Update Nuttx Submodule to included Proper MAC El Capitan USB fix ==master (#5385)

* Path cleanup for SITL.

* Restructured sitl scripts dir.

* Set integration tests to use ekf2 for vtol.

* Fix sitl paths for mac.

.travis.yml

@@ -63,7 +63,8 @@ script:
   - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
       docker run --rm -v `pwd`:`pwd`:rw -v $HOME/.ccache:$HOME/.ccache:rw -e CCACHE_DIR=$HOME/.ccache -e GIT_SUBMODULES_ARE_EVIL=1 -w=`pwd` --user=$UID -it ${DOCKER_REPO} /bin/bash -c "make check_qgc_firmware VECTORCONTROL=1";
     elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-      make check_posix_sitl_default;
+      make px4fmu-v4_default
+      make tests; 
     fi
   - ccache -s
 

CMakeLists.txt

@@ -121,6 +121,14 @@
 # and leads to wrong toolchain detection
 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
 
+set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
+
+execute_process(
+	COMMAND Tools/check_submodules.sh
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
+
 # Use clang
 #SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
 #SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
@@ -155,6 +163,9 @@ message(STATUS "${target_name}")
 # Define GNU standard installation directories
 include(GNUInstallDirs)
 
+# Add support for external project building
+include(ExternalProject)
+
 # Setup install paths
 if(NOT CMAKE_INSTALL_PREFIX)
 	if (${OS} STREQUAL "posix")
@@ -163,12 +174,8 @@ if(NOT CMAKE_INSTALL_PREFIX)
 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")
-else()  # otherwise use the rest of this file
-
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
+message(STATUS "cmake module path: ${CMAKE_MODULE_PATH}")
 set(config_module "configs/${CONFIG}")
 include(${config_module})
 
@@ -199,6 +206,9 @@ if(DEFINED config_df_driver_list)
 	message("DF Drivers: ${config_df_driver_list}")
 endif()
 
+# force static lib build
+set(BUILD_SHARED_LIBS OFF)
+
 #=============================================================================
 # project definition
 #
@@ -219,8 +229,22 @@ set(version "${version_major}.${version_minor}.${version_patch}")
 set(package-contact "px4users@googlegroups.com")
 
 #=============================================================================
-# programs
+# find programs and packages
 #
+
+# see if catkin was invoked to build this
+if (CATKIN_DEVEL_PREFIX)
+	message(STATUS "catkin ENABLED")
+	find_package(catkin REQUIRED)
+	if (catkin_FOUND)
+		catkin_package()
+	else()
+		message(FATAL_ERROR "catkin not found")
+	endif()
+else()
+	message(STATUS "catkin DISABLED")
+endif()
+
 find_package(PythonInterp REQUIRED)
 
 #=============================================================================
@@ -228,6 +252,11 @@ find_package(PythonInterp REQUIRED)
 #
 enable_testing()
 
+#=============================================================================
+# generate compile command database
+#
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 #=============================================================================
 # check required toolchain variables
 #
@@ -257,7 +286,7 @@ px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
 add_custom_target(submodule_clean
-	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	COMMAND git submodule deinit -f .
 	COMMAND rm -rf .git/modules/*
 	)
@@ -267,12 +296,12 @@ add_custom_target(submodule_clean
 #
 add_custom_target(check_format
 	COMMAND Tools/check_code_style.sh
-	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
 add_custom_target(config
 	COMMAND cmake-gui .
-	WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	)
 
 #=============================================================================
@@ -321,7 +350,7 @@ add_custom_target(xml_gen
 # external projects
 #
 
-set(ep_base ${CMAKE_BINARY_DIR}/external)
+set(ep_base ${PX4_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
 
 # add external project install folders to build
@@ -350,7 +379,7 @@ foreach(module ${config_module_list})
 	if(external_module)
 		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
 		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
-		add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
+		add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
 	else()
 		add_subdirectory(src/${module})
 	endif()
@@ -375,7 +404,7 @@ endif()
 #=============================================================================
 # generate git version
 #
-px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
+px4_create_git_hash_header(HEADER ${PX4_BINARY_DIR}/build_git_version.h)
 
 #=============================================================================
 # packaging
@@ -394,17 +423,14 @@ set(CPACK_GENERATOR "ZIP")
 set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${version}")
 set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}")
 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
+set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
+set(CPACK_SET_DESTDIR "OFF")
 if ("${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")
+	find_program(DPKG_PROGRAM dpkg)
+	if (EXISTS ${DPKG_PROGRAM})
+		list (APPEND CPACK_GENERATOR "DEB")
+	endif()
 endif()
 include(CPack)
 
-endif() # ros alternative endif
-
 # vim: set noet fenc=utf-8 ff=unix ft=cmake :

Images/asc-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 65,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ASCv1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ASCv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/tap-v1.prototype

@@ -1,5 +1,5 @@
 {
-    "board_id": 78,
+    "board_id": 64,
     "magic": "PX4FWv1",
     "description": "Firmware for the TAPv1 board",
     "image": "",

Makefile

@@ -42,7 +42,7 @@ endif
 CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?)
 ifneq ($(CMAKE_VER),0)
     $(warning Not a valid CMake version or CMake not installed.)
-    $(warning On Ubuntu, install or upgrade via:)
+    $(warning On Ubuntu 16.04, install or upgrade via:)
     $(warning )
     $(warning 3rd party PPA:)
     $(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
@@ -111,20 +111,23 @@ else
 	BUILD_DIR_SUFFIX :=
 endif
 
+SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
+
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+@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: $@$(BUILD_DIR_SUFFIX)" && cd ./build_$@$(BUILD_DIR_SUFFIX) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
++@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
++@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
++@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
++@(echo "PX4 CONFIG: $(BUILD_DIR)" && cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef
 
 define cmake-build-other
-+@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) $(ARGS))
++@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
++@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
++@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
++@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef
 
 # create empty targets to avoid msgs for targets passed to cmake
@@ -147,6 +150,9 @@ endef
 tap-v1_default:
 	$(call cmake-build,nuttx_tap-v1_default)
 
+asc-v1_default:
+	$(call cmake-build,nuttx_asc-v1_default)
+
 px4fmu-v1_default:
 	$(call cmake-build,nuttx_px4fmu-v1_default)
 
@@ -162,9 +168,6 @@ px4fmu-v4_default:
 px4-stm32f4discovery_default:
 	$(call cmake-build,nuttx_px4-stm32f4discovery_default)
 
-px4fmu-v2_ekf2:
-	$(call cmake-build,nuttx_px4fmu-v2_ekf2)
-
 mindpx-v2_default:
 	$(call cmake-build,nuttx_mindpx-v2_default)
 
@@ -174,6 +177,9 @@ posix_sitl_default:
 posix_sitl_lpe:
 	$(call cmake-build,$@)
 
+posix_sitl_ekf2:
+	$(call cmake-build,$@)
+
 posix_sitl_replay:
 	$(call cmake-build,$@)
 
@@ -233,14 +239,8 @@ run_sitl_ros: sitl_deprecation
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
-.NOTPARALLEL: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
-
-gazebo_build:
-	@mkdir -p build_gazebo
-	@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
+.PHONY: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+.NOTPARALLEL: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
 
 uavcan_firmware:
 ifeq ($(VECTORCONTROL),1)
@@ -251,9 +251,9 @@ endif
 checks_defaults: \
 	check_px4fmu-v1_default \
 	check_px4fmu-v2_default \
+	check_px4fmu-v4_default \
 	check_mindpx-v2_default \
-	check_px4-stm32f4discovery_default \
-	check_tap-v1_default \
+	check_tap-v1_default
 
 checks_bootloaders: \
 
@@ -262,7 +262,8 @@ checks_tests: \
 	check_px4fmu-v2_test
 
 checks_alts: \
-	check_px4fmu-v2_ekf2 \
+	check_asc-v1_default \
+	check_px4-stm32f4discovery_default
 
 checks_uavcan: \
 	check_px4fmu-v4_default_and_uavcan
@@ -275,13 +276,18 @@ checks_last: \
 	check_format \
 
 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
+quick_check: check_px4fmu-v2_default check_px4fmu-v4_default check_posix_sitl_default check_tests check_format
 
 check_format:
 	$(call colorecho,"Checking formatting with astyle")
 	@./Tools/fix_code_style.sh
 	@./Tools/check_code_style_all.sh
 
+format:
+	$(call colorecho,"Formatting with astyle")
+	@./Tools/fix_code_style.sh
+	@./Tools/check_code_style_all.sh --fix
+
 check_%:
 	@echo
 	$(call colorecho,"Building" $(subst check_,,$@))
@@ -302,11 +308,7 @@ unittest: posix_sitl_default
 	@(cd build_unittest && ctest -j2 --output-on-failure)
 
 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)
+	@(cd build_posix_sitl_default/ && ctest -V)
 
 tests: check_unittest run_tests_posix
 
@@ -315,13 +317,13 @@ qgc_firmware: \
 	check_px4fmu-v1_default \
 	check_px4fmu-v2_default \
 	check_mindpx-v2_default \
+	check_tap-v1_default \
 	check_px4fmu-v4_default_and_uavcan \
 	check_format
 
 extra_firmware: \
 	check_px4-stm32f4discovery_default \
-	check_px4fmu-v2_test \
-	check_px4fmu-v2_ekf2
+	check_px4fmu-v2_test
 
 package_firmware:
 	@zip --junk-paths Firmware.zip `find . -name \*.px4`

ROMFS/px4fmu_common/init.d/16001_helicopter

@@ -0,0 +1,50 @@
+#!nsh
+#
+# @name Blade 130X
+#
+# @type Helicopter
+#
+# @maintainer Bart Slinger <bartslinger@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+# Configure as helicopter (number 4 defined in commander_helper.cpp)
+set MAV_TYPE 4
+
+set MIXER heli_120deg
+
+set PWM_OUT 1234
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 5.0
+	param set MC_ROLLRATE_P 0.0
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.0
+	param set MC_ROLLRATE_FF 0.15
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.0
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.0
+	param set MC_PITCHRATE_FF 0.15
+	param set MC_YAW_P 3.0
+	param set MC_YAWRATE_P 0.1
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.0
+	param set MC_ROLLRATE_MAX 720.0
+	param set MC_PITCHRATE_MAX 720.0
+	param set MC_YAWRATE_MAX 400.0
+	param set MC_ACRO_R_MAX 360.0
+	param set MC_ACRO_P_MAX 360.0
+
+	param set PWM_MIN 1075
+
+	param set MPC_THR_MIN 0.06
+	param set MPC_MANTHR_MIN 0.06
+
+	param set ATT_BIAS_MAX 0.0
+
+	param set CBRK_IO_SAFETY 22027
+fi

ROMFS/px4fmu_common/init.d/4009_qav250

@@ -33,4 +33,6 @@ then
 	param set MPC_MANTHR_MIN 0.06
 	param set CBRK_IO_SAFETY 22027
 	param set ATT_BIAS_MAX 0.0
+	param set MC_TPA_BREAK 0.5
+ 	param set MC_TPA_SLOPE 1.0
 fi

ROMFS/px4fmu_common/init.d/4050_generic_250

@@ -20,9 +20,9 @@ then
 	param set MC_ROLLRATE_I 0.1
 	param set MC_ROLLRATE_D 0.0055
 	param set MC_PITCH_P 8.0
-	param set MC_PITCHRATE_P 0.24
+	param set MC_PITCHRATE_P 0.19
 	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.0065
+	param set MC_PITCHRATE_D 0.0055
 	param set MC_YAW_P 4.0
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
@@ -33,6 +33,9 @@ then
 	param set MC_YAWRATE_MAX 400.0
 	param set MC_ACRO_R_MAX 360.0
 	param set MC_ACRO_P_MAX 360.0
+	param set MC_TPA_BREAK 0.5
+	param set MC_TPA_SLOPE 1.0
+	
 
 	param set PWM_MIN 1075
 

ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps

@@ -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

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -34,15 +34,6 @@ set PWM_AUX_DISARMED 1500
 set PWM_AUX_MIN 1000
 set PWM_AUX_MAX 2000
 
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1000
-then
-	param set PWM_MIN 1075
-fi
-if param compare PWM_MAX 2000
-then
-	param set PWM_MAX 1950
-fi
 if param compare PWM_DISARMED 0
 then
 	param set PWM_DISARMED 900

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -56,6 +56,11 @@ then
 	then
 	fi
 
+	# Internal SPI bus ICM-20608-G
+	if mpu6000 -T 20608 start
+	then
+	fi
+
 	# external MPU6K is rotated 180 degrees yaw
 	if mpu6000 -X -R 4 start
 	then
@@ -95,6 +100,10 @@ then
 		then
 		fi
 
+		if mpu9250 start
+		then
+		fi
+
 		if l3gd20 start
 		then
 		fi

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -34,15 +34,6 @@ set PWM_DISARMED p:PWM_DISARMED
 set PWM_MIN p:PWM_MIN
 set PWM_MAX p:PWM_MAX
 
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1000
-then
-	param set PWM_MIN 1075
-fi
-if param compare PWM_MAX 2000
-then
-	param set PWM_MAX 1950
-fi
 if param compare PWM_DISARMED 0
 then
 	param set PWM_DISARMED 900

