Merge branch 'beta' into stable

This reverts commit 864068b99d97d59d9537147e8b84ea9165ea91e9.

.ackrc

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

.gitignore

@@ -2,7 +2,6 @@
 !ROMFS/*/*.d
 !ROMFS/*/*/*.d
 !ROMFS/*/*/*/*.d
-*.px4log
 *.dSYM
 *.o
 *.pyc
@@ -64,12 +63,3 @@ CMakeLists.txt.user
 GPATH
 GRTAGS
 GTAGS
-*.config
-*.creator
-*.creator.user
-*.files
-*.includes
-
-# uavcan firmware
-ROMFS/px4fmu_common/uavcan/
-vectorcontrol/

.gitmodules

@@ -13,6 +13,9 @@
 [submodule "Tools/gencpp"]
 	path = Tools/gencpp
 	url = https://github.com/ros/gencpp.git
+[submodule "src/lib/dspal"]
+	path = src/lib/dspal
+	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -22,7 +25,6 @@
 [submodule "unittests/googletest"]
 	path = unittests/googletest
 	url = https://github.com/google/googletest.git
-	ignore = untracked
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
 	url = https://github.com/PX4/Matrix.git
@@ -35,6 +37,3 @@
 [submodule "cmake/cmake_hexagon"]
 	path = cmake/cmake_hexagon
 	url = https://github.com/ATLFlight/cmake_hexagon
-[submodule "src/drivers/gps/devices"]
-	path = src/drivers/gps/devices
-	url = https://github.com/PX4/GpsDrivers.git

.travis.yml

@@ -8,10 +8,6 @@ matrix:
   include:
     - os: linux
       sudo: false
-      env: GCC_VER=4.8
-    - os: linux
-      sudo: false
-      env: GCC_VER=4.9
     - os: osx
       osx_image: xcode7
       sudo: true
@@ -39,6 +35,7 @@ addons:
     - ninja-build
     - python-argparse
     - python-empy
+    - python-serial
     - s3cmd
     - texinfo
     - zlib1g-dev
@@ -46,12 +43,10 @@ addons:
 before_install:
   - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
          pushd .
-      && cd ~ && mkdir gcc && cd gcc
-      && if [ "$GCC_VER" = "4.8" ]; then GCC_URL="https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2" ; fi
-      && if [ "$GCC_VER" = "4.9" ]; then GCC_URL="https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2" ; fi
-      && wget -O gcc.tar.bz2 ${GCC_URL}
-      && tar -jxf gcc.tar.bz2 --strip 1
-      && exportline="export PATH=$HOME/gcc/bin:\$PATH"
+      && cd ~
+      && wget https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+      && tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+      && exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
       && if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
       && . ~/.profile
       && popd
@@ -68,7 +63,7 @@ before_install:
       && brew install cmake ninja
       && brew install genromfs
       && sudo easy_install pip
-      && sudo pip install empy
+      && sudo pip install pyserial empy
       ;
     fi
 
@@ -98,24 +93,37 @@ env:
 
 script:
   - git submodule update --quiet --init --recursive
+  - echo 'Building POSIX Firmware..' && make posix_sitl_default
+  - echo 'Running Tests..' && make posix_sitl_default test
+  - echo 'Running Unittests..' && cd unittests && ./run_tests.sh
   - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-      arm-none-eabi-gcc --version && make check VECTORCONTROL=1;
-    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-      make check_posix_sitl_default;
+         cd ${TRAVIS_BUILD_DIR}
+      && make check_format
+      && arm-none-eabi-gcc --version
+      && echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
+      && echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
+      && echo 'Building UAVCAN node firmware..' && (git clone https://github.com/thiemar/vectorcontrol && cd vectorcontrol && BOARD=s2740vc_1_0 make -s && BOARD=px4esc_1_6 make -s && ../Tools/uavcan_copy.sh)
+      && echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default
+      && echo 'Building NuttX px4-stm32f4discovery Firmware..' && make px4-stm32f4discovery_default
+      && echo 'Running Tests..' && make px4fmu-v2_default test
+      ;
     fi
 
 after_success:
-  - if [[ "${TRAVIS_OS_NAME}" = "linux" && "${GCC_VER}" = "4.8" ]]; then
-         make package_firmware
-      && find . -name \*.px4 -exec cp "{}" . \;
-      && find . -maxdepth 1 -mindepth 1 -type f -name 'nuttx-*-default.px4' | sed 's/.\/nuttx-//' | sed 's/-default.px4//' | xargs -I{} mv nuttx-{}-default.px4 {}_default.px4
-      && ./CI-Tools/s3cmd-put `find . -maxdepth 1 -mindepth 1 -type f -name '*_default.px4'` build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+         cp build_px4fmu-v1_default/src/firmware/nuttx/nuttx-px4fmu-v1-default.px4 px4fmu-v1_default.px4
+      && cp build_px4fmu-v2_default/src/firmware/nuttx/nuttx-px4fmu-v2-default.px4 px4fmu-v2_default.px4
+      && cp build_px4fmu-v4_default/src/firmware/nuttx/nuttx-px4fmu-v4-default.px4 px4fmu-v4_default.px4
+      && cp build_px4-stm32f4discovery_default/src/firmware/nuttx/nuttx-px4-stm32f4discovery-default.px4 px4-stm32f4discovery-default.px4
+      && zip Firmware.zip px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 px4-stm32f4discovery-default.px4
+      && ./CI-Tools/s3cmd-put px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 px4-stm32f4discovery-default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
       && ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
       && ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
       && ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
       && ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
       && echo ""
-      && echo "Binaries have been posted to:" https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
+      && echo "Binaries have been posted to:"
+      && echo https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
       ;
     fi
 
@@ -129,7 +137,6 @@ deploy:
     tags: true
     all_branches: true
     repo: PX4/Firmware
-    condition: $GCC_VER = 4.8
 
 notifications:
   webhooks:
@@ -137,7 +144,3 @@ notifications:
       - https://webhooks.gitter.im/e/2b9c4a4cb2211f8befba
     on_success: always  # options: [always|never|change] default: always
     on_failure: always  # options: [always|never|change] default: always
-  slack:
-    secure: "QKw73Zel/s3JAbe/7XyO9tPnJwiiGFpYzSjdR8lG3tYFjRdXZnhxG4c+G7bkgkaPTS4Hult33VXE3kcEqOI7+C+eRwRlZhDfL0knQbXVCxjcLjzmUFdoPOwurlgZDw66PFWCi5tZcLKSRo3u4U8ibT4WKi3jm9sDSyOcfBAucMU="
-    on_success: change  # options: [always|never|change] default: always
-    on_failure: always  # options: [always|never|change] default: always

CMakeLists.txt

@@ -85,7 +85,7 @@
 # * If a target from add_custom_* is set in a function, explicitly pass it
 #	as an output argument so that the target name is clear to the user.
 #
-# * Avoid use of global variables in functions. Functions in a nested
+# * Avoid use of global variables in functions. Functions in a nested 
 #	scope may use global variables, but this makes it difficult to
 #	resuse functions.
 #
@@ -150,6 +150,16 @@ list(GET config_args 1 BOARD)
 list(GET config_args 2 LABEL)
 set(target_name "${OS}-${BOARD}-${LABEL}")
 
+if("${OS}" STREQUAL "posix")
+	if (APPLE)
+		set(DF_TARGET darwin)
+	else()
+		set(DF_TARGET linux)
+	endif()
+else()
+	set(DF_TARGET ${OS})
+endif()
+
 message(STATUS "${target_name}")
 
 # switch to ros CMake file if building ros
@@ -183,11 +193,6 @@ foreach(conf ${px4_required_config})
 	endif()
 endforeach()
 
-# List the DriverFramework drivers
-if(DEFINED config_df_driver_list)
-	message("DF Drivers: ${config_df_driver_list}")
-endif()
-
 #=============================================================================
 # project definition
 #
@@ -238,12 +243,12 @@ px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
 px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
 px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
 px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
+px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
 px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
 px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
 px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
 px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
 px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
 add_custom_target(submodule_clean
 	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
@@ -288,7 +293,6 @@ px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
 px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
 
 include_directories(${include_dirs})
-#message("INCLUDE_DIRS=${include_dirs}")
 link_directories(${link_dirs})
 add_definitions(${definitions})
 
@@ -320,29 +324,12 @@ include_directories(${ep_base}/Install/include)
 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
 
-#=============================================================================
-# DriverFramework Drivers
-#
-set(df_driver_libs)
-foreach(driver ${config_df_driver_list})
-	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
-	list(APPEND df_driver_libs df_${driver})
-	message("Adding DF driver: ${driver}")
-endforeach()
-
 #=============================================================================
 # subdirectories
 #
 set(module_libraries)
 foreach(module ${config_module_list})
-	string(REGEX MATCH "^[./]" external_module ${module})
-	if(external_module)
-		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
-		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
-		add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
-	else()
-		add_subdirectory(src/${module})
-	endif()
+	add_subdirectory(src/${module})
 	px4_mangle_name(${module} mangled_name)
 	list(APPEND module_libraries ${mangled_name})
 	#message(STATUS "adding module: ${module}")
@@ -350,6 +337,7 @@ endforeach()
 
 add_subdirectory(src/firmware/${OS})
 
+add_subdirectory(src/lib/DriverFramework/framework/src)
 #add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
 if (NOT "${OS}" STREQUAL "nuttx")
 endif()

Documentation/Doxyfile

@@ -599,7 +599,8 @@ RECURSIVE              = YES
 # excluded from the INPUT source files. This way you can easily exclude a
 # subdirectory from a directory tree whose root is specified with the INPUT tag.
 
-EXCLUDE                = ../src/modules/attitude_estimator_ekf/codegen
+EXCLUDE                = ../src/lib/mathlib/CMSIS \
+			 ../src/modules/attitude_estimator_ekf/codegen
 
 # The EXCLUDE_SYMLINKS tag can be used select whether or not files or
 # directories that are symbolic links (a Unix filesystem feature) are excluded

Documentation/README

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

Firmware.sublime-project

@@ -70,13 +70,6 @@
 			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
 			"cmd": ["make posix"],
 			"shell": true
-		},
-		{
-			"name": "MindPX_V2: make and upload",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make upload mindpx-v2_default -j8"],
-			"shell": true
 		}
 	]
 }

Images/mindpx-v2.prototype

@@ -1,12 +0,0 @@
-{
-    "board_id": 9, 
-    "magic": "PX4FWv2",
-    "description": "Firmware for the MindPx-V2  board", 
-    "image": "", 
-    "build_time": 0, 
-    "summary": "MindPx-v2",
-    "version": "2.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}

Makefile

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2016 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -109,9 +109,9 @@ endif
 # describe how to build a cmake config
 define cmake-build
 +@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
-+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(PWD)/build_$@); fi
-+@Tools/check_submodules.sh
-+@(echo "PX4 CONFIG: $@" && cd $(PWD)/build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
++@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule sync && git submodule update --init --recursive && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
++Tools/check_submodules.sh
++$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
 endef
 
 # create empty targets to avoid msgs for targets passed to cmake
@@ -121,12 +121,6 @@ $(1):
 .PHONY: $(1)
 endef
 
-define colorecho
-      @tput setaf 6
-      @echo $1
-      @tput sgr0
-endef
-
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
 #  Do not put any spaces between function arguments.
@@ -146,8 +140,8 @@ px4-stm32f4discovery_default:
 px4fmu-v2_ekf2:
 	$(call cmake-build,nuttx_px4fmu-v2_ekf2)
 
-mindpx-v2_default:
-	$(call cmake-build,nuttx_mindpx-v2_default)
+px4fmu-v2_lpe:
+	$(call cmake-build,nuttx_px4fmu-v2_lpe)
 
 posix_sitl_default:
 	$(call cmake-build,$@)
@@ -158,40 +152,24 @@ posix_sitl_lpe:
 posix_sitl_ekf2:
 	$(call cmake-build,$@)
 
-posix_sitl_replay:
-	$(call cmake-build,$@)
-
-posix_sitl_broadcast:
-	$(call cmake-build,$@)
-
 ros_sitl_default:
 	@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
 
 qurt_eagle_travis:
 	$(call cmake-build,$@)
 
+qurt_eagle_release:
+	$(call cmake-build,$@)
+
+posix_eagle_release:
+	$(call cmake-build,$@)
+
 qurt_eagle_default:
 	$(call cmake-build,$@)
 
 posix_eagle_default:
 	$(call cmake-build,$@)
-
-eagle_default: posix_eagle_default qurt_eagle_default
-
-qurt_eagle_legacy_driver_default:
-	$(call cmake-build,$@)	
 	
-posix_eagle_legacy_driver_default:
-	$(call cmake-build,$@) 
-
-qurt_excelsior_default:
-	$(call cmake-build,$@)
-
-posix_excelsior_default:
-	$(call cmake-build,$@)
-
-excelsior_default: posix_excelsior_default qurt_excelsior_default
-
 posix_rpi2_default:
 	$(call cmake-build,$@)
 
