Updated IRIS params

20 Hz of RC_CHANNELS makes the RC calibration in QGC a more pleasant
thing.

.gitmodules

@@ -38,3 +38,6 @@
 [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

.travis.yml

@@ -44,6 +44,7 @@ addons:
     - 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

CMakeLists.txt

@@ -295,11 +295,11 @@ add_definitions(${definitions})
 #=============================================================================
 # source code generation
 #
-file(GLOB_RECURSE msg_files msg/*.msg)
+add_subdirectory(msg)
 px4_generate_messages(TARGET msg_gen
 	MSG_FILES ${msg_files}
 	OS ${OS}
-	DEPENDS git_genmsg git_gencpp
+	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})
@@ -348,6 +348,9 @@ foreach(module ${config_module_list})
 	#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)

Images/mindpx-v2.prototype

@@ -1,10 +1,10 @@
 {
-    "board_id": 9, 
-    "magic": "PX4FWv2",
-    "description": "Firmware for the MindPx-V2  board", 
+    "board_id": 88,
+    "magic": "MindPX",
+    "description": "Firmware for the MindPXFMUv2 board",
     "image": "", 
     "build_time": 0, 
-    "summary": "MindPx-v2",
+    "summary": "MindPXFMUv2",
     "version": "2.1",
     "image_size": 0,
     "git_identity": "",

Makefile

@@ -114,6 +114,12 @@ define cmake-build
 +@(echo "PX4 CONFIG: $@" && cd $(PWD)/build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef
 
+define cmake-build-other
++@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
++@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake $(2) -G$(PX4_CMAKE_GENERATOR) || (cd .. && rm -rf $(PWD)/build_$@); fi
++@(cd $(PWD)/build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
+endef
+
 # create empty targets to avoid msgs for targets passed to cmake
 define cmake-targ
 $(1):
@@ -136,6 +142,9 @@ 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)
@@ -152,10 +161,7 @@ mindpx-v2_default:
 posix_sitl_default:
 	$(call cmake-build,$@)
 
-posix_sitl_lpe:
-	$(call cmake-build,$@)
-
-posix_sitl_ekf2:
+posix_sitl_test:
 	$(call cmake-build,$@)
 
 posix_sitl_replay:
@@ -177,6 +183,7 @@ 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:
 	$(call cmake-build,$@)	
@@ -198,6 +205,9 @@ posix_rpi2_default:
 posix_rpi2_release:
 	$(call cmake-build,$@)
 
+posix_bebop_default:
+	$(call cmake-build,$@)
+
 posix: posix_sitl_default
 
 broadcast: posix_sitl_broadcast
@@ -213,8 +223,14 @@ run_sitl_ros: sitl_deprecation
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean
-.NOTPARALLEL: uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean
+.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 ($(VECTORCONTROL),1)
@@ -222,12 +238,38 @@ ifeq ($(VECTORCONTROL),1)
 	@(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
 
-check: check_px4fmu-v1_default check_px4fmu-v2_default check_px4fmu-v4_default_and_uavcan check_mindpx-v2_default check_px4-stm32f4discovery_default check_posix_sitl_default check_unittest check_format
+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
 
 check_format:
 	$(call colorecho,"Checking formatting with astyle")
 	@./Tools/fix_code_style.sh
-	@./Tools/check_code_style.sh
+	@./Tools/check_code_style_all.sh
 
 check_%:
 	@echo
@@ -244,8 +286,15 @@ ifeq ($(VECTORCONTROL),1)
 	@rm -rf ROMFS/px4fmu_common/uavcan
 endif
 
-unittest: posix_sitl_default
-	@(cd unittests && cmake -G$(PX4_CMAKE_GENERATOR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) && ctest -j2 --output-on-failure)
+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`
@@ -255,18 +304,18 @@ clean:
 	@(cd NuttX/nuttx && make clean)
 
 submodulesclean:
-	@git submodule sync
+	@git submodule sync --recursive
 	@git submodule deinit -f .
 	@git submodule update --init --recursive --force
 
 distclean: submodulesclean
-	@git clean -ff -x -d
+	@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_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

ROMFS/px4fmu_common/init.d/10016_3dr_iris

@@ -25,8 +25,8 @@ then
 	param set MC_YAWRATE_I 0.25
 	param set MC_YAWRATE_D 0.0
 
-	param set BAT_V_SCALING 0.00989
-	param set BAT_C_SCALING 0.0124
+	param set BAT_V_DIV 12.27559
+	param set BAT_A_PER_V 15.39103
 fi
 
 set MIXER quad_w

ROMFS/px4fmu_common/init.d/15001_coax_heli

@@ -1,6 +1,6 @@
 #!nsh
 #
-# @name Coaxial Helicopter (such as Esky Lama v4 or Esky Big Lama)
+# @name Esky (Big) Lama v4
 #
 # @type Coaxial Helicopter
 # 
@@ -12,7 +12,8 @@
 # @maintainer Emmanuel Roussel
 #
 
-set VEHICLE_TYPE mc
+sh /etc/init.d/rc.mc_defaults
+set MIXER coax
 
 if [ $AUTOCNF == yes ]
 then
@@ -47,7 +48,6 @@ then
 	param set MC_YAWRATE_FF 0
 fi
 
-set MIXER coax
 # use PWM parameters for throttle channel
 set PWM_OUT 34
 set PWM_RATE 400
@@ -62,4 +62,3 @@ 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/rc.interface

@@ -45,10 +45,10 @@ then
 
 	if mixer load $OUTPUT_DEV $MIXER_FILE
 	then
-		echo "[i] Mixer: $MIXER_FILE on $OUTPUT_DEV"
+		echo "INFO  [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
 	else
-		echo "[i] Error loading mixer: $MIXER_FILE"
-		echo "ERROR: Could not load mixer: $MIXER_FILE" >> $LOG_FILE
+		echo "ERROR [init] Error loading mixer: $MIXER_FILE"
+		echo "ERROR:[init] Could not load mixer: $MIXER_FILE" >> $LOG_FILE
 		tone_alarm $TUNE_ERR
 	fi
 
@@ -56,8 +56,8 @@ then
 else
 	if [ $MIXER != skip ]
 	then
-		echo "[i] Mixer not defined"
-		echo "ERROR: Mixer not defined" >> $LOG_FILE
+		echo "ERROR [init] Mixer not defined"
+		echo "ERROR [init] Mixer not defined" >> $LOG_FILE
 		tone_alarm $TUNE_ERR
 	fi
 fi
@@ -137,10 +137,10 @@ then
 			then
 				if mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
 				then
-					echo "[i] Mixer: $MIXER_AUX_FILE on $OUTPUT_AUX_DEV"
+					echo "INFO  [init] Mixer: $MIXER_AUX_FILE on $OUTPUT_AUX_DEV"
 				else
-					echo "[i] Error loading mixer: $MIXER_AUX_FILE"
-					echo "ERROR: Could not load mixer: $MIXER_AUX_FILE" >> $LOG_FILE
+					echo "ERROR [init] Error loading mixer: $MIXER_AUX_FILE"
+					echo "ERROR [init] Could not load mixer: $MIXER_AUX_FILE" >> $LOG_FILE
 				fi
 			else
 				set PWM_AUX_OUT none

ROMFS/px4fmu_common/init.d/rcS

@@ -32,9 +32,9 @@ else
 	then
 		if mount -t vfat /dev/mmcsd0 /fs/microsd
 		then
-			echo "[i] microSD card formatted"
+			echo "INFO  [init] MicroSD card formatted"
 		else
-			echo "[i] format failed"
+			echo "ERROR [init] Format failed"
 			tone_alarm MNBG
 			set LOG_FILE /dev/null
 		fi
@@ -50,7 +50,7 @@ fi
 set FRC /fs/microsd/etc/rc.txt
 if [ -f $FRC ]
 then
-	echo "[i] Executing script: $FRC"
+	echo "INFO  [init] Executing script: $FRC"
 	sh $FRC
 	set MODE custom
 fi
@@ -173,7 +173,7 @@ then
 	#
 	if param compare SYS_AUTOSTART 0
 	then
-		echo "[i] No autostart"
+		echo "INFO  [init] No autostart"
 	else
 		sh /etc/init.d/rc.autostart
 	fi
@@ -192,7 +192,7 @@ then
 	set FCONFIG /fs/microsd/etc/config.txt
 	if [ -f $FCONFIG ]
 	then
-		echo "[i] Custom: $FCONFIG"
+		echo "INFO  [init] Custom: $FCONFIG"
 		sh $FCONFIG
 	fi
 	unset FCONFIG
@@ -223,7 +223,7 @@ then
 
 		if px4io checkcrc ${IO_FILE}
 		then
-			echo "PX4IO CRC OK" >> $LOG_FILE
+			echo "INFO  [init] PX4IO CRC OK" >> $LOG_FILE
 
 			set IO_PRESENT yes
 		else
@@ -246,16 +246,16 @@ then
 				usleep 500000
 				if px4io checkcrc $IO_FILE
 				then
-					echo "PX4IO CRC OK after updating" >> $LOG_FILE
+					echo "INFO  [init] PX4IO CRC OK after updating" >> $LOG_FILE
 					tone_alarm MLL8CDE
 
 					set IO_PRESENT yes
 				else
-					echo "PX4IO update failed" >> $LOG_FILE
+					echo "ERROR [init] PX4IO update failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 			else
-				echo "PX4IO update failed" >> $LOG_FILE
+				echo "ERROR [init] PX4IO update failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -263,7 +263,7 @@ then
 
 		if [ $IO_PRESENT == no ]
 		then
-			echo "ERROR: PX4IO not found" >> $LOG_FILE
+			echo "ERROR [init] PX4IO not found" >> $LOG_FILE
 			tone_alarm $TUNE_ERR
 		fi
 	fi
@@ -330,6 +330,11 @@ then
 	    commander start
 	fi
 
+	#
+	# Start CPU load monitor
+	#
+	load_mon start
+
 	#
 	# Start primary output
 	#
@@ -350,7 +355,7 @@ then
 		then
 			if param compare UAVCAN_ENABLE 0
 			then
-				echo "[i] OVERRIDING UAVCAN_ENABLE = 1"
+				echo "INFO  [init] OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE
 				param set UAVCAN_ENABLE 1
 			fi
 		fi
@@ -361,7 +366,7 @@ then
 			then
 				sh /etc/init.d/rc.io
 			else
-				echo "PX4IO start failed" >> $LOG_FILE
+				echo "INFO  [init] PX4IO start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -371,7 +376,7 @@ then
 			if fmu mode_$FMU_MODE
 			then
 			else
-				echo "FMU start failed" >> $LOG_FILE
+				echo "ERR  [init] FMU start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 
@@ -403,7 +408,7 @@ then
 			if mkblctrl $MKBLCTRL_ARG
 			then
 			else
-				echo "ERROR: MK start failed" >> $LOG_FILE
+				echo "ERROR [init] MK start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 			unset MKBLCTRL_ARG
@@ -415,7 +420,7 @@ then
 			if pwm_out_sim mode_port2_pwm8
 			then
 			else
-				echo "PWM SIM start failed" >> $LOG_FILE
+				echo "ERROR [init] PWM SIM start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -431,7 +436,7 @@ then
 				then
 					sh /etc/init.d/rc.io
 				else
-					echo "PX4IO start failed" >> $LOG_FILE
+					echo "ERROR [init] PX4IO start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 			fi
@@ -441,7 +446,7 @@ then
 				if fmu mode_$FMU_MODE
 				then
 				else
-					echo "FMU mode_$FMU_MODE start failed" >> $LOG_FILE
+					echo "ERROR [init] FMU mode_$FMU_MODE start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 
@@ -536,14 +541,6 @@ then
 		fi
 	fi
 
-	# Transitional support: Disable safety on all Pixracer boards
-	if ver hwcmp PX4FMU_V4
-	then
-		if param set CBRK_IO_SAFETY 22027
-		then
-		fi
-	fi
-
 	#
 	# Starting stuff according to UAVCAN_ENABLE value
 	#
@@ -612,26 +609,36 @@ then
 		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
 	fi
 
