remove "transitional support" (#5378 )

df wrappers: add drv_hrt.h include
px4_log.h: move px4_log_initialize() out of #ifdef
2026-06-19 13:50:35 +08:00 · 2016-08-24 23:05:39 +02:00 · 2016-08-24 21:30:50 +02:00 · 2016-08-24 21:24:35 +02:00 · 2016-08-24 21:24:35 +02:00 · 2016-08-24 21:24:35 +02:00
503 changed files with 25450 additions and 9217 deletions
@@ -64,7 +64,6 @@ CMakeLists.txt.user
 GPATH
 GRTAGS
 GTAGS
-*.config
 *.creator
 *.creator.user
 *.files
@@ -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
@@ -63,7 +63,7 @@ script:
  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
      docker run --rm -v `pwd`:`pwd`:rw -v $HOME/.ccache:$HOME/.ccache:rw -e CCACHE_DIR=$HOME/.ccache -e GIT_SUBMODULES_ARE_EVIL=1 -w=`pwd` --user=$UID -it ${DOCKER_REPO} /bin/bash -c "make check_qgc_firmware VECTORCONTROL=1";
    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-      make check_posix_sitl_default;
+      make tests; 
    fi
  - ccache -s

@@ -121,6 +121,9 @@
 # and leads to wrong toolchain detection
 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

+set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
+
 # Use clang
 #SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
 #SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
@@ -132,7 +135,7 @@ 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 ${configs})
 set(THREADS "4" CACHE STRING
@@ -152,12 +155,19 @@ set(target_name "${OS}-${BOARD}-${LABEL}")

 message(STATUS "${target_name}")

-# switch to ros CMake file if building ros
-if (${OS} STREQUAL "ros")
-	include("cmake/ros-CMakeLists.txt")
-else()  # otherwise use the rest of this file
+# Define GNU standard installation directories
+include(GNUInstallDirs)

-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
+# Setup install paths
+if(NOT CMAKE_INSTALL_PREFIX)
+	if (${OS} STREQUAL "posix")
+		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
+	endif()
+endif()
+message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
+
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
+message(STATUS "cmake module path: ${CMAKE_MODULE_PATH}")
 set(config_module "configs/${CONFIG}")
 include(${config_module})

@@ -202,7 +212,7 @@ 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")
@@ -217,6 +227,11 @@ find_package(PythonInterp REQUIRED)
 #
 enable_testing()

+#=============================================================================
+# generate compile command database
+#
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 #=============================================================================
 # check required toolchain variables
 #
@@ -235,7 +250,7 @@ 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")
@@ -246,7 +261,7 @@ px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")

 add_custom_target(submodule_clean
-	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	COMMAND git submodule deinit -f .
 	COMMAND rm -rf .git/modules/*
 	)
@@ -256,12 +271,12 @@ add_custom_target(submodule_clean
 #
 add_custom_target(check_format
 	COMMAND Tools/check_code_style.sh
-	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)

 add_custom_target(config
 	COMMAND cmake-gui .
-	WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	)

 #=============================================================================
@@ -310,7 +325,7 @@ add_custom_target(xml_gen
 # external projects
 #

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

 # add external project install folders to build
@@ -339,7 +354,7 @@ foreach(module ${config_module_list})
 	if(external_module)
 		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
 		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
-		add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
+		add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
 	else()
 		add_subdirectory(src/${module})
 	endif()
@@ -364,19 +379,34 @@ endif()
 #=============================================================================
 # generate git version
 #
-px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
+px4_create_git_hash_header(HEADER ${PX4_BINARY_DIR}/build_git_version.h)

 #=============================================================================
 # packaging
 #
 # 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
-
 # vim: set noet fenc=utf-8 ff=unix ft=cmake :
@@ -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": 65,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ASCv1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ASCv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,12 @@
+{
+    "board_id": 64,
+    "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
+}
@@ -42,7 +42,7 @@ endif
 CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?)
 ifneq ($(CMAKE_VER),0)
    $(warning Not a valid CMake version or CMake not installed.)
-    $(warning On Ubuntu, install or upgrade via:)
+    $(warning On Ubuntu 16.04, install or upgrade via:)
    $(warning )
    $(warning 3rd party PPA:)
    $(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
@@ -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 +144,18 @@ endef
 # --------------------------------------------------------------------
 #  Do not put any spaces between function arguments.

+tap-v1_default:
+	$(call cmake-build,nuttx_tap-v1_default)
+
+asc-v1_default:
+	$(call cmake-build,nuttx_asc-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)

@@ -152,19 +165,13 @@ px4fmu-v4_default:
 px4-stm32f4discovery_default:
 	$(call cmake-build,nuttx_px4-stm32f4discovery_default)

-px4fmu-v2_ekf2:
-	$(call cmake-build,nuttx_px4fmu-v2_ekf2)
-
 mindpx-v2_default:
 	$(call cmake-build,nuttx_mindpx-v2_default)

 posix_sitl_default:
 	$(call cmake-build,$@)
-	
-posix_sitl_lpe:
-	$(call cmake-build,$@)

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

 posix_sitl_replay:
@@ -189,10 +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:
 	$(call cmake-build,$@)
@@ -202,18 +209,15 @@ 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:
 	$(call cmake-build,$@)

-posix_navio2_release:
-	$(call cmake-build,$@)
-
 posix: posix_sitl_default

 broadcast: posix_sitl_broadcast
@@ -229,12 +233,12 @@ run_sitl_ros: sitl_deprecation
 # Other targets
 # --------------------------------------------------------------------

-.PHONY: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
-.NOTPARALLEL: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+.PHONY: gazebo_build uavcan_firmware check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+.NOTPARALLEL: gazebo_build uavcan_firmware check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean

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

@@ -247,8 +251,9 @@ endif
 checks_defaults: \
 	check_px4fmu-v1_default \
 	check_px4fmu-v2_default \
+	check_px4fmu-v4_default \
 	check_mindpx-v2_default \
-	check_px4-stm32f4discovery_default \
+	check_tap-v1_default

 checks_bootloaders: \

@@ -257,26 +262,32 @@ checks_tests: \
 	check_px4fmu-v2_test

 checks_alts: \
-	check_px4fmu-v2_ekf2 \
+	check_asc-v1_default \
+	check_px4-stm32f4discovery_default

 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_posix_sitl_default check_tests check_format

 check_format:
 	$(call colorecho,"Checking formatting with astyle")
 	@./Tools/fix_code_style.sh
 	@./Tools/check_code_style_all.sh

+format:
+	$(call colorecho,"Formatting with astyle")
+	@./Tools/fix_code_style.sh
+	@./Tools/check_code_style_all.sh --fix
+
 check_%:
 	@echo
 	$(call colorecho,"Building" $(subst check_,,$@))
@@ -292,28 +303,31 @@ 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_tap-v1_default \
 	check_px4fmu-v4_default_and_uavcan \
 	check_format

 extra_firmware: \
 	check_px4-stm32f4discovery_default \
-	check_px4fmu-v2_test \
-	check_px4fmu-v2_ekf2
+	check_px4fmu-v2_test

