Fix USB line speed issues in NuttX

Fix MPU6K sampling
MAVLink: use only the memory it needs
2026-06-20 00:20:34 +08:00 · 2016-08-25 22:19:08 +02:00 · 2016-08-25 22:16:31 +02:00 · 2016-08-25 00:04:04 +02:00 · 2016-08-25 00:03:15 +02:00 · 2016-08-06 23:34:23 +02:00
363 changed files with 18590 additions and 7817 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
@@ -132,7 +132,7 @@ cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
 set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
 	STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
-set(CONFIG "nuttx_px4fmu-v2_default" CACHE STRING "desired configuration")
+set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
 file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
 set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
 set(THREADS "4" CACHE STRING
@@ -152,6 +152,17 @@ set(target_name "${OS}-${BOARD}-${LABEL}")

 message(STATUS "${target_name}")

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

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

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

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

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

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

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

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

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

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

@@ -160,11 +170,8 @@ 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
@@ -234,7 +238,7 @@ run_sitl_ros: sitl_deprecation

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

@@ -249,6 +253,7 @@ checks_defaults: \
 	check_px4fmu-v2_default \
 	check_mindpx-v2_default \
 	check_px4-stm32f4discovery_default \
+	check_tap-v1_default \

 checks_bootloaders: \

@@ -263,14 +268,14 @@ checks_uavcan: \
 	check_px4fmu-v4_default_and_uavcan

 checks_sitls: \
-	check_posix_sitl_default \
-	check_posix_sitl_test \
+	check_posix_sitl_default

 checks_last: \
-	check_unittest \
+	check_tests \
 	check_format \

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

 check_format:
 	$(call colorecho,"Checking formatting with astyle")
@@ -292,15 +297,18 @@ ifeq ($(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: \
@@ -331,7 +339,7 @@ distclean: submodulesclean
 	@git clean -ff -x -d -e ".project" -e ".cproject"

 # targets handled by cmake
-cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
+cmake_targets = install test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
 	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim replay \
 	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
 	gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane gazebo_solo gazebo_typhoon_h480
@@ -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
@@ -14,6 +14,17 @@ else
 	fmu i2c 1 100000
 	fmu i2c 2 100000

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

-if sf10a start
+if sf1xx start
 then
 fi

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

 	#
@@ -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
@@ -190,7 +190,7 @@ else
 	fi
 fi

-if sf10a start
+if sf1xx start
 then
 fi

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

 sh /etc/init.d/rc.sensors

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

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

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

-ver all
-
 free
@@ -0,0 +1,18 @@
+#!nsh
+#
+# @name Generic Quadrotor X config
+#
+# @type Quadrotor x
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+
+set PWM_OUT 1234
@@ -0,0 +1,19 @@
+#!nsh
+#
+# @name Generic Hexarotor x geometry
+#
+# @type Hexarotor x
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Anton Babushkin <anton@px4.io>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER hexa_x
+
+# Need to set all 8 channels
+set PWM_OUT 12345678
@@ -0,0 +1,20 @@
+#!nsh
+#
+# Standard apps for fixed wing
+#
+
+#
+# Start the attitude and position estimator
+#
+ekf2 start
+
+#
+# Start attitude controller
+#
+fw_att_control start
+fw_pos_control_l1 start
+
+#
+# Start Land Detector
+#
+land_detector start fixedwing
@@ -0,0 +1,28 @@
+#!nsh
+
+set VEHICLE_TYPE fw
+
+if [ $AUTOCNF == yes ]
+then
+#
+# Default parameters for FW
+#
+	param set RTL_RETURN_ALT 100
+	param set RTL_DESCEND_ALT 100
+	param set RTL_LAND_DELAY -1
+
+	param set NAV_ACC_RAD 50
+
+	param set PE_VELNE_NOISE 0.3
+	param set PE_VELD_NOISE 0.35
+	param set PE_POSNE_NOISE 0.5
+	param set PE_POSD_NOISE 1.0
+fi
+
+# This is the gimbal pass mixer
+set MIXER_AUX pass
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1500
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
@@ -0,0 +1,83 @@
+#!nsh
+#
+# Script to configure control interface
+#
+
+set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
+
+if [ $MIXER != none -a $MIXER != skip ]
+then
+	#
+	# Load main mixer
+	#
+
+	# Use the mixer file
+	set MIXER_FILE /etc/mixers/$MIXER.main.mix
+
+	set OUTPUT_DEV /dev/pwm_output0
+
+	if [ $OUTPUT_MODE == uavcan_esc ]
+	then
+		set OUTPUT_DEV /dev/uavcan/esc
+	fi
+
+	if mixer load $OUTPUT_DEV $MIXER_FILE
+	then
+		echo "INFO  [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
+	else
+		echo "ERROR [init] Error loading mixer: $MIXER_FILE"
+		echo "ERROR:[init] Could not load mixer: $MIXER_FILE" >> $LOG_FILE
+		tone_alarm $TUNE_ERR
+	fi
+
+	unset MIXER_FILE
+else
+	if [ $MIXER != skip ]
+	then
+		echo "ERROR [init] Mixer not defined"
+		echo "ERROR [init] Mixer not defined" >> $LOG_FILE
+		tone_alarm $TUNE_ERR
+	fi
+fi
+
+if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
+then
+	if [ $PWM_OUT != none ]
+	then
+		#
+		# Set PWM output frequency
+		#
+		if [ $PWM_RATE != none ]
+		then
+			pwm rate -c $PWM_OUT -r $PWM_RATE
+		fi
+
+		#
+		# Set disarmed, min and max PWM values
+		#
+		if [ $PWM_DISARMED != none ]
+		then
+			pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
+		fi
+		if [ $PWM_MIN != none ]
+		then
+			pwm min -c $PWM_OUT -p $PWM_MIN
+		fi
+		if [ $PWM_MAX != none ]
+		then
+			pwm max -c $PWM_OUT -p $PWM_MAX
+		fi
+	fi
+
+	if [ $FAILSAFE != none ]
+	then
+		pwm failsafe -d $OUTPUT_DEV $FAILSAFE
+	fi
+fi
+
+unset PWM_OUT
+unset PWM_RATE
+unset PWM_MIN
+unset PWM_MAX
+unset FAILSAFE
+unset OUTPUT_DEV
@@ -0,0 +1,17 @@
+#!nsh
+#
+# Standard apps for multirotors:
+# att & pos estimator, att & pos control.
+#
+
+
+ekf2 start
+
+mc_att_control start
+
+mc_pos_control start
+
+#
+# Start Land Detector
+#
+land_detector start multicopter
@@ -0,0 +1,49 @@
+#!nsh
+
+set VEHICLE_TYPE mc
+
+if [ $AUTOCNF == yes ]
+then
+	param set PE_VELNE_NOISE 0.5
+	param set PE_VELD_NOISE 0.35
+	param set PE_POSNE_NOISE 0.5
+	param set PE_POSD_NOISE 1.25
+
+	param set NAV_ACC_RAD 2.0
+	param set RTL_RETURN_ALT 30.0
+	param set RTL_DESCEND_ALT 10.0
+	param set PWM_DISARMED 900
+	param set PWM_MIN 1075
+	param set PWM_MAX 1950
+
+	param set RTL_LAND_DELAY 0
+fi
+
+# set environment variables (!= parameters)
+set PWM_RATE 400
+# tell the mixer to use parameters for these instead
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
+
+# This is the gimbal pass mixer
+set MIXER_AUX pass
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1500
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+
+# Transitional support: ensure suitable PWM min/max param values
+if param compare PWM_MIN 1000
+then
+	param set PWM_MIN 1075
+fi
+if param compare PWM_MAX 2000
+then
+	param set PWM_MAX 1950
+fi
+if param compare PWM_DISARMED 0
+then
+	param set PWM_DISARMED 900
+fi
@@ -0,0 +1,46 @@
+#!nsh
+#
+# Standard startup script for TAP v1 onboard sensor drivers.
+#
+
+if adc start
+then
+fi
+
+# External I2C bus
+if hmc5883 -C -T -X start
+then
+fi
+
+if lis3mdl -R 2 start
+then
+fi
+
+# Internal SPI bus is rotated 90 deg yaw
+if hmc5883 -C -T -S -R 2 start
+then
+fi
+
+# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
+if mpu6000 -R 2 -T 20608 start
+then
+fi
+
+# Internal SPI bus mpu9250 is rotated 90 deg yaw
+if mpu9250 -R 2 start
+then
+fi
+
+if meas_airspeed start
+then
+fi
+
+if sf1xx start
+then
+fi
+
+# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
+usleep 20000
+if sensors start
+then
+fi
@@ -0,0 +1,24 @@
+#!nsh
+#
+# Standard apps for vtol:
+# att & pos estimator, att & pos control.
+#
+#
+
+
+#---------------------------------------
+# Estimator group selction
+#
+ekf2 start
+
+vtol_att_control start
+mc_att_control start
+mc_pos_control start
+fw_att_control start
+fw_pos_control_l1 start
+
+#
+# Start Land Detector
+# Multicopter for now until we have something for VTOL
+#
+land_detector start vtol
@@ -0,0 +1,49 @@
+#!nsh
+
+set VEHICLE_TYPE vtol
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 6.0
+	param set MC_PITCH_P 6.0
+	param set MC_YAW_P 4
+
+	param set PE_VELNE_NOISE 0.5
+	param set PE_VELD_NOISE 0.3
+	param set PE_POSNE_NOISE 0.5
+	param set PE_POSD_NOISE 1.25
+	param set PE_ABIAS_PNOISE 0.0001
+
+	#
+	# Default parameters for mission and position handling
+	#
+	param set NAV_ACC_RAD 3
+	param set MPC_TKO_SPEED 1.0
+	param set MPC_LAND_SPEED 0.7
+	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_XY_VEL_MAX 4.0
+	param set MIS_YAW_TMT 10
+	param set MPC_ACC_HOR_MAX 2.0
+	param set RTL_LAND_DELAY 0
+fi
+
+# set environment variables (!= parameters)
+set PWM_RATE 400
+# tell the mixer to use parameters for these instead
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
+
+# Transitional support: ensure suitable PWM min/max param values
+if param compare PWM_MIN 1000
+then
+	param set PWM_MIN 1075
+fi
+if param compare PWM_MAX 2000
+then
+	param set PWM_MAX 1950
+fi
+if param compare PWM_DISARMED 0
+then
+	param set PWM_DISARMED 900
+fi
@@ -0,0 +1,486 @@
+#!nsh
+#
+# PX4FMU startup script.
+#
+#  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+
+#
+# Start CDC/ACM serial driver
+#
+sercon
+
+#
+# Default to auto-start mode.
+#
+set MODE autostart
+
+set TUNE_ERR ML<<CP4CP4CP4CP4CP4
+set LOG_FILE /fs/microsd/bootlog.txt
+
+#
+# Try to mount the microSD card.
+#
+# REBOOTWORK this needs to start after the flight control loop
+if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+	# Start playing the startup tune
+	tone_alarm start
+else
+	tone_alarm MBAGP
+	if mkfatfs /dev/mmcsd0
+	then
+		if mount -t vfat /dev/mmcsd0 /fs/microsd
+		then
+			echo "INFO  [init] MicroSD card formatted"
+		else
+			echo "ERROR [init] Format failed"
+			tone_alarm MNBG
+			set LOG_FILE /dev/null
+		fi
+	else
+		set LOG_FILE /dev/null
+	fi
+fi
+
+#
+# Look for an init script on the microSD card.
+# Disable autostart if the script found.
+#
+set FRC /fs/microsd/etc/rc.txt
+if [ -f $FRC ]
+then
+	echo "INFO  [init] Executing script: $FRC"
+	sh $FRC
+	set MODE custom
+fi
+unset FRC
+
+if [ $MODE == autostart ]
+then
+
+	#
+	# Start the ORB (first app to start)
+	#
+	uorb start
+
+	#
+	# Load parameters
+	#
+	set PARAM_FILE /fs/microsd/params
+	if mtd start
+	then
+		set PARAM_FILE /fs/mtd_params
+	fi
+
+	param select $PARAM_FILE
+	if param load
+	then
+	else
+		if param reset
+		then
+		fi
+	fi
+
+	#
+	# Start system state indicator
+	#
+	if rgbled start
+	then
+	fi
+
+	#
+	# Set AUTOCNF flag to use it in AUTOSTART scripts
+	#
+	if param compare SYS_AUTOCONFIG 1
+	then
+		# Wipe out params except RC*
+		param reset_nostart RC*
+		set AUTOCNF yes
+	else
+		set AUTOCNF no
+	fi
+
+	#
+	# Set default values
+	#
+	set VEHICLE_TYPE none
+	set MIXER none
+	set OUTPUT_MODE none
+	set PWM_OUT none
+	set PWM_RATE none
+	set PWM_DISARMED none
+	set PWM_MIN none
+	set PWM_MAX none
+	set FMU_MODE pwm
+	set MAVLINK_F default
+	set EXIT_ON_END no
+	set MAV_TYPE none
