Merge branch 'beta' into stable

Harmonize Pixracer and Pixhawk OSD API
More autostart items for serial link
2026-06-12 08:30:06 +08:00 · 2016-02-21 01:37:36 +01:00 · 2016-02-19 21:42:45 +01:00 · 2016-02-19 20:36:36 +01:00 · 2016-02-19 14:41:46 +01:00 · 2016-02-19 09:00:41 +01:00
1202 changed files with 42432 additions and 89885 deletions
@@ -1 +0,0 @@
--ignore-dir=Documentation
@@ -2,7 +2,6 @@
 !ROMFS/*/*.d
 !ROMFS/*/*/*.d
 !ROMFS/*/*/*/*.d
-*.px4log
 *.dSYM
 *.o
 *.pyc
@@ -64,11 +63,3 @@ CMakeLists.txt.user
 GPATH
 GRTAGS
 GTAGS
-*.creator
-*.creator.user
-*.files
-*.includes
-
-# uavcan firmware
-ROMFS/px4fmu_common/uavcan/
-vectorcontrol/
@@ -1,21 +1,21 @@
 [submodule "mavlink/include/mavlink/v1.0"]
 	path = mavlink/include/mavlink/v1.0
-	url = https://github.com/mavlink/c_library_v1.git
-[submodule "mavlink/include/mavlink/v2.0"]
-	path = mavlink/include/mavlink/v2.0
-	url = https://github.com/mavlink/c_library_v2.git
+	url = git://github.com/mavlink/c_library.git
 [submodule "NuttX"]
 	path = NuttX
-	url = https://github.com/PX4/NuttX.git
+	url = git://github.com/PX4/NuttX.git
 [submodule "src/modules/uavcan/libuavcan"]
 	path = src/modules/uavcan/libuavcan
-	url = https://github.com/UAVCAN/libuavcan.git
+	url = git://github.com/UAVCAN/libuavcan.git
 [submodule "Tools/genmsg"]
 	path = Tools/genmsg
 	url = https://github.com/ros/genmsg.git
 [submodule "Tools/gencpp"]
 	path = Tools/gencpp
 	url = https://github.com/ros/gencpp.git
+[submodule "src/lib/dspal"]
+	path = src/lib/dspal
+	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -25,7 +25,6 @@
 [submodule "unittests/googletest"]
 	path = unittests/googletest
 	url = https://github.com/google/googletest.git
-	ignore = untracked
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
 	url = https://github.com/PX4/Matrix.git
@@ -38,6 +37,3 @@
 [submodule "cmake/cmake_hexagon"]
 	path = cmake/cmake_hexagon
 	url = https://github.com/ATLFlight/cmake_hexagon
-[submodule "src/drivers/gps/devices"]
-	path = src/drivers/gps/devices
-	url = https://github.com/PX4/GpsDrivers.git
@@ -7,117 +7,136 @@ matrix:
  fast_finish: true
  include:
    - os: linux
-      sudo: required
-      env: GCC_VER=4.8 DOCKER_REPO="px4io/px4-dev-base:2016-07-14"
-      services:
-        - docker
+      sudo: false
    - os: osx
+      osx_image: xcode7
      sudo: true
-      osx_image: xcode7.3
-      env: CCACHE_CPP2=1

 cache:
-  ccache: true
-  pip: true
  directories:
-    - $HOME/.pip/cache/
-    - $HOME/Library/Caches/pip
+    - $HOME/.ccache
+
+addons:
+  apt:
+    sources:
+    - kubuntu-backports
+    - ubuntu-toolchain-r-test
+    - george-edison55-precise-backports
+    packages:
+    - build-essential
+    - ccache
+    - clang-3.5
+    - cmake
+    - g++-4.9
+    - gcc-4.9
+    - genromfs
+    - libc6-i386
+    - libncurses5-dev
+    - ninja-build
+    - python-argparse
+    - python-empy
+    - python-serial
+    - s3cmd
+    - texinfo
+    - zlib1g-dev

 before_install:
  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-         cd ${TRAVIS_BUILD_DIR}
-      && git fetch --unshallow && git fetch --all --tags
-      && docker pull ${DOCKER_REPO}
+         pushd .
+      && cd ~
+      && wget https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+      && tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+      && exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
+      && if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
+      && . ~/.profile
+      && popd
+      && git clone git://github.com/PX4/CI-Tools.git
+      && ./CI-Tools/s3cmd-configure
+      && mkdir -p ~/bin
+      && wget -O ~/bin/astyle https://github.com/PX4/astyle/releases/download/2.05.1/astyle-linux && chmod +x ~/bin/astyle
+      && astyle --version
+      && if [ "$CXX" = "g++" ]; then export CXX="g++-4.9" CC="gcc-4.9"; fi
      ;
    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-         sudo -H easy_install pip
-      && sudo -H pip install empy
-      && wget https://s3.amazonaws.com/px4-travis/toolchain/macos/ccache
-      && sudo mv ccache /usr/local/bin
-      && chmod +x /usr/local/bin/ccache
-      && mkdir -p ~/bin
-      && sudo ln -s /usr/local/bin/ccache ~/bin/c++
-      && sudo ln -s /usr/local/bin/ccache ~/bin/cc
-      && sudo ln -s /usr/local/bin/ccache ~/bin/clang
-      && sudo ln -s /usr/local/bin/ccache ~/bin/clang++
-      && sudo ln -s /usr/local/bin/ccache ~/bin/g++
-      && sudo ln -s /usr/local/bin/ccache ~/bin/gcc
-      && export PATH=~/bin:$PATH
-      && wget https://s3.amazonaws.com/px4-travis/toolchain/macos/ninja
-      && sudo mv ninja /usr/local/bin
-      && chmod +x /usr/local/bin/ninja
+         brew tap PX4/homebrew-px4
+      && brew update; brew update
+      && brew install cmake ninja
+      && brew install genromfs
+      && sudo easy_install pip
+      && sudo pip install pyserial empy
      ;
    fi

+before_script:
+# setup ccache
+  - mkdir -p ~/bin
+  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
+  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-gcc
+  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-size
+  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-objcopy
+  - ln -s /usr/bin/ccache ~/bin/clang++
+  - ln -s /usr/bin/ccache ~/bin/clang++-3.4
+  - ln -s /usr/bin/ccache ~/bin/clang++-3.5
+  - ln -s /usr/bin/ccache ~/bin/clang
+  - ln -s /usr/bin/ccache ~/bin/clang-3.4
+  - ln -s /usr/bin/ccache ~/bin/clang-3.5
+  - export PATH=~/bin:$PATH
+
 env:
  global:
+    - NINJA_BUILD=1
 # AWS KEY: $PX4_AWS_KEY
    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
 # AWS SECRET: $PX4_AWS_SECRET
    - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
    - PX4_AWS_BUCKET=px4-travis
-    - GIT_SUBMODULES_ARE_EVIL=1

 script:
-  - ccache -M 1GB; ccache -z
+  - git submodule update --quiet --init --recursive
+  - echo 'Building POSIX Firmware..' && make posix_sitl_default
+  - echo 'Running Tests..' && make posix_sitl_default test
+  - echo 'Running Unittests..' && cd unittests && ./run_tests.sh
  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-      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 tests; 
+         cd ${TRAVIS_BUILD_DIR}
+      && make check_format
+      && arm-none-eabi-gcc --version
+      && echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
+      && echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
+      && echo 'Building UAVCAN node firmware..' && (git clone https://github.com/thiemar/vectorcontrol && cd vectorcontrol && BOARD=s2740vc_1_0 make -s && BOARD=px4esc_1_6 make -s && ../Tools/uavcan_copy.sh)
+      && echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default
+      && echo 'Building NuttX px4-stm32f4discovery Firmware..' && make px4-stm32f4discovery_default
+      && echo 'Running Tests..' && make px4fmu-v2_default test
+      ;
    fi
-  - ccache -s

 after_success:
-  - make package_firmware && mkdir s3deploy-archive && cp Firmware.zip s3deploy-archive/
-# find all px4 firmware (*.px4) and rename
-  - find . -type f -name 'nuttx-*-default.px4' -exec cp "{}" . \;
-  - find . -maxdepth 1 -mindepth 1 -type f -name 'nuttx-*-default.px4' | sed 's/.\/nuttx-//' | sed 's/-default.px4//' | xargs -I{} mv nuttx-{}-default.px4 {}_default.px4
-  - mkdir s3deploy-branch && mv *_default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml s3deploy-branch/
-# only deploy GCC 4.8 builds on master/beta/stable
-  - if [[ "$GCC_VER" == "4.8" && ( "$TRAVIS_BRANCH" == "master" || "$TRAVIS_BRANCH" == "beta" || "$TRAVIS_BRANCH" == "stable" ) ]]; then
-      export PX4_S3_DEPLOY=1;
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+         cp build_px4fmu-v1_default/src/firmware/nuttx/nuttx-px4fmu-v1-default.px4 px4fmu-v1_default.px4
+      && cp build_px4fmu-v2_default/src/firmware/nuttx/nuttx-px4fmu-v2-default.px4 px4fmu-v2_default.px4
+      && cp build_px4fmu-v4_default/src/firmware/nuttx/nuttx-px4fmu-v4-default.px4 px4fmu-v4_default.px4
+      && cp build_px4-stm32f4discovery_default/src/firmware/nuttx/nuttx-px4-stm32f4discovery-default.px4 px4-stm32f4discovery-default.px4
+      && zip Firmware.zip px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 px4-stm32f4discovery-default.px4
+      && ./CI-Tools/s3cmd-put px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 px4-stm32f4discovery-default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
+      && ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
+      && ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
+      && ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
+      && ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
+      && echo ""
+      && echo "Binaries have been posted to:"
+      && echo https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
+      ;
    fi