-
 	#
 	# Logging
 	#
-	if [ -d /fs/microsd ]
+	if ver hwcmp PX4FMU_V1
 	then
-		if ver hwcmp PX4FMU_V1
+		if sdlog2 start -r 30 -a -b 2 -t
 		then
-			if sdlog2 start -r 30 -a -b 2 -t
+		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
-			fi
-		else
-			# check if we should increase logging rate for ekf2 replay message logging
-			if param greater EKF2_REC_RPL 0
-			then
-				if sdlog2 start -r 500 -e -b 20 -t
+				if sdlog2 start -r 500 -e -b 18 -t
 				then
 				fi
 			else
-				if sdlog2 start -r 100 -a -b 12 -t
+				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
@@ -651,7 +658,7 @@ then
 	#
 	if [ $VEHICLE_TYPE == fw ]
 	then
-		echo "FIXED WING"
+		echo "INFO  [init] Fixedwing"
 
 		if [ $MIXER == none ]
 		then
@@ -679,11 +686,11 @@ then
 	#
 	if [ $VEHICLE_TYPE == mc ]
 	then
-		echo "MULTICOPTER"
+		echo "INFO  [init] Multicopter"
 
 		if [ $MIXER == none ]
 		then
-			echo "Mixer undefined"
+			echo "INFO  [init] Mixer undefined"
 		fi
 
 		if [ $MAV_TYPE == none ]
@@ -721,12 +728,16 @@ then
 			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 "Unknown MAV_TYPE"
+			echo "WARN  [init] Unknown MAV_TYPE"
 			param set MAV_TYPE 2
 		else
 			param set MAV_TYPE $MAV_TYPE
@@ -744,11 +755,11 @@ then
 	#
 	if [ $VEHICLE_TYPE == vtol ]
 	then
-		echo "VTOL"
+		echo "INFO  [init] VTOL"
 
 		if [ $MIXER == none ]
 		then
-			echo "VTOL mixer undefined"
+			echo "WARN  [init] VTOL mixer undefined"
 		fi
 
 		if [ $MAV_TYPE == none ]
@@ -771,7 +782,7 @@ then
 		# Still no MAV_TYPE found
 		if [ $MAV_TYPE == none ]
 		then
-			echo "Unknown MAV_TYPE"
+			echo "WARN  [init] Unknown MAV_TYPE"
 			param set MAV_TYPE 19
 		else
 			param set MAV_TYPE $MAV_TYPE
@@ -855,14 +866,14 @@ then
 	#
 	if [ $VEHICLE_TYPE == none ]
 	then
-		echo "[i] No autostart ID found"
+		echo "WARN  [init] No autostart ID found"
 	fi
 
 	# Start any custom addons
 	set FEXTRAS /fs/microsd/etc/extras.txt
 	if [ -f $FEXTRAS ]
 	then
-		echo "[i] Addons script: $FEXTRAS"
+		echo "INFO  [init] Addons script: $FEXTRAS"
 		sh $FEXTRAS
 	fi
 	unset FEXTRAS
@@ -886,7 +897,7 @@ mavlink boot_complete
 
 if [ $EXIT_ON_END == yes ]
 then
-	echo "NSH EXIT"
+	echo "INFO  [init] NSH exit"
 	exit
 fi
 unset EXIT_ON_END

ROMFS/px4fmu_test/init.d/rc.sensors

@@ -0,0 +1,201 @@
+#!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

@@ -38,6 +38,11 @@ fi
 # Start a minimal system
 #
 
+#
+# Start the ORB (first app to start)
+#
+uorb start
+
 #
 # Load parameters
 #
@@ -104,103 +109,7 @@ then
 	tests mount
 fi
 
-#
-# 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
+sh /etc/init.d/rc.sensors
 
 # Check for flow sensor
 if px4flow start
@@ -211,6 +120,60 @@ 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/adb_upload.sh

@@ -23,3 +23,7 @@ do
 	adb push $arg $last
 	((i+=1))
 done
+
+# Make sure they are synced to the file system
+echo "Syncing FS..."
+adb shell sync

Tools/adb_upload_to_bebop.sh

@@ -0,0 +1,32 @@
+#!/bin/bash
+
+ip=192.168.42.1
+port=9050
+
+echo "Connecting to bebop: $ip:$port"
+
+# adb returns also 0 as exit status if the connection fails
+adb_return=$(adb connect $ip:$port)
+adb_status=$(echo $adb_return | cut -f 1 -d " ")
+
+if [[ $adb_status == "unable" ]]; then
+  
+  echo ""
+  echo "Connection with Parrot Bebop could not be established:"
+  echo "  Make sure you are connected with the Bebop's WiFi and"
+  echo "  enable access to the board by pressing the power button 4 times."
+  echo ""
+  exit 50
+
+fi
+
+echo "Connection successfully established"
+
+sleep 1
+
+adb shell mount -o remount,rw /
+
+../Tools/adb_upload.sh $@
+
+echo "Disconnecting from bebop"
+adb disconnect

Tools/check_code_style.sh

@@ -1,70 +1,16 @@
 #!/usr/bin/env bash
-set -eu
-failed=0
-for fn in $(find src/examples \
-                 src/systemcmds \
-                 src/include \
-                 src/drivers \
-                 src/platforms \
-                 src/firmware \
-                 src/lib/launchdetection \
-                 src/lib/geo \
-                 src/lib/geo_lookup \
-                 src/lib/conversion \
-                 src/lib/rc \
-                 src/lib/version \
-                 src/modules/attitude_estimator_q \
-                 src/modules/fw_att_control \
-                 src/modules/gpio_led \
-                 src/modules/land_detector \
-                 src/modules/muorb \
-                 src/modules/px4iofirmware \
-                 src/modules/param \
-                 src/modules/sensors \
-                 src/modules/simulator \
-                 src/modules/uORB \
-                 src/modules/bottle_drop \
-                 src/modules/dataman \
-                 src/modules/segway \
-                 src/modules/local_position_estimator \
-                 src/modules/unit_test \
-                 src/modules/systemlib \
-                 src/lib/controllib \
-                   -path './Build' -prune -o \
-                   -path './mavlink' -prune -o \
-                   -path './NuttX' -prune -o \
-                   -path './src/lib/eigen' -prune -o \
-                   -path './src/modules/uavcan/libuavcan' -prune -o \
-                   -path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
-                   -path './src/modules/ekf_att_pos_estimator' -prune -o \
-                   -path './src/modules/sdlog2' -prune -o \
-                   -path './src/modules/uORB' -prune -o \
-                   -path './src/modules/vtol_att_control' -prune -o \
-                   -path './unittests/build' -prune -o \
-                   -path './unittests/gtest' -prune -o \
-                   -name '*.c' -o -name '*.cpp' -o -name '*.hpp' -o -name '*.h' \
-                   -not -name '*generated*' \
-                   -not -name '*uthash.h' \
-                   -not -name '*utstring.h' \
-                   -not -name '*utlist.h' \
-                   -not -name '*utarray.h' \
-                   -type f); do
-  if [ -f "$fn" ];
-  then
-    ./Tools/fix_code_style.sh --quiet < $fn > $fn.pretty
-    diffsize=$(diff -y --suppress-common-lines $fn $fn.pretty | wc -l)
-    rm -f $fn.pretty
-    if [ $diffsize -ne 0 ]; then
-      failed=1
-      echo $fn 'bad formatting, please run "./Tools/fix_code_style.sh' $fn'"'
-    fi
-  fi
-done
 
-if [ $failed -eq 0 ]; then
-    echo "Format checks passed"
-    exit 0
-else
-    echo "Format checks failed"
-    exit 1
+file=$1
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+if [ -f "$file" ];
+then
+	${DIR}/fix_code_style.sh --dry-run $file | grep --quiet Formatted
+	if [[ $? -eq 0 ]]
+	then
+		echo $file 'bad formatting, please run "./Tools/fix_code_style.sh' $file'"'
+		exit 1
+	fi
 fi
+

Tools/check_code_style_all.sh

@@ -0,0 +1,55 @@
+#!/usr/bin/env bash
+set -eu
+failed=0
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+find \
+    src/drivers \
+    src/examples \
+    src/firmware \
+    src/include \
+    src/lib/controllib \
+    src/lib/conversion \
+    src/lib/geo \
+    src/lib/geo_lookup \
+    src/lib/launchdetection \
+    src/lib/rc \
+    src/lib/tailsitter_recovery \
+    src/lib/terrain_estimation \
+    src/lib/version \
+    src/modules/attitude_estimator_q \
+    src/modules/bottle_drop \
+    src/modules/controllib_test \
+    src/modules/dataman \
+    src/modules/fw_att_control \
+    src/modules/gpio_led \
+    src/modules/land_detector \
+    src/modules/local_position_estimator \
+    src/modules/logger \
+    src/modules/mavlink/mavlink_tests \
+    src/modules/muorb \
+    src/modules/param \
+    src/modules/px4iofirmware \
+    src/modules/segway \
+    src/modules/sensors \
+    src/modules/simulator \
+    src/modules/systemlib \
+    src/modules/unit_test \
+    src/modules/uORB \
+    src/modules/vtol_att_control \
+    src/platforms \
+    src/systemcmds \
+    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) \
+    -not -name '*generated.h' \
+    -not -name '*uthash.h' \
+    -not -name '*utstring.h' \
+    -not -name '*utlist.h' \
+    -not -name '*utarray.h' \
+    -print0 | xargs -0 -n 1 -P 8 -I % ${DIR}/check_code_style.sh %
+
+
+if [ $? -eq 0 ]; then
+    echo "Format checks passed"
+    exit 0
+fi

Tools/check_submodules.sh

@@ -69,6 +69,7 @@ check_git_submodule Tools/jMAVSim
 check_git_submodule Tools/sitl_gazebo
 check_git_submodule cmake/cmake_hexagon
 check_git_submodule mavlink/include/mavlink/v1.0
+check_git_submodule mavlink/include/mavlink/v2.0
 check_git_submodule src/lib/DriverFramework
 check_git_submodule src/lib/DriverFramework/cmake/cmake_hexagon
 check_git_submodule src/lib/DriverFramework/dspal

Tools/generate_listener.py

@@ -173,6 +173,7 @@ for index,m in enumerate(messages[1:]):
 	print("\t\t\ti++;")
 	print("\t\t\tprintf(\"\\nTOPIC: %s #%%d\\n\", i);" % m)
 	print("\t\t\torb_copy(ID,sub,&container);")
+	print("\t\t\tprintf(\"timestamp: %\" PRIu64 \"\\n\", container.timestamp);")
 	for item in message_elements[index+1]:
 		if item[0] == "float":
 			print("\t\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))

Tools/px4params/srcparser.py

@@ -284,6 +284,9 @@ class SourceParser(object):
         for group in self.GetParamGroups():
             for param in group.GetParams():
                 name  = param.GetName()
+                if len(name) > 16:
+                    sys.stderr.write("Parameter Name {0} is too long (Limit is 16)\n".format(name))
+                    return False
                 board = param.GetFieldValue("board")
                 # Check for duplicates
                 name_plus_board = name + "+" + board

Tools/px4params/srcscanner.py

@@ -33,8 +33,9 @@ class SourceScanner(object):
         Scans provided file and passes its contents to the parser using
         parser.Parse method.
         """
-        prefix = ".." + os.path.sep + "src" + os.path.sep
-        scope = re.sub(prefix, '', os.path.dirname(os.path.relpath(path)))
+        prefix = "^.*" + os.path.sep + "src" + os.path.sep
+        scope = re.sub(prefix.replace("\\", "/"), "", os.path.dirname(os.path.relpath(path)).replace("\\", "/"))
+
         with codecs.open(path, 'r', 'utf-8') as f:
             try:
                 contents = f.read()

Tools/px_generate_uorb_topic_files.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 #############################################################################
 #
-#   Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2013-2016 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
@@ -33,8 +33,8 @@
 #############################################################################
 
 """
-px_generate_uorb_topic_headers.py
-Generates c/cpp header files for uorb topics from .msg (ROS syntax)
+px_generate_uorb_topics.py
+Generates c/cpp header/source files for uorb topics from .msg (ROS syntax)
 message files
 """
 from __future__ import print_function
@@ -49,6 +49,7 @@ sys.path.append(px4_tools_dir + "/genmsg/src")
 sys.path.append(px4_tools_dir + "/gencpp/src")
 
 try:
+        import em
         import genmsg.template_tools
 except ImportError as e:
         print("python import error: ", e)
@@ -68,35 +69,99 @@ On Windows please run:
 ''')
         exit(1)
 
-__author__ = "Thomas Gubler"
-__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team."
+__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
+__copyright__ = "Copyright (C) 2013-2016 PX4 Development Team."
 __license__ = "BSD"
 __email__ = "thomasgubler@gmail.com"
 
 
-msg_template_map = {'msg.h.template': '@NAME@.h'}
-srv_template_map = {}
-incl_default = ['std_msgs:./msg/std_msgs']
-package = 'px4'
+TEMPLATE_FILE = ['msg.h.template', 'msg.cpp.template']
+TOPICS_LIST_TEMPLATE_FILE = 'uORBTopics.cpp.template'
+OUTPUT_FILE_EXT = ['.h', '.cpp']
+INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
+PACKAGE = 'px4'
+TOPICS_TOKEN = '# TOPICS '
 
 
-def convert_file(filename, outputdir, templatedir, includepath):
+def get_multi_topics(filename):
         """
-        Converts a single .msg file to a uorb header
+        Get TOPICS names from a "# TOPICS" line
         """
-        #print("Generating headers from {0}".format(filename))
-        genmsg.template_tools.generate_from_file(filename,
-                                                 package,
-                                                 outputdir,
-                                                 templatedir,
-                                                 includepath,
-                                                 msg_template_map,
-                                                 srv_template_map)
+        ofile = open(filename, 'r')
+        text = ofile.read()
+        result = []
+        for each_line in text.split('\n'):
+                if each_line.startswith (TOPICS_TOKEN):
+                        topic_names_str = each_line.strip()
+                        topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
+                        result.extend(topic_names_str.split(" "))
+        ofile.close()
+        return result
+
+def get_msgs_list(msgdir):
+    """
+    Makes list of msg files in the given directory
+    """
+    return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
 