ROMFS/px4fmu_common/mixers/heli_120deg.main.mix

@@ -0,0 +1,54 @@
+Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
+Blade 130x helicopter has longer servo arms left and right. The front servo arm is shorter.
+Therefore it is not required to use the 0.866 factor.
+==================================================
+
+Output 0 - Left Servo Mixer
+-----------------
+Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + Aileron (Roll - 0)
+
+M: 3
+O:       10000   10000      0 -10000  10000
+S: 3 5   10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+S: 0 0   10000   10000      0 -10000  10000
+
+
+Output 1 - Front Servo Mixer
+----------------
+
+Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000
+S: 0 1  10000  10000      0 -10000  10000
+
+
+Output 2 - Right Servo Mixer
+----------------
+Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - Aileron (Roll - 0)
+
+M: 3
+O:       10000   10000      0 -10000  10000
+S: 3 5   10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+S: 0 0  -10000  -10000      0 -10000  10000
+
+
+Output 3 - Tail Servo Mixer
+----------------
+Tail Servo = Yaw (control index = 2)
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+
+Output 4 - Motor speed mixer
+-----------------
+This would be the motor speed control output from governor power demand- not sure what index to use here?
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000

ROMFS/tap_common/init.d/4001_quad_x

@@ -12,7 +12,10 @@
 #
 
 sh /etc/init.d/rc.mc_defaults
+if tap_esc start -d /dev/ttyS4 -n 4
+then
+fi
+set OUTPUT_MODE tap_esc
+param set BAT_N_CELLS 4
 
 set MIXER quad_x
-
-set PWM_OUT 1234

ROMFS/tap_common/init.d/6001_hexa_x

@@ -13,7 +13,13 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER hexa_x
+param set MAV_TYPE 13
+param set MC_YAWRATE_P 0.12
+param set CAL_MAG0_ROT 6
 
-# Need to set all 8 channels
-set PWM_OUT 12345678
+if tap_esc start -d /dev/ttyS4 -n 6
+then
+fi
+set OUTPUT_MODE tap_esc
+
+set MIXER hexa_x

ROMFS/tap_common/init.d/rc.interface

@@ -16,9 +16,9 @@ then
 
 	set OUTPUT_DEV /dev/pwm_output0
 
-	if [ $OUTPUT_MODE == uavcan_esc ]
+	if [ $OUTPUT_MODE == tap_esc ]
 	then
-		set OUTPUT_DEV /dev/uavcan/esc
+		set OUTPUT_DEV /dev/tap_esc
 	fi
 
 	if mixer load $OUTPUT_DEV $MIXER_FILE

ROMFS/tap_common/init.d/rc.mc_defaults

@@ -9,16 +9,19 @@ then
 	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
 
+param set NAV_ACC_RAD 2.0
+param set MIS_TAKEOFF_ALT 2.5
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+param set RTL_LAND_DELAY 0
+param set MPC_THR_MIN 0.10
+param set MPC_MANTHR_MIN 0.04
+
 # set environment variables (!= parameters)
 set PWM_RATE 400
 # tell the mixer to use parameters for these instead
@@ -33,17 +36,3 @@ set PWM_AUX_OUT 1234
 set PWM_AUX_DISARMED 1500
 set PWM_AUX_MIN 1000
 set PWM_AUX_MAX 2000
-
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1000
-then
-	param set PWM_MIN 1075
-fi
-if param compare PWM_MAX 2000
-then
-	param set PWM_MAX 1950
-fi
-if param compare PWM_DISARMED 0
-then
-	param set PWM_DISARMED 900
-fi

ROMFS/tap_common/init.d/rc.sensors

@@ -7,40 +7,22 @@ if adc start
 then
 fi
 
+if ms5611 -T 5607 -I start
+then
+fi
+
 # External I2C bus
 if hmc5883 -C -T -X start
 then
 fi
 
-if lis3mdl -R 2 start
+# Internal I2C bus
+if mpu6000 -I -T 6000 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
+# Wait 50 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
+usleep 50000
 if sensors start
 then
 fi

ROMFS/tap_common/init.d/rcS

@@ -1,38 +1,38 @@
 #!nsh
 #
-# PX4FMU startup script.
+# TAP startup script.
 #
 #  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
 
+# Serial map:
+# /dev/ttyS0: GPS
+# /dev/ttyS1: GB
+# /dev/ttyS2: nsh shell / console
+# /dev/ttyS3: payload
+# /dev/ttyS4: esc bus
+# /dev/ttyS5: RC input
+
 #
 # Start CDC/ACM serial driver
 #
 sercon
 
-#
-# 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
+	echo "microSD present"
 else
-	tone_alarm MBAGP
 	if mkfatfs /dev/mmcsd0
 	then
 		if mount -t vfat /dev/mmcsd0 /fs/microsd
 		then
-			echo "INFO  [init] MicroSD card formatted"
+			echo "microSD card formatted"
 		else
 			echo "ERROR [init] Format failed"
 			tone_alarm MNBG
@@ -44,431 +44,299 @@ else
 fi
 
 #
-# Look for an init script on the microSD card.
-# Disable autostart if the script found.
+# Start the ORB (first app to start)
 #
-set FRC /fs/microsd/etc/rc.txt
-if [ -f $FRC ]
+uorb start
+
+#
+# Load parameters
+#
+set PARAM_FILE /fs/microsd/params
+if mtd start
 then
-	echo "INFO  [init] Executing script: $FRC"
-	sh $FRC
-	set MODE custom
+	set PARAM_FILE /fs/mtd_params
 fi
-unset FRC
 
-if [ $MODE == autostart ]
+param select $PARAM_FILE
+if param load
 then
-
-	#
-	# Start the ORB (first app to start)
-	#
-	uorb start
-
-	#
-	# Load parameters
-	#
-	set PARAM_FILE /fs/microsd/params
-	if mtd start
+else
+	if param reset
 	then
-		set PARAM_FILE /fs/mtd_params
 	fi
+fi
 
-	param select $PARAM_FILE
-	if param load
+tone_alarm start
+
+#
+# Start system state indicator
+#
+if rgbled start
+then
+fi
+
+#
+# Set parameters and env variables for selected AUTOSTART
+#
+if param compare SYS_AUTOSTART 0
+then
+	param set SYS_AUTOSTART 6001
+	param set SYS_AUTOCONFIG 1
+fi
+
+#
+# Set AUTOCNF flag to use it in AUTOSTART scripts
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Wipe out params except RC*
+	param reset_nostart RC*
+	set AUTOCNF yes
+else
+	set AUTOCNF no
+fi
+
+#
+# Set default values
+#
+set VEHICLE_TYPE none
+set MIXER none
+set OUTPUT_MODE none
+set PWM_OUT none
+set PWM_RATE none
+set PWM_DISARMED none
+set PWM_MIN none
+set PWM_MAX none
+set FMU_MODE pwm
+set MAV_TYPE none
+set FAILSAFE none
+
+# Start canned airframe config
+sh /etc/init.d/rc.autostart
+
+#
+# If autoconfig parameter was set, reset it and save parameters
+#
+if [ $AUTOCNF == yes ]
+then
+	param set SYS_AUTOCONFIG 0
+	param save
+fi
+unset AUTOCNF
+
+#
+# Set default output if not set
+#
+if [ $OUTPUT_MODE == none ]
+then
+	if [ $USE_IO == yes ]
 	then
+		set OUTPUT_MODE io
 	else
-		if param reset
+		set OUTPUT_MODE fmu
+	fi
+fi
+
+gps start -d /dev/ttyS0
+
+# waypoint storage
+# REBOOTWORK this needs to start in parallel
+if dataman start
+then
+fi
+
+#
+# Sensors System (start before Commander so Preflight checks are properly run)
+#
+sh /etc/init.d/rc.sensors
+
+commander start
+
+#
+# Start CPU load monitor
+#
+load_mon start
+
+# Start MAVLink on the gimbal port
+#mavlink start -r 1200 -d /dev/ttyS1
+
+# Start MAVLink on USB, developers can use the MAVLink shell
+mavlink start -r 60000 -d /dev/ttyACM0 -m config
+
+#
+# Logging
+#
+#if logger start -b 2 -t
+#then
+#fi
+
+#
+# Fixed wing setup
+#
+if [ $VEHICLE_TYPE == fw ]
+then
+	echo "INFO  [init] Fixedwing"
+
+	if [ $MIXER == none ]
+	then
+		# Set default mixer for fixed wing if not defined
+		set MIXER AERT
+	fi
+
+	if [ $MAV_TYPE == none ]
+	then
+		# Use MAV_TYPE = 1 (fixed wing) if not defined
+		set MAV_TYPE 1
+	fi
+
+	param set MAV_TYPE $MAV_TYPE
+
+	# Load mixer and configure outputs
+	sh /etc/init.d/rc.interface
+
+	# Start standard fixedwing apps
+	sh /etc/init.d/rc.fw_apps
+fi
+
+#
+# Multicopters setup
+#
+if [ $VEHICLE_TYPE == mc ]
+then
+	echo "INFO  [init] Multicopter"
+
+	if [ $MIXER == none ]
+	then
+		echo "INFO  [init] Mixer undefined"
+	fi
+
+	if [ $MAV_TYPE == none ]
+	then
+		# Use mixer to detect vehicle type
+		if [ $MIXER == quad_x -o $MIXER == quad_+ ]
 		then
+			set MAV_TYPE 2
+		fi
+		if [ $MIXER == quad_w ]
+		then
+			set MAV_TYPE 2
+		fi
+		if [ $MIXER == quad_h ]
+		then
+			set MAV_TYPE 2
+		fi
+		if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
+		then
+			set MAV_TYPE 15
+		fi
+		if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
+		then
+			set MAV_TYPE 13
+		fi
+		if [ $MIXER == hexa_cox ]
+		then
+			set MAV_TYPE 13
+		fi
+		if [ $MIXER == octo_x -o $MIXER == octo_+ ]
+		then
+			set MAV_TYPE 14
 		fi
 	fi
 
-	#
-	# Start system state indicator
-	#
-	if rgbled start
+	# Still no MAV_TYPE found
+	if [ $MAV_TYPE == none ]
 	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
+		echo "WARN  [init] Unknown MAV_TYPE"
+		param set MAV_TYPE 2
 	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 ]
+	# 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 "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
+		echo "WARN  [init] VTOL mixer undefined"
 	fi
 
-	#
-	# VTOL setup
-	#
-	if [ $VEHICLE_TYPE == vtol ]
+	if [ $MAV_TYPE == none ]
 	then
-		echo "INFO  [init] VTOL"
-
-		if [ $MIXER == none ]
+		# Use mixer to detect vehicle type
+		if [ $MIXER == caipirinha_vtol ]
 		then
-			echo "WARN  [init] VTOL mixer undefined"
+			set MAV_TYPE 19
 		fi
-
-		if [ $MAV_TYPE == none ]
+		if [ $MIXER == firefly6 ]
 		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
+			set MAV_TYPE 21
 		fi
-
-		# Still no MAV_TYPE found
-		if [ $MAV_TYPE == none ]
+		if [ $MIXER == quad_x_pusher_vtol ]
 		then
-			echo "WARN  [init] Unknown MAV_TYPE"
-			param set MAV_TYPE 19
-		else
-			param set MAV_TYPE $MAV_TYPE
+			set MAV_TYPE 22
 		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 ]
+	# Still no MAV_TYPE found
+	if [ $MAV_TYPE == none ]
 	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
+		echo "WARN  [init] Unknown MAV_TYPE"
+		param set MAV_TYPE 19
+	else
+		param set MAV_TYPE $MAV_TYPE
 	fi
 
-	unset MIXER
-	unset MAV_TYPE
-	unset OUTPUT_MODE
+	# Load mixer and configure outputs
+	sh /etc/init.d/rc.interface
 
-	#
-	# Start the navigator
-	#
-	navigator start
+	# Start standard vtol apps
+	sh /etc/init.d/rc.vtol_apps
+fi
 
-	#
-	# Generic setup (autostart ID not found)
-	#
-	if [ $VEHICLE_TYPE == none ]
-	then
-		echo "WARN  [init] No autostart ID found"
-	fi
+#
+# Rover setup
+#
+if [ $VEHICLE_TYPE == rover ]
+then
+	# 10 is MAV_TYPE_GROUND_ROVER
+	set MAV_TYPE 10
 
-	# 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
+	# Load mixer and configure outputs
+	sh /etc/init.d/rc.interface
 
-	# Run no SD alarm
-	if [ $LOG_FILE == /dev/null ]
-	then
-		# Play SOS
-		tone_alarm error
-	fi
+	# Start standard rover apps
+	sh /etc/init.d/rc.axialracing_ax10_apps
 
-# End of autostart
+	param set MAV_TYPE 10
+fi
+
+unset MIXER
+unset MAV_TYPE
+unset OUTPUT_MODE
+
+#
+# Start the RC input driver
+#
+if fmu mode_rcin
+then
+fi
+
+#
+# Start the navigator
+#
+if navigator start
+then
 fi
 
 # There is no further script processing, so we can free some RAM
@@ -477,10 +345,3 @@ 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

Tools/check_code_style.sh

@@ -16,8 +16,14 @@ then
 		echo
 
 		rm -f $file.pretty
-		echo $file 'bad formatting, please run "./Tools/fix_code_style.sh' $file'"'
-		exit 1
+
+		if [[ $PX4_ASTYLE_FIX -eq 1 ]]
+		then
+			${DIR}/fix_code_style.sh $file
+		else
+			echo $file 'bad formatting, please run "./Tools/fix_code_style.sh' $file'"'
+			exit 1
+		fi
 	fi
 fi
 

