MC pos control: Drop default position controller gain

Navigator: Fix mission feedback and wording
Update ECL library
2026-06-21 11:10:36 +08:00 · 2016-08-06 11:50:08 +02:00 · 2016-08-06 10:34:20 +02:00 · 2016-08-06 10:18:58 +02:00 · 2016-08-05 22:10:34 +02:00 · 2016-08-05 21:29:49 +02:00
454 changed files with 21919 additions and 11101 deletions
@@ -64,7 +64,6 @@ CMakeLists.txt.user
 GPATH
 GRTAGS
 GTAGS
-*.config
 *.creator
 *.creator.user
 *.files
@@ -1,12 +1,15 @@
 [submodule "mavlink/include/mavlink/v1.0"]
 	path = mavlink/include/mavlink/v1.0
-	url = git://github.com/mavlink/c_library.git
+	url = https://github.com/mavlink/c_library_v1.git
+[submodule "mavlink/include/mavlink/v2.0"]
+	path = mavlink/include/mavlink/v2.0
+	url = https://github.com/mavlink/c_library_v2.git
 [submodule "NuttX"]
 	path = NuttX
-	url = git://github.com/PX4/NuttX.git
+	url = https://github.com/PX4/NuttX.git
 [submodule "src/modules/uavcan/libuavcan"]
 	path = src/modules/uavcan/libuavcan
-	url = git://github.com/UAVCAN/libuavcan.git
+	url = https://github.com/UAVCAN/libuavcan.git
 [submodule "Tools/genmsg"]
 	path = Tools/genmsg
 	url = https://github.com/ros/genmsg.git
@@ -38,6 +41,3 @@
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/GpsDrivers.git
-[submodule "mavlink/include/mavlink/v2.0"]
-	path = mavlink/include/mavlink/v2.0
-	url = git://github.com/mavlink/c_library.git
@@ -8,7 +8,7 @@ matrix:
  include:
    - os: linux
      sudo: required
-      env: GCC_VER=4.8 DOCKER_REPO="px4io/px4-dev-base"
+      env: GCC_VER=4.8 DOCKER_REPO="px4io/px4-dev-base:2016-07-14"
      services:
        - docker
    - os: osx
@@ -132,7 +132,7 @@ cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
 set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
 	STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
-set(CONFIG "nuttx_px4fmu-v2_default" CACHE STRING "desired configuration")
+set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
 file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
 set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
 set(THREADS "4" CACHE STRING
@@ -152,6 +152,17 @@ set(target_name "${OS}-${BOARD}-${LABEL}")

 message(STATUS "${target_name}")

+# Define GNU standard installation directories
+include(GNUInstallDirs)
+
+# Setup install paths
+if(NOT CMAKE_INSTALL_PREFIX)
+	if (${OS} STREQUAL "posix")
+		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
+	endif()
+endif()
+message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
+
 # switch to ros CMake file if building ros
 if (${OS} STREQUAL "ros")
 	include("cmake/ros-CMakeLists.txt")
@@ -202,7 +213,7 @@ if (NOT ${CMAKE_VERSION} VERSION_LESS 3.1.0)
 endif()

 set(version_major 1)
-set(version_minor 0)
+set(version_minor 4)
 set(version_patch 1)
 set(version "${version_major}.${version_minor}.${version_patch}")
 set(package-contact "px4users@googlegroups.com")
@@ -235,7 +246,7 @@ endforeach()
 px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
 px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
 px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
-px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
+px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
 px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
 px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
 px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
@@ -371,10 +382,27 @@ px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
 #
 # Important to having packaging at end of cmake file.
 #
+set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
 set(CPACK_PACKAGE_VERSION ${version})
-set(CPACK_PACKAGE_CONTACT ${package_contact})
+set(CPACK_PACKAGE_CONTACT ${package-contact})
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
+set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
+set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
+set(short-description "The px4 autopilot.")
+set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
 set(CPACK_GENERATOR "ZIP")
-set(CPACK_SOURCE_GENERATOR "ZIP")
+set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${version}")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}")
+set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
+if ("${CMAKE_SYSTEM}" MATCHES "Linux")
+  find_program(DPKG_PROGRAM dpkg)
+  if (EXISTS ${DPKG_PROGRAM})
+    list (APPEND CPACK_GENERATOR "DEB")
+  endif()
+endif()
+if (${OS} STREQUAL "posix")
+	set(CPACK_SET_DESTDIR "ON")
+endif()
 include(CPack)

 endif() # ros alternative endif
@@ -66,8 +66,8 @@ Linux or Eagle with a working IP interface (?? does this need further instructio
 > adb shell
 # bash
 root@linaro-developer:/# cd ???
-root@linaro-developer:/# ./mainapp
-App name: mainapp
+root@linaro-developer:/# ./px4
+App name: px4
 Enter a command and its args:
 uorb start
 muorb start
@@ -0,0 +1,12 @@
+{
+    "board_id": 78,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the TAPv1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "TAPv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -77,7 +77,7 @@ endif
 # in that directory with the target upload.

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

 # Parsing
 # --------------------------------------------------------------------
@@ -104,20 +104,27 @@ endif
    PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif

+# check if replay env variable is set & set build dir accordingly
+ifdef replay
+	BUILD_DIR_SUFFIX := _replay
+else
+	BUILD_DIR_SUFFIX :=
+endif
+
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
-+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(PWD)/build_$@); fi
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@$(BUILD_DIR_SUFFIX)/Makefile ]; then rm -rf ./build_$@$(BUILD_DIR_SUFFIX); fi
+@if [ ! -e ./build_$@$(BUILD_DIR_SUFFIX)/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@$(BUILD_DIR_SUFFIX) && cd ./build_$@$(BUILD_DIR_SUFFIX) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf ./build_$@$(BUILD_DIR_SUFFIX)); fi
 +@Tools/check_submodules.sh
-+@(echo "PX4 CONFIG: $@" && cd $(PWD)/build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
+@(echo "PX4 CONFIG: $@$(BUILD_DIR_SUFFIX)" && cd ./build_$@$(BUILD_DIR_SUFFIX) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef

 define cmake-build-other
-+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
-+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake $(2) -G$(PX4_CMAKE_GENERATOR) || (cd .. && rm -rf $(PWD)/build_$@); fi
-+@(cd $(PWD)/build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@/Makefile ]; then rm -rf ./build_$@; fi
+@if [ ! -e ./build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@ && cd ./build_$@ && cmake $(2) -G$(PX4_CMAKE_GENERATOR) || (cd .. && rm -rf ./build_$@); fi
+@(cd ./build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef

 # create empty targets to avoid msgs for targets passed to cmake
@@ -137,12 +144,15 @@ endef
 # --------------------------------------------------------------------
 #  Do not put any spaces between function arguments.

+tap-v1_default:
+	$(call cmake-build,nuttx_tap-v1_default)
+
 px4fmu-v1_default:
 	$(call cmake-build,nuttx_px4fmu-v1_default)

 px4fmu-v2_default:
 	$(call cmake-build,nuttx_px4fmu-v2_default)
-	
+
 px4fmu-v2_test:
 	$(call cmake-build,nuttx_px4fmu-v2_test)

@@ -161,7 +171,7 @@ mindpx-v2_default:
 posix_sitl_default:
 	$(call cmake-build,$@)

-posix_sitl_test:
+posix_sitl_lpe:
 	$(call cmake-build,$@)

 posix_sitl_replay:
@@ -186,10 +196,10 @@ eagle_default: posix_eagle_default qurt_eagle_default
 eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default

 qurt_eagle_legacy_driver_default:
-	$(call cmake-build,$@)	
-	
+	$(call cmake-build,$@)
+
 posix_eagle_legacy_driver_default:
-	$(call cmake-build,$@) 
+	$(call cmake-build,$@)

 qurt_excelsior_default:
 	$(call cmake-build,$@)
@@ -199,10 +209,10 @@ posix_excelsior_default:

 excelsior_default: posix_excelsior_default qurt_excelsior_default

-posix_rpi2_default:
+posix_rpi_native:
 	$(call cmake-build,$@)

-posix_rpi2_release:
+posix_rpi_cross:
 	$(call cmake-build,$@)

 posix_bebop_default:
@@ -228,7 +238,7 @@ run_sitl_ros: sitl_deprecation

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

@@ -243,6 +253,7 @@ checks_defaults: \
 	check_px4fmu-v2_default \
 	check_mindpx-v2_default \
 	check_px4-stm32f4discovery_default \
+	check_tap-v1_default \

 checks_bootloaders: \

@@ -257,14 +268,14 @@ checks_uavcan: \
 	check_px4fmu-v4_default_and_uavcan

 checks_sitls: \
-	check_posix_sitl_default \
-	check_posix_sitl_test \
+	check_posix_sitl_default

 checks_last: \
-	check_unittest \
+	check_tests \
 	check_format \

-check: checks_defaults checks_tests checks_alts checks_uavcan checks_bootloaders checks_sitls checks_last
+check: checks_defaults checks_tests checks_alts checks_uavcan checks_bootloaders checks_last
+quick_check: check_px4fmu-v2_default check_px4fmu-v4_default check_tests check_format

 check_format:
 	$(call colorecho,"Checking formatting with astyle")
@@ -286,22 +297,26 @@ ifeq ($(VECTORCONTROL),1)
 	@rm -rf ROMFS/px4fmu_common/uavcan
 endif

-unittest: posix_sitl_test
+unittest: posix_sitl_default
 	$(call cmake-build-other,unittest, ../unittests)
 	@(cd build_unittest && ctest -j2 --output-on-failure)

-tests: posix_sitl_test unittest
-
-test_onboard_sitl:
-	@HEADLESS=1 make posix_sitl_test gazebo_iris
+run_tests_posix: posix_sitl_default
+	@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/fs/microsd
+	@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/eeprom
+	@touch build_posix_sitl_default/src/firmware/posix/rootfs/eeprom/parameters
+	@(cd build_posix_sitl_default/src/firmware/posix && ./px4 -d ../../../../posix-configs/SITL/init/rcS_tests | tee test_output)
+	@(cd build_posix_sitl_default/src/firmware/posix && grep --color=always "All tests passed" test_output)

+tests: check_unittest run_tests_posix

 # QGroundControl flashable firmware
 qgc_firmware: \
 	check_px4fmu-v1_default \
 	check_px4fmu-v2_default \
 	check_mindpx-v2_default \
-	check_px4fmu-v4_default_and_uavcan
+	check_px4fmu-v4_default_and_uavcan \
+	check_format

 extra_firmware: \
 	check_px4-stm32f4discovery_default \
@@ -324,7 +339,7 @@ distclean: submodulesclean
 	@git clean -ff -x -d -e ".project" -e ".cproject"

 # targets handled by cmake
-cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
+cmake_targets = install test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
 	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim replay \
 	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
 	gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane gazebo_solo gazebo_typhoon_h480
@@ -1,6 +1,6 @@
 ## PX4 Pro Drone Autopilot ##

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

@@ -15,22 +15,28 @@ then
 	param set VT_MOT_COUNT 4
 	param set VT_TRANS_THR 0.75

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

 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080
@@ -0,0 +1,36 @@
+#!nsh
+#
+# @name CruiseAder Claire
+#
+# @type VTOL Tiltrotor
+#
+# @maintainer Samay Siga <samay_s@icloud.com>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+param set VT_TYPE 1
+param set VT_TILT_MC 0.08
+param set VT_TILT_TRANS 0.5
+param set VT_TILT_FW 0.9
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 1
+fi
+
+set MIXER claire
+set PWM_OUT 1234
+set PWM_RATE 400
+set PWM_MAX 2000
+
+set MIXER_AUX claire
+set PWM_AUX_RATE 50
+set PWM_AUX_RATE 123
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+set PWM_AUX_DISARMED 1000
+
+set MAV_TYPE 21
@@ -11,31 +11,44 @@ sh /etc/init.d/rc.fw_defaults

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

 set PWM_DISARMED p:PWM_DISARMED
@@ -0,0 +1,34 @@
+#!nsh
+#
+# @name Lumenier QAV-R (raceblade) 5" arms
+#
+# @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_ROLL_P 8.0
+	param set MC_ROLLRATE_P 0.08
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 8.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.15
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+	param set PWM_MIN 1075
+	param set MPC_THR_MIN 0.06
+	param set MPC_MANTHR_MIN 0.06
+fi
@@ -79,7 +79,7 @@ then
    param set RC5_TRIM          1500
 fi

-set MIXER solo
+set MIXER quad_x

 set PWM_OUT 1234
 set MIXER_AUX none
@@ -6,7 +6,7 @@
 #
 # Start the attitude and position estimator
 #
-ekf_att_pos_estimator start
+ekf2 start

 #
 # Start attitude controller
@@ -11,7 +11,12 @@ then
 	param set RTL_DESCEND_ALT 100
 	param set RTL_LAND_DELAY -1

-	param set NAV_ACC_RAD 50
+	# FW uses L1 distance for acceptance radius 
+	#  set a smaller NAV_ACC_RAD for vertical acceptance distance
+	param set NAV_ACC_RAD 10
+	
+	param set MIS_LTRMIN_ALT 25
+	param set MIS_TAKEOFF_ALT 25

 	param set PE_VELNE_NOISE 0.3
 	param set PE_VELD_NOISE 0.35
@@ -29,19 +29,9 @@ then
 fi
 #---------------------------------------

-if mc_att_control start
-then
-else
-	# try the multiplatform version
-	mc_att_control_m start
-fi
+mc_att_control start

-if mc_pos_control start
-then
-else
-	# try the multiplatform version
-	mc_pos_control_m start
-fi
+mc_pos_control start

 #
 # Start Land Detector
@@ -14,6 +14,17 @@ else
 	fmu i2c 1 100000
 	fmu i2c 2 100000

+	if ver hwcmp PX4FMU_V4
+	then
+		# We know there are sketchy boards out there
+		# as chinese companies produce Pixracers without
+		# fully understanding the critical parts of the
+		# schematic and BOM, leading to sensor brownouts
+		# on boot. Original Pixracers following the
+		# open hardware design do not require this.
+		fmu sensor_reset 20
+	fi
+
 	if ms5611 -s start
 	then
 	fi
@@ -190,7 +201,7 @@ else
 	fi
 fi

