -214,19 +195,21 @@ then
 		#
 		# Check if PX4IO present and update firmware if needed
 		#
-		if [ -f /etc/extras/px4io-v2.bin ]
+		if [ -f /etc/extras/px4io-v2_default.bin ]
 		then
-			set IO_FILE /etc/extras/px4io-v2.bin
+			set IO_FILE /etc/extras/px4io-v2_default.bin
 		else
-			set IO_FILE /etc/extras/px4io-v1.bin
+			set IO_FILE /etc/extras/px4io-v1_default.bin
 		fi
 
 		if px4io checkcrc ${IO_FILE}
 		then
-			echo "INFO  [init] PX4IO CRC OK" >> $LOG_FILE
+			echo "PX4IO CRC OK" >> $LOG_FILE
 
 			set IO_PRESENT yes
 		else
+			echo "PX4IO Trying to update" >> $LOG_FILE
+
 			tone_alarm MLL32CP8MB
 
 			if px4io start
@@ -246,16 +229,16 @@ then
 				usleep 500000
 				if px4io checkcrc $IO_FILE
 				then
-					echo "INFO  [init] PX4IO CRC OK after updating" >> $LOG_FILE
+					echo "PX4IO CRC OK after updating" >> $LOG_FILE
 					tone_alarm MLL8CDE
 
 					set IO_PRESENT yes
 				else
-					echo "ERROR [init] PX4IO update failed" >> $LOG_FILE
+					echo "ERROR: PX4IO update failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 			else
-				echo "ERROR [init] PX4IO update failed" >> $LOG_FILE
+				echo "ERROR: PX4IO update failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -263,7 +246,8 @@ then
 
 		if [ $IO_PRESENT == no ]
 		then
-			echo "ERROR [init] PX4IO not found" >> $LOG_FILE
+			echo "[i] ERROR: PX4IO not found"
+			echo "ERROR: PX4IO not found" >> $LOG_FILE
 			tone_alarm $TUNE_ERR
 		fi
 	fi
@@ -285,6 +269,7 @@ then
 	then
 		# Need IO for output but it not present, disable output
 		set OUTPUT_MODE none
+		echo "[i] ERROR: PX4IO not found, disabling output"
 
 		# Avoid using ttyS0 for MAVLink on FMUv1
 		if ver hwcmp PX4FMU_V1
@@ -305,11 +290,8 @@ then
 		then
 			set FMU_MODE serial
 		fi
-		unset HIL
-	else
-		unset HIL
-		gps start
 	fi
+	unset HIL
 
 	# waypoint storage
 	# REBOOTWORK this needs to start in parallel
@@ -321,33 +303,27 @@ then
 	# Sensors System (start before Commander so Preflight checks are properly run)
 	#
 	sh /etc/init.d/rc.sensors
+	
+	if [ $GPS == yes ]
+	then
+		if [ $GPS_FAKE == yes ]
+		then
+			echo "[i] Faking GPS"
+			gps start -f
+		else
+			gps start
+		fi
+	fi
+	unset GPS_FAKE
 
 	# Needs to be this early for in-air-restarts
-	if [ $OUTPUT_MODE == hil ]
-	then
-	    commander start -hil
-	else
-	    commander start
-	fi
-
-	#
-	# Start CPU load monitor
-	#
-	load_mon start
+	commander start
 
 	#
 	# Start primary output
 	#
 	set TTYS1_BUSY no
 
-	#
-	# Check if UAVCAN is enabled, default to it for ESCs
-	#
-	if param greater UAVCAN_ENABLE 2
-	then
-		set OUTPUT_MODE uavcan_esc
-	fi
-
 	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
 	if [ $OUTPUT_MODE != none ]
 	then
@@ -355,7 +331,7 @@ then
 		then
 			if param compare UAVCAN_ENABLE 0
 			then
-				echo "INFO  [init] OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE
+				echo "[i] OVERRIDING UAVCAN_ENABLE = 1"
 				param set UAVCAN_ENABLE 1
 			fi
 		fi
@@ -366,7 +342,7 @@ then
 			then
 				sh /etc/init.d/rc.io
 			else
-				echo "INFO  [init] PX4IO start failed" >> $LOG_FILE
+				echo "ERROR: PX4IO start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -375,8 +351,10 @@ then
 		then
 			if fmu mode_$FMU_MODE
 			then
+				echo "[i] FMU mode_$FMU_MODE started"
 			else
-				echo "ERR  [init] FMU start failed" >> $LOG_FILE
+				echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
+				echo "ERROR: FMU start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 
@@ -407,8 +385,10 @@ then
 
 			if mkblctrl $MKBLCTRL_ARG
 			then
+				echo "[i] MK started"
 			else
-				echo "ERROR [init] MK start failed" >> $LOG_FILE
+				echo "[i] ERROR: MK start failed"
+				echo "ERROR: MK start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 			unset MKBLCTRL_ARG
@@ -417,10 +397,12 @@ then
 
 		if [ $OUTPUT_MODE == hil ]
 		then
-			if pwm_out_sim mode_port2_pwm8
+			if hil mode_port2_pwm8
 			then
+				echo "[i] HIL output started"
 			else
-				echo "ERROR [init] PWM SIM start failed" >> $LOG_FILE
+				echo "[i] ERROR: HIL output start failed"
+				echo "ERROR: HIL output start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -434,9 +416,11 @@ then
 			then
 				if px4io start
 				then
+					echo "[i] PX4IO started"
 					sh /etc/init.d/rc.io
 				else
-					echo "ERROR [init] PX4IO start failed" >> $LOG_FILE
+					echo "[i] ERROR: PX4IO start failed"
+					echo "ERROR: PX4IO start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 			fi
@@ -445,8 +429,10 @@ then
 			then
 				if fmu mode_$FMU_MODE
 				then
+					echo "[i] FMU mode_$FMU_MODE started"
 				else
-					echo "ERROR [init] FMU mode_$FMU_MODE start failed" >> $LOG_FILE
+					echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
+					echo "ERROR: FMU mode_$FMU_MODE start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 
@@ -465,6 +451,17 @@ then
 		fi
 	fi
 