 deploy:
-# deploy *.px4 to S3 px4-travis/Firmware/$TRAVIS_BRANCH
-  - provider: s3
-    access_key_id: $PX4_AWS_KEY
-    secret_access_key:
-      secure: $PX4_AWS_SECRET
-    bucket: px4-travis
-    local_dir: s3deploy-branch
-    upload-dir: Firmware/$TRAVIS_BRANCH
-    acl: public_read
-    skip_cleanup: true
-    on:
-      all_branches: true
-      condition: $PX4_S3_DEPLOY = 1
-
-# deploy Firmware.zip to S3 px4-travis/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID
-  - provider: s3
-    access_key_id: $PX4_AWS_KEY
-    secret_access_key:
-      secure: $PX4_AWS_SECRET
-    bucket: px4-travis
-    local_dir: s3deploy-archive
-    upload-dir: archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID
-    acl: public_read
-    skip_cleanup: true
-    on:
-      all_branches: true
-      condition: $PX4_S3_DEPLOY = 1
-
-# on tags deploy Firmware.zip to Github releases
-  - provider: releases
-    api_key: 
-      secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
-    file: "Firmware.zip"
-    skip_cleanup: true
-    on:
-      tags: true
-      all_branches: true
-      repo: PX4/Firmware
-      condition: $GCC_VER = 4.8
+  provider: releases
+  api_key:
+    secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
+  file: "Firmware.zip"
+  skip_cleanup: true
+  on:
+    tags: true
+    all_branches: true
+    repo: PX4/Firmware

 notifications:
  webhooks:
@@ -125,7 +144,3 @@ notifications:
      - https://webhooks.gitter.im/e/2b9c4a4cb2211f8befba
    on_success: always  # options: [always|never|change] default: always
    on_failure: always  # options: [always|never|change] default: always
-  slack:
-    secure: "QKw73Zel/s3JAbe/7XyO9tPnJwiiGFpYzSjdR8lG3tYFjRdXZnhxG4c+G7bkgkaPTS4Hult33VXE3kcEqOI7+C+eRwRlZhDfL0knQbXVCxjcLjzmUFdoPOwurlgZDw66PFWCi5tZcLKSRo3u4U8ibT4WKi3jm9sDSyOcfBAucMU="
-    on_success: change  # options: [always|never|change] default: always
-    on_failure: always  # options: [always|never|change] default: always
@@ -85,7 +85,7 @@
 # * If a target from add_custom_* is set in a function, explicitly pass it
 #	as an output argument so that the target name is clear to the user.
 #
-# * Avoid use of global variables in functions. Functions in a nested
+# * Avoid use of global variables in functions. Functions in a nested 
 #	scope may use global variables, but this makes it difficult to
 #	resuse functions.
 #
@@ -121,9 +121,6 @@
 # and leads to wrong toolchain detection
 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

-set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
-set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
-
 # Use clang
 #SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
 #SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
@@ -135,7 +132,7 @@ set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
 	STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
-set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
+set(CONFIG "nuttx_px4fmu-v2_default" CACHE STRING "desired configuration")
 file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
 set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
 set(THREADS "4" CACHE STRING
@@ -153,21 +150,24 @@ list(GET config_args 1 BOARD)
 list(GET config_args 2 LABEL)
 set(target_name "${OS}-${BOARD}-${LABEL}")

+if("${OS}" STREQUAL "posix")
+	if (APPLE)
+		set(DF_TARGET darwin)
+	else()
+		set(DF_TARGET linux)
+	endif()
+else()
+	set(DF_TARGET ${OS})
+endif()
+
 message(STATUS "${target_name}")

-# Define GNU standard installation directories
-include(GNUInstallDirs)
+# 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

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

@@ -193,11 +193,6 @@ foreach(conf ${px4_required_config})
 	endif()
 endforeach()

-# List the DriverFramework drivers
-if(DEFINED config_df_driver_list)
-	message("DF Drivers: ${config_df_driver_list}")
-endif()
-
 #=============================================================================
 # project definition
 #
@@ -212,7 +207,7 @@ if (NOT ${CMAKE_VERSION} VERSION_LESS 3.1.0)
 endif()

 set(version_major 1)
-set(version_minor 4)
+set(version_minor 0)
 set(version_patch 1)
 set(version "${version_major}.${version_minor}.${version_patch}")
 set(package-contact "px4users@googlegroups.com")
@@ -227,11 +222,6 @@ find_package(PythonInterp REQUIRED)
 #
 enable_testing()

-#=============================================================================
-# generate compile command database
-#
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
 #=============================================================================
 # check required toolchain variables
 #
@@ -250,18 +240,18 @@ endforeach()
 px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
 px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
 px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
-px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
+px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
 px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
 px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
+px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
 px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
 px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
 px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
 px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
 px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")

 add_custom_target(submodule_clean
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 	COMMAND git submodule deinit -f .
 	COMMAND rm -rf .git/modules/*
 	)
@@ -271,12 +261,12 @@ add_custom_target(submodule_clean
 #
 add_custom_target(check_format
 	COMMAND Tools/check_code_style.sh
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 	)

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

 #=============================================================================
@@ -303,18 +293,17 @@ px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
 px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")

 include_directories(${include_dirs})
-#message("INCLUDE_DIRS=${include_dirs}")
 link_directories(${link_dirs})
 add_definitions(${definitions})

 #=============================================================================
 # source code generation
 #
-add_subdirectory(msg)
+file(GLOB_RECURSE msg_files msg/*.msg)
 px4_generate_messages(TARGET msg_gen
 	MSG_FILES ${msg_files}
 	OS ${OS}
-	DEPENDS git_genmsg git_gencpp prebuild_targets
+	DEPENDS git_genmsg git_gencpp
 	)
 px4_generate_parameters_xml(OUT parameters.xml BOARD ${BOARD})
 px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
@@ -325,7 +314,7 @@ add_custom_target(xml_gen
 # external projects
 #

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

 # add external project install folders to build
@@ -335,39 +324,20 @@ include_directories(${ep_base}/Install/include)
 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)

-#=============================================================================
-# DriverFramework Drivers
-#
-set(df_driver_libs)
-foreach(driver ${config_df_driver_list})
-	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
-	list(APPEND df_driver_libs df_${driver})
-	message("Adding DF driver: ${driver}")
-endforeach()
-
 #=============================================================================
 # subdirectories
 #
 set(module_libraries)
 foreach(module ${config_module_list})
-	string(REGEX MATCH "^[./]" external_module ${module})
-	if(external_module)
-		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
-		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
-		add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
-	else()
-		add_subdirectory(src/${module})
-	endif()
+	add_subdirectory(src/${module})
 	px4_mangle_name(${module} mangled_name)
 	list(APPEND module_libraries ${mangled_name})
 	#message(STATUS "adding module: ${module}")
 endforeach()

-# Keep track of external shared libs required for modules
-set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "module_external_libraries")
-
 add_subdirectory(src/firmware/${OS})

+add_subdirectory(src/lib/DriverFramework/framework/src)
 #add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
 if (NOT "${OS}" STREQUAL "nuttx")
 endif()
@@ -379,34 +349,19 @@ endif()
 #=============================================================================
 # generate git version
 #
-px4_create_git_hash_header(HEADER ${PX4_BINARY_DIR}/build_git_version.h)
+px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)

 #=============================================================================
 # packaging
 #
 # Important to having packaging at end of cmake file.
 #
-set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
 set(CPACK_PACKAGE_VERSION ${version})
-set(CPACK_PACKAGE_CONTACT ${package-contact})
-set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
-set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
-set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
-set(short-description "The px4 autopilot.")
-set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
+set(CPACK_PACKAGE_CONTACT ${package_contact})
 set(CPACK_GENERATOR "ZIP")
-set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${version}")
-set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}")
-set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
-if ("${CMAKE_SYSTEM}" MATCHES "Linux")
-  find_program(DPKG_PROGRAM dpkg)
-  if (EXISTS ${DPKG_PROGRAM})
-    list (APPEND CPACK_GENERATOR "DEB")
-  endif()
-endif()
-if (${OS} STREQUAL "posix")
-	set(CPACK_SET_DESTDIR "ON")
-endif()
+set(CPACK_SOURCE_GENERATOR "ZIP")
 include(CPack)

+endif() # ros alternative endif
+
 # vim: set noet fenc=utf-8 ff=unix ft=cmake :
@@ -599,7 +599,8 @@ RECURSIVE              = YES
 # excluded from the INPUT source files. This way you can easily exclude a
 # subdirectory from a directory tree whose root is specified with the INPUT tag.