 package_firmware:
 	@zip --junk-paths Firmware.zip `find . -name \*.px4`
@@ -331,7 +345,7 @@ 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
@@ -0,0 +1,47 @@
+#!nsh
+#
+# @name Koptr Image GreenKoptr	
+#
+# @type VTOL Tiltrotor
+#
+# @maintainer Alexandre Gilbert <alexandre.gilbert@koptrimage.com>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 7.50
+	param set MC_ROLLRATE_P 0.180
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.0
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.140
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.0040
+	param set MC_PITCHRATE_FF 0.0
+	param set MC_YAW_P 3.8
+	param set MC_YAW_FF 0.5
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
+
+	param set VT_TILT_MC 0.08
+	param set VT_TILT_TRANS 0.5
+	param set VT_TILT_FW 0.9
+
+	param set VT_MOT_COUNT 6
+	param set VT_FW_MOT_OFFID 34
+	param set VT_IDLE_PWM_MC 1080
+	param set VT_TYPE 1
+fi
+
+set MIXER greenkoptr
+set PWM_OUT 12345678
+set PWM_RATE 400
+
+set MIXER_AUX greenkoptr
+
+set MAV_TYPE 21
@@ -0,0 +1,50 @@
+#!nsh
+#
+# @name Blade 130X
+#
+# @type Helicopter
+#
+# @maintainer Bart Slinger <bartslinger@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+# Configure as helicopter (number 4 defined in commander_helper.cpp)
+set MAV_TYPE 4
+
+set MIXER heli_120deg
+
+set PWM_OUT 1234
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 5.0
+	param set MC_ROLLRATE_P 0.0
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.0
+	param set MC_ROLLRATE_FF 0.15
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.0
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.0
+	param set MC_PITCHRATE_FF 0.15
+	param set MC_YAW_P 3.0
+	param set MC_YAWRATE_P 0.1
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.0
+	param set MC_ROLLRATE_MAX 720.0
+	param set MC_PITCHRATE_MAX 720.0
+	param set MC_YAWRATE_MAX 400.0
+	param set MC_ACRO_R_MAX 360.0
+	param set MC_ACRO_P_MAX 360.0
+
+	param set PWM_MIN 1075
+
+	param set MPC_THR_MIN 0.06
+	param set MPC_MANTHR_MIN 0.06
+
+	param set ATT_BIAS_MAX 0.0
+
+	param set CBRK_IO_SAFETY 22027
+fi
@@ -33,4 +33,6 @@ then
 	param set MPC_MANTHR_MIN 0.06
 	param set CBRK_IO_SAFETY 22027
 	param set ATT_BIAS_MAX 0.0
+	param set MC_TPA_BREAK 0.5
+ 	param set MC_TPA_SLOPE 1.0
 fi
@@ -20,9 +20,9 @@ then
 	param set MC_ROLLRATE_I 0.1
 	param set MC_ROLLRATE_D 0.0055
 	param set MC_PITCH_P 8.0
-	param set MC_PITCHRATE_P 0.24
+	param set MC_PITCHRATE_P 0.19
 	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.0065
+	param set MC_PITCHRATE_D 0.0055
 	param set MC_YAW_P 4.0
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
@@ -33,6 +33,9 @@ then
 	param set MC_YAWRATE_MAX 400.0
 	param set MC_ACRO_R_MAX 360.0
 	param set MC_ACRO_P_MAX 360.0
+	param set MC_TPA_BREAK 0.5
+	param set MC_TPA_SLOPE 1.0
+	

 	param set PWM_MIN 1075

@@ -4,7 +4,7 @@
 # att & pos estimator, rover steering control
 #

-ekf_att_pos_estimator start
+ekf2 start

 # disabled the start of steering control app due to use of offboard mode only
 # rover_steering_control start
@@ -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
@@ -34,15 +34,6 @@ 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
@@ -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
@@ -45,6 +56,11 @@ then
 	then
 	fi

+	# Internal SPI bus ICM-20608-G
+	if mpu6000 -T 20608 start
+	then
+	fi
+
 	# external MPU6K is rotated 180 degrees yaw
 	if mpu6000 -X -R 4 start
 	then
@@ -84,6 +100,10 @@ then
 		then
 		fi

+		if mpu9250 start
+		then
+		fi
+
 		if l3gd20 start
 		then
 		fi
@@ -190,7 +210,7 @@ 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
@@ -34,15 +34,6 @@ 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
@@ -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

 	#
@@ -298,22 +308,6 @@ then
 		set FMU_MODE gpio_serial
 	fi

-	if param greater TRIG_MODE 0
-	then
-		if [ $PWM_OUT == 1234 ]
-		then
-			if ver hwcmp PX4FMU_V4
-			then
-				set FMU_MODE pwm4
-			fi
-
-			if ver hwcmp PX4FMU_V2
-			then
-				set FMU_MODE pwm4
-			fi
-		fi
-	fi
-
 	if [ $HIL == yes ]
 	then
 		set OUTPUT_MODE hil
@@ -546,13 +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
@@ -599,6 +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
@@ -654,7 +654,7 @@ then
 				then
 				fi
 			else
-				if logger start -b 12
+				if logger start -b 12 -t
 				then
 				fi
 			fi
@@ -0,0 +1,20 @@
+# mixer for the GreenKoptr tilt mechansim servo, elevons and landing gear
+=======================================================================
+
+Tilt mechanism servo mixer
+---------------------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
+
+Elevon mixers
+-------------
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  -7500  -7500      0 -10000  10000
+S: 1 1   8000   8000      0 -10000  10000
+
+M: 2
+O:       10000   10000    0 -10000  10000
+S: 1 0   -7500   -7500    0 -10000  10000
+S: 1 1   -8000   -8000    0 -10000  10000
@@ -0,0 +1,4 @@
+# GreenKoptr mixer for PX4FMU
+#
+#===========================
+R: 6t 10000 10000 10000 0
@@ -0,0 +1,54 @@
+Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
+Blade 130x helicopter has longer servo arms left and right. The front servo arm is shorter.
+Therefore it is not required to use the 0.866 factor.
+==================================================
+
+Output 0 - Left Servo Mixer
+-----------------
+Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + Aileron (Roll - 0)
+
+M: 3
+O:       10000   10000      0 -10000  10000
+S: 3 5   10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+S: 0 0   10000   10000      0 -10000  10000
+
+
+Output 1 - Front Servo Mixer
+----------------
+
+Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000
+S: 0 1  10000  10000      0 -10000  10000
+
+
+Output 2 - Right Servo Mixer
+----------------
+Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - Aileron (Roll - 0)
+
+M: 3
+O:       10000   10000      0 -10000  10000
+S: 3 5   10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+S: 0 0  -10000  -10000      0 -10000  10000
+
+
+Output 3 - Tail Servo Mixer
+----------------
+Tail Servo = Yaw (control index = 2)
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+
+Output 4 - Motor speed mixer
+-----------------
+This would be the motor speed control output from governor power demand- not sure what index to use here?
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
@@ -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 +1,21 @@
+#!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
+if tap_esc start -d /dev/ttyS4 -n 4
+then
+fi
+set OUTPUT_MODE tap_esc
+param set BAT_N_CELLS 4
+
+set MIXER quad_x
@@ -0,0 +1,25 @@
+#!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
+
+param set MAV_TYPE 13
+param set MC_YAWRATE_P 0.12
+param set CAL_MAG0_ROT 6
+
+if tap_esc start -d /dev/ttyS4 -n 6
+then
+fi
+set OUTPUT_MODE tap_esc
+
+set MIXER hexa_x
@@ -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 == tap_esc ]
+	then
+		set OUTPUT_DEV /dev/tap_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 +1,38 @@
+#!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 PWM_DISARMED 900
+	param set PWM_MIN 1075
+	param set PWM_MAX 1950
+fi
+
+param set NAV_ACC_RAD 2.0
+param set MIS_TAKEOFF_ALT 2.5
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+param set RTL_LAND_DELAY 0
+param set MPC_THR_MIN 0.10
+param set MPC_MANTHR_MIN 0.04
+
+# 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
@@ -0,0 +1,28 @@
+#!nsh
+#
+# Standard startup script for TAP v1 onboard sensor drivers.
+#
+
+if adc start
+then
+fi
+
+if ms5611 -T 5607 -I start
+then
+fi
+
+# External I2C bus
+if hmc5883 -C -T -X start
+then
+fi
+
+# Internal I2C bus
+if mpu6000 -I -T 6000 start
+then
+fi
+
+# Wait 50 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
+usleep 50000
+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 +1,347 @@
+#!nsh
+#
+# TAP startup script.
+#
+#  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+
+# Serial map:
+# /dev/ttyS0: GPS
+# /dev/ttyS1: GB
+# /dev/ttyS2: nsh shell / console
+# /dev/ttyS3: payload
+# /dev/ttyS4: esc bus
+# /dev/ttyS5: RC input
+
+#
+# Start CDC/ACM serial driver
+#
+sercon
+
+set TUNE_ERR ML<<CP4CP4CP4CP4CP4
+set LOG_FILE /fs/microsd/bootlog.txt
+
+#
+# Try to mount the microSD card.
+#
+if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+	echo "microSD present"
+else
+	if mkfatfs /dev/mmcsd0
+	then
+		if mount -t vfat /dev/mmcsd0 /fs/microsd
+		then
+			echo "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
+
+#
+# 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
+
+tone_alarm start
+
+#
+# Start system state indicator
+#
+if rgbled start
+then
+fi
+
+#
+# Set parameters and env variables for selected AUTOSTART
+#
+if param compare SYS_AUTOSTART 0
+then
+	param set SYS_AUTOSTART 6001
+	param set SYS_AUTOCONFIG 1
+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 MAV_TYPE none
+set FAILSAFE none
+
+# Start canned airframe config
+sh /etc/init.d/rc.autostart
+
+#
+# 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 MAVLink on the gimbal port
+#mavlink start -r 1200 -d /dev/ttyS1
+
+# Start MAVLink on USB, developers can use the MAVLink shell
+mavlink start -r 60000 -d /dev/ttyACM0 -m config
+
+#
+# Logging
+#
+#if logger start -b 2 -t
+#then
+#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 RC input driver
+#
+if fmu mode_rcin
+then
+fi
+
+#
+# Start the navigator
+#
+if navigator start
+then
+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
@@ -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
@@ -16,8 +16,14 @@ then
 		echo

 		rm -f $file.pretty
-		echo $file 'bad formatting, please run "./Tools/fix_code_style.sh' $file'"'
-		exit 1
+
+		if [[ $PX4_ASTYLE_FIX -eq 1 ]]
+		then
+			${DIR}/fix_code_style.sh $file
+		else
+			echo $file 'bad formatting, please run "./Tools/fix_code_style.sh' $file'"'
+			exit 1
+		fi
 	fi
 fi