@@ -200,8 +178,6 @@ posix_rpi2_release:
 
 posix: posix_sitl_default
 
-broadcast: posix_sitl_broadcast
-
 sitl_deprecation:
 	@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
 	@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
@@ -212,67 +188,34 @@ 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
-
-uavcan_firmware:
-ifeq ($(VECTORCONTROL),1)
-	$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6")
-	@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
-endif
-
-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
-
 check_format:
-	$(call colorecho,"Checking formatting with astyle")
-	@./Tools/fix_code_style.sh
 	@./Tools/check_code_style.sh
 
-check_%:
-	@echo
-	$(call colorecho,"Building" $(subst check_,,$@))
-	@$(MAKE) --no-print-directory $(subst check_,,$@)
-	@echo
-
-check_px4fmu-v4_default: uavcan_firmware
-check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
-	@echo
-ifeq ($(VECTORCONTROL),1)
-	@echo "Cleaning up vectorcontrol firmware"
-	@rm -rf vectorcontrol
-	@rm -rf ROMFS/px4fmu_common/uavcan
-endif
-
-unittest: posix_sitl_default
-	@(cd unittests && cmake -G$(PX4_CMAKE_GENERATOR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) && ctest -j2 --output-on-failure)
-
-package_firmware:
-	@zip --junk-paths Firmware.zip `find . -name \*.px4`
-
 clean:
 	@rm -rf build_*/
-	@(cd NuttX/nuttx && make clean)
-
-submodulesclean:
-	@git submodule sync
-	@git submodule deinit -f .
-	@git submodule update --init --recursive --force
-
-distclean: submodulesclean
-	@git clean -ff -x -d
+	@(cd NuttX && git clean -d -f -x)
+	@(cd src/modules/uavcan/libuavcan && git clean -d -f -x)
+	@(git submodule sync)
 
 # 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 \
+	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim \
 	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
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
 
 .PHONY: clean
 
 CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
 
+# Future:
+#$(CONFIGS):
+##	@cd Build/$@ && cmake ../.. -DCONFIG=$@
+#	@cd Build/$@ && make
+#
+#clean-all:
+#	@rm -rf Build/*
+#
 #help:
 #	@echo
 #	@echo "Type 'make ' and hit the tab key twice to see a list of the available"

NuttX

@@ -1 +1 @@
-Subproject commit f0f4bdc872d324f64e9d93d6f8989d3c1dfa2633
+Subproject commit 3009fb230ec8232c4c4fd7798fd70ea9632692ec

README.md

@@ -1,17 +1,17 @@
-## PX4 Pro Drone Autopilot ##
+## PX4 Flight Core and PX4 Middleware ##
 
 [![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)
 
 [![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
 
-This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the src/modules directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository contains the [PX4 Flight Core](http://px4.io), with the main applications located in the src/modules directory. It also contains the PX4 Drone Platform, which contains drivers and middleware to run drones.
 
 *   Official Website: http://px4.io
 *   License: BSD 3-clause (see [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
 *   Supported airframes (more experimental are supported):
   * [Multicopters](http://px4.io/portfolio_category/multicopter/)
-  * [Fixed wing](http://px4.io/portfolio_category/plane/)
-  * [VTOL](http://px4.io/portfolio_category/vtol/)
+  * [Fixed wing](http://px4.io/portfolio_category/vtol/)
+  * [VTOL](http://px4.io/portfolio_category/plane/)
 *   Releases
   * [Downloads](https://github.com/PX4/Firmware/releases)
 

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

@@ -20,8 +20,7 @@ then
 	param set FW_AIRSPD_MAX 20
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 14
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15

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

@@ -14,8 +14,7 @@ then
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 25
 	param set FW_AIRSPD_MAX 40
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 15
 	param set FW_PR_FF 0.8

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

@@ -33,12 +33,13 @@ then
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
 
-	param set VT_MOT_COUNT 2
-	param set VT_IDLE_PWM_MC  1080
-	param set VT_TYPE 0
-	param set MAV_TYPE 19
 fi
 
 set MIXER caipirinha_vtol
 
-set PWM_OUT 1234
+set PWM_OUT 12
+set PWM_MAX 2000
+set PWM_RATE 400
+param set VT_MOT_COUNT 2
+param set VT_IDLE_PWM_MC  1080
+param set VT_TYPE 0

ROMFS/px4fmu_common/init.d/13002_firefly6

@@ -31,11 +31,6 @@ then
 	param set VT_TILT_MC 0.08
 	param set VT_TILT_TRANS 0.5
 	param set VT_TILT_FW 0.9
-
-	param set VT_MOT_COUNT 6
-	param set VT_FW_MOT_OFFID 34
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 1
 fi
 
 set MIXER firefly6
@@ -45,3 +40,8 @@ set PWM_RATE 400
 set MIXER_AUX firefly6
 
 set MAV_TYPE 21
+
+param set VT_MOT_COUNT 6
+param set VT_FW_MOT_OFFID 34
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 1

ROMFS/px4fmu_common/init.d/13003_quad_tailsitter

@@ -9,17 +9,13 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
-then
-    param set VT_MOT_COUNT 4
-    param set VT_IDLE_PWM_MC  1080
-    param set VT_TYPE 0
-    param set VT_ELEV_MC_LOCK 1
-fi
-
 set MIXER quad_x_vtol
 
 set PWM_OUT 1234
 set PWM_MAX 2000
 set PWM_RATE 400
 set MAV_TYPE 20
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC  1080
+param set VT_TYPE 0
+param set VT_ELEV_MC_LOCK 1

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

@@ -9,17 +9,13 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF == yes ]
-then
-    param set VT_MOT_COUNT 4
-    param set VT_IDLE_PWM_MC  1080
-    param set VT_TYPE 0
-    param set VT_ELEV_MC_LOCK 1
-fi
-
 set MIXER quad_+_vtol
 
 set PWM_OUT 1234
 set PWM_MAX 2000
 set PWM_RATE 400
 set MAV_TYPE 20
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC  1080
+param set VT_TYPE 0
+param set VT_ELEV_MC_LOCK 1

ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad

@@ -43,10 +43,6 @@ then
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.05
 	param set FW_THR_CRUISE 0.75
-
-	param set VT_MOT_COUNT 4
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
 fi
 
 set MIXER vtol_quad_x
@@ -58,3 +54,7 @@ set PWM_ACHDIS 5
 set PWM_AUX_DISARMED 950
 
 set MAV_TYPE 22
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 2

ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta

@@ -31,10 +31,6 @@ then
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
-
-	param set VT_MOT_COUNT 4
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
 fi
 
 set MIXER vtol_quad_x
@@ -46,3 +42,7 @@ set PWM_ACHDIS 3
 set PWM_AUX_DISARMED 950
 
 set MAV_TYPE 22
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 2

ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad

@@ -31,10 +31,6 @@ then
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
-
-	param set VT_MOT_COUNT 4
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
 fi
 
 set MIXER vtol_quad_x
@@ -46,3 +42,7 @@ set PWM_ACHDIS 5
 set PWM_AUX_DISARMED 950
 
 set MAV_TYPE 22
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 2

ROMFS/px4fmu_common/init.d/13008_QuadRanger

@@ -36,25 +36,10 @@ then
 	param set MC_YAWRATE_FF 0.0
 
 	param set MPC_ACC_HOR_MAX 2.0
-	param set MPC_Z_VEL_MAX 1.5
-	param set MPC_TKO_SPEED 1.5
-	param set MPC_LAND_SPEED 0.8
-
-	param set FW_THR_CRUISE 65.0
-	param set FW_PR_P 0.08
-	param set FW_PR_FF 0.5
-	param set FW_RR_P 0.05
-	param set FW_RR_FF 0.6
-
-	param set MIS_YAW_TMT 10
 
 	param set VT_ARSP_TRANS 15.0
-	param set VT_ARSP_BLEND 8.0
+	param set VT_ARSP_BLEND 10.0
 	param set VT_B_TRANS_DUR 4.0
-
-	param set VT_MOT_COUNT 4
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
 fi
 
 set MIXER vtol_quad_x
@@ -66,3 +51,7 @@ set PWM_ACHDIS 5
 set PWM_AUX_DISARMED 950
 
 set MAV_TYPE 22
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 2

ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger

@@ -1,88 +0,0 @@
-#!nsh
-#
-# @name Sparkle Tech Ranger VTOL
-#
-# @type Standard VTOL
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    param set VT_TYPE 2
-    param set VT_MOT_COUNT 4
-    param set VT_IDLE_PWM_MC 1180
-    param set MAV_TYPE    22
-    param set VT_ARSP_TRANS   15.0
-    param set VT_B_TRANS_DUR  4.0
-    param set VT_TRANS_MIN_TM 5.0
-    param set VT_TRANS_THR    0.6
-    param set VT_TRANS_TIMEOUT    30.0
-
-    param set FW_AIRSPD_MAX   22.0
-    param set FW_AIRSPD_MIN   14.0
-    param set FW_AIRSPD_TRIM  16.0
-    param set FW_L1_PERIOD    25.0
-    param set FW_PR_P 0.060
-    param set FW_P_RMAX_NEG   40.0
-    param set FW_P_RMAX_POS   40.0
-    param set FW_RR_FF    0.4
-    param set FW_RR_P 0.04
-    param set FW_R_RMAX   40.0
-
-    param set MC_PITCHRATE_D  0.004
-    param set MC_PITCHRATE_I  0.0
-    param set MC_PITCHRATE_MAX    60.0
-    param set MC_PITCHRATE_P  0.21
-    param set MC_PITCH_P  4.0
-    param set MC_ROLLRATE_D   0.004
-    param set MC_ROLLRATE_I   0.002
-    param set MC_ROLLRATE_MAX 60.0
-    param set MC_ROLLRATE_P   0.24
-    param set MC_ROLL_P   4.0
-    param set MC_YAWRATE_I    0.02
-    param set MC_YAWRATE_MAX  40.0
-    param set MC_YAWRATE_P    0.18
-    param set MC_YAWRAUTO_MAX 40.0
-
-    param set MIS_TAKEOFF_ALT 2.5
-    param set MIS_YAW_TMT 20.0
-
-    param set MPC_ACC_HOR_MAX 1.0
-    param set MPC_HOLD_MAX_XY 0.5
-    param set MPC_HOLD_MAX_Z  0.5
-    param set MPC_LAND_SPEED  1.0
-    param set MPC_MANTHR_MIN  0.05
-    param set MPC_MAN_Y_MAX   120.0
-    param set MPC_THR_MIN 0.07
-    param set MPC_TILTMAX_AIR 35.0
-    param set MPC_TILTMAX_LND 20.0
-    param set MPC_TKO_SPEED   1.0
-    param set MPC_XY_FF   0.1
-    param set MPC_XY_P    0.3
-    param set MPC_XY_VEL_MAX  3.0
-    param set MPC_XY_VEL_P    0.05
-    param set MPC_Z_FF    0.3
-    param set MPC_Z_P 0.5
-    param set MPC_Z_VEL_MAX   1.0
-    param set MPC_Z_VEL_P 0.1
-
-    param set NAV_ACC_RAD 3.0
-
-    param set PWM_AUX_REV1    1
-    param set PWM_AUX_REV2    1
-    param set PWM_AUX_REV3    1
-    param set PWM_AUX_REV4    1
-fi
-
-set MIXER vtol_quad_x
-set PWM_OUT 1234
-set PWM_RATE 400
-
-set MIXER_AUX vtol_AAERT
-set PWM_ACHDIS 5
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm

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

ROMFS/px4fmu_common/init.d/3030_io_camflyer

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

ROMFS/px4fmu_common/init.d/3031_phantom

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

ROMFS/px4fmu_common/init.d/3032_skywalker_x5

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

ROMFS/px4fmu_common/init.d/3033_wingwing

@@ -25,8 +25,7 @@ then
 	param set FW_AIRSPD_MAX 15
 	param set FW_AIRSPD_MIN 10
 	param set FW_AIRSPD_TRIM 13
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15

ROMFS/px4fmu_common/init.d/3036_pigeon

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

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

@@ -14,8 +14,7 @@ then
 	param set FW_AIRSPD_MAX 20
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 16
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15

ROMFS/px4fmu_common/init.d/4009_qav250

@@ -15,22 +15,22 @@ sh /etc/init.d/4001_quad_x
 
 if [ $AUTOCNF == yes ]
 then
-	param set MC_ROLL_P 6.0
-	param set MC_ROLLRATE_P 0.14
-	param set MC_ROLLRATE_I 0.23
-	param set MC_ROLLRATE_D 0.0025
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.05
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.002
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.235
-	param set MC_PITCHRATE_I 0.17
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
+	param set MC_PITCHRATE_P 0.08
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
-	param set PWM_MIN 1075
+	param set PWM_MIN 980
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
-	param set CBRK_IO_SAFETY 22027
-	param set ATT_BIAS_MAX 0.0
+	param set MC_ROLLRATE_MAX 360.0
+	param set MC_PITCHRATE_MAX 360.0
+	param set MC_YAWRATE_MAX 200.0
 fi