Tools/check_code_style_all.sh

@@ -1,47 +1,28 @@
 #!/usr/bin/env bash
 set -eu
-failed=0
+
+if [[ "$@" == "--fix" ]]
+then
+    export PX4_ASTYLE_FIX=1
+fi
 
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 
-find \
-    src/drivers \
-    src/examples \
-    src/firmware \
-    src/include \
-    src/lib/controllib \
-    src/lib/conversion \
-    src/lib/geo \
-    src/lib/geo_lookup \
-    src/lib/launchdetection \
-    src/lib/rc \
-    src/lib/tailsitter_recovery \
-    src/lib/terrain_estimation \
-    src/lib/version \
-    src/modules/attitude_estimator_q \
-    src/modules/bottle_drop \
-    src/modules/controllib_test \
-    src/modules/dataman \
-    src/modules/fw_att_control \
-    src/modules/fw_pos_control_l1 \
-    src/modules/gpio_led \
-    src/modules/land_detector \
-    src/modules/local_position_estimator \
-    src/modules/logger \
-    src/modules/mavlink/mavlink_tests \
-    src/modules/muorb \
-    src/modules/param \
-    src/modules/px4iofirmware \
-    src/modules/replay \
-    src/modules/segway \
-    src/modules/sensors \
-    src/modules/simulator \
-    src/modules/systemlib \
-    src/modules/unit_test \
-    src/modules/uORB \
-    src/modules/vtol_att_control \
-    src/platforms \
-    src/systemcmds \
+find src \
+    -path src/lib/DriverFramework -prune -o \
+    -path src/lib/ecl -prune -o \
+    -path src/lib/external_lgpl -prune -o \
+    -path src/lib/mathlib -prune -o \
+    -path src/lib/matrix -prune -o \
+    -path src/modules/attitude_estimator_ekf -prune -o \
+    -path src/modules/commander -prune -o \
+    -path src/examples/ekf_att_pos_estimator -prune -o \
+    -path src/modules/mavlink -prune -o \
+    -path src/examples/attitude_estimator_ekf -prune -o \
+    -path src/modules/navigator -prune -o \
+    -path src/modules/sdlog2 -prune -o \
+    -path src/modules/uavcan -prune -o \
+    -path src/modules/uavcan/libuavcan -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) \
     -not -name '*generated.h' \
     -not -name '*uthash.h' \

Tools/clang-tool.sh

@@ -0,0 +1,54 @@
+#!/bin/bash
+
+while getopts "b:t:" opt; do
+  case "${opt}" in
+    b)
+      builddir=$OPTARG
+      ;;
+    t)
+      tool=$OPTARG
+      ;;
+  esac
+done
+
+echo "builddir = ${builddir}, tool = ${tool}"
+
+case "${builddir}" in
+  "build_posix_rpi_cross")
+    CXX_INC=$(cd ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/arm-linux-gnueabihf/include/c++/*; pwd)
+    EXTRA_ARG1=-I${CXX_INC}
+    EXTRA_ARG2=-I${CXX_INC}/arm-linux-gnueabihf
+    EXTRA_ARG3=-I${CXX_INC}/backward
+    extra_args="--extra-arg=-I${CXX_INC} --extra-arg=-I${CXX_INC}/arm-linux-gnueabihf --extra-arg=-I${CXX_INC}/backward"
+    ;;
+  "build_posix_sitl_default")
+    ;;
+  *)
+    echo "unknown build dir: ${builddir}"
+    ;;
+esac
+
+COMPILE_DB=$(/bin/pwd)/${builddir}
+if [[ ! -f ${COMPILE_DB}/compile_commands.json ]]; then
+  echo "compile_commands.json not found in ${COMPILE_DB}"
+  exit 1
+fi
+
+case "${tool}" in
+  "clang-check")
+    command=clang-check;
+    option=-analyze;
+    ;;
+  "clang-tidy")
+    command=clang-tidy
+    ;;
+esac
+
+grep file ${COMPILE_DB}/compile_commands.json |
+awk '{ print $2; }' |
+sed 's/\"//g' |
+while read FILE; do
+    (cd $(dirname ${FILE});
+    ${command} ${option} -p ${COMPILE_DB} ${extra_args} $(basename ${FILE})
+    );
+  done

Tools/sdlog2/README.md

@@ -8,14 +8,22 @@ logconv.m: This is a MATLAB script which will automatically convert and display
 
 sdlog2_dump.py: This is a Python script (compatible with v2 and v3) which converts the self-describing binary log format to a CSV file. To export a CSV file from within a shell (Windows CMD or BASH on Linux / Mac OS), run:
 
-	python sdlog2_dump.py log001.bin -f "export.csv" -t "TIME" -d "," -n ""
+```
+python sdlog2_dump.py log001.bin -f "export.csv" -t "TIME" -d "," -n ""
+```
 
-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.
+geo_tag_images.py: Use this script to geotag a set of images. It uses GPS time and file creation date to synchronize the images, so it needs that the images have a valid creation date. Can generate a KML file to view where the photos were taken in Google Earth (including height).
 
-	python geo_tag_images.py --logfile=mylog.bin --input=images/ --output=tagged/
+```sh
+python geo_tag_images.py --logfile=mylog.bin --input=images/ --output=tagged/ --kml -v
+
+python geo_tag_images.py -l=mylog.bin -i=images/ -o=tagged/ --kml -v
+```
 
 geotagging.py: Use this script to geotag a set of images. It uses the CAM trigger data from the log file for image association.
-
-	python geotagging.py --logfile=mylog.bin --input=images/ --output=tagged/
+	
+```sh
+python geotagging.py --logfile=mylog.bin --input=images/ --output=tagged/
+```
 
 Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux.

Tools/sdlog2/geo_tag_images.py

@@ -9,7 +9,7 @@
 #  Example Syntax:
 #  python geotag.py --logfile=log001.bin --input=images/ --output=imagesWithTag/ --offset=-0.4 -v
 #
-#   Author: Hector Azpurua
+#   Author: Hector Azpurua hector@azpurua.com
 #   Based on the script of Andreas Bircher
 
 import os
@@ -22,6 +22,7 @@ import argparse
 from lxml import etree
 import datetime, calendar
 from shutil import copyfile
+from subprocess import check_output
 from pykml.factory import KML_ElementMaker as KML
 from pykml.factory import GX_ElementMaker as GX
 
@@ -50,7 +51,7 @@ class Main:
         self.logfile = args['logfile']
         self.input = args['input']
         self.output = args['output']
-        self.klm = args['klm']
+        self.kml = args['kml']
         self.verbose = args['verbose']
         self.offset = args['offset']
         self.time_tresh = args['treshold']
@@ -58,6 +59,9 @@ class Main:
         self.tdiff_list = []
         self.non_processed_files = []
         self.tagged_gps = []
+
+        print '[INFO] Loading logs and images locations...'
+
         self.gps_list = self.load_gps_from_log(self.logfile, self.offset)
         self.img_list = self.load_image_list(self.input)
 
@@ -73,11 +77,11 @@ class Main:
 
         self.tag_images()
 
-        if self.klm and len(self.tdiff_list) > 0:
-            self.gen_klm()
+        if self.kml and len(self.tdiff_list) > 0:
+            self.gen_kml()
 
         if len(self.non_processed_files) > 0:
-            print '[WARNING] Some images werent processed:'
+            print '[WARNING] Some images werent processed (', len(self.non_processed_files), 'of', len(self.img_list), '):'
             for elem in self.non_processed_files:
                 print '\t', elem
 
@@ -132,7 +136,7 @@ class Main:
 
         return local_dt.replace(microsecond=utc_dt.microsecond)
 
-    def gen_klm(self):
+    def gen_kml(self):
         """
         Generate a KML file with keypoints on the locations of the pictures, including height
         :return:
@@ -171,7 +175,7 @@ class Main:
                         KML.styleUrl('#{0}'.format(style_dot)),
                         KML.Point(
                             KML.extrude(True),
-                            KML.altitudeMode('relativeToGround'),
+                            KML.altitudeMode('absolute'),
                             KML.coordinates("{},{},{}".format(gps.lon, gps.lat, gps.alt))
                         ),
                         KML.name(str(ii)) if ii % 5 == 0 or ii == 1 else KML.name()
@@ -183,7 +187,7 @@ class Main:
             KML.Placemark(
                 KML.styleUrl('#{0}'.format(style_path)),
                 KML.LineString(
-                    KML.altitudeMode('relativeToGround'),
+                    KML.altitudeMode('absolute'),
                     KML.coordinates(
                         ' '.join(["{},{},{}".format(gps.lon, gps.lat, gps.alt) for gps in self.tagged_gps])
                     )
@@ -207,9 +211,18 @@ class Main:
         :param elem:
         :return:
         """
+        dlist_len = len(datetime_list)
+
         i = bisect.bisect_left(datetime_list, elem)
+
+        # Cleanup of the indices 
+        if i < 0: 
+            i = 0 
+        elif i >= dlist_len:
+            i = dlist_len - 1 
+
         date = datetime_list[i]
-        diff = (date - elem).total_seconds()
+        diff = abs((date - elem).total_seconds())
 
         if diff > self.time_tresh:
             return -1, diff
@@ -258,32 +271,46 @@ class Main:
         :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])
+        out = check_output(["python", "sdlog2_dump.py", log_file, "-m GPS", "-v"])
+
+        for line in out.splitlines():
+            if not line.startswith("MSG GPS:"):
+                continue
+
+            vdict = {}
+            pairs = re.split(r'[;,:]\s*', line)
+            for pair in pairs:
+                e = pair.split('=')
+                if len(e) == 2:
+                    vdict[e[0]] = float(e[1])
+
+            gps_time = vdict['TimeMS']
+            gps_week = vdict['Week']
+            gps_lat = vdict['Lat']
+            gps_lon = vdict['Lng']
+            gps_alt = vdict['Alt']
 
             date = self.gps_week_seconds_to_datetime(gps_week, gps_time, leapmillis=offset)
-            print date
             gps_list.append(GpsPosition(date, gps_lat, gps_lon, gps_alt))
 
         return gps_list
 
+    def get_image_creation_date(self, filename):
+        exiv_image = pyexiv2.ImageMetadata(filename)
+        exiv_image.read()
+
+        # Prefer DateTime/Original over the other values
+        if 'Exif.Photo.DateTimeOriginal' in exiv_image:
+            cdate = exiv_image['Exif.Photo.DateTimeOriginal'].value
+            return cdate
+        elif 'Exif.Image.DateTime' in exiv_image:
+            cdate = exiv_image['Exif.Image.DateTime'].value
+            return cdate
+        else:
+            epoch = os.path.getmtime(filename)
+            return datetime.datetime.fromtimestamp(epoch)
+
     def load_image_list(self, input_folder, file_type='jpg'):
         """
         Load image list from a folder given a file type
@@ -304,15 +331,16 @@ class Main:
         tagged_gps = []
         img_size = len(self.img_list)
         print '[INFO] Number of images:', img_size
+        print '[INFO] Number of gps logs:', len(self.gps_list)
 
         dt_list = [x.timestamp for x in self.gps_list]
 
         img_seq = 1
 
         for i in xrange(img_size):
-            base_path, filename = os.path.split(self.img_list[i])
-            cdate = datetime.datetime.fromtimestamp(os.path.getmtime(self.img_list[i]))
+            cdate = self.get_image_creation_date(self.img_list[i])
             gps_i, img_tdiff = self.get_closest_datetime_index(dt_list, cdate)
+            base_path, filename = os.path.split(self.img_list[i])
 
             if gps_i == -1:
                 self.non_processed_files.append(filename)
@@ -326,8 +354,9 @@ class Main:
                         (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)
+            output_filename = self.output + str(img_seq) + '_' + filename
+            copyfile(self.img_list[i], output_filename)
+            self.set_gps_location(output_filename, closest_gps.lat, closest_gps.lon, closest_gps.alt)
             self.tagged_gps.append(closest_gps)
             img_seq += 1
 
@@ -359,7 +388,7 @@ class Main:
             default=-17000, required=False, type=float
         )
         parser.add_argument(
-            '-klm', '--klm', help='Save the in KML format the information of all tagged images.',
+            '-kml', '--kml', help='Save the in KML format the information of all tagged images.',
             required=False, action='store_true'
         )
         parser.add_argument(

Tools/setup_gazebo.bash

@@ -0,0 +1,28 @@
+#!/bin/bash
+#
+# Setup environment to make PX4 visible to Gazebo.
+#
+# Note, this is not necessary if using a ROS catkin workspace with the px4
+# package as the paths are exported.
+#
+# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+
+if [ "$#" != 2 ]
+then
+    echo usage: source setup_gazebo.bash src_dir build_dir
+    echo ""
+    return 1
+fi
+
+SRC_DIR=$1
+BUILD_DIR=$2
+
+# setup Gazebo env and update package path
+export GAZEBO_PLUGIN_PATH=${BUILD_DIR}/build_gazebo:${GAZEBO_PLUGIN_PATH}
+export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/models
+# Disabling the remote model download seems only necessary with Gazebo 6
+#export GAZEBO_MODEL_DATABASE_URI=""
+export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/:${BUILD_DIR}/build_gazebo
+echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
+echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"
+echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"