+	set FAILSAFE none
+	set USE_IO no
+	
+
+	#
+	# Set parameters and env variables for selected AUTOSTART
+	#
+	if param compare SYS_AUTOSTART 0
+	then
+		echo "INFO  [init] No autostart"
+	else
+		sh /etc/init.d/rc.autostart
+	fi
+	unset MODE
+
+	#
+	# If autoconfig parameter was set, reset it and save parameters
+	#
+	if [ $AUTOCNF == yes ]
+	then
+		param set SYS_AUTOCONFIG 0
+		param save
+	fi
+	unset AUTOCNF
+
+	#
+	# Set default output if not set
+	#
+	if [ $OUTPUT_MODE == none ]
+	then
+		if [ $USE_IO == yes ]
+		then
+			set OUTPUT_MODE io
+		else
+			set OUTPUT_MODE fmu
+		fi
+	fi
+
+	gps start -d /dev/ttyS0
+
+	# waypoint storage
+	# REBOOTWORK this needs to start in parallel
+	if dataman start
+	then
+	fi
+
+	#
+	# Sensors System (start before Commander so Preflight checks are properly run)
+	#
+	sh /etc/init.d/rc.sensors
+
+	commander start
+
+	#
+	# Start CPU load monitor
+	#
+	load_mon start
+
+	#
+	# Start primary output
+	#
+	set TTYS1_BUSY no
+
+	#
+	# Check if UAVCAN is enabled, default to it for ESCs
+	#
+	if param greater UAVCAN_ENABLE 2
+	then
+		set OUTPUT_MODE uavcan_esc
+	fi
+
+	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
+	if [ $OUTPUT_MODE != none ]
+	then
+		if [ $OUTPUT_MODE == uavcan_esc ]
+		then
+			if param compare UAVCAN_ENABLE 0
+			then
+				echo "INFO  [init] OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE
+				param set UAVCAN_ENABLE 1
+			fi
+		fi
+
+		if [ $OUTPUT_MODE == fmu ]
+		then
+			if fmu mode_$FMU_MODE
+			then
+			else
+				echo "ERR  [init] FMU start failed" >> $LOG_FILE
+				tone_alarm $TUNE_ERR
+			fi
+		fi
+
+		if fmu mode_pwm4
+		then
+		else
+			echo "ERROR [init] FMU mode_$FMU_MODE start failed" >> $LOG_FILE
+			tone_alarm $TUNE_ERR
+		fi
+	fi
+
+	mavlink start -r 1200 -d /dev/ttyS1
+
+	#
+	# Starting stuff according to UAVCAN_ENABLE value
+	#
+	if param greater UAVCAN_ENABLE 0
+	then
+		if uavcan start
+		then
+		else
+			tone_alarm $TUNE_ERR
+		fi
+	fi
+
+	if param greater UAVCAN_ENABLE 1
+	then
+		if uavcan start fw
+		then
+		else
+			tone_alarm $TUNE_ERR
+		fi
+	fi
+
+	#
+	# Optional drivers
+	#
+
+	# Sensors on the PWM interface bank
+	if param compare SENS_EN_LL40LS 1
+	then
+		if pwm_input start
+		then
+			if ll40ls start pwm
+			then
+			fi
+		fi
+	fi
+
+	# sf0x lidar sensor
+	if param compare SENS_EN_SF0X 1
+	then
+		sf0x start
+	fi
+
+	# Start USB shell if no microSD present, MAVLink else
+	if [ $LOG_FILE == /dev/null ]
+	then
+		# Try to get an USB console
+		nshterm /dev/ttyACM0 &
+	else
+		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+	fi
+
+	#
+	# Logging
+	#
+	if param compare SYS_LOGGER 0
+	then
+		if sdlog2 start -r 100 -a -b 9 -t
+		then
+		fi
+	else
+		if logger start -b 12 -t
+		then
+		fi
+	fi
+
+	#
+	# Fixed wing setup
+	#
+	if [ $VEHICLE_TYPE == fw ]
+	then
+		echo "INFO  [init] Fixedwing"
+
+		if [ $MIXER == none ]
+		then
+			# Set default mixer for fixed wing if not defined
+			set MIXER AERT
+		fi
+
+		if [ $MAV_TYPE == none ]
+		then
+			# Use MAV_TYPE = 1 (fixed wing) if not defined
+			set MAV_TYPE 1
+		fi
+
+		param set MAV_TYPE $MAV_TYPE
+
+		# Load mixer and configure outputs
+		sh /etc/init.d/rc.interface
+
+		# Start standard fixedwing apps
+		sh /etc/init.d/rc.fw_apps
+	fi
+
+	#
+	# Multicopters setup
+	#
+	if [ $VEHICLE_TYPE == mc ]
+	then
+		echo "INFO  [init] Multicopter"
+
+		if [ $MIXER == none ]
+		then
+			echo "INFO  [init] Mixer undefined"
+		fi
+
+		if [ $MAV_TYPE == none ]
+		then
+			# Use mixer to detect vehicle type
+			if [ $MIXER == quad_x -o $MIXER == quad_+ ]
+			then
+				set MAV_TYPE 2
+			fi
+			if [ $MIXER == quad_w ]
+			then
+				set MAV_TYPE 2
+			fi
+			if [ $MIXER == quad_h ]
+			then
+				set MAV_TYPE 2
+			fi
+			if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
+			then
+				set MAV_TYPE 15
+			fi
+			if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
+			then
+				set MAV_TYPE 13
+			fi
+			if [ $MIXER == hexa_cox ]
+			then
+				set MAV_TYPE 13
+			fi
+			if [ $MIXER == octo_x -o $MIXER == octo_+ ]
+			then
+				set MAV_TYPE 14
+			fi
+		fi
+
+		# Still no MAV_TYPE found
+		if [ $MAV_TYPE == none ]
+		then
+			echo "WARN  [init] Unknown MAV_TYPE"
+			param set MAV_TYPE 2
+		else
+			param set MAV_TYPE $MAV_TYPE
+		fi
+
+		# Load mixer and configure outputs
+		sh /etc/init.d/rc.interface
+
+		# Start standard multicopter apps
+		sh /etc/init.d/rc.mc_apps
+	fi
+
+	#
+	# VTOL setup
+	#
+	if [ $VEHICLE_TYPE == vtol ]
+	then
+		echo "INFO  [init] VTOL"
+
+		if [ $MIXER == none ]
+		then
+			echo "WARN  [init] VTOL mixer undefined"
+		fi
+
+		if [ $MAV_TYPE == none ]
+		then
+			# Use mixer to detect vehicle type
+			if [ $MIXER == caipirinha_vtol ]
+			then
+				set MAV_TYPE 19
+			fi
+			if [ $MIXER == firefly6 ]
+			then
+				set MAV_TYPE 21
+			fi
+			if [ $MIXER == quad_x_pusher_vtol ]
+			then
+				set MAV_TYPE 22
+			fi
+		fi
+
+		# Still no MAV_TYPE found
+		if [ $MAV_TYPE == none ]
+		then
+			echo "WARN  [init] Unknown MAV_TYPE"
+			param set MAV_TYPE 19
+		else
+			param set MAV_TYPE $MAV_TYPE
+		fi
+
+		# Load mixer and configure outputs
+		sh /etc/init.d/rc.interface
+
+		# Start standard vtol apps
+		sh /etc/init.d/rc.vtol_apps
+	fi
+
+	#
+	# Rover setup
+	#
+	if [ $VEHICLE_TYPE == rover ]
+	then
+		# 10 is MAV_TYPE_GROUND_ROVER
+		set MAV_TYPE 10
+
+		# Load mixer and configure outputs
+		sh /etc/init.d/rc.interface
+
+		# Start standard rover apps
+		sh /etc/init.d/rc.axialracing_ax10_apps
+
+		param set MAV_TYPE 10
+	fi
+
+	unset MIXER
+	unset MAV_TYPE
+	unset OUTPUT_MODE
+
+	#
+	# Start the navigator
+	#
+	navigator start
+
+	#
+	# Generic setup (autostart ID not found)
+	#
+	if [ $VEHICLE_TYPE == none ]
+	then
+		echo "WARN  [init] No autostart ID found"
+	fi
+
+	# Start any custom addons
+	set FEXTRAS /fs/microsd/etc/extras.txt
+	if [ -f $FEXTRAS ]
+	then
+		echo "INFO  [init] Addons script: $FEXTRAS"
+		sh $FEXTRAS
+	fi
+	unset FEXTRAS
+
+	# Run no SD alarm
+	if [ $LOG_FILE == /dev/null ]
+	then
+		# Play SOS
+		tone_alarm error
+	fi
+
+# End of autostart
+fi
+
+# There is no further script processing, so we can free some RAM
+# XXX potentially unset all script variables.
+unset TUNE_ERR
+
+# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
+mavlink boot_complete
+
+if [ $EXIT_ON_END == yes ]
+then
+	echo "INFO  [init] NSH exit"
+	exit
+fi
+unset EXIT_ON_END
@@ -0,0 +1,105 @@
+## PX4 mixer definitions ##
+
+Files in this directory implement example mixers that can be used as a basis
+for customisation, or for general testing purposes.
+
+For a detailed description of the mixing architecture and examples see:
+http://px4.io/dev/mixing
+
+### Syntax ###
+
+Mixer definitions are text files; lines beginning with a single capital letter
+followed by a colon are significant. All other lines are ignored, meaning that
+explanatory text can be freely mixed with the definitions.
+
+Each file may define more than one mixer; the allocation of mixers to actuators
+is specific to the device reading the mixer definition, and the number of
+actuator outputs generated by a mixer is specific to the mixer.
+
+For example: each simple or null mixer is assigned to outputs 1 to x
+in the order they appear in the mixer file.
+
+A mixer begins with a line of the form
+
+	<tag>: <mixer arguments>
+
+The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a 
+multirotor mixer, etc.
+
+#### Null Mixer ####
+
+A null mixer consumes no controls and generates a single actuator output whose
+value is always zero.  Typically a null mixer is used as a placeholder in a
+collection of mixers in order to achieve a specific pattern of actuator outputs.
+
+The null mixer definition has the form:
+
+	Z:
+
+#### Simple Mixer ####
+
+A simple mixer combines zero or more control inputs into a single actuator
+output.  Inputs are scaled, and the mixing function sums the result before
+applying an output scaler.
+
+A simple mixer definition begins with:
+
+	M: <control count>
+	O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
+
+If <control count> is zero, the sum is effectively zero and the mixer will
+output a fixed value that is <offset> constrained by <lower limit> and <upper
+limit>.
+
+The second line defines the output scaler with scaler parameters as discussed
+above. Whilst the calculations are performed as floating-point operations, the
+values stored in the definition file are scaled by a factor of 10000; i.e. an
+offset of -0.5 is encoded as -5000.
+
+The definition continues with <control count> entries describing the control
+inputs and their scaling, in the form:
+
+	S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
+
+The <group> value identifies the control group from which the scaler will read,
+and the <index> value an offset within that group.  These values are specific to
+the device reading the mixer definition.
+
+When used to mix vehicle controls, mixer group zero is the vehicle attitude
+control group, and index values zero through three are normally roll, pitch,
+yaw and thrust respectively.
+
+The remaining fields on the line configure the control scaler with parameters as
+discussed above. Whilst the calculations are performed as floating-point
+operations, the values stored in the definition file are scaled by a factor of
+10000; i.e. an offset of -0.5 is encoded as -5000.
+
+#### Multirotor Mixer ####
+
+The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
+into a set of actuator outputs intended to drive motor speed controllers.
+
+The mixer definition is a single line of the form:
+
+	R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
+
+The supported geometries include:
+
+ * 4x - quadrotor in X configuration
+ * 4+ - quadrotor in + configuration
+ * 6x - hexcopter in X configuration
+ * 6+ - hexcopter in + configuration
+ * 8x - octocopter in X configuration
+ * 8+ - octocopter in + configuration
+  
+Each of the roll, pitch and yaw scale values determine scaling of the roll,
+pitch and yaw controls relative to the thrust control.  Whilst the calculations
+are performed as floating-point operations, the values stored in the definition
+file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
+
+Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
+thrust input ranges from 0.0 to 1.0.  Output for each actuator is in the 
+range -1.0 to 1.0.
+
+In the case where an actuator saturates, all actuator values are rescaled so that 
+the saturating actuator is limited to 1.0.
@@ -0,0 +1,3 @@
+# Hexa X
+
+R: 6x 10000 10000 10000 0
@@ -0,0 +1,7 @@
+R: 4x 10000 10000 10000 0
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 6  10000  10000      0 -10000  10000
@@ -23,6 +23,7 @@ find \
    src/modules/controllib_test \
    src/modules/dataman \
    src/modules/fw_att_control \
+    src/modules/fw_pos_control_l1 \
    src/modules/gpio_led \
    src/modules/land_detector \
    src/modules/local_position_estimator \
@@ -31,6 +32,7 @@ find \
    src/modules/muorb \
    src/modules/param \
    src/modules/px4iofirmware \
+    src/modules/replay \
    src/modules/segway \
    src/modules/sensors \
    src/modules/simulator \
@@ -43,10 +43,10 @@ import subprocess
 # If the following lines were pasted into the shell after running decode_backtrace.py
 #
 # INFO  Backtrace: 10
-# INFO  ./mainapp(px4_backtrace+0x27) [0x42b212]
-# INFO  ./mainapp() [0x42d608]
-# INFO  ./mainapp() [0x42d57e]
-# INFO  ./mainapp() [0x4ba48d]
+# INFO  ./px4(px4_backtrace+0x27) [0x42b212]
+# INFO  ./px4() [0x42d608]
+# INFO  ./px4() [0x42d57e]
+# INFO  ./px4() [0x4ba48d]
 #
 # The output would be:
 #
@@ -63,7 +63,7 @@ def usage():
 	msg = """
 Usage: Tools/decode_backtrace.py <builddir>