@@ -1,45 +1,28 @@
 #!/usr/bin/env bash
 set -eu
-failed=0
+
+if [[ "$@" == "--fix" ]]
+then
+    export PX4_ASTYLE_FIX=1
+fi

 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

-find \
-    src/drivers \
-    src/examples \
-    src/firmware \
-    src/include \
-    src/lib/controllib \
-    src/lib/conversion \
-    src/lib/geo \
-    src/lib/geo_lookup \
-    src/lib/launchdetection \
-    src/lib/rc \
-    src/lib/tailsitter_recovery \
-    src/lib/terrain_estimation \
-    src/lib/version \
-    src/modules/attitude_estimator_q \
-    src/modules/bottle_drop \
-    src/modules/controllib_test \
-    src/modules/dataman \
-    src/modules/fw_att_control \
-    src/modules/gpio_led \
-    src/modules/land_detector \
-    src/modules/local_position_estimator \
-    src/modules/logger \
-    src/modules/mavlink/mavlink_tests \
-    src/modules/muorb \
-    src/modules/param \
-    src/modules/px4iofirmware \
-    src/modules/segway \
-    src/modules/sensors \
-    src/modules/simulator \
-    src/modules/systemlib \
-    src/modules/unit_test \
-    src/modules/uORB \
-    src/modules/vtol_att_control \
-    src/platforms \
-    src/systemcmds \
+find src \
+    -path src/lib/DriverFramework -prune -o \
+    -path src/lib/ecl -prune -o \
+    -path src/lib/external_lgpl -prune -o \
+    -path src/lib/mathlib -prune -o \
+    -path src/lib/matrix -prune -o \
+    -path src/modules/attitude_estimator_ekf -prune -o \
+    -path src/modules/commander -prune -o \
+    -path src/examples/ekf_att_pos_estimator -prune -o \
+    -path src/modules/mavlink -prune -o \
+    -path src/examples/attitude_estimator_ekf -prune -o \
+    -path src/modules/navigator -prune -o \
+    -path src/modules/sdlog2 -prune -o \
+    -path src/modules/uavcan -prune -o \
+    -path src/modules/uavcan/libuavcan -prune -o \
    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) \
    -not -name '*generated.h' \
    -not -name '*uthash.h' \
@@ -0,0 +1,54 @@
+#!/bin/bash
+
+while getopts "b:t:" opt; do
+  case "${opt}" in
+    b)
+      builddir=$OPTARG
+      ;;
+    t)
+      tool=$OPTARG
+      ;;
+  esac
+done
+
+echo "builddir = ${builddir}, tool = ${tool}"
+
+case "${builddir}" in
+  "build_posix_rpi_cross")
+    CXX_INC=$(cd ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/arm-linux-gnueabihf/include/c++/*; pwd)
+    EXTRA_ARG1=-I${CXX_INC}
+    EXTRA_ARG2=-I${CXX_INC}/arm-linux-gnueabihf
+    EXTRA_ARG3=-I${CXX_INC}/backward
+    extra_args="--extra-arg=-I${CXX_INC} --extra-arg=-I${CXX_INC}/arm-linux-gnueabihf --extra-arg=-I${CXX_INC}/backward"
+    ;;
+  "build_posix_sitl_default")
+    ;;
+  *)
+    echo "unknown build dir: ${builddir}"
+    ;;
+esac
+
+COMPILE_DB=$(/bin/pwd)/${builddir}
+if [[ ! -f ${COMPILE_DB}/compile_commands.json ]]; then
+  echo "compile_commands.json not found in ${COMPILE_DB}"
+  exit 1
+fi
+
+case "${tool}" in
+  "clang-check")
+    command=clang-check;
+    option=-analyze;
+    ;;
+  "clang-tidy")
+    command=clang-tidy
+    ;;
+esac
+
+grep file ${COMPILE_DB}/compile_commands.json |
+awk '{ print $2; }' |
+sed 's/\"//g' |
+while read FILE; do
+    (cd $(dirname ${FILE});
+    ${command} ${option} -p ${COMPILE_DB} ${extra_args} $(basename ${FILE})
+    );
+  done
@@ -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)

@@ -8,6 +8,22 @@ 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 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. Can generate a KML file to view where the photos were taken in Google Earth (including height).
+
+```sh
+python geo_tag_images.py --logfile=mylog.bin --input=images/ --output=tagged/ --kml -v
+
+python geo_tag_images.py -l=mylog.bin -i=images/ -o=tagged/ --kml -v
+```
+
+geotagging.py: Use this script to geotag a set of images. It uses the CAM trigger data from the log file for image association.
+	
+```sh
+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 +1,404 @@
+#!/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 hector@azpurua.com
+#   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 subprocess import check_output
+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.kml = args['kml']
+        self.verbose = args['verbose']
+        self.offset = args['offset']
+        self.time_tresh = args['treshold']
+
+        self.tdiff_list = []
+        self.non_processed_files = []
+        self.tagged_gps = []
+
+        print '[INFO] Loading logs and images locations...'
+
+        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.kml and len(self.tdiff_list) > 0:
+            self.gen_kml()
+
+        if len(self.non_processed_files) > 0:
+            print '[WARNING] Some images werent processed (', len(self.non_processed_files), 'of', len(self.img_list), '):'
+            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_kml(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('absolute'),
+                            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('absolute'),
+                    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:
+        """
+        dlist_len = len(datetime_list)
+
+        i = bisect.bisect_left(datetime_list, elem)
+
+        # Cleanup of the indices 
+        if i < 0: 
+            i = 0 
+        elif i >= dlist_len:
+            i = dlist_len - 1 
+
+        date = datetime_list[i]
+        diff = abs((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:
+        """
+        gps_list = []
+        out = check_output(["python", "sdlog2_dump.py", log_file, "-m GPS", "-v"])
+
+        for line in out.splitlines():
+            if not line.startswith("MSG GPS:"):
+                continue
+
+            vdict = {}
+            pairs = re.split(r'[;,:]\s*', line)
+            for pair in pairs:
+                e = pair.split('=')
+                if len(e) == 2:
+                    vdict[e[0]] = float(e[1])
+
+            gps_time = vdict['TimeMS']
+            gps_week = vdict['Week']
+            gps_lat = vdict['Lat']
+            gps_lon = vdict['Lng']
+            gps_alt = vdict['Alt']
+
+            date = self.gps_week_seconds_to_datetime(gps_week, gps_time, leapmillis=offset)
+            gps_list.append(GpsPosition(date, gps_lat, gps_lon, gps_alt))
+
+        return gps_list
+
+    def get_image_creation_date(self, filename):
+        exiv_image = pyexiv2.ImageMetadata(filename)
+        exiv_image.read()
+
+        # Prefer DateTime/Original over the other values
+        if 'Exif.Photo.DateTimeOriginal' in exiv_image:
+            cdate = exiv_image['Exif.Photo.DateTimeOriginal'].value
+            return cdate
+        elif 'Exif.Image.DateTime' in exiv_image:
+            cdate = exiv_image['Exif.Image.DateTime'].value
+            return cdate
+        else:
+            epoch = os.path.getmtime(filename)
+            return datetime.datetime.fromtimestamp(epoch)
+
+    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
+        print '[INFO] Number of gps logs:', len(self.gps_list)
+
+        dt_list = [x.timestamp for x in self.gps_list]
+
+        img_seq = 1
+
+        for i in xrange(img_size):
+            cdate = self.get_image_creation_date(self.img_list[i])
+            gps_i, img_tdiff = self.get_closest_datetime_index(dt_list, cdate)
+            base_path, filename = os.path.split(self.img_list[i])
+
+            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
+
+            output_filename = self.output + str(img_seq) + '_' + filename
+            copyfile(self.img_list[i], output_filename)
+            self.set_gps_location(output_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(
+            '-kml', '--kml', 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 ../