Tools/sitl_run.sh

@@ -1,22 +1,29 @@
 #!/bin/bash
 
-rc_script=$1
-debugger=$2
-program=$3
-model=$4
-build_path=$5
-curr_dir=`pwd`
+set -e
+
+echo args: $@
+
+sitl_bin=$1
+label=$2
+debugger=$3
+program=$4
+model=$5
+src_path=$6
+build_path=$7
 
 echo SITL ARGS
-echo rc_script: $rc_script
+
+echo sitl_bin: $sitl_bin
+echo label: $label
 echo debugger: $debugger
 echo program: $program
 echo model: $model
+echo src_path: $src_path
 echo build_path: $build_path
 
-mkdir -p $build_path/src/firmware/posix/rootfs/fs/microsd
-mkdir -p $build_path/src/firmware/posix/rootfs/eeprom
-touch $build_path/src/firmware/posix/rootfs/eeprom/parameters
+working_dir=`pwd`
+sitl_bin=$build_path/src/firmware/posix/px4
 
 if [ "$chroot" == "1" ]
 then
@@ -35,32 +42,29 @@ fi
 
 if [ "$#" -lt 5 ]
 then
-	echo usage: sitl_run.sh rc_script debugger program model build_path
+	echo usage: sitl_run.sh rc_script debugger program model devel_path
 	echo ""
 	exit 1
 fi
 
 # kill process names that might stil
 # be running from last time
-pkill gazebo
-pkill px4
-jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
+pgrep gazebo && pkill gazebo
+pgrep px4 && pkill px4
+jmavsim_pid=`ps aux | grep java | grep Simulator | cut -d" " -f1`
 if [ -n "$jmavsim_pid" ]
 then
 	kill $jmavsim_pid
 fi
 
-set -e
-
-cd $build_path/..
-cp Tools/posix_lldbinit $build_path/src/firmware/posix/.lldbinit
-cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit
+cp $src_path/Tools/posix_lldbinit $working_dir/.lldbinit
+cp $src_path/Tools/posix.gdbinit $working_dir/.gdbinit
 
 SIM_PID=0
 
 if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
 then
-	cd Tools/jMAVSim
+	cd $src_path/Tools/jMAVSim
 	ant create_run_jar copy_res
 	cd out/production
 	java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
@@ -71,15 +75,9 @@ then
 	if [ -x "$(command -v gazebo)" ]
 	then
 		# Set the plugin path so Gazebo finds our model and sim
-		export GAZEBO_PLUGIN_PATH=$curr_dir/build_gazebo:${GAZEBO_PLUGIN_PATH}
-		# Set the model path so Gazebo finds the airframes
-		export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$curr_dir/Tools/sitl_gazebo/models
-		# The next line would disable online model lookup, can be commented in, in case of unstable behaviour.
-		# export GAZEBO_MODEL_DATABASE_URI=""
-		export SITL_GAZEBO_PATH=$curr_dir/Tools/sitl_gazebo
-		make --no-print-directory gazebo_build
+		source $src_path/Tools/setup_gazebo.bash ${src_path} ${build_path}
 
-		gzserver --verbose $curr_dir/Tools/sitl_gazebo/worlds/${model}.world &
+		gzserver --verbose ${src_path}/Tools/sitl_gazebo/worlds/${model}.world &
 		SIM_PID=`echo $!`
 
 		if [[ -n "$HEADLESS" ]]; then
@@ -98,37 +96,41 @@ then
 	# This is not a simulator, but a log file to replay
 
 	# Check if we need to creat a param file to allow user to change parameters
-	if ! [ -f "${build_path}/src/firmware/posix/rootfs/replay_params.txt" ]
+	if ! [ -f "$rootfs/replay_params.txt" ]
 		then
-		touch ${build_path}/src/firmware/posix/rootfs/replay_params.txt
+		touch $rootfs/replay_params.txt
 	fi
 fi
 
-cd $build_path/src/firmware/posix
+cd $working_dir
 
 if [ "$logfile" != "" ]
 then
-	cp $logfile rootfs/replay.px4log
+	cp $logfile $rootfs/replay.px4log
 fi
 
 # Do not exit on failure now from here on because we want the complete cleanup
 set +e
 
+sitl_command="$sudo_enabled $sitl_bin $chroot_enabled $src_path $src_path/${label}/${model}"
+
+echo SITL COMMAND: $sitl_command
+
 # Start Java simulator
 if [ "$debugger" == "lldb" ]
 then
-	lldb -- px4 ../../../../${rc_script}_${program}_${model}
+	lldb -- $sitl_command
 elif [ "$debugger" == "gdb" ]
 then
-	gdb --args px4 ../../../../${rc_script}_${program}_${model}
+	gdb --args $sitl_command
 elif [ "$debugger" == "ddd" ]
 then
-	ddd --debugger gdb --args px4 ../../../../${rc_script}_${program}_${model}
+	ddd --debugger gdb --args $sitl_command
 elif [ "$debugger" == "valgrind" ]
 then
-	valgrind ./px4 ../../../../${rc_script}_${program}_${model}
+	valgrind $sitl_command
 else
-	$sudo_enabled ./px4 $chroot_enabled ../../../../${rc_script}_${program}_${model}
+	$sitl_command
 fi
 
 if [ "$program" == "jmavsim" ]

cmake/common/px4_base.cmake

@@ -136,14 +136,14 @@ function(px4_add_git_submodule)
 		REQUIRED TARGET PATH
 		ARGN ${ARGN})
 	string(REPLACE "/" "_" NAME ${PATH})
-	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-		COMMAND touch ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
-		DEPENDS ${CMAKE_SOURCE_DIR}/.gitmodules
+	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		COMMAND touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
+		DEPENDS ${PX4_SOURCE_DIR}/.gitmodules
 		)
 	add_custom_target(${TARGET}
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-		DEPENDS ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
 		)
 endfunction()
 
@@ -371,7 +371,7 @@ function(px4_generate_messages)
 	endif()
 
 	# headers
-	set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
+	set(msg_out_path ${PX4_BINARY_DIR}/src/modules/uORB/topics)
 	set(msg_list)
 	foreach(msg_file ${MSG_FILES})
 		get_filename_component(msg ${msg_file} NAME_WE)
@@ -389,15 +389,15 @@ function(px4_generate_messages)
 			-d msg
 			-o ${msg_out_path}
 			-e msg/templates/uorb
-			-t ${CMAKE_BINARY_DIR}/topics_temporary_header
+			-t ${PX4_BINARY_DIR}/topics_temporary_header
 		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		COMMENT "Generating uORB topic headers"
 		VERBATIM
 		)
 
 	# !sources
-	set(msg_source_out_path	${CMAKE_BINARY_DIR}/topics_sources)
+	set(msg_source_out_path	${PX4_BINARY_DIR}/topics_sources)
 	set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
 	foreach(msg ${msg_list})
 		list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
@@ -410,9 +410,9 @@ function(px4_generate_messages)
 			-d msg
 			-o ${msg_source_out_path}
 			-e msg/templates/uorb
-			-t ${CMAKE_BINARY_DIR}/topics_temporary_sources
+			-t ${PX4_BINARY_DIR}/topics_temporary_sources
 		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		COMMENT "Generating uORB topic sources"
 		VERBATIM
 		)
@@ -427,7 +427,7 @@ function(px4_generate_messages)
 
 	# multi messages for target OS
 	set(msg_multi_out_path
-		${CMAKE_BINARY_DIR}/src/platforms/${OS}/px4_messages)
+		${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
 	set(msg_multi_files_out)
 	foreach(msg ${msg_list})
 		list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
@@ -440,10 +440,10 @@ function(px4_generate_messages)
 			-d msg
 			-o ${msg_multi_out_path}
 			-e msg/templates/px4/uorb
-			-t ${CMAKE_BINARY_DIR}/multi_topics_temporary/${OS}
+			-t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
 			-p "px4_"
 		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		COMMENT "Generating uORB topic multi headers for ${OS}"
 		VERBATIM
 		)
@@ -504,9 +504,9 @@ function(px4_add_upload)
 	px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
 	add_custom_target(${OUT}
 		COMMAND ${PYTHON_EXECUTABLE}
-			${CMAKE_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
+			${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
 		DEPENDS ${BUNDLE}
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@@ -523,9 +523,9 @@ function(px4_add_adb_push)
 		ARGN ${ARGN})
 
 	add_custom_target(${OUT}
-		COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
+		COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
 		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@@ -541,9 +541,9 @@ function(px4_add_adb_push_to_bebop)
 		ARGN ${ARGN})
 
 	add_custom_target(${OUT}
-		COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
+		COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
 		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@@ -559,9 +559,9 @@ function(px4_add_scp_push)
 		ARGN ${ARGN})
 
 	add_custom_target(${OUT}
-		COMMAND ${CMAKE_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
+		COMMAND ${PX4_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
 		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@@ -761,21 +761,21 @@ function(px4_add_common_flags)
 		)
 
 	set(added_include_dirs
-		${CMAKE_SOURCE_DIR}/src
-		${CMAKE_BINARY_DIR}
-		${CMAKE_BINARY_DIR}/src
-		${CMAKE_SOURCE_DIR}/src/modules
-		${CMAKE_SOURCE_DIR}/src/include
-		${CMAKE_SOURCE_DIR}/src/lib
-		${CMAKE_SOURCE_DIR}/src/platforms
+		${PX4_SOURCE_DIR}/src
+		${PX4_BINARY_DIR}
+		${PX4_BINARY_DIR}/src
+		${PX4_SOURCE_DIR}/src/modules
+		${PX4_SOURCE_DIR}/src/include
+		${PX4_SOURCE_DIR}/src/lib
+		${PX4_SOURCE_DIR}/src/platforms
 		# TODO Build/versioning was in Makefile,
 		# do we need this, how does it work with cmake
-		${CMAKE_SOURCE_DIR}/src/drivers/boards/${BOARD}
-		${CMAKE_BINARY_DIR}
-		${CMAKE_BINARY_DIR}/src/modules/px4_messages
-		${CMAKE_BINARY_DIR}/src/modules
-		${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
-		${CMAKE_SOURCE_DIR}/src/lib/DriverFramework/framework/include
+		${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
+		${PX4_BINARY_DIR}
+		${PX4_BINARY_DIR}/src/modules/px4_messages
+		${PX4_BINARY_DIR}/src/modules
+		${PX4_SOURCE_DIR}/mavlink/include/mavlink
+		${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include
 		)
 
 	list(APPEND added_include_dirs
@@ -858,19 +858,19 @@ function(px4_create_git_hash_header)
 		COMMAND git describe --always --tags
 		OUTPUT_VARIABLE git_tag
 		OUTPUT_STRIP_TRAILING_WHITESPACE
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		)
 	message(STATUS "GIT_TAG = ${git_tag}")
 	execute_process(
 		COMMAND git rev-parse --verify HEAD
 		OUTPUT_VARIABLE git_version
 		OUTPUT_STRIP_TRAILING_WHITESPACE
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		)
 	#message(STATUS "GIT_VERSION = ${git_version}")
 	set(git_version_short)
 	string(SUBSTRING ${git_version} 1 16 git_version_short)
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
+	configure_file(${PX4_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
 endfunction()
 
 #=============================================================================
@@ -897,12 +897,12 @@ function(px4_generate_parameters_xml)
 		ONE_VALUE OUT BOARD
 		REQUIRED OUT BOARD
 		ARGN ${ARGN})
-	set(path ${CMAKE_SOURCE_DIR}/src)
+	set(path ${PX4_SOURCE_DIR}/src)
 	file(GLOB_RECURSE param_src_files
-		${CMAKE_SOURCE_DIR}/src/*params.c
+		${PX4_SOURCE_DIR}/src/*params.c
 		)
 	add_custom_command(OUTPUT ${OUT}
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
 			-s ${path} --board CONFIG_ARCH_${BOARD} --xml --inject-xml
 		DEPENDS ${param_src_files}
 		)
@@ -944,7 +944,7 @@ function(px4_generate_parameters_source)
 		set(SCOPE "")
 	endif()
 	add_custom_command(OUTPUT ${generated_files}
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
 		DEPENDS ${XML} ${DEPS} ${SCOPE}
 		)
 	set(${OUT} ${generated_files} PARENT_SCOPE)
@@ -975,10 +975,10 @@ function(px4_generate_airframes_xml)
 		ONE_VALUE OUT BOARD
 		REQUIRED OUT BOARD
 		ARGN ${ARGN})
-	set(process_airframes ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
+	set(process_airframes ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
 	add_custom_command(OUTPUT ${OUT}
 		COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
-			-a ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
+			-a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 			--board CONFIG_ARCH_BOARD_${BOARD} --xml
 		)
 	set(${OUT} ${${OUT}} PARENT_SCOPE)

cmake/configs/nuttx_asc-v1_default.cmake

@@ -1,8 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
-set(config_uavcan_num_ifaces 2)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_module_list
 	#
@@ -11,43 +9,19 @@ set(config_module_list
 	drivers/device
 	drivers/stm32
 	drivers/stm32/adc
-	drivers/stm32/tone_alarm
 	drivers/led
-	drivers/px4fmu
-	drivers/px4io
-	drivers/boards/px4fmu-v2
-	drivers/rgbled
-	drivers/mpu6000
-	drivers/mpu9250
-	drivers/lsm303d
-	drivers/l3gd20
-	drivers/hmc5883
+	#drivers/px4fmu
+	drivers/boards/asc-v1
+	drivers/rgbled_pwm
+	drivers/tap_esc
+	drivers/mpu6500
 	drivers/ms5611
-	#drivers/mb12xx
-	drivers/srf02
-	drivers/sf0x
-	drivers/ll40ls
-	drivers/trone
+	drivers/hmc5883
 	drivers/gps
-	drivers/pwm_out_sim
-	#drivers/hott
-	#drivers/hott/hott_telemetry
-	#drivers/hott/hott_sensors
-	drivers/blinkm
 	drivers/airspeed
-	drivers/ets_airspeed
 	drivers/meas_airspeed
-	drivers/frsky_telemetry
 	modules/sensors
-	#drivers/mkblctrl
-	drivers/px4flow
-	#drivers/oreoled
-	drivers/gimbal
-	drivers/pwm_input
 	drivers/camera_trigger
-	drivers/bst
-	#drivers/snapdragon_rc_pwm
-	#drivers/lis3mdl
 