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

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

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

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

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

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

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

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

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

-    valid_tags = set(["group", "board", "min", "max", "unit", "decimal", "increment", "reboot_required", "value", "boolean"])
+    valid_tags = set(["group", "board", "min", "max", "unit", "decimal", "increment", "reboot_required", "value", "boolean", "bit"])

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

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

@@ -8,6 +8,14 @@ logconv.m: This is a MATLAB script which will automatically convert and display

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

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

-Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux.
+geo_tag_images.py: Use this script to geotag a set of images. It uses GPS time and file creation date to synchronize the images, so it needs that the images have a valid creation date.
+
+	python geo_tag_images.py --logfile=mylog.bin --input=images/ --output=tagged/
+
+geotagging.py: Use this script to geotag a set of images. It uses the CAM trigger data from the log file for image association.
+
+	python geotagging.py --logfile=mylog.bin --input=images/ --output=tagged/
+
+Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux.
@@ -0,0 +1,375 @@
+#!/usr/bin/env python
+#
+#  Tag the images recorded during a flight with geo location extracted from
+#  a PX4 binary log file.
+#
+#  This file accepts *.jpg format images and reads position information
+#  from a *.bin file
+#
+#  Example Syntax:
+#  python geotag.py --logfile=log001.bin --input=images/ --output=imagesWithTag/ --offset=-0.4 -v
+#
+#   Author: Hector Azpurua
+#   Based on the script of Andreas Bircher
+
+import os
+import re
+import sys
+import csv
+import bisect
+import pyexiv2
+import argparse
+from lxml import etree
+import datetime, calendar
+from shutil import copyfile
+from pykml.factory import KML_ElementMaker as KML
+from pykml.factory import GX_ElementMaker as GX
+
+
+class GpsPosition(object):
+    def __init__(self, timestamp, lat, lon, alt):
+        self.timestamp = timestamp
+        self.lat = float(lat)
+        self.lon = float(lon)
+        self.alt = float(alt)
+
+
+class Main:
+    def __init__(self):
+        """
+
+        :param logfile:
+        :param input:
+        :param output:
+        :param offset:
+        :param verbose:
+        :return:
+        """
+        args = self.get_arg()
+
+        self.logfile = args['logfile']
+        self.input = args['input']
+        self.output = args['output']
+        self.klm = args['klm']
+        self.verbose = args['verbose']
+        self.offset = args['offset']
+        self.time_tresh = args['treshold']
+
+        self.tdiff_list = []
+        self.non_processed_files = []
+        self.tagged_gps = []
+        self.gps_list = self.load_gps_from_log(self.logfile, self.offset)
+        self.img_list = self.load_image_list(self.input)
+
+        if len(self.img_list) <= 0:
+            print '[ERROR] Cannot load JPG images from input folder, please check filename extensions.'
+            sys.exit(1)
+
+        if not os.path.exists(self.output):
+            os.makedirs(self.output)
+
+        if not self.output.endswith(os.path.sep):
+            self.output += os.path.sep
+
+        self.tag_images()
+
+        if self.klm and len(self.tdiff_list) > 0:
+            self.gen_klm()
+
+        if len(self.non_processed_files) > 0:
+            print '[WARNING] Some images werent processed:'
+            for elem in self.non_processed_files:
+                print '\t', elem
+
+    @staticmethod
+    def to_degree(value, loc):
+        """
+        Convert a lat or lon value to degrees/minutes/seconds
+        :param value: the latitude or longitude value
+        :param loc: could be ["S", "N"] or ["W", "E"]
+        :return:
+        """
+        if value < 0:
+            loc_value = loc[0]
+        elif value > 0:
+            loc_value = loc[1]
+        else:
+            loc_value = ""
+
+        absolute_value = abs(value)
+        deg = int(absolute_value)
+        t1 = (absolute_value-deg) * 60
+        minute = int(t1)
+        sec = round((t1 - minute) * 60, 5)
+
+        return deg, minute, sec, loc_value
+
+    @staticmethod
+    def gps_week_seconds_to_datetime(gpsweek, gpsmillis, leapmillis=0):
+        """
+        Convert GPS week and seconds to datetime object, using leap milliseconds if necessary
+        :param gpsweek:
+        :param gpsmillis:
+        :param leapmillis:
+        :return:
+        """
+        datetimeformat = "%Y-%m-%d %H:%M:%S.%f"
+        epoch = datetime.datetime.strptime("1980-01-06 00:00:00.000", datetimeformat)
+        elapsed = datetime.timedelta(days=(gpsweek * 7), milliseconds=(gpsmillis + leapmillis))
+
+        return Main.utc_to_local(epoch + elapsed)
+
+    @staticmethod
+    def utc_to_local(utc_dt):
+        """
+        Convert UTC time in local time
+        :param utc_dt:
+        :return:
+        """
+        timestamp = calendar.timegm(utc_dt.timetuple())  # use integer timestamp to avoid precision lost
+        local_dt = datetime.datetime.fromtimestamp(timestamp)
+        assert utc_dt.resolution >= datetime.timedelta(microseconds=1)
+
+        return local_dt.replace(microsecond=utc_dt.microsecond)
+
+    def gen_klm(self):
+        """
+        Generate a KML file with keypoints on the locations of the pictures, including height
+        :return:
+        """
+        style_dot = "sn_shaded_dot"
+        style_path = "red_path"
+
+        doc = KML.kml(
+            KML.Document(
+                KML.Name("GPS of the images"),
+                KML.Style(
+                    KML.IconStyle(
+                        KML.scale(0.4),
+                        KML.Icon(
+                            KML.href("http://maps.google.com/mapfiles/kml/shapes/shaded_dot.png")
+                        ),
+                    ),
+                    id=style_dot,
+                ),
+                KML.Style(
+                    KML.LineStyle(
+                        KML.color('7f0000ff'),
+                        KML.width(6),
+                        GX.labelVisibility('1'),
+                    ),
+                    id=style_path
+                )   
+            )
+        )
+
+        # create points
+        for i, gps in enumerate(self.tagged_gps):
+                ii = i + 1
+                doc.Document.append(
+                    KML.Placemark(
+                        KML.styleUrl('#{0}'.format(style_dot)),
+                        KML.Point(
+                            KML.extrude(True),
+                            KML.altitudeMode('relativeToGround'),
+                            KML.coordinates("{},{},{}".format(gps.lon, gps.lat, gps.alt))
+                        ),
+                        KML.name(str(ii)) if ii % 5 == 0 or ii == 1 else KML.name()
+                    )
+                )
+
+        # create the path
+        doc.Document.append(
+            KML.Placemark(
+                KML.styleUrl('#{0}'.format(style_path)),
+                KML.LineString(
+                    KML.altitudeMode('relativeToGround'),
+                    KML.coordinates(
+                        ' '.join(["{},{},{}".format(gps.lon, gps.lat, gps.alt) for gps in self.tagged_gps])
+                    )
+                )
+            )
+        )
+
+        s = etree.tostring(doc)
+
+        file_path = self.output + 'GoogleEarth_points.kml'
+        f = open(file_path,'w')
+        f.write(s)
+        f.close()
+
+        print '[INFO] KML file generated on:', file_path
+
+    def get_closest_datetime_index(self, datetime_list, elem):
+        """
+        Get the closest element between a list of datetime objects and a date
+        :param datetime_list:
+        :param elem:
+        :return:
+        """
+        i = bisect.bisect_left(datetime_list, elem)
+        date = datetime_list[i]
+        diff = (date - elem).total_seconds()
+
+        if diff > self.time_tresh:
+            return -1, diff
+
+        return i, diff
+
+    def set_gps_location(self, file_name, lat, lng, alt):
+        """
+        Add the GPS tag and altitude to a image file
+        :param file_name:
+        :param lat:
+        :param lng:
+        :param alt:
+        :return:
+        """
+        lat_deg = self.to_degree(lat, ["S", "N"])
+        lng_deg = self.to_degree(lng, ["W", "E"])
+
+        exiv_lat = (pyexiv2.Rational(lat_deg[0] * 60 + lat_deg[1], 60),
+                    pyexiv2.Rational(lat_deg[2] * 100, 6000), pyexiv2.Rational(0, 1))
+        exiv_lng = (pyexiv2.Rational(lng_deg[0] * 60 + lng_deg[1], 60),
+                    pyexiv2.Rational(lng_deg[2] * 100, 6000), pyexiv2.Rational(0, 1))
+
+        try:
+            exiv_image = pyexiv2.ImageMetadata(file_name)
+            exiv_image.read()
+
+            exiv_image["Exif.GPSInfo.GPSLatitude"] = exiv_lat
+            exiv_image["Exif.GPSInfo.GPSLatitudeRef"] = lat_deg[3]
+            exiv_image["Exif.GPSInfo.GPSLongitude"] = exiv_lng
+            exiv_image["Exif.GPSInfo.GPSLongitudeRef"] = lng_deg[3]
+            exiv_image["Exif.GPSInfo.GPSAltitude"] = pyexiv2.Rational(alt, 1)
+            exiv_image["Exif.GPSInfo.GPSAltitudeRef"] = '0'
+            exiv_image["Exif.Image.GPSTag"] = 654
+            exiv_image["Exif.GPSInfo.GPSMapDatum"] = "WGS-84"
+            exiv_image["Exif.GPSInfo.GPSVersionID"] = '2 0 0 0'
+
+            exiv_image.write(True)
+        except Exception as e:
+            print '[ERROR]', e
+
+    def load_gps_from_log(self, log_file, offset):
+        """
+        Load gps list from PX4 binary log
+        :param log_file:
+        :param offset:
+        :return:
+        """
+        os.system('python sdlog2_dump.py ' + log_file + ' -f log.csv')
+        f = open('log.csv', 'rb')
+        reader = csv.reader(f)
+        headers = reader.next()
+        line = {}
+        for h in headers:
+            line[h] = []
+
+        for row in reader:
+            for h, v in zip(headers, row):
+                line[h].append(v)
+
+        gps_list = []
+        for seq in range(0, len(line['GPS_Lat']) - 1):
+            gps_time = int(line['GPS_TimeMS'][seq + 1])
+            gps_week = int(line['GPS_Week'][seq + 1])
+            gps_lat = float(line['GPS_Lat'][seq + 1])
+            gps_lon = float(line['GPS_Lng'][seq + 1])
+            gps_alt = float(line['GPS_RelAlt'][seq + 1])
+
+            date = self.gps_week_seconds_to_datetime(gps_week, gps_time, leapmillis=offset)
+            print date
+            gps_list.append(GpsPosition(date, gps_lat, gps_lon, gps_alt))
+
+        return gps_list
+
+    def load_image_list(self, input_folder, file_type='jpg'):
+        """
+        Load image list from a folder given a file type
+        :param input_folder:
+        :param file_type:
+        :return:
+        """
+        self.img_list = [input_folder + filename for filename in os.listdir(input_folder)
+                         if re.search(r'\.'+file_type+'$', filename, re.IGNORECASE)]
+        self.img_list = sorted(self.img_list)
+        return self.img_list
+
+    def tag_images(self):
+        """
+        Tag the image list using the GPS loaded from the LOG file
+        :return:
+        """
+        tagged_gps = []
+        img_size = len(self.img_list)
+        print '[INFO] Number of images:', img_size
+
+        dt_list = [x.timestamp for x in self.gps_list]
+
+        img_seq = 1
+
+        for i in xrange(img_size):
+            base_path, filename = os.path.split(self.img_list[i])
+            cdate = datetime.datetime.fromtimestamp(os.path.getmtime(self.img_list[i]))
+            gps_i, img_tdiff = self.get_closest_datetime_index(dt_list, cdate)
+
+            if gps_i == -1:
+                self.non_processed_files.append(filename)
+                continue
+
+            closest_gps = self.gps_list[gps_i]
+            self.tdiff_list.append(img_tdiff)
+
+            if self.verbose:
+                msg = "[DEBUG] %s/%s) %s\n\timg %s -> gps %s (%ss)\n\tlat:%s, lon:%s, alt:%s".ljust(60) %\
+                        (i+1, img_size, filename, cdate, closest_gps.timestamp, img_tdiff, closest_gps.lat, closest_gps.lon, closest_gps.alt)
+                print msg
+
+            copyfile(self.img_list[i], self.output + str(img_seq) + filename)
+            self.set_gps_location(self.output + str(img_seq) + filename, closest_gps.lat, closest_gps.lon, closest_gps.alt)
+            self.tagged_gps.append(closest_gps)
+            img_seq += 1
+
+        if len(self.tdiff_list) > 0:
+            print '[INFO] Mean diff in seconds:', sum(self.tdiff_list) / float(len(self.tdiff_list))
+
+    @staticmethod
+    def get_arg():
+        parser = argparse.ArgumentParser(
+            description='Geotag script to add GPS info to pictures from PX4 binary log files.'\
+                        'It uses synchronized time to allocate GPS positions.'
+        )
+
+        parser.add_argument(
+            '-l', '--logfile', help='PX4 log file containing recorded positions.', required=True
+        )
+        parser.add_argument(
+            '-i', '--input', help='Input folder containing untagged images.', required=True
+        )
+        parser.add_argument(
+            '-o', '--output', help='Output folder to contain tagged images.', required=True
+        )
+        parser.add_argument(
+            '-t', '--treshold', help='Time treshold between the GPS time and the local image time.',
+            default=1, required=False, type=float
+        )
+        parser.add_argument(
+            '-of', '--offset', help='Time offset in MILLISECONDS between the GPS time and the local time.',
+            default=-17000, required=False, type=float
+        )
+        parser.add_argument(
+            '-klm', '--klm', help='Save the in KML format the information of all tagged images.',
+            required=False, action='store_true'
+        )
+        parser.add_argument(
+            '-v', '--verbose', help='Prints lots of information.',
+            required=False, action='store_true'
+        )
+
+        args = vars(parser.parse_args())
+        return args
+
+
+if __name__ == "__main__":
+    m = Main()
@@ -16,7 +16,7 @@ src_path=`pwd`
 rc_script="posix-configs/SITL/init/rcS_multiple"
 build_path=${src_path}/build_posix_sitl_default

-pkill mainapp
+pkill px4
 sleep 2

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

 cd $n

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

 cd ../

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

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

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

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

-python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
+python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
@@ -488,6 +488,7 @@ function(px4_add_upload)
 	if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
 		list(APPEND serial_ports
 			/dev/serial/by-id/usb-3D_Robotics*
+			/dev/serial/by-id/usb-The_Autopilot*
 			/dev/serial/by-id/pci-3D_Robotics*
 			)
 	elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
@@ -787,6 +788,7 @@ function(px4_add_common_flags)
 	string(REPLACE "-" "_" board_config ${board_upper})
 	set(added_definitions
 		-DCONFIG_ARCH_BOARD_${board_config}
+		-D__STDC_FORMAT_MACROS
 		)

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

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

 	#
 	# General system control
@@ -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
@@ -95,9 +97,10 @@ set(config_module_list
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
 	modules/attitude_estimator_q
-	modules/ekf_att_pos_estimator
+	#modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/ekf2

 	#
 	# Vehicle Control
@@ -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
 	#
@@ -0,0 +1,129 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/boards/tap-v1
+	drivers/rgbled_pwm
+	drivers/tap_esc
+	#drivers/mpu6500
+	drivers/ms5611
+	drivers/hmc5883
+	drivers/gps
+	drivers/airspeed
+	drivers/meas_airspeed
+	modules/sensors
+	drivers/camera_trigger
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/motor_test
+	systemcmds/reboot
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+	systemcmds/topic_listener
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/load_mon
+	modules/navigator
+	modules/mavlink
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
+	modules/fw_pos_control_l1
+	modules/fw_att_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	modules/logger
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	lib/DriverFramework/framework
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common
+	platforms/nuttx/px4_layer
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	)
+
+set(config_extra_libs
+	)
+
+set(config_io_extra_libs
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "sercon"
+	STACK_MAIN "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "serdis"
+	STACK_MAIN "2048")
@@ -5,6 +5,7 @@ set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linu
 add_definitions(
  -D__PX4_POSIX_BEBOP
  -D__LINUX
+  -D__BEBOP
 	)

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

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

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

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

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

 	lib/controllib
 	lib/mathlib
@@ -1,50 +0,0 @@
-include(posix/px4_impl_posix)
-
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
-
-set(config_module_list
-	drivers/device
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-	systemcmds/param
-	systemcmds/mixer
-	systemcmds/ver
-	systemcmds/esc_calib
-	systemcmds/reboot
-	systemcmds/topic_listener
-	systemcmds/perf
-	modules/uORB
-	modules/param
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/sensors
-	modules/mavlink
-	modules/attitude_estimator_q
-	modules/position_estimator_inav
-	modules/navigator
-	modules/vtol_att_control
-	modules/mc_pos_control
-	modules/mc_att_control
-	modules/land_detector
-	modules/fw_att_control
-	modules/fw_pos_control_l1
-	modules/dataman
-	modules/sdlog2
-	modules/logger
-	modules/commander
-	modules/load_mon
-	lib/controllib
-	lib/mathlib
-	lib/mathlib/math/filter
-	lib/conversion
-	lib/ecl
-	lib/external_lgpl
-	lib/geo
-	lib/geo_lookup
-	lib/launchdetection
-	lib/terrain_estimation
-	lib/runway_takeoff
-	lib/tailsitter_recovery
-	lib/DriverFramework/framework
-)
@@ -1,111 +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
@@ -34,6 +31,7 @@ set(config_module_list
 	systemcmds/mixer
 	systemcmds/ver
 	systemcmds/esc_calib
+	systemcmds/reboot
 	systemcmds/topic_listener
 	systemcmds/perf

@@ -53,7 +51,7 @@ set(config_module_list
 	modules/mc_att_control
 	modules/mc_pos_control
 	modules/fw_att_control
-	modules/fw_pos_control_l1	
+	modules/fw_pos_control_l1
 	modules/vtol_att_control

 	#
@@ -62,7 +60,6 @@ set(config_module_list
 	modules/sdlog2
 	modules/logger
 	modules/commander
-	modules/load_mon
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
@@ -104,6 +101,9 @@ set(config_module_list
 	platforms/posix/work_queue
 )

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

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

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

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

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

 	set(cpu_flags)
-	if (${BOARD} STREQUAL "px4fmu-v1")
-		set(cpu_flags
-			-mcpu=cortex-m4
-			-mthumb
-			-march=armv7e-m
-			-mfpu=fpv4-sp-d16
-			-mfloat-abi=hard
-			)
-	elseif (${BOARD} STREQUAL "px4fmu-v2")
-		set(cpu_flags
-			-mcpu=cortex-m4
-			-mthumb
-			-march=armv7e-m
-			-mfpu=fpv4-sp-d16
-			-mfloat-abi=hard
-			)
-	elseif (${BOARD} STREQUAL "px4fmu-v4")
-		set(cpu_flags
-			-mcpu=cortex-m4
-			-mthumb
-			-march=armv7e-m
-			-mfpu=fpv4-sp-d16
-			-mfloat-abi=hard
-			)
-	elseif (${BOARD} STREQUAL "px4-stm32f4discovery")
-		set(cpu_flags
-			-mcpu=cortex-m4
-			-mthumb
-			-march=armv7e-m
-			-mfpu=fpv4-sp-d16
-			-mfloat-abi=hard
-			)
-	elseif (${BOARD} STREQUAL "aerocore")
-		set(cpu_flags
-			-mcpu=cortex-m4
-			-mthumb
-			-march=armv7e-m
-			-mfpu=fpv4-sp-d16
-			-mfloat-abi=hard
-			)
-	elseif (${BOARD} STREQUAL "mindpx-v2")
-			set(cpu_flags
-			-mcpu=cortex-m4
-			-mthumb
-			-march=armv7e-m
-			-mfpu=fpv4-sp-d16
-			-mfloat-abi=hard
-			)
-	elseif (${BOARD} STREQUAL "px4io-v1")
+	# Handle non-F4 boards specifically here
+	if (${BOARD} STREQUAL "px4io-v1")
 		set(cpu_flags
 			-mcpu=cortex-m3
 			-mthumb
@@ -510,6 +463,14 @@ function(px4_os_add_flags)
 			-mthumb
 			-march=armv7-m
 			)
+	else ()
+			set(cpu_flags
+			-mcpu=cortex-m4
+			-mthumb
+			-march=armv7e-m
+			-mfpu=fpv4-sp-d16
+			-mfloat-abi=hard
+			)
 	endif()
 	list(APPEND c_flags ${cpu_flags})
 	list(APPEND cxx_flags ${cpu_flags})
@@ -2,7 +2,7 @@ INFO  Shell id is 47996278451456
 WARN  1          starting task wkr_high (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
 WARN  54         starting task wkr_low (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
 WARN  100        starting task wkr_hrt (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
-App name: mainapp
+App name: px4
 Enter a command and its args:
 ----------------------------------
 Running: uorb
@@ -71,7 +71,7 @@ foreach(tool echo grep rm mkdir nm cp touch make unzip)
 endforeach()

 add_definitions(
-	-D __RPI2
+	-D __RPI
 	)

 set(LINKER_FLAGS "-Wl,-gc-sections")
@@ -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
@@ -61,6 +60,7 @@ 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
@@ -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