 
-def convert_dir(inputdir, outputdir, templatedir):
+def generate_output_from_file(format_idx, filename, outputdir, templatedir, includepath):
         """
-        Converts all .msg files in inputdir to uORB header files
+        Converts a single .msg file to an uorb header/source file
+        """
+        msg_context = genmsg.msg_loader.MsgContext.create_default()
+        full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename))
+        spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
+        topics = get_multi_topics(filename)
+        if includepath:
+                search_path = genmsg.command_line.includepath_to_dict(includepath)
+        else:
+                search_path = {}
+        genmsg.msg_loader.load_depends(msg_context, spec, search_path)
+        md5sum = genmsg.gentools.compute_md5(msg_context, spec)
+        if len(topics) == 0:
+                topics.append(spec.short_name)
+        em_globals = {
+            "file_name_in": filename,
+            "md5sum": md5sum,
+            "search_path": search_path,
+            "msg_context": msg_context,
+            "spec": spec,
+            "topics": topics
+        }
+
+        # Make sure output directory exists:
+        if not os.path.isdir(outputdir):
+                os.makedirs(outputdir)
+
+        template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
+        output_file = os.path.join(outputdir, spec.short_name +
+                OUTPUT_FILE_EXT[format_idx])
+
+        return generate_by_template(output_file, template_file, em_globals)
+
+
+def generate_by_template(output_file, template_file, em_globals):
+        """
+        Invokes empy intepreter to geneate output_file by the
+        given template_file and predefined em_globals dict
+        """
+        ofile = open(output_file, 'w')
+        # todo, reuse interpreter
+        interpreter = em.Interpreter(output=ofile, globals=em_globals, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
+        if not os.path.isfile(template_file):
+                ofile.close()
+                os.remove(output_file)
+                raise RuntimeError("Template file %s not found" % (template_file))
+        interpreter.file(open(template_file)) #todo try
+        interpreter.shutdown()
+        ofile.close()
+        return True
+
+
+def convert_dir(format_idx, inputdir, outputdir, templatedir):
+        """
+        Converts all .msg files in inputdir to uORB header/source files
         """
 
         # Find the most recent modification time in input dir
@@ -122,7 +187,7 @@ def convert_dir(inputdir, outputdir, templatedir):
         if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime):
             return False
 
-        includepath = incl_default + [':'.join([package, inputdir])]
+        includepath = INCL_DEFAULT + [':'.join([PACKAGE, inputdir])]
         for f in os.listdir(inputdir):
                 # Ignore hidden files
                 if f.startswith("."):
@@ -133,11 +198,10 @@ def convert_dir(inputdir, outputdir, templatedir):
                 if not os.path.isfile(fn):
                         continue
 
-                convert_file(fn,
-                             outputdir,
-                             templatedir,
-                             includepath)
+                if fn[-4:].lower() != '.msg':
+                        continue
 
+                generate_output_from_file(format_idx, fn, outputdir, templatedir, includepath)
         return True
 
 
@@ -151,15 +215,15 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
         if not os.path.isdir(outputdir):
                 os.makedirs(outputdir)
 
-        for f in os.listdir(inputdir):
-                fni = os.path.join(inputdir, f)
+        for input_file in os.listdir(inputdir):
+                fni = os.path.join(inputdir, input_file)
                 if os.path.isfile(fni):
-                        # Check if f exists in outpoutdir, copy the file if not
-                        fno = os.path.join(outputdir, prefix + f)
+                        # Check if input_file exists in outpoutdir, copy the file if not
+                        fno = os.path.join(outputdir, prefix + input_file)
                         if not os.path.isfile(fno):
                                 shutil.copy(fni, fno)
                                 if not quiet:
-                                    print("{0}: new header file".format(f))
+                                    print("{0}: new header file".format(fno))
                                 continue
 
                         if os.path.getmtime(fni) > os.path.getmtime(fno):
@@ -168,26 +232,39 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
                                 if not filecmp.cmp(fni, fno):
                                         shutil.copy(fni, fno)
                                         if not quiet:
-                                            print("{0}: updated".format(f))
+                                            print("{0}: updated".format(input_file))
                                         continue
 
                         if not quiet:
-                            print("{0}: unchanged".format(f))
+                            print("{0}: unchanged".format(input_file))
 
 
-def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
+def convert_dir_save(format_idx, inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
         """
         Converts all .msg files in inputdir to uORB header files
         Unchanged existing files are not overwritten.
         """
         # Create new headers in temporary output directory
-        convert_dir(inputdir, temporarydir, templatedir)
+        convert_dir(format_idx, inputdir, temporarydir, templatedir)
+        if generate_idx == 1:
+            generate_topics_list_file(inputdir, temporarydir, templatedir)
         # Copy changed headers from temporary dir to output dir
         copy_changed(temporarydir, outputdir, prefix, quiet)
 
+def generate_topics_list_file(msgdir, outputdir, templatedir):
+        # generate cpp file with topics list
+        tl_globals = {"msgs" : get_msgs_list(msgdir)}
+        tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
+        tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
+        generate_by_template(tl_out_file, tl_template_file, tl_globals)
+
 if __name__ == "__main__":
         parser = argparse.ArgumentParser(
-            description='Convert msg files to uorb headers')
+            description='Convert msg files to uorb headers/sources')
+        parser.add_argument('--headers', help='Generate header files',
+            action='store_true')
+        parser.add_argument('--sources', help='Generate source files',
+            action='store_true')
         parser.add_argument('-d', dest='dir', help='directory with msg files')
         parser.add_argument('-f', dest='file',
                             help="files to convert (use only without -d)",
@@ -206,15 +283,22 @@ if __name__ == "__main__":
                             ' name when converting directories')
         args = parser.parse_args()
 
+        if args.headers:
+            generate_idx = 0
+        elif args.sources:
+            generate_idx = 1
+        else:
+            print('Error: either --headers or --sources must be specified')
+            exit(-1)
+
         if args.file is not None:
-                for f in args.file:
-                        convert_file(
-                            f,
-                            args.outputdir,
-                            args.templatedir,
-                            incl_default)
+            for f in args.file:
+                generate_output_from_file(generate_idx, f, args.outputdir, args.templatedir, INCL_DEFAULT)
+            if generate_idx == 1:
+                generate_topics_list_file(args.dir, args.outputdir, args.templatedir)
         elif args.dir is not None:
-                convert_dir_save(
+            convert_dir_save(
+                    generate_idx,
                     args.dir,
                     args.outputdir,
                     args.templatedir,

Tools/px_generate_uorb_topic_helper.py

@@ -0,0 +1,171 @@
+
+# helper methods & common code for the uorb message templates msg.{cpp,h}.template
+
+# Another positive effect of having the code here, is that this file will get
+# precompiled and thus message generation will be much faster
+
+
+import genmsg.msgs
+import gencpp
+
+type_map = {
+    'int8': 'int8_t',
+    'int16': 'int16_t',
+    'int32': 'int32_t',
+    'int64': 'int64_t',
+    'uint8': 'uint8_t',
+    'uint16': 'uint16_t',
+    'uint32': 'uint32_t',
+    'uint64': 'uint64_t',
+    'float32': 'float',
+    'float64': 'double',
+    'bool': 'bool',
+    'char': 'char',
+}
+
+msgtype_size_map = {
+    'int8': 1,
+    'int16': 2,
+    'int32': 4,
+    'int64': 8,
+    'uint8': 1,
+    'uint16': 2,
+    'uint32': 4,
+    'uint64': 8,
+    'float32': 4,
+    'float64': 8,
+    'bool': 1,
+    'char': 1,
+}
+
+
+def bare_name(msg_type):
+    """
+    Get bare_name from <dir>/<bare_name>[x] format
+    """
+    bare = msg_type
+    if '/' in msg_type:
+        # removing prefix
+        bare = (msg_type.split('/'))[1]
+    # removing suffix
+    return bare.split('[')[0]
+
+
+def sizeof_field_type(field):
+    """
+    Get size of a field, used for sorting
+    """
+    bare_name_str = bare_name(field.type)
+    if bare_name_str in msgtype_size_map:
+        return msgtype_size_map[bare_name_str]
+    return 0 # this is for non-builtin types: sort them at the end
+
+def get_children_fields(base_type, search_path):
+    (package, name) = genmsg.names.package_resource_name(base_type)
+    tmp_msg_context = genmsg.msg_loader.MsgContext.create_default()
+    spec_temp = genmsg.msg_loader.load_msg_by_type(tmp_msg_context, '%s/%s' %(package, name), search_path)  
+    sorted_fields = sorted(spec_temp.parsed_fields(), key=sizeof_field_type, reverse=True)
+    return sorted_fields
+
+def add_padding_bytes(fields, search_path):
+    """
+    Add padding fields before the embedded types, at the end and calculate the
+    struct size
+    returns a tuple with the struct size and padding at the end
+    """
+    struct_size = 8 # account for the timestamp
+    align_to = 8 # this is always 8, because of the 64bit timestamp
+    i = 0
+    padding_idx = 0
+    while i < len(fields):
+        field = fields[i]
+        if not field.is_header:
+            a_pos = field.type.find('[')
+            array_size = 1
+            if field.is_array:
+                array_size = field.array_len
+            if field.is_builtin:
+                field.sizeof_field_type = sizeof_field_type(field)
+            else:
+                # embedded type: may need to add padding
+                num_padding_bytes = align_to - (struct_size % align_to)
+                if num_padding_bytes != align_to:
+                    padding_field = genmsg.Field('_padding'+str(padding_idx),
+                        'uint8['+str(num_padding_bytes)+']')
+                    padding_idx += 1
+                    padding_field.sizeof_field_type = 1
+                    struct_size += num_padding_bytes
+                    fields.insert(i, padding_field)
+                    i += 1
+                children_fields = get_children_fields(field.base_type, search_path)
+                field.sizeof_field_type, unused = add_padding_bytes(children_fields,
+                        search_path)
+            struct_size += field.sizeof_field_type * array_size
+        i += 1
+
+    # add padding at the end (necessary for embedded types)
+    num_padding_bytes = align_to - (struct_size % align_to)
+    if num_padding_bytes == align_to:
+        num_padding_bytes = 0
+    else:
+        padding_field = genmsg.Field('_padding'+str(padding_idx),
+                'uint8['+str(num_padding_bytes)+']')
+        padding_idx += 1
+        padding_field.sizeof_field_type = 1
+        struct_size += num_padding_bytes
+        fields.append(padding_field)
+    return (struct_size, num_padding_bytes)
+
+
+def convert_type(spec_type):
+    """
+    Convert from msg type to C type
+    """
+    bare_type = spec_type
+    if '/' in spec_type:
+        # removing prefix
+        bare_type = (spec_type.split('/'))[1]
+
+    msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
+    c_type = msg_type
+    if msg_type in type_map:
+        c_type = type_map[msg_type]
+    if is_array:
+        return c_type + "[" + str(array_length) + "]"
+    return c_type
+
+
+def print_field_def(field):
+    """
+    Print the C type from a field
+    """
+    type_name = field.type
+    # detect embedded types
+    sl_pos = type_name.find('/')
+    type_appendix = ''
+    type_prefix = ''
+    if (sl_pos >= 0):
+        type_name = type_name[sl_pos + 1:]
+        type_prefix = 'struct '
+        type_appendix = '_s'
+
+    # detect arrays
+    a_pos = type_name.find('[')
+    array_size = ''
+    if (a_pos >= 0):
+        # field is array
+        array_size = type_name[a_pos:]
+        type_name = type_name[:a_pos]
+
+    if type_name in type_map:
+        # need to add _t: int8 --> int8_t
+        type_px4 = type_map[type_name]
+    else:
+        type_px4 = type_name
+
+    comment = ''
+    if field.name.startswith('_padding'):
+        comment = ' // required for logger'
+
+    print('\t%s%s%s %s%s;%s'%(type_prefix, type_px4, type_appendix, field.name,
+                array_size, comment))

Tools/px_process_airframes.py

@@ -71,7 +71,7 @@ def main():
                          const="",
                          metavar="BOARD",
                          help="Board to create airframes xml for")
-    parser.add_argument("-v", "--verbose", help="verbose output")
+    parser.add_argument('-v', '--verbose', action='store_true', help="verbose output")
     args = parser.parse_args()
 
     # Check for valid command

Tools/px_process_params.py

@@ -107,7 +107,7 @@ def main():
                         metavar="SUMMARY",
                         default="Automagically updated parameter documentation from code.",
                         help="DokuWiki page edit summary")
-    parser.add_argument("-v", "--verbose", help="verbose output")
+    parser.add_argument('-v', '--verbose', action='store_true', help="verbose output")
     args = parser.parse_args()
 
     # Check for valid command

Tools/px_romfs_pruner.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 ############################################################################
 #
-#   Copyright (C) 2014-2015 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2014-2016 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
@@ -35,7 +35,12 @@
 
 """
 px_romfs_pruner.py:
-Delete all comments and newlines before ROMFS is converted to an image
+Try to keep size of ROMFS minimal.
+
+This script goes through the temporarily copied ROMFS data and deletes all
+comments, empty lines and leading whitespace.
+It also deletes hidden files such as auto-saved backups that a text editor
+might have left in the tree.
 