ROMFS/px4fmu_common/init.d/4050_generic_250

@@ -1,6 +1,6 @@
 #!nsh
 #
-# @name Generic 250 Racer
+# @name generic_250
 #
 # @type Quadrotor x
 #
@@ -15,31 +15,23 @@ sh /etc/init.d/4001_quad_x
 
 if [ $AUTOCNF == yes ]
 then
-	param set MC_ROLL_P 8.0
-	param set MC_ROLLRATE_P 0.19
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.1
 	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_D 0.0055
-	param set MC_PITCH_P 8.0
-	param set MC_PITCHRATE_P 0.24
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.0065
-	param set MC_YAW_P 4.0
+	param set MC_ROLLRATE_D 0.005
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_D 0.005
+	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
-	param set MC_ROLLRATE_MAX 720.0
-	param set MC_PITCHRATE_MAX 720.0
-	param set MC_YAWRATE_MAX 400.0
-	param set MC_ACRO_R_MAX 360.0
-	param set MC_ACRO_P_MAX 360.0
-
-	param set PWM_MIN 1075
-
+	param set PWM_MIN 980
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
-
+	param set MC_ROLLRATE_MAX 360.0
+	param set MC_PITCHRATE_MAX 360.0
+	param set MC_YAWRATE_MAX 200.0
 	param set ATT_BIAS_MAX 0.0
-
-	param set CBRK_IO_SAFETY 22027
 fi

ROMFS/px4fmu_common/init.d/4060_dji_matrice_100

@@ -1,23 +0,0 @@
-#!nsh
-#
-# @name DJI Matrice 100
-#
-# @type Quadrotor x
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer James Goppert <james.goppert@gmail.com>
-#
-
-sh /etc/init.d/4001_quad_x
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLLRATE_P 0.05
-	param set MC_ROLLRATE_D 0.001
-	param set MC_PITCHRATE_P 0.05
-	param set MC_PITCHRATE_D 0.001
-	param set BAT_N_CELLS 6
-fi

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -7,10 +7,9 @@ then
 #
 # Default parameters for FW
 #
-	param set RTL_RETURN_ALT 100
-	param set RTL_DESCEND_ALT 100
-	param set RTL_LAND_DELAY -1
-
+	param set NAV_LAND_ALT 90
+	param set NAV_RTL_ALT 100
+	param set NAV_RTL_LAND_T -1
 	param set NAV_ACC_RAD 50
 
 	param set PE_VELNE_NOISE 0.3

ROMFS/px4fmu_common/init.d/rc.interface

@@ -103,12 +103,6 @@ then
 	set MIXER_AUX none
 fi
 
-#MindPX has not aux mixer
-if ver hwcmp MINDPX_V2
-then
-        set MIXER_AUX none
-fi
-
 if [ $MIXER_AUX != none -a $AUX_MODE != none ]
 then
 	#
@@ -198,18 +192,5 @@ then
 
 	fi
 fi
-
-unset PWM_OUT
-unset PWM_RATE
-unset PWM_ACHDIS
-unset PWM_MIN
-unset PWM_MAX
-unset PWM_AUX_OUT
-unset PWM_AUX_RATE
-unset PWM_AUX_DISARMED
-unset PWM_AUX_MIN
-unset PWM_AUX_MAX
-unset FAILSAFE_AUX
-unset FAILSAFE
 unset OUTPUT_DEV
 unset OUTPUT_AUX_DEV

ROMFS/px4fmu_common/init.d/rc.io

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

ROMFS/px4fmu_common/init.d/rc.logging

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

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -4,31 +4,23 @@
 # att & pos estimator, att & pos control.
 #
 
-
-#---------------------------------------
-# Estimator group selction
-#
-# INAV
-if param compare SYS_MC_EST_GROUP 0
+# The system is defaulting to INAV_ENABLED = 1
+# but users can alternatively try the EKF-based
+# filter by setting INAV_ENABLED = 0
+if param compare INAV_ENABLED 1
 then
 	attitude_estimator_q start
 	position_estimator_inav start
+else
+	if param compare LPE_ENABLED 1
+	then
+		attitude_estimator_q start
+		local_position_estimator start
+	else
+		ekf2 start
+	fi
 fi
 
-# LPE
-if param compare SYS_MC_EST_GROUP 1
-then
-	attitude_estimator_q start
-	local_position_estimator start
-fi
-
-# EKF
-if param compare SYS_MC_EST_GROUP 2
-then
-	ekf2 start
-fi
-#---------------------------------------
-
 if mc_att_control start
 then
 else

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -15,8 +15,20 @@ then
 	param set PWM_DISARMED 900
 	param set PWM_MIN 1075
 	param set PWM_MAX 1950
+fi
 
-	param set RTL_LAND_DELAY 0
+# Transitional support: ensure suitable PWM min/max param values
+if param compare PWM_MIN 1000
+then
+	param set PWM_MIN 1075
+fi
+if param compare PWM_MAX 2000
+then
+	param set PWM_MAX 1950
+fi
+if param compare PWM_DISARMED 0
+then
+	param set PWM_DISARMED 900
 fi
 
 # set environment variables (!= parameters)
@@ -33,17 +45,3 @@ set PWM_AUX_OUT 1234
 set PWM_AUX_DISARMED 1500
 set PWM_AUX_MIN 1000
 set PWM_AUX_MAX 2000
-
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1000
-then
-	param set PWM_MIN 1075
-fi
-if param compare PWM_MAX 2000
-then
-	param set PWM_MAX 1950
-fi
-if param compare PWM_DISARMED 0
-then
-	param set PWM_DISARMED 900
-fi

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers.
+# Standard startup script for PX4FMU v1, v2, v3 onboard sensor drivers.
 #
 
 if ver hwcmp PX4FMU_V1
@@ -9,11 +9,6 @@ then
 	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
@@ -35,11 +30,6 @@ then
 	then
 	fi
 
-	# External I2C bus
-	if lis3mdl -X start
-	then
-	fi
-
 	# Internal I2C bus
 	if hmc5883 -C -T -I -R 4 start
 	then
@@ -74,10 +64,6 @@ then
 		then
 		fi
 
-		if meas_airspeed start -b 2
-		then
-		fi
-
 	else
 		# FMUv2
 		if mpu6000 start
@@ -92,92 +78,61 @@ then
 		then
 		fi
 	fi
-fi
-
-if ver hwcmp PX4FMU_V4
-then
-	# External I2C bus
-	if hmc5883 -C -T -X start
+else
+	if ver hwcmp PX4FMU_V4
 	then
-	fi
+		# 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 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 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
+		# Internal SPI bus mpu9250 is rotated 90 deg yaw
+		if mpu9250 -R 2 start
 		then
 		fi
 	else
-		# Use only external as primary
-		if param compare SENS_EXT_MAG 1
+		# FMUv1
+		if mpu6000 start
 		then
-			if hmc5883 -C -X start
+		fi
+
+		if l3gd20 start
+		then
+		fi
+
+		# MAG selection
+		if param compare SENS_EXT_MAG 2
+		then
+			if hmc5883 -C -I start
 			then
 			fi
 		else
-		# auto-detect the primary, prefer external
-			if hmc5883 start
+			# 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
 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

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -3,33 +3,10 @@
 # Standard apps for vtol:
 # att & pos estimator, att & pos control.
 #
-#
-
-
-#---------------------------------------
-# Estimator group selction
-#
-# INAV
-if param compare SYS_MC_EST_GROUP 0
-then
-	attitude_estimator_q start
-	position_estimator_inav start
-fi
-
-# LPE
-if param compare SYS_MC_EST_GROUP 1
-then
-	attitude_estimator_q start
-	local_position_estimator start
-fi
-
-# EKF
-if param compare SYS_MC_EST_GROUP 2
-then
-	ekf2 start
-fi
-#---------------------------------------
 
+attitude_estimator_q start
+#ekf_att_pos_estimator start
+position_estimator_inav start
 
 vtol_att_control start
 mc_att_control start

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -23,27 +23,8 @@ then
 	param set MPC_Z_VEL_MAX 1.5
 	param set MPC_XY_VEL_MAX 4.0
 	param set MIS_YAW_TMT 10
-	param set MPC_ACC_HOR_MAX 2.0
-	param set RTL_LAND_DELAY 0
 fi
 
-# set environment variables (!= parameters)
-set PWM_RATE 400
-# tell the mixer to use parameters for these instead
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
-
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1000
-then
-	param set PWM_MIN 1075
-fi
-if param compare PWM_MAX 2000
-then
-	param set PWM_MAX 1950
-fi
-if param compare PWM_DISARMED 0
-then
-	param set PWM_DISARMED 900
-fi
+set PWM_DISARMED 900
+set PWM_MIN 1000
+set PWM_MAX 2000

ROMFS/px4fmu_common/init.d/rcS

@@ -15,6 +15,8 @@ sercon
 #
 set MODE autostart
 
+set FRC /fs/microsd/etc/rc.txt
+set FCONFIG /fs/microsd/etc/config.txt
 set TUNE_ERR ML<<CP4CP4CP4CP4CP4
 set LOG_FILE /fs/microsd/bootlog.txt
 
@@ -24,6 +26,7 @@ set LOG_FILE /fs/microsd/bootlog.txt
 # REBOOTWORK this needs to start after the flight control loop
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
+	echo "[i] microSD mounted: /fs/microsd"
 	# Start playing the startup tune
 	tone_alarm start
 else
@@ -47,7 +50,6 @@ fi
 # Look for an init script on the microSD card.
 # Disable autostart if the script found.
 #
-set FRC /fs/microsd/etc/rc.txt
 if [ -f $FRC ]
 then
 	echo "[i] Executing script: $FRC"
@@ -76,7 +78,9 @@ then
 	param select $PARAM_FILE
 	if param load
 	then
+		echo "[param] Loaded: $PARAM_FILE"
 	else
+		echo "[param] FAILED loading $PARAM_FILE"
 		if param reset
 		then
 		fi
@@ -99,18 +103,6 @@ then
 	#then
 	#fi
 
-	#
-	# Set AUTOCNF flag to use it in AUTOSTART scripts
-	#
-	if param compare SYS_AUTOCONFIG 1
-	then
-		# Wipe out params except RC*
-		param reset_nostart RC*
-		set AUTOCNF yes
-	else
-		set AUTOCNF no
-	fi
-
 	#
 	# Set default values
 	#
@@ -137,8 +129,22 @@ then
 	set MAVLINK_F default
 	set EXIT_ON_END no
 	set MAV_TYPE none
+	set LOAD_DAPPS yes
+	set GPS yes
+	set GPS_FAKE no
 	set FAILSAFE none
-	set USE_IO yes
+
+	#
+	# Set AUTOCNF flag to use it in AUTOSTART scripts
+	#
+	if param compare SYS_AUTOCONFIG 1
+	then
+		# Wipe out params except RC*
+		param reset_nostart RC*
+		set AUTOCNF yes
+	else
+		set AUTOCNF no
+	fi
 
 	#
 	# Set USE_IO flag
@@ -148,26 +154,13 @@ then
 		if ver hwcmp PX4FMU_V4
 		then
 			set USE_IO no
-		fi
-
-		if ver hwcmp MINDPX_V2
-		then
-			set USE_IO no
+		else
+			set USE_IO yes
 		fi
 	else
 		set USE_IO no
 	fi
 
-	# should set to 0.8 for mindpx-v2 borad.
-	if param compare INAV_LIDAR_ERR 0.5
-	then
-		if ver hwcmp MINDPX_V2
-		then
-			param set INAV_LIDAR_ERR 0.8
-			param save
-		fi
-	fi
-
 	#
 	# Set parameters and env variables for selected AUTOSTART
 	#
@@ -189,10 +182,9 @@ then
 	#
 	# Override parameters from user configuration file
 	#
-	set FCONFIG /fs/microsd/etc/config.txt
 	if [ -f $FCONFIG ]
 	then
-		echo "[i] Custom: $FCONFIG"
+		echo "[i] Custom config: $FCONFIG"
 		sh $FCONFIG
 	fi
 	unset FCONFIG
@@ -227,6 +219,8 @@ then
 
 			set IO_PRESENT yes
 		else
+			echo "PX4IO Trying to update" >> $LOG_FILE
+
 			tone_alarm MLL32CP8MB
 
 			if px4io start
@@ -251,11 +245,11 @@ then
 
 					set IO_PRESENT yes
 				else
-					echo "PX4IO update failed" >> $LOG_FILE
+					echo "ERROR: PX4IO update failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 			else
-				echo "PX4IO update failed" >> $LOG_FILE
+				echo "ERROR: PX4IO update failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -263,6 +257,7 @@ then
 
 		if [ $IO_PRESENT == no ]
 		then
+			echo "[i] ERROR: PX4IO not found"
 			echo "ERROR: PX4IO not found" >> $LOG_FILE
 			tone_alarm $TUNE_ERR
 		fi
@@ -285,6 +280,7 @@ then
 	then
 		# Need IO for output but it not present, disable output
 		set OUTPUT_MODE none
+		echo "[i] ERROR: PX4IO not found, disabling output"
 