@@ -1,7 +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
@@ -0,0 +1,6 @@
+# This message is used to dump the raw gps communication to the log.
+# Set the parameter GPS_DUMP_COMM to 1 to use this.
+
+uint8 len			# length of data, MSB bit set = message to the gps device,
+				# clear = message from the device
+uint8[79] data			# data to write to the log
@@ -51,4 +51,5 @@ uint8 loiter_switch		 # loiter 2 position switch (optional): _MISSION_, LOITER
 uint8 acro_switch		 # acro 2 position switch (optional): _MANUAL_, ACRO
 uint8 offboard_switch	 # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
 uint8 kill_switch		 # throttle kill: _NORMAL_, KILL
+uint8 transition_switch	 # VTOL transition switch: _HOVER, FORWARD_FLIGHT
 int8 mode_slot			 # the slot a specific model selector is in
@@ -20,11 +20,12 @@ uint8 RC_CHANNELS_FUNCTION_PARAM_2=17
 uint8 RC_CHANNELS_FUNCTION_PARAM_3_5=18
 uint8 RC_CHANNELS_FUNCTION_RATTITUDE=19
 uint8 RC_CHANNELS_FUNCTION_KILLSWITCH=20
+uint8 RC_CHANNELS_FUNCTION_TRANSITION=21

 uint64 timestamp_last_valid					# Timestamp of last valid RC signal
 float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
 uint8 channel_count						# Number of valid channels
-int8[21] function						# Functions mapping
+int8[22] function						# Functions mapping
 uint8 rssi							# Receive signal strength indicator (0-100)
 bool signal_lost						# Control signal lost, should be checked together with topic timeout
 uint32 frame_drop_count						# Number of dropped frames
@@ -1,73 +1,25 @@
-# Definition of the sensor_combined uORB topic.
-
-int32 MAGNETOMETER_MODE_NORMAL = 0
-int32 MAGNETOMETER_MODE_POSITIVE_BIAS = 1
-int32 MAGNETOMETER_MODE_NEGATIVE_BIAS = 2
-
-uint32 SENSOR_PRIO_MIN = 0
-uint32 SENSOR_PRIO_VERY_LOW = 25
-uint32 SENSOR_PRIO_LOW = 50
-uint32 SENSOR_PRIO_DEFAULT = 75
-uint32 SENSOR_PRIO_HIGH = 100
-uint32 SENSOR_PRIO_VERY_HIGH = 125
-uint32 SENSOR_PRIO_MAX = 255
-
-# Sensor readings in raw and SI-unit form.
 #
-# These values are read from the sensors. Raw values are in sensor-specific units,
-# the scaled values are in SI-units, as visible from the ending of the variable
-# or the comments. The use of the SI fields is in general advised, as these fields
-# are scaled and offset-compensated where possible and do not change with board
-# revisions and sensor updates.
+# Sensor readings in SI-unit form.
 #
-# Actual data, this is specific to the type of data which is stored in this struct
-# A line containing L0GME will be added by the Python logging code generator to the logged dataset.
+# These fields are scaled and offset-compensated where possible and do not
+# change with board revisions and sensor updates.
 #
-# NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only

-uint64[3] gyro_timestamp			# Gyro timestamps
-int16[9] gyro_raw			# Raw sensor values of angular velocity
-float32[9] gyro_rad_s			# Angular velocity in radian per seconds
-uint32[3] gyro_priority			# Sensor priority
-float32[9] gyro_integral_rad		# delta angle in radians
-uint64[3] gyro_integral_dt			# delta time for gyro integral in us
-uint32[3] gyro_errcount			# Error counter for gyro 0
-float32[3] gyro_temp			# Temperature of gyro 0
+int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid

-int16[9] accelerometer_raw		# Raw acceleration in NED body frame
-float32[9] accelerometer_m_s2		# Acceleration in NED body frame, in m/s^2
-float32[9] accelerometer_integral_m_s		# velocity in NED body frame, in m/s^2
-uint64[3] accelerometer_integral_dt		# delta time for accel integral in us
-int16[3] accelerometer_mode			# Accelerometer measurement mode
-float32[3] accelerometer_range_m_s2		# Accelerometer measurement range in m/s^2
-uint64[3] accelerometer_timestamp	# Accelerometer timestamp
-uint32[3] accelerometer_priority	# Sensor priority
-uint32[3] accelerometer_errcount	# Error counter for accel 0
-float32[3] accelerometer_temp		# Temperature of accel 0

-int16[9] magnetometer_raw		# Raw magnetic field in NED body frame
-float32[9] magnetometer_ga		# Magnetic field in NED body frame, in Gauss
-int16[3] magnetometer_mode			# Magnetometer measurement mode
-float32[3] magnetometer_range_ga		# measurement range in Gauss
-float32[3] magnetometer_cuttoff_freq_hz	# Internal analog low pass frequency of sensor
-uint64[3] magnetometer_timestamp	# Magnetometer timestamp
-uint32[3] magnetometer_priority			# Sensor priority
-uint32[3] magnetometer_errcount		# Error counter for mag 0
-float32[3] magnetometer_temp		# Temperature of mag 0
+# gyro timstamp is equal to the timestamp of the message
+float32[3] gyro_rad				# delta angle in the NED body frame in rad
+float32 gyro_integral_dt			# delta time for gyro integral in s

-float32[3] baro_pres_mbar			# Barometric pressure, already temp. comp.
-float32[3] baro_alt_meter			# Altitude, already temp. comp.
-float32[3] baro_temp_celcius		# Temperature in degrees celsius
-uint64[3] baro_timestamp		# Barometer timestamp
-uint32[3] baro_priority			# Sensor priority
-uint32[3] baro_errcount			# Error count in communication
+int32 accelerometer_timestamp_relative	# timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
+float32[3] accelerometer_m_s2			# velocity in NED body frame, in m/s^2
+float32 accelerometer_integral_dt		# delta time for accel integral in s

-float32[10] adc_voltage_v		# ADC voltages of ADC Chan 10/11/12/13 or -1
-uint16[10] adc_mapping		# Channel indices of each of these values
-float32 mcu_temp_celcius			# Internal temperature measurement of MCU
+int32 magnetometer_timestamp_relative	# timestamp + magnetometer_timestamp_relative = Magnetometer timestamp
+float32[3] magnetometer_ga		# Magnetic field in NED body frame, in Gauss
+
+int32 baro_timestamp_relative		# timestamp + baro_timestamp_relative = Barometer timestamp
+float32 baro_alt_meter			# Altitude, already temp. comp.
+float32 baro_temp_celcius		# Temperature in degrees celsius