 @author: Julian Oes <julian@oes.ch>
 """
@@ -53,18 +58,20 @@ def main():
                         help="ROMFS scratch folder.")
     args = parser.parse_args()
 
-    #print("Pruning ROMFS files.")
-
-    # go through
+    # go through temp folder
     for (root, dirs, files) in os.walk(args.folder):
         for file in files:
-            # only prune text files
-            if ".zip" in file or ".bin" in file or ".swp" in file \
-                    or ".data" in file or ".DS_Store" in file \
-                    or file.startswith("."):
+            file_path = os.path.join(root, file)
+
+            # delete hidden files
+            if file.startswith("."):
+                os.remove(file_path)
                 continue
 
-            file_path = os.path.join(root, file)
+            # only prune text files
+            if ".zip" in file or ".bin" in file or ".swp" in file \
+                    or ".data" in file or ".DS_Store" in file:
+                continue
 
             # read file line by line
             pruned_content = ""
@@ -77,7 +84,7 @@ def main():
                     else:
                         if not line.isspace() \
                                 and not line.strip().startswith("#"):
-                            pruned_content += line
+                            pruned_content += line.strip() + "\n"
             # overwrite old scratch file
             with open(file_path, "wb") as f:
                 pruned_content = re.sub("\r\n", "\n", pruned_content)

Tools/scp_upload.sh

@@ -0,0 +1,24 @@
+#!/bin/bash
+
+if [[ "$#" < 2 ]]; then
+	echo "usage: scp_upload.sh SRC1 [SRC2 ...] DEST"
+	exit
+fi
+
+echo "Uploading..."
+
+# Get last argument
+for last; do true; done
+
+# Go through source files and push them one by one.
+i=0
+for arg
+do
+	if [[ $((i+1)) == "$#" ]]; then
+		break
+	fi
+	# echo "Pushing $arg to $last"
+	#adb push $arg $last
+	scp $arg pi@px4autopilot:$last
+	((i+=1))
+done

Tools/sitl_multiple_run.sh

@@ -0,0 +1,52 @@
+#!/bin/bash
+
+sitl_num=2
+
+sim_port=15019
+mav_port=15010
+mav_port2=15011
+
+mav_oport=15015
+mav_oport2=15016
+
+port_step=10
+
+src_path=`pwd`
+
+rc_script="posix-configs/SITL/init/rcS_multiple"
+build_path=${src_path}/build_posix_sitl_default
+
+pkill mainapp
+sleep 2
+
+cd $build_path/src/firmware/posix
+
+user=`whoami`
+n=1
+while [ $n -le $sitl_num ]; do
+ if [ ! -d $n ]; then
+  mkdir -p $n
+  cd $n
+
+  mkdir -p rootfs/fs/microsd
+  mkdir -p rootfs/eeprom
+  touch rootfs/eeprom/parameters
+
+  cp ${src_path}/ROMFS/px4fmu_common/mixers/quad_w.main.mix ./
+  cat ${src_path}/${rc_script}_gazebo_iris | sed s/_SIMPORT_/${sim_port}/ | sed s/_MAVPORT_/${mav_port}/g | sed s/_MAVOPORT_/${mav_oport}/ | sed s/_MAVPORT2_/${mav_port2}/ | sed s/_MAVOPORT2_/${mav_oport2}/ > rcS
+  cd ../
+ fi
+
+ cd $n
+
+ sudo -b -u $user ../mainapp -d rcS >out.log 2>err.log
+
+ cd ../
+
+ n=$(($n + 1))
+ sim_port=$(($sim_port + $port_step))
+ mav_port=$(($mav_port + $port_step))
+ mav_port2=$(($mav_port2 + $port_step))
+ mav_oport=$(($mav_oport + $port_step))
+ mav_oport2=$(($mav_oport2 + $port_step))
+done

Tools/sitl_run.sh

@@ -58,7 +58,7 @@ cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit
 
 SIM_PID=0
 
-if [ "$program" == "jmavsim" ] && [ "$no_sim" == "" ]
+if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
 then
 	cd Tools/jMAVSim
 	ant create_run_jar copy_res
@@ -66,31 +66,33 @@ then
 	java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
 	SIM_PID=`echo $!`
 	cd ../..
-elif [ "$program" == "gazebo" ] && [ "$no_sim" == "" ]
+elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]
 then
 	if [ -x "$(command -v gazebo)" ]
 	then
 		# Set the plugin path so Gazebo finds our model and sim
-		export GAZEBO_PLUGIN_PATH=$curr_dir/Tools/sitl_gazebo/Build:${GAZEBO_PLUGIN_PATH}
+		export GAZEBO_PLUGIN_PATH=$curr_dir/build_gazebo:${GAZEBO_PLUGIN_PATH}
 		# Set the model path so Gazebo finds the airframes
 		export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$curr_dir/Tools/sitl_gazebo/models
 		# The next line would disable online model lookup, can be commented in, in case of unstable behaviour.
 		# export GAZEBO_MODEL_DATABASE_URI=""
 		export SITL_GAZEBO_PATH=$curr_dir/Tools/sitl_gazebo
-		mkdir -p Tools/sitl_gazebo/Build
-		cd Tools/sitl_gazebo/Build
-		cmake -Wno-dev ..
-		make -j4
-		make sdf
-		gzserver --verbose ../worlds/${model}.world &
+		make --no-print-directory gazebo_build
+
+		gzserver --verbose $curr_dir/Tools/sitl_gazebo/worlds/${model}.world &
 		SIM_PID=`echo $!`
-		gzclient --verbose &
-		GUI_PID=`echo $!`
+
+		if [[ -n "$HEADLESS" ]]; then
+			echo "not running gazebo gui"
+		else
+			gzclient --verbose &
+			GUI_PID=`echo $!`
+		fi
 	else
 		echo "You need to have gazebo simulator installed!"
 		exit 1
 	fi
-elif [ "$program" == "replay" ] && [ "$no_sim" == "" ]
+elif [ "$program" == "replay" ] && [ ! -n "$no_sim" ]
 then
 	echo "Replaying logfile: $logfile"
 	# This is not a simulator, but a log file to replay
@@ -135,5 +137,7 @@ then
 elif [ "$program" == "gazebo" ]
 then
 	kill -9 $SIM_PID
-	kill -9 $GUI_PID
+	if [[ ! -n "$HEADLESS" ]]; then
+		kill -9 $GUI_PID
+	fi
 fi

cmake/common/px4_base.cmake

@@ -303,6 +303,9 @@ function(px4_add_module)
 	if(MAIN)
 		set_target_properties(${MODULE} PROPERTIES
 			COMPILE_DEFINITIONS PX4_MAIN=${MAIN}_app_main)
+		add_definitions(-DMODULE_NAME="${MAIN}")
+	else()
+		add_definitions(-DMODULE_NAME="${MODULE}")
 	endif()
 
 	if(INCLUDES)
@@ -359,13 +362,15 @@ function(px4_generate_messages)
 		NAME px4_generate_messages
 		OPTIONS VERBOSE
 		ONE_VALUE OS TARGET
-		MULTI_VALUE MSG_FILES DEPENDS
+		MULTI_VALUE MSG_FILES DEPENDS INCLUDES
 		REQUIRED MSG_FILES OS TARGET
 		ARGN ${ARGN})
 	set(QUIET)
 	if(NOT VERBOSE)
 		set(QUIET "-q")
 	endif()
+
+	# headers
 	set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
 	set(msg_list)
 	foreach(msg_file ${MSG_FILES})
@@ -378,18 +383,48 @@ function(px4_generate_messages)
 	endforeach()
 	add_custom_command(OUTPUT ${msg_files_out}
 		COMMAND ${PYTHON_EXECUTABLE}
-			Tools/px_generate_uorb_topic_headers.py
+			Tools/px_generate_uorb_topic_files.py
+			--headers
 			${QUIET}
 			-d msg
 			-o ${msg_out_path}
 			-e msg/templates/uorb
-			-t ${CMAKE_BINARY_DIR}/topics_temporary
+			-t ${CMAKE_BINARY_DIR}/topics_temporary_header
 		DEPENDS ${DEPENDS} ${MSG_FILES}
 		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 		COMMENT "Generating uORB topic headers"
 		VERBATIM
 		)
 
+	# !sources
+	set(msg_source_out_path	${CMAKE_BINARY_DIR}/topics_sources)
+	set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
+	foreach(msg ${msg_list})
+		list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
+	endforeach()
+	add_custom_command(OUTPUT ${msg_source_files_out}
+		COMMAND ${PYTHON_EXECUTABLE}
+			Tools/px_generate_uorb_topic_files.py
+			--sources
+			${QUIET}
+			-d msg
+			-o ${msg_source_out_path}
+			-e msg/templates/uorb
+			-t ${CMAKE_BINARY_DIR}/topics_temporary_sources
+		DEPENDS ${DEPENDS} ${MSG_FILES}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		COMMENT "Generating uORB topic sources"
+		VERBATIM
+		)
+	set_source_files_properties(${msg_source_files_out} PROPERTIES GENERATED TRUE)
+
+	# We remove uORBTopics.cpp to make sure the generator is re-run, which is
+	# necessary when a .msg file is removed and because uORBTopics.cpp depends
+	# on all topics.
+	execute_process(COMMAND rm uORBTopics.cpp
+		WORKING_DIRECTORY ${msg_source_out_path}
+		ERROR_QUIET)
+
 	# multi messages for target OS
 	set(msg_multi_out_path
 		${CMAKE_BINARY_DIR}/src/platforms/${OS}/px4_messages)
@@ -399,7 +434,8 @@ function(px4_generate_messages)
 	endforeach()
 	add_custom_command(OUTPUT ${msg_multi_files_out}
 		COMMAND ${PYTHON_EXECUTABLE}
-			Tools/px_generate_uorb_topic_headers.py
+			Tools/px_generate_uorb_topic_files.py
+			--headers
 			${QUIET}
 			-d msg
 			-o ${msg_multi_out_path}
@@ -411,8 +447,13 @@ function(px4_generate_messages)
 		COMMENT "Generating uORB topic multi headers for ${OS}"
 		VERBATIM
 		)
-	add_custom_target(${TARGET}
-		DEPENDS ${msg_multi_files_out} ${msg_files_out})
+
+	add_library(${TARGET}
+		${msg_source_files_out}
+		${msg_multi_files_out}
+		${msg_files_out}
+		)
+
 endfunction()
 
 #=============================================================================
@@ -490,6 +531,42 @@ function(px4_add_adb_push)
 		)
 endfunction()
 
+function(px4_add_adb_push_to_bebop)
+	px4_parse_function_args(
+		NAME px4_add_upload_to_bebop
+		ONE_VALUE OS BOARD OUT DEST
+		MULTI_VALUE FILES DEPENDS
+		REQUIRED OS BOARD OUT FILES DEPENDS DEST
+		ARGN ${ARGN})
+
+	add_custom_target(${OUT}
+		COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
+		DEPENDS ${DEPENDS}
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		COMMENT "uploading ${BUNDLE}"
+		VERBATIM
+		USES_TERMINAL
+		)
+endfunction()
+
+function(px4_add_scp_push)
+	px4_parse_function_args(
+		NAME px4_add_upload
+		ONE_VALUE OS BOARD OUT DEST
+		MULTI_VALUE FILES DEPENDS
+		REQUIRED OS BOARD OUT FILES DEPENDS DEST
+		ARGN ${ARGN})
+
+	add_custom_target(${OUT}
+		COMMAND ${CMAKE_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
+		DEPENDS ${DEPENDS}
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		COMMENT "uploading ${BUNDLE}"
+		VERBATIM
+		USES_TERMINAL
+		)
+endfunction()
+
 
 #=============================================================================
 #
@@ -541,7 +618,6 @@ function(px4_add_common_flags)
 		-Wall
 		-Werror
 		-Wextra
-		-Wpacked
 		-Wno-sign-compare
 		-Wshadow
 		-Wfloat-equal
@@ -583,7 +659,7 @@ function(px4_add_common_flags)
 	endif()
 
 	if ($ENV{MEMORY_DEBUG} MATCHES "1")
-		set(max_optimization -O0)
+		set(max_optimization -Os)
 
 		set(optimization_flags
 			-fno-strict-aliasing
@@ -591,7 +667,7 @@ function(px4_add_common_flags)
 			-funsafe-math-optimizations
 			-ffunction-sections
 			-fdata-sections
-			-g -fsanitize=address
+			-g3 -fsanitize=address
 			)
 	else()
 		set(max_optimization -Os)
@@ -776,21 +852,21 @@ function(px4_create_git_hash_header)
 		REQUIRED HEADER
 		ARGN ${ARGN})
 	execute_process(
-		COMMAND git describe --tags
+		COMMAND git describe --always --tags
 		OUTPUT_VARIABLE git_tag
 		OUTPUT_STRIP_TRAILING_WHITESPACE
 		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 		)
-	#message(STATUS "GIT_TAG = ${git_tag}")
+	message(STATUS "GIT_TAG = ${git_tag}")
 	execute_process(
-		COMMAND git rev-parse HEAD
-		OUTPUT_VARIABLE git_desc
+		COMMAND git rev-parse --verify HEAD
+		OUTPUT_VARIABLE git_version
 		OUTPUT_STRIP_TRAILING_WHITESPACE
 		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 		)
-	#message(STATUS "GIT_DESC = ${git_desc}")
-	set(git_desc_short)
-	string(SUBSTRING ${git_desc} 1 16 git_desc_short)
+	#message(STATUS "GIT_VERSION = ${git_version}")
+	set(git_version_short)
+	string(SUBSTRING ${git_version} 1 16 git_version_short)
 	configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
 endfunction()
 