-EXCLUDE                = ../src/modules/attitude_estimator_ekf/codegen
+EXCLUDE                = ../src/lib/mathlib/CMSIS \
+			 ../src/modules/attitude_estimator_ekf/codegen

 # The EXCLUDE_SYMLINKS tag can be used select whether or not files or
 # directories that are symbolic links (a Unix filesystem feature) are excluded
@@ -9,7 +9,7 @@ http://www.stack.nl/~dimitri/doxygen/download.html for the correct download.
 Then go to the following website for inforamtion on the install:
 http://www.stack.nl/~dimitri/doxygen/install.html

-Then to generate the html, run the following code while you are in this directory:
+Then to generate the html, run the following code while you are in the qgroundcontrol/doc directory:
 $doxygen Doxyfile

 The html file index.html should be in doc/html unless you changed the output directory. 
@@ -66,8 +66,8 @@ Linux or Eagle with a working IP interface (?? does this need further instructio
 > adb shell
 # bash
 root@linaro-developer:/# cd ???
-root@linaro-developer:/# ./px4
-App name: px4
+root@linaro-developer:/# ./mainapp
+App name: mainapp
 Enter a command and its args:
 uorb start
 muorb start
@@ -70,13 +70,6 @@
 			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
 			"cmd": ["make posix"],
 			"shell": true
-		},
-		{
-			"name": "MindPX_V2: make and upload",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make upload mindpx-v2_default -j8"],
-			"shell": true
 		}
 	]
 }
@@ -1,12 +0,0 @@
-{
-    "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
-}
@@ -1,12 +0,0 @@
-{
-    "board_id": 88,
-    "magic": "MindPX",
-    "description": "Firmware for the MindPXFMUv2 board",
-    "image": "", 
-    "build_time": 0, 
-    "summary": "MindPXFMUv2",
-    "version": "2.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,12 +0,0 @@
-{
-    "board_id": 64,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the TAPv1 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "TAPv1",
-    "version": "0.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2016 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -42,7 +42,7 @@ endif
 CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?)
 ifneq ($(CMAKE_VER),0)
    $(warning Not a valid CMake version or CMake not installed.)
-    $(warning On Ubuntu 16.04, install or upgrade via:)
+    $(warning On Ubuntu, install or upgrade via:)
    $(warning )
    $(warning 3rd party PPA:)
    $(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
@@ -50,11 +50,11 @@ ifneq ($(CMAKE_VER),0)
    $(warning sudo apt-get install cmake)
    $(warning )
    $(warning Official website:)
-    $(warning wget https://cmake.org/files/v3.4/cmake-3.4.3-Linux-x86_64.sh)
-    $(warning chmod +x cmake-3.4.3-Linux-x86_64.sh)
-    $(warning sudo mkdir /opt/cmake-3.4.3)
-    $(warning sudo ./cmake-3.4.3-Linux-x86_64.sh --prefix=/opt/cmake-3.4.3 --exclude-subdir)
-    $(warning export PATH=/opt/cmake-3.4.3/bin:$$PATH)
+    $(warning wget https://cmake.org/files/v3.3/cmake-3.3.2-Linux-x86_64.sh)
+    $(warning chmod +x cmake-3.3.2-Linux-x86_64.sh)
+    $(warning sudo mkdir /opt/cmake-3.3.2)
+    $(warning sudo ./cmake-3.3.2-Linux-x86_64.sh --prefix=/opt/cmake-3.3.2 --exclude-subdir)
+    $(warning export PATH=/opt/cmake-3.3.2/bin:$$PATH)
    $(warning )
    $(error Fatal)
 endif
@@ -77,7 +77,7 @@ endif
 # in that directory with the target upload.

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

 # Parsing
 # --------------------------------------------------------------------
@@ -104,27 +104,14 @@ endif
    PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif

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

 # create empty targets to avoid msgs for targets passed to cmake
@@ -134,39 +121,27 @@ $(1):
 .PHONY: $(1)
 endef

-define colorecho
-      @tput setaf 6
-      @echo $1
-      @tput sgr0
-endef
-
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
 #  Do not put any spaces between function arguments.

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

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

-px4fmu-v2_test:
-	$(call cmake-build,nuttx_px4fmu-v2_test)
-
 px4fmu-v4_default:
 	$(call cmake-build,nuttx_px4fmu-v4_default)

 px4-stm32f4discovery_default:
 	$(call cmake-build,nuttx_px4-stm32f4discovery_default)

-mindpx-v2_default:
-	$(call cmake-build,nuttx_mindpx-v2_default)
+px4fmu-v2_ekf2:
+	$(call cmake-build,nuttx_px4fmu-v2_ekf2)
+
+px4fmu-v2_lpe:
+	$(call cmake-build,nuttx_px4fmu-v2_lpe)

 posix_sitl_default:
 	$(call cmake-build,$@)
@@ -174,10 +149,7 @@ posix_sitl_default:
 posix_sitl_lpe:
 	$(call cmake-build,$@)

-posix_sitl_replay:
-	$(call cmake-build,$@)
-
-posix_sitl_broadcast:
+posix_sitl_ekf2:
 	$(call cmake-build,$@)

 ros_sitl_default:
@@ -186,42 +158,26 @@ ros_sitl_default:
 qurt_eagle_travis:
 	$(call cmake-build,$@)

+qurt_eagle_release:
+	$(call cmake-build,$@)
+
+posix_eagle_release:
+	$(call cmake-build,$@)
+
 qurt_eagle_default:
 	$(call cmake-build,$@)

 posix_eagle_default:
 	$(call cmake-build,$@)
-
-eagle_default: posix_eagle_default qurt_eagle_default
-eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default
-
-qurt_eagle_legacy_driver_default:
+	
+posix_rpi2_default:
 	$(call cmake-build,$@)

-posix_eagle_legacy_driver_default:
-	$(call cmake-build,$@)
-
-qurt_excelsior_default:
-	$(call cmake-build,$@)
-
-posix_excelsior_default:
-	$(call cmake-build,$@)
-
-excelsior_default: posix_excelsior_default qurt_excelsior_default
-
-posix_rpi_native:
-	$(call cmake-build,$@)
-
-posix_rpi_cross:
-	$(call cmake-build,$@)
-
-posix_bebop_default:
+posix_rpi2_release:
 	$(call cmake-build,$@)

 posix: posix_sitl_default

-broadcast: posix_sitl_broadcast
-
 sitl_deprecation:
 	@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
 	@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
@@ -232,129 +188,34 @@ run_sitl_ros: sitl_deprecation

 # Other targets
 # --------------------------------------------------------------------
-
-.PHONY: gazebo_build uavcan_firmware check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
-.NOTPARALLEL: gazebo_build uavcan_firmware check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
-
-gazebo_build:
-	@mkdir -p build_gazebo
-	@if [ ! -e ./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) $(PX4_MAKE_ARGS) sdf
-
-uavcan_firmware:
-ifeq ($(VECTORCONTROL),1)
-	$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6")
-	@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
-endif
-
-checks_defaults: \
-	check_px4fmu-v1_default \
-	check_px4fmu-v2_default \
-	check_px4fmu-v4_default \
-	check_mindpx-v2_default \
-	check_tap-v1_default
-
-checks_bootloaders: \
-
-
-checks_tests: \
-	check_px4fmu-v2_test
-
-checks_alts: \
-	check_asc-v1_default \
-	check_px4-stm32f4discovery_default
-
-checks_uavcan: \
-	check_px4fmu-v4_default_and_uavcan
-
-checks_sitls: \
-	check_posix_sitl_default
-
-checks_last: \
-	check_tests \
-	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_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" $(subst check_,,$@))
-	@$(MAKE) --no-print-directory $(subst check_,,$@)
-	@echo
-
-check_px4fmu-v4_default: uavcan_firmware
-check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
-	@echo
-ifeq ($(VECTORCONTROL),1)
-	@echo "Cleaning up vectorcontrol firmware"
-	@rm -rf vectorcontrol
-	@rm -rf ROMFS/px4fmu_common/uavcan
-endif
-
-unittest: posix_sitl_default
-	$(call cmake-build-other,unittest, ../unittests)
-	@(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)
-
-tests: check_unittest run_tests_posix
-
-# QGroundControl flashable firmware
-qgc_firmware: \
-	check_px4fmu-v1_default \
-	check_px4fmu-v2_default \
-	check_mindpx-v2_default \
-	check_tap-v1_default \
-	check_px4fmu-v4_default_and_uavcan \
-	check_format
-
-extra_firmware: \
-	check_px4-stm32f4discovery_default \
-	check_px4fmu-v2_test
-
-package_firmware:
-	@zip --junk-paths Firmware.zip `find . -name \*.px4`
+	@./Tools/check_code_style.sh

 clean:
 	@rm -rf build_*/
-	@(cd NuttX/nuttx && make clean)
-
-submodulesclean:
-	@git submodule sync --recursive
-	@git submodule deinit -f .
-	@git submodule update --init --recursive --force
-
-distclean: submodulesclean
-	@git clean -ff -x -d -e ".project" -e ".cproject"
+	@(cd NuttX && git clean -d -f -x)
+	@(cd src/modules/uavcan/libuavcan && git clean -d -f -x)
+	@(git submodule sync)

 # targets handled by cmake
-cmake_targets = install test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
-	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim replay \
+cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
+	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim \
 	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
-	gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane gazebo_solo gazebo_typhoon_h480
+	gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))

 .PHONY: clean

 CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")

+# Future:
+#$(CONFIGS):
+##	@cd Build/$@ && cmake ../.. -DCONFIG=$@
+#	@cd Build/$@ && make
+#
+#clean-all:
+#	@rm -rf Build/*
+#
 #help:
 #	@echo
 #	@echo "Type 'make ' and hit the tab key twice to see a list of the available"
@@ -1,17 +1,17 @@
-## PX4 Pro Drone Autopilot ##
+## PX4 Flight Core and PX4 Middleware ##

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

 [![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)

-This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the src/modules directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository contains the [PX4 Flight Core](http://px4.io), with the main applications located in the src/modules directory. It also contains the PX4 Drone Platform, which contains drivers and middleware to run drones.