+	# Start sensors depending on the interface being up
+	if param compare SENS_EN_LL40LS 1
+	then
+		if pwm_input start
+		then
+			if ll40ls start pwm
+			then
+			fi
+		fi
+	fi
+
 	if [ $MAVLINK_F == default ]
 	then
 		# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
@@ -476,14 +473,8 @@ then
 			# Exit from nsh to free port for mavlink
 			set EXIT_ON_END yes
 		else
+			# Start MAVLink on default port: ttyS1
 			set MAVLINK_F "-r 1200"
-			# Avoid using ttyS1 for MAVLink on FMUv4
-			if ver hwcmp PX4FMU_V4
-			then
-				set MAVLINK_F "-r 1200 -d /dev/ttyS1"
-				# Start MAVLink on Wifi (ESP8266 port)
-				mavlink start -r 20000 -m config -b 921600 -d /dev/ttyS0
-			fi
 		fi
 	fi
 
@@ -493,15 +484,10 @@ then
 	#
 	# MAVLink onboard / TELEM2
 	#
-	if ver hwcmp PX4FMU_V1
+	if ver hwcmp PX4FMU_V2
 	then
-	else
 		# XXX We need a better way for runtime eval of shell variables,
 		# but this works for now
-		if param compare SYS_COMPANION 10
-		then
-			frsky_telemetry start -d /dev/ttyS2
-		fi
 		if param compare SYS_COMPANION 921600
 		then
 			mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 80000 -x
@@ -514,136 +500,16 @@ then
 		then
 			mavlink start -d /dev/ttyS2 -b 57600 -m osd -r 1000
 		fi
-		if param compare SYS_COMPANION 257600
-		then
-			mavlink start -d /dev/ttyS2 -b 57600 -m magic -r 5000 -x
-		fi
-		if param compare SYS_COMPANION 357600
-		then
-			mavlink start -d /dev/ttyS2 -b 57600 -r 1000
-		fi
-		if param compare SYS_COMPANION 1921600
-		then
-			mavlink start -d /dev/ttyS2 -b 921600 -r 20000
-		fi
-		# Sensors on the PWM interface bank
-		# clear pins 5 and 6
-		if param compare SENS_EN_LL40LS 1
-		then
-			set AUX_MODE pwm4
-		fi
-		if param greater TRIG_MODE 0
-		then
-			# Get FMU driver out of the way
-			set MIXER_AUX none
-			set AUX_MODE none
-			camera_trigger start
-		fi
 	fi
 
+	# UAVCAN
 	#
-	# Starting stuff according to UAVCAN_ENABLE value
-	#
-	if param greater UAVCAN_ENABLE 0
-	then
-		if uavcan start
-		then
-		else
-			tone_alarm $TUNE_ERR
-		fi
-	fi
-
-	if param greater UAVCAN_ENABLE 1
-	then
-		if uavcan start fw
-		then
-		else
-			tone_alarm $TUNE_ERR
-		fi
-	fi
-
-	#
-	# Optional drivers
-	#
-
-	# Sensors on the PWM interface bank
-	if param compare SENS_EN_LL40LS 1
-	then
-		if pwm_input start
-		then
-			if ll40ls start pwm
-			then
-			fi
-		fi
-	fi
-
-	# sf0x lidar sensor
-	if param compare SENS_EN_SF0X 1
-	then
-		sf0x start
-	fi
-
-	if ver hwcmp PX4FMU_V4
-	then
-		frsky_telemetry start -d /dev/ttyS6
-	fi
-
-	if ver hwcmp PX4FMU_V2
-	then
-		# Check for flow sensor - as it is a background task, launch it last
-		px4flow start &
-	fi
-
-	if ver hwcmp MINDPX_V2
-	then
-		#mindxp also need flow
-		px4flow start &
-	fi
-
-	# Start USB shell if no microSD present, MAVLink else
-	if [ $LOG_FILE == /dev/null ]
-	then
-		# Try to get an USB console
-		nshterm /dev/ttyACM0 &
-	else
-		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
-	fi
+	sh /etc/init.d/rc.uavcan
 
 	#
 	# Logging
 	#
-	if ver hwcmp PX4FMU_V1
-	then
-		if sdlog2 start -r 30 -a -b 2 -t
-		then
-		fi
-	else
-		# check if we should increase logging rate for ekf2 replay message logging
-		if param greater EKF2_REC_RPL 0
-		then
-			if param compare SYS_LOGGER 0
-			then
-				if sdlog2 start -r 500 -e -b 18 -t
-				then
-				fi
-			else
-				if logger start -r 500
-				then
-				fi
-			fi
-		else
-			if param compare SYS_LOGGER 0
-			then
-				if sdlog2 start -r 100 -a -b 9 -t
-				then
-				fi
-			else
-				if logger start -b 12
-				then
-				fi
-			fi
-		fi
-	fi
+	sh /etc/init.d/rc.logging
 
 	#
 	# Start up ARDrone Motor interface
@@ -658,7 +524,7 @@ then
 	#
 	if [ $VEHICLE_TYPE == fw ]
 	then
-		echo "INFO  [init] Fixedwing"
+		echo "[i] FIXED WING"
 
 		if [ $MIXER == none ]
 		then
@@ -678,7 +544,10 @@ then
 		sh /etc/init.d/rc.interface
 
 		# Start standard fixedwing apps
-		sh /etc/init.d/rc.fw_apps
+		if [ $LOAD_DAPPS == yes ]
+		then
+			sh /etc/init.d/rc.fw_apps
+		fi
 	fi
 