@@ -43,8 +43,8 @@ fi
 # kill process names that might stil
 # be running from last time
 pkill gazebo
-pkill mainapp
-jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
+pkill px4
+jmavsim_pid=`ps aux | grep java | grep Simulator | cut -d" " -f1`
 if [ -n "$jmavsim_pid" ]
 then
 	kill $jmavsim_pid
@@ -117,18 +117,18 @@ set +e
 # Start Java simulator
 if [ "$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
@@ -136,14 +136,14 @@ function(px4_add_git_submodule)
 		REQUIRED TARGET PATH
 		ARGN ${ARGN})
 	string(REPLACE "/" "_" NAME ${PATH})
-	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-		COMMAND touch ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
-		DEPENDS ${CMAKE_SOURCE_DIR}/.gitmodules
+	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		COMMAND touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
+		DEPENDS ${PX4_SOURCE_DIR}/.gitmodules
 		)
 	add_custom_target(${TARGET}
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-		DEPENDS ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
 		)
 endfunction()

@@ -371,7 +371,7 @@ function(px4_generate_messages)
 	endif()

 	# headers
-	set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
+	set(msg_out_path ${PX4_BINARY_DIR}/src/modules/uORB/topics)
 	set(msg_list)
 	foreach(msg_file ${MSG_FILES})
 		get_filename_component(msg ${msg_file} NAME_WE)
@@ -389,15 +389,15 @@ function(px4_generate_messages)
 			-d msg
 			-o ${msg_out_path}
 			-e msg/templates/uorb
-			-t ${CMAKE_BINARY_DIR}/topics_temporary_header
+			-t ${PX4_BINARY_DIR}/topics_temporary_header
 		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		COMMENT "Generating uORB topic headers"
 		VERBATIM
 		)

 	# !sources
-	set(msg_source_out_path	${CMAKE_BINARY_DIR}/topics_sources)
+	set(msg_source_out_path	${PX4_BINARY_DIR}/topics_sources)
 	set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
 	foreach(msg ${msg_list})
 		list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
@@ -410,9 +410,9 @@ function(px4_generate_messages)
 			-d msg
 			-o ${msg_source_out_path}
 			-e msg/templates/uorb
-			-t ${CMAKE_BINARY_DIR}/topics_temporary_sources
+			-t ${PX4_BINARY_DIR}/topics_temporary_sources
 		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		COMMENT "Generating uORB topic sources"
 		VERBATIM
 		)
@@ -427,7 +427,7 @@ function(px4_generate_messages)

 	# multi messages for target OS
 	set(msg_multi_out_path
-		${CMAKE_BINARY_DIR}/src/platforms/${OS}/px4_messages)
+		${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
 	set(msg_multi_files_out)
 	foreach(msg ${msg_list})
 		list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
@@ -440,10 +440,10 @@ function(px4_generate_messages)
 			-d msg
 			-o ${msg_multi_out_path}
 			-e msg/templates/px4/uorb
-			-t ${CMAKE_BINARY_DIR}/multi_topics_temporary/${OS}
+			-t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
 			-p "px4_"
 		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		COMMENT "Generating uORB topic multi headers for ${OS}"
 		VERBATIM
 		)
@@ -488,6 +488,7 @@ function(px4_add_upload)
 	if(${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(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
@@ -503,9 +504,9 @@ function(px4_add_upload)
 	px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
 	add_custom_target(${OUT}
 		COMMAND ${PYTHON_EXECUTABLE}
-			${CMAKE_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
+			${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
 		DEPENDS ${BUNDLE}
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@@ -522,9 +523,9 @@ function(px4_add_adb_push)
 		ARGN ${ARGN})

 	add_custom_target(${OUT}
-		COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
+		COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
 		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@@ -540,9 +541,9 @@ function(px4_add_adb_push_to_bebop)
 		ARGN ${ARGN})

 	add_custom_target(${OUT}
-		COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
+		COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
 		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@@ -558,9 +559,9 @@ function(px4_add_scp_push)
 		ARGN ${ARGN})

 	add_custom_target(${OUT}
-		COMMAND ${CMAKE_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
+		COMMAND ${PX4_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
 		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@@ -760,21 +761,21 @@ function(px4_add_common_flags)
 		)

 	set(added_include_dirs
-		${CMAKE_SOURCE_DIR}/src
-		${CMAKE_BINARY_DIR}
-		${CMAKE_BINARY_DIR}/src
-		${CMAKE_SOURCE_DIR}/src/modules
-		${CMAKE_SOURCE_DIR}/src/include
-		${CMAKE_SOURCE_DIR}/src/lib
-		${CMAKE_SOURCE_DIR}/src/platforms
+		${PX4_SOURCE_DIR}/src
+		${PX4_BINARY_DIR}
+		${PX4_BINARY_DIR}/src
+		${PX4_SOURCE_DIR}/src/modules
+		${PX4_SOURCE_DIR}/src/include
+		${PX4_SOURCE_DIR}/src/lib
+		${PX4_SOURCE_DIR}/src/platforms
 		# TODO Build/versioning was in Makefile,
 		# do we need this, how does it work with cmake
-		${CMAKE_SOURCE_DIR}/src/drivers/boards/${BOARD}
-		${CMAKE_BINARY_DIR}
-		${CMAKE_BINARY_DIR}/src/modules/px4_messages
-		${CMAKE_BINARY_DIR}/src/modules
-		${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
-		${CMAKE_SOURCE_DIR}/src/lib/DriverFramework/framework/include
+		${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
+		${PX4_BINARY_DIR}
+		${PX4_BINARY_DIR}/src/modules/px4_messages
+		${PX4_BINARY_DIR}/src/modules
+		${PX4_SOURCE_DIR}/mavlink/include/mavlink
+		${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include
 		)

 	list(APPEND added_include_dirs
@@ -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.*")))
@@ -856,19 +858,19 @@ function(px4_create_git_hash_header)
 		COMMAND git describe --always --tags
 		OUTPUT_VARIABLE git_tag
 		OUTPUT_STRIP_TRAILING_WHITESPACE
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		)
 	message(STATUS "GIT_TAG = ${git_tag}")
 	execute_process(
 		COMMAND git rev-parse --verify HEAD
 		OUTPUT_VARIABLE git_version
 		OUTPUT_STRIP_TRAILING_WHITESPACE
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		)
 	#message(STATUS "GIT_VERSION = ${git_version}")
 	set(git_version_short)
 	string(SUBSTRING ${git_version} 1 16 git_version_short)
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
+	configure_file(${PX4_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
 endfunction()

 #=============================================================================
@@ -895,12 +897,12 @@ function(px4_generate_parameters_xml)
 		ONE_VALUE OUT BOARD
 		REQUIRED OUT BOARD
 		ARGN ${ARGN})
-	set(path ${CMAKE_SOURCE_DIR}/src)
+	set(path ${PX4_SOURCE_DIR}/src)
 	file(GLOB_RECURSE param_src_files
-		${CMAKE_SOURCE_DIR}/src/*params.c
+		${PX4_SOURCE_DIR}/src/*params.c
 		)
 	add_custom_command(OUTPUT ${OUT}
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
 			-s ${path} --board CONFIG_ARCH_${BOARD} --xml --inject-xml
 		DEPENDS ${param_src_files}
 		)
@@ -942,7 +944,7 @@ function(px4_generate_parameters_source)
 		set(SCOPE "")
 	endif()
 	add_custom_command(OUTPUT ${generated_files}
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
 		DEPENDS ${XML} ${DEPS} ${SCOPE}
 		)
 	set(${OUT} ${generated_files} PARENT_SCOPE)
@@ -973,10 +975,10 @@ function(px4_generate_airframes_xml)
 		ONE_VALUE OUT BOARD
 		REQUIRED OUT BOARD
 		ARGN ${ARGN})
-	set(process_airframes ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
+	set(process_airframes ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
 	add_custom_command(OUTPUT ${OUT}
 		COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
-			-a ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
+			-a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 			--board CONFIG_ARCH_BOARD_${BOARD} --xml
 		)
 	set(${OUT} ${${OUT}} PARENT_SCOPE)
@@ -0,0 +1,128 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/led
+	#drivers/px4fmu
+	drivers/boards/asc-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")
@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)

 set(config_uavcan_num_ifaces 2)