 *   Official Website: http://px4.io
 *   License: BSD 3-clause (see [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
 *   Supported airframes (more experimental are supported):
  * [Multicopters](http://px4.io/portfolio_category/multicopter/)
-  * [Fixed wing](http://px4.io/portfolio_category/plane/)
-  * [VTOL](http://px4.io/portfolio_category/vtol/)
+  * [Fixed wing](http://px4.io/portfolio_category/vtol/)
+  * [VTOL](http://px4.io/portfolio_category/plane/)
 *   Releases
  * [Downloads](https://github.com/PX4/Firmware/releases)

@@ -20,8 +20,7 @@ then
 	param set FW_AIRSPD_MAX 20
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 14
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
@@ -25,8 +25,8 @@ then
 	param set MC_YAWRATE_I 0.25
 	param set MC_YAWRATE_D 0.0

-	param set BAT_V_DIV 12.27559
-	param set BAT_A_PER_V 15.39103
+	param set BAT_V_SCALING 0.00989
+	param set BAT_C_SCALING 0.0124
 fi

 set MIXER quad_w
@@ -7,7 +7,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

-sh /etc/init.d/4001_quad_x
+sh /etc/init.d/rc.mc_defaults

 if [ $AUTOCNF == yes ]
 then
@@ -21,3 +21,10 @@ then
 	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 4
 fi
+
+set MIXER quad_x
+
+set PWM_OUT 1234
+
+set PWM_MIN 1100
+set PWM_MAX 1950
@@ -14,8 +14,7 @@ then
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 25
 	param set FW_AIRSPD_MAX 40
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 15
 	param set FW_PR_FF 0.8
@@ -33,12 +33,13 @@ then
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0

-	param set VT_MOT_COUNT 2
-	param set VT_IDLE_PWM_MC  1080
-	param set VT_TYPE 0
-	param set MAV_TYPE 19
 fi

 set MIXER caipirinha_vtol

-set PWM_OUT 1234
+set PWM_OUT 12
+set PWM_MAX 2000
+set PWM_RATE 400
+param set VT_MOT_COUNT 2
+param set VT_IDLE_PWM_MC  1080
+param set VT_TYPE 0
@@ -31,11 +31,6 @@ then
 	param set VT_TILT_MC 0.08
 	param set VT_TILT_TRANS 0.5
 	param set VT_TILT_FW 0.9
-
-	param set VT_MOT_COUNT 6
-	param set VT_FW_MOT_OFFID 34
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 1
 fi

 set MIXER firefly6
@@ -45,3 +40,8 @@ set PWM_RATE 400
 set MIXER_AUX firefly6

 set MAV_TYPE 21
+
+param set VT_MOT_COUNT 6
+param set VT_FW_MOT_OFFID 34
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 1
@@ -9,17 +9,13 @@

 sh /etc/init.d/rc.vtol_defaults

-if [ $AUTOCNF == yes ]
-then
-    param set VT_MOT_COUNT 4
-    param set VT_IDLE_PWM_MC  1080
-    param set VT_TYPE 0
-    param set VT_ELEV_MC_LOCK 1
-fi
-
 set MIXER quad_x_vtol

 set PWM_OUT 1234
 set PWM_MAX 2000
 set PWM_RATE 400
 set MAV_TYPE 20
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC  1080
+param set VT_TYPE 0
+param set VT_ELEV_MC_LOCK 1
@@ -9,17 +9,13 @@

 sh /etc/init.d/rc.vtol_defaults

-if [ $AUTOCNF == yes ]
-then
-    param set VT_MOT_COUNT 4
-    param set VT_IDLE_PWM_MC  1080
-    param set VT_TYPE 0
-    param set VT_ELEV_MC_LOCK 1
-fi
-
 set MIXER quad_+_vtol

 set PWM_OUT 1234
 set PWM_MAX 2000
 set PWM_RATE 400
 set MAV_TYPE 20
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC  1080
+param set VT_TYPE 0
+param set VT_ELEV_MC_LOCK 1
@@ -43,10 +43,6 @@ then
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.05
 	param set FW_THR_CRUISE 0.75
-
-	param set VT_MOT_COUNT 4
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
 fi

 set MIXER vtol_quad_x
@@ -58,3 +54,7 @@ set PWM_ACHDIS 5
 set PWM_AUX_DISARMED 950

 set MAV_TYPE 22
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 2
@@ -15,32 +15,22 @@ then
 	param set VT_MOT_COUNT 4
 	param set VT_TRANS_THR 0.75

-	param set MC_ROLL_P 6.5
+	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.01
+	param set MC_ROLLRATE_I 0.002
 	param set MC_ROLLRATE_D 0.003
 	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.01
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCHRATE_I 0.002
 	param set MC_PITCHRATE_D 0.003
 	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 3.5
+	param set MC_YAW_P 2.8
 	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
-	param set MC_YAWRATE_MAX 20
-	param set MC_YAWRAUTO_MAX 20
-
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P 0.1
-	param set MPC_ACC_HOR_MAX 2.0
-
-	param set VT_MOT_COUNT 4
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
 fi

 set MIXER vtol_quad_x
@@ -52,3 +42,7 @@ set PWM_ACHDIS 3
 set PWM_AUX_DISARMED 950

 set MAV_TYPE 22
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 2
@@ -31,10 +31,6 @@ then
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
-
-	param set VT_MOT_COUNT 4
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
 fi

 set MIXER vtol_quad_x
@@ -46,3 +42,7 @@ set PWM_ACHDIS 5
 set PWM_AUX_DISARMED 950

 set MAV_TYPE 22
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 2
@@ -36,25 +36,10 @@ then
 	param set MC_YAWRATE_FF 0.0

 	param set MPC_ACC_HOR_MAX 2.0
-	param set MPC_Z_VEL_MAX 1.5
-	param set MPC_TKO_SPEED 1.5
-	param set MPC_LAND_SPEED 0.8
-
-	param set FW_THR_CRUISE 65.0
-	param set FW_PR_P 0.08
-	param set FW_PR_FF 0.5
-	param set FW_RR_P 0.05
-	param set FW_RR_FF 0.6
-
-	param set MIS_YAW_TMT 10

 	param set VT_ARSP_TRANS 15.0
-	param set VT_ARSP_BLEND 8.0
+	param set VT_ARSP_BLEND 10.0
 	param set VT_B_TRANS_DUR 4.0
-
-	param set VT_MOT_COUNT 4
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
 fi

 set MIXER vtol_quad_x
@@ -66,3 +51,7 @@ set PWM_ACHDIS 5
 set PWM_AUX_DISARMED 950