-if sf10a start
+if sf1xx start
 then
 fi

@@ -1,29 +0,0 @@
-#!nsh
-#
-# UAVCAN initialization script.
-#
-
-#
-# Starting stuff according to UAVCAN_ENABLE value
-#
-if param greater UAVCAN_ENABLE 0
-then
-	if uavcan start
-	then
-		echo "[i] UAVCAN started"
-	else
-		echo "[i] ERROR: Could not start UAVCAN"
-		tone_alarm $TUNE_ERR
-	fi
-fi
-
-if param greater UAVCAN_ENABLE 1
-then
-	if uavcan start fw
-	then
-		echo "[i] UAVCAN servers started"
-	else
-		echo "[i] ERROR: Could not start UAVCAN servers"
-		tone_alarm $TUNE_ERR
-	fi
-fi
@@ -1,9 +0,0 @@
-#!nsh
-#
-# USB MAVLink start
-#
-
-mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
-
-# Exit shell to make it available to MAVLink
-exit
@@ -109,6 +109,16 @@ then
 		set AUTOCNF yes
 	else
 		set AUTOCNF no
+
+		#
+		# Release 1.4.0 transitional support:
+		# set to old default if unconfigured.
+		# this preserves the previous behaviour
+		#
+		if param compare BAT_N_CELLS 0
+		then
+			param set BAT_N_CELLS 3
+		fi
 	fi

 	#
@@ -530,13 +540,13 @@ then
 		# clear pins 5 and 6
 		if param compare SENS_EN_LL40LS 1
 		then
+			set FMU_MODE pwm4
 			set AUX_MODE pwm4
 		fi
 		if param greater TRIG_MODE 0
 		then
-			# Get FMU driver out of the way
-			set MIXER_AUX none
-			set AUX_MODE none
+			set FMU_MODE pwm4
+			set AUX_MODE pwm4
 			camera_trigger start
 		fi
 	fi
@@ -583,6 +593,12 @@ then
 		sf0x start
 	fi

+	# mb12xx sonar sensor
+	if param compare SENS_EN_MB12XX 1
+	then
+		mb12xx start
+	fi
+
 	if ver hwcmp PX4FMU_V4
 	then
 		frsky_telemetry start -d /dev/ttyS6
@@ -638,7 +654,7 @@ then
 				then
 				fi
 			else
-				if logger start -b 12
+				if logger start -b 12 -t
 				then
 				fi
 			fi
@@ -0,0 +1,38 @@
+# mixer for the CruiseAder Claire tilt mechansim servo, aileron and elevator
+
+=======================================================================
+
+
+Tilt mechanism servo mixer
+
+---------------------------
+
+M: 1
+
+O:      10000  10000      0 -10000  10000
+
+S: 1 4  10000  10000      0 -10000  10000
+
+
+
+Aileron mixers
+
+-------------
+
+M: 1
+
+O:      10000  10000      0 -10000  10000
+
+S: 1 0  10000  10000      0 -10000  10000
+
+
+
+Elevator mixers
+
+-------------
+
+M: 1
+
+O:      10000  10000      0 -10000  10000
+
+S: 1 1 -10000 -10000      0 -10000  10000
@@ -0,0 +1,7 @@
+# CruiseAder Claire Main Multirotor mixer for PX4FMU
+
+#
+
+#===========================
+
+R: 4x 10000 10000 10000 0
@@ -1,18 +0,0 @@
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a quadrotor in the V configuration.  All controls
-are mixed 100%.
-
-R: 4v 10000 10000 10000 0
-
-Gimbal / payload mixer for last two channels
-----------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
@@ -1,7 +0,0 @@
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a quadrotor in the X configuration.  All controls
-are mixed 100%.
-
-R: 4x 10000 10000 10000 0
@@ -19,13 +19,13 @@ input is inverted between the two servos.

 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 0  -6000  -6000      0 -10000  10000
-S: 1 1   6500   6500      0 -10000  10000
+S: 1 0  -8000  -8000      0 -10000  10000
+S: 1 1   8000   8000      0 -10000  10000

 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 0  -6000  -6000      0 -10000  10000
-S: 1 1  -6500  -6500      0 -10000  10000
+S: 1 0  -8000  -8000      0 -10000  10000
+S: 1 1  -8000  -8000      0 -10000  10000

 Motor speed mixer
 -----------------
@@ -190,7 +190,7 @@ else
 	fi
 fi

-if sf10a start
+if sf1xx start
 then
 fi

@@ -111,87 +111,22 @@ fi

 sh /etc/init.d/rc.sensors

-# Check for flow sensor
-if px4flow start
-then
-fi
-
-if ll40ls start
-then
-fi
+ver all

 #
 # Run unit tests at board boot, reporting failure as needed.
 # Add new unit tests using the same pattern as below.
 #

-echo
-echo "--------------------------------------------------------------------------------"
-echo "[mavlink_tests]             STARTING TEST"
-if mavlink_tests
-then
-	echo "[mavlink_tests]             PASS"
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
-	echo "[mavlink_tests]             FAILED"
-fi
-echo "--------------------------------------------------------------------------------"
-echo
-echo "--------------------------------------------------------------------------------"
-echo "[commander_tests]             STARTING TEST"
-if commander_tests
-then
-	echo "[commander_tests]             PASS"
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} commander_tests"
-	echo "[commander_tests]             FAILED"
-fi
-echo "--------------------------------------------------------------------------------"
-echo
-echo "--------------------------------------------------------------------------------"
-echo "[controllib_test]             STARTING TEST"
-if controllib_test
-then
-	echo "[controllib_test]             PASS"
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} controllib_tests"
-	echo "[controllib_test]             FAILED"
-fi
-echo "--------------------------------------------------------------------------------"
-echo
-echo "--------------------------------------------------------------------------------"
-echo "[uorb_tests]             STARTING TEST"
-if uorb_tests
-then
-	echo "[uorb_tests]             PASS"
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} uorb_tests"
-	echo "[uorb_tests]             FAILED"
-fi
-echo "--------------------------------------------------------------------------------"
-
 if tests all
-then
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} system_tests"
-fi
-
-if [ $unit_test_failure == 0 ]
 then
 	echo
 	echo "All Unit Tests PASSED"
 	rgbled rgb 20 255 20
 else
 	echo
-	echo "Some Unit Tests FAILED:${unit_test_failure_list}"
+	echo "Some Unit Tests FAILED"
 	rgbled rgb 255 20 20
 fi