 		# Avoid using ttyS0 for MAVLink on FMUv1
 		if ver hwcmp PX4FMU_V1
@@ -301,15 +297,13 @@ then
 	if [ $HIL == yes ]
 	then
 		set OUTPUT_MODE hil
+		set GPS no
 		if ver hwcmp PX4FMU_V1
 		then
 			set FMU_MODE serial
 		fi
-		unset HIL
-	else
-		unset HIL
-		gps start
 	fi
+	unset HIL
 
 	# waypoint storage
 	# REBOOTWORK this needs to start in parallel
@@ -321,14 +315,22 @@ then
 	# Sensors System (start before Commander so Preflight checks are properly run)
 	#
 	sh /etc/init.d/rc.sensors
+	
+	if [ $GPS == yes ]
+	then
+		if [ $GPS_FAKE == yes ]
+		then
+			echo "[i] Faking GPS"
+			gps start -f
+		else
+			gps start
+		fi
+	fi
+	unset GPS
+	unset GPS_FAKE
 
 	# Needs to be this early for in-air-restarts
-	if [ $OUTPUT_MODE == hil ]
-	then
-	    commander start -hil
-	else
-	    commander start
-	fi
+	commander start
 
 	#
 	# Start primary output
@@ -361,7 +363,7 @@ then
 			then
 				sh /etc/init.d/rc.io
 			else
-				echo "PX4IO start failed" >> $LOG_FILE
+				echo "ERROR: PX4IO start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -370,8 +372,10 @@ then
 		then
 			if fmu mode_$FMU_MODE
 			then
+				echo "[i] FMU mode_$FMU_MODE started"
 			else
-				echo "FMU start failed" >> $LOG_FILE
+				echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
+				echo "ERROR: FMU start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 
@@ -402,7 +406,9 @@ then
 
 			if mkblctrl $MKBLCTRL_ARG
 			then
+				echo "[i] MK started"
 			else
+				echo "[i] ERROR: MK start failed"
 				echo "ERROR: MK start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
@@ -414,8 +420,10 @@ then
 		then
 			if pwm_out_sim mode_port2_pwm8
 			then
+				echo "[i] PWM SIM output started"
 			else
-				echo "PWM SIM start failed" >> $LOG_FILE
+				echo "[i] ERROR: PWM SIM output start failed"
+				echo "ERROR: PWM SIM output start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -429,9 +437,11 @@ then
 			then
 				if px4io start
 				then
+					echo "[i] PX4IO started"
 					sh /etc/init.d/rc.io
 				else
-					echo "PX4IO start failed" >> $LOG_FILE
+					echo "[i] ERROR: PX4IO start failed"
+					echo "ERROR: PX4IO start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 			fi
@@ -440,8 +450,10 @@ then
 			then
 				if fmu mode_$FMU_MODE
 				then
+					echo "[i] FMU mode_$FMU_MODE started"
 				else
-					echo "FMU mode_$FMU_MODE start failed" >> $LOG_FILE
+					echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
+					echo "ERROR: FMU mode_$FMU_MODE start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 
@@ -493,10 +505,6 @@ then
 	else
 		# XXX We need a better way for runtime eval of shell variables,
 		# but this works for now
-		if param compare SYS_COMPANION 10
-		then
-			frsky_telemetry start -d /dev/ttyS2
-		fi
 		if param compare SYS_COMPANION 921600
 		then
 			mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 80000 -x
@@ -517,10 +525,6 @@ then
 		then
 			mavlink start -d /dev/ttyS2 -b 57600 -r 1000
 		fi
-		if param compare SYS_COMPANION 1921600
-		then
-			mavlink start -d /dev/ttyS2 -b 921600 -r 20000
-		fi
 		# Sensors on the PWM interface bank
 		# clear pins 5 and 6
 		if param compare SENS_EN_LL40LS 1
@@ -536,107 +540,15 @@ 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
+	# UAVCAN
 	#
-	if param greater UAVCAN_ENABLE 0
-	then
-		if uavcan start
-		then
-		else
-			tone_alarm $TUNE_ERR
-		fi
-	fi
-
-	if param greater UAVCAN_ENABLE 1
-	then
-		if uavcan start fw
-		then
-		else
-			tone_alarm $TUNE_ERR
-		fi
-	fi
-
-	#
-	# Optional drivers
-	#
-
-	# Sensors on the PWM interface bank
-	if param compare SENS_EN_LL40LS 1
-	then
-		if pwm_input start
-		then
-			if ll40ls start pwm
-			then
-			fi
-		fi
-	fi
-
-	# sf0x lidar sensor
-	if param compare SENS_EN_SF0X 1
-	then
-		sf0x start
-	fi
-
-	if ver hwcmp PX4FMU_V4
-	then
-		frsky_telemetry start -d /dev/ttyS6
-	fi
-
-	if ver hwcmp PX4FMU_V2
-	then
-		# Check for flow sensor - as it is a background task, launch it last
-		px4flow start &
-	fi
-
-	if ver hwcmp MINDPX_V2
-	then
-		#mindxp also need flow
-		px4flow start &
-	fi
-
-	# Start USB shell if no microSD present, MAVLink else
-	if [ $LOG_FILE == /dev/null ]
-	then
-		# Try to get an USB console
-		nshterm /dev/ttyACM0 &
-	else
-		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
-	fi
-
+	sh /etc/init.d/rc.uavcan
 
 	#
 	# Logging
 	#
-	if [ -d /fs/microsd ]
-	then
-		if ver hwcmp PX4FMU_V1
-		then
-			if sdlog2 start -r 30 -a -b 2 -t
-			then
-			fi
-		else
-			# check if we should increase logging rate for ekf2 replay message logging
-			if param greater EKF2_REC_RPL 0
-			then
-				if sdlog2 start -r 500 -e -b 20 -t
-				then
-				fi
-			else
-				if sdlog2 start -r 100 -a -b 12 -t
-				then
-				fi
-			fi
-		fi
-	fi
+	sh /etc/init.d/rc.logging
 
 	#
 	# Start up ARDrone Motor interface
@@ -651,7 +563,7 @@ then
 	#
 	if [ $VEHICLE_TYPE == fw ]
 	then
-		echo "FIXED WING"
+		echo "[i] FIXED WING"
 
 		if [ $MIXER == none ]
 		then
@@ -671,7 +583,10 @@ then
 		sh /etc/init.d/rc.interface
 
 		# Start standard fixedwing apps
-		sh /etc/init.d/rc.fw_apps
+		if [ $LOAD_DAPPS == yes ]
+		then
+			sh /etc/init.d/rc.fw_apps
+		fi
 	fi
 
 	#
@@ -679,7 +594,7 @@ then
 	#
 	if [ $VEHICLE_TYPE == mc ]
 	then
-		echo "MULTICOPTER"
+		echo "[i] MULTICOPTER"
 
 		if [ $MIXER == none ]
 		then
@@ -736,7 +651,10 @@ then
 		sh /etc/init.d/rc.interface
 
 		# Start standard multicopter apps
-		sh /etc/init.d/rc.mc_apps
+		if [ $LOAD_DAPPS == yes ]
+		then
+			sh /etc/init.d/rc.mc_apps
+		fi
 	fi
 
 	#
@@ -744,11 +662,11 @@ then
 	#
 	if [ $VEHICLE_TYPE == vtol ]
 	then
-		echo "VTOL"
+		echo "[init] Vehicle type: VTOL"
 
 		if [ $MIXER == none ]
 		then
-			echo "VTOL mixer undefined"
+			echo "Default mixer for vtol not defined"
 		fi
 
 		if [ $MAV_TYPE == none ]
@@ -781,7 +699,10 @@ then
 		sh /etc/init.d/rc.interface
 
 		# Start standard vtol apps
-		sh /etc/init.d/rc.vtol_apps
+		if [ $LOAD_DAPPS == yes ]
+		then
+			sh /etc/init.d/rc.vtol_apps
+		fi
 	fi
 
 	#
@@ -796,51 +717,14 @@ then
 		sh /etc/init.d/rc.interface
 
 		# Start standard rover apps
-		sh /etc/init.d/rc.axialracing_ax10_apps
+		if [ $LOAD_DAPPS == yes ]
+		then
+			sh /etc/init.d/rc.axialracing_ax10_apps
+		fi
 
 		param set MAV_TYPE 10
 	fi
 
-	#
-	# For snapdragon, we need a passthrough mode
-	# Do not run any mavlink instances since we need the serial port for
-	# communication with Snapdragon.
-	#
-	if [ $VEHICLE_TYPE == passthrough ]
-	then
-		mavlink stop-all
-		commander stop
-
-		# Stop multicopter attitude controller if it is running, the controls come
-		# from Snapdragon.
-		if mc_att_control stop
-		then
-		fi
-
-		# Start snapdragon interface on serial port.
-		if ver hwcmp PX4FMU_V2
-		then
-			# On Pixfalcon use the standard telemetry port (Telem 1).
-			snapdragon_rc_pwm start -d /dev/ttyS1
-			px4io start
-		fi
-
-		if ver hwcmp PX4FMU_V4
-		then
-			# On Pixracer use Telem 2 port (TL2).
-			snapdragon_rc_pwm start -d /dev/ttyS2
-			fmu mode_pwm4
-		fi
-
-		pwm failsafe -c 1234 -p 900
-		pwm disarmed -c 1234 -p 900
-
-		# Arm straightaway.
-		pwm arm
-		# Use 400 Hz PWM on all channels.
-		pwm rate -a -r 400
-	fi
-
 	unset MIXER
 	unset MAV_TYPE
 	unset OUTPUT_MODE
@@ -856,6 +740,7 @@ then
 	if [ $VEHICLE_TYPE == none ]
 	then
 		echo "[i] No autostart ID found"
+
 	fi
 
 	# Start any custom addons
@@ -870,6 +755,7 @@ then
 	# Run no SD alarm
 	if [ $LOG_FILE == /dev/null ]
 	then
+		echo "[i] No microSD card found"
 		# Play SOS
 		tone_alarm error
 	fi
@@ -884,9 +770,40 @@ unset TUNE_ERR
 # Boot is complete, inform MAVLink app(s) that the system is now fully up and running
 mavlink boot_complete
 
+# Sensors on the PWM interface bank
+if param compare SENS_EN_LL40LS 1
+then
+	if pwm_input start
+	then
+		if ll40ls start pwm
+		then
+		fi
+	fi
+fi
+
+if ver hwcmp PX4FMU_V4
+then
+	frsky_telemetry start -d /dev/ttyS6
+fi
+
+if ver hwcmp PX4FMU_V2
+then
+	# Check for flow sensor - as it is a background task, launch it last
+	px4flow start &
+fi
+
+# Start USB shell if no microSD present, MAVLink else
+if [ $LOG_FILE == /dev/null ]
+then
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+else
+	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+fi
+
 if [ $EXIT_ON_END == yes ]
 then
-	echo "NSH EXIT"
+	echo "Exit from nsh"
 	exit
 fi
 unset EXIT_ON_END

ROMFS/px4fmu_common/mixers/AERT.main.mix

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

ROMFS/px4fmu_common/mixers/AET.main.mix

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

ROMFS/px4fmu_common/mixers/AETR.main.mix

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

ROMFS/px4fmu_common/mixers/Q.main.mix

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

ROMFS/px4fmu_common/mixers/RET.main.mix

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

ROMFS/px4fmu_common/mixers/X5.main.mix

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

ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix

@@ -3,21 +3,17 @@ Caipirinha tailsitter mixer
 
 This file defines a mixer for the TBS Caipirinha tailsitter edition. This vehicle
 has two motors in total, one attached to each wing. It also has two elevons which
-are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
-elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
-at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used. 
+are located in the slipstream of the propellers.
 
 Motor mixer
 ------------
-Channel 1 connects to the right (starboard) motor.
-Channel 2 connects to the left (port) motor.
+When standing in front of the vehicle the first motor should be on the left side
+while the second motor should be on the right side.
 
 R: 2- 10000 10000 10000 0
 
 Zero mixer (2x)
 ---------------
-Channels 3,4 are unused.
 
 Z:
 
@@ -25,15 +21,13 @@ Z:
 
 Elevons mixer
 --------------
-Channel 5 connects to the right (starboard) elevon.
-Channel 6 connects to the left (port) elevon.
 