 set MAV_TYPE 22
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 2
@@ -1,88 +0,0 @@
-#!nsh
-#
-# @name Sparkle Tech Ranger VTOL
-#
-# @type Standard VTOL
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    param set VT_TYPE 2
-    param set VT_MOT_COUNT 4
-    param set VT_IDLE_PWM_MC 1180
-    param set MAV_TYPE    22
-    param set VT_ARSP_TRANS   15.0
-    param set VT_B_TRANS_DUR  4.0
-    param set VT_TRANS_MIN_TM 5.0
-    param set VT_TRANS_THR    0.6
-    param set VT_TRANS_TIMEOUT    30.0
-
-    param set FW_AIRSPD_MAX   22.0
-    param set FW_AIRSPD_MIN   14.0
-    param set FW_AIRSPD_TRIM  16.0
-    param set FW_L1_PERIOD    25.0
-    param set FW_PR_P 0.060
-    param set FW_P_RMAX_NEG   40.0
-    param set FW_P_RMAX_POS   40.0
-    param set FW_RR_FF    0.4
-    param set FW_RR_P 0.04
-    param set FW_R_RMAX   40.0
-
-    param set MC_PITCHRATE_D  0.004
-    param set MC_PITCHRATE_I  0.0
-    param set MC_PITCHRATE_MAX    60.0
-    param set MC_PITCHRATE_P  0.21
-    param set MC_PITCH_P  4.0
-    param set MC_ROLLRATE_D   0.004
-    param set MC_ROLLRATE_I   0.002
-    param set MC_ROLLRATE_MAX 60.0
-    param set MC_ROLLRATE_P   0.24
-    param set MC_ROLL_P   4.0
-    param set MC_YAWRATE_I    0.02
-    param set MC_YAWRATE_MAX  40.0
-    param set MC_YAWRATE_P    0.18
-    param set MC_YAWRAUTO_MAX 40.0
-
-    param set MIS_TAKEOFF_ALT 2.5
-    param set MIS_YAW_TMT 20.0
-
-    param set MPC_ACC_HOR_MAX 1.0
-    param set MPC_HOLD_MAX_XY 0.5
-    param set MPC_HOLD_MAX_Z  0.5
-    param set MPC_LAND_SPEED  1.0
-    param set MPC_MANTHR_MIN  0.05
-    param set MPC_MAN_Y_MAX   120.0
-    param set MPC_THR_MIN 0.07
-    param set MPC_TILTMAX_AIR 35.0
-    param set MPC_TILTMAX_LND 20.0
-    param set MPC_TKO_SPEED   1.0
-    param set MPC_XY_FF   0.1
-    param set MPC_XY_P    0.3
-    param set MPC_XY_VEL_MAX  3.0
-    param set MPC_XY_VEL_P    0.05
-    param set MPC_Z_FF    0.3
-    param set MPC_Z_P 0.5
-    param set MPC_Z_VEL_MAX   1.0
-    param set MPC_Z_VEL_P 0.1
-
-    param set NAV_ACC_RAD 3.0
-
-    param set PWM_AUX_REV1    1
-    param set PWM_AUX_REV2    1
-    param set PWM_AUX_REV3    1
-    param set PWM_AUX_REV4    1
-fi
-
-set MIXER vtol_quad_x
-set PWM_OUT 1234
-set PWM_RATE 400
-
-set MIXER_AUX vtol_AAERT
-set PWM_ACHDIS 5
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22
@@ -1,36 +0,0 @@
-#!nsh
-#
-# @name CruiseAder Claire
-#
-# @type VTOL Tiltrotor
-#
-# @maintainer Samay Siga <samay_s@icloud.com>
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-param set VT_TYPE 1
-param set VT_TILT_MC 0.08
-param set VT_TILT_TRANS 0.5
-param set VT_TILT_FW 0.9
-
-param set VT_MOT_COUNT 4
-param set VT_IDLE_PWM_MC 1080
-param set VT_TYPE 1
-fi
-
-set MIXER claire
-set PWM_OUT 1234
-set PWM_RATE 400
-set PWM_MAX 2000
-
-set MIXER_AUX claire
-set PWM_AUX_RATE 50
-set PWM_AUX_RATE 123
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
-set PWM_AUX_DISARMED 1000
-
-set MAV_TYPE 21
@@ -1,47 +0,0 @@
-#!nsh
-#
-# @name Koptr Image GreenKoptr	
-#
-# @type VTOL Tiltrotor
-#
-# @maintainer Alexandre Gilbert <alexandre.gilbert@koptrimage.com>
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLL_P 7.50
-	param set MC_ROLLRATE_P 0.180
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.0
-	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.140
-	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.0040
-	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 3.8
-	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0.0
-
-	param set VT_TILT_MC 0.08
-	param set VT_TILT_TRANS 0.5
-	param set VT_TILT_FW 0.9
-
-	param set VT_MOT_COUNT 6
-	param set VT_FW_MOT_OFFID 34
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 1
-fi
-
-set MIXER greenkoptr
-set PWM_OUT 12345678
-set PWM_RATE 400
-
-set MIXER_AUX greenkoptr
-
-set MAV_TYPE 21
@@ -1,6 +1,6 @@
 #!nsh
 #
-# @name Esky (Big) Lama v4
+# @name Coaxial Helicopter (such as Esky Lama v4 or Esky Big Lama)
 #
 # @type Coaxial Helicopter
 # 
@@ -12,8 +12,7 @@
 # @maintainer Emmanuel Roussel
 #

-sh /etc/init.d/rc.mc_defaults
-set MIXER coax
+set VEHICLE_TYPE mc

 if [ $AUTOCNF == yes ]
 then
@@ -48,6 +47,7 @@ then
 	param set MC_YAWRATE_FF 0
 fi

+set MIXER coax
 # use PWM parameters for throttle channel
 set PWM_OUT 34
 set PWM_RATE 400
@@ -62,3 +62,4 @@ set PWM_AUX_OUT 1234
 set PWM_AUX_DISARMED 1500
 set PWM_AUX_MIN 1000
 set PWM_AUX_MAX 2000
+
@@ -1,50 +0,0 @@
-#!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
@@ -1,12 +0,0 @@
-#!nsh
-#
-# @name Passthrough mode for Snapdragon
-#
-# @type custom
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-# This startup can be used on Pixhawk/Pixfalcon/Pixracer for the
-# passthrough of RC input and PWM output.
-
-set VEHICLE_TYPE passthrough
@@ -24,8 +24,7 @@ then
 	param set FW_AIRSPD_MAX 15
 	param set FW_AIRSPD_MIN 10
 	param set FW_AIRSPD_TRIM 13
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
@@ -24,8 +24,7 @@ then
 	param set FW_AIRSPD_MIN 13
 	param set FW_AIRSPD_TRIM 15
 	param set FW_AIRSPD_MAX 25
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.75
 	param set FW_L1_PERIOD 15
 	param set FW_PR_FF 0.2
@@ -24,8 +24,7 @@ then
 	param set FW_AIRSPD_MIN 15
 	param set FW_AIRSPD_TRIM 20
 	param set FW_AIRSPD_MAX 40
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
@@ -25,8 +25,7 @@ then
 	param set FW_AIRSPD_MAX 15
 	param set FW_AIRSPD_MIN 10
 	param set FW_AIRSPD_TRIM 13
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
+	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
@@ -1,55 +0,0 @@
-#!nsh
-#
-# @name Sparkle Tech Pigeon
-#
-# @url http://www.sparkletech.hk/
-#
-# @type Flying Wing
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Simon Wilks <simon@px4.io>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set FW_AIRSPD_MIN 15
-	param set FW_AIRSPD_TRIM 20
-	param set FW_AIRSPD_MAX 27
-	param set FW_ATT_TC 0.3
-	param set FW_L1_DAMPING 0.75
-	param set FW_L1_PERIOD 15
-	param set FW_PR_FF 0.35
-	param set FW_PR_IMAX 0.2
-	param set FW_PR_P 0.05
-	param set FW_P_LIM_MAX 45
-	param set FW_P_LIM_MIN -45
-	param set FW_P_ROLLFF 1
-	param set FW_P_TC 0.3
-	param set FW_RR_FF 0.3
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.03
-	param set FW_R_LIM 40
-	param set FW_R_RMAX 50
-	param set FW_R_TC 0.3
-
-	# Bottom of bay and nominal zero-pitch attitude differ
-	# the payload bay is pitched up about 7 degrees
-	param set SENS_BOARD_Y_OFF 11.9
-
-	param set FW_L1_PERIOD 20.0
-fi
-
-set MIXER phantom
-
-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4
-set PWM_DISARMED 1000
@@ -11,44 +11,30 @@ sh /etc/init.d/rc.fw_defaults

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

 set PWM_DISARMED p:PWM_DISARMED
@@ -1,34 +0,0 @@
-#!nsh
-#
-# @name Lumenier QAV-R (raceblade) 5" arms
-#
-# @type Quadrotor x
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer James Goppert <james.goppert@gmail.com>
-#
-
-sh /etc/init.d/4001_quad_x
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLL_P 8.0
-	param set MC_ROLLRATE_P 0.08
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 8.0
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.003
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.15
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
-	param set PWM_MIN 1075
-	param set MPC_THR_MIN 0.06
-	param set MPC_MANTHR_MIN 0.06
-fi
@@ -29,7 +29,7 @@ then
    param set MC_YAWRATE_D 0.0
    param set MC_YAW_FF 0.8

-    param set BAT_V_DIV 34.32838
+    param set BAT_V_SCALING 0.00838095238
 fi

 set OUTPUT_MODE ardrone
@@ -15,24 +15,22 @@ sh /etc/init.d/4001_quad_x

 if [ $AUTOCNF == yes ]
 then
-	param set MC_ROLL_P 6.0
-	param set MC_ROLLRATE_P 0.14
-	param set MC_ROLLRATE_I 0.23
-	param set MC_ROLLRATE_D 0.0025
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.05
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.002
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.235
-	param set MC_PITCHRATE_I 0.17
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
+	param set MC_PITCHRATE_P 0.08
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
-	param set PWM_MIN 1075
+	param set PWM_MIN 980
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
-	param set CBRK_IO_SAFETY 22027
-	param set ATT_BIAS_MAX 0.0
-	param set MC_TPA_BREAK 0.5
- 	param set MC_TPA_SLOPE 1.0
+	param set MC_ROLLRATE_MAX 360.0
+	param set MC_PITCHRATE_MAX 360.0
+	param set MC_YAWRATE_MAX 200.0
 fi
@@ -79,7 +79,7 @@ then
    param set RC5_TRIM          1500
 fi

-set MIXER quad_x
+set MIXER solo

 set PWM_OUT 1234
 set MIXER_AUX none
@@ -1,6 +1,6 @@
 #!nsh
 #
-# @name Generic 250 Racer
+# @name generic_250
 #
 # @type Quadrotor x
 #
@@ -15,34 +15,23 @@ sh /etc/init.d/4001_quad_x

 if [ $AUTOCNF == yes ]
 then
-	param set MC_ROLL_P 8.0
-	param set MC_ROLLRATE_P 0.19
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.1
 	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_D 0.0055
-	param set MC_PITCH_P 8.0
-	param set MC_PITCHRATE_P 0.19
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.0055
-	param set MC_YAW_P 4.0
+	param set MC_ROLLRATE_D 0.005
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_D 0.005
+	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
-	param set MC_ROLLRATE_MAX 720.0
-	param set MC_PITCHRATE_MAX 720.0
-	param set MC_YAWRATE_MAX 400.0
-	param set MC_ACRO_R_MAX 360.0
-	param set MC_ACRO_P_MAX 360.0
-	param set MC_TPA_BREAK 0.5
-	param set MC_TPA_SLOPE 1.0
-	
-
-	param set PWM_MIN 1075
-
+	param set PWM_MIN 980
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
-
+	param set MC_ROLLRATE_MAX 360.0
+	param set MC_PITCHRATE_MAX 360.0
+	param set MC_YAWRATE_MAX 200.0
 	param set ATT_BIAS_MAX 0.0
-
-	param set CBRK_IO_SAFETY 22027
 fi
@@ -1,23 +0,0 @@
-#!nsh
-#
-# @name DJI Matrice 100
-#
-# @type Quadrotor x
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer James Goppert <james.goppert@gmail.com>
-#
-
-sh /etc/init.d/4001_quad_x
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLLRATE_P 0.05
-	param set MC_ROLLRATE_D 0.001
-	param set MC_PITCHRATE_P 0.05
-	param set MC_PITCHRATE_D 0.001
-	param set BAT_N_CELLS 6
-fi
@@ -4,7 +4,7 @@
 # att & pos estimator, rover steering control
 #