-ver all
-
 free
@@ -0,0 +1,18 @@
+#!nsh
+#
+# @name Generic Quadrotor X config
+#
+# @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 Lorenz Meier <lorenz@px4.io>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+
+set PWM_OUT 1234
@@ -0,0 +1,19 @@
+#!nsh
+#
+# @name Generic Hexarotor x geometry
+#
+# @type Hexarotor 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 Anton Babushkin <anton@px4.io>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER hexa_x
+
+# Need to set all 8 channels
+set PWM_OUT 12345678
@@ -0,0 +1,20 @@
+#!nsh
+#
+# Standard apps for fixed wing
+#
+
+#
+# Start the attitude and position estimator
+#
+ekf2 start
+
+#
+# Start attitude controller
+#
+fw_att_control start
+fw_pos_control_l1 start
+
+#
+# Start Land Detector
+#
+land_detector start fixedwing
@@ -0,0 +1,28 @@
+#!nsh
+
+set VEHICLE_TYPE fw
+
+if [ $AUTOCNF == yes ]
+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_ACC_RAD 50
+
+	param set PE_VELNE_NOISE 0.3
+	param set PE_VELD_NOISE 0.35
+	param set PE_POSNE_NOISE 0.5
+	param set PE_POSD_NOISE 1.0
+fi
+
+# This is the gimbal pass mixer
+set MIXER_AUX pass
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1500
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
@@ -0,0 +1,83 @@
+#!nsh
+#
+# Script to configure control interface
+#
+
+set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
+
+if [ $MIXER != none -a $MIXER != skip ]
+then
+	#
+	# Load main mixer
+	#
+
+	# Use the mixer file
+	set MIXER_FILE /etc/mixers/$MIXER.main.mix
+
+	set OUTPUT_DEV /dev/pwm_output0
+
+	if [ $OUTPUT_MODE == uavcan_esc ]
+	then
+		set OUTPUT_DEV /dev/uavcan/esc
+	fi
+
+	if mixer load $OUTPUT_DEV $MIXER_FILE
+	then
+		echo "INFO  [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
+	else
+		echo "ERROR [init] Error loading mixer: $MIXER_FILE"
+		echo "ERROR:[init] Could not load mixer: $MIXER_FILE" >> $LOG_FILE
+		tone_alarm $TUNE_ERR
+	fi
+
+	unset MIXER_FILE
+else
+	if [ $MIXER != skip ]
+	then
+		echo "ERROR [init] Mixer not defined"
+		echo "ERROR [init] Mixer not defined" >> $LOG_FILE
+		tone_alarm $TUNE_ERR
+	fi
+fi
+
+if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
+then
+	if [ $PWM_OUT != none ]
+	then
+		#
+		# Set PWM output frequency
+		#
+		if [ $PWM_RATE != none ]
+		then
+			pwm rate -c $PWM_OUT -r $PWM_RATE
+		fi
+
+		#
+		# Set disarmed, min and max PWM values
+		#
+		if [ $PWM_DISARMED != none ]
+		then
+			pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
+		fi
+		if [ $PWM_MIN != none ]
+		then
+			pwm min -c $PWM_OUT -p $PWM_MIN
+		fi
+		if [ $PWM_MAX != none ]
+		then
+			pwm max -c $PWM_OUT -p $PWM_MAX
+		fi
+	fi
+
+	if [ $FAILSAFE != none ]
+	then
+		pwm failsafe -d $OUTPUT_DEV $FAILSAFE
+	fi
+fi
+
+unset PWM_OUT
+unset PWM_RATE
+unset PWM_MIN
+unset PWM_MAX
+unset FAILSAFE
+unset OUTPUT_DEV
@@ -0,0 +1,17 @@
+#!nsh
+#
+# Standard apps for multirotors:
+# att & pos estimator, att & pos control.
+#
+
+
+ekf2 start
+
+mc_att_control start
+
+mc_pos_control start
+
+#
+# Start Land Detector
+#
+land_detector start multicopter
@@ -0,0 +1,49 @@
+#!nsh
+
+set VEHICLE_TYPE mc
+
+if [ $AUTOCNF == yes ]
+then
+	param set PE_VELNE_NOISE 0.5
+	param set PE_VELD_NOISE 0.35
+	param set PE_POSNE_NOISE 0.5
+	param set PE_POSD_NOISE 1.25
+
+	param set NAV_ACC_RAD 2.0
+	param set RTL_RETURN_ALT 30.0
+	param set RTL_DESCEND_ALT 10.0
+	param set PWM_DISARMED 900
+	param set PWM_MIN 1075
+	param set PWM_MAX 1950
+
+	param set 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
+
+# This is the gimbal pass mixer
+set MIXER_AUX pass
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1500
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+
+# 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
@@ -0,0 +1,46 @@
+#!nsh
+#
+# Standard startup script for TAP v1 onboard sensor drivers.
+#
+
+if adc start
+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 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
+
+if meas_airspeed start
+then
+fi
+
+if sf1xx start
+then
+fi
+
+# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
+usleep 20000
+if sensors start
+then
+fi
@@ -0,0 +1,24 @@
+#!nsh
+#
+# Standard apps for vtol:
+# att & pos estimator, att & pos control.
+#
+#
+
+
+#---------------------------------------
+# Estimator group selction
+#
+ekf2 start
+
+vtol_att_control start
+mc_att_control start
+mc_pos_control start
+fw_att_control start
+fw_pos_control_l1 start
+
+#
+# Start Land Detector
+# Multicopter for now until we have something for VTOL
+#
+land_detector start vtol
@@ -0,0 +1,49 @@
+#!nsh
+
+set VEHICLE_TYPE vtol
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 6.0
+	param set MC_PITCH_P 6.0
+	param set MC_YAW_P 4
+
+	param set PE_VELNE_NOISE 0.5
+	param set PE_VELD_NOISE 0.3
+	param set PE_POSNE_NOISE 0.5
+	param set PE_POSD_NOISE 1.25
+	param set PE_ABIAS_PNOISE 0.0001
+
+	#
+	# Default parameters for mission and position handling
+	#
+	param set NAV_ACC_RAD 3
+	param set MPC_TKO_SPEED 1.0
+	param set MPC_LAND_SPEED 0.7
+	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_XY_VEL_MAX 4.0
+	param set MIS_YAW_TMT 10
+	param set MPC_ACC_HOR_MAX 2.0
+	param set RTL_LAND_DELAY 0
+fi
+
+# set environment variables (!= parameters)
+set PWM_RATE 400
+# tell the mixer to use parameters for these instead
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
+
+# Transitional support: ensure suitable PWM min/max param values
+if param compare PWM_MIN 1000
+then
+	param set PWM_MIN 1075
+fi
+if param compare PWM_MAX 2000
+then
+	param set PWM_MAX 1950
+fi
+if param compare PWM_DISARMED 0
+then
+	param set PWM_DISARMED 900
+fi
@@ -0,0 +1,486 @@
+#!nsh
+#
+# PX4FMU startup script.
+#
+#  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+
+#
+# Start CDC/ACM serial driver
+#
+sercon
+
+#
+# Default to auto-start mode.
+#
+set MODE autostart
+
+set TUNE_ERR ML<<CP4CP4CP4CP4CP4
+set LOG_FILE /fs/microsd/bootlog.txt
+
+#
+# Try to mount the microSD card.
+#
+# REBOOTWORK this needs to start after the flight control loop
+if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+	# Start playing the startup tune
+	tone_alarm start
+else
+	tone_alarm MBAGP
+	if mkfatfs /dev/mmcsd0
+	then
+		if mount -t vfat /dev/mmcsd0 /fs/microsd
+		then
+			echo "INFO  [init] MicroSD card formatted"
+		else
+			echo "ERROR [init] Format failed"
+			tone_alarm MNBG
+			set LOG_FILE /dev/null
+		fi
+	else
+		set LOG_FILE /dev/null
+	fi
+fi
+
+#
+# Look for an init script on the microSD card.
+# Disable autostart if the script found.
+#
+set FRC /fs/microsd/etc/rc.txt
+if [ -f $FRC ]
+then
+	echo "INFO  [init] Executing script: $FRC"
+	sh $FRC
+	set MODE custom
+fi
+unset FRC
+
+if [ $MODE == autostart ]
+then
+
+	#
+	# Start the ORB (first app to start)
+	#
+	uorb start
+
+	#
+	# Load parameters
+	#
+	set PARAM_FILE /fs/microsd/params
+	if mtd start
+	then
+		set PARAM_FILE /fs/mtd_params
+	fi
+
+	param select $PARAM_FILE
+	if param load
+	then
+	else
+		if param reset
+		then
+		fi
+	fi
+
+	#
+	# Start system state indicator
+	#
+	if rgbled start
+	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
+	#
+	set VEHICLE_TYPE none
+	set MIXER none
+	set OUTPUT_MODE none
+	set PWM_OUT none
+	set PWM_RATE none
+	set PWM_DISARMED none
+	set PWM_MIN none
+	set PWM_MAX none
+	set FMU_MODE pwm
+	set MAVLINK_F default
+	set EXIT_ON_END no
+	set MAV_TYPE none
+	set FAILSAFE none
+	set USE_IO no
+	
+
+	#
+	# Set parameters and env variables for selected AUTOSTART
+	#
+	if param compare SYS_AUTOSTART 0
+	then
+		echo "INFO  [init] No autostart"
+	else
+		sh /etc/init.d/rc.autostart
+	fi
+	unset MODE
+
+	#
+	# If autoconfig parameter was set, reset it and save parameters
+	#
+	if [ $AUTOCNF == yes ]
+	then
+		param set SYS_AUTOCONFIG 0
+		param save
+	fi
+	unset AUTOCNF
+
+	#
+	# Set default output if not set
+	#
+	if [ $OUTPUT_MODE == none ]
+	then
+		if [ $USE_IO == yes ]
+		then
+			set OUTPUT_MODE io
+		else
+			set OUTPUT_MODE fmu
+		fi
+	fi
+
+	gps start -d /dev/ttyS0
+
+	# waypoint storage
+	# REBOOTWORK this needs to start in parallel
+	if dataman start
+	then
+	fi
+
+	#
+	# Sensors System (start before Commander so Preflight checks are properly run)
+	#
+	sh /etc/init.d/rc.sensors
+
+	commander start
+
+	#
+	# Start CPU load monitor
+	#
+	load_mon start
+
+	#
+	# Start primary output
+	#
+	set TTYS1_BUSY no
+
+	#
+	# Check if UAVCAN is enabled, default to it for ESCs
+	#
+	if param greater UAVCAN_ENABLE 2
+	then
+		set OUTPUT_MODE uavcan_esc
+	fi
+
+	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
+	if [ $OUTPUT_MODE != none ]
+	then
+		if [ $OUTPUT_MODE == uavcan_esc ]
+		then
+			if param compare UAVCAN_ENABLE 0
+			then
+				echo "INFO  [init] OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE
+				param set UAVCAN_ENABLE 1
+			fi
+		fi
+
+		if [ $OUTPUT_MODE == fmu ]
+		then
+			if fmu mode_$FMU_MODE
+			then
+			else
+				echo "ERR  [init] FMU start failed" >> $LOG_FILE
+				tone_alarm $TUNE_ERR
+			fi
+		fi
+
+		if fmu mode_pwm4
+		then
+		else
+			echo "ERROR [init] FMU mode_$FMU_MODE start failed" >> $LOG_FILE
+			tone_alarm $TUNE_ERR
+		fi
+	fi
+
+	mavlink start -r 1200 -d /dev/ttyS1
+
+	#
+	# Starting stuff according to UAVCAN_ENABLE value
+	#
+	if param greater UAVCAN_ENABLE 0
+	then
+		if uavcan start
+		then
+		else
+			tone_alarm $TUNE_ERR
+		fi
+	fi
+
+	if param greater UAVCAN_ENABLE 1
+	then
+		if uavcan start fw
+		then
+		else
+			tone_alarm $TUNE_ERR
+		fi
+	fi
+
+	#
+	# Optional drivers
+	#
+
+	# Sensors on the PWM interface bank
+	if param compare SENS_EN_LL40LS 1
+	then
+		if pwm_input start
+		then
+			if ll40ls start pwm
+			then
+			fi
+		fi
+	fi
+
+	# sf0x lidar sensor
+	if param compare SENS_EN_SF0X 1
+	then
+		sf0x start
+	fi
+
+	# 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
+
+	#
+	# Logging
+	#
+	if param compare SYS_LOGGER 0
+	then
+		if sdlog2 start -r 100 -a -b 9 -t
+		then
+		fi
+	else
+		if logger start -b 12 -t
+		then
+		fi
+	fi
+
+	#
+	# Fixed wing setup
+	#
+	if [ $VEHICLE_TYPE == fw ]
+	then
+		echo "INFO  [init] Fixedwing"
+
+		if [ $MIXER == none ]
+		then
+			# Set default mixer for fixed wing if not defined
+			set MIXER AERT
+		fi
+
+		if [ $MAV_TYPE == none ]
+		then
+			# Use MAV_TYPE = 1 (fixed wing) if not defined
+			set MAV_TYPE 1
+		fi
+
+		param set MAV_TYPE $MAV_TYPE
+
+		# Load mixer and configure outputs
+		sh /etc/init.d/rc.interface
+
+		# Start standard fixedwing apps
+		sh /etc/init.d/rc.fw_apps
+	fi
+
+	#
+	# Multicopters setup
+	#
+	if [ $VEHICLE_TYPE == mc ]
+	then
+		echo "INFO  [init] Multicopter"
+
+		if [ $MIXER == none ]
+		then
+			echo "INFO  [init] Mixer undefined"
+		fi
+
+		if [ $MAV_TYPE == none ]
+		then
+			# Use mixer to detect vehicle type
+			if [ $MIXER == quad_x -o $MIXER == quad_+ ]
+			then
+				set MAV_TYPE 2
+			fi
+			if [ $MIXER == quad_w ]
+			then
+				set MAV_TYPE 2
+			fi
+			if [ $MIXER == quad_h ]
+			then
+				set MAV_TYPE 2
+			fi
+			if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
+			then
+				set MAV_TYPE 15
+			fi
+			if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
+			then
+				set MAV_TYPE 13
+			fi
+			if [ $MIXER == hexa_cox ]
+			then
+				set MAV_TYPE 13
+			fi
+			if [ $MIXER == octo_x -o $MIXER == octo_+ ]
+			then
+				set MAV_TYPE 14
+			fi
+		fi
+
+		# Still no MAV_TYPE found
+		if [ $MAV_TYPE == none ]
+		then
+			echo "WARN  [init] Unknown MAV_TYPE"
+			param set MAV_TYPE 2
+		else
+			param set MAV_TYPE $MAV_TYPE
+		fi
+
+		# Load mixer and configure outputs
+		sh /etc/init.d/rc.interface
+
+		# Start standard multicopter apps
+		sh /etc/init.d/rc.mc_apps
+	fi
+
+	#
+	# VTOL setup
+	#
+	if [ $VEHICLE_TYPE == vtol ]
+	then
+		echo "INFO  [init] VTOL"
+
+		if [ $MIXER == none ]
+		then
+			echo "WARN  [init] VTOL mixer undefined"
+		fi
+
+		if [ $MAV_TYPE == none ]
+		then
+			# Use mixer to detect vehicle type
+			if [ $MIXER == caipirinha_vtol ]
+			then
+				set MAV_TYPE 19
+			fi
+			if [ $MIXER == firefly6 ]
+			then
+				set MAV_TYPE 21
+			fi
+			if [ $MIXER == quad_x_pusher_vtol ]
+			then
+				set MAV_TYPE 22
+			fi
+		fi
+
+		# Still no MAV_TYPE found
+		if [ $MAV_TYPE == none ]
+		then
+			echo "WARN  [init] Unknown MAV_TYPE"
+			param set MAV_TYPE 19
+		else
+			param set MAV_TYPE $MAV_TYPE
+		fi
+
+		# Load mixer and configure outputs
+		sh /etc/init.d/rc.interface
+
+		# Start standard vtol apps
+		sh /etc/init.d/rc.vtol_apps
+	fi
+
+	#
+	# Rover setup
+	#
+	if [ $VEHICLE_TYPE == rover ]
+	then
+		# 10 is MAV_TYPE_GROUND_ROVER
+		set MAV_TYPE 10
+
+		# Load mixer and configure outputs
+		sh /etc/init.d/rc.interface
+
+		# Start standard rover apps
+		sh /etc/init.d/rc.axialracing_ax10_apps
+
+		param set MAV_TYPE 10
+	fi
+
+	unset MIXER
+	unset MAV_TYPE
+	unset OUTPUT_MODE
+
+	#
+	# Start the navigator
+	#
+	navigator start
+
+	#
+	# Generic setup (autostart ID not found)
+	#
+	if [ $VEHICLE_TYPE == none ]
+	then
+		echo "WARN  [init] No autostart ID found"
+	fi
+
+	# Start any custom addons
+	set FEXTRAS /fs/microsd/etc/extras.txt
+	if [ -f $FEXTRAS ]
+	then
+		echo "INFO  [init] Addons script: $FEXTRAS"
+		sh $FEXTRAS
+	fi
+	unset FEXTRAS
+
+	# Run no SD alarm
+	if [ $LOG_FILE == /dev/null ]
+	then
+		# Play SOS
+		tone_alarm error
+	fi
+
+# End of autostart
+fi
+
+# There is no further script processing, so we can free some RAM
+# XXX potentially unset all script variables.
+unset TUNE_ERR
+
+# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
+mavlink boot_complete
+
+if [ $EXIT_ON_END == yes ]
+then
+	echo "INFO  [init] NSH exit"
+	exit
+fi
+unset EXIT_ON_END
@@ -0,0 +1,105 @@
+## PX4 mixer definitions ##
+
+Files in this directory implement example mixers that can be used as a basis
+for customisation, or for general testing purposes.
+
+For a detailed description of the mixing architecture and examples see:
+http://px4.io/dev/mixing
+
+### Syntax ###
+
+Mixer definitions are text files; lines beginning with a single capital letter
+followed by a colon are significant. All other lines are ignored, meaning that
+explanatory text can be freely mixed with the definitions.
+
+Each file may define more than one mixer; the allocation of mixers to actuators
+is specific to the device reading the mixer definition, and the number of
+actuator outputs generated by a mixer is specific to the mixer.
+
+For example: each simple or null mixer is assigned to outputs 1 to x
+in the order they appear in the mixer file.
+
+A mixer begins with a line of the form
+
+	<tag>: <mixer arguments>
+
+The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a 
+multirotor mixer, etc.
+
+#### Null Mixer ####
+
+A null mixer consumes no controls and generates a single actuator output whose
+value is always zero.  Typically a null mixer is used as a placeholder in a
+collection of mixers in order to achieve a specific pattern of actuator outputs.
+
+The null mixer definition has the form:
+
+	Z:
+
+#### Simple Mixer ####
+
+A simple mixer combines zero or more control inputs into a single actuator
+output.  Inputs are scaled, and the mixing function sums the result before
+applying an output scaler.
+
+A simple mixer definition begins with:
+
+	M: <control count>
+	O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
+
+If <control count> is zero, the sum is effectively zero and the mixer will
+output a fixed value that is <offset> constrained by <lower limit> and <upper
+limit>.
+
+The second line defines the output scaler with scaler parameters as discussed
+above. Whilst the calculations are performed as floating-point operations, the
+values stored in the definition file are scaled by a factor of 10000; i.e. an
+offset of -0.5 is encoded as -5000.
+
+The definition continues with <control count> entries describing the control
+inputs and their scaling, in the form:
+
+	S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
+
+The <group> value identifies the control group from which the scaler will read,
+and the <index> value an offset within that group.  These values are specific to
+the device reading the mixer definition.
+
+When used to mix vehicle controls, mixer group zero is the vehicle attitude
+control group, and index values zero through three are normally roll, pitch,
+yaw and thrust respectively.
+
+The remaining fields on the line configure the control scaler with parameters as
+discussed above. Whilst the calculations are performed as floating-point
+operations, the values stored in the definition file are scaled by a factor of
+10000; i.e. an offset of -0.5 is encoded as -5000.
+
+#### Multirotor Mixer ####
+
+The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
+into a set of actuator outputs intended to drive motor speed controllers.
+
+The mixer definition is a single line of the form:
+
+	R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
+
+The supported geometries include:
+
+ * 4x - quadrotor in X configuration
+ * 4+ - quadrotor in + configuration
+ * 6x - hexcopter in X configuration
+ * 6+ - hexcopter in + configuration
+ * 8x - octocopter in X configuration
+ * 8+ - octocopter in + configuration
+  
+Each of the roll, pitch and yaw scale values determine scaling of the roll,
+pitch and yaw controls relative to the thrust control.  Whilst the calculations
+are performed as floating-point operations, the values stored in the definition
+file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
+
+Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
+thrust input ranges from 0.0 to 1.0.  Output for each actuator is in the 
+range -1.0 to 1.0.
+
+In the case where an actuator saturates, all actuator values are rescaled so that 
+the saturating actuator is limited to 1.0.
@@ -0,0 +1,3 @@
+# Hexa X
+
+R: 6x 10000 10000 10000 0
@@ -0,0 +1,7 @@
+R: 4x 10000 10000 10000 0
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 6  10000  10000      0 -10000  10000
@@ -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
@@ -12,7 +12,7 @@ then
 		${DIR}/fix_code_style.sh --quiet < $file > $file.pretty

 		echo
-		git diff --no-index --minimal --histogram --color=always  $file $file.pretty
+		git --no-pager diff --no-index --minimal --histogram --color=always  $file $file.pretty
 		echo

 		rm -f $file.pretty
@@ -23,6 +23,7 @@ find \
    src/modules/controllib_test \
    src/modules/dataman \
    src/modules/fw_att_control \
+    src/modules/fw_pos_control_l1 \
    src/modules/gpio_led \
    src/modules/land_detector \
    src/modules/local_position_estimator \
@@ -31,6 +32,7 @@ find \
    src/modules/muorb \
    src/modules/param \
    src/modules/px4iofirmware \
+    src/modules/replay \
    src/modules/segway \
    src/modules/sensors \
    src/modules/simulator \
@@ -43,10 +43,10 @@ import subprocess
 # If the following lines were pasted into the shell after running decode_backtrace.py
 #
 # INFO  Backtrace: 10
-# INFO  ./mainapp(px4_backtrace+0x27) [0x42b212]
-# INFO  ./mainapp() [0x42d608]
-# INFO  ./mainapp() [0x42d57e]
-# INFO  ./mainapp() [0x4ba48d]
+# INFO  ./px4(px4_backtrace+0x27) [0x42b212]
+# INFO  ./px4() [0x42d608]
+# INFO  ./px4() [0x42d57e]
+# INFO  ./px4() [0x4ba48d]
 #
 # The output would be:
 #
@@ -63,7 +63,7 @@ def usage():
 	msg = """
 Usage: Tools/decode_backtrace.py <builddir>

-This will load the symbols for <builddir>/src/firmware/posix/mainapp
+This will load the symbols for <builddir>/src/firmware/posix/px4
 The user just needs to copy and paste the backtrace into the terminal
 where decode_backtrace.py is running.