@@ -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
@@ -87,7 +101,6 @@ set(config_module_list
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
 	modules/attitude_estimator_q
-	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/local_position_estimator
 	modules/ekf2
@@ -95,7 +108,6 @@ 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
@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)

 set(config_module_list
 	#
@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)

 set(config_module_list
 	#
@@ -68,13 +68,11 @@ set(config_module_list
 	modules/land_detector

 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
-	# Too high RAM usage due to static allocations
-	# modules/attitude_estimator_ekf
 	modules/attitude_estimator_q
-	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
+	modules/local_position_estimator
 	modules/ekf2

 	#
@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)

 set(config_uavcan_num_ifaces 2)

@@ -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
@@ -82,10 +94,9 @@ set(config_module_list
 	modules/land_detector

 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
 	modules/attitude_estimator_q
-	#modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/local_position_estimator
 	modules/ekf2
@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)

 set(config_uavcan_num_ifaces 2)

@@ -53,32 +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/tests
-	systemcmds/motor_ramp
+	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

 	#
 	# General system control
@@ -92,12 +94,12 @@ set(config_module_list
 	modules/land_detector

 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
 	modules/attitude_estimator_q
-	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/ekf2

 	#
 	# Vehicle Control
@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)

 set(config_uavcan_num_ifaces 1)

@@ -23,7 +23,7 @@ set(config_module_list
 	drivers/mb12xx
 	drivers/srf02
 	drivers/sf0x
-	drivers/sf10a
+	drivers/sf1xx
 	drivers/ll40ls
 	drivers/trone
 	drivers/gps
@@ -69,9 +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
 	#
@@ -87,7 +98,6 @@ set(config_module_list
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
 	modules/attitude_estimator_q
-	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/ekf2
 	modules/local_position_estimator
@@ -172,6 +182,9 @@ set(config_module_list

 	# Hardware test
 	#examples/hwtest
+
+	# EKF
+	examples/ekf_att_pos_estimator
 )

 set(config_extra_builtin_cmds
@@ -1,8 +1,6 @@
 include(nuttx/px4_impl_nuttx)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
-set(config_uavcan_num_ifaces 2)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)

 set(config_module_list
 	#
@@ -14,40 +12,17 @@ set(config_module_list
 	drivers/stm32/tone_alarm
 	drivers/led
 	drivers/px4fmu
-	drivers/px4io
-	drivers/boards/px4fmu-v2
-	drivers/rgbled
+	drivers/boards/tap-v1
+	drivers/rgbled_pwm
+	drivers/tap_esc
 	drivers/mpu6000
-	drivers/mpu9250
-	drivers/lsm303d
-	drivers/l3gd20
-	drivers/hmc5883
 	drivers/ms5611
-	#drivers/mb12xx
-	drivers/srf02
-	drivers/sf0x
-	drivers/ll40ls
-	drivers/trone
+	drivers/hmc5883
 	drivers/gps
-	drivers/pwm_out_sim
-	#drivers/hott
-	#drivers/hott/hott_telemetry
-	#drivers/hott/hott_sensors
-	drivers/blinkm
 	drivers/airspeed
-	drivers/ets_airspeed
 	drivers/meas_airspeed
-	drivers/frsky_telemetry
 	modules/sensors
-	#drivers/mkblctrl
-	drivers/px4flow
-	#drivers/oreoled
-	drivers/gimbal
-	drivers/pwm_input
 	drivers/camera_trigger
-	drivers/bst
-	#drivers/snapdragon_rc_pwm
-	#drivers/lis3mdl

 	#
 	# System commands
@@ -57,18 +32,15 @@ set(config_module_list
 	systemcmds/param
 	systemcmds/perf
 	systemcmds/pwm
-	systemcmds/esc_calib
+	systemcmds/motor_test
 	systemcmds/reboot
-	#systemcmds/topic_listener
 	systemcmds/top
 	systemcmds/config
 	systemcmds/nshterm
 	systemcmds/mtd
 	systemcmds/dumpfile
 	systemcmds/ver
-	#systemcmds/sd_bench
-	#systemcmds/tests
-	systemcmds/motor_ramp
+	systemcmds/topic_listener

 	#
 	# General system control
@@ -77,8 +49,6 @@ set(config_module_list
 	modules/load_mon
 	modules/navigator
 	modules/mavlink
-	#modules/gpio_led
-	modules/uavcan
 	modules/land_detector

 	#
@@ -89,7 +59,6 @@ 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
@@ -100,7 +69,6 @@ set(config_module_list
 	# Logging
 	#
 	modules/logger
-	modules/sdlog2

 	#
 	# Library modules
@@ -127,44 +95,12 @@ set(config_module_list
 	lib/runway_takeoff
 	lib/tailsitter_recovery
 	lib/DriverFramework/framework
+	lib/rc
 	platforms/nuttx

 	# had to add for cmake, not sure why wasn't in original config
-	platforms/common 
+	platforms/common
 	platforms/nuttx/px4_layer
-
-	#
-	# OBC challenge
-	#
-	#modules/bottle_drop
-
-	#
-	# Rover apps
-	#
-	#examples/rover_steering_control
-
-	#
-	# Demo apps
-	#
-	#examples/math_demo
-	# Tutorial code from
-	# https://px4.io/dev/px4_simple_app
-	#examples/px4_simple_app
-
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
-
-	# Tutorial code from
-	# https://px4.io/dev/debug_values
-	#examples/px4_mavlink_debug
-
-	# Tutorial code from
-	# https://px4.io/dev/example_fixedwing_control
-	#examples/fixedwing_control
-
-	# Hardware test
-	#examples/hwtest
 )

 set(config_extra_builtin_cmds
@@ -173,12 +109,9 @@ set(config_extra_builtin_cmds
 	)

 set(config_io_board
-	px4io-v2
 	)

 set(config_extra_libs
-	uavcan
-	uavcan_stm32_driver
 	)

 set(config_io_extra_libs
@@ -187,9 +120,11 @@ set(config_io_extra_libs
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon" STACK_MAIN "2048")
+	MAIN "sercon"
+	STACK_MAIN "2048")

 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis" STACK_MAIN "2048")
+	MAIN "serdis"
+	STACK_MAIN "2048")
@@ -1,10 +1,11 @@
 include(posix/px4_impl_posix)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)

 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
@@ -34,10 +37,8 @@ set(config_module_list
 	systemcmds/perf

 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
-	#modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
@@ -49,7 +50,7 @@ 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 +59,6 @@ set(config_module_list
 	modules/sdlog2
 	modules/logger
 	modules/commander
-	modules/load_mon
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
@@ -98,5 +98,7 @@ set(config_module_list
 )

 set(config_df_driver_list
-  ms5607
+	ms5607
+	mpu6050
+	ak8963
 )
@@ -4,9 +4,9 @@
 # on the Linux side of the Snapdragon.
 include(configs/posix_sdflight_default)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")

 set(CONFIG_SHMEM "1")

@@ -1,13 +1,13 @@
 include(posix/px4_impl_posix)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")

 # Use build stubs unless explicitly set not to
 if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
 	set(DSPAL_STUBS_ENABLE "1")
 endif()

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)

 set(config_generate_parameters_scope ALL)

@@ -30,7 +30,6 @@ set(config_module_list
 	modules/logger
 	modules/simulator
 	modules/commander
-	modules/load_mon

 	lib/mathlib
 	lib/mathlib/math/filter
@@ -1,8 +1,8 @@
 include(posix/px4_impl_posix)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")

 set(config_generate_parameters_scope ALL)

@@ -31,8 +31,10 @@ set(config_module_list

 	modules/mavlink

-	modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2

 	modules/mc_pos_control
 	modules/mc_att_control
@@ -49,7 +51,6 @@ set(config_module_list
 	modules/simulator
 	modules/commander
 	modules/navigator
-	modules/load_mon

 	lib/controllib
 	lib/mathlib
@@ -1,8 +1,8 @@
 include(posix/px4_impl_posix)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")

 set(config_generate_parameters_scope ALL)