-float32[3] differential_pressure_pa			# Airspeed sensor differential pressure
-uint64[3] differential_pressure_timestamp	# Last measurement timestamp
-float32[3] differential_pressure_filtered_pa	# Low pass filtered airspeed sensor differential pressure reading
-uint32[3] differential_pressure_priority			# Sensor priority
-uint32[3] differential_pressure_errcount			# Error count in communication
@@ -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 x			# X position in meters in NED earth-fixed frame
 float32 y			# Y position in meters in NED earth-fixed frame
@@ -440,7 +440,7 @@ CONFIG_SIG_SIGWORK=4
 CONFIG_MAX_TASKS=32
 CONFIG_MAX_TASK_ARGS=10
 CONFIG_NPTHREAD_KEYS=4
-CONFIG_NFILE_DESCRIPTORS=42
+CONFIG_NFILE_DESCRIPTORS=51
 CONFIG_NFILE_STREAMS=8
 CONFIG_NAME_MAX=32
 CONFIG_PREALLOC_MQ_MSGS=4
@@ -442,7 +442,7 @@ CONFIG_SIG_SIGWORK=4
 CONFIG_MAX_TASKS=32
 CONFIG_MAX_TASK_ARGS=10
 CONFIG_NPTHREAD_KEYS=4
-CONFIG_NFILE_DESCRIPTORS=47
+CONFIG_NFILE_DESCRIPTORS=51
 CONFIG_NFILE_STREAMS=8
 CONFIG_NAME_MAX=32
 CONFIG_PREALLOC_MQ_MSGS=4
@@ -442,7 +442,7 @@ CONFIG_SIG_SIGWORK=4
 CONFIG_MAX_TASKS=32
 CONFIG_MAX_TASK_ARGS=10
 CONFIG_NPTHREAD_KEYS=4
-CONFIG_NFILE_DESCRIPTORS=47
+CONFIG_NFILE_DESCRIPTORS=51
 CONFIG_NFILE_STREAMS=8
 CONFIG_NAME_MAX=32
 CONFIG_PREALLOC_MQ_MSGS=4
@@ -0,0 +1,432 @@
+/************************************************************************************
+ * configs/tap-v1/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2012-2016 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *           David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#ifndef __CONFIG_TAP_V1_INCLUDE_BOARD_H
+#define __CONFIG_TAP_V1_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdio.h"
+#include "stm32.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The TAP V1 uses a 16MHz crystal connected to the HSE.
+ *
+ * This is the canonical configuration:
+ *   System Clock source           : PLL (HSE)
+ *   SYSCLK(Hz)                    : 168000000    Determined by PLL configuration
+ *   HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
+ *   AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
+ *   APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
+ *   APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
+ *   HSE Frequency(Hz)             : 16000000     (STM32_BOARD_XTAL)
+ *   PLLM                          : 8            (STM32_PLLCFG_PLLM)
+ *   PLLN                          : 168          (STM32_PLLCFG_PLLN)
+ *   PLLP                          : 2            (STM32_PLLCFG_PLLP)
+ *   PLLQ                          : 7            (STM32_PLLCFG_PLLQ)
+ *   Main regulator output voltage : Scale1 mode  Needed for high speed SYSCLK
+ *   Flash Latency(WS)             : 5
+ *   Prefetch Buffer               : OFF
+ *   Instruction cache             : ON
+ *   Data cache                    : ON
+ *   Require 48MHz for USB OTG FS, : Enabled
+ *   SDIO and RNG clock
+ */
+
+/* HSI - 16 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - On-board crystal frequency is 16MHz
+ * LSE - not installed
+ */
+
+#define STM32_BOARD_XTAL        16000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE
+ * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ *         = (16,000,000 / 8) * 168
+ *         = 336,000,000
+ * SYSCLK  = PLL_VCO / PLLP
+ *         = 336,000,000 / 2 = 168,000,000
+ * USB OTG FS, SDIO and RNG Clock
+ *         =  PLL_VCO / PLLQ
+ *         =  336,000,000 / 7
+ *         = 48,000,000
+ */
+
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(168)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
+
+#define STM32_SYSCLK_FREQUENCY  168000000ul
+
+/* AHB clock (HCLK) is SYSCLK (168MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1,8 are on APB2, others on APB1
+ */
+
+#define STM32_TIM18_FREQUENCY   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_TIM27_FREQUENCY   (2*STM32_PCLK1_FREQUENCY)
+
+/* LED definitions ******************************************************************/
+/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
+ * way.  The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with stm32_setled()
+ *
+ * PC4     BLUE_LED                  D4 Blue LED cathode
+ * PC5     RED_LED                   D5 Red LED cathode
+*/
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_NLEDS       2
+
+#define BOARD_LED_BLUE    BOARD_LED1
+#define BOARD_LED_RED     BOARD_LED2
+
+/* LED bits for use with stm32_setleds() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+
+/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board
+ * the tap-v1.  The following definitions describe how NuttX controls
+ * the LEDs:
+ */
+
+#define LED_STARTED       0  /* BLUE */
+#define LED_HEAPALLOCATE  1  /* LED2 */
+#define LED_IRQSENABLED   2  /* BLUE */
+#define LED_STACKCREATED  3  /* BLUE + RED  */
+#define LED_INIRQ         4  /* BLUE */
+#define LED_SIGNAL        5  /* RED  */
+#define LED_ASSERTION     6  /* BLUE + RED  */
+#define LED_PANIC         7  /* BLUE + RED  */
+
+/* Alternate function pin selections ************************************************/
+
+/*
+ * USARTs.
+ *
+ *
+ * Peripheral   Port     Signal Name               CONN
+ * USART1_TX    PB6     GPS_USART1_TX            JP1-15,16
+ * USART1_RX    PB7     GPS_USART1_RX            JP1-13,14
+ * USART2_TX    PA2     GB_USART2_TX             JP2-19,20
+ * USART2_RX    PA3     GB_USART2_RX             JP2-21,22
+ * USART3_TX    PC10    RF2_USART3_TX            J3-2
+ * USART3_RX    PC11    RF2_USART3_RX            J3-1
+ * USART6_TX    PC6     RF_USART6_TX             JP2-15,16
+ * USART6_RX    PC7     RF_USART6_RX             JP2-17,18
+*/
+
+#define GPIO_USART1_TX	GPIO_USART1_TX_2
+#define GPIO_USART1_RX	GPIO_USART1_RX_2
+
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+
+#define GPIO_USART3_TX	GPIO_USART3_TX_2
+#define GPIO_USART3_RX	GPIO_USART3_RX_2
+
+#define GPIO_USART6_TX	GPIO_USART6_TX_1
+#define GPIO_USART6_RX	GPIO_USART6_RX_1
+
+/* USART DMA configuration for USART 1 and 6 */
+
+#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
+#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
+
+/*
+ * UARTs.
+ *
+ *  N.B. The 's' is here to match the wrong labeling on Schematic
+ *
+ * Peripheral   Port     Signal Name               CONN
+ * UART4_TX     PA0     OFS_UsART4_TX             JP1-19,20
+ * UART4_RX     PA1     OFS_UsART4_RX             JP1-17,18
+ * UART5_TX     PC12    ESC_UsART5_TX             U7-HCT244 etal ESC
+ * UART5_RX     PD2     ESC_UsART5_RX             U8-5 74HCT151
+ *
+ * Note that UART5 has no optional pinout, so it is not listed here.
+ *
+*/
+
+#define GPIO_UART4_TX	GPIO_UART4_TX_1
+#define GPIO_UART4_RX	GPIO_UART4_RX_1
+
+/*
+ * I2C
+ *
+ * Peripheral   Port     Signal Name               CONN
+ * I2C1_SDA     PB9     I2C1_SDA                  J2-4,9,16,21 mpu6050, U4 MS6507
+ * I2C1_SDL     PB8     I2C1_SCL                  J2-3,10,15,22 mpu6050, U4 MS6507
+ * I2C2_SDA     PB11    Sonar Echo/I2C_SDA        JP2-31,32
+ * I2C2_SDL     PB10    Sonar Trig/I2C_SCL        JP2-29,30
+ * I2C3_SDA     PC9     COMPASS_I2C3_SDA          JP1-27,28
+ * I2C3_SDL     PA8     COMPASS_I2C3_SCL          JP1-25,26
+ *
+ * The optional _GPIO configurations allow the I2C driver to manually
+ * reset the bus to clear stuck slaves.  They match the pin configuration,
+ * but are normally-high GPIOs.
+ */
+#define GPIO_I2C1_SDA		GPIO_I2C1_SDA_2
+#define GPIO_I2C1_SCL		GPIO_I2C1_SCL_2
+#define GPIO_I2C1_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
+#define GPIO_I2C1_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
+
+#define GPIO_I2C2_SDA		GPIO_I2C2_SDA_1
+#define GPIO_I2C2_SCL		GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
+#define GPIO_I2C2_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
+
+#define GPIO_I2C3_SDA		GPIO_I2C3_SDA_1
+#define GPIO_I2C3_SCL		GPIO_I2C3_SCL_1
+#define GPIO_I2C3_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN9)
+#define GPIO_I2C3_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
+
+/*
+ * SPI
+ *
+ * Peripheral   Port     Signal Name               CONN
+ * SPI2_NSS       PB12    SD_SPI2_NSS               SD-2 CS
+ * SPI2_SCK       PB13    SD_SPI2_SCK               SD-5 CLK
+ * SPI2_MISO      PB14    SD_SPI2_MISO              SD-7 D0
+ * SPI2_MOSI      PB15    SD_SPI2_MOSI              SD-3 DI
+ *
+ */
+
+#define GPIO_SPI2_NSS	(GPIO_SPI2_NSS_1  | GPIO_SPEED_50MHz)
+#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_2  | GPIO_SPEED_50MHz)
+#define GPIO_SPI2_MISO	(GPIO_SPI2_MISO_1 | GPIO_SPEED_50MHz)
+#define GPIO_SPI2_MOSI	(GPIO_SPI2_MOSI_1 | GPIO_SPEED_50MHz)
+
+/* SPI DMA configuration for SPI2 (microSD) */
+#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX
+#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX
+
+/* The following Pin Mapping is just for completeness */
+/*
+ * JTAG
+ *
+ * We will only enable SW-DP, JTAG-DP will be disabled
+ *
+ * Function     Port     Signal Name               CONN
+ * SWDIO        PA13    DAT                       J10-3,J7
+ * SWCLK        PA14    CLK                       J10-4,J8
+ *
+ */
+
+/*
+ *  BOOT
+ *
+ * Function     Port     Signal Name               CONN
+ * BOOT0        NA       BOOT0              GND via 10 K
+ * BOOT1        PB2      BOOT1              V3.3 - 10 K
+ *
+ *   As jumpered the device can only boot from FLASH.
+ *
+ *   It can be booted to:
+ *
+ * 	   SRAM if BOOT0 is pulled High with 1K.
+ *     System memory if:
+ *       BOOT0 is pulled High with 1K and
+ *       BOOT1 is pulled Low with  1K
+*/
+
+/*
+ * Timer PWM
+ *
+ * Peripheral   Port     Signal Name               CONN
+ * TIM3_CH1     PA6     LED_R                     JP2-23,24
+ * TIM3_CH2     PA7     LED_G                     JP2-25,26
+ * TIM3_CH3     PB0     LED_B                     JP2-27,28
+ * TIM3_CH4     PB1     nPWM_1 AUX1(Landing Gear) JP1-21,22
+ */
+
+/*
+ * GPIO
+ *
+ * Port     Signal Name               CONN
+ * PA4     POWER                     JP1-23,            - Must be held High to run w/o USB
+ * PB4     TEMP_CONT                 J2-2,11,14,23      - Gyro Heater
+ * PC0     VOLTAGE                   JP2-13,14          - 1.84 @16.66  1.67 @15.12 Scale 0.1105
+ * PC1     KEY_AD                    JP1-31,32          - Low when Power button is depressed
+ * PC2     SD_SW                     SD-9 SW            - Card Present
+ * PC3     PCON_RADIO                JP1-29,30
+ * PC13    S2                        U8-9 74HCT151
+ * PC14    S1                        U8-10 74HCT151
+ * PC15    S0                        U8-11 74HCT151
+ */
+
+/*
+ * USB
+ *
+ * Port     Signal Name               CONN
+ * PA9     OTG_FS_VBUS               J1-1
+ * PA10    OTG_FS_ID                 J1-4
+ * PA11    OTG_FS_DM                 J1-2
+ * PA12    OTG_FS_DP                 J1-3
+ */
+
+/*
+ * UNUSED PINS - In an idle world - these would have been tied to pads to
+ * facilitate debugging probs.
+ * Port
+ * PA15
+ * PB3
+ * PB5
+ * PC8
+*/
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
+# define PROBE_2	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)
+# define PROBE_3	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
+# define PROBE_4	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
+		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
+	} while(0)
+
+# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
+
+/************************************************************************************
+ * Public Data
+ ************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+/************************************************************************************
+ * Public Function Prototypes
+ ************************************************************************************/
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+EXTERN void stm32_boardinitialize(void);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif  /* __CONFIG_TAP_V1_INCLUDE_BOARD_H */
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * nsh_romfsetc.h
+ *
+ * This file is a stub for 'make export' purposes; the actual ROMFS
+ * must be supplied by the library client.
+ */
+
+extern unsigned char romfs_img[];
+extern unsigned int romfs_img_len;
@@ -0,0 +1,160 @@
+############################################################################
+# configs/tap-v1/nsh/Make.defs
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+include ${TOPDIR}/.config
+include ${TOPDIR}/tools/Config.mk
+
+include $(TOPDIR)/PX4_Warnings.mk
+
+#
+# We only support building with the ARM bare-metal toolchain from
+# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
+#
+CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI
+
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
+
+CC			 = $(CROSSDEV)gcc
+CXX			 = $(CROSSDEV)g++
+CPP			 = $(CROSSDEV)gcc -E
+LD			 = $(CROSSDEV)ld
+AR			 = $(CROSSDEV)ar rcs
+NM			 = $(CROSSDEV)nm
+OBJCOPY			 = $(CROSSDEV)objcopy
+OBJDUMP			 = $(CROSSDEV)objdump
+
+MAXOPTIMIZATION		 = -Os
+ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
+			   -mthumb \
+			   -march=armv7e-m \
+			   -mfpu=fpv4-sp-d16 \
+			   -mfloat-abi=hard
+
+
+# enable precise stack overflow tracking
+ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
+INSTRUMENTATIONDEFINES	 = -finstrument-functions -ffixed-r10
+endif
+
+# pull in *just* libm from the toolchain ... this is grody
+LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
+EXTRA_LIBS		+= $(LIBM)
+
+# use our linker script
+LDSCRIPT		 = ld.script
+
+ifeq ($(WINTOOL),y)
+  # Windows-native toolchains
+  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
+  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
+  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
+  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
+else
+  ifeq ($(PX4_WINTOOL),y)
+    # Windows-native toolchains (MSYS)
+    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+  else
+    # Linux/Cygwin-native toolchain
+    MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+  endif
+endif
+
+# tool versions
+ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
+ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
+
+# optimisation flags
+ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
+			   -fno-strict-aliasing \
+			   -fno-strength-reduce \
+			   -fomit-frame-pointer \
+			   -funsafe-math-optimizations \
+			   -fno-builtin-printf \
+			   -ffunction-sections \
+			   -fdata-sections
+
+ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
+ARCHOPTIMIZATION	+= -g
+endif
+
+ARCHCFLAGS		 = -std=gnu99
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
+ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
+ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
+ARCHDEFINES		 =
+ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
+
+# this seems to be the only way to add linker flags
+EXTRA_LIBS		+= --warn-common \
+			   --gc-sections
+
+CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
+CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
+CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
+AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
+
+NXFLATLDFLAGS1		 = -r -d -warn-common
+NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
+LDNXFLATFLAGS		 = -e main -s 2048
+
+OBJEXT			 = .o
+LIBEXT			 = .a
+EXEEXT			 =
+
+
+# produce partially-linked $1 from files in $2
+define PRELINK
+	@echo "PRELINK: $1"
+	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+endef
+
+HOSTCC			 = gcc
+HOSTINCLUDES		 = -I.
+HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
+HOSTLDFLAGS		 =
+
@@ -0,0 +1,982 @@
+#
+# Automatically generated file; DO NOT EDIT.
+# Nuttx/ Configuration
+#
+CONFIG_NUTTX_NEWCONFIG=y
+
+#
+# Build Setup
+#
+# CONFIG_EXPERIMENTAL is not set
+CONFIG_HOST_LINUX=y
+# CONFIG_HOST_OSX is not set
+# CONFIG_HOST_WINDOWS is not set
+# CONFIG_HOST_OTHER is not set
+
+#
+# Build Configuration
+#
+CONFIG_APPS_DIR="../apps"
+# CONFIG_BUILD_2PASS is not set
+
+#
+# Binary Output Formats
+#
+# CONFIG_RRLOAD_BINARY is not set
+# CONFIG_INTELHEX_BINARY is not set
+# CONFIG_MOTOROLA_SREC is not set
+CONFIG_RAW_BINARY=y
+
+#
+# Customize Header Files
+#
+# CONFIG_ARCH_STDBOOL_H is not set
+CONFIG_ARCH_MATH_H=y
+# CONFIG_ARCH_FLOAT_H is not set
+# CONFIG_ARCH_STDARG_H is not set
+
+#
+# Debug Options
+#
+# CONFIG_DEBUG is not set
+CONFIG_DEBUG_SYMBOLS=y
+
+#
+# System Type
+#
+# CONFIG_ARCH_8051 is not set
+CONFIG_ARCH_ARM=y
+# CONFIG_ARCH_AVR is not set
+# CONFIG_ARCH_HC is not set
+# CONFIG_ARCH_MIPS is not set
+# CONFIG_ARCH_RGMP is not set
+# CONFIG_ARCH_SH is not set
+# CONFIG_ARCH_SIM is not set
+# CONFIG_ARCH_X86 is not set
+# CONFIG_ARCH_Z16 is not set
+# CONFIG_ARCH_Z80 is not set
+CONFIG_ARCH="arm"
+
+#
+# ARM Options
+#
+# CONFIG_ARCH_CHIP_C5471 is not set
+# CONFIG_ARCH_CHIP_CALYPSO is not set
+# CONFIG_ARCH_CHIP_DM320 is not set
+# CONFIG_ARCH_CHIP_IMX is not set
+# CONFIG_ARCH_CHIP_KINETIS is not set
+# CONFIG_ARCH_CHIP_KL is not set
+# CONFIG_ARCH_CHIP_LM is not set
+# CONFIG_ARCH_CHIP_LPC17XX is not set
+# CONFIG_ARCH_CHIP_LPC214X is not set
+# CONFIG_ARCH_CHIP_LPC2378 is not set
+# CONFIG_ARCH_CHIP_LPC31XX is not set
+# CONFIG_ARCH_CHIP_LPC43XX is not set
+# CONFIG_ARCH_CHIP_NUC1XX is not set
+# CONFIG_ARCH_CHIP_SAM34 is not set
+CONFIG_ARCH_CHIP_STM32=y
+# CONFIG_ARCH_CHIP_STR71X is not set
+CONFIG_ARCH_CORTEXM4=y
+CONFIG_ARCH_FAMILY="armv7-m"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARCH_HAVE_CMNVECTOR=y
+CONFIG_ARMV7M_CMNVECTOR=y
+CONFIG_ARCH_HAVE_FPU=y
+CONFIG_ARCH_FPU=y
+CONFIG_ARCH_HAVE_MPU=y
+# CONFIG_ARMV7M_MPU is not set
+
+#
+# ARMV7M Configuration Options
+#
+# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
+# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set
+# CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set
+CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y
+# CONFIG_ARMV7M_STACKCHECK is not set
+CONFIG_SERIAL_TERMIOS=y
+
+#
+# STM32 Configuration Options
+#
+# CONFIG_ARCH_CHIP_STM32L151C6 is not set
+# CONFIG_ARCH_CHIP_STM32L151C8 is not set
+# CONFIG_ARCH_CHIP_STM32L151CB is not set
+# CONFIG_ARCH_CHIP_STM32L151R6 is not set
+# CONFIG_ARCH_CHIP_STM32L151R8 is not set
+# CONFIG_ARCH_CHIP_STM32L151RB is not set
+# CONFIG_ARCH_CHIP_STM32L151V6 is not set
+# CONFIG_ARCH_CHIP_STM32L151V8 is not set
+# CONFIG_ARCH_CHIP_STM32L151VB is not set
+# CONFIG_ARCH_CHIP_STM32L152C6 is not set
+# CONFIG_ARCH_CHIP_STM32L152C8 is not set
+# CONFIG_ARCH_CHIP_STM32L152CB is not set
+# CONFIG_ARCH_CHIP_STM32L152R6 is not set
+# CONFIG_ARCH_CHIP_STM32L152R8 is not set
+# CONFIG_ARCH_CHIP_STM32L152RB is not set
+# CONFIG_ARCH_CHIP_STM32L152V6 is not set
+# CONFIG_ARCH_CHIP_STM32L152V8 is not set
+# CONFIG_ARCH_CHIP_STM32L152VB is not set
+# CONFIG_ARCH_CHIP_STM32F100C8 is not set
+# CONFIG_ARCH_CHIP_STM32F100CB is not set
+# CONFIG_ARCH_CHIP_STM32F100R8 is not set
+# CONFIG_ARCH_CHIP_STM32F100RB is not set
+# CONFIG_ARCH_CHIP_STM32F100RC is not set
+# CONFIG_ARCH_CHIP_STM32F100RD is not set
+# CONFIG_ARCH_CHIP_STM32F100RE is not set
+# CONFIG_ARCH_CHIP_STM32F100V8 is not set
+# CONFIG_ARCH_CHIP_STM32F100VB is not set
+# CONFIG_ARCH_CHIP_STM32F100VC is not set
+# CONFIG_ARCH_CHIP_STM32F100VD is not set
+# CONFIG_ARCH_CHIP_STM32F100VE is not set
+# CONFIG_ARCH_CHIP_STM32F102CB is not set
+# CONFIG_ARCH_CHIP_STM32F103C4 is not set
+# CONFIG_ARCH_CHIP_STM32F103C8 is not set
+# CONFIG_ARCH_CHIP_STM32F103RET6 is not set
+# CONFIG_ARCH_CHIP_STM32F103VCT6 is not set
+# CONFIG_ARCH_CHIP_STM32F103VET6 is not set
+# CONFIG_ARCH_CHIP_STM32F103ZET6 is not set
+# CONFIG_ARCH_CHIP_STM32F105VBT7 is not set
+# CONFIG_ARCH_CHIP_STM32F107VC is not set
+# CONFIG_ARCH_CHIP_STM32F207IG is not set
+# CONFIG_ARCH_CHIP_STM32F302CB is not set
+# CONFIG_ARCH_CHIP_STM32F302CC is not set
+# CONFIG_ARCH_CHIP_STM32F302RB is not set
+# CONFIG_ARCH_CHIP_STM32F302RC is not set
+# CONFIG_ARCH_CHIP_STM32F302VB is not set
+# CONFIG_ARCH_CHIP_STM32F302VC is not set
+# CONFIG_ARCH_CHIP_STM32F303CB is not set
+# CONFIG_ARCH_CHIP_STM32F303CC is not set
+# CONFIG_ARCH_CHIP_STM32F303RB is not set
+# CONFIG_ARCH_CHIP_STM32F303RC is not set
+# CONFIG_ARCH_CHIP_STM32F303VB is not set
+# CONFIG_ARCH_CHIP_STM32F303VC is not set
+CONFIG_ARCH_CHIP_STM32F405RG=y
+# CONFIG_ARCH_CHIP_STM32F405VG is not set
+# CONFIG_ARCH_CHIP_STM32F405ZG is not set
+# CONFIG_ARCH_CHIP_STM32F407VE is not set
+# CONFIG_ARCH_CHIP_STM32F407VG is not set
+# CONFIG_ARCH_CHIP_STM32F407ZE is not set
+# CONFIG_ARCH_CHIP_STM32F407ZG is not set
+# CONFIG_ARCH_CHIP_STM32F407IE is not set
+# CONFIG_ARCH_CHIP_STM32F407IG is not set
+# CONFIG_ARCH_CHIP_STM32F427V is not set
+# CONFIG_ARCH_CHIP_STM32F427Z is not set
+# CONFIG_ARCH_CHIP_STM32F427I is not set
+# CONFIG_STM32_STM32L15XX is not set
+# CONFIG_STM32_ENERGYLITE is not set
+# CONFIG_STM32_STM32F10XX is not set
+# CONFIG_STM32_VALUELINE is not set
+# CONFIG_STM32_CONNECTIVITYLINE is not set
+# CONFIG_STM32_PERFORMANCELINE is not set
+# CONFIG_STM32_HIGHDENSITY is not set
+# CONFIG_STM32_MEDIUMDENSITY is not set
+# CONFIG_STM32_LOWDENSITY is not set
+# CONFIG_STM32_STM32F20XX is not set
+# CONFIG_STM32_STM32F30XX is not set
+CONFIG_STM32_STM32F40XX=y
+# CONFIG_STM32_DFU is not set
+
+#
+# STM32 Peripheral Support
+#
+CONFIG_STM32_ADC1=y
+# CONFIG_STM32_ADC2 is not set
+# CONFIG_STM32_ADC3 is not set
+CONFIG_STM32_BKPSRAM=y
+# CONFIG_STM32_CAN1 is not set
+# CONFIG_STM32_CAN2 is not set
+CONFIG_STM32_CCMDATARAM=y
+# CONFIG_STM32_CRC is not set
+# CONFIG_STM32_CRYP is not set
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+# CONFIG_STM32_DAC1 is not set
+# CONFIG_STM32_DAC2 is not set
+# CONFIG_STM32_DCMI is not set
+# CONFIG_STM32_ETHMAC is not set
+# CONFIG_STM32_FSMC is not set
+# CONFIG_STM32_HASH is not set
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=y
+CONFIG_STM32_I2C3=y
+CONFIG_STM32_OTGFS=y
+# CONFIG_STM32_OTGHS is not set
+CONFIG_STM32_PWR=y
+# CONFIG_STM32_RNG is not set
+# CONFIG_STM32_SDIO is not set
+# CONFIG_STM32_SPI1 is not set
+CONFIG_STM32_SPI2=y
+# CONFIG_STM32_SPI3 is not set
+CONFIG_STM32_SYSCFG=y
+# CONFIG_STM32_TIM1 is not set
+# CONFIG_STM32_TIM2 is not set
+# CONFIG_STM32_TIM3 is not set
+CONFIG_STM32_TIM4=y
+CONFIG_STM32_TIM5=y
+CONFIG_STM32_TIM6=y
+CONFIG_STM32_TIM7=y
+# CONFIG_STM32_TIM8 is not set
+CONFIG_STM32_TIM9=y
+CONFIG_STM32_TIM10=y
+CONFIG_STM32_TIM11=y
+CONFIG_STM32_TIM12=y
+CONFIG_STM32_TIM13=y
+CONFIG_STM32_TIM14=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_UART4=y
+CONFIG_STM32_UART5=y
+CONFIG_STM32_USART6=y
+# CONFIG_STM32_IWDG is not set
+CONFIG_STM32_WWDG=y
+CONFIG_STM32_ADC=y
+CONFIG_STM32_SPI=y
+CONFIG_STM32_I2C=y
+
+#
+# Alternate Pin Mapping
+#
+CONFIG_STM32_FLASH_PREFETCH=y
+# CONFIG_STM32_JTAG_DISABLE is not set
+# CONFIG_STM32_JTAG_FULL_ENABLE is not set
+# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+# CONFIG_STM32_FORCEPOWER is not set
+# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
+# CONFIG_STM32_CCMEXCLUDE is not set
+CONFIG_STM32_DMACAPABLE=y
+# CONFIG_STM32_TIM4_PWM is not set
+# CONFIG_STM32_TIM5_PWM is not set
+# CONFIG_STM32_TIM9_PWM is not set
+# CONFIG_STM32_TIM10_PWM is not set
+# CONFIG_STM32_TIM11_PWM is not set
+# CONFIG_STM32_TIM12_PWM is not set
+# CONFIG_STM32_TIM13_PWM is not set
+# CONFIG_STM32_TIM14_PWM is not set
+# CONFIG_STM32_TIM4_ADC is not set
+# CONFIG_STM32_TIM5_ADC is not set
+CONFIG_STM32_USART=y
+
+#
+# U[S]ART Configuration
+#
+# CONFIG_USART1_RS485 is not set
+CONFIG_USART1_RXDMA=y
+# CONFIG_USART2_RS485 is not set
+CONFIG_USART2_RXDMA=y
+# CONFIG_USART3_RS485 is not set
+CONFIG_USART3_RXDMA=y
+# CONFIG_UART4_RS485 is not set
+CONFIG_UART4_RXDMA=y
+# CONFIG_UART5_RS485 is not set
+CONFIG_UART5_RXDMA=y
+# CONFIG_USART6_RS485 is not set
+CONFIG_USART6_RXDMA=y
+CONFIG_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_USART_SINGLEWIRE=y
+
+#
+# SPI Configuration
+#
+# CONFIG_STM32_SPI_INTERRUPTS is not set
+# CONFIG_STM32_SPI_DMA is not set
+
+#
+# I2C Configuration
+#
+# CONFIG_STM32_I2C_DYNTIMEO is not set
+CONFIG_STM32_I2CTIMEOSEC=0
+CONFIG_STM32_I2CTIMEOMS=10
+# CONFIG_STM32_I2CTIMEOTICKS is not set (PX4 Codbase has this)
+# CONFIG_STM32_I2C_DUTY16_9 is not set
+
+#
+# USB Host Configuration
+#
+
+#
+# USB Device Configuration
+#
+
+#
+# External Memory Configuration
+#
+
+#
+# Architecture Options
+#
+# CONFIG_ARCH_NOINTC is not set
+# CONFIG_ARCH_VECNOTIRQ is not set
+CONFIG_ARCH_DMA=y
+CONFIG_ARCH_IRQPRIO=y
+# CONFIG_CUSTOM_STACK is not set
+# CONFIG_ADDRENV is not set
+CONFIG_ARCH_HAVE_VFORK=y
+CONFIG_ARCH_STACKDUMP=y
+# CONFIG_ENDIAN_BIG is not set
+# CONFIG_ARCH_HAVE_RAMFUNCS is not set
+CONFIG_ARCH_HAVE_RAMVECTORS=y
+# CONFIG_ARCH_RAMVECTORS is not set
+
+#
+# Board Settings
+#
+CONFIG_BOARD_LOOPSPERMSEC=16717
+# CONFIG_ARCH_CALIBRATION is not set
+CONFIG_DRAM_START=0x20000000
+CONFIG_DRAM_SIZE=196608
+CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
+CONFIG_ARCH_INTERRUPTSTACK=750
+
+#
+# Boot options
+#
+# CONFIG_BOOT_RUNFROMEXTSRAM is not set
+CONFIG_BOOT_RUNFROMFLASH=y
+# CONFIG_BOOT_RUNFROMISRAM is not set
+# CONFIG_BOOT_RUNFROMSDRAM is not set
+# CONFIG_BOOT_COPYTORAM is not set
+
+#
+# Board Selection
+#
+CONFIG_ARCH_BOARD_TAP_V1=y
+CONFIG_ARCH_BOARD="tap-v1"
+
+#
+# Common Board Options
+#
+CONFIG_NSH_MMCSDMINOR=0
+CONFIG_NSH_MMCSDSLOTNO=0
+CONFIG_NSH_MMCSDSPIPORTNO=2
+
+#
+# Board-Specific Options
+#
+
+#
+# RTOS Features
+#
+# CONFIG_BOARD_INITIALIZE is not set
+CONFIG_MSEC_PER_TICK=1
+CONFIG_RR_INTERVAL=0
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_TASK_NAME_SIZE=24
+# CONFIG_SCHED_HAVE_PARENT is not set
+# CONFIG_JULIAN_TIME is not set
+CONFIG_START_YEAR=1970
+CONFIG_START_MONTH=1
+CONFIG_START_DAY=1
+CONFIG_DEV_CONSOLE=y
+# CONFIG_MUTEX_TYPES is not set
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_NNESTPRIO=8
+# CONFIG_FDCLONE_DISABLE is not set
+CONFIG_FDCLONE_STDIO=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SCHED_WAITPID=y
+# CONFIG_SCHED_STARTHOOK is not set
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_ATEXIT_MAX=1
+# CONFIG_SCHED_ONEXIT is not set
+CONFIG_USER_ENTRYPOINT="nsh_main"
+# CONFIG_DISABLE_OS_API is not set
+
+#
+# Signal Numbers
+#
+CONFIG_SIG_SIGUSR1=1
+CONFIG_SIG_SIGUSR2=2
+CONFIG_SIG_SIGALARM=3
+CONFIG_SIG_SIGCONDTIMEDOUT=16
+CONFIG_SIG_SIGWORK=4
+
+#
+# Sizes of configurable things (0 disables)
+#
+CONFIG_MAX_TASKS=32
+CONFIG_MAX_TASK_ARGS=10
+CONFIG_NPTHREAD_KEYS=4
+CONFIG_NFILE_DESCRIPTORS=46
+CONFIG_NFILE_STREAMS=8
+CONFIG_NAME_MAX=32
+CONFIG_PREALLOC_MQ_MSGS=4
+CONFIG_MQ_MAXMSGSIZE=32
+CONFIG_MAX_WDOGPARMS=2
+CONFIG_PREALLOC_WDOGS=50
+CONFIG_PREALLOC_TIMERS=50
+
+#
+# Stack and heap information
+#
+CONFIG_IDLETHREAD_STACKSIZE=1000
+CONFIG_USERMAIN_STACKSIZE=2500
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_PTHREAD_STACK_DEFAULT=2048
+
+#
+# Device Drivers
+#
+# CONFIG_DISABLE_POLL is not set
+CONFIG_DEV_NULL=y
+# CONFIG_DEV_ZERO is not set
+# CONFIG_LOOP is not set
+# CONFIG_RAMDISK is not set
+# CONFIG_CAN is not set
+# CONFIG_PWM is not set
+CONFIG_I2C=y
+# CONFIG_I2C_SLAVE is not set
+CONFIG_I2C_TRANSFER=y
+# CONFIG_I2C_WRITEREAD is not set
+# CONFIG_I2C_POLLED is not set
+# CONFIG_I2C_TRACE is not set
+CONFIG_ARCH_HAVE_I2CRESET=y
+CONFIG_I2C_RESET=y
+CONFIG_SPI=y
+# CONFIG_SPI_OWNBUS is not set
+CONFIG_SPI_EXCHANGE=y
+# CONFIG_SPI_CMDDATA is not set
+# CONFIG_RTC is not set
+CONFIG_WATCHDOG=y
+# CONFIG_ANALOG is not set
+# CONFIG_AUDIO_DEVICES is not set
+# CONFIG_BCH is not set
+# CONFIG_INPUT is not set
+# CONFIG_LCD is not set
+CONFIG_MMCSD=y
+CONFIG_MMCSD_NSLOTS=1
+# CONFIG_MMCSD_READONLY is not set
+# CONFIG_MMCSD_MULTIBLOCK_DISABLE is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_HAVECARDDETECT is not set
+# CONFIG_MMCSD_HAVE_SDIOWAIT_WRCOMPLETE is not set
+CONFIG_MMCSD_SPI=y
+CONFIG_MMCSD_SPICLOCK=24000000
+# CONFIG_MMCSD_SDIO is not set
+# CONFIG_MTD is not set
+CONFIG_PIPES=y
+# CONFIG_PM is not set
+# CONFIG_POWER is not set
+# CONFIG_SENSORS is not set
+CONFIG_SERIAL=y
+# CONFIG_DEV_LOWCONSOLE is not set
+CONFIG_SERIAL_REMOVABLE=y
+# CONFIG_16550_UART is not set
+CONFIG_ARCH_HAVE_UART4=y
+CONFIG_ARCH_HAVE_UART5=y
+CONFIG_ARCH_HAVE_USART1=y
+CONFIG_ARCH_HAVE_USART2=y
+CONFIG_ARCH_HAVE_USART3=y
+CONFIG_ARCH_HAVE_USART6=y
+CONFIG_MCU_SERIAL=y
+CONFIG_STANDARD_SERIAL=y
+CONFIG_SERIAL_NPOLLWAITERS=2
+# CONFIG_USART1_SERIAL_CONSOLE is not set
+# CONFIG_USART2_SERIAL_CONSOLE is not set
+CONFIG_USART3_SERIAL_CONSOLE=y
+# CONFIG_UART4_SERIAL_CONSOLE is not set
+# CONFIG_UART5_SERIAL_CONSOLE is not set
+# CONFIG_USART6_SERIAL_CONSOLE is not set
+# CONFIG_NO_SERIAL_CONSOLE is not set
+
+#
+# USART1 Configuration
+#
+CONFIG_USART1_RXBUFSIZE=128
+CONFIG_USART1_TXBUFSIZE=128
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_BITS=8
+CONFIG_USART1_PARITY=0
+CONFIG_USART1_2STOP=0
+# CONFIG_USART1_IFLOWCONTROL is not set
+# CONFIG_USART1_OFLOWCONTROL is not set
+
+#
+# USART2 Configuration
+#
+CONFIG_USART2_RXBUFSIZE=300
+CONFIG_USART2_TXBUFSIZE=300