-ekf2 start
+ekf_att_pos_estimator start

 # disabled the start of steering control app due to use of offboard mode only
 # rover_steering_control start
@@ -6,7 +6,7 @@
 #
 # Start the attitude and position estimator
 #
-ekf2 start
+ekf_att_pos_estimator start

 #
 # Start attitude controller
@@ -7,16 +7,10 @@ then
 #
 # Default parameters for FW
 #
-	param set RTL_RETURN_ALT 100
-	param set RTL_DESCEND_ALT 100
-	param set RTL_LAND_DELAY -1
-
-	# FW uses L1 distance for acceptance radius 
-	#  set a smaller NAV_ACC_RAD for vertical acceptance distance
-	param set NAV_ACC_RAD 10
-	
-	param set MIS_LTRMIN_ALT 25
-	param set MIS_TAKEOFF_ALT 25
+	param set NAV_LAND_ALT 90
+	param set NAV_RTL_ALT 100
+	param set NAV_RTL_LAND_T -1
+	param set NAV_ACC_RAD 50

 	param set PE_VELNE_NOISE 0.3
 	param set PE_VELD_NOISE 0.35
@@ -45,10 +45,10 @@ then

 	if mixer load $OUTPUT_DEV $MIXER_FILE
 	then
-		echo "INFO  [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
+		echo "[i] Mixer: $MIXER_FILE on $OUTPUT_DEV"
 	else
-		echo "ERROR [init] Error loading mixer: $MIXER_FILE"
-		echo "ERROR:[init] Could not load mixer: $MIXER_FILE" >> $LOG_FILE
+		echo "[i] Error loading mixer: $MIXER_FILE"
+		echo "ERROR: Could not load mixer: $MIXER_FILE" >> $LOG_FILE
 		tone_alarm $TUNE_ERR
 	fi

@@ -56,8 +56,8 @@ then
 else
 	if [ $MIXER != skip ]
 	then
-		echo "ERROR [init] Mixer not defined"
-		echo "ERROR [init] Mixer not defined" >> $LOG_FILE
+		echo "[i] Mixer not defined"
+		echo "ERROR: Mixer not defined" >> $LOG_FILE
 		tone_alarm $TUNE_ERR
 	fi
 fi
@@ -103,12 +103,6 @@ then
 	set MIXER_AUX none
 fi

-#MindPX has not aux mixer
-if ver hwcmp MINDPX_V2
-then
-        set MIXER_AUX none
-fi
-
 if [ $MIXER_AUX != none -a $AUX_MODE != none ]
 then
 	#
@@ -137,10 +131,10 @@ then
 			then
 				if mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
 				then
-					echo "INFO  [init] Mixer: $MIXER_AUX_FILE on $OUTPUT_AUX_DEV"
+					echo "[i] Mixer: $MIXER_AUX_FILE on $OUTPUT_AUX_DEV"
 				else
-					echo "ERROR [init] Error loading mixer: $MIXER_AUX_FILE"
-					echo "ERROR [init] Could not load mixer: $MIXER_AUX_FILE" >> $LOG_FILE
+					echo "[i] Error loading mixer: $MIXER_AUX_FILE"
+					echo "ERROR: Could not load mixer: $MIXER_AUX_FILE" >> $LOG_FILE
 				fi
 			else
 				set PWM_AUX_OUT none
@@ -198,18 +192,5 @@ then

 	fi
 fi
-
-unset PWM_OUT
-unset PWM_RATE
-unset PWM_ACHDIS
-unset PWM_MIN
-unset PWM_MAX
-unset PWM_AUX_OUT
-unset PWM_AUX_RATE
-unset PWM_AUX_DISARMED
-unset PWM_AUX_MIN
-unset PWM_AUX_MAX
-unset FAILSAFE_AUX
-unset FAILSAFE
 unset OUTPUT_DEV
 unset OUTPUT_AUX_DEV
@@ -18,4 +18,6 @@ fi

 if px4io limit $PX4IO_LIMIT
 then
+else
+	echo "[i] Set PX4IO update rate to $PX4IO_LIMIT Hz failed!"
 fi
@@ -0,0 +1,18 @@
+#!nsh
+#
+# Initialize logging services.
+#
+
+if [ -d /fs/microsd ]
+then
+	if ver hwcmp PX4FMU_V1
+	then
+		if sdlog2 start -r 40 -a -b 3 -t
+		then
+		fi
+	else
+		if sdlog2 start -r 100 -a -b 12 -t
+		then
+		fi
+	fi
+fi
@@ -4,34 +4,36 @@
 # att & pos estimator, att & pos control.
 #

-
-#---------------------------------------
-# Estimator group selction
-#
-# INAV
-if param compare SYS_MC_EST_GROUP 0
+# The system is defaulting to INAV_ENABLED = 1
+# but users can alternatively try the EKF-based
+# filter by setting INAV_ENABLED = 0
+if param compare INAV_ENABLED 1
 then
 	attitude_estimator_q start
 	position_estimator_inav start
+else
+	if param compare LPE_ENABLED 1
+	then
+		attitude_estimator_q start
+		local_position_estimator start
+	else
+		ekf2 start
+	fi
 fi

-# LPE
-if param compare SYS_MC_EST_GROUP 1
+if mc_att_control start
 then
-	attitude_estimator_q start
-	local_position_estimator start
+else
+	# try the multiplatform version
+	mc_att_control_m start
 fi

-# EKF
-if param compare SYS_MC_EST_GROUP 2
+if mc_pos_control start
 then
-	ekf2 start
+else
+	# try the multiplatform version
+	mc_pos_control_m start
 fi
-#---------------------------------------
-
-mc_att_control start
-
-mc_pos_control start

 #
 # Start Land Detector
@@ -15,8 +15,20 @@ then
 	param set PWM_DISARMED 900
 	param set PWM_MIN 1075
 	param set PWM_MAX 1950
+fi

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

 # set environment variables (!= parameters)
@@ -33,8 +45,3 @@ set PWM_AUX_OUT 1234
 set PWM_AUX_DISARMED 1500
 set PWM_AUX_MIN 1000
 set PWM_AUX_MAX 2000
-
-if param compare PWM_DISARMED 0
-then
-	param set PWM_DISARMED 900
-fi
@@ -1,6 +1,6 @@
 #!nsh
 #
-# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers.
+# Standard startup script for PX4FMU v1, v2, v3 onboard sensor drivers.
 #

 if ver hwcmp PX4FMU_V1
@@ -9,22 +9,6 @@ then
 	then
 	fi
 else
-	# Configure all I2C buses to 100 KHz as they
-	# are all external or slow
-	fmu i2c 1 100000
-	fmu i2c 2 100000
-
-	if ver hwcmp PX4FMU_V4
-	then
-		# We know there are sketchy boards out there
-		# as chinese companies produce Pixracers without
-		# fully understanding the critical parts of the
-		# schematic and BOM, leading to sensor brownouts
-		# on boot. Original Pixracers following the
-		# open hardware design do not require this.
-		fmu sensor_reset 20
-	fi
-
 	if ms5611 -s start
 	then
 	fi
@@ -46,21 +30,11 @@ then
 	then
 	fi

-	# External I2C bus
-	if lis3mdl -X start
-	then
-	fi
-
 	# Internal I2C bus
 	if hmc5883 -C -T -I -R 4 start
 	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
@@ -90,20 +64,12 @@ then
 		then
 		fi

-		if meas_airspeed start -b 2
-		then
-		fi
-
 	else
 		# FMUv2
 		if mpu6000 start
 		then
 		fi

-		if mpu9250 start
-		then
-		fi
-
 		if l3gd20 start
 		then
 		fi
@@ -112,92 +78,61 @@ then
 		then
 		fi
 	fi
-fi
-
-if ver hwcmp PX4FMU_V4
-then
-	# External I2C bus
-	if hmc5883 -C -T -X start
+else
+	if ver hwcmp PX4FMU_V4
 	then
-	fi
+		# External I2C bus
+		if hmc5883 -C -T -X start
+		then
+		fi

-	if lis3mdl -R 2 start
-	then
-	fi
+		# Internal SPI bus is rotated 90 deg yaw
+		if hmc5883 -C -T -S -R 2 start
+		then
+		fi

-	# Internal SPI bus is rotated 90 deg yaw
-	if hmc5883 -C -T -S -R 2 start
-	then
-	fi
+		# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
+		if mpu6000 -R 2 -T 20608 start
+		then
+		fi