@@ -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
-)
@@ -1,111 +0,0 @@
-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__LINUX
-)
-
-set(config_module_list
-	#
-	# Board support modules
-	#
-	drivers/device
-	modules/sensors
-	platforms/posix/drivers/df_mpu9250_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
-
-	#
-	# System commands
-	#
-	systemcmds/param
-	systemcmds/mixer
-	systemcmds/ver
-	systemcmds/esc_calib
-	systemcmds/topic_listener
-	systemcmds/perf
-
-	#
-	# Estimation modules (EKF/ SO3 / other filters)
-	#
-	#modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
-	modules/attitude_estimator_q
-	modules/position_estimator_inav
-	modules/local_position_estimator
-	modules/ekf2
-
-	#
-	# Vehicle Control
-	#
-	modules/mc_att_control
-	modules/mc_pos_control
-	modules/fw_att_control
-	modules/fw_pos_control_l1	
-	modules/vtol_att_control
-
-	#
-	# Library modules
-	#
-	modules/sdlog2
-	modules/logger
-	modules/commander
-	modules/load_mon
-	modules/param
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/uORB
-	modules/dataman
-	modules/land_detector
-	modules/navigator
-	modules/mavlink
-
-	#
-	# PX4 drivers
-	#
-
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/mathlib
-	lib/mathlib/math/filter
-	lib/geo
-	lib/ecl
-	lib/geo_lookup
-	lib/launchdetection
-	lib/external_lgpl
-	lib/conversion
-	lib/terrain_estimation
-	lib/runway_takeoff
-	lib/tailsitter_recovery
-	lib/DriverFramework/framework
-
-	#
-	# POSIX
-	#
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-)
-
-set(config_df_driver_list
-	mpu9250
-	lsm9ds1
-	ms5611
-	hmc5883
-	trone
-	isl29501
-)
@@ -1,19 +1,16 @@
+# 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
 	#
 	# Board support modules
@@ -34,14 +31,13 @@ set(config_module_list
 	systemcmds/mixer
 	systemcmds/ver
 	systemcmds/esc_calib
+	systemcmds/reboot
 	systemcmds/topic_listener
 	systemcmds/perf

 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
-	#modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
@@ -53,7 +49,7 @@ 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

 	#
@@ -62,7 +58,6 @@ set(config_module_list
 	modules/sdlog2
 	modules/logger
 	modules/commander
-	modules/load_mon
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
@@ -78,6 +73,8 @@ set(config_module_list
 	drivers/gps
 	drivers/navio_sysfs_rc_in
 	drivers/navio_sysfs_pwm_out
+	drivers/navio_gpio
+	drivers/navio_rgbled

 	#
 	# Libraries
@@ -104,6 +101,9 @@ set(config_module_list
 	platforms/posix/work_queue
 )

+#
+# DriverFramework driver
+#
 set(config_df_driver_list
 	mpu9250
 	lsm9ds1
@@ -0,0 +1,13 @@
+include(configs/posix_rpi_common)
+
+if("$ENV{RPI_USE_CLANG}" STREQUAL "1")
+	set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian-clang.cmake)
+else()
+	set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+endif()
+
+
+set(CMAKE_PROGRAM_PATH
+	"${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 ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
@@ -1,8 +1,8 @@
 include(posix/px4_impl_posix)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")

 set(config_generate_parameters_scope ALL)

@@ -24,8 +24,10 @@ set(config_module_list

 	modules/mavlink

-	modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2

 	modules/mc_pos_control
 	modules/mc_att_control
@@ -42,7 +44,6 @@ set(config_module_list
 	modules/simulator
 	modules/commander
 	modules/navigator
-	modules/load_mon

 	lib/controllib
 	lib/mathlib
@@ -1,6 +1,6 @@
 include(posix/px4_impl_posix)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)

 set(config_module_list
 	drivers/device
@@ -33,10 +33,10 @@ set(config_module_list
 	modules/sensors
 	modules/simulator
 	modules/mavlink
-	modules/attitude_estimator_ekf
 	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
 	modules/ekf2
-	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/navigator
 	modules/vtol_att_control
@@ -1,6 +1,6 @@
 include(posix/px4_impl_posix)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)

 set(config_module_list
 	drivers/boards/sitl
@@ -32,26 +32,22 @@ set(config_module_list
 	systemcmds/top
 	systemcmds/motor_ramp

-	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/replay
 	modules/sdlog2
 	modules/sensors
 	modules/simulator
@@ -70,18 +66,25 @@ set(config_module_list
 	lib/launchdetection
 	lib/mathlib
 	lib/mathlib/math/filter
+	lib/rc
 	lib/runway_takeoff
 	lib/tailsitter_recovery
 	lib/terrain_estimation

 	examples/px4_simple_app
+	examples/mc_att_control_multiplatform
+	examples/mc_pos_control_multiplatform
+	examples/ekf_att_pos_estimator
+	examples/attitude_estimator_ekf

 	#
 	# 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()
+
@@ -1,6 +1,6 @@
 include(posix/px4_impl_posix)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)

 set(config_module_list
 	drivers/device
@@ -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")
@@ -6,9 +6,9 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")

 set(config_generate_parameters_scope ALL)

@@ -6,9 +6,9 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")

 set(config_generate_parameters_scope ALL)

@@ -27,12 +27,12 @@ set(config_module_list
 	systemcmds/mixer

 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
-	#modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2

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

 	#
 	# Libraries
@@ -10,9 +10,9 @@ set(CONFIG_SHMEM "1")

 set(config_generate_parameters_scope ALL)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")

 add_definitions(
   -D__USING_SNAPDRAGON_LEGACY_DRIVER
@@ -35,11 +35,11 @@ set(config_module_list
 	systemcmds/param

 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
-	modules/ekf_att_pos_estimator
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
+	modules/local_position_estimator
 	modules/ekf2

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

 	#
 	# PX4 drivers
@@ -6,9 +6,9 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")

 set(config_generate_parameters_scope ALL)

@@ -6,8 +6,8 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")

 set(config_generate_parameters_scope ALL)

@@ -5,9 +5,9 @@ set(CONFIG_SHMEM "1")
 # Run a full link with build stubs to make sure qurt target isn't broken
 set(QURT_ENABLE_STUBS "1")

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 include(hexagon_sdk)

 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
@@ -35,12 +35,12 @@ set(config_module_list
 	systemcmds/mixer

 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
-	#modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2

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

 	#
 	# Libraries
@@ -10,9 +10,9 @@ set(CONFIG_SHMEM "1")

 set(config_generate_parameters_scope ALL)

-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")

 set(config_module_list
 	#
@@ -32,12 +32,11 @@ set(config_module_list
 	systemcmds/param

 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
-	#modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
+	modules/local_position_estimator
 	modules/ekf2

 	#
@@ -95,9 +95,9 @@ function(px4_nuttx_add_firmware)

 	add_custom_command(OUTPUT ${OUT}
 		COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
-			--prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
-			--git_identity ${CMAKE_SOURCE_DIR}
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
+			--prototype ${PX4_SOURCE_DIR}/Images/${BOARD}.prototype
+			--git_identity ${PX4_SOURCE_DIR}
 			${extra_args}
 			--image ${EXE}.bin > ${OUT}
 		DEPENDS ${EXE}
@@ -148,7 +148,7 @@ function(px4_nuttx_generate_builtin_commands)
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
+	configure_file(${PX4_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
 		${OUT})
 endfunction()

@@ -183,17 +183,17 @@ function(px4_nuttx_add_export)
 		REQUIRED OUT CONFIG THREADS
 		ARGN ${ARGN})

-	set(nuttx_src ${CMAKE_BINARY_DIR}/${CONFIG}/NuttX)
+	set(nuttx_src ${PX4_BINARY_DIR}/${CONFIG}/NuttX)

 	# patch
 	add_custom_target(__nuttx_patch_${CONFIG})
-	file(GLOB nuttx_patches RELATIVE ${CMAKE_SOURCE_DIR}
-	    ${CMAKE_SOURCE_DIR}/nuttx-patches/*.patch)
+	file(GLOB nuttx_patches RELATIVE ${PX4_SOURCE_DIR}
+	    ${PX4_SOURCE_DIR}/nuttx-patches/*.patch)
 	foreach(patch ${nuttx_patches})
 		string(REPLACE "/" "_" patch_name "${patch}-${CONFIG}")
 	    message(STATUS "nuttx-patch: ${patch}")
 		add_custom_command(OUTPUT nuttx_patch_${patch_name}.stamp
-			COMMAND ${PATCH} -p0 -N  < ${CMAKE_SOURCE_DIR}/${patch}
+			COMMAND ${PATCH} -p0 -N  < ${PX4_SOURCE_DIR}/${patch}
 			COMMAND ${TOUCH} nuttx_patch_${patch_name}.stamp
 			DEPENDS ${DEPENDS}
 			)
@@ -204,7 +204,7 @@ function(px4_nuttx_add_export)