 	#
@@ -686,11 +555,11 @@ then
 	#
 	if [ $VEHICLE_TYPE == mc ]
 	then
-		echo "INFO  [init] Multicopter"
+		echo "[i] MULTICOPTER"
 
 		if [ $MIXER == none ]
 		then
-			echo "INFO  [init] Mixer undefined"
+			echo "Mixer undefined"
 		fi
 
 		if [ $MAV_TYPE == none ]
@@ -704,10 +573,6 @@ then
 			then
 				set MAV_TYPE 2
 			fi
-			if [ $MIXER == quad_h ]
-			then
-				set MAV_TYPE 2
-			fi
 			if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
 			then
 				set MAV_TYPE 15
@@ -724,20 +589,16 @@ then
 			then
 				set MAV_TYPE 14
 			fi
-			if [ $MIXER == octo_cox -o $MIXER == octo_cox_w ]
+			if [ $MIXER == octo_cox ]
 			then
 				set MAV_TYPE 14
 			fi
-			if [ $MIXER == coax ]
-			then
-				set MAV_TYPE 3
-			fi
 		fi
 
 		# Still no MAV_TYPE found
 		if [ $MAV_TYPE == none ]
 		then
-			echo "WARN  [init] Unknown MAV_TYPE"
+			echo "Unknown MAV_TYPE"
 			param set MAV_TYPE 2
 		else
 			param set MAV_TYPE $MAV_TYPE
@@ -747,7 +608,10 @@ then
 		sh /etc/init.d/rc.interface
 
 		# Start standard multicopter apps
-		sh /etc/init.d/rc.mc_apps
+		if [ $LOAD_DAPPS == yes ]
+		then
+			sh /etc/init.d/rc.mc_apps
+		fi
 	fi
 
 	#
@@ -755,11 +619,11 @@ then
 	#
 	if [ $VEHICLE_TYPE == vtol ]
 	then
-		echo "INFO  [init] VTOL"
+		echo "[init] Vehicle type: VTOL"
 
 		if [ $MIXER == none ]
 		then
-			echo "WARN  [init] VTOL mixer undefined"
+			echo "Default mixer for vtol not defined"
 		fi
 
 		if [ $MAV_TYPE == none ]
@@ -782,7 +646,7 @@ then
 		# Still no MAV_TYPE found
 		if [ $MAV_TYPE == none ]
 		then
-			echo "WARN  [init] Unknown MAV_TYPE"
+			echo "Unknown MAV_TYPE"
 			param set MAV_TYPE 19
 		else
 			param set MAV_TYPE $MAV_TYPE
@@ -792,7 +656,10 @@ then
 		sh /etc/init.d/rc.interface
 
 		# Start standard vtol apps
-		sh /etc/init.d/rc.vtol_apps
+		if [ $LOAD_DAPPS == yes ]
+		then
+			sh /etc/init.d/rc.vtol_apps
+		fi
 	fi
 
 	#
@@ -807,51 +674,14 @@ then
 		sh /etc/init.d/rc.interface
 
 		# Start standard rover apps
-		sh /etc/init.d/rc.axialracing_ax10_apps
+		if [ $LOAD_DAPPS == yes ]
+		then
+			sh /etc/init.d/rc.axialracing_ax10_apps
+		fi
 
 		param set MAV_TYPE 10
 	fi
 
-	#
-	# For snapdragon, we need a passthrough mode
-	# Do not run any mavlink instances since we need the serial port for
-	# communication with Snapdragon.
-	#
-	if [ $VEHICLE_TYPE == passthrough ]
-	then
-		mavlink stop-all
-		commander stop
-
-		# Stop multicopter attitude controller if it is running, the controls come
-		# from Snapdragon.
-		if mc_att_control stop
-		then
-		fi
-
-		# Start snapdragon interface on serial port.
-		if ver hwcmp PX4FMU_V2
-		then
-			# On Pixfalcon use the standard telemetry port (Telem 1).
-			snapdragon_rc_pwm start -d /dev/ttyS1
-			px4io start
-		fi
-
-		if ver hwcmp PX4FMU_V4
-		then
-			# On Pixracer use Telem 2 port (TL2).
-			snapdragon_rc_pwm start -d /dev/ttyS2
-			fmu mode_pwm4
-		fi
-
-		pwm failsafe -c 1234 -p 900
-		pwm disarmed -c 1234 -p 900
-
-		# Arm straightaway.
-		pwm arm
-		# Use 400 Hz PWM on all channels.
-		pwm rate -a -r 400
-	fi
-
 	unset MIXER
 	unset MAV_TYPE
 	unset OUTPUT_MODE
@@ -866,14 +696,15 @@ then
 	#
 	if [ $VEHICLE_TYPE == none ]
 	then
-		echo "WARN  [init] No autostart ID found"
+		echo "[i] No autostart ID found"
+
 	fi
 
 	# Start any custom addons
 	set FEXTRAS /fs/microsd/etc/extras.txt
 	if [ -f $FEXTRAS ]
 	then
-		echo "INFO  [init] Addons script: $FEXTRAS"
+		echo "[i] Addons script: $FEXTRAS"
 		sh $FEXTRAS
 	fi
 	unset FEXTRAS
@@ -881,23 +712,24 @@ then
 	# Run no SD alarm
 	if [ $LOG_FILE == /dev/null ]
 	then
+		echo "[i] No microSD card found"
 		# Play SOS
 		tone_alarm error
 	fi
 
+	# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
+	mavlink boot_complete
+
+	if [ $EXIT_ON_END == yes ]
+	then
+		echo "Exit from nsh"
+		exit
+	fi
+	unset EXIT_ON_END
+
 # End of autostart
 fi
 