 	#
 	# System commands
@@ -57,18 +31,15 @@ set(config_module_list
 	systemcmds/param
 	systemcmds/perf
 	systemcmds/pwm
-	systemcmds/esc_calib
+	systemcmds/motor_test
 	systemcmds/reboot
-	#systemcmds/topic_listener
 	systemcmds/top
 	systemcmds/config
 	systemcmds/nshterm
 	systemcmds/mtd
 	systemcmds/dumpfile
 	systemcmds/ver
-	#systemcmds/sd_bench
-	#systemcmds/tests
-	systemcmds/motor_ramp
+	systemcmds/topic_listener
 
 	#
 	# General system control
@@ -77,8 +48,6 @@ set(config_module_list
 	modules/load_mon
 	modules/navigator
 	modules/mavlink
-	#modules/gpio_led
-	modules/uavcan
 	modules/land_detector
 
 	#
@@ -89,7 +58,6 @@ set(config_module_list
 	#
 	# Vehicle Control
 	#
-	# modules/segway # XXX Needs GCC 4.7 fix
 	modules/fw_pos_control_l1
 	modules/fw_att_control
 	modules/mc_att_control
@@ -100,7 +68,6 @@ set(config_module_list
 	# Logging
 	#
 	modules/logger
-	modules/sdlog2
 
 	#
 	# Library modules
@@ -130,41 +97,8 @@ set(config_module_list
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config
-	platforms/common 
+	platforms/common
 	platforms/nuttx/px4_layer
-
-	#
-	# OBC challenge
-	#
-	#modules/bottle_drop
-
-	#
-	# Rover apps
-	#
-	#examples/rover_steering_control
-
-	#
-	# Demo apps
-	#
-	#examples/math_demo
-	# Tutorial code from
-	# https://px4.io/dev/px4_simple_app
-	#examples/px4_simple_app
-
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
-
-	# Tutorial code from
-	# https://px4.io/dev/debug_values
-	#examples/px4_mavlink_debug
-
-	# Tutorial code from
-	# https://px4.io/dev/example_fixedwing_control
-	#examples/fixedwing_control
-
-	# Hardware test
-	#examples/hwtest
 )
 
 set(config_extra_builtin_cmds
@@ -173,12 +107,9 @@ set(config_extra_builtin_cmds
 	)
 
 set(config_io_board
-	px4io-v2
 	)
 
 set(config_extra_libs
-	uavcan
-	uavcan_stm32_driver
 	)
 
 set(config_io_extra_libs
@@ -187,9 +118,11 @@ set(config_io_extra_libs
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon" STACK_MAIN "2048")
+	MAIN "sercon"
+	STACK_MAIN "2048")
 
 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis" STACK_MAIN "2048")
+	MAIN "serdis"
+	STACK_MAIN "2048")

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_uavcan_num_ifaces 2)
 
@@ -101,7 +101,6 @@ set(config_module_list
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
 	modules/attitude_estimator_q
-	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/local_position_estimator
 	modules/ekf2

cmake/configs/nuttx_px4-stm32f4discovery_default.cmake

@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_module_list
 	#

cmake/configs/nuttx_px4fmu-v1_default.cmake

@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_module_list
 	#
@@ -68,13 +68,11 @@ set(config_module_list
 	modules/land_detector
 
 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
-	# Too high RAM usage due to static allocations
-	# modules/attitude_estimator_ekf
 	modules/attitude_estimator_q
-	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
+	modules/local_position_estimator
 	modules/ekf2
 
 	#

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_uavcan_num_ifaces 2)
 
@@ -94,10 +94,9 @@ set(config_module_list
 	modules/land_detector
 
 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
 	modules/attitude_estimator_q
-	#modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/local_position_estimator
 	modules/ekf2

cmake/configs/nuttx_px4fmu-v2_test.cmake

@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_uavcan_num_ifaces 2)
 
@@ -94,10 +94,9 @@ set(config_module_list
 	modules/land_detector
 
 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
 	modules/attitude_estimator_q
-	#modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/local_position_estimator
 	modules/ekf2

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_uavcan_num_ifaces 1)
 
@@ -98,7 +98,6 @@ set(config_module_list
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
 	modules/attitude_estimator_q
-	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/ekf2
 	modules/local_position_estimator
@@ -183,6 +182,9 @@ set(config_module_list
 
 	# Hardware test
 	#examples/hwtest
+
+	# EKF
+	examples/ekf_att_pos_estimator
 )
 
 set(config_extra_builtin_cmds

cmake/configs/nuttx_tap-v1_default.cmake

@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_module_list
 	#
@@ -15,7 +15,7 @@ set(config_module_list
 	drivers/boards/tap-v1
 	drivers/rgbled_pwm
 	drivers/tap_esc
-	#drivers/mpu6500
+	drivers/mpu6000
 	drivers/ms5611
 	drivers/hmc5883
 	drivers/gps
@@ -95,6 +95,7 @@ set(config_module_list
 	lib/runway_takeoff
 	lib/tailsitter_recovery
 	lib/DriverFramework/framework
+	lib/rc
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config

cmake/configs/posix_bebop_default.cmake

@@ -1,6 +1,6 @@
 include(posix/px4_impl_posix)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
 
 add_definitions(
   -D__PX4_POSIX_BEBOP
@@ -37,10 +37,8 @@ set(config_module_list
 	systemcmds/perf
 
 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
-	#modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator

cmake/configs/posix_eagle_default.cmake

@@ -4,9 +4,9 @@
 # on the Linux side of the Snapdragon.
 include(configs/posix_sdflight_default)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
 set(CONFIG_SHMEM "1")
 

cmake/configs/posix_eagle_hil.cmake

@@ -1,13 +1,13 @@
 include(posix/px4_impl_posix)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
 # Use build stubs unless explicitly set not to
 if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
 	set(DSPAL_STUBS_ENABLE "1")
 endif()
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
 
 set(config_generate_parameters_scope ALL)
 

cmake/configs/posix_eagle_legacy_driver_default.cmake

@@ -1,8 +1,8 @@
 include(posix/px4_impl_posix)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
 set(config_generate_parameters_scope ALL)
 
@@ -31,8 +31,10 @@ set(config_module_list
 
 	modules/mavlink
 
-	modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
 
 	modules/mc_pos_control
 	modules/mc_att_control

cmake/configs/posix_eagle_muorb.cmake

@@ -1,8 +1,8 @@
 include(posix/px4_impl_posix)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
 set(config_generate_parameters_scope ALL)
 

cmake/configs/posix_rpi_common.cmake

@@ -36,10 +36,8 @@ set(config_module_list
 	systemcmds/perf
 
 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
-	#modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
@@ -75,6 +73,8 @@ set(config_module_list
 	drivers/gps
 	drivers/navio_sysfs_rc_in
 	drivers/navio_sysfs_pwm_out
+	drivers/navio_gpio
+	drivers/navio_rgbled
 
 	#
 	# Libraries

cmake/configs/posix_rpi_cross.cmake

@@ -1,6 +1,11 @@
 include(configs/posix_rpi_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+if("$ENV{RPI_USE_CLANG}" STREQUAL "1")
+	set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian-clang.cmake)
+else()
+	set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+endif()
+
 
 set(CMAKE_PROGRAM_PATH
 	"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"

cmake/configs/posix_rpi_native.cmake

@@ -1,3 +1,3 @@
 include(configs/posix_rpi_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)

cmake/configs/posix_sdflight_default.cmake

@@ -1,8 +1,8 @@
 include(posix/px4_impl_posix)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
 set(config_generate_parameters_scope ALL)
 
@@ -24,8 +24,10 @@ set(config_module_list
 
 	modules/mavlink
 
-	modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
 
 	modules/mc_pos_control
 	modules/mc_att_control

cmake/configs/posix_sitl_broadcast.cmake

@@ -1,6 +1,6 @@
 include(posix/px4_impl_posix)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
 
 set(config_module_list
 	drivers/device
@@ -33,10 +33,10 @@ set(config_module_list
 	modules/sensors
 	modules/simulator
 	modules/mavlink
-	modules/attitude_estimator_ekf
 	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
 	modules/ekf2
-	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/navigator
 	modules/vtol_att_control
@@ -72,8 +72,8 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
-set(config_sitl_rcS
-	posix-configs/SITL/init/rcS
+set(config_sitl_rcS_dir
+	posix-configs/SITL/init/
 	CACHE FILEPATH "init script for sitl"
 	)
 

cmake/configs/posix_sitl_default.cmake

@@ -1,6 +1,6 @@
 include(posix/px4_impl_posix)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
 
 set(config_module_list
 	drivers/boards/sitl
@@ -32,21 +32,17 @@ set(config_module_list
 	systemcmds/top
 	systemcmds/motor_ramp
 
-	modules/attitude_estimator_ekf
 	modules/attitude_estimator_q
 	modules/commander
 	modules/dataman
 	modules/ekf2
-	modules/ekf_att_pos_estimator
 	modules/fw_att_control
 	modules/fw_pos_control_l1
 	modules/land_detector
 	modules/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
@@ -76,6 +72,10 @@ set(config_module_list
 	lib/terrain_estimation
 
 	examples/px4_simple_app
+	examples/mc_att_control_multiplatform
+	examples/mc_pos_control_multiplatform
+	examples/ekf_att_pos_estimator
+	examples/attitude_estimator_ekf
 
 	#
 	# Testing
@@ -96,9 +96,9 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
-set(config_sitl_rcS
-	posix-configs/SITL/init/rcS
-	CACHE FILEPATH "init script for sitl"
+set(config_sitl_rcS_dir
+	posix-configs/SITL/init/lpe
+	CACHE FILEPATH "init script dir for sitl"
 	)
 
 set(config_sitl_viewer

cmake/configs/posix_sitl_ekf2.cmake

@@ -0,0 +1,5 @@
+include(cmake/configs/posix_sitl_default.cmake)
+
+set(config_sitl_rcS_dir
+	posix-configs/SITL/init/ekf2/
+	)

cmake/configs/posix_sitl_lpe.cmake

@@ -1,5 +1,5 @@
 include(cmake/configs/posix_sitl_default.cmake)
 
-set(config_sitl_rcS
-	posix-configs/SITL/init/rcS_lpe
+set(config_sitl_rcS_dir
+	posix-configs/SITL/init/lpe/
 	)

cmake/configs/posix_sitl_replay.cmake

@@ -1,6 +1,6 @@
 include(posix/px4_impl_posix)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
 
 set(config_module_list
 	drivers/device

cmake/configs/qurt_eagle_hello.cmake

@@ -6,9 +6,9 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
 set(config_generate_parameters_scope ALL)
 

cmake/configs/qurt_eagle_hil.cmake

@@ -6,9 +6,9 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
 set(config_generate_parameters_scope ALL)
 
@@ -27,12 +27,12 @@ set(config_module_list
 	systemcmds/mixer
 
 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
-	#modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
 
 	#
 	# Vehicle Control

cmake/configs/qurt_eagle_legacy_driver_default.cmake

@@ -10,9 +10,9 @@ set(CONFIG_SHMEM "1")
 
 set(config_generate_parameters_scope ALL)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
 add_definitions(
    -D__USING_SNAPDRAGON_LEGACY_DRIVER
@@ -35,11 +35,11 @@ set(config_module_list
 	systemcmds/param
 
 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
-	modules/ekf_att_pos_estimator
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
+	modules/local_position_estimator
 	modules/ekf2
 
 	#

cmake/configs/qurt_eagle_muorb.cmake

@@ -6,9 +6,9 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
 set(config_generate_parameters_scope ALL)
 

cmake/configs/qurt_eagle_test.cmake

@@ -6,8 +6,8 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
 set(config_generate_parameters_scope ALL)
 

cmake/configs/qurt_eagle_travis.cmake

@@ -5,9 +5,9 @@ set(CONFIG_SHMEM "1")
 # Run a full link with build stubs to make sure qurt target isn't broken
 set(QURT_ENABLE_STUBS "1")
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 include(hexagon_sdk)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
@@ -35,12 +35,12 @@ set(config_module_list
 	systemcmds/mixer
 
 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
-	#modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
 
 	#
 	# Vehicle Control

cmake/configs/qurt_sdflight_default.cmake

@@ -10,9 +10,9 @@ set(CONFIG_SHMEM "1")
 
 set(config_generate_parameters_scope ALL)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
 set(config_module_list
 	#
@@ -32,12 +32,11 @@ set(config_module_list
 	systemcmds/param
 