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_BITS=8
+CONFIG_USART2_PARITY=0
+CONFIG_USART2_2STOP=0
+# CONFIG_USART2_IFLOWCONTROL is not set
+# CONFIG_USART2_OFLOWCONTROL is not set
+
+#
+# USART3 Configuration
+#
+CONFIG_USART3_RXBUFSIZE=256
+CONFIG_USART3_TXBUFSIZE=256
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_BITS=8
+CONFIG_USART3_PARITY=0
+CONFIG_USART3_2STOP=0
+# CONFIG_USART3_IFLOWCONTROL is not set
+# CONFIG_USART3_OFLOWCONTROL is not set
+
+#
+# UART4 Configuration
+#
+CONFIG_UART4_RXBUFSIZE=256
+CONFIG_UART4_TXBUFSIZE=256
+CONFIG_UART4_BAUD=115200
+CONFIG_UART4_BITS=8
+CONFIG_UART4_PARITY=0
+CONFIG_UART4_2STOP=0
+# CONFIG_UART4_IFLOWCONTROL is not set
+# CONFIG_UART4_OFLOWCONTROL is not set
+
+#
+# UART5 Configuration
+#
+CONFIG_UART5_RXBUFSIZE=300
+CONFIG_UART5_TXBUFSIZE=300
+CONFIG_UART5_BAUD=57600
+CONFIG_UART5_BITS=8
+CONFIG_UART5_PARITY=0
+CONFIG_UART5_2STOP=0
+# CONFIG_UART5_IFLOWCONTROL is not set
+# CONFIG_UART5_OFLOWCONTROL is not set
+
+#
+# USART6 Configuration
+#
+CONFIG_USART6_RXBUFSIZE=128
+CONFIG_USART6_TXBUFSIZE=64
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_BITS=8
+CONFIG_USART6_PARITY=0
+CONFIG_USART6_2STOP=0
+# CONFIG_USART6_IFLOWCONTROL is not set
+# CONFIG_USART6_OFLOWCONTROL is not set
+# CONFIG_SERIAL_IFLOWCONTROL is not set
+# CONFIG_SERIAL_OFLOWCONTROL is not set
+CONFIG_USBDEV=y
+
+#
+# USB Device Controller Driver Options
+#
+# CONFIG_USBDEV_ISOCHRONOUS is not set
+# CONFIG_USBDEV_DUALSPEED is not set
+# CONFIG_USBDEV_SELFPOWERED is not set
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+# CONFIG_USBDEV_DMA is not set
+# CONFIG_USBDEV_TRACE is not set
+
+#
+# USB Device Class Driver Options
+#
+# CONFIG_USBDEV_COMPOSITE is not set
+# CONFIG_PL2303 is not set
+CONFIG_CDCACM=y
+# CONFIG_CDCACM_CONSOLE is not set
+CONFIG_CDCACM_EP0MAXPACKET=64
+CONFIG_CDCACM_EPINTIN=1
+CONFIG_CDCACM_EPINTIN_FSSIZE=64
+CONFIG_CDCACM_EPINTIN_HSSIZE=64
+CONFIG_CDCACM_EPBULKOUT=3
+CONFIG_CDCACM_EPBULKOUT_FSSIZE=64
+CONFIG_CDCACM_EPBULKOUT_HSSIZE=512
+CONFIG_CDCACM_EPBULKIN=2
+CONFIG_CDCACM_EPBULKIN_FSSIZE=64
+CONFIG_CDCACM_EPBULKIN_HSSIZE=512
+CONFIG_CDCACM_NWRREQS=4
+CONFIG_CDCACM_NRDREQS=4
+CONFIG_CDCACM_BULKIN_REQLEN=96
+CONFIG_CDCACM_RXBUFSIZE=300
+CONFIG_CDCACM_TXBUFSIZE=1000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_PRODUCTID=0x0040
+CONFIG_CDCACM_VENDORSTR="The Autopilot"
+CONFIG_CDCACM_PRODUCTSTR="PX4 TAP v1.x"
+# CONFIG_USBMSC is not set
+# CONFIG_USBHOST is not set
+# CONFIG_WIRELESS is not set
+
+#
+# System Logging Device Options
+#
+
+#
+# System Logging
+#
+# CONFIG_RAMLOG is not set
+
+#
+# Networking Support
+#
+# CONFIG_NET is not set
+
+#
+# File Systems
+#
+
+#
+# File system configuration
+#
+# CONFIG_DISABLE_MOUNTPOINT is not set
+# CONFIG_FS_RAMMAP is not set
+CONFIG_FS_FAT=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_MAXFNAME=32
+CONFIG_FS_FATTIME=y
+# CONFIG_FAT_DMAMEMORY is not set
+# CONFIG_FS_NXFFS is not set
+CONFIG_FS_ROMFS=y
+# CONFIG_FS_SMARTFS is not set
+CONFIG_FS_BINFS=y
+
+#
+# System Logging
+#
+# CONFIG_SYSLOG_ENABLE is not set
+# CONFIG_SYSLOG is not set
+
+#
+# Graphics Support
+#
+# CONFIG_NX is not set
+
+#
+# Memory Management
+#
+# CONFIG_MM_MULTIHEAP is not set
+# CONFIG_MM_SMALL is not set
+CONFIG_MM_REGIONS=2
+CONFIG_GRAN=y
+# CONFIG_GRAN_SINGLE is not set
+# CONFIG_GRAN_INTR is not set
+
+#
+# Audio Support
+#
+# CONFIG_AUDIO is not set
+
+#
+# Binary Formats
+#
+# CONFIG_BINFMT_DISABLE is not set
+# CONFIG_BINFMT_EXEPATH is not set
+# CONFIG_NXFLAT is not set
+# CONFIG_ELF is not set
+CONFIG_BUILTIN=y
+# CONFIG_PIC is not set
+# CONFIG_SYMTAB_ORDEREDBYNAME is not set
+
+#
+# Library Routines
+#
+
+#
+# Standard C Library Options
+#
+CONFIG_STDIO_BUFFER_SIZE=180
+CONFIG_STDIO_LINEBUFFER=y
+CONFIG_NUNGET_CHARS=2
+CONFIG_LIB_HOMEDIR="/"
+# CONFIG_NOPRINTF_FIELDWIDTH is not set
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIB_RAND_ORDER=1
+# CONFIG_EOL_IS_CR is not set
+# CONFIG_EOL_IS_LF is not set
+# CONFIG_EOL_IS_BOTH_CRLF is not set
+CONFIG_EOL_IS_EITHER_CRLF=y
+# CONFIG_LIBC_EXECFUNCS is not set
+CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024
+CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048
+CONFIG_LIBC_STRERROR=y
+# CONFIG_LIBC_STRERROR_SHORT is not set
+# CONFIG_LIBC_PERROR_STDOUT is not set
+CONFIG_ARCH_LOWPUTC=y
+CONFIG_LIB_SENDFILE_BUFSIZE=512
+# CONFIG_ARCH_ROMGETC is not set
+CONFIG_ARCH_OPTIMIZED_FUNCTIONS=y
+CONFIG_ARCH_MEMCPY=y
+# CONFIG_ARCH_MEMCMP is not set
+# CONFIG_ARCH_MEMMOVE is not set
+# CONFIG_ARCH_MEMSET is not set
+# CONFIG_MEMSET_OPTSPEED is not set
+# CONFIG_ARCH_STRCHR is not set
+# CONFIG_ARCH_STRCMP is not set
+# CONFIG_ARCH_STRCPY is not set
+# CONFIG_ARCH_STRNCPY is not set
+# CONFIG_ARCH_STRLEN is not set
+# CONFIG_ARCH_STRNLEN is not set
+# CONFIG_ARCH_BZERO is not set
+
+#
+# Non-standard Library Support
+#
+CONFIG_SCHED_WORKQUEUE=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_WORKPRIORITY=192
+CONFIG_SCHED_WORKPERIOD=5000
+CONFIG_SCHED_WORKSTACKSIZE=1600
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKPERIOD=50000
+CONFIG_SCHED_LPWORKSTACKSIZE=1600
+# CONFIG_LIB_KBDCODEC is not set
+# CONFIG_LIB_SLCDCODEC is not set
+
+#
+# Basic CXX Support
+#
+CONFIG_C99_BOOL8=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+# CONFIG_CXX_NEWLONG is not set
+
+#
+# uClibc++ Standard C++ Library
+#
+# CONFIG_UCLIBCXX is not set
+
+#
+# Application Configuration
+#
+
+#
+# Built-In Applications
+#
+CONFIG_BUILTIN_PROXY_STACKSIZE=1024
+
+#
+# Examples
+#
+# CONFIG_EXAMPLES_BUTTONS is not set
+# CONFIG_EXAMPLES_CAN is not set
+CONFIG_EXAMPLES_CDCACM=y
+# CONFIG_EXAMPLES_COMPOSITE is not set
+# CONFIG_EXAMPLES_CXXTEST is not set
+# CONFIG_EXAMPLES_DHCPD is not set
+# CONFIG_EXAMPLES_ELF is not set
+# CONFIG_EXAMPLES_FTPC is not set
+# CONFIG_EXAMPLES_FTPD is not set
+# CONFIG_EXAMPLES_HELLO is not set
+# CONFIG_EXAMPLES_HELLOXX is not set
+# CONFIG_EXAMPLES_JSON is not set
+# CONFIG_EXAMPLES_HIDKBD is not set
+# CONFIG_EXAMPLES_KEYPADTEST is not set
+# CONFIG_EXAMPLES_IGMP is not set
+# CONFIG_EXAMPLES_LCDRW is not set
+# CONFIG_EXAMPLES_MM is not set
+# CONFIG_EXAMPLES_MODBUS is not set
+CONFIG_EXAMPLES_MOUNT=y
+# CONFIG_EXAMPLES_NRF24L01TERM is not set
+CONFIG_EXAMPLES_NSH=y
+# CONFIG_EXAMPLES_NULL is not set
+# CONFIG_EXAMPLES_NX is not set
+# CONFIG_EXAMPLES_NXCONSOLE is not set
+# CONFIG_EXAMPLES_NXFFS is not set
+# CONFIG_EXAMPLES_NXFLAT is not set
+# CONFIG_EXAMPLES_NXHELLO is not set
+# CONFIG_EXAMPLES_NXIMAGE is not set
+# CONFIG_EXAMPLES_NXLINES is not set
+# CONFIG_EXAMPLES_NXTEXT is not set
+# CONFIG_EXAMPLES_OSTEST is not set
+# CONFIG_EXAMPLES_PASHELLO is not set
+# CONFIG_EXAMPLES_PIPE is not set
+# CONFIG_EXAMPLES_POSIXSPAWN is not set
+# CONFIG_EXAMPLES_QENCODER is not set
+# CONFIG_EXAMPLES_RGMP is not set
+# CONFIG_EXAMPLES_ROMFS is not set
+# CONFIG_EXAMPLES_SENDMAIL is not set
+# CONFIG_EXAMPLES_SERLOOP is not set
+# CONFIG_EXAMPLES_SLCD is not set
+# CONFIG_EXAMPLES_SMART_TEST is not set
+# CONFIG_EXAMPLES_SMART is not set
+# CONFIG_EXAMPLES_TCPECHO is not set
+# CONFIG_EXAMPLES_TELNETD is not set
+# CONFIG_EXAMPLES_THTTPD is not set
+# CONFIG_EXAMPLES_TIFF is not set
+# CONFIG_EXAMPLES_TOUCHSCREEN is not set
+# CONFIG_EXAMPLES_UDP is not set
+# CONFIG_EXAMPLES_UIP is not set
+# CONFIG_EXAMPLES_USBSERIAL is not set
+# CONFIG_EXAMPLES_USBMSC is not set
+# CONFIG_EXAMPLES_USBTERM is not set
+# CONFIG_EXAMPLES_WATCHDOG is not set
+
+#
+# Graphics Support
+#
+# CONFIG_TIFF is not set
+
+#
+# Interpreters
+#
+# CONFIG_INTERPRETERS_FICL is not set
+# CONFIG_INTERPRETERS_PCODE is not set
+
+#
+# Network Utilities
+#
+
+#
+# Networking Utilities
+#
+# CONFIG_NETUTILS_CODECS is not set
+# CONFIG_NETUTILS_DHCPC is not set
+# CONFIG_NETUTILS_DHCPD is not set
+# CONFIG_NETUTILS_FTPC is not set
+# CONFIG_NETUTILS_FTPD is not set
+# CONFIG_NETUTILS_JSON is not set
+# CONFIG_NETUTILS_RESOLV is not set
+# CONFIG_NETUTILS_SMTP is not set
+# CONFIG_NETUTILS_TELNETD is not set
+# CONFIG_NETUTILS_TFTPC is not set
+# CONFIG_NETUTILS_THTTPD is not set
+# CONFIG_NETUTILS_UIPLIB is not set
+# CONFIG_NETUTILS_WEBCLIENT is not set
+
+#
+# FreeModBus
+#
+# CONFIG_MODBUS is not set
+
+#
+# NSH Library
+#
+CONFIG_NSH_LIBRARY=y
+CONFIG_NSH_BUILTIN_APPS=y
+
+#
+# Disable Individual commands
+#
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DD is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
+CONFIG_NSH_DISABLE_IFCONFIG=y
+# CONFIG_NSH_DISABLE_KILL is not set
+CONFIG_NSH_DISABLE_LOSETUP=y
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MB is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MKFIFO is not set
+# CONFIG_NSH_DISABLE_MKRD is not set
+# CONFIG_NSH_DISABLE_MH is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MW is not set
+CONFIG_NSH_DISABLE_NSFMOUNT=y
+# CONFIG_NSH_DISABLE_PS is not set
+CONFIG_NSH_DISABLE_PING=y
+CONFIG_NSH_DISABLE_PUT=y
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SH is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+CONFIG_NSH_DISABLE_WGET=y
+# CONFIG_NSH_DISABLE_XD is not set
+
+#
+# Configure Command Options
+#
+# CONFIG_NSH_CMDOPT_DF_H is not set
+CONFIG_NSH_CODECS_BUFSIZE=128
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=12
+CONFIG_NSH_NESTDEPTH=8
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLEBG is not set
+CONFIG_NSH_ROMFSETC=y
+# CONFIG_NSH_ROMFSRC is not set
+CONFIG_NSH_ROMFSMOUNTPT="/etc"
+CONFIG_NSH_INITSCRIPT="init.d/rcS"
+CONFIG_NSH_ROMFSDEVNO=0
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_ARCHROMFS=y
+CONFIG_NSH_FATDEVNO=1
+CONFIG_NSH_FATSECTSIZE=512
+CONFIG_NSH_FATNSECTORS=1024
+CONFIG_NSH_FATMOUNTPT="/tmp"
+CONFIG_NSH_CONSOLE=y
+# CONFIG_NSH_USBCONSOLE is not set
+
+#
+# USB Trace Support
+#
+# CONFIG_NSH_CONDEV is not set
+CONFIG_NSH_ARCHINIT=y
+
+#
+# NxWidgets/NxWM
+#
+
+#
+# System NSH Add-Ons
+#
+
+#
+# Custom Free Memory Command
+#
+# CONFIG_SYSTEM_FREE is not set
+
+#
+# I2C tool
+#
+# CONFIG_SYSTEM_I2CTOOL is not set
+
+#
+# FLASH Program Installation
+#
+# CONFIG_SYSTEM_INSTALL is not set
+
+#
+# FLASH Erase-all Command
+#
+
+#
+# readline()
+#
+CONFIG_SYSTEM_READLINE=y
+CONFIG_READLINE_ECHO=y
+
+#
+# Power Off
+#
+# CONFIG_SYSTEM_POWEROFF is not set
+
+#
+# RAMTRON
+#
+# CONFIG_SYSTEM_RAMTRON is not set
+
+#
+# SD Card
+#
+# CONFIG_SYSTEM_SDCARD is not set
+
+#
+# Sysinfo
+#
+CONFIG_SYSTEM_SYSINFO=y
+
+#
+# USB Monitor
+#
@@ -0,0 +1,75 @@
+#!/bin/bash
+# configs/px4fmu-v1/usbnsh/setenv.sh
+#
+#   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+if [ "$_" = "$0" ] ; then
+  echo "You must source this script, not run it!" 1>&2
+  exit 1
+fi
+
+WD=`pwd`
+if [ ! -x "setenv.sh" ]; then
+  echo "This script must be executed from the top-level NuttX build directory"
+  exit 1
+fi
+
+if [ -z "${PATH_ORIG}" ]; then
+  export PATH_ORIG="${PATH}"
+fi
+
+# This is the Cygwin path to the location where I installed the RIDE
+# toolchain under windows.  You will also have to edit this if you install
+# the RIDE toolchain in any other location
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
+
+# This is the Cygwin path to the location where I installed the CodeSourcery
+# toolchain under windows.  You will also have to edit this if you install
+# the CodeSourcery toolchain in any other location
+export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
+
+# These are the Cygwin paths to the locations where I installed the Atollic
+# toolchain under windows.  You will also have to edit this if you install
+# the Atollic toolchain in any other location.  /usr/bin is added before
+# the Atollic bin path because there is are binaries named gcc.exe and g++.exe
+# at those locations as well.
+#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin"
+#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin"
+
+# This is the Cygwin path to the location where I build the buildroot
+# toolchain.
+#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
+
+# Add the path to the toolchain to the PATH varialble
+export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
+
+echo "PATH : ${PATH}"
@@ -0,0 +1,150 @@
+/****************************************************************************
+ * configs/tap-v1/scripts/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
+ * 192Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of CCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 16 KiB of flash is reserved for the bootloader.
+ * Paramater storage will use the next 2 16KiB Sectors.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x0800C000, LENGTH = 976K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 128K
+    ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+		/*
+		 * This is a hack to make the newlib libm __errno() call
+		 * use the NuttX get_errno_ptr() function.
+		 */
+		__errno = get_errno_ptr;
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	/*
+	 * Construction data for parameters.
+	 */
+	__param ALIGN(4): {
+		__param_start = ABSOLUTE(.);
+		KEEP(*(__param*))
+		__param_end = ABSOLUTE(.);
+	} > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,84 @@
+############################################################################
+# configs/tap-v1/src/Makefile
+#
+#   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+CFLAGS		+= -I$(TOPDIR)/sched
+
+ASRCS		=
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+
+CSRCS		= empty.c
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+ARCH_SRCDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src
+ifeq ($(WINTOOL),y)
+  CFLAGS	+= -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
+             -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
+             -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
+else
+  CFLAGS	+= -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
+endif
+
+all: libboard$(LIBEXT)
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+libboard$(LIBEXT): $(OBJS)
+	$(call ARCHIVE, $@, $(OBJS))
+
+.depend: Makefile $(SRCS)
+	$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
+
+depend: .depend
+
+clean:
+	$(call DELFILE, libboard$(LIBEXT))
+	$(call CLEAN)
+
+distclean: clean
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+
+-include Make.dep
+
@@ -0,0 +1,4 @@
+/*
+ * There are no source files here, but libboard.a can't be empty, so
+ * we have this empty source file to keep it company.
+ */
@@ -39,12 +39,12 @@ NOTE: This is only necessary if you are not using the instructions above.