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -15,7 +15,7 @@ set(config_module_list
 	drivers/led
 	drivers/px4fmu
 	#drivers/px4io
-	drivers/test_ppm
+	#drivers/test_ppm
 	drivers/boards/mindpx-v2
 	#drivers/rgbled
 	drivers/rgbled_pwm
@@ -76,6 +76,7 @@ set(config_module_list
 	# General system control
 	#
 	modules/commander
+	modules/load_mon
 	modules/navigator
 	modules/mavlink
 	modules/gpio_led
@@ -85,11 +86,11 @@ set(config_module_list
 	#
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
-	# Too high RAM usage due to static allocations
-	# modules/attitude_estimator_ekf
 	modules/attitude_estimator_q
 	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
 
 	#
 	# Vehicle Control
@@ -105,6 +106,7 @@ set(config_module_list
 	# Logging
 	#
 	modules/sdlog2
+	modules/logger
 
 	#
 	# Library modules
@@ -134,7 +136,7 @@ set(config_module_list
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config
-	platforms/common 
+	platforms/common
 	platforms/nuttx/px4_layer
 
 	#
@@ -145,7 +147,7 @@ set(config_module_list
 	#
 	# Rover apps
 	#
-	examples/rover_steering_control
+	#examples/rover_steering_control
 
 	#
 	# Demo apps
@@ -153,7 +155,7 @@ set(config_module_list
 	#examples/math_demo
 	# Tutorial code from
 	# https://px4.io/dev/px4_simple_app
-	examples/px4_simple_app
+	#examples/px4_simple_app
 
 	# Tutorial code from
 	# https://px4.io/dev/daemon
@@ -176,10 +178,6 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
-set(config_io_board
-	px4io-v2
-	)
-
 set(config_extra_libs
 	uavcan
 	uavcan_stm32_driver
@@ -191,9 +189,11 @@ set(config_io_extra_libs
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon" STACK_MAIN "2048")
+	MAIN "sercon"
+	STACK_MAIN "2048")
 
 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis" STACK_MAIN "2048")
+	MAIN "serdis"
+	STACK_MAIN "2048")

cmake/configs/nuttx_px4fmu-v1_default.cmake

@@ -61,6 +61,7 @@ set(config_module_list
 	# General system control
 	#
 	modules/commander
+	modules/load_mon
 	modules/navigator
 	modules/mavlink
 	modules/gpio_led
@@ -90,6 +91,7 @@ set(config_module_list
 	# Logging
 	#
 	modules/sdlog2
+	modules/logger
 
 	#
 	# Library modules

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -48,7 +48,6 @@ set(config_module_list
 	drivers/bst
 	drivers/snapdragon_rc_pwm
 	drivers/lis3mdl
-	drivers/bmi160
 
 	#
 	# System commands
@@ -67,14 +66,17 @@ set(config_module_list
 	systemcmds/mtd
 	systemcmds/dumpfile
 	systemcmds/ver
+	#systemcmds/sd_bench
+	#systemcmds/tests
 
 	#
 	# General system control
 	#
 	modules/commander
+	modules/load_mon
 	modules/navigator
 	modules/mavlink
-	modules/gpio_led
+	#modules/gpio_led
 	modules/uavcan
 	modules/land_detector
 
@@ -89,7 +91,6 @@ set(config_module_list
 	#
 	# Vehicle Control
 	#
-	# modules/segway # XXX Needs GCC 4.7 fix
 	modules/fw_pos_control_l1
 	modules/fw_att_control
 	modules/mc_att_control
@@ -99,6 +100,7 @@ set(config_module_list
 	#
 	# Logging
 	#
+	modules/logger
 	modules/sdlog2
 
 	#

cmake/configs/nuttx_px4fmu-v2_ekf2.cmake

@@ -69,6 +69,7 @@ set(config_module_list
 	# General system control
 	#
 	modules/commander
+	modules/load_mon
 	modules/navigator
 	modules/mavlink
 	modules/gpio_led
@@ -78,11 +79,7 @@ set(config_module_list
 	#
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
-	# Too high RAM usage due to static allocations
-	# modules/attitude_estimator_ekf
-	modules/attitude_estimator_q
 	modules/ekf2
-	modules/position_estimator_inav
 
 	#
 	# Vehicle Control
@@ -98,6 +95,7 @@ set(config_module_list
 	# Logging
 	#
 	modules/sdlog2
+	modules/logger
 
 	#
 	# Library modules

cmake/configs/nuttx_px4fmu-v2_test.cmake

@@ -0,0 +1,208 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_uavcan_num_ifaces 2)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/px4io
+	drivers/boards/px4fmu-v2
+	drivers/rgbled
+	drivers/mpu6000
+	drivers/mpu9250
+	drivers/lsm303d
+	drivers/l3gd20
+	drivers/hmc5883
+	drivers/ms5611
+	#drivers/mb12xx
+	#drivers/srf02
+	#drivers/sf0x
+	#drivers/ll40ls
+	#drivers/trone
+	drivers/gps
+	#drivers/pwm_out_sim
+	#drivers/hott
+	#drivers/hott/hott_telemetry
+	#drivers/hott/hott_sensors
+	drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	drivers/frsky_telemetry
+	modules/sensors
+	#drivers/mkblctrl
+	drivers/px4flow
+	#drivers/oreoled
+	drivers/gimbal
+	drivers/pwm_input
+	drivers/camera_trigger
+	#drivers/bst
+	#drivers/snapdragon_rc_pwm
+	#drivers/lis3mdl
+	#drivers/bmi160
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	#systemcmds/topic_listener
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+	systemcmds/sd_bench
+	systemcmds/tests
+
+	#
+	# Testing
+	#
+	drivers/test_ppm
+	modules/commander/commander_tests
+	modules/controllib_test
+	modules/mavlink/mavlink_tests
+	modules/unit_test
+	modules/uORB/uORB_tests
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/load_mon
+	modules/navigator
+	modules/mavlink
+	modules/gpio_led
+	modules/uavcan
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
+	modules/position_estimator_inav
+	modules/local_position_estimator
+
+	#
+	# Vehicle Control
+	#
+	# modules/segway # XXX Needs GCC 4.7 fix
+	modules/fw_pos_control_l1
+	modules/fw_att_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	#modules/logger
+	#modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	lib/DriverFramework/framework
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common 
+	platforms/nuttx/px4_layer
+
+	#
+	# OBC challenge
+	#
+	#modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	#examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	#examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	px4io-v2
+	)
+
+set(config_extra_libs
+	uavcan
+	uavcan_stm32_driver
+	)
+
+set(config_io_extra_libs
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "sercon" STACK_MAIN "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "serdis" STACK_MAIN "2048")

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -45,6 +45,9 @@ set(config_module_list
 	drivers/bst
 	drivers/snapdragon_rc_pwm
 	drivers/lis3mdl
+	drivers/bmp280
+	drivers/bma180
+	drivers/bmi160
 
 	#
 	# System commands
@@ -63,12 +66,14 @@ set(config_module_list
 	systemcmds/mtd
 	systemcmds/dumpfile
 	systemcmds/ver
+	systemcmds/sd_bench
 	systemcmds/tests
 
 	#
 	# General system control
 	#
 	modules/commander
+	modules/load_mon
 	modules/navigator
 	modules/mavlink
 	modules/gpio_led
@@ -78,12 +83,11 @@ set(config_module_list
 	#
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
-	# Too high RAM usage due to static allocations
-	# modules/attitude_estimator_ekf
 	modules/attitude_estimator_q
 	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/ekf2
+	modules/local_position_estimator
 
 	#
 	# Vehicle Control
@@ -99,6 +103,7 @@ set(config_module_list
 	# Logging
 	#
 	modules/sdlog2
+	modules/logger
 
 	#
 	# Library modules

cmake/configs/posix_bebop_default.cmake

@@ -0,0 +1,96 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+
+add_definitions(
+  -D__PX4_POSIX_BEBOP
+	)
+
+set(CMAKE_PROGRAM_PATH
+	"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
+	${CMAKE_PROGRAM_PATH}
+	)
+
+set(config_module_list
+
+  examples/px4_simple_app
+
+	#
+	# Board support modules
+	#
+	drivers/device
+	modules/sensors
+
+	#
+	# System commands
+	#
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/esc_calib
+	systemcmds/topic_listener
+	systemcmds/perf
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	#modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/fw_att_control
+	modules/fw_pos_control_l1	
+	modules/vtol_att_control
+
+	#
+	# Library modules
+	#
+	modules/sdlog2
+	modules/logger
+	modules/commander
+	modules/load_mon
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/dataman
+	modules/land_detector
+	modules/navigator
+	modules/mavlink
+
+	#
+	# PX4 drivers
+	#
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/ecl
+	lib/geo_lookup
+	lib/launchdetection
+	lib/external_lgpl
+	lib/conversion
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	lib/DriverFramework/framework
+
+	#
+	# POSIX
+	#
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+)

cmake/configs/posix_eagle_hil.cmake

@@ -27,8 +27,10 @@ set(config_module_list
 	modules/sensors
 	modules/dataman
 	modules/sdlog2
+	modules/logger
 	modules/simulator
 	modules/commander
+	modules/load_mon
 
 	lib/mathlib
 	lib/mathlib/math/filter

cmake/configs/posix_eagle_legacy_driver_default.cmake

@@ -1,6 +1,6 @@
 include(posix/px4_impl_posix)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
 
@@ -12,7 +12,7 @@ set(CONFIG_SHMEM "1")
 # or if it is for the Snapdragon.
 add_definitions(
 	-D__PX4_POSIX_EAGLE
-   -D__USING_SNAPDRAGON_LEGACY_DRIVER
+    -D__USING_SNAPDRAGON_LEGACY_DRIVER
 	)
 
 set(config_module_list
@@ -45,8 +45,11 @@ set(config_module_list
 	modules/sensors
 	modules/dataman
 	modules/sdlog2
+	modules/logger
 	modules/simulator
 	modules/commander
+	modules/navigator
+	modules/load_mon
 
 	lib/controllib
 	lib/mathlib

cmake/configs/posix_rpi2_default.cmake

@@ -31,7 +31,9 @@ set(config_module_list
 	modules/fw_pos_control_l1
 	modules/dataman
 	modules/sdlog2
+	modules/logger
 	modules/commander
+	modules/load_mon
 	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter

cmake/configs/posix_rpi2_release.cmake

@@ -1,57 +1,109 @@
 include(posix/px4_impl_posix)
 
-if ("${RPI_TOOLCHAIN_DIR}" STREQUAL "")
-	set(RPI_TOOLCHAIN_DIR /opt/rpi_toolchain)
-endif()
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
 
-set(CMAKE_PROGRAM_PATH 
+set(CMAKE_PROGRAM_PATH
 	"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
 	${CMAKE_PROGRAM_PATH}
 	)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+# This definition allows to differentiate if this just the usual POSIX build
+# or if it is for the RPi.
+add_definitions(
+	-D__PX4_POSIX_RPI2
+	)
 
 set(config_module_list
+	#
+	# Board support modules
+	#
 	drivers/device
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
+	modules/sensors
+	platforms/posix/drivers/df_mpu9250_wrapper
+	platforms/posix/drivers/df_bmp280_wrapper
+	platforms/posix/drivers/df_hmc5883_wrapper
+	platforms/posix/drivers/df_trone_wrapper
+	platforms/posix/drivers/df_isl29501_wrapper
+
+	#
+	# System commands
+	#
 	systemcmds/param
 	systemcmds/mixer
 	systemcmds/ver
 	systemcmds/esc_calib
-	systemcmds/reboot
 	systemcmds/topic_listener
 	systemcmds/perf
-	modules/uORB
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	#modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/fw_att_control
+	modules/fw_pos_control_l1	
+	modules/vtol_att_control
+
+	#
+	# Library modules
+	#
+	modules/sdlog2
+	modules/logger
+	modules/commander
+	modules/load_mon
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
-	modules/sensors
-	modules/mavlink
-	modules/attitude_estimator_q
-	modules/position_estimator_inav
-	modules/navigator
-	modules/vtol_att_control
-	modules/mc_pos_control
-	modules/mc_att_control
-	modules/land_detector
-	modules/fw_att_control
-	modules/fw_pos_control_l1
+	modules/uORB
 	modules/dataman
-	modules/sdlog2
-	modules/commander
+	modules/land_detector
+	modules/navigator
+	modules/mavlink
+
+	#
+	# PX4 drivers
+	#
+
+	#
+	# Libraries
+	#
 	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter
-	lib/conversion
-	lib/ecl
-	lib/external_lgpl
 	lib/geo
+	lib/ecl
 	lib/geo_lookup
 	lib/launchdetection
+	lib/external_lgpl
+	lib/conversion
 	lib/terrain_estimation
 	lib/runway_takeoff
 	lib/tailsitter_recovery
 	lib/DriverFramework/framework
-)
+
+	#
+	# POSIX
+	#
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+
+	)
+
+set(config_df_driver_list
+	mpu9250
+	bmp280
+	hmc5883
+	trone
+	isl29501
+	)