 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
-	#modules/attitude_estimator_ekf
-	modules/ekf_att_pos_estimator
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
+	modules/local_position_estimator
 	modules/ekf2
 
 	#

cmake/nuttx/px4_impl_nuttx.cmake

@@ -95,9 +95,9 @@ function(px4_nuttx_add_firmware)
 
 	add_custom_command(OUTPUT ${OUT}
 		COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
-			--prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
-			--git_identity ${CMAKE_SOURCE_DIR}
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
+			--prototype ${PX4_SOURCE_DIR}/Images/${BOARD}.prototype
+			--git_identity ${PX4_SOURCE_DIR}
 			${extra_args}
 			--image ${EXE}.bin > ${OUT}
 		DEPENDS ${EXE}
@@ -148,7 +148,7 @@ function(px4_nuttx_generate_builtin_commands)
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
+	configure_file(${PX4_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
 		${OUT})
 endfunction()
 
@@ -183,17 +183,17 @@ function(px4_nuttx_add_export)
 		REQUIRED OUT CONFIG THREADS
 		ARGN ${ARGN})
 
-	set(nuttx_src ${CMAKE_BINARY_DIR}/${CONFIG}/NuttX)
+	set(nuttx_src ${PX4_BINARY_DIR}/${CONFIG}/NuttX)
 
 	# patch
 	add_custom_target(__nuttx_patch_${CONFIG})
-	file(GLOB nuttx_patches RELATIVE ${CMAKE_SOURCE_DIR}
-	    ${CMAKE_SOURCE_DIR}/nuttx-patches/*.patch)
+	file(GLOB nuttx_patches RELATIVE ${PX4_SOURCE_DIR}
+	    ${PX4_SOURCE_DIR}/nuttx-patches/*.patch)
 	foreach(patch ${nuttx_patches})
 		string(REPLACE "/" "_" patch_name "${patch}-${CONFIG}")
 	    message(STATUS "nuttx-patch: ${patch}")
 		add_custom_command(OUTPUT nuttx_patch_${patch_name}.stamp
-			COMMAND ${PATCH} -p0 -N  < ${CMAKE_SOURCE_DIR}/${patch}
+			COMMAND ${PATCH} -p0 -N  < ${PX4_SOURCE_DIR}/${patch}
 			COMMAND ${TOUCH} nuttx_patch_${patch_name}.stamp
 			DEPENDS ${DEPENDS}
 			)
@@ -204,7 +204,7 @@ function(px4_nuttx_add_export)
 
 	# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes 
 	# note: CONFIG will be BOARD in the future evaluation of ${hw_stack_check_${CONFIG}
-	file(STRINGS "${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig"
+	file(STRINGS "${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig"
 		hw_stack_check_${CONFIG}
 		REGEX "CONFIG_ARMV7M_STACKCHECK=y"
 		)
@@ -213,29 +213,29 @@ function(px4_nuttx_add_export)
 	endif()
 
 	# copy and export
-	file(RELATIVE_PATH nuttx_cp_src ${CMAKE_BINARY_DIR} ${CMAKE_SOURCE_DIR}/NuttX)
-	file(GLOB_RECURSE config_files ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
-	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/${CONFIG}.export
+	file(RELATIVE_PATH nuttx_cp_src ${PX4_BINARY_DIR} ${PX4_SOURCE_DIR}/NuttX)
+	file(GLOB_RECURSE config_files ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
+	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/${CONFIG}.export
 		COMMAND ${MKDIR} -p ${nuttx_src}
 		COMMAND rsync -a --delete --exclude=.git ${nuttx_cp_src}/ ${CONFIG}/NuttX/
 		#COMMAND ${ECHO} Configuring NuttX for ${CONFIG}
 		COMMAND ${MAKE} --no-print-directory -C${nuttx_src}/nuttx -r --quiet distclean
-		COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/PX4_Warnings.mk ${nuttx_src}/nuttx/
-		COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
+		COMMAND ${CP} -r ${PX4_SOURCE_DIR}/nuttx-configs/PX4_Warnings.mk ${nuttx_src}/nuttx/
+		COMMAND ${CP} -r ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
 		COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/nsh && cd ..
 		#COMMAND ${ECHO} Exporting NuttX for ${CONFIG}
 		COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -j${THREADS} -r CONFIG_ARCH_BOARD=${CONFIG} export > nuttx_build.log
-		COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${CMAKE_BINARY_DIR}/${CONFIG}.export
+		COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${PX4_BINARY_DIR}/${CONFIG}.export
 		DEPENDS ${config_files} ${DEPENDS}
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		COMMENT "Building NuttX for ${CONFIG}")
 
 	# extract
 	add_custom_command(OUTPUT nuttx_export_${CONFIG}.stamp
 		COMMAND ${RM} -rf ${nuttx_src}/nuttx-export
-		COMMAND ${UNZIP} -q ${CMAKE_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
+		COMMAND ${UNZIP} -q ${PX4_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
 		COMMAND ${TOUCH} nuttx_export_${CONFIG}.stamp
-		DEPENDS ${DEPENDS} ${CMAKE_BINARY_DIR}/${CONFIG}.export)
+		DEPENDS ${DEPENDS} ${PX4_BINARY_DIR}/${CONFIG}.export)
 
 	add_custom_target(${OUT}
 		DEPENDS nuttx_export_${CONFIG}.stamp)
@@ -308,16 +308,16 @@ function(px4_nuttx_add_romfs)
 		REQUIRED OUT ROOT
 		ARGN ${ARGN})
 
-	set(romfs_temp_dir ${CMAKE_BINARY_DIR}/tmp/${ROOT})
-	set(romfs_src_dir ${CMAKE_SOURCE_DIR}/${ROOT})
-	set(romfs_autostart ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
-	set(romfs_pruner ${CMAKE_SOURCE_DIR}/Tools/px_romfs_pruner.py)
-	set(bin_to_obj ${CMAKE_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
+	set(romfs_temp_dir ${PX4_BINARY_DIR}/tmp/${ROOT})
+	set(romfs_src_dir ${PX4_SOURCE_DIR}/${ROOT})
+	set(romfs_autostart ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
+	set(romfs_pruner ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py)
+	set(bin_to_obj ${PX4_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
 	set(extras_dir ${CMAKE_CURRENT_BINARY_DIR}/extras)
 
 	file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*)
 
-	set(cmake_test ${CMAKE_SOURCE_DIR}/cmake/test/cmake_tester.py)
+	set(cmake_test ${PX4_SOURCE_DIR}/cmake/test/cmake_tester.py)
 
 	
 	set(extras)
@@ -346,7 +346,7 @@ function(px4_nuttx_add_romfs)
 		#COMMAND cmake -E remove_directory ${romfs_temp_dir}
 		COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj}
 			--ld ${LD} --c_flags ${CMAKE_C_FLAGS}
-			--include_path "${CMAKE_SOURCE_DIR}/src/include"
+			--include_path "${PX4_SOURCE_DIR}/src/include"
 			--c_compiler ${CMAKE_C_COMPILER}
 			--nm ${NM} --objcopy ${OBJCOPY}
 			--obj romfs.o
@@ -414,7 +414,7 @@ function(px4_os_add_flags)
 		LINK_DIRS ${LINK_DIRS}
 		DEFINITIONS ${DEFINITIONS})
 
-	set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
+	set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
 	set(added_include_dirs
 		${nuttx_export_dir}/include
 		${nuttx_export_dir}/include/cxx

cmake/posix/px4_impl_posix.cmake

@@ -49,7 +49,7 @@
 #
 
 include(common/px4_base)
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/posix)
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/posix)
 
 #=============================================================================
 #
@@ -101,7 +101,7 @@ function(px4_posix_generate_builtin_commands)
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/posix/apps.h_in
+	configure_file(${PX4_SOURCE_DIR}/cmake/posix/apps.h_in
 		${OUT})
 endfunction()
 
@@ -223,8 +223,19 @@ if ("${BOARD}" STREQUAL "eagle" OR "${BOARD}" STREQUAL "excelsior")
 		-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib/arm-linux-gnueabihf
 		--sysroot=${HEXAGON_ARM_SYSROOT}
 		)
-else()
+elseif ("${BOARD}" STREQUAL "rpi" AND "$ENV{RPI_USE_CLANG}" STREQUAL "1")
 
+	# Add the toolchain specific flags
+	set(clang_added_flags
+		-m32
+		--target=arm-linux-gnueabihf
+		-ccc-gcc-name arm-linux-gnueabihf
+		--sysroot=${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/arm-linux-gnueabihf/libc/)
+
+	set(added_c_flags ${POSIX_CMAKE_C_FLAGS} ${clang_added_flags})
+	set(added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS} ${clang_added_flags})
+	set(added_exe_linker_flags ${POSIX_CMAKE_EXE_LINKER_FLAGS} ${clang_added_flags})
+else()
 	# Add the toolchain specific flags
         set(added_cflags ${POSIX_CMAKE_C_FLAGS})
         set(added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS})

cmake/qurt/px4_impl_qurt.cmake

@@ -50,7 +50,7 @@
 #
 
 include(common/px4_base)
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/qurt)
 
 #=============================================================================
 #
@@ -95,7 +95,7 @@ function(px4_qurt_generate_builtin_commands)
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
+	configure_file(${PX4_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
 endfunction()
 
 #=============================================================================

cmake/ros-CMakeLists.txt

@@ -1,334 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(px4)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-add_definitions(-D__PX4_ROS)
-add_definitions(-D__EXPORT=)
-add_definitions(-DMAVLINK_DIALECT=common)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rospy
-  std_msgs
-  geometry_msgs
-  message_generation
-  cmake_modules
-  gazebo_msgs
-  sensor_msgs
-  mav_msgs
-  libmavconn
-  tf
-)
-find_package(Eigen REQUIRED)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-add_message_files(
-  FILES
-  actuator_armed.msg
-  actuator_controls.msg
-  commander_state.msg
-  control_state.msg
-  distance_sensor.msg
-  manual_control_setpoint.msg
-  mc_virtual_rates_setpoint.msg
-  offboard_control_mode.msg
-  parameter_update.msg
-  position_setpoint.msg
-  position_setpoint_triplet.msg
-  rc_channels.msg
-  ros/actuator_controls_0.msg
-  ros/actuator_controls_virtual_mc.msg
-  vehicle_attitude.msg
-  vehicle_attitude_setpoint.msg
-  vehicle_control_mode.msg
-  vehicle_force_setpoint.msg
-  vehicle_global_velocity_setpoint.msg
-  vehicle_local_position.msg
-  vehicle_local_position_setpoint.msg
-  vehicle_rates_setpoint.msg
-  vehicle_status.msg
-)
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-  DEPENDENCIES
-  std_msgs
-  gazebo_msgs
-)
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-  INCLUDE_DIRS src/include
-  LIBRARIES px4
-  CATKIN_DEPENDS message_runtime roscpp rospy std_msgs libmavconn
-  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-  src/platforms
-  src/platforms/ros/px4_messages
-  src/include
-  src/modules
-  ${CMAKE_BINARY_DIR}/src/modules
-  src/
-  src/lib
-  src/lib/matrix
-  ${EIGEN_INCLUDE_DIRS}
-  integrationtests
-)
-
-## generate multiplatform wrapper headers
-## note that the message header files are generated as in any ROS project with generate_messages()
-set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
-set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
-set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
-set(MULTIPLATFORM_PREFIX px4_)
-add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_files.py
-	--headers -d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
-	-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
-
-## Declare a cpp library
-add_library(px4
-  src/platforms/ros/px4_ros_impl.cpp
-  src/platforms/ros/perf_counter.cpp
-  src/platforms/ros/geo.cpp
-  src/lib/mathlib/math/Limits.cpp
-  src/modules/systemlib/circuit_breaker.cpp
-)
-add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
-
-target_link_libraries(px4
-  ${catkin_LIBRARIES}
-)
-
-## Declare a test publisher
-add_executable(publisher
-	src/examples/publisher/publisher_main.cpp
-	src/examples/publisher/publisher_example.cpp)
-add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
-target_link_libraries(publisher
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Declare a test subscriber
-add_executable(subscriber
-	src/examples/subscriber/subscriber_main.cpp
-	src/examples/subscriber/subscriber_example.cpp)
-add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
-target_link_libraries(subscriber
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## MC Attitude Control
-add_executable(mc_att_control
-	src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
-	src/modules/mc_att_control_multiplatform/mc_att_control.cpp
-	src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
-add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(mc_att_control
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## MC Position Control
-add_executable(mc_pos_control
-	src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
-	src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp)
-add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(mc_pos_control
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Attitude Estimator dummy
-add_executable(attitude_estimator
-	src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
-add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(attitude_estimator
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Position Estimator dummy
-add_executable(position_estimator
-	src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
-add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(position_estimator
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Manual input
-add_executable(manual_input
-	src/platforms/ros/nodes/manual_input/manual_input.cpp)
-add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(manual_input
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Multicopter Mixer dummy
-add_executable(mc_mixer
-  src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
-add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(mc_mixer
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Commander dummy
-add_executable(commander
-	src/platforms/ros/nodes/commander/commander.cpp)
-add_dependencies(commander ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(commander
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Mavlink dummy
-add_executable(mavlink
-	src/platforms/ros/nodes/mavlink/mavlink.cpp)
-add_dependencies(mavlink ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(mavlink
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Offboard Position Setpoint Demo
-add_executable(demo_offboard_position_setpoints
-	src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp)
-add_dependencies(demo_offboard_position_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(demo_offboard_position_setpoints
-  ${catkin_LIBRARIES}
-  px4
-)
-
-## Offboard Attitude Setpoint Demo
-add_executable(demo_offboard_attitude_setpoints
-	src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp)
-add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
-target_link_libraries(demo_offboard_attitude_setpoints
-  ${catkin_LIBRARIES}
-  px4
-)
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
-
-## Tests on multiplatform SITL (deprecated) have been moved to POSIX SITL
-#if(CATKIN_ENABLE_TESTING)
-#  find_package(rostest REQUIRED)
-#  add_rostest(integrationtests/demo_tests/direct_tests.launch)
-#  add_rostest(integrationtests/demo_tests/mavros_tests.launch)
-#endif()