 	# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes 
 	# note: CONFIG will be BOARD in the future evaluation of ${hw_stack_check_${CONFIG}
-	file(STRINGS "${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig"
+	file(STRINGS "${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig"
 		hw_stack_check_${CONFIG}
 		REGEX "CONFIG_ARMV7M_STACKCHECK=y"
 		)
@@ -213,29 +213,29 @@ function(px4_nuttx_add_export)
 	endif()

 	# copy and export
-	file(RELATIVE_PATH nuttx_cp_src ${CMAKE_BINARY_DIR} ${CMAKE_SOURCE_DIR}/NuttX)
-	file(GLOB_RECURSE config_files ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
-	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/${CONFIG}.export
+	file(RELATIVE_PATH nuttx_cp_src ${PX4_BINARY_DIR} ${PX4_SOURCE_DIR}/NuttX)
+	file(GLOB_RECURSE config_files ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
+	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/${CONFIG}.export
 		COMMAND ${MKDIR} -p ${nuttx_src}
 		COMMAND rsync -a --delete --exclude=.git ${nuttx_cp_src}/ ${CONFIG}/NuttX/
 		#COMMAND ${ECHO} Configuring NuttX for ${CONFIG}
 		COMMAND ${MAKE} --no-print-directory -C${nuttx_src}/nuttx -r --quiet distclean
-		COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/PX4_Warnings.mk ${nuttx_src}/nuttx/
-		COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
+		COMMAND ${CP} -r ${PX4_SOURCE_DIR}/nuttx-configs/PX4_Warnings.mk ${nuttx_src}/nuttx/
+		COMMAND ${CP} -r ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
 		COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/nsh && cd ..
 		#COMMAND ${ECHO} Exporting NuttX for ${CONFIG}
 		COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -j${THREADS} -r CONFIG_ARCH_BOARD=${CONFIG} export > nuttx_build.log
-		COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${CMAKE_BINARY_DIR}/${CONFIG}.export
+		COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${PX4_BINARY_DIR}/${CONFIG}.export
 		DEPENDS ${config_files} ${DEPENDS}
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		COMMENT "Building NuttX for ${CONFIG}")

 	# extract
 	add_custom_command(OUTPUT nuttx_export_${CONFIG}.stamp
 		COMMAND ${RM} -rf ${nuttx_src}/nuttx-export
-		COMMAND ${UNZIP} -q ${CMAKE_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
+		COMMAND ${UNZIP} -q ${PX4_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
 		COMMAND ${TOUCH} nuttx_export_${CONFIG}.stamp
-		DEPENDS ${DEPENDS} ${CMAKE_BINARY_DIR}/${CONFIG}.export)
+		DEPENDS ${DEPENDS} ${PX4_BINARY_DIR}/${CONFIG}.export)

 	add_custom_target(${OUT}
 		DEPENDS nuttx_export_${CONFIG}.stamp)
@@ -308,16 +308,16 @@ function(px4_nuttx_add_romfs)
 		REQUIRED OUT ROOT
 		ARGN ${ARGN})

-	set(romfs_temp_dir ${CMAKE_BINARY_DIR}/tmp/${ROOT})
-	set(romfs_src_dir ${CMAKE_SOURCE_DIR}/${ROOT})
-	set(romfs_autostart ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
-	set(romfs_pruner ${CMAKE_SOURCE_DIR}/Tools/px_romfs_pruner.py)
-	set(bin_to_obj ${CMAKE_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
+	set(romfs_temp_dir ${PX4_BINARY_DIR}/tmp/${ROOT})
+	set(romfs_src_dir ${PX4_SOURCE_DIR}/${ROOT})
+	set(romfs_autostart ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
+	set(romfs_pruner ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py)
+	set(bin_to_obj ${PX4_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
 	set(extras_dir ${CMAKE_CURRENT_BINARY_DIR}/extras)

 	file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*)

-	set(cmake_test ${CMAKE_SOURCE_DIR}/cmake/test/cmake_tester.py)
+	set(cmake_test ${PX4_SOURCE_DIR}/cmake/test/cmake_tester.py)

 	
 	set(extras)
@@ -346,7 +346,7 @@ function(px4_nuttx_add_romfs)
 		#COMMAND cmake -E remove_directory ${romfs_temp_dir}
 		COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj}
 			--ld ${LD} --c_flags ${CMAKE_C_FLAGS}
-			--include_path "${CMAKE_SOURCE_DIR}/src/include"
+			--include_path "${PX4_SOURCE_DIR}/src/include"
 			--c_compiler ${CMAKE_C_COMPILER}
 			--nm ${NM} --objcopy ${OBJCOPY}
 			--obj romfs.o
@@ -414,7 +414,7 @@ function(px4_os_add_flags)
 		LINK_DIRS ${LINK_DIRS}
 		DEFINITIONS ${DEFINITIONS})

-	set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
+	set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
 	set(added_include_dirs
 		${nuttx_export_dir}/include
 		${nuttx_export_dir}/include/cxx
@@ -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})
@@ -49,7 +49,7 @@
 #

 include(common/px4_base)
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/posix)
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/posix)

 #=============================================================================
 #
@@ -101,7 +101,7 @@ function(px4_posix_generate_builtin_commands)
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/posix/apps.h_in
+	configure_file(${PX4_SOURCE_DIR}/cmake/posix/apps.h_in
 		${OUT})
 endfunction()

@@ -223,8 +223,19 @@ if ("${BOARD}" STREQUAL "eagle" OR "${BOARD}" STREQUAL "excelsior")
 		-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib/arm-linux-gnueabihf
 		--sysroot=${HEXAGON_ARM_SYSROOT}
 		)
-else()
+elseif ("${BOARD}" STREQUAL "rpi" AND "$ENV{RPI_USE_CLANG}" STREQUAL "1")

+	# Add the toolchain specific flags
+	set(clang_added_flags
+		-m32
+		--target=arm-linux-gnueabihf
+		-ccc-gcc-name arm-linux-gnueabihf
+		--sysroot=${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/arm-linux-gnueabihf/libc/)
+
+	set(added_c_flags ${POSIX_CMAKE_C_FLAGS} ${clang_added_flags})
+	set(added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS} ${clang_added_flags})
+	set(added_exe_linker_flags ${POSIX_CMAKE_EXE_LINKER_FLAGS} ${clang_added_flags})
+else()
 	# Add the toolchain specific flags
        set(added_cflags ${POSIX_CMAKE_C_FLAGS})
        set(added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS})
@@ -50,7 +50,7 @@
 #

 include(common/px4_base)
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/qurt)

 #=============================================================================
 #
@@ -95,7 +95,7 @@ function(px4_qurt_generate_builtin_commands)
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
+	configure_file(${PX4_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
 endfunction()