-	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
-	if mpu6000 -R 2 -T 20608 start
-	then
-	fi
-
-	# Internal SPI bus mpu9250 is rotated 90 deg yaw
-	if mpu9250 -R 2 start
-	then
-	fi
-fi
-
-if ver hwcmp PX4FMU_V1
-then
-	# FMUv1
-	if mpu6000 start
-	then
-	fi
-
-	if l3gd20 start
-	then
-	fi
-
-	# MAG selection
-	if param compare SENS_EXT_MAG 2
-	then
-		if hmc5883 -C -I start
+		# Internal SPI bus mpu9250 is rotated 90 deg yaw
+		if mpu9250 -R 2 start
 		then
 		fi
 	else
-		# Use only external as primary
-		if param compare SENS_EXT_MAG 1
+		# FMUv1
+		if mpu6000 start
 		then
-			if hmc5883 -C -X start
+		fi
+
+		if l3gd20 start
+		then
+		fi
+
+		# MAG selection
+		if param compare SENS_EXT_MAG 2
+		then
+			if hmc5883 -C -I start
 			then
 			fi
 		else
-		# auto-detect the primary, prefer external
-			if hmc5883 start
+			# Use only external as primary
+			if param compare SENS_EXT_MAG 1
 			then
+				if hmc5883 -C -X start
+				then
+				fi
+			else
+			# auto-detect the primary, prefer external
+				if hmc5883 start
+				then
+				fi
 			fi
 		fi
 	fi
 fi

-if ver hwcmp MINDPX_V2
-then
-	if mpu6500 start
-	then
-	fi
-
-	if lsm303d start
-	then
-	fi
-
-	if l3gd20 start
-	then
-	fi
-
-	# External I2C bus
-	if hmc5883 -C -T -X start
-	then
-	fi
-
-	if lis3mdl -R 2 start
-	then
-	fi
-fi
-
 if meas_airspeed start
 then
 else
@@ -210,7 +145,7 @@ else
 	fi
 fi

-if sf1xx start
+if sf10a start
 then
 fi

@@ -0,0 +1,29 @@
+#!nsh
+#
+# UAVCAN initialization script.
+#
+
+#
+# Starting stuff according to UAVCAN_ENABLE value
+#
+if param greater UAVCAN_ENABLE 0
+then
+	if uavcan start
+	then
+		echo "[i] UAVCAN started"
+	else
+		echo "[i] ERROR: Could not start UAVCAN"
+		tone_alarm $TUNE_ERR
+	fi
+fi
+
+if param greater UAVCAN_ENABLE 1
+then
+	if uavcan start fw
+	then
+		echo "[i] UAVCAN servers started"
+	else
+		echo "[i] ERROR: Could not start UAVCAN servers"
+		tone_alarm $TUNE_ERR
+	fi
+fi
@@ -0,0 +1,9 @@
+#!nsh
+#
+# USB MAVLink start
+#
+
+mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+
+# Exit shell to make it available to MAVLink
+exit
@@ -3,33 +3,10 @@
 # Standard apps for vtol:
 # att & pos estimator, att & pos control.
 #
-#
-
-
-#---------------------------------------
-# Estimator group selction
-#
-# INAV
-if param compare SYS_MC_EST_GROUP 0
-then
-	attitude_estimator_q start
-	position_estimator_inav start
-fi
-
-# LPE
-if param compare SYS_MC_EST_GROUP 1
-then
-	attitude_estimator_q start
-	local_position_estimator start
-fi
-
-# EKF
-if param compare SYS_MC_EST_GROUP 2
-then
-	ekf2 start
-fi
-#---------------------------------------

+attitude_estimator_q start
+#ekf_att_pos_estimator start
+position_estimator_inav start

 vtol_att_control start
 mc_att_control start
@@ -23,18 +23,8 @@ then
 	param set MPC_Z_VEL_MAX 1.5
 	param set MPC_XY_VEL_MAX 4.0
 	param set MIS_YAW_TMT 10
-	param set MPC_ACC_HOR_MAX 2.0
-	param set RTL_LAND_DELAY 0
 fi

-# set environment variables (!= parameters)
-set PWM_RATE 400
-# tell the mixer to use parameters for these instead
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
-
-if param compare PWM_DISARMED 0
-then
-	param set PWM_DISARMED 900
-fi
+set PWM_DISARMED 900
+set PWM_MIN 1000
+set PWM_MAX 2000
@@ -15,6 +15,8 @@ sercon
 #
 set MODE autostart

+set FRC /fs/microsd/etc/rc.txt
+set FCONFIG /fs/microsd/etc/config.txt
 set TUNE_ERR ML<<CP4CP4CP4CP4CP4
 set LOG_FILE /fs/microsd/bootlog.txt

@@ -24,6 +26,7 @@ set LOG_FILE /fs/microsd/bootlog.txt
 # REBOOTWORK this needs to start after the flight control loop
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
+	echo "[i] microSD mounted: /fs/microsd"
 	# Start playing the startup tune
 	tone_alarm start
 else
@@ -32,9 +35,9 @@ else
 	then
 		if mount -t vfat /dev/mmcsd0 /fs/microsd
 		then
-			echo "INFO  [init] MicroSD card formatted"
+			echo "[i] microSD card formatted"
 		else
-			echo "ERROR [init] Format failed"
+			echo "[i] format failed"
 			tone_alarm MNBG
 			set LOG_FILE /dev/null
 		fi
@@ -47,10 +50,9 @@ fi
 # Look for an init script on the microSD card.
 # Disable autostart if the script found.
 #
-set FRC /fs/microsd/etc/rc.txt
 if [ -f $FRC ]
 then
-	echo "INFO  [init] Executing script: $FRC"
+	echo "[i] Executing script: $FRC"
 	sh $FRC
 	set MODE custom
 fi
@@ -76,7 +78,9 @@ then
 	param select $PARAM_FILE
 	if param load
 	then
+		echo "[param] Loaded: $PARAM_FILE"
 	else
+		echo "[param] FAILED loading $PARAM_FILE"
 		if param reset
 		then
 		fi
@@ -99,28 +103,6 @@ then
 	#then
 	#fi

-	#
-	# Set AUTOCNF flag to use it in AUTOSTART scripts
-	#
-	if param compare SYS_AUTOCONFIG 1
-	then
-		# Wipe out params except RC*
-		param reset_nostart RC*
-		set AUTOCNF yes
-	else
-		set AUTOCNF no
-
-		#
-		# Release 1.4.0 transitional support:
-		# set to old default if unconfigured.
-		# this preserves the previous behaviour
-		#
-		if param compare BAT_N_CELLS 0
-		then
-			param set BAT_N_CELLS 3
-		fi
-	fi
-
 	#
 	# Set default values
 	#
@@ -147,8 +129,22 @@ then
 	set MAVLINK_F default
 	set EXIT_ON_END no
 	set MAV_TYPE none
+	set LOAD_DAPPS yes
+	set GPS yes
+	set GPS_FAKE no
 	set FAILSAFE none
-	set USE_IO yes
+
+	#
+	# Set AUTOCNF flag to use it in AUTOSTART scripts
+	#
+	if param compare SYS_AUTOCONFIG 1
+	then
+		# Wipe out params except RC*
+		param reset_nostart RC*
+		set AUTOCNF yes
+	else
+		set AUTOCNF no
+	fi

 	#
 	# Set USE_IO flag
@@ -158,32 +154,19 @@ then
 		if ver hwcmp PX4FMU_V4
 		then
 			set USE_IO no
-		fi
-
-		if ver hwcmp MINDPX_V2
-		then
-			set USE_IO no
+		else
+			set USE_IO yes
 		fi
 	else
 		set USE_IO no
 	fi

-	# should set to 0.8 for mindpx-v2 borad.
-	if param compare INAV_LIDAR_ERR 0.5
-	then
-		if ver hwcmp MINDPX_V2
-		then
-			param set INAV_LIDAR_ERR 0.8
-			param save
-		fi
-	fi
-
 	#
 	# Set parameters and env variables for selected AUTOSTART
 	#
 	if param compare SYS_AUTOSTART 0
 	then
-		echo "INFO  [init] No autostart"
+		echo "[i] No autostart"
 	else
 		sh /etc/init.d/rc.autostart
 	fi
@@ -199,10 +182,9 @@ then
 	#
 	# Override parameters from user configuration file
 	#
-	set FCONFIG /fs/microsd/etc/config.txt
 	if [ -f $FCONFIG ]
 	then
-		echo "INFO  [init] Custom: $FCONFIG"
+		echo "[i] Custom config: $FCONFIG"
 		sh $FCONFIG
 	fi
 	unset FCONFIG
@@ -233,10 +215,12 @@ then

 		if px4io checkcrc ${IO_FILE}
 		then
-			echo "INFO  [init] PX4IO CRC OK" >> $LOG_FILE
+			echo "PX4IO CRC OK" >> $LOG_FILE

 			set IO_PRESENT yes
 		else
+			echo "PX4IO Trying to update" >> $LOG_FILE
+
 			tone_alarm MLL32CP8MB

 			if px4io start
@@ -256,16 +240,16 @@ then
 				usleep 500000
 				if px4io checkcrc $IO_FILE
 				then
-					echo "INFO  [init] PX4IO CRC OK after updating" >> $LOG_FILE
+					echo "PX4IO CRC OK after updating" >> $LOG_FILE
 					tone_alarm MLL8CDE

 					set IO_PRESENT yes
 				else
-					echo "ERROR [init] PX4IO update failed" >> $LOG_FILE
+					echo "ERROR: PX4IO update failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 			else
-				echo "ERROR [init] PX4IO update failed" >> $LOG_FILE
+				echo "ERROR: PX4IO update failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -273,7 +257,8 @@ then

 		if [ $IO_PRESENT == no ]
 		then
-			echo "ERROR [init] PX4IO not found" >> $LOG_FILE
+			echo "[i] ERROR: PX4IO not found"
+			echo "ERROR: PX4IO not found" >> $LOG_FILE
 			tone_alarm $TUNE_ERR
 		fi
 	fi
@@ -295,6 +280,7 @@ then
 	then
 		# Need IO for output but it not present, disable output
 		set OUTPUT_MODE none
+		echo "[i] ERROR: PX4IO not found, disabling output"