@@ -75,7 +75,7 @@ func = []

 # Load the symbols from the binary
 def load_symbol_map():
-	output = subprocess.check_output(["nm", "-p", "-C", os.sys.argv[1]+"/src/firmware/posix/mainapp"])
+	output = subprocess.check_output(["nm", "-p", "-C", os.sys.argv[1]+"/src/firmware/posix/px4"])
 	data = output.split("\n")
 	data.sort()

@@ -115,7 +115,6 @@ print("""
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
-#define __STDC_FORMAT_MACROS
 #include <inttypes.h>

 #ifndef PRIu64
@@ -0,0 +1,206 @@
+#!/usr/bin/env python
+
+"""
+Open a shell over MAVLink.
+
+@author: Beat Kueng (beat-kueng@gmx.net)
+"""
+
+
+from __future__ import print_function
+import sys, select
+import termios
+
+try:
+    from pymavlink import mavutil
+    import serial
+except:
+    print("Failed to import pymavlink.")
+    print("You may need to install it with 'pip install pymavlink pyserial'")
+    exit(-1)
+from argparse import ArgumentParser
+
+
+class MavlinkSerialPort():
+    '''an object that looks like a serial port, but
+    transmits using mavlink SERIAL_CONTROL packets'''
+    def __init__(self, portname, baudrate, devnum=0, debug=0):
+        self.baudrate = 0
+        self._debug = debug
+        self.buf = ''
+        self.port = devnum
+        self.debug("Connecting with MAVLink to %s ..." % portname)
+        self.mav = mavutil.mavlink_connection(portname, autoreconnect=True, baud=baudrate)
+        self.mav.wait_heartbeat()
+        self.debug("HEARTBEAT OK\n")
+        self.debug("Locked serial device\n")
+
+    def debug(self, s, level=1):
+        '''write some debug text'''
+        if self._debug >= level:
+            print(s)
+
+    def write(self, b):
+        '''write some bytes'''
+        self.debug("sending '%s' (0x%02x) of len %u\n" % (b, ord(b[0]), len(b)), 2)
+        while len(b) > 0:
+            n = len(b)
+            if n > 70:
+                n = 70
+            buf = [ord(x) for x in b[:n]]
+            buf.extend([0]*(70-len(buf)))
+            self.mav.mav.serial_control_send(self.port,
+                                             mavutil.mavlink.SERIAL_CONTROL_FLAG_EXCLUSIVE |
+                                             mavutil.mavlink.SERIAL_CONTROL_FLAG_RESPOND,
+                                             0,
+                                             0,
+                                             n,
+                                             buf)
+            b = b[n:]
+
+    def close(self):
+        self.mav.mav.serial_control_send(self.port, 0, 0, 0, 0, [0]*70)
+
+    def _recv(self):
+        '''read some bytes into self.buf'''
+        m = self.mav.recv_match(condition='SERIAL_CONTROL.count!=0',
+                                type='SERIAL_CONTROL', blocking=True,
+                                timeout=0.03)
+        if m is not None:
+            if self._debug > 2:
+                print(m)
+            data = m.data[:m.count]
+            self.buf += ''.join(str(chr(x)) for x in data)
+
+    def read(self, n):
+        '''read some bytes'''
+        if len(self.buf) == 0:
+            self._recv()
+        if len(self.buf) > 0:
+            if n > len(self.buf):
+                n = len(self.buf)
+            ret = self.buf[:n]
+            self.buf = self.buf[n:]
+            if self._debug >= 2:
+                for b in ret:
+                    self.debug("read 0x%x" % ord(b), 2)
+            return ret
+        return ''
+
+
+def main():
+    parser = ArgumentParser(description=__doc__)
+    parser.add_argument('port', metavar='PORT', nargs='?', default = None,
+            help='Mavlink port name: serial: DEVICE[,BAUD], udp: IP:PORT, tcp: tcp:IP:PORT. Eg: \
+/dev/ttyUSB0 or 0.0.0.0:14550. Auto-detect serial if not given.')
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int,
+                      help="Mavlink port baud rate (default=115200)", default=115200)
+    args = parser.parse_args()
+
+
+    if args.port == None:
+        serial_list = mavutil.auto_detect_serial(preferred_list=['*FTDI*',
+            "*Arduino_Mega_2560*", "*3D_Robotics*", "*USB_to_UART*", '*PX4*', '*FMU*'])
+
+        if len(serial_list) == 0:
+            print("Error: no serial connection found")
+            return
+
+        if len(serial_list) > 1:
+            print('Auto-detected serial ports are:')
+            for port in serial_list:
+                print(" {:}".format(port))
+        print('Using port {:}'.format(serial_list[0]))
+        args.port = serial_list[0].device
+
+
+    print("Connecting to MAVLINK...")
+    mav_serialport = MavlinkSerialPort(args.port, args.baudrate, devnum=10)
+
+    mav_serialport.write('\n') # make sure the shell is started
+
+    # setup the console, so we can read one char at a time
+    fd_in = sys.stdin.fileno()
+    old_attr = termios.tcgetattr(fd_in)
+    new_attr = termios.tcgetattr(fd_in)
+    new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
+    new_attr[3] = new_attr[3] & ~termios.ICANON
+
+    try:
+        termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
+        cur_line = ''
+        command_history = []
+        cur_history_index = 0
+
+        def erase_last_n_chars(N):
+            if N == 0: return
+            CURSOR_BACK_N = '\x1b['+str(N)+'D'
+            ERASE_END_LINE = '\x1b[K'
+            sys.stdout.write(CURSOR_BACK_N + ERASE_END_LINE)
+
+        while True:
+            while True:
+                i, o, e = select.select([sys.stdin], [], [], 0)
+                if not i: break
+                ch = sys.stdin.read(1)
+
+                # provide a simple shell with command history
+                if ch == '\n':
+                    if len(cur_line) > 0:
+                        # erase current text (mavlink shell will echo it as well)
+                        erase_last_n_chars(len(cur_line))
+
+                        # add to history
+                        if len(command_history) == 0 or command_history[-1] != cur_line:
+                            command_history.append(cur_line)
+                            if len(command_history) > 50:
+                                del command_history[0]
+                        cur_history_index = len(command_history)
+                    mav_serialport.write(cur_line+'\n')
+                    cur_line = ''
+                elif ord(ch) == 127: # backslash
+                    if len(cur_line) > 0:
+                        erase_last_n_chars(1)
+                        cur_line = cur_line[:-1]
+                        sys.stdout.write(ch)
+                elif ord(ch) == 033:
+                    ch = sys.stdin.read(1) # skip one
+                    ch = sys.stdin.read(1)
+                    if ch == 'A': # arrow up
+                        if cur_history_index > 0:
+                            cur_history_index -= 1
+                    elif ch == 'B': # arrow down
+                        if cur_history_index < len(command_history):
+                            cur_history_index += 1
+                    # TODO: else: support line editing
+
+                    erase_last_n_chars(len(cur_line))
+                    if cur_history_index == len(command_history):
+                        cur_line = ''
+                    else:
+                        cur_line = command_history[cur_history_index]
+                    sys.stdout.write(cur_line)
+
+                elif ord(ch) > 3:
+                    cur_line += ch
+                    sys.stdout.write(ch)
+                sys.stdout.flush()
+
+            data = mav_serialport.read(4096)
+            if data and len(data) > 0:
+                sys.stdout.write(data)
+                sys.stdout.flush()
+
+    except serial.serialutil.SerialException as e:
+        print(e)
+
+    except KeyboardInterrupt:
+        mav_serialport.close()
+
+    finally:
+        termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)
+
+
+if __name__ == '__main__':
+    main()
+
@@ -69,6 +69,8 @@ class XMLOutput():
                xml_group.attrib["image"] = "VTOLTiltRotor"
            elif (group.GetName() == "Coaxial Helicopter"):
                xml_group.attrib["image"] = "HelicopterCoaxial"
+            elif (group.GetName() == "Helicopter"):
+                xml_group.attrib["image"] = "Helicopter"
            elif (group.GetName() == "Hexarotor Coaxial"):
                xml_group.attrib["image"] = "Y6A"
            elif (group.GetName() == "Y6B"):
@@ -1,5 +1,7 @@
 import sys
 import re
+import math
+
 global default_var
 default_var = {}

@@ -39,7 +41,7 @@ class Parameter(object):

    # Define sorting order of the fields
    priority = {
-		"board": 9,
+        "board": 9,
        "short_desc": 8,
        "long_desc": 7,
        "min": 5,
@@ -52,6 +54,7 @@ class Parameter(object):
    def __init__(self, name, type, default = ""):
        self.fields = {}
        self.values = {}
+        self.bitmask = {}
        self.name = name
        self.type = type
        self.default = default
@@ -77,6 +80,12 @@ class Parameter(object):
        """
        self.values[code] = value

+    def SetBitmaskBit(self, index, bit):
+        """
+        Set named enum value
+        """
+        self.bitmask[index] = bit
+
    def GetFieldCodes(self):
        """
        Return list of existing field codes in convenient order
@@ -115,6 +124,24 @@ class Parameter(object):
                return ""
        return fv

+    def GetBitmaskList(self):
+        """
+        Return list of existing bitmask codes in convenient order
+        """
+        keys = self.bitmask.keys()
+        keys.sort(key=float)
+        return keys
+
+    def GetBitmaskBit(self, index):
+        """
+        Return value of the given bitmask code or None if not found.
+        """
+        fv =  self.bitmask.get(index)
+        if not fv:
+                # required because python 3 sorted does not accept None
+                return ""
+        return fv
+
 class SourceParser(object):
    """
    Parses provided data and stores all found parameters internally.
@@ -133,7 +160,7 @@ 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", "increment", "reboot_required", "value", "boolean", "bit"])

    # Order of parameter groups
    priority = {
@@ -164,6 +191,7 @@ class SourceParser(object):
                long_desc = None
                tags = {}
                def_values = {}
+                def_bitmask = {}
            elif state is not None and state != "comment-processed":
                m = self.re_comment_end.search(line)
                if m:
@@ -187,6 +215,10 @@ class SourceParser(object):
                                # Take the meta info string and split the code and description
                                metainfo = desc.split(" ",  1)
                                def_values[metainfo[0]] = metainfo[1]
+                            elif (tag == "bit"):
+                                # Take the meta info string and split the code and description
+                                metainfo = desc.split(" ",  1)
+                                def_bitmask[metainfo[0]] = metainfo[1]
                            else:
                                tags[tag] = desc
                            current_tag = tag
@@ -262,6 +294,8 @@ class SourceParser(object):
                                param.SetField(tag, tags[tag])
                        for def_value in def_values:
                            param.SetEnumValue(def_value, def_values[def_value])
+                        for def_bit in def_bitmask:
+                            param.SetBitmaskBit(def_bit, def_bitmask[def_bit])
                    # Store the parameter
                    if group not in self.param_groups:
                        self.param_groups[group] = ParameterGroup(group)
@@ -324,6 +358,16 @@ class SourceParser(object):
                        if param.GetEnumValue(code) == "":
                            sys.stderr.write("Description for enum value is empty: {0} {1}\n".format(name, code))
                            return False
+                for index in param.GetBitmaskList():
+                        if not self.IsNumber(index):
+                            sys.stderr.write("bit value not number: {0} {1}\n".format(name, index))
+                            return False
+                        if not int(min) <= math.pow(2, int(index)) <= int(max):
+                            sys.stderr.write("Bitmask bit must be between {0} and {1}: {2} {3}\n".format(min, max, name, math.pow(2, int(index))))
+                            return False
+                        if param.GetBitmaskBit(index) == "":
+                            sys.stderr.write("Description for bitmask bit is empty: {0} {1}\n".format(name, index))
+                            return False
        return True

    def GetParamGroups(self):
@@ -63,6 +63,14 @@ class XMLOutput():
                        xml_value = ET.SubElement(xml_values, "value")
                        xml_value.attrib["code"] = code;
                        xml_value.text = param.GetEnumValue(code)
+
+                if len(param.GetBitmaskList()) > 0:
+                    xml_values = ET.SubElement(xml_param, "bitmask")
+                    for index in param.GetBitmaskList():
+                        xml_value = ET.SubElement(xml_values, "bit")
+                        xml_value.attrib["index"] = index;
+                        xml_value.text = param.GetBitmaskBit(index)
+
        indent(xml_parameters)
        self.xml_document = ET.ElementTree(xml_parameters)

@@ -68,6 +68,11 @@ def main():
                os.remove(file_path)
                continue

+            # delete documentation
+            if file.startswith("README"):
+                os.remove(file_path)
+                continue
+
            # only prune text files
            if ".zip" in file or ".bin" in file or ".swp" in file \
                    or ".data" in file or ".DS_Store" in file:
@@ -5,6 +5,14 @@ if [[ "$#" < 2 ]]; then
 	exit
 fi

+if [ -z ${AUTOPILOT_HOST+x} ]; then
+	host=px4autopilot
+	echo "\$AUTOPILOT_HOST is not set (use default: $host)"
+else
+	host=$AUTOPILOT_HOST
+	echo "\$AUTOPILOT_HOST is set to $host"
+fi
+
 echo "Uploading..."