cmake/configs/posix_sdflight_default.cmake

@@ -38,8 +38,11 @@ set(config_module_list
 	modules/sensors
 	modules/dataman
 	modules/sdlog2
+	modules/logger
 	modules/simulator
 	modules/commander
+	modules/navigator
+	modules/load_mon
 
 	lib/controllib
 	lib/mathlib

cmake/configs/posix_sitl_broadcast.cmake

@@ -49,6 +49,7 @@ set(config_module_list
 	modules/fw_pos_control_l1
 	modules/dataman
 	modules/sdlog2
+	modules/logger
 	modules/commander
 	lib/controllib
 	lib/mathlib

cmake/configs/posix_sitl_default.cmake

@@ -3,67 +3,88 @@ include(posix/px4_impl_posix)
 set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
 
 set(config_module_list
-	drivers/device
 	drivers/boards/sitl
-	drivers/pwm_out_sim
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-	platforms/posix/drivers/adcsim
-	platforms/posix/drivers/gpssim
+	drivers/device
 	drivers/gps
-	platforms/posix/drivers/tonealrmsim
+	drivers/pwm_out_sim
+
+	platforms/common
 	platforms/posix/drivers/accelsim
+	platforms/posix/drivers/adcsim
 	platforms/posix/drivers/airspeedsim
 	platforms/posix/drivers/barosim
+	platforms/posix/drivers/gpssim
 	platforms/posix/drivers/gyrosim
-	platforms/posix/drivers/rgbledsim
 	platforms/posix/drivers/ledsim
-	systemcmds/param
-	systemcmds/mixer
-	systemcmds/ver
+	platforms/posix/drivers/rgbledsim
+	platforms/posix/drivers/tonealrmsim
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+
 	systemcmds/esc_calib
-	systemcmds/reboot
-	systemcmds/topic_listener
+	systemcmds/mixer
+	systemcmds/param
 	systemcmds/perf
-	modules/uORB
-	modules/param
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/sensors
-	modules/simulator
-	modules/mavlink
+	systemcmds/reboot
+	systemcmds/sd_bench
+	systemcmds/topic_listener
+	systemcmds/ver
+	systemcmds/top
+
 	modules/attitude_estimator_ekf
 	modules/attitude_estimator_q
+	modules/commander
+	modules/dataman
 	modules/ekf2
 	modules/ekf_att_pos_estimator
-	modules/position_estimator_inav
-	modules/navigator
-	modules/vtol_att_control
-	modules/mc_pos_control
-	modules/mc_att_control
-	modules/mc_pos_control_multiplatform
-	modules/mc_att_control_multiplatform
-	modules/land_detector
 	modules/fw_att_control
 	modules/fw_pos_control_l1
-	modules/dataman
+	modules/land_detector
+	modules/load_mon
+	modules/logger
+	modules/mavlink
+	modules/mc_att_control
+	modules/mc_att_control_multiplatform
+	modules/mc_pos_control
+	modules/mc_pos_control_multiplatform
+	modules/navigator
+	modules/param
+	modules/position_estimator_inav
+	modules/local_position_estimator
 	modules/sdlog2
-	modules/commander
+	modules/sensors
+	modules/simulator
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/vtol_att_control
+
 	lib/controllib
-	lib/mathlib
-	lib/mathlib/math/filter
 	lib/conversion
+	lib/DriverFramework/framework
 	lib/ecl
 	lib/external_lgpl
 	lib/geo
 	lib/geo_lookup
 	lib/launchdetection
-	lib/terrain_estimation
+	lib/mathlib
+	lib/mathlib/math/filter
 	lib/runway_takeoff
 	lib/tailsitter_recovery
-	lib/DriverFramework/framework
+	lib/terrain_estimation
+
 	examples/px4_simple_app
+
+	#
+	# Testing
+	#
+	modules/commander/commander_tests
+	modules/controllib_test
+	#modules/mavlink/mavlink_tests
+	modules/unit_test
+	modules/uORB/uORB_tests
+	systemcmds/tests
+
 	)
 
 set(config_extra_builtin_cmds

cmake/configs/posix_sitl_lpe.cmake

@@ -1,9 +1,5 @@
 include(cmake/configs/posix_sitl_default.cmake)
 
-list(APPEND config_module_list
-	modules/local_position_estimator
-	)
-
 set(config_sitl_rcS
 	posix-configs/SITL/init/rcS_lpe
 	)

cmake/configs/posix_sitl_replay.cmake

@@ -17,6 +17,7 @@ set(config_module_list
 	modules/ekf2
 	modules/ekf2_replay
 	modules/sdlog2
+	modules/logger
 	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter

cmake/configs/posix_sitl_test.cmake

@@ -3,66 +3,87 @@ include(posix/px4_impl_posix)
 set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
 
 set(config_module_list
-	drivers/device
 	drivers/boards/sitl
+	drivers/device
+	drivers/gps
 	drivers/pwm_out_sim
+
 	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-	platforms/posix/drivers/adcsim
-	platforms/posix/drivers/gpssim
-	platforms/posix/drivers/tonealrmsim
 	platforms/posix/drivers/accelsim
+	platforms/posix/drivers/adcsim
 	platforms/posix/drivers/airspeedsim
 	platforms/posix/drivers/barosim
+	platforms/posix/drivers/gpssim
 	platforms/posix/drivers/gyrosim
-	platforms/posix/drivers/rgbledsim
 	platforms/posix/drivers/ledsim
-	systemcmds/param
-	systemcmds/mixer
-	systemcmds/ver
+	platforms/posix/drivers/rgbledsim
+	platforms/posix/drivers/tonealrmsim
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+
 	systemcmds/esc_calib
-	systemcmds/reboot
-	systemcmds/topic_listener
+	systemcmds/mixer
+	systemcmds/param
 	systemcmds/perf
-	modules/uORB
-	modules/param
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/sensors
-	modules/simulator
-	modules/mavlink
+	systemcmds/reboot
+	systemcmds/sd_bench
+	systemcmds/topic_listener
+	systemcmds/ver
+
 	modules/attitude_estimator_ekf
 	modules/attitude_estimator_q
-	modules/ekf_att_pos_estimator
+	modules/commander
+	modules/dataman
 	modules/ekf2
-	modules/position_estimator_inav
-	modules/navigator
-	modules/vtol_att_control
-	modules/mc_pos_control
-	modules/mc_att_control
-	modules/mc_pos_control_multiplatform
-	modules/mc_att_control_multiplatform
-	modules/land_detector
+	modules/ekf_att_pos_estimator
 	modules/fw_att_control
 	modules/fw_pos_control_l1
-	modules/dataman
+	modules/land_detector
+	modules/load_mon
+	modules/logger
+	modules/mavlink
+	modules/mc_att_control
+	modules/mc_att_control_multiplatform
+	modules/mc_pos_control
+	modules/mc_pos_control_multiplatform
+	modules/navigator
+	modules/param
+	modules/position_estimator_inav
+	modules/local_position_estimator
 	modules/sdlog2
-	modules/commander
+	modules/sensors
+	modules/simulator
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/vtol_att_control
+
 	lib/controllib
-	lib/mathlib
-	lib/mathlib/math/filter
 	lib/conversion
+	lib/DriverFramework/framework
 	lib/ecl
 	lib/external_lgpl
 	lib/geo
 	lib/geo_lookup
 	lib/launchdetection
-	lib/terrain_estimation
+	lib/mathlib
+	lib/mathlib/math/filter
 	lib/runway_takeoff
 	lib/tailsitter_recovery
-	lib/DriverFramework/framework
+	lib/terrain_estimation
+
 	examples/px4_simple_app
+
+	#
+	# Testing
+	#
+	modules/commander/commander_tests
+	modules/controllib_test
+	#modules/mavlink/mavlink_tests
+	modules/unit_test
+	modules/uORB/uORB_tests
+	systemcmds/tests
+
 	)
 
 set(config_extra_builtin_cmds
@@ -71,7 +92,7 @@ set(config_extra_builtin_cmds
 	)
 
 set(config_sitl_rcS
-	posix-configs/SITL/init/rcS_ekf2
+	posix-configs/SITL/init/rcS_test
 	CACHE FILEPATH "init script for sitl"
 	)
 

cmake/configs/qurt_eagle_hil.cmake

@@ -48,6 +48,7 @@ set(config_module_list
 	modules/systemlib/mixer
 	modules/uORB
 	modules/commander
+	modules/load_mon
 
 	#
 	# Libraries

cmake/configs/qurt_eagle_legacy_driver_default.cmake

@@ -16,6 +16,8 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexa
 
 add_definitions(
    -D__USING_SNAPDRAGON_LEGACY_DRIVER
+   -D__PX4_QURT
+   -D__PX4_QURT_EAGLE
    )
 
 set(config_module_list
@@ -26,8 +28,6 @@ set(config_module_list
 	modules/sensors
 	platforms/posix/drivers/df_mpu9250_wrapper
 	platforms/posix/drivers/df_bmp280_wrapper
-	platforms/posix/drivers/df_hmc5883_wrapper
-	platforms/posix/drivers/df_trone_wrapper
 
 	#
 	# System commands
@@ -37,7 +37,6 @@ set(config_module_list
 	#
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
-	#modules/attitude_estimator_ekf
 	modules/ekf_att_pos_estimator
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
@@ -58,14 +57,21 @@ set(config_module_list
 	modules/uORB
 	modules/commander
 	modules/land_detector
+	modules/load_mon
 
 	#
 	# PX4 drivers
 	#
 	drivers/gps
-	drivers/uart_esc
+	drivers/pwm_out_rc_in
 	drivers/qshell/qurt
 
+	#
+	# FC_ADDON drivers
+	#
+	platforms/qurt/fc_addon/rc_receiver
+	platforms/qurt/fc_addon/uart_esc
+
 	#
 	# Libraries
 	#
@@ -97,6 +103,4 @@ set(config_module_list
 set(config_df_driver_list
 	mpu9250
 	bmp280
-	hmc5883
-	trone
 	)

cmake/configs/qurt_eagle_travis.cmake

@@ -8,6 +8,7 @@ set(QURT_ENABLE_STUBS "1")
 set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+include(hexagon_sdk)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
@@ -15,7 +16,7 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()
 
-include_directories(${HEXAGON_SDK_ROOT}/lib/common/qurt/ADSPv5MP/include)
+include_directories(${HEXAGON_8074_INCLUDES})
 
 set(config_generate_parameters_scope ALL)
 
@@ -55,6 +56,7 @@ set(config_module_list
 	modules/systemlib/mixer
 	modules/uORB
 	modules/commander
+	modules/load_mon
 
 	#
 	# Libraries

cmake/configs/qurt_sdflight_default.cmake

@@ -60,7 +60,7 @@ set(config_module_list
 	# PX4 drivers
 	#
 	drivers/gps
-	drivers/uart_esc
+	drivers/pwm_out_rc_in
 	drivers/qshell/qurt
 
 	#

cmake/nuttx/px4_impl_nuttx.cmake

@@ -202,21 +202,32 @@ function(px4_nuttx_add_export)
 	    add_dependencies(nuttx_patch nuttx_patch_${patch_name})
 	endforeach()
 
+	# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes 
+	# note: CONFIG will be BOARD in the future evaluation of ${hw_stack_check_${CONFIG}
+	file(STRINGS "${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig"
+		hw_stack_check_${CONFIG}
+		REGEX "CONFIG_ARMV7M_STACKCHECK=y"
+		)
+	if ("${hw_stack_check_${CONFIG}}" STREQUAL "CONFIG_ARMV7M_STACKCHECK=y")
+		set(config_nuttx_hw_stack_check_${CONFIG} y CACHE INTERNAL "" FORCE)
+	endif()
+
 	# copy and export
+	file(RELATIVE_PATH nuttx_cp_src ${CMAKE_BINARY_DIR} ${CMAKE_SOURCE_DIR}/NuttX)
 	file(GLOB_RECURSE config_files ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
 	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/${CONFIG}.export
 		COMMAND ${MKDIR} -p ${nuttx_src}
-		COMMAND ${CP} -a ${CMAKE_SOURCE_DIR}/NuttX/. ${nuttx_src}/
-		COMMAND ${RM} -rf ${nuttx_src}/.git
+		COMMAND rsync -a --delete --exclude=.git ${nuttx_cp_src}/ ${CONFIG}/NuttX/
 		#COMMAND ${ECHO} Configuring NuttX for ${CONFIG}
 		COMMAND ${MAKE} --no-print-directory -C${nuttx_src}/nuttx -r --quiet distclean
 		COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/PX4_Warnings.mk ${nuttx_src}/nuttx/
 		COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
-		COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/nsh
+		COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/nsh && cd ..
 		#COMMAND ${ECHO} Exporting NuttX for ${CONFIG}
 		COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -j${THREADS} -r CONFIG_ARCH_BOARD=${CONFIG} export > nuttx_build.log
 		COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${CMAKE_BINARY_DIR}/${CONFIG}.export
 		DEPENDS ${config_files} ${DEPENDS}
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
 		COMMENT "Building NuttX for ${CONFIG}")
 