 M: 2
-O:        7500    7500    0 -10000  10000
-S: 1 0  -10000  -10000    0 -10000  10000
-S: 1 1   10000   10000    0 -10000  10000
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+S: 1 1  10000  10000      0 -10000  10000
 
 M: 2
-O:        7500    7500    0 -10000  10000
-S: 1 0  -10000  -10000    0 -10000  10000
+O:       10000   10000    0 -10000  10000
+S: 1 0   10000   10000    0 -10000  10000
 S: 1 1  -10000  -10000    0 -10000  10000

ROMFS/px4fmu_common/mixers/delta.main.mix

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

ROMFS/px4fmu_common/mixers/phantom.main.mix

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

ROMFS/px4fmu_common/mixers/plane_sitl.main.mix

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

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

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

ROMFS/px4fmu_common/mixers/quad_h.main.mix

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

ROMFS/px4fmu_common/mixers/quad_test.mix

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

ROMFS/px4fmu_common/mixers/quad_v.main.mix

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

ROMFS/px4fmu_common/mixers/quad_w.main.mix

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

ROMFS/px4fmu_common/mixers/quad_x.main.mix

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

ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix

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

Tools/CI/MissionCheck.py

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

Tools/CI/VTOLmission.txt

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

Tools/adb_upload.sh

@@ -1,25 +0,0 @@
-#!/bin/bash
-
-if [[ "$#" < 2 ]]; then
-	echo "usage: adb_upload.sh SRC1 [SRC2 ...] DEST"
-	exit
-fi
-
-echo "Wait for device..."
-adb wait-for-device
-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
-	((i+=1))
-done

Tools/check_code_style.sh

@@ -29,11 +29,12 @@ for fn in $(find src/examples \
                  src/modules/local_position_estimator \
                  src/modules/unit_test \
                  src/modules/systemlib \
-                 src/lib/controllib \
+                 src/modules/controllib \
                    -path './Build' -prune -o \
                    -path './mavlink' -prune -o \
                    -path './NuttX' -prune -o \
                    -path './src/lib/eigen' -prune -o \
+                   -path './src/lib/mathlib/CMSIS' -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 \

Tools/check_submodules.sh

@@ -6,18 +6,24 @@
     exit 0
 }
 
+if [ -f src/modules/uavcan/libuavcan/CMakeLists.txt ]
+then
+	echo "Git submodule config valid."
+else
+	git submodule update --init --recursive
+fi
 
 GITSTATUS=$(git status)
 
 function check_git_submodule {
 
-# The .git exists in a submodule if init and update have been done.
-if [ -f $1"/.git" ] || [ -d $1"/.git" ];
-then
+if [ -d $1 ];
+	then
 	SUBMODULE_STATUS=$(git submodule summary "$1")
 	STATUSRETVAL=$(echo $SUBMODULE_STATUS | grep -A20 -i "$1")
-	if ! [[ -z "$STATUSRETVAL" ]];
-	then
+	if [ -z "$STATUSRETVAL" ]; then
+		echo "Checked $1 submodule, correct version found"
+	else
 		echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
 		echo ""
 		echo -e "Different commits:"
@@ -27,8 +33,7 @@ then
 		echo -e " *******************************************************************************"
 		echo -e " *   \033[31mIF YOU DID NOT CHANGE THIS FILE (OR YOU DON'T KNOW WHAT A SUBMODULE IS):\033[0m  *"
 		echo -e " *   \033[31mHit 'u' and <ENTER> to update ALL submodules and resolve this.\033[0m            *"
-		echo -e " *   (performs \033[94mgit submodule sync --recursive\033[0m                                  *"
-		echo -e " *    and \033[94mgit submodule update --init --recursive\033[0m )                            *"
+		echo -e " *   (performs \033[94mgit submodule update --init --recursive\033[0m)                        *"
 		echo -e " *******************************************************************************"
 		echo ""
 		echo ""
@@ -44,7 +49,6 @@ then
 		else
 			if [ "$user_cmd" == "u" ]
 			then
-				git submodule sync --recursive
 				git submodule update --init --recursive
 				echo "Submodule fixed, continuing build.."
 			else
@@ -54,10 +58,7 @@ then
 		fi
 	fi
 else
-	echo "REINITIALIZING GIT SUBMODULES"
-	echo "no git repo found in $1/.git"
-	git submodule sync --recursive;
-	git submodule update --init --recursive $1;
+	git submodule update --init --recursive;
 fi
 
 }
@@ -69,14 +70,12 @@ 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 src/lib/DriverFramework
-check_git_submodule src/lib/DriverFramework/cmake/cmake_hexagon
+check_git_submodule src/lib/DriverFramework/cmake_hexagon
 check_git_submodule src/lib/DriverFramework/dspal
+check_git_submodule src/lib/dspal
 check_git_submodule src/lib/ecl
 check_git_submodule src/lib/matrix
 check_git_submodule src/modules/uavcan/libuavcan
 check_git_submodule unittests/googletest
-check_git_submodule src/drivers/gps/devices
-
-exit 0
 
+exit 0

Tools/fix_code_style.sh

@@ -9,10 +9,6 @@ if [ "$ASTYLE_VER" != "$ASTYLE_VER_REQUIRED" ]; then
   exit 1
 fi
 
-if [[ $# -eq 0 ]] ; then
-  exit 0
-fi
-
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 astyle \
     --options=$DIR/astylerc          \

Tools/generate_listener.py

@@ -106,7 +106,6 @@ print("""
  * Tool for listening to topics when running flight stack on linux.
  */
 
-#include <drivers/drv_hrt.h>
 #include <px4_middleware.h>
 #include <px4_app.h>
 #include <px4_config.h>
@@ -126,14 +125,6 @@ print("""
 #define PRId64 "lld"
 #endif
 
-static bool check_timeout(const hrt_abstime& time) {
-    if (hrt_elapsed_time(&time) > 2*1000*1000) {
-		printf("Waited for 2 seconds without a message. Giving up.\\n");
-        return true;
-    }
-    return false;
-}
-
 """)
 for m in messages:
 	print("#include <uORB/topics/%s.h>" % m)
@@ -164,14 +155,12 @@ for index,m in enumerate(messages[1:]):
 	print("\t\tmemset(&container, 0, sizeof(container));")
 	print("\t\tbool updated;")
 	print("\t\tunsigned i = 0;")
-	print("\t\thrt_abstime start_time = hrt_absolute_time();")
 	print("\t\twhile(i < num_msgs) {")
 	print("\t\t\torb_check(sub,&updated);")
 	print("\t\t\tif (i == 0) { updated = true; } else { usleep(500); }")
-	print("\t\t\tif (updated) {")
-	print("\t\t\tstart_time = hrt_absolute_time();")
 	print("\t\t\ti++;")
-	print("\t\t\tprintf(\"\\nTOPIC: %s #%%d\\n\", i);" % m)
+	print("\t\t\tif (updated) {")
+	print("\t\tprintf(\"\\nTOPIC: %s #%%d\\n\", i);" % m)
 	print("\t\t\torb_copy(ID,sub,&container);")
 	for item in message_elements[index+1]:
 		if item[0] == "float":
@@ -214,10 +203,6 @@ for index,m in enumerate(messages[1:]):
 			print("\t\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
 		elif item[0] == "bool":
 			print("\t\t\tprintf(\"%s: %%s\\n\",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
-	print("\t\t\t} else {")
-	print("\t\t\t\tif (check_timeout(start_time)) {")
-	print("\t\t\t\t\tbreak;")
-	print("\t\t\t\t}")
 	print("\t\t\t}")
 	print("\t\t}")
 print("\t} else {")

Tools/jMAVSim

@@ -1 +1 @@
-Subproject commit 9155c8f955e05c969bcd932b705b98d98845f228
+Subproject commit 218ffbb8cf584fa2d02dbbc1215ce85bc25a9f57

Tools/px4airframes/xmlout.py

@@ -22,10 +22,6 @@ class XMLOutput():
         xml_parameters = ET.Element("airframes")
         xml_version = ET.SubElement(xml_parameters, "version")
         xml_version.text = "1"
-        xml_version = ET.SubElement(xml_parameters, "airframe_version_major")
-        xml_version.text = "1"
-        xml_version = ET.SubElement(xml_parameters, "airframe_version_minor")
-        xml_version.text = "1"
         last_param_name = ""
         board_specific_param_set = False
         for group in groups:

Tools/px4params/srcparser.py

@@ -133,7 +133,7 @@ class SourceParser(object):
     re_remove_dots = re.compile(r'\.+$')
     re_remove_carriage_return = re.compile('\n+')
 
-    valid_tags = set(["group", "board", "min", "max", "unit", "decimal", "increment", "reboot_required", "value", "boolean"])
+    valid_tags = set(["group", "board", "min", "max", "unit", "decimal", "reboot_required", "value"])
 
     # Order of parameter groups
     priority = {
@@ -144,7 +144,7 @@ class SourceParser(object):
     def __init__(self):
         self.param_groups = {}
 
-    def Parse(self, scope, contents):
+    def Parse(self, contents):
         """
         Incrementally parse program contents and append all found parameters
         to the list.
@@ -241,7 +241,6 @@ class SourceParser(object):
                     if defval != "" and self.re_is_a_number.match(defval):
                         defval = self.re_cut_type_specifier.sub('', defval)
                     param = Parameter(name, tp, defval)
-                    param.SetField("scope", scope)
                     param.SetField("short_desc", name)
                     # If comment was found before the parameter declaration,
                     # inject its data into the newly created parameter.

Tools/px4params/srcscanner.py

@@ -33,8 +33,6 @@ 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)))
         with codecs.open(path, 'r', 'utf-8') as f:
             try:
                 contents = f.read()
@@ -42,4 +40,4 @@ class SourceScanner(object):
                 contents = ''
                 print('Failed reading file: %s, skipping content.' % path)
                 pass
-        return parser.Parse(scope, contents)
+        return parser.Parse(contents)

Tools/px4params/xmlout.py

@@ -22,10 +22,6 @@ class XMLOutput():
         xml_parameters = ET.Element("parameters")
         xml_version = ET.SubElement(xml_parameters, "version")
         xml_version.text = "3"
-        xml_version = ET.SubElement(xml_parameters, "parameter_version_major")
-        xml_version.text = "1"
-        xml_version = ET.SubElement(xml_parameters, "parameter_version_minor")
-        xml_version.text = "9"
         importtree = ET.parse(inject_xml_file_name)
         injectgroups = importtree.getroot().findall("group")
         for igroup in injectgroups:

Tools/px_generate_params.py

@@ -1,95 +1,12 @@
 #!/usr/bin/env python
 import xml.etree.ElementTree as ET
 import os
-import re
-import codecs
 
-class Scope(object):
-	"""
-	Single parameter group
-	"""
-	re_deep_lines = re.compile(r'.*\/.*\/')
-	def __init__(self, ):
-		self.scope = set()
-
-
-	def __str__(self):
-		return self.scope.__str__()
-
-	def Add(self, scope):
-		"""
-		Add Scope to set
-		"""
-		self.scope.add(scope)
-
-	def Has(self, scope):
-		"""
-		Check for existance
-		"""
-		if len(self.scope) == 0:
-			return True
-		# Anything in the form xxxxx/yyyyy/zzzzz....
-		# is treated as xxxxx/yyyyy
-		while (self.re_deep_lines.match(scope)):
-			scope = os.path.dirname(scope)
-		return scope in self.scope
-			
-
-
-class CMakeParser(object):
-	"""
-	Parses provided data and stores all found paths in scope.
-	"""
-	re_split_lines = re.compile(r'[\r\n]+')
-	re_comment = re.compile(r'^\#')
-	re_start = re.compile(r'set\s*\(\s*config_module_list')
-	re_end = re.compile(r'\)\s*')
-
-	def Parse(self, scope, contents):
-		"""
-		Incrementally parse cmake file contents and append all found path scope
-		to scope.
-		"""
-		# This code is essentially a comment-parsing grammar. "state"
-		# represents parser state. It contains human-readable state
-		# names.
-		state = None
-		for line in self.re_split_lines.split(contents):
-			line = line.strip()
-			# Ignore empty lines
-			if line == "":
-				continue
-			if self.re_comment.match(line):
-				continue
-			elif self.re_start.match(line):
-				state = "gather"
-				continue
-			elif state is not None and state == "gather":
-				if self.re_end.match(line):
-					return True
-				scope.Add(line)
-		return False
-
-
-if len(os.sys.argv) < 2:
+if len(os.sys.argv) != 2:
 	print("Error in %s" % os.sys.argv[0])
-	print("Usage: %s <parameters.xml> [cmake-file-scoping] " % os.sys.argv[0])
+	print("Usage: %s <parameters.xml>" % os.sys.argv[0])
 	raise SystemExit
 
-
-scope = Scope()
-if len(os.sys.argv) == 3:
-	with codecs.open(os.sys.argv[2], 'r', 'utf-8') as f:
-		try:
-			contents = f.read()
-			f.close()
-			parser  = CMakeParser()
-			parser.Parse(scope, contents)
-		except:
-			contents = ''
-			print('Failed reading file: %s, skipping scoping.' % os.sys.argv[2])
-			pass
-
 fp_header = open("px4_parameters.h", "w")
 fp_src = open("px4_parameters.c", "w")
 