-# There is no further script processing, so we can free some RAM
+# There is no further processing, so we can free some RAM
 # XXX potentially unset all script variables.
 unset TUNE_ERR
-
-# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
-mavlink boot_complete
-
-if [ $EXIT_ON_END == yes ]
-then
-	echo "INFO  [init] NSH exit"
-	exit
-fi
-unset EXIT_ON_END

ROMFS/px4fmu_common/mixers/AAERTWF.main.mix

@@ -1,96 +0,0 @@
-Aileron/rudder/elevator/throttle/wheel/flaps mixer for PX4FMU
-=======================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU.
-The configuration assumes the aileron servo(s) are connected to PX4FMU servo
-output 0 and 1, the elevator to output 2, the rudder to output 3, the throttle
-to output 4 and the wheel to output 5.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
-
-Aileron mixer (roll + flaperon)
----------------------------------
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
-
-Elevator mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Rudder mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-Wheel mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the wheel servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
-
-
-Flaps / gimbal / payload mixer for last three channels,
-using the payload control group
------------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 0  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 2  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix

@@ -1,84 +0,0 @@
-Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
-=======================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
-using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU servo
-output 0 and 1, the tail servos to output 2 and 3, the throttle
-to output 4, the wheel to output 5 and the flaps to output 6 and 7.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
-
-Aileron mixer (roll + flaperon)
----------------------------------
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
-
-V-tail mixers
--------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two tail servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 2  -7000  -7000      0 -10000  10000
-S: 0 1  -8000  -8000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 2  -7000  -7000      0 -10000  10000
-S: 0 1   8000   8000      0 -10000  10000
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-Wheel mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the wheel servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2 -10000 -10000      0 -10000  10000
-
-Flaps mixer
-------------
-Flap servos are physically reversed.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4      0   5000 -10000 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4      0  -5000  10000 -10000  10000
-

ROMFS/px4fmu_common/mixers/AERT.main.mix

@@ -62,3 +62,24 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / flaps / payload mixer for last four channels,
+using the payload control group
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 3  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/AET.main.mix

@@ -58,3 +58,23 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/AETR.main.mix

@@ -62,3 +62,23 @@ endpoints to suit.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000
+
+Gimbal / flaps / payload mixer for last four channels,
+using the payload control group
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 3  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/Q.main.mix

@@ -49,3 +49,22 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/RET.main.mix

@@ -51,3 +51,23 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/X5.main.mix

@@ -47,3 +47,22 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix

@@ -1,39 +1,16 @@
-Caipirinha tailsitter mixer
-============================
-
-This file defines a mixer for the TBS Caipirinha tailsitter edition. This vehicle
-has two motors in total, one attached to each wing. It also has two elevons which
-are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
-elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
-at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used. 
-
-Motor mixer
-------------
-Channel 1 connects to the right (starboard) motor.
-Channel 2 connects to the left (port) motor.
-
+#!nsh
+# Caipirinha vtol mixer for PX4FMU
+#
+#===========================
 R: 2- 10000 10000 10000 0
 
-Zero mixer (2x)
----------------
-Channels 3,4 are unused.
-
-Z:
-
-Z:
-
-Elevons mixer
---------------
-Channel 5 connects to the right (starboard) elevon.
-Channel 6 connects to the left (port) elevon.
+#mixer for the elevons
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+S: 1 1  10000  10000      0 -10000  10000
 
 M: 2
-O:        7500    7500    0 -10000  10000
-S: 1 0  -10000  -10000    0 -10000  10000
-S: 1 1   10000   10000    0 -10000  10000
-
-M: 2
-O:        7500    7500    0 -10000  10000
-S: 1 0  -10000  -10000    0 -10000  10000
+O:       10000   10000    0 -10000  10000
+S: 1 0   10000   10000    0 -10000  10000
 S: 1 1  -10000  -10000    0 -10000  10000

ROMFS/px4fmu_common/mixers/coax.main.mix

@@ -1,33 +0,0 @@
-Coaxial helicopter mixer
-- Two servomotors act on the swashplate (90° angle on the swashplate, decoupled effect on roll and pitch).
-- No collective pitch.
-- One motor per rotor.
-===========================
-
-Left swashplate servomotor, pitch axis
--------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Right swashplate servomotor, roll axis
--------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-
-Upper rotor (CCW)
-Mixing between yaw and thrust
--------------
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-Lower rotor (CW)
-Mixing between yaw and thrust
--------------
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 2  -10000  -10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/delta.main.mix

@@ -47,3 +47,24 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
+

ROMFS/px4fmu_common/mixers/octo_cox_w.main.mix

@@ -1,3 +0,0 @@
-# Octo coaxial with wide arms
-
-R: 8cw 10000 10000 10000 0

ROMFS/px4fmu_common/mixers/phantom.main.mix

@@ -46,3 +46,22 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/plane_sitl.main.mix

@@ -1,26 +0,0 @@
-Mixer for SITL plane, using the VTOL airframe for now
-=========================================================
-
-Z:
-
-Z:
-
-Z:
-
-Z:
-
-# mixer for the elevons
-M: 2
-O:      10000  10000   0 -10000  10000
-S: 0 0  5000   5000    0 -10000  10000
-S: 0 1 -5000 -5000     0 -10000  10000
-
-M: 2
-O:       10000   10000   0 -10000  10000
-S: 0 0   5000    5000    0 -10000  10000
-S: 0 1   5000    5000    0 -10000  10000
-
-# mixer for the pusher/puller throttle
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/quad_+.main.mix

@@ -6,13 +6,22 @@ are mixed 100%.
 