 #=============================================================================
@@ -1,334 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(px4)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-add_definitions(-D__PX4_ROS)
-add_definitions(-D__EXPORT=)
-add_definitions(-DMAVLINK_DIALECT=common)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rospy
-  std_msgs
-  geometry_msgs
-  message_generation
-  cmake_modules
-  gazebo_msgs
-  sensor_msgs
-  mav_msgs
-  libmavconn
-  tf
-)
-find_package(Eigen REQUIRED)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-add_message_files(
-  FILES
-  actuator_armed.msg
-  actuator_controls.msg
-  commander_state.msg
-  control_state.msg
-  distance_sensor.msg
-  manual_control_setpoint.msg
-  mc_virtual_rates_setpoint.msg
-  offboard_control_mode.msg
-  parameter_update.msg
-  position_setpoint.msg
-  position_setpoint_triplet.msg
-  rc_channels.msg
-  ros/actuator_controls_0.msg
-  ros/actuator_controls_virtual_mc.msg
-  vehicle_attitude.msg
-  vehicle_attitude_setpoint.msg
-  vehicle_control_mode.msg
-  vehicle_force_setpoint.msg
-  vehicle_global_velocity_setpoint.msg
-  vehicle_local_position.msg
-  vehicle_local_position_setpoint.msg
-  vehicle_rates_setpoint.msg
-  vehicle_status.msg
-)
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-  DEPENDENCIES
-  std_msgs
-  gazebo_msgs
-)
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-  INCLUDE_DIRS src/include
-  LIBRARIES px4
-  CATKIN_DEPENDS message_runtime roscpp rospy std_msgs libmavconn
-  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-  src/platforms
-  src/platforms/ros/px4_messages
-  src/include
-  src/modules
-  ${CMAKE_BINARY_DIR}/src/modules
-  src/
-  src/lib
-  src/lib/matrix
-  ${EIGEN_INCLUDE_DIRS}
-  integrationtests
-)
-
-## generate multiplatform wrapper headers
-## note that the message header files are generated as in any ROS project with generate_messages()
-set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
-set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
-set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
-set(MULTIPLATFORM_PREFIX px4_)
-add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_files.py
-	--headers -d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
-	-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
-
-## Declare a cpp library
-add_library(px4
-  src/platforms/ros/px4_ros_impl.cpp
-  src/platforms/ros/perf_counter.cpp
-  src/platforms/ros/geo.cpp
-  src/lib/mathlib/math/Limits.cpp
-  src/modules/systemlib/circuit_breaker.cpp
-)
-add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
-
-target_link_libraries(px4
-  ${catkin_LIBRARIES}
-)
-
-## Declare a test publisher
-add_executable(publisher
-	src/examples/publisher/publisher_main.cpp
-	src/examples/publisher/publisher_example.cpp)
-add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
-target_link_libraries(publisher
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Declare a test subscriber
-add_executable(subscriber
-	src/examples/subscriber/subscriber_main.cpp
-	src/examples/subscriber/subscriber_example.cpp)
-add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
-target_link_libraries(subscriber
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## MC Attitude Control
-add_executable(mc_att_control
-	src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
-	src/modules/mc_att_control_multiplatform/mc_att_control.cpp
-	src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
-add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(mc_att_control
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## MC Position Control
-add_executable(mc_pos_control
-	src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
-	src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp)
-add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(mc_pos_control
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Attitude Estimator dummy
-add_executable(attitude_estimator
-	src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
-add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(attitude_estimator
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Position Estimator dummy
-add_executable(position_estimator
-	src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
-add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(position_estimator
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Manual input
-add_executable(manual_input
-	src/platforms/ros/nodes/manual_input/manual_input.cpp)
-add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(manual_input
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Multicopter Mixer dummy
-add_executable(mc_mixer
-  src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
-add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(mc_mixer
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Commander dummy
-add_executable(commander
-	src/platforms/ros/nodes/commander/commander.cpp)
-add_dependencies(commander ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(commander
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Mavlink dummy
-add_executable(mavlink
-	src/platforms/ros/nodes/mavlink/mavlink.cpp)
-add_dependencies(mavlink ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(mavlink
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Offboard Position Setpoint Demo
-add_executable(demo_offboard_position_setpoints
-	src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp)
-add_dependencies(demo_offboard_position_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(demo_offboard_position_setpoints
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Offboard Attitude Setpoint Demo
-add_executable(demo_offboard_attitude_setpoints
-	src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp)
-add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(demo_offboard_attitude_setpoints
-  ${catkin_LIBRARIES}
-  px4
-)
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
-
-## Tests on multiplatform SITL (deprecated) have been moved to POSIX SITL
-#if(CATKIN_ENABLE_TESTING)
-#  find_package(rostest REQUIRED)
-#  add_rostest(integrationtests/demo_tests/direct_tests.launch)
-#  add_rostest(integrationtests/demo_tests/mavros_tests.launch)
-#endif()
@@ -2,7 +2,7 @@ INFO  Shell id is 47996278451456
 WARN  1          starting task wkr_high (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
 WARN  54         starting task wkr_low (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
 WARN  100        starting task wkr_hrt (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
-App name: mainapp
+App name: px4
 Enter a command and its args:
 ----------------------------------
 Running: uorb
@@ -0,0 +1,69 @@
+include(CMakeForceCompiler)
+
+if ($ENV{RPI_TOOLCHAIN_DIR} STREQUAL "")
+        message(FATAL_ERROR "RPI_TOOLCHAIN_DIR not set")
+else()
+        set(RPI_TOOLCHAIN_DIR $ENV{RPI_TOOLCHAIN_DIR})
+endif()
+
+# this one is important
+set(CMAKE_SYSTEM_NAME Generic)
+
+#this one not so much
+set(CMAKE_SYSTEM_VERSION 1)
+
+# specify the cross compiler
+# requires a symbolic link typically from /usr/bin/clang
+find_program(C_COMPILER clang
+	PATHS ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin
+	NO_DEFAULT_PATH
+	)
+
+if(NOT C_COMPILER)
+	message(FATAL_ERROR "could not find C compiler")
+endif()
+cmake_force_c_compiler(${C_COMPILER} Clang)
+
+find_program(CXX_COMPILER clang++
+	PATHS ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin
+	NO_DEFAULT_PATH
+	)
+
+if(NOT CXX_COMPILER)
+	message(FATAL_ERROR "could not find C++ compiler")
+endif()
+cmake_force_cxx_compiler(${CXX_COMPILER} Clang)
+
+# compiler tools
+foreach(tool objcopy nm ld)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} arm-linux-gnueabihf-${tool}
+		PATHS ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin
+		NO_DEFAULT_PATH
+		)
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find arm-linux-gnueabihf-${tool}")
+	endif()
+endforeach()
+
+# os tools
+foreach(tool echo grep rm mkdir nm cp touch make unzip)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${TOOL}")
+	endif()
+endforeach()
+
+add_definitions(
+	-D __RPI
+	)
+
+# where is the target environment
+set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
+
+# search for programs in the build host directories
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# for libraries and headers in the target directories
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
@@ -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")
@@ -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)"
@@ -49,7 +49,6 @@ set(msg_file_names
 	distance_sensor.msg
 	ekf2_innovations.msg
 	ekf2_replay.msg
-	encoders.msg
 	esc_report.msg
 	esc_status.msg
 	estimator_status.msg
@@ -61,10 +60,12 @@ set(msg_file_names
 	fw_virtual_attitude_setpoint.msg
 	fw_virtual_rates_setpoint.msg
 	geofence_result.msg
+	gps_dump.msg
 	gps_inject_data.msg
 	hil_sensor.msg
 	home_position.msg
 	input_rc.msg
+	log_message.msg
 	manual_control_setpoint.msg
 	mavlink_log.msg
 	mc_att_ctrl_status.msg
@@ -1,7 +1,6 @@
 uint32 id			# ID of the estimator, commonly the component ID of the incoming message

-uint64 timestamp_boot		# time of this estimate, in microseconds since system start
-uint64 timestamp_computer	# timestamp provided by the companion computer, in us
+uint64 timestamp_received	# timestamp when the estimate was received

 float32[4] q			# Estimated attitude as quaternion

@@ -1 +1,2 @@
 float32 load                    # processor load from 0 to 1
+float32 ram_usage		# RAM usage from 0 to 1
@@ -1,7 +1,7 @@
 uint64 time_ref 			# ekf2 reference time. This is a timestamp passed to the
 					# estimator which it uses a absolute reference.
-uint64 gyro_integral_dt			# gyro integration period in us
-uint64 accelerometer_integral_dt 	# accelerometer integration period in us
+float32 gyro_integral_dt		# gyro integration period in s
+float32 accelerometer_integral_dt 	# accelerometer integration period in s
 uint64 magnetometer_timestamp 		# timestamp of magnetometer measurement in us
 uint64 baro_timestamp			# timestamp of barometer measurement in us
 uint64 rng_timestamp			# timestamp of range finder measurement in us
@@ -9,8 +9,8 @@ uint64 flow_timestamp			# timestamp of optical flow measurement in us
 uint64 asp_timestamp			# timestamp of airspeed measurement in us
 uint64 ev_timestamp			# timestamp of external vision measurement in us

-float32[3] gyro_integral_rad		# integrated gyro vector in rad
-float32[3] accelerometer_integral_m_s  	# integrated accelerometer vector in m/s
+float32[3] gyro_rad			# gyro vector in rad
+float32[3] accelerometer_m_s2  	# accelerometer vector in m/s^2

 float32[3] magnetometer_ga 		# magnetometer measurement vector (body fixed NED) in ga
 float32 baro_alt_meter			# barometer altitude measurement in m
@@ -1,4 +0,0 @@
-uint8 NUM_ENCODERS = 4
-
-int64[4] counts			# counts of encoder
-float32[4] velocity		# counts of encoder/ second
--- a/Show More
+++ b/Show More