 1. Launch PX4 from the SITL build directory "`./Firmware/Build/posix_sitl.build/`" using the command below.  The optional `<startup_file>` can be used to cause a set of commands to be entered into the PX4 shell at startup.  
 ```
-> ./mainapp <startup_file> 
+> ./px4 <startup_file> 
 ```

 There is a sample startup script at `posix_configs/SITL/init/rcS`. 
 ```
-> ./mainapp ../../posix-configs/SITL/init/rcS
+> ./px4 ../../posix-configs/SITL/init/rcS
 ```

 Without the `<startup_file>`, the commands can be entered at the shell prompt one at a time.  An example startup file is given below.  This example shows that the "mavlink" module has selected port 14556 for its socket server (as shown in the SITL diagram) and will listen for connections on this port.
@@ -31,20 +31,18 @@ param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 5.0
 param set RTL_LAND_DELAY 5
 param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.25
-param set MC_PITCHRATE_P 0.25
-param set MC_PITCH_P 5.5
-param set MC_ROLL_P 5.5
-param set MC_ROLLRATE_I 0.1
-param set MC_PITCHRATE_I 0.1
+param set MC_ROLLRATE_P 0.2
+param set MC_PITCHRATE_P 0.2
+param set MC_PITCH_P 6
+param set MC_ROLL_P 6
 param set MPC_HOLD_MAX_Z 2.0
 param set MPC_HOLD_XY_DZ 0.1
-param set MPC_Z_VEL_P 0.8
+param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15
-param set MPC_XY_VEL_P 0.15
-param set MPC_XY_VEL_I 0.2
 param set EKF2_GBIAS_INIT 0.01
 param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
+replay tryapplyparams
 simulator start -s
 rgbledsim start
 tone_alarm start
@@ -77,3 +75,4 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
 sdlog2 start -r 100 -e -t -a
 mavlink boot_complete
+replay trystart
@@ -40,6 +40,7 @@ param set MPC_Z_VEL_P 0.8
 param set MPC_Z_VEL_I 0.15
 param set MPC_XY_VEL_P 0.15
 param set MPC_XY_VEL_I 0.2
+replay tryapplyparams
 simulator start -s
 rgbledsim start
 tone_alarm start
@@ -72,3 +73,4 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
 sdlog2 start -r 100 -e -t -a
 mavlink boot_complete
+replay trystart
@@ -25,6 +25,10 @@ param set COM_RC_IN_MODE 1
 param set NAV_DLL_ACT 2
 param set NAV_ACC_RAD 15.0
 param set FW_THR_IDLE 0.8
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
+replay tryapplyparams
 simulator start -s
 rgbledsim start
 tone_alarm start
@@ -57,3 +61,4 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
 sdlog2 start -r 200 -e -t -a
 mavlink boot_complete
+replay trystart
@@ -28,20 +28,18 @@ param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
 param set RTL_LAND_DELAY 0
 param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.25
-param set MC_PITCHRATE_P 0.25
-param set MC_PITCH_P 5.5
-param set MC_ROLL_P 5.5
-param set MC_ROLLRATE_I 0.1
-param set MC_PITCHRATE_I 0.1
+param set MC_ROLLRATE_P 0.2
+param set MC_PITCHRATE_P 0.2
+param set MC_PITCH_P 6
+param set MC_ROLL_P 6
 param set MPC_HOLD_MAX_Z 2.0
 param set MPC_HOLD_XY_DZ 0.1
-param set MPC_Z_VEL_P 0.8
+param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15
-param set MPC_XY_VEL_P 0.15
-param set MPC_XY_VEL_I 0.2
 param set EKF2_GBIAS_INIT 0.01
 param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
+replay tryapplyparams
 simulator start -s
 rgbledsim start
 tone_alarm start
@@ -74,3 +72,4 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
 sdlog2 start -r 100 -e -t -a
 mavlink boot_complete
+replay trystart
@@ -19,18 +19,16 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
-param set MC_ROLLRATE_P 0.25
-param set MC_PITCHRATE_P 0.25
-param set MC_PITCH_P 5.5
-param set MC_ROLL_P 5.5
-param set MC_ROLLRATE_I 0.1
-param set MC_PITCHRATE_I 0.1
+param set MC_ROLLRATE_P 0.2
+param set MC_PITCHRATE_P 0.2
+param set MC_PITCH_P 6
+param set MC_ROLL_P 6
 param set MPC_XY_P 0.15
 param set MPC_XY_VEL_P 0.05
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
 param set MPC_Z_VEL_MAX 1.5
-param set MPC_Z_VEL_P 0.8
+param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15
 param set SENS_BOARD_ROT 8
 param set SENS_DPRES_OFF 0.001
@@ -46,9 +44,10 @@ param set RTL_LAND_DELAY 0
 param set COM_DISARM_LAND 5
 param set COM_DL_LOSS_EN 1
 param set MPC_ACC_HOR_MAX 2
-param set GF_ACTION 3
-param set GF_MAX_HOR_DIST 500
-param set GF_MAX_VER_DIST 500
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
+replay tryapplyparams
 simulator start -s 
 rgbledsim start
 tone_alarm start
@@ -84,3 +83,4 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
 sdlog2 start -r 200 -e -t -a
 mavlink boot_complete
+replay trystart
@@ -19,12 +19,10 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
-param set MC_ROLLRATE_P 0.25
-param set MC_PITCHRATE_P 0.25
-param set MC_PITCH_P 5.5
-param set MC_ROLL_P 5.5
-param set MC_ROLLRATE_I 0.1
-param set MC_PITCHRATE_I 0.1
+param set MC_ROLLRATE_P 0.2
+param set MC_PITCHRATE_P 0.2
+param set MC_PITCH_P 6
+param set MC_ROLL_P 6
 param set MPC_XY_P 0.15
 param set MPC_XY_VEL_P 0.05
 param set MPC_XY_VEL_D 0.005
@@ -37,6 +35,10 @@ param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set NAV_DLL_ACT 2
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
+replay tryapplyparams
 simulator start -s
 rgbledsim start
 tone_alarm start
@@ -72,3 +74,4 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
 sdlog2 start -r 200 -e -t -a
 mavlink boot_complete
+replay trystart
@@ -28,20 +28,20 @@ param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
 param set RTL_LAND_DELAY 0
 param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.25
-param set MC_PITCHRATE_P 0.25
-param set MC_PITCH_P 5.5
-param set MC_ROLL_P 5.5
-param set MC_ROLLRATE_I 0.1
-param set MC_PITCHRATE_I 0.1
+param set MC_ROLLRATE_P 0.2
+param set MC_PITCHRATE_P 0.2
+param set MC_PITCH_P 6
+param set MC_ROLL_P 6
 param set MPC_HOLD_MAX_Z 2.0
 param set MPC_HOLD_XY_DZ 0.1
-param set MPC_Z_VEL_P 0.8
+param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15
 param set MPC_XY_VEL_P 0.15
 param set MPC_XY_VEL_I 0.2
 param set EKF2_GBIAS_INIT 0.01
 param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
+replay tryapplyparams
 simulator start -s
 rgbledsim start
 tone_alarm start
@@ -74,3 +74,4 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
 sdlog2 start -r 100 -e -t -a
 mavlink boot_complete
+replay trystart
@@ -31,18 +31,18 @@ param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
 param set RTL_LAND_DELAY 0
 param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.3
-param set MC_PITCH_P 7
-param set MC_ROLL_P 7
-param set MC_ROLLRATE_I 0.1
-param set MC_PITCHRATE_I 0.1
+param set MC_ROLLRATE_P 0.2
+param set MC_PITCHRATE_P 0.2
+param set MC_PITCH_P 6
+param set MC_ROLL_P 6
 param set MPC_HOLD_MAX_Z 2.0
 param set MPC_HOLD_XY_DZ 0.1
 param set MPC_Z_VEL_MAX 2.0
 param set MPC_Z_VEL_P 0.4
 param set EKF2_GBIAS_INIT 0.01
 param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
+replay tryapplyparams
 simulator start -s
 rgbledsim start
 tone_alarm start
@@ -51,6 +51,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
+#gps start -d /dev/ttyACM0 -s
 pwm_out_sim mode_pwm
 sleep 1
 sensors start
@@ -74,4 +75,6 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
 mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
 sdlog2 start -r 100 -e -t -a
+logger start -e -t
 mavlink boot_complete
+replay trystart
@@ -10,33 +10,40 @@ param set CAL_ACC0_ID 1376264
 param set CAL_ACC1_ID 1310728
 param set CAL_MAG0_ID 196616
 param set CAL_GYRO0_XOFF 0.01
-param set CAL_ACC0_XOFF 1
-param set CAL_ACC0_YOFF 2
-param set CAL_ACC0_ZOFF 3
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_ZOFF 0.01
 param set CAL_ACC0_XSCALE 1.01
 param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.3
-param set MC_PITCH_P 5.5
-param set MC_ROLL_P 5.5
-param set MC_ROLLRATE_I 0.1
-param set MC_PITCHRATE_I 0.1
-param set MPC_XY_P 0.15
-param set MPC_XY_VEL_P 0.05
-param set MPC_XY_VEL_D 0.005
-param set MPC_XY_FF 0.1
 param set SENS_BOARD_ROT 8
 param set SENS_BOARD_X_OFF 0.000001
-
-# changes for LPE
 param set COM_RC_IN_MODE 1
 param set NAV_DLL_ACT 2
-param set LPE_BETA_MAX 10000
+param set COM_DISARM_LAND 3
+param set NAV_ACC_RAD 2.0
+param set COM_OF_LOSS_T 5
+param set COM_OBL_ACT 2
+param set COM_OBL_RC_ACT 0
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 5.0
+param set RTL_LAND_DELAY 5
+param set MIS_TAKEOFF_ALT 2.5
+param set MC_ROLLRATE_P 0.2
+param set MC_PITCHRATE_P 0.2
+param set MC_PITCH_P 6
+param set MC_ROLL_P 6
+param set MPC_HOLD_MAX_Z 2.0
+param set MPC_HOLD_XY_DZ 0.1
+param set MPC_Z_VEL_P 0.6
+param set MPC_Z_VEL_I 0.15
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_ANGERR_INIT 0.01
+replay tryapplyparams
 simulator start -s
-rgbled start
+rgbledsim start
 tone_alarm start
 gyrosim start
 accelsim start
@@ -50,23 +57,22 @@ commander start
 land_detector start multicopter
 navigator start
 attitude_estimator_q start
+local_position_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
-mavlink start -u 14556 -r 2000000
-mavlink start -u 14557 -r 2000000 -m onboard -o 14540
-mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED_COV -u 14556
-mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 80 -s ATTITUDE -u 14556
-mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
+mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_w.main.mix
+mavlink start -u 14556 -r 4000000
+mavlink start -u 14557 -r 4000000 -m onboard -o 14540
+mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
+mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
+mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
+mavlink stream -r 50 -s ATTITUDE -u 14556
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
+mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
+mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
 mavlink stream -r 20 -s RC_CHANNELS -u 14556
 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
 sdlog2 start -r 100 -e -t -a
-
-# start LPE at end, when we know it is ok to init sensors
-sleep 5
-local_position_estimator start
 mavlink boot_complete
+replay trystart
@@ -18,27 +18,39 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
+param set SENS_BOARD_ROT 8
+param set SENS_BOARD_X_OFF 0.000001
+param set COM_RC_IN_MODE 1
+param set NAV_DLL_ACT 2
+param set COM_DISARM_LAND 3
+param set NAV_ACC_RAD 12.0
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+param set RTL_LAND_DELAY 0
+param set MIS_TAKEOFF_ALT 2.5
 param set MC_ROLLRATE_P 0.3
 param set MC_PITCHRATE_P 0.3
 param set MC_PITCH_P 5.5
 param set MC_ROLL_P 5.5
 param set MC_ROLLRATE_I 0.1
 param set MC_PITCHRATE_I 0.1
-param set MPC_XY_P 0.15
-param set MPC_XY_VEL_P 0.05
-param set MPC_XY_VEL_D 0.005
-param set MPC_XY_FF 0.1
-param set SENS_BOARD_ROT 8
-param set SENS_BOARD_X_OFF 0.000001
-param set COM_RC_IN_MODE 1
-param set NAV_ACC_RAD 2.0
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 10.0
+param set MPC_HOLD_MAX_Z 2.0
+param set MPC_HOLD_XY_DZ 0.1
+param set MPC_Z_VEL_P 0.8
+param set MPC_Z_VEL_I 0.15
+param set MPC_XY_VEL_P 0.15
+param set MPC_XY_VEL_I 0.2

-# changes for LPE
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
-param set LPE_BETA_MAX 10000
+# changes for LPE indoor flight
+param set LPE_GPS_ON 0
+param set MPC_ALT_MODE 1
+param set LPE_T_MAX_GRADE 0
+param set MPC_XY_VEL_MAX 2
+param set MPC_Z_VEL_MAX 2
+param set MPC_XY_P 0.5
+param set MIS_TAKEOFF_ALT 2
+
+replay tryapplyparams
 simulator start -s
 rgbledsim start
 tone_alarm start
@@ -54,13 +66,14 @@ commander start
 land_detector start multicopter
 navigator start
 attitude_estimator_q start
+local_position_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
+mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_w.main.mix
 mavlink start -u 14556 -r 2000000
 mavlink start -u 14557 -r 2000000 -m onboard -o 14540
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED_COV -u 14556
+mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
 mavlink stream -r 80 -s ATTITUDE -u 14556
 mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
@@ -69,8 +82,5 @@ mavlink stream -r 20 -s RC_CHANNELS -u 14556
 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
 sdlog2 start -r 100 -e -t -a
-
-# start LPE at end, when we know it is ok to init sensors
-sleep 5
-local_position_estimator start
 mavlink boot_complete
+replay trystart
@@ -18,23 +18,30 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.3
-param set MC_PITCH_P 5.5
-param set MC_ROLL_P 5.5
-param set MC_ROLLRATE_I 0.1
-param set MC_PITCHRATE_I 0.1
 param set MPC_XY_P 0.4
 param set MPC_XY_VEL_P 0.2
 param set MPC_XY_VEL_D 0.005
 param set SENS_BOARD_ROT 0
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
+param set NAV_DLL_ACT 2
+param set COM_DISARM_LAND 3
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
-param set COM_RC_IN_MODE 1
-param set NAV_DLL_ACT 2
+param set RTL_LAND_DELAY 0
+param set MIS_TAKEOFF_ALT 2.5
+param set MC_ROLLRATE_P 0.2
+param set MC_PITCHRATE_P 0.2
+param set MC_PITCH_P 6
+param set MC_ROLL_P 6
+param set MPC_HOLD_MAX_Z 2.0
+param set MPC_HOLD_XY_DZ 0.1
+param set MPC_Z_VEL_MAX 2.0
+param set MPC_Z_VEL_P 0.4
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_ANGERR_INIT 0.01
+replay tryapplyparams
 simulator start -s
 rgbledsim start
 tone_alarm start
@@ -43,18 +50,22 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
+#gps start -d /dev/ttyACM0 -s
 pwm_out_sim mode_pwm
 sleep 1
 sensors start
 commander start
 land_detector start multicopter
 navigator start
+attitude_estimator_q start
+local_position_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_x.main.mix
 mavlink start -u 14556 -r 2000000
+mavlink start -u 14557 -r 2000000 -m onboard -o 14540
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED_COV -u 14556
+mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
 mavlink stream -r 80 -s ATTITUDE -u 14556
 mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
@@ -62,7 +73,8 @@ mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
 mavlink stream -r 20 -s RC_CHANNELS -u 14556
 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
+mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
 sdlog2 start -r 100 -e -t -a
-attitude_estimator_q start
-local_position_estimator start
+logger start -e -t
 mavlink boot_complete
+replay trystart
--- a/Show More
+++ b/Show More