@@ -113,19 +30,14 @@ end_name = ""
 
 for group in root:
 	if group.tag == "group" and "no_code_generation" not in group.attrib:
-		section = """
+		header += """
 	/*****************************************************************
 	 * %s
 	 ****************************************************************/""" % group.attrib["name"]
 		for param in group:
-			scope_ = param.find('scope').text
-			if not scope.Has(scope_):
-				continue
 			if not start_name:
 				start_name = param.attrib["name"]
 			end_name = param.attrib["name"]
-			header += section
-			section =""
 			header += """
 	const struct param_info_s __param__%s;""" % param.attrib["name"]
 header += """
@@ -151,14 +63,12 @@ struct px4_parameters_t px4_parameters = {
 i=0
 for group in root:
 	if group.tag == "group" and "no_code_generation" not in group.attrib:
-		section = """
+
+		src += """
 	/*****************************************************************
 	 * %s
 	 ****************************************************************/""" % group.attrib["name"]
 		for param in group:
-			scope_ = param.find('scope').text
-			if not scope.Has(scope_):
-				continue
 			if not start_name:
 				start_name = param.attrib["name"]
 			end_name = param.attrib["name"]
@@ -168,8 +78,6 @@ for group in root:
 			elif (param.attrib["type"] == "INT32"):
 				val_str = ".val.i = "
 			i+=1
-			src += section
-			section =""
 			src += """
 	{
 		"%s",
@@ -189,5 +97,4 @@ __END_DECLS
 
 fp_header.write(header)
 fp_src.write(src)
-fp_header.close()
-fp_src.close()
+

Tools/px_mkfw.py

@@ -108,7 +108,6 @@ if args.parameter_xml != None:
 	bytes = f.read()
 	desc['parameter_xml_size'] = len(bytes)
 	desc['parameter_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
-        desc['mav_autopilot'] = 12 # 12 = MAV_AUTOPILOT_PX4
 if args.airframe_xml != None:
 	f = open(args.airframe_xml, "rb")
 	bytes = f.read()

Tools/px_process_airframes.py

@@ -71,7 +71,6 @@ def main():
                          const="",
                          metavar="BOARD",
                          help="Board to create airframes xml for")
-    parser.add_argument("-v", "--verbose", help="verbose output")
     args = parser.parse_args()
 
     # Check for valid command
@@ -85,7 +84,7 @@ def main():
     parser = srcparser.SourceParser()
 
     # Scan directories, and parse the files
-    if args.verbose: print("Scanning source path " + args.airframes_path)
+    print("Scanning source path " + args.airframes_path)
     if not scanner.ScanDir(args.airframes_path, parser):
         sys.exit(1)
     # We can't validate yet
@@ -95,16 +94,16 @@ def main():
 
     # Output to XML file
     if args.xml:
-        if args.verbose: print("Creating XML file " + args.xml)
+        print("Creating XML file " + args.xml)
         out = xmlout.XMLOutput(param_groups, args.board)
         out.Save(args.xml)
 
     if args.start_script:
-        if args.verbose: print("Creating start script " + args.start_script)
+        print("Creating start script " + args.start_script)
         out = rcout.RCOutput(param_groups, args.board)
         out.Save(args.start_script)
 
-    if (args.verbose): print("All done!")
+    print("All done!")
 
 
 if __name__ == "__main__":

Tools/px_process_params.py

@@ -107,7 +107,6 @@ def main():
                         metavar="SUMMARY",
                         default="Automagically updated parameter documentation from code.",
                         help="DokuWiki page edit summary")
-    parser.add_argument("-v", "--verbose", help="verbose output")
     args = parser.parse_args()
 
     # Check for valid command
@@ -121,7 +120,7 @@ def main():
     parser = srcparser.SourceParser()
 
     # Scan directories, and parse the files
-    if (args.verbose): print("Scanning source path " + args.src_path)
+    print("Scanning source path " + args.src_path)
     if not scanner.ScanDir(args.src_path, parser):
         sys.exit(1)
     if not parser.Validate():
@@ -130,7 +129,7 @@ def main():
 
     # Output to XML file
     if args.xml:
-        if args.verbose: print("Creating XML file " + args.xml)
+        print("Creating XML file " + args.xml)
         out = xmlout.XMLOutput(param_groups, args.board, os.path.join(args.src_path, args.inject_xml))
         out.Save(args.xml)
 
@@ -148,7 +147,7 @@ def main():
             else:
                 print("Error: You need to specify DokuWiki XML-RPC username and password!")
 
-    #print("All done!")
+    print("All done!")
 
 
 if __name__ == "__main__":

Tools/px_romfs_pruner.py

@@ -53,7 +53,7 @@ def main():
                         help="ROMFS scratch folder.")
     args = parser.parse_args()
 
-    #print("Pruning ROMFS files.")
+    print("Pruning ROMFS files.")
 
     # go through
     for (root, dirs, files) in os.walk(args.folder):

Tools/qgc_meta_sync.sh

@@ -1,5 +0,0 @@
-#!/usr/bin/env bash
-
-make px4fmu-v2_default
-cp build_px4fmu-v2_default/parameters.xml ../qgroundcontrol/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
-cp build_px4fmu-v2_default/airframes.xml ../qgroundcontrol/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml

Tools/sdlog2/geotagging.py

@@ -1,187 +0,0 @@
-#!/usr/bin/env python
-#
-#       __geotagging__
-#       Tag the images recorded during a flight with geo location extracted from
-#       a PX4 log file.
-# 
-#       This file accepts *.jpg format images and reads position information
-#       from a *.px4log file
-#
-#       Example Syntax:
-#       python geotagging.py --logfile=log001.px4log --input=images/
-#                            --output=imagesWithTag/
-#
-#   Author: Andreas Bircher, Wingtra, http://wingtra.com, in 2016
-#
-
-import glob
-import os
-import pyexiv2
-import fractions
-from PIL import Image
-from PIL.ExifTags import TAGS
-import sys
-from shutil import copyfile
-from optparse import OptionParser
-from numpy import genfromtxt
-import shutil
-import csv
-
-class TriggerList( object ):
-    def __init__( self ):
-        self.CAMT_seq = []
-        self.CAMT_timestamp = []
-        self.GPOS_Lat = []
-        self.GPOS_Lon = []
-        self.GPOS_Alt = []
-
-class ImageList( object ):
-    def __init__( self ):
-        self.jpg = []
-        self.raw = []
-
-def to_degree(value, loc):
-    if value < 0:
-        loc_value = loc[0]
-    elif value > 0:
-        loc_value = loc[1]
-    else:
-        loc_value = ""
-    absolute_value = abs(value)
-    deg =  int(absolute_value)
-    t1 = (absolute_value-deg)*60
-    min = int(t1)
-    sec = round((t1 - min)* 60, 5)
-    return (deg, min, sec, loc_value)
-
-def SetGpsLocation(file_name, lat, lng, alt):
-    """
-        Adding GPS tag
-
-    """
-    lat_deg = to_degree(lat, ["S", "N"])
-    lng_deg = to_degree(lng, ["W", "E"])
-
-    exiv_lat = (pyexiv2.Rational(lat_deg[0] * 60 + lat_deg[1], 60), pyexiv2.Rational(lat_deg[2] * 100, 6000), pyexiv2.Rational(0, 1))
-    exiv_lng = (pyexiv2.Rational(lng_deg[0] * 60 + lng_deg[1], 60), pyexiv2.Rational(lng_deg[2] * 100, 6000), pyexiv2.Rational(0, 1))
-
-    exiv_image = pyexiv2.ImageMetadata(file_name)
-    exiv_image.read()
-
-    exiv_image["Exif.GPSInfo.GPSLatitude"] = exiv_lat
-    exiv_image["Exif.GPSInfo.GPSLatitudeRef"] = lat_deg[3]
-    exiv_image["Exif.GPSInfo.GPSLongitude"] = exiv_lng
-    exiv_image["Exif.GPSInfo.GPSLongitudeRef"] = lng_deg[3]
-    exiv_image["Exif.GPSInfo.GPSAltitude"] = pyexiv2.Rational(alt, 1)
-    exiv_image["Exif.GPSInfo.GPSAltitudeRef"] = '0'
-    exiv_image["Exif.Image.GPSTag"] = 654
-    exiv_image["Exif.GPSInfo.GPSMapDatum"] = "WGS-84"
-    exiv_image["Exif.GPSInfo.GPSVersionID"] = '2 0 0 0'
-
-    exiv_image.write(True)
-
-def LoadPX4log(px4_log_file):
-    """
-       load px4 log file and extract trigger locations
-    """
-    os.system('python sdlog2_dump.py ' + px4_log_file + ' -f log.csv')
-    f = open('log.csv', 'rb')
-    reader = csv.reader(f)
-    headers = reader.next()
-    line = {}
-    for h in headers:
-        line[h] = []
-
-    for row in reader:
-        for h, v in zip(headers, row):
-            line[h].append(v)
-
-    trigger_list = TriggerList()
-    for seq in range(0, len(line['CAMT_seq']) - 1):
-        if line['CAMT_seq'][seq] != line['CAMT_seq'][seq + 1]:
-            trigger_list.CAMT_seq.append(line['CAMT_seq'][seq + 1])
-            trigger_list.CAMT_timestamp.append(line['CAMT_timestamp'][seq + 1])
-            trigger_list.GPOS_Lat.append(line['GPOS_Lat'][seq + 1])
-            trigger_list.GPOS_Lon.append(line['GPOS_Lon'][seq + 1])
-            trigger_list.GPOS_Alt.append(line['GPOS_Alt'][seq + 1])
-    return trigger_list
-
-def LoadImageList(input_folder):
-    """
-       load the image list
-    """
-    image_list = ImageList()
-    for jpg_image in glob.glob(input_folder + "/*.jpg"):
-        image_list.jpg.append(jpg_image)
-    for jpg_image in glob.glob(input_folder + "/*.JPG"):
-        image_list.jpg.append(jpg_image)
-    for raw_image in glob.glob(input_folder + "/*.RC"):
-        image_list.raw.append(raw_image)
-    if len(image_list.jpg) != len(image_list.raw) and len(image_list.jpg) * len(image_list.raw) != 0:
-        print("Unequal number of jpg and raw images")
-    if len(image_list.jpg) == 0 and len(image_list.raw) == 0:
-        print("No images found")
-    image_list.jpg = sorted(image_list.jpg)
-    image_list.raw = sorted(image_list.raw)
-    return image_list
-
-def FilterTrigger(trigger_list, image_list):
-    """
-       filter triggers to allow exact matching with recorded images
-    """
-    if len(image_list.jpg) != len(trigger_list.CAMT_seq) and len(image_list.raw) != len(trigger_list.CAMT_seq):
-        # filter trigger list to match the number of pics
-        print("No trigger filter implemented yet.")
-
-    return trigger_list
-
-def TagImages(trigger_list, image_list, output_folder):
-    """
-       load px4 log file and extract trigger locations
-    """
-    for image in range(len(image_list.jpg)):
-        base_path, filename = os.path.split(image_list.jpg[image])
-        copyfile(image_list.jpg[image], output_folder + "/" + filename)
-        SetGpsLocation(output_folder + "/" + filename, float(trigger_list.GPOS_Lat[image]), float(trigger_list.GPOS_Lon[image]), float(trigger_list.GPOS_Alt[image]))
-    for image in range(len(image_list.raw)):
-        base_path, filename = os.path.split(image_list.raw[image])
-        copyfile(image_list.raw[image], output_folder + "/" + filename)
-        SetGpsLocation(output_folder + "/" + filename, float(trigger_list.GPOS_Lat[image]), float(trigger_list.GPOS_Lon[image]), float(trigger_list.GPOS_Alt[image]))
-
-def main():
-    """
-        Main method
-    """
-    parser = OptionParser()
-    parser.add_option("-l", "--logfile", dest = "LogFile", 
-                    help = "PX4 log file containing recorded positions", 
-                    metavar = "string")
-    parser.add_option("-i", "--input", dest = "InputFolder",
-                    help = "Input folder containing untagged images in alphabetical order",
-                    type = "string")
-    parser.add_option("-o", "--output", dest = "OutputFolder",
-                    help = "Output folder to contain tagged images",
-                    type = "string")
-    
-    (options, args) = parser.parse_args()
-    if not options.LogFile:
-        print "please type python " \
-              "geotagging.py --logfile=[filename] --intput=[folder] [--output=[folder]]"     
-    elif not options.InputFolder:
-        print "please type python " \
-              "geotagging.py --logfile=[filename] --intput=[folder] [--output=[folder]]s"
-    else:
-        trigger_list = LoadPX4log(options.LogFile)
-        image_list = LoadImageList(options.InputFolder)
-
-        if not options.OutputFolder:
-            options.OutputFolder = "imagesWithTag"
-        if not os.path.exists(options.OutputFolder):
-            os.makedirs(options.OutputFolder)
-
-        trigger_list = FilterTrigger(trigger_list, image_list)
-
-        TagImages(trigger_list, image_list, options.OutputFolder)
-
-if __name__ == "__main__":
-    main()

Tools/sdlog2/sdlog2_dump.py

@@ -48,7 +48,6 @@ class SDLog2Parser:
         "i": ("i", None),
         "I": ("I", None),
         "f": ("f", None),
-        "d": ("d", None),
         "n": ("4s", None),
         "N": ("16s", None),
         "Z": ("64s", None),