 # Get last argument
@@ -19,6 +27,6 @@ do
 	fi
 	# echo "Pushing $arg to $last"
 	#adb push $arg $last
-	scp $arg pi@px4autopilot:$last
+	scp $arg pi@$host:$last
 	((i+=1))
 done
@@ -8,6 +8,14 @@ logconv.m: This is a MATLAB script which will automatically convert and display

 sdlog2_dump.py: This is a Python script (compatible with v2 and v3) which converts the self-describing binary log format to a CSV file. To export a CSV file from within a shell (Windows CMD or BASH on Linux / Mac OS), run:

-python sdlog2_dump.py log001.bin -f "export.csv" -t "TIME" -d "," -n ""
+	python sdlog2_dump.py log001.bin -f "export.csv" -t "TIME" -d "," -n ""

-Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux.
+geo_tag_images.py: Use this script to geotag a set of images. It uses GPS time and file creation date to synchronize the images, so it needs that the images have a valid creation date.
+
+	python geo_tag_images.py --logfile=mylog.bin --input=images/ --output=tagged/
+
+geotagging.py: Use this script to geotag a set of images. It uses the CAM trigger data from the log file for image association.
+
+	python geotagging.py --logfile=mylog.bin --input=images/ --output=tagged/
+
+Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux.
@@ -0,0 +1,375 @@
+#!/usr/bin/env python
+#
+#  Tag the images recorded during a flight with geo location extracted from
+#  a PX4 binary log file.
+#
+#  This file accepts *.jpg format images and reads position information
+#  from a *.bin file
+#
+#  Example Syntax:
+#  python geotag.py --logfile=log001.bin --input=images/ --output=imagesWithTag/ --offset=-0.4 -v
+#
+#   Author: Hector Azpurua
+#   Based on the script of Andreas Bircher
+
+import os
+import re
+import sys
+import csv
+import bisect
+import pyexiv2
+import argparse
+from lxml import etree
+import datetime, calendar
+from shutil import copyfile
+from pykml.factory import KML_ElementMaker as KML
+from pykml.factory import GX_ElementMaker as GX
+
+
+class GpsPosition(object):
+    def __init__(self, timestamp, lat, lon, alt):
+        self.timestamp = timestamp
+        self.lat = float(lat)
+        self.lon = float(lon)
+        self.alt = float(alt)
+
+
+class Main:
+    def __init__(self):
+        """
+
+        :param logfile:
+        :param input:
+        :param output:
+        :param offset:
+        :param verbose:
+        :return:
+        """
+        args = self.get_arg()
+
+        self.logfile = args['logfile']
+        self.input = args['input']
+        self.output = args['output']
+        self.klm = args['klm']
+        self.verbose = args['verbose']
+        self.offset = args['offset']
+        self.time_tresh = args['treshold']
+
+        self.tdiff_list = []
+        self.non_processed_files = []
+        self.tagged_gps = []
+        self.gps_list = self.load_gps_from_log(self.logfile, self.offset)
+        self.img_list = self.load_image_list(self.input)
+
+        if len(self.img_list) <= 0:
+            print '[ERROR] Cannot load JPG images from input folder, please check filename extensions.'
+            sys.exit(1)
+
+        if not os.path.exists(self.output):
+            os.makedirs(self.output)
+
+        if not self.output.endswith(os.path.sep):
+            self.output += os.path.sep
+
+        self.tag_images()
+
+        if self.klm and len(self.tdiff_list) > 0:
+            self.gen_klm()
+
+        if len(self.non_processed_files) > 0:
+            print '[WARNING] Some images werent processed:'
+            for elem in self.non_processed_files:
+                print '\t', elem
+
+    @staticmethod
+    def to_degree(value, loc):
+        """
+        Convert a lat or lon value to degrees/minutes/seconds
+        :param value: the latitude or longitude value
+        :param loc: could be ["S", "N"] or ["W", "E"]
+        :return:
+        """
+        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
+        minute = int(t1)
+        sec = round((t1 - minute) * 60, 5)
+
+        return deg, minute, sec, loc_value
+
+    @staticmethod
+    def gps_week_seconds_to_datetime(gpsweek, gpsmillis, leapmillis=0):
+        """
+        Convert GPS week and seconds to datetime object, using leap milliseconds if necessary
+        :param gpsweek:
+        :param gpsmillis:
+        :param leapmillis:
+        :return:
+        """
+        datetimeformat = "%Y-%m-%d %H:%M:%S.%f"
+        epoch = datetime.datetime.strptime("1980-01-06 00:00:00.000", datetimeformat)
+        elapsed = datetime.timedelta(days=(gpsweek * 7), milliseconds=(gpsmillis + leapmillis))
+
+        return Main.utc_to_local(epoch + elapsed)
+
+    @staticmethod
+    def utc_to_local(utc_dt):
+        """
+        Convert UTC time in local time
+        :param utc_dt:
+        :return:
+        """
+        timestamp = calendar.timegm(utc_dt.timetuple())  # use integer timestamp to avoid precision lost
+        local_dt = datetime.datetime.fromtimestamp(timestamp)
+        assert utc_dt.resolution >= datetime.timedelta(microseconds=1)
+
+        return local_dt.replace(microsecond=utc_dt.microsecond)
+
+    def gen_klm(self):
+        """
+        Generate a KML file with keypoints on the locations of the pictures, including height
+        :return:
+        """
+        style_dot = "sn_shaded_dot"
+        style_path = "red_path"
+
+        doc = KML.kml(
+            KML.Document(
+                KML.Name("GPS of the images"),
+                KML.Style(
+                    KML.IconStyle(
+                        KML.scale(0.4),
+                        KML.Icon(
+                            KML.href("http://maps.google.com/mapfiles/kml/shapes/shaded_dot.png")
+                        ),
+                    ),
+                    id=style_dot,
+                ),
+                KML.Style(
+                    KML.LineStyle(
+                        KML.color('7f0000ff'),
+                        KML.width(6),
+                        GX.labelVisibility('1'),
+                    ),
+                    id=style_path
+                )   
+            )
+        )
+
+        # create points
+        for i, gps in enumerate(self.tagged_gps):
+                ii = i + 1
+                doc.Document.append(
+                    KML.Placemark(
+                        KML.styleUrl('#{0}'.format(style_dot)),
+                        KML.Point(
+                            KML.extrude(True),
+                            KML.altitudeMode('relativeToGround'),
+                            KML.coordinates("{},{},{}".format(gps.lon, gps.lat, gps.alt))
+                        ),
+                        KML.name(str(ii)) if ii % 5 == 0 or ii == 1 else KML.name()
+                    )
+                )
+
+        # create the path
+        doc.Document.append(
+            KML.Placemark(
+                KML.styleUrl('#{0}'.format(style_path)),
+                KML.LineString(
+                    KML.altitudeMode('relativeToGround'),
+                    KML.coordinates(
+                        ' '.join(["{},{},{}".format(gps.lon, gps.lat, gps.alt) for gps in self.tagged_gps])
+                    )
+                )
+            )
+        )
+
+        s = etree.tostring(doc)
+
+        file_path = self.output + 'GoogleEarth_points.kml'
+        f = open(file_path,'w')
+        f.write(s)
+        f.close()
+
+        print '[INFO] KML file generated on:', file_path
+
+    def get_closest_datetime_index(self, datetime_list, elem):
+        """
+        Get the closest element between a list of datetime objects and a date
+        :param datetime_list:
+        :param elem:
+        :return:
+        """
+        i = bisect.bisect_left(datetime_list, elem)
+        date = datetime_list[i]
+        diff = (date - elem).total_seconds()
+
+        if diff > self.time_tresh:
+            return -1, diff
+
+        return i, diff
+
+    def set_gps_location(self, file_name, lat, lng, alt):
+        """
+        Add the GPS tag and altitude to a image file
+        :param file_name:
+        :param lat:
+        :param lng:
+        :param alt:
+        :return:
+        """
+        lat_deg = self.to_degree(lat, ["S", "N"])
+        lng_deg = self.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))
+
+        try:
+            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)
+        except Exception as e:
+            print '[ERROR]', e
+
+    def load_gps_from_log(self, log_file, offset):
+        """
+        Load gps list from PX4 binary log
+        :param log_file:
+        :param offset:
+        :return:
+        """
+        os.system('python sdlog2_dump.py ' + 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)
+
+        gps_list = []
+        for seq in range(0, len(line['GPS_Lat']) - 1):
+            gps_time = int(line['GPS_TimeMS'][seq + 1])
+            gps_week = int(line['GPS_Week'][seq + 1])
+            gps_lat = float(line['GPS_Lat'][seq + 1])
+            gps_lon = float(line['GPS_Lng'][seq + 1])
+            gps_alt = float(line['GPS_RelAlt'][seq + 1])
+
+            date = self.gps_week_seconds_to_datetime(gps_week, gps_time, leapmillis=offset)
+            print date
+            gps_list.append(GpsPosition(date, gps_lat, gps_lon, gps_alt))
+
+        return gps_list
+
+    def load_image_list(self, input_folder, file_type='jpg'):
+        """
+        Load image list from a folder given a file type
+        :param input_folder:
+        :param file_type:
+        :return:
+        """
+        self.img_list = [input_folder + filename for filename in os.listdir(input_folder)
+                         if re.search(r'\.'+file_type+'$', filename, re.IGNORECASE)]
+        self.img_list = sorted(self.img_list)
+        return self.img_list
+
+    def tag_images(self):
+        """
+        Tag the image list using the GPS loaded from the LOG file
+        :return:
+        """
+        tagged_gps = []
+        img_size = len(self.img_list)
+        print '[INFO] Number of images:', img_size
+
+        dt_list = [x.timestamp for x in self.gps_list]
+
+        img_seq = 1
+
+        for i in xrange(img_size):
+            base_path, filename = os.path.split(self.img_list[i])
+            cdate = datetime.datetime.fromtimestamp(os.path.getmtime(self.img_list[i]))
+            gps_i, img_tdiff = self.get_closest_datetime_index(dt_list, cdate)
+
+            if gps_i == -1:
+                self.non_processed_files.append(filename)
+                continue
+
+            closest_gps = self.gps_list[gps_i]
+            self.tdiff_list.append(img_tdiff)
+
+            if self.verbose:
+                msg = "[DEBUG] %s/%s) %s\n\timg %s -> gps %s (%ss)\n\tlat:%s, lon:%s, alt:%s".ljust(60) %\
+                        (i+1, img_size, filename, cdate, closest_gps.timestamp, img_tdiff, closest_gps.lat, closest_gps.lon, closest_gps.alt)
+                print msg
+
+            copyfile(self.img_list[i], self.output + str(img_seq) + filename)
+            self.set_gps_location(self.output + str(img_seq) + filename, closest_gps.lat, closest_gps.lon, closest_gps.alt)
+            self.tagged_gps.append(closest_gps)
+            img_seq += 1
+
+        if len(self.tdiff_list) > 0:
+            print '[INFO] Mean diff in seconds:', sum(self.tdiff_list) / float(len(self.tdiff_list))
+
+    @staticmethod
+    def get_arg():
+        parser = argparse.ArgumentParser(
+            description='Geotag script to add GPS info to pictures from PX4 binary log files.'\
+                        'It uses synchronized time to allocate GPS positions.'
+        )
+
+        parser.add_argument(
+            '-l', '--logfile', help='PX4 log file containing recorded positions.', required=True
+        )
+        parser.add_argument(
+            '-i', '--input', help='Input folder containing untagged images.', required=True
+        )
+        parser.add_argument(
+            '-o', '--output', help='Output folder to contain tagged images.', required=True
+        )
+        parser.add_argument(
+            '-t', '--treshold', help='Time treshold between the GPS time and the local image time.',
+            default=1, required=False, type=float
+        )
+        parser.add_argument(
+            '-of', '--offset', help='Time offset in MILLISECONDS between the GPS time and the local time.',
+            default=-17000, required=False, type=float
+        )
+        parser.add_argument(
+            '-klm', '--klm', help='Save the in KML format the information of all tagged images.',
+            required=False, action='store_true'
+        )
+        parser.add_argument(
+            '-v', '--verbose', help='Prints lots of information.',
+            required=False, action='store_true'
+        )
+
+        args = vars(parser.parse_args())
+        return args
+
+
+if __name__ == "__main__":
+    m = Main()
@@ -16,7 +16,7 @@ src_path=`pwd`
 rc_script="posix-configs/SITL/init/rcS_multiple"
 build_path=${src_path}/build_posix_sitl_default

-pkill mainapp
+pkill px4
 sleep 2

 cd $build_path/src/firmware/posix
@@ -39,7 +39,7 @@ while [ $n -le $sitl_num ]; do

 cd $n

- sudo -b -u $user ../mainapp -d rcS >out.log 2>err.log
+ sudo -b -u $user ../px4 -d rcS >out.log 2>err.log

 cd ../

@@ -43,7 +43,7 @@ fi
 # kill process names that might stil
 # be running from last time
 pkill gazebo
-pkill mainapp
+pkill px4
 jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
 if [ -n "$jmavsim_pid" ]
 then
@@ -117,18 +117,18 @@ set +e
 # Start Java simulator
 if [ "$debugger" == "lldb" ]
 then
-	lldb -- mainapp ../../../../${rc_script}_${program}_${model}
+	lldb -- px4 ../../../../${rc_script}_${program}_${model}
 elif [ "$debugger" == "gdb" ]
 then
-	gdb --args mainapp ../../../../${rc_script}_${program}_${model}
+	gdb --args px4 ../../../../${rc_script}_${program}_${model}
 elif [ "$debugger" == "ddd" ]
 then
-	ddd --debugger gdb --args mainapp ../../../../${rc_script}_${program}_${model}
+	ddd --debugger gdb --args px4 ../../../../${rc_script}_${program}_${model}
 elif [ "$debugger" == "valgrind" ]
 then
-	valgrind ./mainapp ../../../../${rc_script}_${program}_${model}
+	valgrind ./px4 ../../../../${rc_script}_${program}_${model}
 else
-	$sudo_enabled ./mainapp $chroot_enabled ../../../../${rc_script}_${program}_${model}
+	$sudo_enabled ./px4 $chroot_enabled ../../../../${rc_script}_${program}_${model}
 fi

 if [ "$program" == "jmavsim" ]
@@ -17,7 +17,7 @@ fi

 if [ $SYSTYPE = "Linux" ];
 then
-SERIAL_PORTS="/dev/serial/by-id/usb-3D_Robotics*"
+SERIAL_PORTS="/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/usb-The_Autopilot*"
 fi

 if [ $SYSTYPE = "" ];
@@ -25,4 +25,4 @@ then
 SERIAL_PORTS="COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
 fi

-python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
+python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
@@ -4,16 +4,17 @@ machine:

 checkout:
  post:
-    - git submodule sync
+    - git submodule sync --recursive
    - git submodule update --init --recursive