 R: 4+ 10000 10000 10000 0
 
-Gimbal / payload mixer for last two channels
+
+Gimbal / payload mixer for last four channels
 -----------------------------------------------------
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/quad_h.main.mix

@@ -1,18 +0,0 @@
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a quadrotor in the H configuration.  All controls
-are mixed 100%.
-
-R: 4h 10000 10000 10000 0
-
-Gimbal / payload mixer for last two channels
------------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/quad_test.mix

@@ -1,25 +0,0 @@
-Multirotor mixer for TEST
-===========================
-
-This file defines a single mixer for a quadrotor with a wide configuration.  All controls are mixed 100%.
-
-R: 4w 10000 10000 10000 0
-
-Gimbal / payload mixer for last four channels
------------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/quad_v.main.mix

@@ -6,13 +6,21 @@ are mixed 100%.
 
 R: 4v 10000 10000 10000 0
 
-Gimbal / payload mixer for last two channels
+Gimbal / payload mixer for last four channels
 -----------------------------------------------------
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/quad_w.main.mix

@@ -5,13 +5,21 @@ This file defines a single mixer for a quadrotor with a wide configuration.  All
 
 R: 4w 10000 10000 10000 0
 
-Gimbal / payload mixer for last two channels
+Gimbal / payload mixer for last four channels
 -----------------------------------------------------
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/quad_x.main.mix

@@ -1,7 +1,26 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in the X configuration.  All controls
+are mixed 100%.
+
 R: 4x 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix

@@ -9,10 +9,10 @@ R: 4x 10000 10000 10000 0
 #mixer for the elevons
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 0  5000  5000      0 -10000  10000
-S: 1 1  5000  5000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+S: 1 1  10000  10000      0 -10000  10000
 
 M: 2
 O:       10000   10000    0 -10000  10000
-S: 1 0   5000   5000    0 -10000  10000
-S: 1 1  -5000  -5000    0 -10000  10000
+S: 1 0   10000   10000    0 -10000  10000
+S: 1 1  -10000  -10000    0 -10000  10000

ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix

@@ -5,17 +5,21 @@ This file defines a single mixer for a quadrotor in SK450 DeadCat configuration.
 
 R: 4dc 10000 10000 10000 0
 
-Gimbal / payload mixer for last three channels
+Gimbal / payload mixer for last four channels
 -----------------------------------------------------
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 7  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/solo.main.mix

@@ -1,7 +0,0 @@
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a quadrotor in the X configuration.  All controls
-are mixed 100%.
-
-R: 4x 10000 10000 10000 0

ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix

@@ -1,24 +0,0 @@
-Mixer for standard vtol plane (SITL) with motor x configuration
-=========================================================
-
-This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration.
-The plane has two ailerons and one elevator. The ailerons and elevator are treated as elevons
-in order to make the standard vtol simulation compatible with the tailsitter simulation.
-
-R: 4x 10000 10000 10000 0
-
-# mixer for the elevons
-M: 2
-O:      10000  10000   0 -10000  10000
-S: 1 0  5000   5000    0 -10000  10000
-S: 1 1 -5000 -5000     0 -10000  10000
-
-M: 2
-O:       10000   10000   0 -10000  10000
-S: 1 0   5000    5000    0 -10000  10000
-S: 1 1   5000    5000    0 -10000  10000
-
-# mixer for the pusher/puller throttle
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix

@@ -1,59 +0,0 @@
-Aileron/v-tail/throttle VTOL mixer for PX4FMU
-=======================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU 
-AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
-to output 4.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
-
-Aileron mixer (roll + flaperon)
----------------------------------
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  10000  10000      0 -10000  10000
-S: 1 6  10000  10000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  10000  10000      0 -10000  10000
-S: 1 6 -10000 -10000      0 -10000  10000
-
-
-V-tail mixers
--------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two tail servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 2  -7000  -7000      0 -10000  10000
-S: 1 1  -8000  -8000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 2  -7000  -7000      0 -10000  10000
-S: 1 1   8000   8000      0 -10000  10000
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 3      0  20000 -10000 -10000  10000
-

ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix

@@ -1,39 +0,0 @@
-Delta-wing VTOL mixer
-=====================
-
-This file defines mixers suitable for controlling a delta wing VTOL aircraft using
-PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
-AUX servo outputs 0 and 1 and the motor speed control to output 2.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-Elevon mixers
--------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two elevon servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  -6000  -6000      0 -10000  10000
-S: 1 1   6500   6500      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  -6000  -6000      0 -10000  10000
-S: 1 1  -6500  -6500      0 -10000  10000
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_test/init.d/rc.sensors