Tools/sitl_gazebo

@@ -1 +1 @@
-Subproject commit 9353834b2f89d08beaa055fc97321e1871bc2b3a
+Subproject commit b28258f1ac0d66eddb2c8682b8bad3586c6c855e

Tools/sitl_run.sh

@@ -14,10 +14,6 @@ echo program: $program
 echo model: $model
 echo build_path: $build_path
 
-mkdir -p $build_path/src/firmware/posix/rootfs/fs/microsd
-mkdir -p $build_path/src/firmware/posix/rootfs/eeprom
-touch $build_path/src/firmware/posix/rootfs/eeprom/parameters
-
 if [ "$chroot" == "1" ]
 then
 	chroot_enabled=-c
@@ -33,7 +29,7 @@ then
 	model="iris"
 fi
 
-if [ "$#" -lt 5 ]
+if [ "$#" != 5 ]
 then
 	echo usage: sitl_run.sh rc_script debugger program model build_path
 	echo ""
@@ -52,7 +48,6 @@ fi
 
 set -e
 
-cd $build_path/..
 cp Tools/posix_lldbinit $build_path/src/firmware/posix/.lldbinit
 cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit
 
@@ -61,11 +56,9 @@ SIM_PID=0
 if [ "$program" == "jmavsim" ] && [ "$no_sim" == "" ]
 then
 	cd Tools/jMAVSim
-	ant create_run_jar copy_res
-	cd out/production
-	java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
+	ant
+	java -Djava.ext.dirs= -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp 127.0.0.1:14560 &
 	SIM_PID=`echo $!`
-	cd ../..
 elif [ "$program" == "gazebo" ] && [ "$no_sim" == "" ]
 then
 	if [ -x "$(command -v gazebo)" ]
@@ -81,7 +74,6 @@ then
 		cd Tools/sitl_gazebo/Build
 		cmake -Wno-dev ..
 		make -j4
-		make sdf
 		gzserver --verbose ../worlds/${model}.world &
 		SIM_PID=`echo $!`
 		gzclient --verbose &
@@ -90,24 +82,11 @@ then
 		echo "You need to have gazebo simulator installed!"
 		exit 1
 	fi
-elif [ "$program" == "replay" ] && [ "$no_sim" == "" ]
-then
-	echo "Replaying logfile: $logfile"
-	# This is not a simulator, but a log file to replay
-
-	# Check if we need to creat a param file to allow user to change parameters
-	if ! [ -f "${build_path}/src/firmware/posix/rootfs/replay_params.txt" ]
-		then
-		touch ${build_path}/src/firmware/posix/rootfs/replay_params.txt
-	fi
 fi
-
 cd $build_path/src/firmware/posix
-
-if [ "$logfile" != "" ]
-then
-	cp $logfile rootfs/replay.px4log
-fi
+mkdir -p rootfs/fs/microsd
+mkdir -p rootfs/eeprom
+touch rootfs/eeprom/parameters
 
 # Do not exit on failure now from here on because we want the complete cleanup
 set +e

Tools/upload.sh

@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#!/bin/bash
 
 EXEDIR=`pwd`
 BASEDIR=$(dirname $0)

cmake/cmake_hexagon

@@ -1 +1 @@
-Subproject commit 77d487dc076a8519f81a335a5e4a2040799790de
+Subproject commit 829f22eff345c934ca8939b2385768ca5e33794c

cmake/common/px4_base.cmake

@@ -90,7 +90,7 @@ include(CMakeParseArguments)
 #		endfunction()
 #
 #		test(NAME "hello" LIST a b c)
-#
+#		
 #		OUTPUT:
 #			name: hello
 #			list: a b c
@@ -138,11 +138,15 @@ function(px4_add_git_submodule)
 	string(REPLACE "/" "_" NAME ${PATH})
 	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
 		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		COMMAND git submodule update --init --recursive ${PATH}
 		COMMAND touch ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
 		DEPENDS ${CMAKE_SOURCE_DIR}/.gitmodules
 		)
 	add_custom_target(${TARGET}
 		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+# This is NOT a good approach as it overwrites checked out branches
+# behind the back of a developer
+		#COMMAND git submodule update --recursive ${PATH}
 		DEPENDS ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
 		)
 endfunction()
@@ -225,9 +229,7 @@ endfunction()
 #	Usage:
 #		px4_add_module(MODULE <string>
 #			[ MAIN <string> ]
-#			[ STACK <string> ] !!!!!DEPRECATED, USE STACK_MAIN INSTEAD!!!!!!!!!
-#			[ STACK_MAIN <string> ]
-#			[ STACK_MAX <string> ]
+#			[ STACK <string> ]
 #			[ COMPILE_FLAGS <list> ]
 #			[ INCLUDES <list> ]
 #			[ DEPENDS <string> ]
@@ -236,9 +238,7 @@ endfunction()
 #	Input:
 #		MODULE			: unique name of module
 #		MAIN			: entry point, if not given, assumed to be library
-#		STACK			: deprecated use stack main instead
-#		STACK_MAIN		: size of stack for main function
-#		STACK_MAX		: maximum stack size of any frame
+#		STACK			: size of stack
 #		COMPILE_FLAGS	: compile flags
 #		LINK_FLAGS		: link flags
 #		SRCS			: source files
@@ -252,7 +252,7 @@ endfunction()
 #		px4_add_module(MODULE test
 #			SRCS
 #				file.cpp
-#			STACK_MAIN 1024
+#			STACK 1024
 #			DEPENDS
 #				git_nuttx
 #			)
@@ -261,43 +261,15 @@ function(px4_add_module)
 
 	px4_parse_function_args(
 		NAME px4_add_module
-		ONE_VALUE MODULE MAIN STACK STACK_MAIN STACK_MAX PRIORITY
+		ONE_VALUE MODULE MAIN STACK PRIORITY
 		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS
 		REQUIRED MODULE
 		ARGN ${ARGN})
 
 	add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
 
-	# set defaults if not set
-	set(MAIN_DEFAULT MAIN-NOTFOUND)
-	set(STACK_MAIN_DEFAULT 1024)
-	set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
-
-	# default stack max to stack main
-	if(NOT STACK_MAIN AND STACK)
-		set(STACK_MAIN ${STACK})
-		message(AUTHOR_WARNING "STACK deprecated, USE STACK_MAIN instead!!!!!!!!!!!!")
-	endif()
-
-	foreach(property MAIN STACK_MAIN PRIORITY)
-		if(NOT ${property})
-			set(${property} ${${property}_DEFAULT})
-		endif()
-		set_target_properties(${MODULE} PROPERTIES ${property}
-			${${property}})
-	endforeach()
-
-	# default stack max to stack main
-	if(NOT STACK_MAX)
-		set(STACK_MAX ${STACK_MAIN})
-	endif()
-	set_target_properties(${MODULE} PROPERTIES STACK_MAX
-		${STACK_MAX})
-
 	if(${OS} STREQUAL "qurt" )
 		set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
-	elseif(${OS} STREQUAL "nuttx" )
-		list(APPEND COMPILE_FLAGS -Wframe-larger-than=${STACK_MAX})
 	endif()
 
 	if(MAIN)
@@ -322,8 +294,8 @@ function(px4_add_module)
 
 	# store module properties in target
 	# COMPILE_FLAGS and LINK_FLAGS are passed to compiler/linker by cmake
-	# STACK_MAIN, MAIN, PRIORITY are PX4 specific
-	foreach (prop COMPILE_FLAGS LINK_FLAGS STACK_MAIN MAIN PRIORITY)
+	# STACK, MAIN, PRIORITY are PX4 specific
+	foreach (prop COMPILE_FLAGS LINK_FLAGS STACK MAIN PRIORITY)
 		if (${prop})
 			set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
 		endif()
@@ -377,11 +349,11 @@ function(px4_generate_messages)
 		list(APPEND msg_files_out ${msg_out_path}/${msg}.h)
 	endforeach()
 	add_custom_command(OUTPUT ${msg_files_out}
-		COMMAND ${PYTHON_EXECUTABLE}
+		COMMAND ${PYTHON_EXECUTABLE} 
 			Tools/px_generate_uorb_topic_headers.py
 			${QUIET}
 			-d msg
-			-o ${msg_out_path}
+			-o ${msg_out_path} 
 			-e msg/templates/uorb
 			-t ${CMAKE_BINARY_DIR}/topics_temporary
 		DEPENDS ${DEPENDS} ${MSG_FILES}
@@ -398,11 +370,11 @@ function(px4_generate_messages)
 		list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
 	endforeach()
 	add_custom_command(OUTPUT ${msg_multi_files_out}
-		COMMAND ${PYTHON_EXECUTABLE}
+		COMMAND ${PYTHON_EXECUTABLE} 
 			Tools/px_generate_uorb_topic_headers.py
 			${QUIET}
 			-d msg
-			-o ${msg_multi_out_path}
+			-o ${msg_multi_out_path} 
 			-e msg/templates/px4/uorb
 			-t ${CMAKE_BINARY_DIR}/multi_topics_temporary/${OS}
 			-p "px4_"
@@ -471,26 +443,6 @@ function(px4_add_upload)
 		)
 endfunction()
 
-
-function(px4_add_adb_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/adb_upload.sh ${FILES} ${DEST}
-		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
-		COMMENT "uploading ${BUNDLE}"
-		VERBATIM
-		USES_TERMINAL
-		)
-endfunction()
-
-
 #=============================================================================
 #
 #	px4_add_common_flags
@@ -540,10 +492,9 @@ function(px4_add_common_flags)
 	set(warnings
 		-Wall
 		-Werror
-		-Wextra
-		-Wpacked
 		-Wno-sign-compare
-		-Wshadow
+		-Wextra
+		#-Wshadow # very verbose due to eigen
 		-Wfloat-equal
 		-Wpointer-arith
 		-Wmissing-declarations
@@ -563,11 +514,14 @@ function(px4_add_common_flags)
 		#               but generates too many false positives
 		)
 
+	if (${OS} STREQUAL "nuttx")
+		list(APPEND warnings -Wframe-larger-than=1024)
+	endif()
+
 	if (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
 		# QuRT 6.4.X compiler identifies as Clang but does not support this option
 		if (NOT ${OS} STREQUAL "qurt")
 			list(APPEND warnings
-				-Qunused-arguments
 				-Wno-unused-const-variable
 				-Wno-varargs
 			)
@@ -596,16 +550,12 @@ function(px4_add_common_flags)
 	else()
 		set(max_optimization -Os)
 
-		if ("${OS}" STREQUAL "qurt")
-			set(PIC_FLAG -fPIC)
-		endif()
 		set(optimization_flags
 			-fno-strict-aliasing
 			-fomit-frame-pointer
 			-funsafe-math-optimizations
 			-ffunction-sections
 			-fdata-sections
-			${PIC_FLAG}
 			)
 	endif()
 
@@ -650,15 +600,6 @@ function(px4_add_common_flags)
 		-D__CUSTOM_FILE_IO__
 		)
 
-	if (NOT (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*"))
-		# -fcheck-new is a no-op for Clang in general
-		# and has no effect, but can generate a compile
-		# error for some OS
-		list(APPEND cxx_compile_flags
-			-fcheck-new
-		)
-	endif()
-
 	set(visibility_flags
 		-fvisibility=hidden
 		-include visibility.h
@@ -712,11 +653,14 @@ function(px4_add_common_flags)
 		-DCONFIG_ARCH_BOARD_${board_config}
 		)
 
-	if (NOT (APPLE AND (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")))
-		set(added_exe_linker_flags
+	if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
+		set(added_exe_link_flags
 			-Wl,--warn-common
 			-Wl,--gc-sections
-			#,--print-gc-sections
+			)
+	else()
+		set(added_exe_link_flags
+			-Wl,--warn-common
 			)
 	endif()
 