 ## Customize dependencies
 dependencies:
+  cache_directories:
+    - "~/.ccache"
  pre:
    - docker pull px4io/px4-dev-nuttx-gcc4.9
-    - docker info

 test:
  override:
-    #- sudo docker run --rm -v `pwd`:`pwd`:rw -v $HOME/.ccache:$HOME/.ccache:rw -e CCACHE_DIR=$HOME/.ccache -w=`pwd` --user=$UID -it px4io/px4-dev-base /bin/bash -c "make"
-    - docker run -v `pwd`:`pwd`:rw -w=`pwd` --user=$UID -it px4io/px4-dev-nuttx-gcc4.9 /bin/bash -c "make px4fmu-v4_default"
+    - docker run --rm -v `pwd`:`pwd`:rw -w=`pwd` -v $HOME/.ccache:$HOME/.ccache:rw -e CCACHE_DIR=$HOME/.ccache --user=$UID -it px4io/px4-dev-nuttx-gcc4.9 /bin/bash -c "ccache -z; make px4fmu-v4_default; ccache -s"
+
@@ -488,6 +488,7 @@ function(px4_add_upload)
 	if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
 		list(APPEND serial_ports
 			/dev/serial/by-id/usb-3D_Robotics*
+			/dev/serial/by-id/usb-The_Autopilot*
 			/dev/serial/by-id/pci-3D_Robotics*
 			)
 	elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
@@ -787,6 +788,7 @@ function(px4_add_common_flags)
 	string(REPLACE "-" "_" board_config ${board_upper})
 	set(added_definitions
 		-DCONFIG_ARCH_BOARD_${board_config}
+		-D__STDC_FORMAT_MACROS
 		)

 	if (NOT (APPLE AND (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")))
@@ -64,13 +64,27 @@ set(config_module_list
 	systemcmds/pwm
 	systemcmds/esc_calib
 	systemcmds/reboot
-	#systemcmds/topic_listener
+	systemcmds/topic_listener
 	systemcmds/top
 	systemcmds/config
 	systemcmds/nshterm
 	systemcmds/mtd
 	systemcmds/dumpfile
 	systemcmds/ver
+	systemcmds/sd_bench
+	systemcmds/motor_ramp
+
+	#
+	# Tests
+	#
+	drivers/sf0x/sf0x_tests
+	drivers/test_ppm
+	modules/commander/commander_tests
+	modules/controllib_test
+	modules/mavlink/mavlink_tests
+	modules/unit_test
+	modules/uORB/uORB_tests
+	systemcmds/tests

 	#
 	# General system control
@@ -95,7 +109,6 @@ set(config_module_list
 	#
 	# Vehicle Control
 	#
-	# modules/segway # XXX Needs GCC 4.7 fix
 	modules/fw_pos_control_l1
 	modules/fw_att_control
 	modules/mc_att_control
@@ -53,22 +53,34 @@ set(config_module_list
 	# System commands
 	#
 	systemcmds/bl_update
+	systemcmds/config
+	systemcmds/dumpfile
+	#systemcmds/esc_calib
 	systemcmds/mixer
+	#systemcmds/motor_ramp
+	systemcmds/mtd
+	systemcmds/nshterm
 	systemcmds/param
 	systemcmds/perf
 	systemcmds/pwm
-	systemcmds/esc_calib
 	systemcmds/reboot
-	#systemcmds/topic_listener
-	systemcmds/top
-	systemcmds/config
-	systemcmds/nshterm
-	systemcmds/mtd
-	systemcmds/dumpfile
-	systemcmds/ver
 	#systemcmds/sd_bench
+	systemcmds/top
+	#systemcmds/topic_listener
+	systemcmds/ver
+
+	#
+	# Testing
+	#
+	#drivers/sf0x/sf0x_tests
+	#drivers/test_ppm
+	#lib/rc/rc_tests
+	#modules/commander/commander_tests
+	#modules/controllib_test
+	#modules/mavlink/mavlink_tests
+	#modules/unit_test
+	#modules/uORB/uORB_tests
 	#systemcmds/tests
-	systemcmds/motor_ramp

 	#
 	# General system control
@@ -85,9 +97,10 @@ set(config_module_list
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
 	modules/attitude_estimator_q
-	modules/ekf_att_pos_estimator
+	#modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/ekf2

 	#
 	# Vehicle Control
@@ -101,7 +114,7 @@ set(config_module_list
 	#
 	# Logging
 	#
-	modules/logger
+	#modules/logger
 	modules/sdlog2

 	#
@@ -41,11 +41,13 @@ 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

 	#
 	# System commands
@@ -64,6 +66,9 @@ set(config_module_list
 	systemcmds/mtd
 	systemcmds/dumpfile
 	systemcmds/ver
+	#systemcmds/sd_bench
+	#systemcmds/tests
+	systemcmds/motor_ramp

 	#
 	# General system control
@@ -72,7 +77,7 @@ set(config_module_list
 	modules/load_mon
 	modules/navigator
 	modules/mavlink
-	modules/gpio_led
+	#modules/gpio_led
 	modules/uavcan
 	modules/land_detector

@@ -94,8 +99,8 @@ set(config_module_list
 	#
 	# Logging
 	#
-	modules/sdlog2
 	modules/logger
+	modules/sdlog2

 	#
 	# Library modules
@@ -136,7 +141,7 @@ set(config_module_list
 	#
 	# Rover apps
 	#
-	examples/rover_steering_control
+	#examples/rover_steering_control

 	#
 	# Demo apps
@@ -48,37 +48,39 @@ set(config_module_list
 	#drivers/bst
 	#drivers/snapdragon_rc_pwm
 	#drivers/lis3mdl
-	#drivers/bmi160

 	#
 	# System commands
 	#
 	systemcmds/bl_update
+	systemcmds/config
+	systemcmds/dumpfile
+	#systemcmds/esc_calib
 	systemcmds/mixer
+	systemcmds/motor_ramp
+	systemcmds/mtd
+	systemcmds/nshterm
 	systemcmds/param
 	systemcmds/perf
 	systemcmds/pwm
-	systemcmds/esc_calib
 	systemcmds/reboot
-	#systemcmds/topic_listener
+	#systemcmds/sd_bench
 	systemcmds/top
-	systemcmds/config
-	systemcmds/nshterm
-	systemcmds/mtd
-	systemcmds/dumpfile
+	#systemcmds/topic_listener
 	systemcmds/ver
-	systemcmds/sd_bench
-	systemcmds/tests

 	#
 	# Testing
 	#
+	drivers/sf0x/sf0x_tests
 	drivers/test_ppm
+	#lib/rc/rc_tests
 	modules/commander/commander_tests
 	modules/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/unit_test
 	modules/uORB/uORB_tests
+	systemcmds/tests

 	#
 	# General system control
@@ -87,7 +89,7 @@ set(config_module_list
 	modules/load_mon
 	modules/navigator
 	modules/mavlink
-	modules/gpio_led
+	#modules/gpio_led
 	modules/uavcan
 	modules/land_detector

@@ -95,14 +97,14 @@ set(config_module_list
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
 	modules/attitude_estimator_q
-	modules/ekf_att_pos_estimator
+	#modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/ekf2

 	#
 	# Vehicle Control
 	#
-	# modules/segway # XXX Needs GCC 4.7 fix
 	modules/fw_pos_control_l1
 	modules/fw_att_control
 	modules/mc_att_control
@@ -23,6 +23,7 @@ set(config_module_list
 	drivers/mb12xx
 	drivers/srf02
 	drivers/sf0x
+	drivers/sf1xx
 	drivers/ll40ls
 	drivers/trone
 	drivers/gps
@@ -48,6 +49,7 @@ set(config_module_list
 	drivers/bmp280
 	drivers/bma180
 	drivers/bmi160
+	drivers/tap_esc

 	#
 	# System commands
@@ -67,9 +69,20 @@ set(config_module_list
 	systemcmds/dumpfile
 	systemcmds/ver
 	systemcmds/sd_bench
-	systemcmds/tests
 	systemcmds/motor_ramp

+	#
+	# Testing
+	#
+	drivers/sf0x/sf0x_tests
+	drivers/test_ppm
+	modules/commander/commander_tests
+	modules/controllib_test
+	modules/mavlink/mavlink_tests
+	modules/unit_test
+	modules/uORB/uORB_tests
+	systemcmds/tests
+
 	#
 	# General system control
 	#
@@ -0,0 +1,129 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/boards/tap-v1
+	drivers/rgbled_pwm
+	drivers/tap_esc
+	#drivers/mpu6500
+	drivers/ms5611
+	drivers/hmc5883
+	drivers/gps
+	drivers/airspeed
+	drivers/meas_airspeed
+	modules/sensors
+	drivers/camera_trigger
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/motor_test
+	systemcmds/reboot
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+	systemcmds/topic_listener
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/load_mon
+	modules/navigator
+	modules/mavlink
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
+	modules/fw_pos_control_l1
+	modules/fw_att_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	modules/logger
+
+	#
+	# 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
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	)
+
+set(config_extra_libs
+	)
+
+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")
@@ -5,6 +5,7 @@ set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linu
 add_definitions(
  -D__PX4_POSIX_BEBOP
  -D__LINUX
+  -D__BEBOP
 	)

 set(CMAKE_PROGRAM_PATH
@@ -22,6 +23,8 @@ set(config_module_list
 	drivers/device
 	modules/sensors
 	platforms/posix/drivers/df_ms5607_wrapper
+	platforms/posix/drivers/df_mpu6050_wrapper
+	platforms/posix/drivers/df_ak8963_wrapper

 	#
 	# System commands
@@ -49,7 +52,7 @@ set(config_module_list
 	modules/mc_att_control
 	modules/mc_pos_control
 	modules/fw_att_control
-	modules/fw_pos_control_l1	
+	modules/fw_pos_control_l1
 	modules/vtol_att_control

 	#
@@ -58,7 +61,6 @@ set(config_module_list
 	modules/sdlog2
 	modules/logger
 	modules/commander
-	modules/load_mon
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
@@ -98,5 +100,7 @@ set(config_module_list
 )

 set(config_df_driver_list
-  ms5607
+	ms5607
+	mpu6050
+	ak8963
 )
@@ -30,7 +30,6 @@ set(config_module_list
 	modules/logger
 	modules/simulator
 	modules/commander
-	modules/load_mon

 	lib/mathlib
 	lib/mathlib/math/filter
@@ -49,7 +49,6 @@ set(config_module_list
 	modules/simulator
 	modules/commander
 	modules/navigator
-	modules/load_mon

 	lib/controllib
 	lib/mathlib
@@ -1,50 +0,0 @@
-include(posix/px4_impl_posix)
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
-
-set(config_module_list
-	drivers/device
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-	systemcmds/param
-	systemcmds/mixer
-	systemcmds/ver
-	systemcmds/esc_calib
-	systemcmds/reboot
-	systemcmds/topic_listener
-	systemcmds/perf
-	modules/uORB
-	modules/param
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/sensors
-	modules/mavlink
-	modules/attitude_estimator_q
-	modules/position_estimator_inav
-	modules/navigator
-	modules/vtol_att_control
-	modules/mc_pos_control
-	modules/mc_att_control
-	modules/land_detector
-	modules/fw_att_control
-	modules/fw_pos_control_l1
-	modules/dataman
-	modules/sdlog2
-	modules/logger
-	modules/commander
-	modules/load_mon
-	lib/controllib
-	lib/mathlib
-	lib/mathlib/math/filter
-	lib/conversion
-	lib/ecl
-	lib/external_lgpl
-	lib/geo
-	lib/geo_lookup
-	lib/launchdetection
-	lib/terrain_estimation
-	lib/runway_takeoff
-	lib/tailsitter_recovery
-	lib/DriverFramework/framework
-)
@@ -1,17 +1,15 @@
+# This file is shared between posix_rpi_native.cmake
+# and posix_rpi_cross.cmake.
+
 include(posix/px4_impl_posix)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
-
-set(CMAKE_PROGRAM_PATH
-	"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
-	${CMAKE_PROGRAM_PATH}
-	)
-
 # This definition allows to differentiate if this just the usual POSIX build
 # or if it is for the RPi.
 add_definitions(
-	-D__PX4_POSIX_RPI2
-	)
+	-D__PX4_POSIX_RPI
+	-D__LINUX
+)
+

 set(config_module_list
 	#
@@ -20,7 +18,8 @@ set(config_module_list
 	drivers/device
 	modules/sensors
 	platforms/posix/drivers/df_mpu9250_wrapper
-	platforms/posix/drivers/df_bmp280_wrapper
+	platforms/posix/drivers/df_lsm9ds1_wrapper
+	platforms/posix/drivers/df_ms5611_wrapper
 	platforms/posix/drivers/df_hmc5883_wrapper
 	platforms/posix/drivers/df_trone_wrapper
 	platforms/posix/drivers/df_isl29501_wrapper
@@ -32,6 +31,7 @@ set(config_module_list
 	systemcmds/mixer
 	systemcmds/ver
 	systemcmds/esc_calib
+	systemcmds/reboot
 	systemcmds/topic_listener
 	systemcmds/perf

@@ -51,7 +51,7 @@ set(config_module_list
 	modules/mc_att_control
 	modules/mc_pos_control
 	modules/fw_att_control
-	modules/fw_pos_control_l1	
+	modules/fw_pos_control_l1
 	modules/vtol_att_control

 	#
@@ -60,7 +60,6 @@ set(config_module_list
 	modules/sdlog2
 	modules/logger
 	modules/commander
-	modules/load_mon
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
@@ -73,6 +72,9 @@ set(config_module_list
 	#
 	# PX4 drivers
 	#
+	drivers/gps
+	drivers/navio_sysfs_rc_in
+	drivers/navio_sysfs_pwm_out

 	#
 	# Libraries
@@ -97,13 +99,16 @@ set(config_module_list
 	platforms/common
 	platforms/posix/px4_layer
 	platforms/posix/work_queue
+)