 	# extract
@@ -428,6 +439,16 @@ function(px4_os_add_flags)
 
 	set(added_exe_linker_flags) # none currently
 
+	set(instrument_flags)
+	if ("${config_nuttx_hw_stack_check_${BOARD}}" STREQUAL "y")
+		set(instrument_flags
+			-finstrument-functions
+			-ffixed-r10
+			)
+		list(APPEND c_flags ${instrument_flags})
+		list(APPEND cxx_flags ${instrument_flags})
+	endif()
+
 	set(cpu_flags)
 	if (${BOARD} STREQUAL "px4fmu-v1")
 		set(cpu_flags

cmake/posix/px4_impl_posix.cmake

@@ -166,6 +166,15 @@ function(px4_os_add_flags)
                 mavlink/include/mavlink
                 )
 
+# Use the pthread instead of lpthread if the firmware is build for the parrot
+# bebop. This resolves some linker errors in DriverFramework, when building a 
+# static target.
+if ("${BOARD}" STREQUAL "bebop")
+  set(PX4_PTHREAD_BUILD "-pthread")
+else()
+  set(PX4_PTHREAD_BUILD "-lpthread")
+endif()
+
 if(UNIX AND APPLE)
         set(added_definitions
 		-D__PX4_POSIX
@@ -177,7 +186,7 @@ if(UNIX AND APPLE)
                 )
 
         set(added_exe_linker_flags
-		-lpthread
+          ${PX4_PTHREAD_BUILD}
 		)
 
 else()
@@ -192,7 +201,7 @@ else()
                 )
 
         set(added_exe_linker_flags
-		-lpthread -lrt
+		      ${PX4_PTHREAD_BUILD} -lrt
 		)
 
 endif()

cmake/ros-CMakeLists.txt

@@ -59,30 +59,29 @@ find_package(Eigen REQUIRED)
 ## 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
+  actuator_controls.msg
   commander_state.msg
-  vehicle_local_position.msg
+  control_state.msg
+  distance_sensor.msg
+  manual_control_setpoint.msg
+  mc_virtual_rates_setpoint.msg
+  offboard_control_mode.msg
+  parameter_update.msg
   position_setpoint.msg
   position_setpoint_triplet.msg
-  vehicle_local_position_setpoint.msg
-  vehicle_global_velocity_setpoint.msg
-  offboard_control_mode.msg
+  rc_channels.msg
+  ros/actuator_controls_0.msg
+  ros/actuator_controls_virtual_mc.msg
+  vehicle_attitude.msg
+  vehicle_attitude_setpoint.msg
+  vehicle_control_mode.msg
   vehicle_force_setpoint.msg
-  distance_sensor.msg
-  control_state.msg
+  vehicle_global_velocity_setpoint.msg
+  vehicle_local_position.msg
+  vehicle_local_position_setpoint.msg
+  vehicle_rates_setpoint.msg
+  vehicle_status.msg
 )
 
 ## Generate services in the 'srv' folder
@@ -148,8 +147,8 @@ set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_m
 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}
+add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_files.py
+	--headers -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

cmake/templates/build_git_version.h.in

@@ -1,5 +1,5 @@
 /* Auto Magically Generated file */
 /* Do not edit! */
-#define PX4_GIT_VERSION_STR  "@git_desc@"
-#define PX4_GIT_VERSION_BINARY 0x@git_desc_short@
+#define PX4_GIT_VERSION_STR  "@git_version@"
+#define PX4_GIT_VERSION_BINARY 0x@git_version_short@
 #define PX4_GIT_TAG_STR  "@git_tag@"

cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake

@@ -0,0 +1,89 @@
+# defines:
+#
+# NM
+# OBJCOPY
+# LD
+# CXX_COMPILER
+# C_COMPILER
+# CMAKE_SYSTEM_NAME
+# CMAKE_SYSTEM_VERSION
+# LINKER_FLAGS
+# CMAKE_EXE_LINKER_FLAGS
+# CMAKE_FIND_ROOT_PATH
+# CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
+# CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
+# CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
+
+include(CMakeForceCompiler)
+
+if ("$ENV{RPI_TOOLCHAIN_DIR}" STREQUAL "")
+        message(FATAL_ERROR "RPI_TOOLCHAIN_DIR not set")
+else()
+        set(RPI_TOOLCHAIN_DIR $ENV{RPI_TOOLCHAIN_DIR})
+endif()
+
+# this one is important
+set(CMAKE_SYSTEM_NAME Generic)
+
+#this one not so much
+set(CMAKE_SYSTEM_VERSION 1)
+
+# specify the cross compiler
+find_program(C_COMPILER arm-linux-gnueabihf-gcc
+	PATHS ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin
+	NO_DEFAULT_PATH
+	)
+
+if(NOT C_COMPILER)
+	message(FATAL_ERROR "could not find arm-linux-gnueabihf-gcc compiler")
+endif()
+cmake_force_c_compiler(${C_COMPILER} GNU)
+
+find_program(CXX_COMPILER arm-linux-gnueabihf-g++
+	PATHS ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin
+	NO_DEFAULT_PATH
+	)
+
+if(NOT CXX_COMPILER)
+	message(FATAL_ERROR "could not find arm-linux-gnueabihf-g++ compiler")
+endif()
+cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
+
+# compiler tools
+foreach(tool objcopy nm ld)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} arm-linux-gnueabihf-${tool}
+		PATHS ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin
+		NO_DEFAULT_PATH
+		)
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find arm-linux-gnueabihf-${tool}")
+	endif()
+endforeach()
+
+# os tools
+foreach(tool echo grep rm mkdir nm cp touch make unzip)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${TOOL}")
+	endif()
+endforeach()
+
+add_definitions(
+	-D __RPI2
+	)
+
+set(LINKER_FLAGS "-Wl,-gc-sections")
+set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
+set(CMAKE_C_FLAGS ${C_FLAGS})
+set(CMAKE_CXX_LINKER_FLAGS ${C_FLAGS})
+
+# where is the target environment
+set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
+
+# search for programs in the build host directories
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# for libraries and headers in the target directories
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

cmake/toolchains/Toolchain-native.cmake

@@ -8,7 +8,7 @@ foreach(tool nm ld)
 endforeach()
 
 # os tools
-foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
+foreach(tool echo grep rm mkdir nm cp touch make unzip)
 	string(TOUPPER ${tool} TOOL)
 	find_program(${TOOL} ${tool})
 	if(NOT ${TOOL})

integrationtests/run_tests.bash

@@ -43,11 +43,7 @@ ln -s ${SRC_DIR} /root/Firmware
 echo "=====> compile ($SRC_DIR)"
 cd $SRC_DIR
 make ${BUILD}
-mkdir -p Tools/sitl_gazebo/Build
-cd Tools/sitl_gazebo/Build
-cmake -Wno-dev ..
-make -j4
-make sdf
+make --no-print-directory gazebo_build
 echo "<====="
 
 # don't exit on error anymore from here on (because single tests or exports might fail)

integrationtests/setup_gazebo_ros.bash

@@ -15,6 +15,8 @@ SRC_DIR=$1
 
 # setup Gazebo env and update package path
 export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/models
-export GAZEBO_PLUGIN_PATH=${SRC_DIR}/Tools/sitl_gazebo/Build/:${GAZEBO_PLUGIN_PATH}
+export GAZEBO_PLUGIN_PATH=${SRC_DIR}/build_gazebo:${GAZEBO_PLUGIN_PATH}
 export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/
 export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${SRC_DIR}
+export GAZEBO_MODEL_DATABASE_URI=""
+export SITL_GAZEBO_PATH=$SRC_DIR/Tools/sitl_gazebo

launch/mavros_posix_sitl.launch

@@ -6,6 +6,7 @@
     <arg name="ns" default="/"/>
     <arg name="world" default="iris"/>
     <arg name="build" default="posix_sitl_default"/>
+    <arg name="fcu_url" default="udp://:14540@localhost:14557"/>
 
     <include file="$(find px4)/launch/posix_sitl.launch">
         <arg name="headless" value="$(arg headless)"/>
@@ -17,6 +18,6 @@
 
     <include file="$(find px4)/launch/mavros.launch">
         <arg name="ns" value="$(arg ns)"/>
-        <arg name="fcu_url" value="udp://:14567@localhost:14557"/>
+        <arg name="fcu_url" value="$(arg fcu_url)"/>
     </include>
 </launch>

launch/posix_sitl.launch

@@ -7,7 +7,7 @@
     <arg name="world" default="iris"/>
     <arg name="build" default="posix_sitl_default"/>
 
-    <node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo iris $(find px4)/build_$(arg build)">
+    <node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo $(arg world) $(find px4)/build_$(arg build)">
         <env name="no_sim" value="1" />
     </node>
 

msg/CMakeLists.txt

@@ -0,0 +1,130 @@
+############################################################################
+#
+#   Copyright (c) 2016 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.
+#
+############################################################################
+
+set(msg_file_names
+	actuator_armed.msg
+	actuator_controls.msg
+	actuator_direct.msg
+	actuator_outputs.msg
+	adc_report.msg
+	airspeed.msg
+	att_pos_mocap.msg
+	battery_status.msg
+	camera_trigger.msg
+	commander_state.msg
+	control_state.msg
+	cpuload.msg
+	debug_key_value.msg
+	differential_pressure.msg
+	distance_sensor.msg
+	ekf2_innovations.msg
+	ekf2_replay.msg
+	encoders.msg
+	esc_report.msg
+	esc_status.msg
+	estimator_status.msg
+	fence.msg
+	fence_vertex.msg
+	filtered_bottom_flow.msg
+	follow_target.msg
+	fw_pos_ctrl_status.msg
+	fw_virtual_attitude_setpoint.msg
+	fw_virtual_rates_setpoint.msg
+	geofence_result.msg
+	gps_inject_data.msg
+	hil_sensor.msg
+	home_position.msg
+	input_rc.msg
+	manual_control_setpoint.msg
+	mavlink_log.msg
+	mc_att_ctrl_status.msg
+	mc_virtual_attitude_setpoint.msg
+	mc_virtual_rates_setpoint.msg
+	mission.msg
+	mission_result.msg
+	multirotor_motor_limits.msg
+	offboard_control_mode.msg
+	optical_flow.msg
+	output_pwm.msg
+	parameter_update.msg
+	position_setpoint.msg
+	position_setpoint_triplet.msg
+	pwm_input.msg
+	qshell_req.msg
+	rc_channels.msg
+	rc_parameter_map.msg
+	safety.msg
+	satellite_info.msg
+	sensor_accel.msg
+	sensor_baro.msg
+	sensor_combined.msg
+	sensor_gyro.msg
+	sensor_mag.msg
+	servorail_status.msg
+	subsystem_info.msg
+	system_power.msg
+	tecs_status.msg
+	telemetry_status.msg
+	test_motor.msg
+	time_offset.msg
+	transponder_report.msg
+	uavcan_parameter_request.msg
+	uavcan_parameter_value.msg
+	vehicle_attitude.msg
+	vehicle_attitude_setpoint.msg
+	vehicle_command_ack.msg
+	vehicle_command.msg
+	vehicle_control_mode.msg
+	vehicle_force_setpoint.msg
+	vehicle_global_position.msg
+	vehicle_global_velocity_setpoint.msg
+	vehicle_gps_position.msg
+	vehicle_land_detected.msg
+	vehicle_local_position.msg
+	vehicle_local_position_setpoint.msg
+	vehicle_rates_setpoint.msg
+	vehicle_status.msg
+	vision_position_estimate.msg
+	vtol_vehicle_status.msg
+	wind_estimate.msg
+	)
+
+# Get absolute paths
+set(msg_files)
+foreach(msg_file ${msg_file_names})
+	list(APPEND msg_files ${CMAKE_CURRENT_SOURCE_DIR}/${msg_file})
+endforeach()
+
+set(msg_files ${msg_files} PARENT_SCOPE)
+
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

msg/actuator_armed.msg

@@ -1,5 +1,4 @@
 
-uint64 timestamp	# Microseconds since system boot
 bool armed		# Set to true if system is armed
 bool prearmed		# Set to true if the actuator safety is disabled but motors are not armed
 bool ready_to_arm	# Set to true if system is ready to be armed

msg/actuator_controls.msg

@@ -10,6 +10,9 @@ uint8 INDEX_AIRBRAKES = 6
 uint8 INDEX_LANDING_GEAR = 7
 uint8 GROUP_INDEX_ATTITUDE = 0
 uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
-uint64 timestamp
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 float32[8] control
+
+# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2 actuator_controls_3
+# TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
+

msg/actuator_controls_1.msg

@@ -1,5 +0,0 @@
-uint8 NUM_ACTUATOR_CONTROLS = 8
-uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
-uint64 timestamp
-uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
-float32[8] control

msg/actuator_controls_2.msg

@@ -1,5 +0,0 @@
-uint8 NUM_ACTUATOR_CONTROLS = 8
-uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
-uint64 timestamp
-uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
-float32[8] control

msg/actuator_controls_3.msg

@@ -1,5 +0,0 @@
-uint8 NUM_ACTUATOR_CONTROLS = 8
-uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
-uint64 timestamp
-uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
-float32[8] control

msg/actuator_controls_virtual_fw.msg

@@ -1,5 +0,0 @@
-uint8 NUM_ACTUATOR_CONTROLS = 8
-uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
-uint64 timestamp
-uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
-float32[8] control