@@ -1,201 +0,0 @@
-#!nsh
-#
-# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers.
-#
-
-if ver hwcmp PX4FMU_V1
-then
-	if ms5611 start
-	then
-	fi
-else
-	# Configure all I2C buses to 100 KHz as they
-	# are all external or slow
-	fmu i2c 1 100000
-	fmu i2c 2 100000
-
-	if ms5611 -s start
-	then
-	fi
-
-	# Blacksheep telemetry
-	if bst start
-	then
-	fi
-fi
-
-if adc start
-then
-fi
-
-if ver hwcmp PX4FMU_V2
-then
-	# External I2C bus
-	if hmc5883 -C -T -X start
-	then
-	fi
-
-	# External I2C bus
-	if lis3mdl -X start
-	then
-	fi
-
-	# Internal I2C bus
-	if hmc5883 -C -T -I -R 4 start
-	then
-	fi
-
-	# external MPU6K is rotated 180 degrees yaw
-	if mpu6000 -X -R 4 start
-	then
-		set BOARD_FMUV3 true
-	else
-		set BOARD_FMUV3 false
-	fi
-
-	if [ $BOARD_FMUV3 == true ]
-	then
-		# external L3GD20H is rotated 180 degrees yaw
-		if l3gd20 -X -R 4 start
-		then
-		fi
-
-		# external LSM303D is rotated 270 degrees yaw
-		if lsm303d -X -R 6 start
-		then
-		fi
-
-		# internal MPU6000 is rotated 180 deg roll, 270 deg yaw
-		if mpu6000 -R 14 start
-		then
-		fi
-
-		if hmc5883 -C -T -S -R 8 start
-		then
-		fi
-
-		if meas_airspeed start -b 2
-		then
-		fi
-
-	else
-		# FMUv2
-		if mpu6000 start
-		then
-		fi
-
-		if l3gd20 start
-		then
-		fi
-
-		if lsm303d start
-		then
-		fi
-	fi
-fi
-
-if ver hwcmp PX4FMU_V4
-then
-	# External I2C bus
-	if hmc5883 -C -T -X start
-	then
-	fi
-
-	if lis3mdl -R 2 start
-	then
-	fi
-
-	# Internal SPI bus is rotated 90 deg yaw
-	if hmc5883 -C -T -S -R 2 start
-	then
-	fi
-
-	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
-	if mpu6000 -R 2 -T 20608 start
-	then
-	fi
-
-	# Internal SPI bus mpu9250 is rotated 90 deg yaw
-	if mpu9250 -R 2 start
-	then
-	fi
-fi
-
-if ver hwcmp PX4FMU_V1
-then
-	# FMUv1
-	if mpu6000 start
-	then
-	fi
-
-	if l3gd20 start
-	then
-	fi
-
-	# MAG selection
-	if param compare SENS_EXT_MAG 2
-	then
-		if hmc5883 -C -I start
-		then
-		fi
-	else
-		# Use only external as primary
-		if param compare SENS_EXT_MAG 1
-		then
-			if hmc5883 -C -X start
-			then
-			fi
-		else
-		# auto-detect the primary, prefer external
-			if hmc5883 start
-			then
-			fi
-		fi
-	fi
-fi
-
-if ver hwcmp MINDPX_V2
-then
-	if mpu6500 start
-	then
-	fi
-
-	if lsm303d start
-	then
-	fi
-
-	if l3gd20 start
-	then
-	fi
-
-	# External I2C bus
-	if hmc5883 -C -T -X start
-	then
-	fi
-
-	if lis3mdl -R 2 start
-	then
-	fi
-fi
-
-if meas_airspeed start
-then
-else
-	if ets_airspeed start
-	then
-	else
-		if ets_airspeed start -b 1
-		then
-		fi
-	fi
-fi
-
-if sf10a start
-then
-fi
-
-# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
-usleep 20000
-if sensors start
-then
-fi

ROMFS/px4fmu_test/init.d/rcS

@@ -38,11 +38,6 @@ fi
 # Start a minimal system
 #
 
-#
-# Start the ORB (first app to start)
-#
-uorb start
-
 #
 # Load parameters
 #
@@ -60,11 +55,11 @@ else
 	echo "[param] FAILED loading $PARAM_FILE"
 fi
 
-if [ -f /etc/extras/px4io-v2.bin ]
+if [ -f /etc/extras/px4io-v2_default.bin ]
 then
-	set io_file /etc/extras/px4io-v2.bin
+	set io_file /etc/extras/px4io-v2_default.bin
 else
-	set io_file /etc/extras/px4io-v1.bin
+	set io_file /etc/extras/px4io-v1_default.bin
 fi
 
 if px4io start
@@ -109,7 +104,103 @@ then
 	tests mount
 fi
 
-sh /etc/init.d/rc.sensors
+#
+# Run unit tests at board boot, reporting failure as needed.
+# Add new unit tests using the same pattern as below.
+#
+
+if mavlink_tests
+then
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
+fi
+
+if commander_tests
+then
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} commander_tests"
+fi
+
+if uorb test
+then
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} uorb_tests"
+fi
+
+# Start all sensors on all boards
+ms5611 start
+adc start
+
+if mpu6000 -X start
+then
+fi
+
+if mpu6000 start
+then
+fi
+
+if l3gd20 -X start
+then
+fi
+
+if l3gd20 start
+then
+fi
+
+# MAG selection
+if param compare SENS_EXT_MAG 2
+then
+	if hmc5883 -I start
+	then
+	fi
+else
+	# Use only external as primary
+	if param compare SENS_EXT_MAG 1
+	then
+		if hmc5883 -X start
+		then
+		fi
+	else
+	# auto-detect the primary, prefer external
+		if hmc5883 start
+		then
+		fi
+	fi
+fi
+
+if ver hwcmp PX4FMU_V2
+then
+	if lsm303d -X start
+	then
+	fi
+
+	if lsm303d start
+	then
+	fi
+
+	if ms5611 -X start
+	then
+	fi
+fi
+
+if meas_airspeed start
+then
+else
+	if ets_airspeed start
+	then
+	else
+		if ets_airspeed start -b 1
+		then
+		fi
+	fi
+fi
+
+if sensors start
+then
+fi
 
 # Check for flow sensor
 if px4flow start
@@ -120,60 +211,6 @@ if ll40ls start
 then
 fi
 
-#
-# Run unit tests at board boot, reporting failure as needed.
-# Add new unit tests using the same pattern as below.
-#
-
-echo
-echo "--------------------------------------------------------------------------------"
-echo "[mavlink_tests]             STARTING TEST"
-if mavlink_tests
-then
-	echo "[mavlink_tests]             PASS"
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
-	echo "[mavlink_tests]             FAILED"
-fi
-echo "--------------------------------------------------------------------------------"
-echo
-echo "--------------------------------------------------------------------------------"
-echo "[commander_tests]             STARTING TEST"
-if commander_tests
-then
-	echo "[commander_tests]             PASS"
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} commander_tests"
-	echo "[commander_tests]             FAILED"
-fi
-echo "--------------------------------------------------------------------------------"
-echo
-echo "--------------------------------------------------------------------------------"
-echo "[controllib_test]             STARTING TEST"
-if controllib_test
-then
-	echo "[controllib_test]             PASS"
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} controllib_tests"
-	echo "[controllib_test]             FAILED"
-fi
-echo "--------------------------------------------------------------------------------"
-echo
-echo "--------------------------------------------------------------------------------"
-echo "[uorb_tests]             STARTING TEST"
-if uorb_tests
-then
-	echo "[uorb_tests]             PASS"
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} uorb_tests"
-	echo "[uorb_tests]             FAILED"
-fi
-echo "--------------------------------------------------------------------------------"
-
 if tests all
 then
 else