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

@@ -0,0 +1,69 @@
+include(CMakeForceCompiler)
+
+if ($ENV{RPI_TOOLCHAIN_DIR} STREQUAL "")
+        message(FATAL_ERROR "RPI_TOOLCHAIN_DIR not set")
+else()
+        set(RPI_TOOLCHAIN_DIR $ENV{RPI_TOOLCHAIN_DIR})
+endif()
+
+# this one is important
+set(CMAKE_SYSTEM_NAME Generic)
+
+#this one not so much
+set(CMAKE_SYSTEM_VERSION 1)
+
+# specify the cross compiler
+# requires a symbolic link typically from /usr/bin/clang
+find_program(C_COMPILER clang
+	PATHS ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin
+	NO_DEFAULT_PATH
+	)
+
+if(NOT C_COMPILER)
+	message(FATAL_ERROR "could not find C compiler")
+endif()
+cmake_force_c_compiler(${C_COMPILER} Clang)
+
+find_program(CXX_COMPILER clang++
+	PATHS ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin
+	NO_DEFAULT_PATH
+	)
+
+if(NOT CXX_COMPILER)
+	message(FATAL_ERROR "could not find C++ compiler")
+endif()
+cmake_force_cxx_compiler(${CXX_COMPILER} Clang)
+
+# compiler tools
+foreach(tool objcopy nm ld)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} arm-linux-gnueabihf-${tool}
+		PATHS ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin
+		NO_DEFAULT_PATH
+		)
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find arm-linux-gnueabihf-${tool}")
+	endif()
+endforeach()
+
+# os tools
+foreach(tool echo grep rm mkdir nm cp touch make unzip)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${TOOL}")
+	endif()
+endforeach()
+
+add_definitions(
+	-D __RPI
+	)
+
+# where is the target environment
+set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
+
+# search for programs in the build host directories
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# for libraries and headers in the target directories
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

integrationtests/run_tests.bash

@@ -5,26 +5,27 @@
 # License: according to LICENSE.md in the root directory of the PX4 Firmware repository
 set -e
 
-if [ "$#" -lt 1 ]
+# handle cleaning command
+do_clean=true
+if [ "$1" = "-o" ]
 then
-	echo usage: run_tests.bash firmware_src_dir
-	echo ""
-	exit 1
+	echo not cleaning
+	do_clean=false
 fi
 
-SRC_DIR=$1
-JOB_DIR=$SRC_DIR/..
-BUILD=posix_sitl_default
-# TODO
-ROS_TEST_RESULT_DIR=/root/.ros/test_results/px4
-ROS_LOG_DIR=/root/.ros/log
-PX4_LOG_DIR=${SRC_DIR}/build_${BUILD}/src/firmware/posix/rootfs/fs/microsd/log
-TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
-# BAGS=/root/.ros
-# CHARTS=/root/.ros/charts
-# EXPORT_CHARTS=/sitl/testing/export_charts.py
+# determine the directory of the source given the directory of this script
+pushd `dirname $0` > /dev/null
+SCRIPTPATH=`pwd`
+popd > /dev/null
+ORIG_SRC=$(dirname $SCRIPTPATH)
 
-# source ROS env
+# set paths
+JOB_DIR=$(dirname $ORIG_SRC)
+CATKIN_DIR=$JOB_DIR/catkin
+BUILD_DIR=$CATKIN_DIR/build/px4
+SRC_DIR=${CATKIN_DIR}/src/px4
+
+echo setting up ROS paths
 if [ -f /opt/ros/indigo/setup.bash ]
 then
 	source /opt/ros/indigo/setup.bash
@@ -35,26 +36,53 @@ else
 	echo "could not find /opt/ros/{ros-distro}/setup.bash"
 	exit 1
 fi
-source $SRC_DIR/integrationtests/setup_gazebo_ros.bash $SRC_DIR
+export ROS_HOME=$JOB_DIR/.ros
+export ROS_LOG_DIR=$ROS_HOME/log
+export ROS_TEST_RESULT_DIR=$ROS_HOME/test_results/px4
 
-echo "deleting previous test results ($TEST_RESULT_TARGET_DIR)"
-if [ -d ${TEST_RESULT_TARGET_DIR} ]; then
-	rm -r ${TEST_RESULT_TARGET_DIR}
-fi
+PX4_LOG_DIR=$ROS_HOME/rootfs/fs/microsd/log
+TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
 
-# FIXME: Firmware compilation seems to CD into this directory (/root/Firmware)
-# when run from "run_container.bash". Why?
-if [ -d /root/Firmware ]; then
-	rm /root/Firmware
+# TODO
+# BAGS=$ROS_HOME
+# CHARTS=$ROS_HOME/charts
+# EXPORT_CHARTS=/sitl/testing/export_charts.py
+
+if $do_clean
+then
+	echo cleaning
+	rm -rf $CATKIN_DIR
+	rm -rf $ROS_HOME
+	rm -rf $TEST_RESULT_TARGET_DIR
+else
+	echo skipping clean step
 fi
-ln -s ${SRC_DIR} /root/Firmware
 
 echo "=====> compile ($SRC_DIR)"
-cd $SRC_DIR
-make ${BUILD}
-make --no-print-directory gazebo_build
+mkdir -p $ROS_HOME
+mkdir -p $CATKIN_DIR/src
+mkdir -p $TEST_RESULT_TARGET_DIR
+if ! [ -d $SRC_DIR ]
+then
+	ln -s $ORIG_SRC $SRC_DIR
+	ln -s $ORIG_SRC/Tools/sitl_gazebo ${CATKIN_DIR}/src/mavlink_sitl_gazebo
+fi
+cd $CATKIN_DIR
+catkin_make
+. ./devel/setup.bash
 echo "<====="
 
+# print paths to user
+echo -e "JOB_DIR\t\t: $JOB_DIR"
+echo -e "ROS_HOME\t: $ROS_HOME"
+echo -e "CATKIN_DIR\t: $CATKIN_DIR"
+echo -e "BUILD_DIR\t: $BUILD_DIR"
+echo -e "SRC_DIR\t\t: $SRC_DIR"
+echo -e "ROS_TEST_RESULT_DIR\t: $ROS_TEST_RESULT_DIR"
+echo -e "ROS_LOG_DIR\t\t: $ROS_LOG_DIR"
+echo -e "PX4_LOG_DIR\t\t: $PX4_LOG_DIR"
+echo -e "TEST_RESULT_TARGET_DIR\t: $TEST_RESULT_TARGET_DIR"
+
 # don't exit on error anymore from here on (because single tests or exports might fail)
 set +e
 echo "=====> run tests"
@@ -73,7 +101,6 @@ echo "=====> process test results"
 # done
 
 echo "copy build test results to job directory"
-mkdir -p ${TEST_RESULT_TARGET_DIR}
 cp -r $ROS_TEST_RESULT_DIR/* ${TEST_RESULT_TARGET_DIR}
 cp -r $ROS_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
 cp -r $PX4_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}

integrationtests/setup_gazebo_ros.bash

@@ -1,22 +0,0 @@
-#!/bin/bash
-#
-# Setup environment to make PX4 visible to ROS/Gazebo.
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-
-if [ "$#" -lt 1 ]
-then
-    echo usage: source setup_gazebo_ros.bash firmware_src_dir
-    echo ""
-    return 1
-fi
-
-SRC_DIR=$1
-
-# setup Gazebo env and update package path
-export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/models
-export GAZEBO_PLUGIN_PATH=${SRC_DIR}/build_gazebo:${GAZEBO_PLUGIN_PATH}
-export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/
-export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${SRC_DIR}
-export GAZEBO_MODEL_DATABASE_URI=""
-export SITL_GAZEBO_PATH=$SRC_DIR/Tools/sitl_gazebo

launch/mavros_posix_sitl.launch

@@ -1,19 +1,47 @@
 <launch>
+
     <!-- MAVROS posix SITL environment launch script -->
+    <arg name="x" default="0"/>
+    <arg name="y" default="0"/>
+    <arg name="z" default="0"/>
+    <arg name="R" default="0"/>
+    <arg name="P" default="0"/>
+    <arg name="Y" default="0"/>
+
+
+    <arg name="est" default="lpe"/>
+    <arg name="vehicle" default="iris"/>
+    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
+    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
+
+    <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
 
     <arg name="headless" default="false"/>
     <arg name="gui" default="true"/>
     <arg name="ns" default="/"/>
-    <arg name="world" default="iris"/>
-    <arg name="build" default="posix_sitl_default"/>
     <arg name="fcu_url" default="udp://:14540@localhost:14557"/>
 
+    <arg name="debug" default="false"/>
+    <arg name="verbose" default="false"/>
+    <arg name="paused" default="false"/>
+
     <include file="$(find px4)/launch/posix_sitl.launch">
+        <arg name="x" value="$(arg x)"/>
+        <arg name="y" value="$(arg y)"/>
+        <arg name="z" value="$(arg z)"/>
+        <arg name="R" value="$(arg R)"/>
+        <arg name="P" value="$(arg P)"/>
+        <arg name="Y" value="$(arg Y)"/>
+        <arg name="world" value="$(arg world)"/>
+        <arg name="vehicle" value="$(arg vehicle)"/>
+        <arg name="sdf" value="$(arg sdf)"/>
+        <arg name="rcS" value="$(arg rcS)"/>
         <arg name="headless" value="$(arg headless)"/>
         <arg name="gui" value="$(arg gui)"/>
         <arg name="ns" value="$(arg ns)"/>
-        <arg name="world" value="$(arg world)"/>
-        <arg name="build" value="$(arg build)"/>
+        <arg name="debug" value="$(arg debug)"/>
+        <arg name="verbose" value="$(arg verbose)"/>
+        <arg name="paused" value="$(arg paused)"/>
     </include>
 
     <include file="$(find px4)/launch/mavros.launch">
@@ -22,3 +50,5 @@
         <arg name="fcu_url" value="$(arg fcu_url)"/>
     </include>
 </launch>
+
+<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->

launch/mavros_posix_tests_iris.launch

@@ -4,11 +4,14 @@
     <arg name="ns" default="/"/>
     <arg name="headless" default="true"/>
     <arg name="gui" default="false"/>
+    <arg name="est" default="lpe"/>
 
     <include file="$(find px4)/launch/mavros_posix_sitl.launch">
         <arg name="ns" value="$(arg ns)"/>
         <arg name="headless" value="$(arg headless)"/>
         <arg name="gui" value="$(arg gui)"/>
+        <arg name="vehicle" value="iris"/>
+        <arg name="est" value="$(arg est)"/>
     </include>
 
     <group ns="$(arg ns)">

launch/mavros_posix_tests_standard_vtol.launch

@@ -4,12 +4,14 @@
     <arg name="ns" default="/"/>
     <arg name="headless" default="true"/>
     <arg name="gui" default="false"/>
+    <arg name="est" default="ekf2"/>
 
     <include file="$(find px4)/launch/mavros_posix_sitl.launch">
         <arg name="ns" value="$(arg ns)"/>
         <arg name="headless" value="$(arg headless)"/>
         <arg name="gui" value="$(arg gui)"/>
-        <arg name="world" value="standard_vtol"/>
+        <arg name="vehicle" value="standard_vtol"/>
+        <arg name="est" value="$(arg est)"/>
     </include>
 
     <group ns="$(arg ns)">

launch/posix_sitl.launch

@@ -1,19 +1,44 @@
 <launch>
+
     <!-- Posix SITL environment launch script -->
+    <arg name="x" default="0"/>
+    <arg name="y" default="0"/>
+    <arg name="z" default="0"/>
+    <arg name="R" default="0"/>
+    <arg name="P" default="0"/>
+    <arg name="Y" default="0"/>
+
+    <arg name="est" default="lpe"/>
+    <arg name="vehicle" default="iris"/>
+    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
+    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
+    <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
 
     <arg name="headless" default="false"/>
     <arg name="gui" default="true"/>
     <arg name="ns" default="/"/>
-    <arg name="world" default="iris"/>
-    <arg name="build" default="posix_sitl_default"/>
 
-    <node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo $(arg world) $(find px4)/build_$(arg build)">
-        <env name="no_sim" value="1" />
+    <arg name="debug" default="false"/>
+    <arg name="verbose" default="false"/>
+    <arg name="paused" default="false"/>
+
+    <node name="sitl" pkg="px4" type="px4" output="screen"
+        args="$(find px4) $(arg rcS)">
     </node>
 