msg/actuator_direct.msg

@@ -1,4 +1,3 @@
 uint8 NUM_ACTUATORS_DIRECT = 16
-uint64 timestamp			# timestamp in us since system boot
 uint32 nvalues				# number of valid values
 float32[16] values			# actuator values, from -1 to 1

msg/actuator_outputs.msg

@@ -1,5 +1,4 @@
 uint8 NUM_ACTUATOR_OUTPUTS		= 16
 uint8 NUM_ACTUATOR_OUTPUT_GROUPS	= 4	# for sanity checking
-uint64 timestamp			# output timestamp in us since system boot
 uint32 noutputs				# valid outputs
 float32[16] output			# output data, in natural output units

msg/adc_report.msg

@@ -1,3 +1,2 @@
-uint64 timestamp		# Timestamp in microseconds since boot
 int16[8] channel_id		# ADC channel IDs, negative for non-existent
 float32[8] channel_value	# ADC channel value in volt, valid if channel ID is positive

msg/airspeed.msg

@@ -1,4 +1,3 @@
-uint64 timestamp			# microseconds since system boot, needed to integrate
 float32 indicated_airspeed_m_s		# indicated airspeed in meters per second, -1 if unknown
 float32 true_airspeed_m_s		# true filtered airspeed in meters per second, -1 if unknown
 float32 true_airspeed_unfiltered_m_s	# true airspeed in meters per second, -1 if unknown

msg/battery_status.msg

@@ -1,4 +1,3 @@
-uint64 timestamp		# microseconds since system boot, needed to integrate
 float32 voltage_v		# Battery voltage in volts, 0 if unknown
 float32 voltage_filtered_v	# Battery voltage in volts, filtered, 0 if unknown
 float32 current_a		# Battery current in amperes, -1 if unknown
@@ -6,6 +5,7 @@ float32 current_filtered_a	# Battery current in amperes, filtered, 0 if unknown
 float32 discharged_mah		# Discharged amount in mAh, -1 if unknown
 float32 remaining		# From 1 to 0, -1 if unknown
 int32 cell_count		# Number of cells
+bool connected			# Wether or not a battery is connected
 #bool is_powering_off		# Power off event imminent indication, false if unknown
 
 

msg/camera_trigger.msg

@@ -1,4 +1,3 @@
 
-uint64 timestamp	# Timestamp when camera was triggered
 uint32 seq		# Image sequence
 

msg/commander_state.msg

@@ -14,6 +14,5 @@ uint8 MAIN_STATE_AUTO_LAND = 11
 uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
 uint8 MAIN_STATE_MAX = 13
 
-uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
 
 uint8 main_state		    	# main state machine

msg/control_state.msg

@@ -1,5 +1,4 @@
 # This is similar to the mavlink message CONTROL_SYSTEM_STATE, but for onboard use */
-uint64 timestamp		# in microseconds since system start
 float32 x_acc			# X acceleration in body frame
 float32 y_acc			# Y acceleration in body frame
 float32 z_acc			# Z acceleration in body frame

msg/cpuload.msg

@@ -0,0 +1 @@
+float32 load                    # processor load from 0 to 1

msg/differential_pressure.msg

@@ -1,4 +1,3 @@
-uint64 timestamp				# Microseconds since system boot, needed to integrate
 uint64 error_count				# Number of errors detected by driver
 float32 differential_pressure_raw_pa		# Raw differential pressure reading (may be negative)
 float32 differential_pressure_filtered_pa	# Low pass filtered differential pressure reading

msg/distance_sensor.msg

@@ -1,6 +1,5 @@
 # DISTANCE_SENSOR message data
 
-uint64 timestamp		# Microseconds since system boot
 
 float32 min_distance		# Minimum distance the sensor can measure (in m)
 float32 max_distance		# Maximum distance the sensor can measure (in m)

msg/ekf2_innovations.msg

@@ -1,4 +1,3 @@
-uint64 timestamp		# Timestamp in microseconds since boot
 float32[6] vel_pos_innov  # velocity and position innovations
 float32[3] mag_innov 	# earth magnetic field innovations
 float32 heading_innov 	# heading innovation

msg/ekf2_replay.msg

@@ -7,6 +7,7 @@ uint64 baro_timestamp			# timestamp of barometer measurement in us
 uint64 rng_timestamp			# timestamp of range finder measurement in us
 uint64 flow_timestamp			# timestamp of optical flow measurement in us
 uint64 asp_timestamp			# timestamp of airspeed measurement in us
+uint64 ev_timestamp			# timestamp of external vision measurement in us
 
 float32[3] gyro_integral_rad		# integrated gyro vector in rad
 float32[3] accelerometer_integral_m_s  	# integrated accelerometer vector in m/s
@@ -42,7 +43,9 @@ uint8 flow_quality			# Quality of accumulated optical flow data (0 - 255)
 # airspeed
 float32 indicated_airspeed_m_s		# indicated airspeed in meters per second, -1 if unknown
 float32 true_airspeed_m_s		# true filtered airspeed in meters per second, -1 if unknown
-float32 true_airspeed_unfiltered_m_s	# true airspeed in meters per second, -1 if unknown
-float32 air_temperature_celsius		# air temperature in degrees celsius, -1000 if unknown
-float32 confidence			# confidence value from 0 to 1 for this sensor
 
+# external vision measurements
+float32[3] pos_ev			# position in earth (NED) frame (metres)
+float32[4] quat_ev			# quaternion rotation from earth (NED) to body (XYZ) frame
+float32 pos_err				# position error 1-std for each axis (metres)
+float32 ang_err				# angular error 1-std for each axis (rad)

msg/encoders.msg

@@ -1,5 +1,4 @@
 uint8 NUM_ENCODERS = 4
 
-uint64 timestamp
 int64[4] counts			# counts of encoder
 float32[4] velocity		# counts of encoder/ second

msg/esc_status.msg

@@ -11,7 +11,6 @@ uint8 ESC_CONNECTION_TYPE_I2C = 3			# I2C
 uint8 ESC_CONNECTION_TYPE_CAN = 4			# CAN-Bus
 
 uint16 counter  					# incremented by the writing thread everytime new data is stored
-uint64 timestamp 					# in microseconds since system start, is set whenever the writing thread stores new data
 
 uint8 esc_count						# number of connected ESCs
 uint8 esc_connectiontype				# how ESCs connected to the system

msg/estimator_status.msg

@@ -1,4 +1,3 @@
-uint64 timestamp		# Timestamp in microseconds since boot
 float32[32] states		# Internal filter states
 float32 n_states		# Number of states effectively used
 float32[3] vibe			# Vibration levels in X, Y and Z
@@ -23,12 +22,26 @@ uint16 control_mode_flags	# Bitmask to indicate EKF logic state
 # 2 - true if GPS measurements are being fused
 # 3 - true if optical flow measurements are being fused
 # 4 - true if a simple magnetic yaw heading is being fused
-# 5 - true if the horizontal projection of magnetometer data is being fused
-# 6 - true if 3-axis magnetometer measurement are being fused
-# 7 - true if synthetic magnetic declination measurements are being fused
-# 8 - true when the vehicle is airborne
-# 9 - true when the vehicle motors are armed
-# 10 - true when wind velocity is being estimated
-# 11 - true when baro height is being fused as a primary height reference
-# 12 - true when range finder height is being fused as a primary height reference
-# 15 - true when range finder height is being fused as a primary height reference
+# 5 - true if 3-axis magnetometer measurement are being fused
+# 6 - true if synthetic magnetic declination measurements are being fused
+# 7 - true when the vehicle is airborne
+# 8 - true when wind velocity is being estimated
+# 9 - true when baro height is being fused as a primary height reference
+# 10 - true when range finder height is being fused as a primary height reference
+# 11 - true when range finder height is being fused as a primary height reference
+uint16 filter_fault_flags	# Bitmask to indicate EKF internal faults
+# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
+# 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
+# 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
+# 3 - true if the fusion of the magnetic heading has encountered a numerical error
+# 4 - true if the fusion of the magnetic declination has encountered a numerical error
+# 5 - true if fusion of the airspeed has encountered a numerical error
+# 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
+# 7 - true if fusion of the optical flow X axis has encountered a numerical error
+# 8 - true if fusion of the optical flow Y axis has encountered a numerical error
+# 9 - true if fusion of the North velocity has encountered a numerical error
+# 10 - true if fusion of the East velocity has encountered a numerical error
+# 11 - true if fusion of the Down velocity has encountered a numerical error
+# 12 - true if fusion of the North position has encountered a numerical error
+# 13 - true if fusion of the East position has encountered a numerical error
+# 14 - true if fusion of the Down position has encountered a numerical error

msg/filtered_bottom_flow.msg

@@ -1,5 +1,4 @@
 # Filtered bottom flow in bodyframe.
-uint64 timestamp		# time of this estimate, in microseconds since system start
 
 float32 sumx				# Integrated bodyframe x flow in meters
 float32 sumy				# Integrated bodyframe y flow in meters

msg/follow_target.msg

@@ -1,4 +1,7 @@
-uint64 timestamp		# timestamp, UNIX epoch (GPS synced)
 float64 lat			# target position (deg * 1e7)
 float64 lon			# target position (deg * 1e7) 
-float32 alt			# target position 
+float32 alt			# target position
+float32 vy			# target vel in y
+float32 vx			# target vel in x
+float32 vz			# target vel in z 
+uint8 est_cap # target reporting capabilities

msg/fw_pos_ctrl_status.msg

@@ -1,5 +1,12 @@
-uint64 timestamp		# timestamp this topic was emitted
+float32 nav_roll
+float32 nav_pitch
+float32 nav_bearing
+
+float32 target_bearing
+float32 wp_dist
+float32 xtrack_error
 float32 turn_distance		# the optimal distance to a waypoint to switch to the next
+
 float32 landing_horizontal_slope_displacement
 float32 landing_slope_angle_rad
 float32 landing_flare_length

msg/fw_virtual_attitude_setpoint.msg

@@ -8,7 +8,6 @@
 #
 ###############################################################################################
 
-uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data
 
 float32 roll_body				# body angle in NED frame
 float32 pitch_body				# body angle in NED frame
@@ -35,3 +34,6 @@ bool fw_control_yaw					# control heading with rudder (used for auto takeoff on
 bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane mode)
 
 bool apply_flaps
+
+# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
+# TOPICS fw_virtual_attitude_setpoint

msg/fw_virtual_rates_setpoint.msg

@@ -8,7 +8,6 @@
 #
 ###############################################################################################
 
-uint64 timestamp    # in microseconds since system start
 
 float32 roll	    # body angular rates in NED frame
 float32 pitch	    # body angular rates in NED frame

msg/gps_inject_data.msg

@@ -1,2 +1,3 @@
 uint8 len			# length of data
-uint8[110] data			# data to write to GPS device
+uint8 flags         		# LSB: 1=fragmented
+uint8[182] data		# data to write to GPS device (RTCM message)

msg/hil_sensor.msg

@@ -17,7 +17,6 @@ int32 MAGNETOMETER_MODE_NEGATIVE_BIAS = 2
 #
 # NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only
 
-uint64 timestamp			# Timestamp in microseconds since boot, from gyro
 #
 int16[3] gyro_raw			# Raw sensor values of angular velocity
 float32[3] gyro_rad_s			# Angular velocity in radian per seconds

msg/home_position.msg

@@ -1,5 +1,4 @@
 # GPS home position in WGS84 coordinates.
-uint64 timestamp			# Timestamp (microseconds since system boot)
 
 float64 lat				# Latitude in degrees
 float64 lon				# Longitude in degrees

msg/manual_control_setpoint.msg

@@ -12,8 +12,6 @@ int8 MODE_SLOT_5 = 4			# mode slot 5 selected
 int8 MODE_SLOT_6 = 5			# mode slot 6 selected
 int8 MODE_SLOT_MAX = 6			# number of slots plus one
 
-uint64 timestamp
-
 # Any of the channels may not be available and be set to NaN
 # to indicate that it does not contain valid data.
 # The variable names follow the definition of the

msg/mavlink_log.msg

@@ -1,4 +1,3 @@
-uint64 timestamp		# Timestamp in microseconds since boot
 
 uint8[50] text
-uint8 severity
+uint8 severity # log level (same as in the linux kernel, starting with 0)

msg/mc_att_ctrl_status.msg

@@ -1,4 +1,3 @@
-uint64 timestamp    # in microseconds since system start
 
 float32 roll_rate_integ	    # roll rate inegrator
 float32 pitch_rate_integ	# pitch rate integrator

msg/mc_virtual_attitude_setpoint.msg

@@ -8,7 +8,6 @@
 #
 ###############################################################################################
 
-uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data
 
 float32 roll_body				# body angle in NED frame
 float32 pitch_body				# body angle in NED frame
@@ -35,3 +34,6 @@ bool fw_control_yaw					# control heading with rudder (used for auto takeoff on
 bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane mode)
 
 bool apply_flaps
+
+# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
+# TOPICS mc_virtual_attitude_setpoint

msg/mc_virtual_rates_setpoint.msg

@@ -8,7 +8,6 @@
 #
 ###############################################################################################
 
-uint64 timestamp    # in microseconds since system start
 
 float32 roll	    # body angular rates in NED frame
 float32 pitch	    # body angular rates in NED frame