Tools/CI/MissionCheck.py

@@ -1,296 +0,0 @@
-#!/usr/bin/env python
-
-################################################################################################
-# @File MissionCheck.py
-# Automated mission loading, execution and monitoring
-# for Continuous Integration
-#
-# @author Sander Smeets <sander@droneslab.com>
-#
-# Code partly based on DroneKit (c) Copyright 2015-2016, 3D Robotics.
-################################################################################################
-
-
-################################################################################################
-# Settings
-################################################################################################
-
-connection_string       = '127.0.0.1:14540'
-
-import_mission_filename = 'VTOLmission.txt'
-max_execution_time      = 250
-alt_acceptance_radius   = 10
-
-################################################################################################
-# Init
-################################################################################################
-
-# Import DroneKit-Python
-from dronekit import connect, Command
-from pymavlink import mavutil
-import time, sys, argparse
-
-parser = argparse.ArgumentParser()
-parser.add_argument("-c", "--connect", help="connection string")
-parser.add_argument("-f", "--filename", help="mission filename")
-parser.add_argument("-t", "--timeout", help="execution timeout", type=float)
-parser.add_argument("-a", "--altrad", help="altitude acceptance radius", type=float)
-args = parser.parse_args()
-
-if args.connect:
-    connection_string = args.connect
-if args.filename:
-    import_mission_filename = args.filename
-if args.timeout:
-    max_execution_time = args.timeout
-if args.altrad:
-    alt_acceptance_radius = args.altrad
-
-
-
-mission_failed = False
-MAV_MODE_AUTO = 4
-
-# start time counter
-start_time = time.time()
-elapsed_time = time.time() - start_time
-
-
-
-# Connect to the Vehicle
-print "Connecting"
-vehicle = connect(connection_string, wait_ready=True)
-
-while not vehicle.system_status.state == "STANDBY" or vehicle.gps_0.fix_type < 3:
-    if time.time() - start_time > 20:
-        print "FAILED: SITL did not reach standby with GPS fix within 20 seconds"
-        sys.exit(98)
-    print "Waiting for vehicle to initialise... %s " % vehicle.system_status.state
-    time.sleep(1)
-
-# Display basic vehicle state
-print " Type: %s" % vehicle._vehicle_type
-print " Armed?: %s" % vehicle.armed
-print " System status: %s" % vehicle.system_status.state
-print " GPS: %s" % vehicle.gps_0
-print " Alt: %s" % vehicle.location.global_relative_frame.alt
-
-
-################################################################################################
-# Functions
-################################################################################################
-
-
-def readmission(aFileName):
-    """
-    Load a mission from a file into a list. The mission definition is in the Waypoint file
-    format (http://qgroundcontrol.org/mavlink/waypoint_protocol#waypoint_file_format).
-    This function is used by upload_mission().
-    """
-    cmds = vehicle.commands
-    missionlist=[]
-    with open(aFileName) as f:
-        for i, line in enumerate(f):
-            if i==0:
-                if not line.startswith('QGC WPL 110'):
-                    raise Exception('File is not supported WP version')
-            else:
-                linearray=line.split('\t')
-                ln_index=int(linearray[0])
-                ln_currentwp=int(linearray[1])
-                ln_frame=int(linearray[2])
-                ln_command=int(linearray[3])
-                ln_param1=float(linearray[4])
-                ln_param2=float(linearray[5])
-                ln_param3=float(linearray[6])
-                ln_param4=float(linearray[7])
-                ln_param5=float(linearray[8])
-                ln_param6=float(linearray[9])
-                ln_param7=float(linearray[10])
-                ln_autocontinue=int(linearray[11].strip())
-                cmd = Command( 0, 0, 0, ln_frame, ln_command, ln_currentwp, ln_autocontinue, ln_param1, ln_param2, ln_param3, ln_param4, ln_param5, ln_param6, ln_param7)
-                missionlist.append(cmd)
-    return missionlist
-
-
-def upload_mission(aFileName):
-    """
-    Upload a mission from a file.
-    """
-    #Read mission from file
-    missionlist = readmission(aFileName)
-
-    #Clear existing mission from vehicle
-    cmds = vehicle.commands
-    cmds.clear()
-    #Add new mission to vehicle
-    for command in missionlist:
-        cmds.add(command)
-    print ' Uploaded mission with %s items' % len(missionlist)
-    vehicle.commands.upload()
-    return missionlist
-
-
-def download_mission():
-    """
-    Downloads the current mission and returns it in a list.
-    It is used in save_mission() to get the file information to save.
-    """
-    print " Download mission from vehicle"
-    missionlist=[]
-    cmds = vehicle.commands
-    cmds.download()
-    cmds.wait_ready()
-    for cmd in cmds:
-        missionlist.append(cmd)
-    return missionlist
-
-def save_mission(aFileName):
-    """
-    Save a mission in the Waypoint file format
-    (http://qgroundcontrol.org/mavlink/waypoint_protocol#waypoint_file_format).
-    """
-    print "\nSave mission from Vehicle to file: %s" % export_mission_filename
-    #Download mission from vehicle
-    missionlist = download_mission()
-    #Add file-format information