     <include file="$(find gazebo_ros)/launch/empty_world.launch">
         <arg name="headless" value="$(arg headless)"/>
         <arg name="gui" value="$(arg gui)"/>
-        <arg name="world_name" value="$(find px4)/Tools/sitl_gazebo/worlds/$(arg world).world" />
+        <arg name="world_name" value="$(arg world)" />
+        <arg name="debug" value="$(arg debug)" />
+        <arg name="verbose" value="$(arg verbose)" />
+        <arg name="paused" value="$(arg paused)" />
     </include>
+
+    <node name="$(anon vehicle_spawn)" output="screen" pkg="gazebo_ros" type="spawn_model"
+        args="-sdf -file $(arg sdf) -model $(arg vehicle) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
+
+
 </launch>
+
+<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->

msg/CMakeLists.txt

@@ -65,6 +65,7 @@ set(msg_file_names
 	hil_sensor.msg
 	home_position.msg
 	input_rc.msg
+	log_message.msg
 	manual_control_setpoint.msg
 	mavlink_log.msg
 	mc_att_ctrl_status.msg

msg/cpuload.msg

@@ -1 +1,2 @@
 float32 load                    # processor load from 0 to 1
+float32 ram_usage		# RAM usage from 0 to 1

msg/log_message.msg

@@ -0,0 +1,5 @@
+# A logging message, output with PX4_{WARN,ERR,INFO}
+
+uint8 severity # log level (same as in the linux kernel, starting with 0)
+uint8[127] text
+

msg/vehicle_command.msg

@@ -31,7 +31,8 @@ uint32 VEHICLE_CMD_DO_SET_RELAY = 181			# Set a relay to a condition. |Relay num
 uint32 VEHICLE_CMD_DO_REPEAT_RELAY = 182		# Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| 
 uint32 VEHICLE_CMD_DO_SET_SERVO = 183			# Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| 
 uint32 VEHICLE_CMD_DO_REPEAT_SERVO = 184		# Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| 
-uint32 VEHICLE_CMD_DO_FLIGHTTERMINATION=185		# Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| 
+uint32 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185	# Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| 
+uint32 VEHICLE_CMD_DO_GO_AROUND = 191			# Mission command to safely abort an autonmous landing. |Altitude (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */ 
 uint32 VEHICLE_CMD_DO_REPOSITION = 192
 uint32 VEHICLE_CMD_DO_PAUSE_CONTINUE = 193
 uint32 VEHICLE_CMD_DO_CONTROL_VIDEO = 200		# Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| 

nuttx-configs/asc-v1/include/board.h

@@ -0,0 +1,433 @@
+/************************************************************************************
+ * 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.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
+
+#define GPIO_UART7_TX	GPIO_UART7_TX_1
+#define GPIO_UART7_RX	GPIO_UART7_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
+ * TBD
+ *
+ */
+
+#define GPIO_SPI3_NSS	(GPIO_SPI3_NSS_1  | GPIO_SPEED_50MHz)
+#define GPIO_SPI3_SCK	(GPIO_SPI3_SCK_2  | GPIO_SPEED_50MHz)
+#define GPIO_SPI3_MISO	(GPIO_SPI3_MISO_1 | GPIO_SPEED_50MHz)
+#define GPIO_SPI3_MOSI	(GPIO_SPI3_MOSI_1 | GPIO_SPEED_50MHz)
+
+#define GPIO_SPI4_NSS	(GPIO_SPI4_NSS_1  | GPIO_SPEED_50MHz)
+#define GPIO_SPI4_SCK	(GPIO_SPI4_SCK_2  | GPIO_SPEED_50MHz)
+#define GPIO_SPI4_MISO	(GPIO_SPI4_MISO_1 | GPIO_SPEED_50MHz)
+#define GPIO_SPI4_MOSI	(GPIO_SPI4_MOSI_1 | GPIO_SPEED_50MHz)
+
+/* 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 */

nuttx-configs/asc-v1/include/nsh_romfsimg.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;

nuttx-configs/asc-v1/nsh/Make.defs

@@ -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		 =
+

nuttx-configs/asc-v1/nsh/setenv.sh

@@ -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}"

nuttx-configs/asc-v1/scripts/ld.script

@@ -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) }
+}

nuttx-configs/asc-v1/src/Makefile

@@ -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
+

nuttx-configs/asc-v1/src/empty.c

@@ -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.
+ */

nuttx-configs/px4fmu-v1/nsh/defconfig

@@ -407,7 +407,7 @@ 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
@@ -978,3 +978,4 @@ CONFIG_SYSTEM_SYSINFO=y
 #
 # USB Monitor
 #
+CONFIG_NSOCKET_DESCRIPTORS=0

nuttx-configs/tap-v1/nsh/appconfig

@@ -0,0 +1,52 @@
+############################################################################
+# configs/px4fmu/nsh/appconfig
+#
+#   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.
+#
+############################################################################
+
+# Path to example in apps/examples containing the user_start entry point
+
+CONFIGURED_APPS	+= examples/nsh
+
+# The NSH application library
+CONFIGURED_APPS += nshlib
+CONFIGURED_APPS += system/readline
+
+ifeq ($(CONFIG_CAN),y)
+#CONFIGURED_APPS += examples/can
+endif
+
+#ifeq ($(CONFIG_USBDEV),y)
+#ifeq ($(CONFIG_CDCACM),y)
+CONFIGURED_APPS += examples/cdcacm
+#endif
+#endif

nuttx-configs/tap-v1/nsh/defconfig

@@ -8,8 +8,8 @@ CONFIG_NUTTX_NEWCONFIG=y
 # Build Setup
 #
 # CONFIG_EXPERIMENTAL is not set
-CONFIG_HOST_LINUX=y
-# CONFIG_HOST_OSX is not set
+# CONFIG_HOST_LINUX is not set
+CONFIG_HOST_OSX=y
 # CONFIG_HOST_WINDOWS is not set
 # CONFIG_HOST_OTHER is not set
 
@@ -38,7 +38,8 @@ CONFIG_ARCH_MATH_H=y
 #
 # Debug Options
 #
-# CONFIG_DEBUG is not set
+CONFIG_DEBUG=n
+CONFIG_DEBUG_VERBOSE=n
 CONFIG_DEBUG_SYMBOLS=y
 
 #
@@ -94,7 +95,7 @@ CONFIG_ARCH_HAVE_MPU=y
 # 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_ARMV7M_STACKCHECK=n
 CONFIG_SERIAL_TERMIOS=y
 
 #
@@ -264,6 +265,8 @@ CONFIG_STM32_USART=y
 #
 # U[S]ART Configuration
 #
+# Hot fix for lost data
+CONFIG_STM32_RXDMA_BUFFER_SIZE_OVERRIDE=256
 # CONFIG_USART1_RS485 is not set
 CONFIG_USART1_RXDMA=y
 # CONFIG_USART2_RS485 is not set
@@ -312,7 +315,7 @@ CONFIG_STM32_I2CTIMEOMS=10
 # CONFIG_ARCH_NOINTC is not set
 # CONFIG_ARCH_VECNOTIRQ is not set
 CONFIG_ARCH_DMA=y
-CONFIG_ARCH_IRQPRIO=y
+# CONFIG_ARCH_IRQPRIO is not set
 # CONFIG_CUSTOM_STACK is not set
 # CONFIG_ADDRENV is not set
 CONFIG_ARCH_HAVE_VFORK=y
@@ -402,7 +405,7 @@ CONFIG_SIG_SIGWORK=4
 CONFIG_MAX_TASKS=32
 CONFIG_MAX_TASK_ARGS=10
 CONFIG_NPTHREAD_KEYS=4
-CONFIG_NFILE_DESCRIPTORS=46
+CONFIG_NFILE_DESCRIPTORS=51
 CONFIG_NFILE_STREAMS=8
 CONFIG_NAME_MAX=32
 CONFIG_PREALLOC_MQ_MSGS=4
@@ -451,7 +454,7 @@ CONFIG_WATCHDOG=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_NSLOTS=1
 # CONFIG_MMCSD_READONLY is not set
-# CONFIG_MMCSD_MULTIBLOCK_DISABLE is not set
+CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_HAVECARDDETECT is not set
 # CONFIG_MMCSD_HAVE_SDIOWAIT_WRCOMPLETE is not set
@@ -590,8 +593,8 @@ 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_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=2000
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_PRODUCTID=0x0040
 CONFIG_CDCACM_VENDORSTR="The Autopilot"
@@ -678,7 +681,7 @@ CONFIG_BUILTIN=y
 #
 # Standard C Library Options
 #
-CONFIG_STDIO_BUFFER_SIZE=180
+CONFIG_STDIO_BUFFER_SIZE=32
 CONFIG_STDIO_LINEBUFFER=y
 CONFIG_NUNGET_CHARS=2
 CONFIG_LIB_HOMEDIR="/"
@@ -980,3 +983,5 @@ CONFIG_SYSTEM_SYSINFO=y
 #
 # USB Monitor
 #
+
+CONFIG_NSOCKET_DESCRIPTORS=0

posix-configs/SITL/README.md

@@ -105,5 +105,5 @@ param set RC_MAP_POSCTL_SW 7
 param set RC_MAP_RETURN_SW 8
 param set MC_PITCHRATE_P 0.05
 param set MC_ROLLRATE_P 0.05
-mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
 ```

posix-configs/SITL/init/ekf2/gazebo_tailsitter

@@ -60,7 +60,7 @@ mc_pos_control start
 mc_att_control start
 fw_pos_control_l1 start
 fw_att_control start
-mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
+mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x_vtol.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

posix-configs/SITL/init/ekf2/iris

@@ -60,7 +60,7 @@ navigator start
 ekf2 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 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

posix-configs/SITL/init/ekf2/plane

@@ -47,7 +47,7 @@ ekf2 start
 fw_pos_control_l1 start
 fw_att_control start
 land_detector start fixedwing
-mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/plane_sitl.main.mix
+mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.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

posix-configs/SITL/init/ekf2/solo

@@ -57,7 +57,7 @@ navigator start
 ekf2 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 ROMFS/px4fmu_common/mixers/quad_x.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

posix-configs/SITL/init/ekf2/standard_vtol

@@ -69,7 +69,7 @@ mc_pos_control start
 mc_att_control start
 fw_pos_control_l1 start
 fw_att_control start
-mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
+mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.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

posix-configs/SITL/init/ekf2/typohoon_h480

@@ -59,7 +59,7 @@ navigator start
 ekf2 start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/hexa_x.main.mix
+mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.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

posix-configs/SITL/init/inav/iris

@@ -60,7 +60,7 @@ attitude_estimator_q start
 position_estimator_inav start
 mc_pos_control_m start
 mc_att_control_m start
-mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
 mavlink start -u 14556 -r 2000000
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556

posix-configs/SITL/init/inav/iris_opt_flow

@@ -59,7 +59,7 @@ attitude_estimator_q start
 position_estimator_inav 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 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

posix-configs/SITL/init/lpe/iris

@@ -60,7 +60,7 @@ attitude_estimator_q start
 local_position_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_w.main.mix
+mixer load /dev/pwm_output0 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

posix-configs/SITL/init/lpe/iris_opt_flow

@@ -69,7 +69,7 @@ attitude_estimator_q start
 local_position_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_w.main.mix
+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

posix-configs/SITL/init/lpe/standard_vtol

@@ -1,6 +1,7 @@
 uorb start
 param load
-param set MAV_TYPE 2
+param set MAV_TYPE 20
+param set VT_TYPE 2
 param set SYS_AUTOSTART 4010
 param set SYS_RESTART_TYPE 2
 dataman start
@@ -18,31 +19,33 @@ 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 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 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
+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 0.6
+param set MPC_Z_VEL_I 0.15
+param set SENS_BOARD_ROT 8
+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 NAV_ACC_RAD 3.0
+param set MPC_TKO_SPEED 1.0
+param set MIS_YAW_TMT 10
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+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
 replay tryapplyparams
-simulator start -s
+simulator start -s 
 rgbledsim start
 tone_alarm start
 gyrosim start
@@ -50,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-#gps start -d /dev/ttyACM0 -s
+measairspeedsim start
 pwm_out_sim mode_pwm
 sleep 1
 sensors start
@@ -59,9 +62,12 @@ land_detector start multicopter
 navigator start
 attitude_estimator_q start
 local_position_estimator start
+vtol_att_control start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_x.main.mix
+fw_pos_control_l1 start
+fw_att_control start
+mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.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
@@ -73,8 +79,6 @@ 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
-logger start -e -t
+sdlog2 start -r 200 -e -t -a
 mavlink boot_complete
 replay trystart

posix-configs/SITL/init/rcS_jmavsim_iris

@@ -1,80 +0,0 @@
-uorb start
-param load
-param set MAV_TYPE 2
-param set SYS_AUTOSTART 4010
-param set SYS_RESTART_TYPE 2
-dataman start
-param set BAT_N_CELLS 3
-param set CAL_GYRO0_ID 2293768
-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 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 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 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
-param set EKF2_MAG_TYPE 1
-replay tryapplyparams
-simulator start -s
-rgbledsim start
-tone_alarm start
-gyrosim start
-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
-ekf2 start
-mc_pos_control start
-mc_att_control start
-mixer load /dev/pwm_output0 ../../../../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 -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
-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
-logger start -e -t
-mavlink boot_complete
-replay trystart

posix-configs/SITL/init/test/iris

@@ -1,8 +1,13 @@
 uorb start
+
 param load
 param set SYS_RESTART_TYPE 0
+
 dataman start
 
+rgbledsim start
+tone_alarm start
+
 ver all
 
 sleep 1