-	)
-
+#
+# DriverFramework driver
+#
 set(config_df_driver_list
 	mpu9250
-	bmp280
+	lsm9ds1
+	ms5611
 	hmc5883
 	trone
 	isl29501
-	)
+)
@@ -0,0 +1,8 @@
+include(configs/posix_rpi_common)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+
+set(CMAKE_PROGRAM_PATH
+	"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
+	${CMAKE_PROGRAM_PATH}
+)
@@ -0,0 +1,3 @@
+include(configs/posix_rpi_common)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
@@ -42,7 +42,6 @@ set(config_module_list
 	modules/simulator
 	modules/commander
 	modules/navigator
-	modules/load_mon

 	lib/controllib
 	lib/mathlib
@@ -41,7 +41,6 @@ set(config_module_list
 	modules/fw_att_control
 	modules/fw_pos_control_l1
 	modules/land_detector
-	modules/load_mon
 	modules/logger
 	modules/mavlink
 	modules/mc_att_control
@@ -52,6 +51,7 @@ set(config_module_list
 	modules/param
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/replay
 	modules/sdlog2
 	modules/sensors
 	modules/simulator
@@ -70,6 +70,7 @@ set(config_module_list
 	lib/launchdetection
 	lib/mathlib
 	lib/mathlib/math/filter
+	lib/rc
 	lib/runway_takeoff
 	lib/tailsitter_recovery
 	lib/terrain_estimation
@@ -79,9 +80,11 @@ set(config_module_list
 	#
 	# Testing
 	#
+	drivers/sf0x/sf0x_tests
+	lib/rc/rc_tests
 	modules/commander/commander_tests
 	modules/controllib_test
-	#modules/mavlink/mavlink_tests
+	#modules/mavlink/mavlink_tests #TODO: fix mavlink_tests
 	modules/unit_test
 	modules/uORB/uORB_tests
 	systemcmds/tests
@@ -111,3 +114,12 @@ set(config_sitl_debugger
 	)
 set_property(CACHE config_sitl_debugger
 	PROPERTY STRINGS "disable;gdb;lldb")
+
+# If the environment variable 'replay' is defined, we are building with replay
+# support. In this case, we enable the orb publisher rules.
+set(REPLAY_FILE "$ENV{replay}")
+if(REPLAY_FILE)
+	message("Building with uorb publisher rules support")
+	add_definitions(-DORB_USE_PUBLISHER_RULES)
+endif()
+
@@ -1,111 +0,0 @@
-include(posix/px4_impl_posix)
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
-
-set(config_module_list
-	drivers/boards/sitl
-	drivers/device
-	drivers/gps
-	drivers/pwm_out_sim
-
-	platforms/common
-	platforms/posix/drivers/accelsim
-	platforms/posix/drivers/adcsim
-	platforms/posix/drivers/airspeedsim
-	platforms/posix/drivers/barosim
-	platforms/posix/drivers/gpssim
-	platforms/posix/drivers/gyrosim
-	platforms/posix/drivers/ledsim
-	platforms/posix/drivers/rgbledsim
-	platforms/posix/drivers/tonealrmsim
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-
-	systemcmds/esc_calib
-	systemcmds/mixer
-	systemcmds/param
-	systemcmds/perf
-	systemcmds/reboot
-	systemcmds/sd_bench
-	systemcmds/topic_listener
-	systemcmds/ver
-
-	modules/attitude_estimator_ekf
-	modules/attitude_estimator_q
-	modules/commander
-	modules/dataman
-	modules/ekf2
-	modules/ekf_att_pos_estimator
-	modules/fw_att_control
-	modules/fw_pos_control_l1
-	modules/land_detector
-	modules/load_mon
-	modules/logger
-	modules/mavlink
-	modules/mc_att_control
-	modules/mc_att_control_multiplatform
-	modules/mc_pos_control
-	modules/mc_pos_control_multiplatform
-	modules/navigator
-	modules/param
-	modules/position_estimator_inav
-	modules/local_position_estimator
-	modules/sdlog2
-	modules/sensors
-	modules/simulator
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/uORB
-	modules/vtol_att_control
-
-	lib/controllib
-	lib/conversion
-	lib/DriverFramework/framework
-	lib/ecl
-	lib/external_lgpl
-	lib/geo
-	lib/geo_lookup
-	lib/launchdetection
-	lib/mathlib
-	lib/mathlib/math/filter
-	lib/runway_takeoff
-	lib/tailsitter_recovery
-	lib/terrain_estimation
-
-	examples/px4_simple_app
-
-	#
-	# Testing
-	#
-	modules/commander/commander_tests
-	modules/controllib_test
-	#modules/mavlink/mavlink_tests
-	modules/unit_test
-	modules/uORB/uORB_tests
-	systemcmds/tests
-
-	)
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-set(config_sitl_rcS
-	posix-configs/SITL/init/rcS_test
-	CACHE FILEPATH "init script for sitl"
-	)
-
-set(config_sitl_viewer
-	jmavsim
-	CACHE STRING "viewer for sitl"
-	)
-set_property(CACHE config_sitl_viewer
-	PROPERTY STRINGS "jmavsim;none")
-
-set(config_sitl_debugger
-	disable
-	CACHE STRING "debugger for sitl"
-	)
-set_property(CACHE config_sitl_debugger
-	PROPERTY STRINGS "disable;gdb;lldb")
@@ -48,7 +48,6 @@ set(config_module_list
 	modules/systemlib/mixer
 	modules/uORB
 	modules/commander
-	modules/load_mon

 	#
 	# Libraries
@@ -57,7 +57,6 @@ set(config_module_list
 	modules/uORB
 	modules/commander
 	modules/land_detector
-	modules/load_mon

 	#
 	# PX4 drivers
@@ -56,7 +56,6 @@ set(config_module_list
 	modules/systemlib/mixer
 	modules/uORB
 	modules/commander
-	modules/load_mon

 	#
 	# Libraries
@@ -450,55 +450,8 @@ function(px4_os_add_flags)
 	endif()

 	set(cpu_flags)
-	if (${BOARD} STREQUAL "px4fmu-v1")
-		set(cpu_flags
-			-mcpu=cortex-m4
-			-mthumb
-			-march=armv7e-m
-			-mfpu=fpv4-sp-d16
-			-mfloat-abi=hard
-			)
-	elseif (${BOARD} STREQUAL "px4fmu-v2")
-		set(cpu_flags
-			-mcpu=cortex-m4
-			-mthumb
-			-march=armv7e-m
-			-mfpu=fpv4-sp-d16
-			-mfloat-abi=hard
-			)
-	elseif (${BOARD} STREQUAL "px4fmu-v4")
-		set(cpu_flags
-			-mcpu=cortex-m4
-			-mthumb
-			-march=armv7e-m
-			-mfpu=fpv4-sp-d16
-			-mfloat-abi=hard
-			)
-	elseif (${BOARD} STREQUAL "px4-stm32f4discovery")
-		set(cpu_flags
-			-mcpu=cortex-m4
-			-mthumb
-			-march=armv7e-m
-			-mfpu=fpv4-sp-d16
-			-mfloat-abi=hard
-			)
-	elseif (${BOARD} STREQUAL "aerocore")
-		set(cpu_flags
-			-mcpu=cortex-m4
-			-mthumb
-			-march=armv7e-m
-			-mfpu=fpv4-sp-d16
-			-mfloat-abi=hard
-			)
-	elseif (${BOARD} STREQUAL "mindpx-v2")
-			set(cpu_flags
-			-mcpu=cortex-m4
-			-mthumb
-			-march=armv7e-m
-			-mfpu=fpv4-sp-d16
-			-mfloat-abi=hard
-			)
-	elseif (${BOARD} STREQUAL "px4io-v1")
+	# Handle non-F4 boards specifically here
+	if (${BOARD} STREQUAL "px4io-v1")
 		set(cpu_flags
 			-mcpu=cortex-m3
 			-mthumb
@@ -510,6 +463,14 @@ function(px4_os_add_flags)
 			-mthumb
 			-march=armv7-m
 			)
+	else ()
+			set(cpu_flags
+			-mcpu=cortex-m4
+			-mthumb
+			-march=armv7e-m
+			-mfpu=fpv4-sp-d16
+			-mfloat-abi=hard
+			)
 	endif()
 	list(APPEND c_flags ${cpu_flags})
 	list(APPEND cxx_flags ${cpu_flags})
@@ -1,91 +0,0 @@
-#!/usr/bin/env python
-
-from __future__ import print_function
-
-import argparse
-import os
-import sys
-import fnmatch
-import re
-import shutil
-import jinja2
-
-src_path = os.path.join(os.path.curdir, 'src')
-
-parser = argparse.ArgumentParser('converts module.mk to CMakeList.txt, run in root of repo')
-parser.add_argument('path', help='directory of modules to convert')
-parser.add_argument('--overwrite', help='overwrite existing files', dest='overwrite', action='store_true')
-parser.add_argument('--backup', help='create backup of existing files if overwriting', dest='backup', action='store_true')
-parser.set_defaults(overwrite=False, backup=False)
-args = parser.parse_args()
-
-cmake_template = jinja2.Template(open('cmake/scripts/cmake_lists.jinja', 'r').read())
-
-module_files = []
-for root, dirnames, filenames in os.walk(args.path):
-    for filename in fnmatch.filter(filenames, 'module.mk'):
-        module_files.append(os.path.join(root, filename))
-
-
-search_data = [
-    # name             # re string
-    ('command', r'.*MODULE_COMMAND\s*[\+]?=\s*([^\n]+)'),
-    ('stacksize', r'.*MODULE_STACKSIZE\s*[\+]?=([^\n]+)'),
-    ('extracxxflags', r'.*EXTRACXXFLAGS\s*[\+]?=([^\n]+)'),
-    ('extracflags', r'.*EXTRACFLAGS\s*[\+]?=\s*([^\s]+)\s*'),
-    ('priority', r'.*MODULE_PRIORITY\s*[\+]?=\s*([^\s]+)\s*'),
-    ('maxoptimization', r'.*MAXOPTIMIZATION\s*[\+]?=\s*([^\s]+)\s*'),
-    ('srcs', '.*SRCS\s*[\+]?=([^\n\\\]*([\\\]\s*\n[^\n\\\]*)*)'),
-    ('include_dirs', '.*INCLUDE_DIRS\s*[\+]?=([^\n\\\]*([\\\]\s*\n[^\n\\\]*)*)'),
-    ]
-
-progs = {}
-for name, re_str in search_data:
-    progs[name] = re.compile(re_str)
-
-for module_file in module_files:
-
-    data = {}
-    with open(module_file, 'r') as f:
-        module_text = f.read()
-        data['text'] = module_text
-        module_dir = os.path.dirname(module_file)
-        data['module'] = os.path.relpath(module_dir, src_path).replace(
-                os.sep, '__').split('.')[0]
-        #print(module_text)
-        for name, re_str in search_data:
-            result = progs[name].search(module_text)
-            if result is not None:
-                d = result.group(1).strip()
-                if name in ['srcs', 'extracxxflags', 'extracflags']:
-                    d_store = d.replace('\\', '').split()
-                elif name == 'include_dirs':
-                    d_store = d.replace('(', '{').replace(')', '}').split()
-                else:
-                    d_store = d
-                data[name] = d_store
-            else:
-                data[name] = ''
-
-    cmake_file = os.path.join(os.path.dirname(module_file), 'CMakeLists.txt')
-    cmake_file_backup = cmake_file + '.backup'
-
-    if os.path.exists(cmake_file):
-        if args.backup:
-            if os.path.exists(cmake_file_backup):
-                print('error: file already exists:', cmake_file_backup)
-                continue
-            else:
-                shutil.copyfile(cmake_file, cmake_file_backup)
-        if args.overwrite:
-            print('overwriting', cmake_file)
-        else:
-            print('error: file already exists:', cmake_file)
-            continue
-
-    with open(cmake_file, 'w') as f:
-        data_rendered = cmake_template.render(data=data)
-        f.write(data_rendered)
-
-
-# vim: set et fenc= ff=unix sts=4 sw=4 ts=4 : 
@@ -1,50 +0,0 @@
-#!/usr/bin/env python
-"""
-This runs a command and compares output to a known file over
-a given line range.
-"""
-from __future__ import print_function
-import subprocess
-import argparse
-import os
-
-
-#pylint: disable=invalid-name
-parser = argparse.ArgumentParser(description='Process some integers.')
-parser.add_argument('--command', required=True)
-parser.add_argument('--stdin', required=True)
-parser.add_argument('--stdout', required=True)
-parser.add_argument('--check', required=True)
-parser.add_argument('--start', default=0)
-parser.add_argument('--stop', default=-1)
-args = parser.parse_args()
-
-d = os.path.dirname(args.stdout)
-if not os.path.exists(d):
-    os.makedirs(d)
-
-with open(args.stdout, 'w') as outfile:
-    with open(args.stdin, 'r') as infile:
-        proc = subprocess.Popen(
-            args.command, stdout=outfile, stdin=infile)
-proc.communicate()
-
-i_start = int(args.start)
-i_stop = int(args.stop)
-
-with open(args.stdout, 'r') as outfile:
-    out_contents = file.readlines(outfile)
-out_contents = "".join(out_contents[i_start:i_stop])
-
-with open(args.check, 'r') as checkfile:
-    check_contents = file.readlines(checkfile)
-check_contents = "".join(check_contents[i_start:i_stop])
-
-if (out_contents != check_contents):
-    print("output:\n", out_contents)
-    print("check:\n", check_contents)
-    exit(1)
-
-exit(0)
-
-# vim: set et ft=python fenc= ff=unix sts=4 sw=4 ts=4 :
@@ -2,7 +2,7 @@ INFO  Shell id is 47996278451456
 WARN  1          starting task wkr_high (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
 WARN  54         starting task wkr_low (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
 WARN  100        starting task wkr_hrt (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
-App name: mainapp
+App name: px4
 Enter a command and its args:
 ----------------------------------
 Running: uorb
@@ -71,7 +71,7 @@ foreach(tool echo grep rm mkdir nm cp touch make unzip)
 endforeach()

 add_definitions(
-	-D __RPI2
+	-D __RPI
 	)

 set(LINKER_FLAGS "-Wl,-gc-sections")
@@ -17,9 +17,9 @@

 connection_string       = '127.0.0.1:14540'

-import_mission_filename = 'VTOLmission.txt'
-max_execution_time      = 250
-alt_acceptance_radius   = 10
+import_mission_filename = 'VTOL_TAKEOFF.mission'
+max_execution_time      = 200
+alt_acceptance_radius   = 5