-    output='QGC WPL 110\n'
-    #Add home location as 0th waypoint
-    home = vehicle.home_location
-    output+="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (0,1,0,16,0,0,0,0,home.lat,home.lon,home.alt,1)
-    #Add commands
-    for cmd in missionlist:
-        commandline="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (cmd.seq,cmd.current,cmd.frame,cmd.command,cmd.param1,cmd.param2,cmd.param3,cmd.param4,cmd.x,cmd.y,cmd.z,cmd.autocontinue)
-        output+=commandline
-    with open(aFileName, 'w') as file_:
-        print " Write mission to file"
-        file_.write(output)
-
-
-def printfile(aFileName):
-    """
-    Print a mission file to demonstrate "round trip"
-    """
-    print "\nMission file: %s" % aFileName
-    with open(aFileName) as f:
-        for line in f:
-            print ' %s' % line.strip()
-
-
-################################################################################################
-# Listeners
-################################################################################################
-
-current_sequence = -1
-current_sequence_changed = False
-current_landed_state = -1
-home_position_set = False
-
-#Create a message listener for mission sequence number
-@vehicle.on_message('MISSION_CURRENT')
-def listener(self, name, mission_current):
-    global current_sequence, current_sequence_changed
-    if (current_sequence <> mission_current.seq):
-        current_sequence = mission_current.seq;
-        current_sequence_changed = True
-        print 'current mission sequence: %s' % mission_current.seq
-
-#Create a message listener for mission sequence number
-@vehicle.on_message('EXTENDED_SYS_STATE')
-def listener(self, name, extended_sys_state):
-    global current_landed_state
-    if (current_landed_state <> extended_sys_state.landed_state):
-        current_landed_state = extended_sys_state.landed_state;
-
-#Create a message listener for home position fix
-@vehicle.on_message('HOME_POSITION')
-def listener(self, name, home_position):
-    global home_position_set
-    home_position_set = True
-
-
-
-################################################################################################
-# Start mission test
-################################################################################################
-
-
-while not home_position_set:
-    if time.time() - start_time > 30:
-        print "FAILED: getting home position 30 seconds"
-        sys.exit(98)
-    print "Waiting for home position..."
-    time.sleep(1)
-
-
-#Upload mission from file
-missionlist = upload_mission(import_mission_filename)
-time.sleep(2)
-
-# set mission mode the hard way
-vehicle._master.mav.command_long_send(vehicle._master.target_system, vehicle._master.target_component,
-                                           mavutil.mavlink.MAV_CMD_DO_SET_MODE, 0,
-                                           MAV_MODE_AUTO,
-                                           0, 0, 0, 0, 0, 0)
-time.sleep(1)
-
-
-# Arm vehicle
-vehicle.armed = True
-
-while not vehicle.system_status.state == "ACTIVE":
-    if time.time() - start_time > 30:
-        print "FAILED: vehicle did not arm within 30 seconds"
-        sys.exit(98)
-    print "Waiting for vehicle to arm..."
-    time.sleep(1)
-
-
-
-# Wait for completion of mission items
-while (current_sequence < len(missionlist)-1 and elapsed_time < max_execution_time):
-    time.sleep(.2)
-    if current_sequence > 0 and current_sequence_changed:
-
-        if missionlist[current_sequence-1].z - alt_acceptance_radius > vehicle.location.global_relative_frame.alt or missionlist[current_sequence-1].z + alt_acceptance_radius < vehicle.location.global_relative_frame.alt:
-            print "waypoint %s out of bounds altitude %s gps altitude: %s" % (current_sequence, missionlist[current_sequence-1].z, vehicle.location.global_relative_frame.alt)
-            mission_failed = True
-        current_sequence_changed = False
-    elapsed_time = time.time() - start_time
-
-if elapsed_time < max_execution_time:
-    print "Mission items have been executed"
-
-# wait for the vehicle to have landed
-while (current_landed_state != 1 and elapsed_time < max_execution_time):
-    time.sleep(1)
-    elapsed_time = time.time() - start_time
-
-if elapsed_time < max_execution_time:
-    print "Vehicle has landed"
-
-# Disarm vehicle
-vehicle.armed = False
-
-# count elapsed time
-elapsed_time = time.time() - start_time
-
-# Close vehicle object before exiting script
-vehicle.close()
-time.sleep(2)
-
-# Validate time constraint
-if elapsed_time <= max_execution_time and not mission_failed:
-    print "Mission succesful time elapsed %s" % elapsed_time
-    sys.exit(0)
-
-if elapsed_time > max_execution_time:
-    print "Mission FAILED to execute within %s seconds" % max_execution_time
-    sys.exit(99)
-
-if mission_failed:
-    print "Mission FAILED out of bounds"
-    sys.exit(100)
-
-print "Mission FAILED something strange happened"
-sys.exit(101)

Tools/CI/VTOLmission.txt

@@ -1,9 +0,0 @@
-QGC WPL 110
-0	1	0	16	0	0	0	0	47.3979949951	8.54559612274	25.0	1
-1	0	2	3000	4.0	0.0	0.0	0.0	47.3980331421	8.54578971863	25.0	1
-2	0	3	16	0.0	0.0	-0.0	0.0	47.399269104	8.54557228088	25.0	1
-3	0	3	16	0.0	0.0	-0.0	0.0	47.3992652893	8.54230213165	25.0	1
-4	0	3	16	0.0	0.0	-0.0	0.0	47.3974761963	8.54239082336	25.0	1
-5	0	3	16	0.0	0.0	-0.0	0.0	47.3976669312	8.54509449005	25.0	1
-6	0	2	3000	3.0	0.0	0.0	0.0	47.3977851868	8.54526233673	25.0	1
-7	0	3	21	25.0	0.0	-0.0	0.0	47.3979797363	8.54460906982	25.0	1