@@ -741,7 +685,7 @@ endfunction()
 #	Input:
 #		dirname					: path to module dir
 #
-#	Output:
+#	Output: 
 #		newname					: module name
 #
 #	Example:
@@ -772,23 +716,16 @@ endfunction()
 function(px4_create_git_hash_header)
 	px4_parse_function_args(
 		NAME px4_create_git_hash_header
-		ONE_VALUE HEADER
-		REQUIRED HEADER
+		ONE_VALUE HEADER 
+		REQUIRED HEADER 
 		ARGN ${ARGN})
-	execute_process(
-		COMMAND git describe --tags
-		OUTPUT_VARIABLE git_tag
-		OUTPUT_STRIP_TRAILING_WHITESPACE
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-		)
-	#message(STATUS "GIT_TAG = ${git_tag}")
 	execute_process(
 		COMMAND git rev-parse HEAD
 		OUTPUT_VARIABLE git_desc
 		OUTPUT_STRIP_TRAILING_WHITESPACE
 		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 		)
-	#message(STATUS "GIT_DESC = ${git_desc}")
+	message(STATUS "GIT_DESC = ${git_desc}")
 	set(git_desc_short)
 	string(SUBSTRING ${git_desc} 1 16 git_desc_short)
 	configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
@@ -837,23 +774,22 @@ endfunction()
 #	Generates a source file with all parameters.
 #
 #	Usage:
-#		px4_generate_parameters_source(OUT <list-source-files> XML <param-xml-file> [SCOPE <cmake file for scoping>])
+#		px4_generate_parameters_source(OUT <list-source-files> XML <param-xml-file>)
 #
 #	Input:
-#		XML   : the parameters.xml file
-#		SCOPE : the cmake file used to limit scope of the paramaters
-#		DEPS  : target dependencies
+#		XML : the parameters.xml file
+#		DEPS : target dependencies
 #
 #	Output:
 #		OUT	: the generated source files
 #
 #	Example:
-#		px4_generate_parameters_source(OUT param_files XML parameters.xml SCOPE ${OS}_${BOARD}_${LABEL}.cmake )
+#		px4_generate_parameters_source(OUT param_files XML parameters.xml)
 #
 function(px4_generate_parameters_source)
 	px4_parse_function_args(
 		NAME px4_generate_parameters_source
-		ONE_VALUE OUT XML SCOPE DEPS
+		ONE_VALUE OUT XML DEPS
 		REQUIRED OUT XML
 		ARGN ${ARGN})
 	set(generated_files
@@ -861,12 +797,9 @@ function(px4_generate_parameters_source)
 		${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.c)
 	set_source_files_properties(${generated_files}
 		PROPERTIES GENERATED TRUE)
-	if ("${config_generate_parameters_scope}" STREQUAL "ALL")
-		set(SCOPE "")
-	endif()
 	add_custom_command(OUTPUT ${generated_files}
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
-		DEPENDS ${XML} ${DEPS} ${SCOPE}
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML}
+		DEPENDS ${XML} ${DEPS}
 		)
 	set(${OUT} ${generated_files} PARENT_SCOPE)
 endfunction()

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -1,199 +0,0 @@
-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/test_ppm
-	drivers/boards/mindpx-v2
-	#drivers/rgbled
-	drivers/rgbled_pwm
-	#drivers/mpu6000
-	#drivers/mpu6050
-	drivers/mpu6500
-	#drivers/mpu9250
-	drivers/lsm303d
-	drivers/l3gd20
-	drivers/hmc5883
-	drivers/ms5611
-	#drivers/mb12xx
-	#drivers/srf02
-	drivers/srf02_i2c
-	drivers/hc_sr04
-	#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
-
-	#
-	# 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
-
-	#
-	# General system control
-	#
-	modules/commander
-	modules/navigator
-	modules/mavlink
-	modules/gpio_led
-	modules/uavcan
-	modules/land_detector
-
-	#
-	# 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
-
-	#
-	# 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/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_px4-stm32f4discovery_default.cmake

@@ -30,20 +30,19 @@ set(config_module_list
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
+	modules/controllib
 	modules/uORB
 
 	#
 	# Libraries
 	#
 	#lib/mathlib/CMSIS
-	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter
 	lib/ecl
 	lib/external_lgpl
 	lib/geo
 	lib/conversion
-	lib/DriverFramework/framework
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config
@@ -81,12 +80,8 @@ set(config_extra_builtin_cmds
 
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048")
+	MAIN "sercon" STACK "2048")
 
 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048")
+	MAIN "serdis" STACK "2048")

cmake/configs/nuttx_px4fmu-v1_default.cmake

@@ -36,8 +36,7 @@ set(config_module_list
 	drivers/meas_airspeed
 	drivers/frsky_telemetry
 	modules/sensors
-	drivers/camera_trigger
-	drivers/mkblctrl
+	#drivers/mkblctrl
 	drivers/px4flow
 
 	#
@@ -97,13 +96,14 @@ set(config_module_list
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
+	modules/controllib
 	modules/uORB
 	modules/dataman
 
 	#
 	# Libraries
 	#
-	lib/controllib
+	#lib/mathlib/CMSIS
 	lib/mathlib
 	lib/mathlib/math/filter
 	lib/ecl
@@ -115,7 +115,6 @@ set(config_module_list
 	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
@@ -166,19 +165,17 @@ set(config_io_board
 	)
 
 set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
 	)
 
 set(config_io_extra_libs
+	#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
 	)
 
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048")
+	MAIN "sercon" STACK "2048")
 
 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048")
+	MAIN "serdis" STACK "2048")

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -41,14 +41,11 @@ set(config_module_list
 	modules/sensors
 	#drivers/mkblctrl
 	drivers/px4flow
-	#drivers/oreoled
+	drivers/oreoled
 	drivers/gimbal
 	drivers/pwm_input
 	drivers/camera_trigger
 	drivers/bst
-	drivers/snapdragon_rc_pwm
-	drivers/lis3mdl
-	drivers/bmi160
 
 	#
 	# System commands
@@ -81,10 +78,11 @@ 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
 
 	#
 	# Vehicle Control
@@ -107,13 +105,14 @@ set(config_module_list
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
+	modules/controllib
 	modules/uORB
 	modules/dataman
 
 	#
 	# Libraries
 	#
-	lib/controllib
+	#lib/mathlib/CMSIS
 	lib/mathlib
 	lib/mathlib/math/filter
 	lib/ecl
@@ -125,7 +124,6 @@ set(config_module_list
 	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
@@ -140,7 +138,7 @@ set(config_module_list
 	#
 	# Rover apps
 	#
-	#examples/rover_steering_control
+	examples/rover_steering_control
 
 	#
 	# Demo apps
@@ -176,19 +174,19 @@ set(config_io_board
 	)
 
 set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
 	uavcan
 	uavcan_stm32_driver
 	)
 
 set(config_io_extra_libs
+	#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
 	)
 
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon" STACK_MAIN "2048")
+	MAIN "sercon" STACK "2048")
 
 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis" STACK_MAIN "2048")
+	MAIN "serdis" STACK "2048")

cmake/configs/nuttx_px4fmu-v2_ekf2.cmake

@@ -105,13 +105,14 @@ set(config_module_list
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
+	modules/controllib
 	modules/uORB
 	modules/dataman
 
 	#
 	# Libraries
 	#
-	lib/controllib
+	#lib/mathlib/CMSIS
 	lib/mathlib
 	lib/mathlib/math/filter
 	lib/ecl
@@ -123,7 +124,6 @@ set(config_module_list
 	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
@@ -174,19 +174,19 @@ set(config_io_board
 	)
 
 set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
 	uavcan
 	uavcan_stm32_driver
 	)
 
 set(config_io_extra_libs
+	#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
 	)
 
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon" STACK_MAIN "2048")
+	MAIN "sercon" STACK "2048")
 
 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis" STACK_MAIN "2048")
+	MAIN "serdis" STACK "2048")

cmake/configs/nuttx_px4fmu-v2_lpe.cmake

@@ -0,0 +1,5 @@
+include(cmake/configs/nuttx_px4fmu-v2_default.cmake)
+
+list(APPEND config_module_list
+	modules/local_position_estimator
+	)

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -43,8 +43,6 @@ set(config_module_list
 	drivers/pwm_input
 	drivers/camera_trigger
 	drivers/bst
-	drivers/snapdragon_rc_pwm
-	drivers/lis3mdl
 
 	#
 	# System commands
@@ -106,13 +104,14 @@ set(config_module_list
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
+	modules/controllib
 	modules/uORB
 	modules/dataman
 
 	#
 	# Libraries
 	#
-	lib/controllib
+	#lib/mathlib/CMSIS
 	lib/mathlib
 	lib/mathlib/math/filter
 	lib/rc
@@ -125,7 +124,6 @@ set(config_module_list
 	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
@@ -172,21 +170,19 @@ set(config_extra_builtin_cmds
 	)
 
 set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
 	uavcan
 	uavcan_stm32_driver
 	)
 
 set(config_io_extra_libs
+	#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
 	)
 
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048")
+	MAIN "sercon" STACK "2048")
 
 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048")
+	MAIN "serdis" STACK "2048")

cmake/configs/posix_eagle_default.cmake

@@ -1,17 +1,50 @@
-# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
-#
-# This cmake config builds for POSIX, so the part of the flight stack running
-# on the Linux side of the Snapdragon.
-include(configs/posix_sdflight_default)
+include(posix/px4_impl_posix)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(config_module_list
+	drivers/device
+	drivers/blinkm
+	drivers/pwm_out_sim
+	drivers/rgbled
+	drivers/led
+	drivers/boards/sitl
 
-set(CONFIG_SHMEM "1")
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+
+	modules/mavlink
+
+	modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+
+	modules/mc_pos_control
+	modules/mc_att_control
+
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/sensors
+	modules/dataman
+	modules/sdlog2
+	modules/simulator
+	modules/commander
+	modules/controllib
+
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/conversion
+	lib/ecl
+	lib/geo
+	lib/geo_lookup
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	)
 
-# This definition allows to differentiate if this just the usual POSIX build
-# or if it is for the Snapdragon.
-add_definitions(
-	-D__PX4_POSIX_EAGLE
-)

cmake/configs/posix_eagle_hil.cmake

@@ -1,7 +1,5 @@
 include(posix/px4_impl_posix)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
-
 # Use build stubs unless explicitly set not to
 if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
 	set(DSPAL_STUBS_ENABLE "1")
@@ -9,8 +7,6 @@ endif()
 
 set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
 
-set(config_generate_parameters_scope ALL)
-
 set(config_module_list
 	drivers/device
 	drivers/boards/sitl
@@ -35,7 +31,6 @@ set(config_module_list
 	lib/geo
 	lib/geo_lookup
 	lib/conversion
-	lib/DriverFramework/framework
 
 	platforms/common
 	platforms/posix/px4_layer

cmake/configs/posix_eagle_legacy_driver_default.cmake

@@ -1,66 +0,0 @@
-include(posix/px4_impl_posix)
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
-
-set(config_generate_parameters_scope ALL)
-
-set(CONFIG_SHMEM "1")
-
-# This definition allows to differentiate if this just the usual POSIX build
-# or if it is for the Snapdragon.
-add_definitions(
-	-D__PX4_POSIX_EAGLE
-   -D__USING_SNAPDRAGON_LEGACY_DRIVER
-	)
-
-set(config_module_list
-	drivers/device
-	drivers/blinkm
-	drivers/pwm_out_sim
-	drivers/rgbled
-	drivers/led
-	drivers/boards/sitl
-	drivers/qshell/posix
-
-	systemcmds/param
-	systemcmds/mixer
-	systemcmds/ver
-	systemcmds/topic_listener
-
-	modules/mavlink
-
-	modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
-
-	modules/mc_pos_control
-	modules/mc_att_control
-
-	modules/param
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/uORB
-	modules/muorb/krait
-	modules/sensors
-	modules/dataman
-	modules/sdlog2
-	modules/simulator
-	modules/commander
-
-	lib/controllib
-	lib/mathlib
-	lib/mathlib/math/filter
-	lib/conversion
-	lib/ecl
-	lib/geo
-	lib/geo_lookup
-	lib/terrain_estimation
-	lib/runway_takeoff
-	lib/tailsitter_recovery
-	lib/DriverFramework/framework
-
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-	)

cmake/configs/posix_eagle_muorb.cmake

@@ -1,18 +1,12 @@
 include(posix/px4_impl_posix)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
-
-set(config_generate_parameters_scope ALL)
+set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
 
 set(config_module_list
 	drivers/device
 
 	modules/uORB
 
-	lib/DriverFramework/framework
-
 	platforms/posix/px4_layer
 	platforms/posix/work_queue
 

cmake/configs/posix_eagle_release.cmake

@@ -0,0 +1,44 @@
+include(posix/px4_impl_posix)
+
+# Use build stubs unless explicitly set not to
+if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
+	set(DSPAL_STUBS_ENABLE "1")
+endif()
+
+if ("${QRL_SDK_DIR}" STREQUAL "")
+	set(QRL_SDK_DIR /opt/qrlsdk)
+endif()
+
+set(CMAKE_PROGRAM_PATH 
+	"${QRL_SDK_DIR}/gcc-linaro-4.8-2015.06-x86_64_arm-linux-gnueabihf/bin"
+	${CMAKE_PROGRAM_PATH}
+	)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+
+set(config_module_list
+	drivers/device
+
+	systemcmds/param
+	systemcmds/ver
+
+	modules/mavlink
+
+	modules/param
+	modules/systemlib
+	modules/uORB
+	modules/dataman
+
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+
+	modules/muorb/krait
+	)
+

cmake/configs/posix_excelsior_default.cmake

@@ -1,10 +0,0 @@
-# Excelsior is the code name of a board currently in development.
-#
-# This cmake config builds for POSIX, so the part of the flight stack running
-# on the Linux side of the Snapdragon.
-include(configs/posix_sdflight_default)
-
-# This definition allows to differentiate the specific board.
-add_definitions(
-	-D__PX4_POSIX_EXCELSIOR
-)