 ################################################################################################
 # Init
@@ -150,14 +150,14 @@ 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
+    print "\nSave mission from Vehicle to file: %s" % aFileName
    #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)
+    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\n\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)
@@ -0,0 +1,5 @@
+QGC WPL 110
+1	0	3	84	0.0	0.0	-0.0	0.0	47.3975105286	8.55026626587	10.0	1
+1	0	3	16	0.0	0.0	-0.0	0.0	47.395450592	8.55018424988	10.0	1
+2	0	3	16	0.0	0.0	-0.0	0.0	47.3954582214	8.54566764832	10.0	1
+3	0	3	85	0.0	0.0	-0.0	0.0	47.3977355957	8.54561138153	10.0	1
@@ -0,0 +1,301 @@
+#!/usr/bin/env python
+#***************************************************************************
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+#***************************************************************************/
+
+#
+# @author Andreas Antener <andreas@uaventure.com>
+#
+PKG = 'px4'
+
+import unittest
+import rospy
+import math
+import rosbag
+import sys
+import os
+
+import mavros
+from pymavlink import mavutil
+from mavros import mavlink
+
+from geometry_msgs.msg import PoseStamped
+from mavros_msgs.srv import CommandLong, WaypointPush
+from mavros_msgs.msg import Mavlink, Waypoint, ExtendedState
+from sensor_msgs.msg import NavSatFix
+from mavros.mission import QGroundControlWP
+#from px4_test_helper import PX4TestHelper
+
+class MavrosMissionTest(unittest.TestCase):
+    """
+    Run a mission
+    """
+
+    def setUp(self):
+        rospy.init_node('test_node', anonymous=True)
+
+        self.rate = rospy.Rate(10) # 10hz
+        self.has_global_pos = False
+        self.local_position = PoseStamped()
+        self.global_position = NavSatFix()
+        self.extended_state = ExtendedState()
+        self.home_alt = 0
+        self.mc_rad = 5
+        self.fw_rad = 60
+        self.fw_alt_rad = 10
+        self.last_alt_d = 9999
+        self.last_pos_d = 9999
+        self.mission_name = ""
+
+        # need to simulate heartbeat for datalink loss detection
+        rospy.Timer(rospy.Duration(0.5), self.send_heartbeat)
+
+        rospy.wait_for_service('mavros/cmd/command', 30)
+        self.pub_mavlink = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
+        self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
+        self._srv_wp_push = rospy.ServiceProxy('mavros/mission/push', WaypointPush, persistent=True)
+
+        rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
+        rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
+        rospy.Subscriber("mavros/extended_state", ExtendedState, self.extended_state_callback)
+
+    def tearDown(self):
+        #self.helper.tearDown()
+        pass
+
+    #
+    # General callback functions used in tests
+    #
+    def position_callback(self, data):
+        self.local_position = data
+
+    def global_position_callback(self, data):
+        self.global_position = data
+
+        if not self.has_global_pos:
+            self.home_alt = data.altitude
+            self.has_global_pos = True
+
+    def extended_state_callback(self, data):
+        self.extended_state = data
+
+    #
+    # Helper methods
+    #
+    def is_at_position(self, lat, lon, alt, xy_offset, z_offset):
+        R = 6371000 # metres
+        rlat1 = math.radians(lat)
+        rlat2 = math.radians(self.global_position.latitude)
+
+        rlat_d = math.radians(self.global_position.latitude - lat)
+        rlon_d = math.radians(self.global_position.longitude - lon)
+
+        a = (math.sin(rlat_d / 2) * math.sin(rlat_d / 2) +
+             math.cos(rlat1) * math.cos(rlat2) *
+             math.sin(rlon_d / 2) * math.sin(rlon_d / 2))
+        c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a))
+
+        d = R * c
+        alt_d = abs(alt - self.global_position.altitude)
+
+        #rospy.loginfo("d: %f, alt_d: %f", d, alt_d)
+
+        # remember best distances
+        if self.last_pos_d > d:
+            self.last_pos_d = d
+        if self.last_alt_d > alt_d:
+            self.last_alt_d = alt_d
+
+        return d < xy_offset and alt_d < z_offset
+
+    def reach_position(self, lat, lon, alt, timeout, index):
+        # reset best distances
+        self.last_alt_d = 9999
+        self.last_pos_d = 9999
+
+        rospy.loginfo("trying to reach waypoint " +
+            "lat: %f, lon: %f, alt: %f, timeout: %d, index: %d" %
+            (lat, lon, alt, timeout, index))
+
+        # does it reach the position in X seconds?
+        count = 0
+        while count < timeout:
+            # use MC radius by default
+            # FIXME: also check MAV_TYPE from system status, otherwise pure fixed-wing won't work
+            xy_radius = self.mc_rad
+            z_radius = self.mc_rad
+
+            # use FW radius if in FW or in transition
+            if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW or
+                    self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_MC or
+                    self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_FW):
+                xy_radius = self.fw_rad
+                z_radius = self.fw_alt_rad
+
+            if self.is_at_position(lat, lon, alt, xy_radius, z_radius):
+                rospy.loginfo("position reached, index: %d, count: %d, pos_d: %f, alt_d: %f" %
+                    (index, count, self.last_pos_d, self.last_alt_d))
+                break
+
+            count = count + 1
+            self.rate.sleep()
+
+        self.assertTrue(count < timeout, (("(%s) took too long to get to position " +
+            "lat: %f, lon: %f, alt: %f, xy off: %f, z off: %f, timeout: %d, index: %d, pos_d: %f, alt_d: %f") %
+            (self.mission_name, lat, lon, alt, xy_radius, z_radius, timeout, index, self.last_pos_d, self.last_alt_d)))
+
+    def run_mission(self):
+        """switch mode: armed | auto"""
+        self._srv_cmd_long(False, 176, False,
+                           # arm | custom, auto, mission
+                           128 | 1, 4, 4, 0, 0, 0, 0)
+
+    def wait_until_ready(self):
+        """FIXME: hack to wait for simulation to be ready"""
+        while not self.has_global_pos:
+            self.rate.sleep()
+
+    def wait_on_landing(self, timeout, index):
+        """Wait for landed state"""
+
+        rospy.loginfo("waiting for landing " +
+            "timeout: %d, index: %d" %
+            (timeout, index))
+
+        count = 0
+        while count < timeout:
+            if self.extended_state.landed_state == ExtendedState.LANDED_STATE_ON_GROUND:
+                break
+
+            count = count + 1
+            self.rate.sleep()
+
+        self.assertTrue(count < timeout, ("(%s) landing not detected after landing WP " +
+            "timeout: %d, index: %d") %
+            (self.mission_name, timeout, index))
+
+    def wait_on_transition(self, transition, timeout, index):
+        """Wait for VTOL transition"""
+
+        rospy.loginfo("waiting for VTOL transition " +
+            "transition: %d, timeout: %d, index: %d" %
+            (transition, timeout, index))
+
+        count = 0
+        while count < timeout:
+            # transition to MC
+            if (transition == ExtendedState.VTOL_STATE_MC and
+                    self.extended_state.vtol_state == ExtendedState.VTOL_STATE_MC):
+                break
+
+            # transition to FW
+            if (transition == ExtendedState.VTOL_STATE_FW and
+                    self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW):
+                break
+
+            count = count + 1
+            self.rate.sleep()
+
+        self.assertTrue(count < timeout, ("(%s) transition not detected " +
+            "timeout: %d, index: %d") %
+            (self.mission_name, timeout, index))
+
+    def send_heartbeat(self, event=None):
+        # mav type gcs
+        mavmsg = mavutil.mavlink.MAVLink_heartbeat_message(6, 0, 0, 0, 0, 0)
+        # XXX: hack: using header object to set mav properties
+        mavmsg.pack(mavutil.mavlink.MAVLink_header(0, 0, 0, 2, 1))
+        rosmsg = mavlink.convert_to_rosmsg(mavmsg)
+        self.pub_mavlink.publish(rosmsg)
+
+    def test_mission(self):
+        """Test mission"""
+
+        if len(sys.argv) < 2:
+            self.fail("usage: mission_test.py mission_file")
+            return
+
+        self.mission_name = sys.argv[1]
+        mission_file = os.path.dirname(os.path.realpath(__file__)) + "/" + sys.argv[1]
+
+        rospy.loginfo("reading mission %s", mission_file)
+        mission = QGroundControlWP()
+        wps = []
+        for waypoint in mission.read(open(mission_file, 'r')):
+            wps.append(waypoint)
+            rospy.logdebug(waypoint)
+
+        rospy.loginfo("wait until ready")
+        self.wait_until_ready()
+
+        rospy.loginfo("send mission")
+        res = self._srv_wp_push(wps)
+        rospy.loginfo(res)
+        self.assertTrue(res.success, "(%s) mission could not be transfered" % self.mission_name)
+
+        rospy.loginfo("run mission")
+        self.run_mission()
+
+        index = 0
+        for waypoint in wps:
+            # only check position for waypoints where this makes sense
+            if waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT or waypoint.frame == Waypoint.FRAME_GLOBAL:
+                alt = waypoint.z_alt
+                if waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT:
+                    alt += self.home_alt
+                self.reach_position(waypoint.x_lat, waypoint.y_long, alt, 600, index)
+
+            # check if VTOL transition happens if applicable
+            if waypoint.command == 84 or waypoint.command == 85 or waypoint.command == 3000:
+                transition = waypoint.param1
+
+                if waypoint.command == 84: # VTOL takeoff implies transition to FW
+                    transition = ExtendedState.VTOL_STATE_FW
+
+                if waypoint.command == 85: # VTOL takeoff implies transition to MC
+                    transition = ExtendedState.VTOL_STATE_MC
+
+                self.wait_on_transition(transition, 600, index)
+
+            # after reaching position, wait for landing detection if applicable
+            if waypoint.command == 85 or waypoint.command == 21:
+                self.wait_on_landing(600, index)
+
+            index += 1
+
+
+if __name__ == '__main__':
+    import rostest
+    name = "mavros_mission_test"
+    if len(sys.argv) > 1:
+        name += "-%s" % sys.argv[1]
+    rostest.rosrun(PKG, name, MavrosMissionTest)
@@ -0,0 +1,4 @@
+# New style transitions, takeoff not at home
+QGC WPL 110
+0	1	3	84	15.0	0	0	0	47.397731862593744	8.543269295853861	12.0	1
+1	0	3	85	0.0	0.0	-0.0	0.0	47.3990753922183	8.5432371088360526	0.0	1
@@ -0,0 +1,5 @@
+# New style transitions, takeoff at home
+QGC WPL 110
+0	1	3	84	15.0	0	0	0	47.397746387399621	8.5455920888607579	12.0	1
+1	0	3	16	0.0	0.0	0.0	0.0	47.399093548895856	8.5455438069836305	12.0	1
+2	0	3	85	0.0	0.0	-0.0	0.0	47.39903545	8.5432263800000001	0.0	1
@@ -0,0 +1,8 @@
+# Old style transitions, takeoff and landing WPs away from home and last WP
+QGC WPL 110
+0	1	3	22	15.0	0	0	0	47.398046406687619	8.5458366721115908	12.0	1
+1	0	2	3000	4	0.0	0.0	0.0	47.398033142089844	8.5457897186279297	12.0	1
+2	0	3	16	0	0.0	0.0	0.0	47.399269104003906	8.5455722808837891	12.0	1
+3	0	3	16	0	0.0	0.0	0.0	47.399281145681528	8.547910568913295	12.0	1
+4	0	2	3000	3	0.0	0.0	0.0	47.397785186767578	8.545262336730957	12.0	1
+5	0	3	21	25.0	0.0	0.0	0.0	47.398884865088675	8.547918116539563	12.0	1
@@ -0,0 +1,8 @@
+# Old style transitions, takeoff WP at home location, landing WP at last WP location
+QGC WPL 110
+0	1	3	22	15.0	0	0	0	47.397740722711738	8.5455944102696719	12.0	1
+1	0	2	3000	4	0.0	0.0	0.0	47.397732380000001	8.5458224099999995	12.0	1
+2	0	3	16	0	0.0	0.0	0.0	47.397749067235559	8.5429755110031351	12.0	1
+3	0	3	16	0	0.0	0.0	0.0	47.399213119631852	8.5430124879018479	12.0	1
+4	0	2	3000	3	0.0	0.0	0.0	47.399158900000003	8.5429077299999996	12.0	1
+5	0	3	21	25.0	0.0	0.0	0.0	47.399211883544922	8.5430123448444419	12.0	1
@@ -0,0 +1,5 @@
+# Old style transitions, takeoff with normal WP
+QGC WPL 110
+0	1	3	16	15.0	0	0	0	47.398157669127094	8.5460336317115377	12.0	1
+1	0	2	3000	4	0.0	0.0	0.0	47.398033142089844	8.5457897186279297	12.0	1
+2	0	3	16	0	0.0	0.0	0.0	47.399269104003906	8.5455722808837891	12.0	1
@@ -25,7 +25,16 @@ TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
 # EXPORT_CHARTS=/sitl/testing/export_charts.py

 # source ROS env
-source /opt/ros/indigo/setup.bash
+if [ -f /opt/ros/indigo/setup.bash ]
+then
+	source /opt/ros/indigo/setup.bash
+elif [ -f /opt/ros/kinetic/setup.bash ]
+then
+	source /opt/ros/kinetic/setup.bash
+else
+	echo "could not find /opt/ros/{ros-distro}/setup.bash"
+	exit 1
+fi
 source $SRC_DIR/integrationtests/setup_gazebo_ros.bash $SRC_DIR

 echo "deleting previous test results ($TEST_RESULT_TARGET_DIR)"
@@ -50,6 +59,7 @@ echo "<====="
 set +e
 echo "=====> run tests"
 rostest px4 mavros_posix_tests_iris.launch
+rostest px4 mavros_posix_tests_standard_vtol.launch
 TEST_RESULT=$?
 echo "<====="

@@ -18,6 +18,7 @@

    <include file="$(find px4)/launch/mavros.launch">
        <arg name="ns" value="$(arg ns)"/>
+        <arg name="gcs_url" value=""/> <!-- GCS link is provided by SITL -->
        <arg name="fcu_url" value="$(arg fcu_url)"/>
    </include>
 </launch>
@@ -0,0 +1,22 @@
+<launch>
+    <!-- Posix SITL MAVROS integration tests -->
+
+    <arg name="ns" default="/"/>
+    <arg name="headless" default="true"/>
+    <arg name="gui" default="false"/>
+
+    <include file="$(find px4)/launch/mavros_posix_sitl.launch">
+        <arg name="ns" value="$(arg ns)"/>
+        <arg name="headless" value="$(arg headless)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="world" value="standard_vtol"/>
+    </include>
+
+    <group ns="$(arg ns)">
+        <test test-name="mission_test_new_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_1.txt" />
+        <test test-name="mission_test_new_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_new_2.txt" />
+        <test test-name="mission_test_old_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_1.txt" />
+        <test test-name="mission_test_old_2" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_2.txt" />
+        <test test-name="mission_test_old_3" pkg="px4" type="mission_test.py" time-limit="300.0" args="vtol_old_3.txt" />
+    </group>
+</launch>
--- a/Show More
+++ b/Show More