 		# Avoid using ttyS0 for MAVLink on FMUv1
 		if ver hwcmp PX4FMU_V1
@@ -311,15 +297,13 @@ then
 	if [ $HIL == yes ]
 	then
 		set OUTPUT_MODE hil
+		set GPS no
 		if ver hwcmp PX4FMU_V1
 		then
 			set FMU_MODE serial
 		fi
-		unset HIL
-	else
-		unset HIL
-		gps start
 	fi
+	unset HIL

 	# waypoint storage
 	# REBOOTWORK this needs to start in parallel
@@ -331,19 +315,22 @@ then
 	# Sensors System (start before Commander so Preflight checks are properly run)
 	#
 	sh /etc/init.d/rc.sensors
+	
+	if [ $GPS == yes ]
+	then
+		if [ $GPS_FAKE == yes ]
+		then
+			echo "[i] Faking GPS"
+			gps start -f
+		else
+			gps start
+		fi
+	fi
+	unset GPS
+	unset GPS_FAKE

 	# Needs to be this early for in-air-restarts
-	if [ $OUTPUT_MODE == hil ]
-	then
-	    commander start -hil
-	else
-	    commander start
-	fi
-
-	#
-	# Start CPU load monitor
-	#
-	load_mon start
+	commander start

 	#
 	# Start primary output
@@ -365,7 +352,7 @@ then
 		then
 			if param compare UAVCAN_ENABLE 0
 			then
-				echo "INFO  [init] OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE
+				echo "[i] OVERRIDING UAVCAN_ENABLE = 1"
 				param set UAVCAN_ENABLE 1
 			fi
 		fi
@@ -376,7 +363,7 @@ then
 			then
 				sh /etc/init.d/rc.io
 			else
-				echo "INFO  [init] PX4IO start failed" >> $LOG_FILE
+				echo "ERROR: PX4IO start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -385,8 +372,10 @@ then
 		then
 			if fmu mode_$FMU_MODE
 			then
+				echo "[i] FMU mode_$FMU_MODE started"
 			else
-				echo "ERR  [init] FMU start failed" >> $LOG_FILE
+				echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
+				echo "ERROR: FMU start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi

@@ -417,8 +406,10 @@ then

 			if mkblctrl $MKBLCTRL_ARG
 			then
+				echo "[i] MK started"
 			else
-				echo "ERROR [init] MK start failed" >> $LOG_FILE
+				echo "[i] ERROR: MK start failed"
+				echo "ERROR: MK start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 			unset MKBLCTRL_ARG
@@ -429,8 +420,10 @@ then
 		then
 			if pwm_out_sim mode_port2_pwm8
 			then
+				echo "[i] PWM SIM output started"
 			else
-				echo "ERROR [init] PWM SIM start failed" >> $LOG_FILE
+				echo "[i] ERROR: PWM SIM output start failed"
+				echo "ERROR: PWM SIM output start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -444,9 +437,11 @@ then
 			then
 				if px4io start
 				then
+					echo "[i] PX4IO started"
 					sh /etc/init.d/rc.io
 				else
-					echo "ERROR [init] PX4IO start failed" >> $LOG_FILE
+					echo "[i] ERROR: PX4IO start failed"
+					echo "ERROR: PX4IO start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 			fi
@@ -455,8 +450,10 @@ then
 			then
 				if fmu mode_$FMU_MODE
 				then
+					echo "[i] FMU mode_$FMU_MODE started"
 				else
-					echo "ERROR [init] FMU mode_$FMU_MODE start failed" >> $LOG_FILE
+					echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
+					echo "ERROR: FMU mode_$FMU_MODE start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi

@@ -508,10 +505,6 @@ then
 	else
 		# XXX We need a better way for runtime eval of shell variables,
 		# but this works for now
-		if param compare SYS_COMPANION 10
-		then
-			frsky_telemetry start -d /dev/ttyS2
-		fi
 		if param compare SYS_COMPANION 921600
 		then
 			mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 80000 -x
@@ -532,134 +525,30 @@ then
 		then
 			mavlink start -d /dev/ttyS2 -b 57600 -r 1000
 		fi
-		if param compare SYS_COMPANION 1921600
-		then
-			mavlink start -d /dev/ttyS2 -b 921600 -r 20000
-		fi
 		# Sensors on the PWM interface bank
 		# clear pins 5 and 6
 		if param compare SENS_EN_LL40LS 1
 		then
-			set FMU_MODE pwm4
 			set AUX_MODE pwm4
 		fi
 		if param greater TRIG_MODE 0
 		then
-			set FMU_MODE pwm4
-			set AUX_MODE pwm4
+			# Get FMU driver out of the way
+			set MIXER_AUX none
+			set AUX_MODE none
 			camera_trigger start
 		fi
 	fi

 	#
-	# Starting stuff according to UAVCAN_ENABLE value
+	# UAVCAN
 	#
-	if param greater UAVCAN_ENABLE 0
-	then
-		if uavcan start
-		then
-		else
-			tone_alarm $TUNE_ERR
-		fi
-	fi
-
-	if param greater UAVCAN_ENABLE 1
-	then
-		if uavcan start fw
-		then
-		else
-			tone_alarm $TUNE_ERR
-		fi
-	fi
-
-	#
-	# Optional drivers
-	#
-
-	# Sensors on the PWM interface bank
-	if param compare SENS_EN_LL40LS 1
-	then
-		if pwm_input start
-		then
-			if ll40ls start pwm
-			then
-			fi
-		fi
-	fi
-
-	# sf0x lidar sensor
-	if param compare SENS_EN_SF0X 1
-	then
-		sf0x start
-	fi
-
-	# mb12xx sonar sensor
-	if param compare SENS_EN_MB12XX 1
-	then
-		mb12xx start
-	fi
-
-	if ver hwcmp PX4FMU_V4
-	then
-		frsky_telemetry start -d /dev/ttyS6
-	fi
-
-	if ver hwcmp PX4FMU_V2
-	then
-		# Check for flow sensor - as it is a background task, launch it last
-		px4flow start &
-	fi
-
-	if ver hwcmp MINDPX_V2
-	then
-		#mindxp also need flow
-		px4flow start &
-	fi
-
-	# Start USB shell if no microSD present, MAVLink else
-	if [ $LOG_FILE == /dev/null ]
-	then
-		# Try to get an USB console
-		nshterm /dev/ttyACM0 &
-	else
-		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
-	fi
+	sh /etc/init.d/rc.uavcan

 	#
 	# Logging
 	#
-	if ver hwcmp PX4FMU_V1
-	then
-		if sdlog2 start -r 30 -a -b 2 -t
-		then
-		fi
-	else
-		# check if we should increase logging rate for ekf2 replay message logging
-		if param greater EKF2_REC_RPL 0
-		then
-			if param compare SYS_LOGGER 0
-			then
-				if sdlog2 start -r 500 -e -b 18 -t
-				then
-				fi
-			else
-				if logger start -r 500
-				then
-				fi
-			fi
-		else
-			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
-		fi
-	fi
+	sh /etc/init.d/rc.logging

 	#
 	# Start up ARDrone Motor interface
@@ -674,7 +563,7 @@ then
 	#
 	if [ $VEHICLE_TYPE == fw ]
 	then
-		echo "INFO  [init] Fixedwing"
+		echo "[i] FIXED WING"

 		if [ $MIXER == none ]
 		then
@@ -694,7 +583,10 @@ then
 		sh /etc/init.d/rc.interface

 		# Start standard fixedwing apps
-		sh /etc/init.d/rc.fw_apps
+		if [ $LOAD_DAPPS == yes ]
+		then
+			sh /etc/init.d/rc.fw_apps
+		fi
 	fi

 	#
@@ -702,11 +594,11 @@ then
 	#
 	if [ $VEHICLE_TYPE == mc ]
 	then
-		echo "INFO  [init] Multicopter"
+		echo "[i] MULTICOPTER"

 		if [ $MIXER == none ]
 		then
-			echo "INFO  [init] Mixer undefined"
+			echo "Mixer undefined"
 		fi

 		if [ $MAV_TYPE == none ]
@@ -744,16 +636,12 @@ then
 			then
 				set MAV_TYPE 14
 			fi
-			if [ $MIXER == coax ]
-			then
-				set MAV_TYPE 3
-			fi
 		fi

 		# Still no MAV_TYPE found
 		if [ $MAV_TYPE == none ]
 		then
-			echo "WARN  [init] Unknown MAV_TYPE"
+			echo "Unknown MAV_TYPE"
 			param set MAV_TYPE 2
 		else
 			param set MAV_TYPE $MAV_TYPE
@@ -763,7 +651,10 @@ then
 		sh /etc/init.d/rc.interface

 		# Start standard multicopter apps
-		sh /etc/init.d/rc.mc_apps
+		if [ $LOAD_DAPPS == yes ]
+		then
+			sh /etc/init.d/rc.mc_apps
+		fi
 	fi

 	#
@@ -771,11 +662,11 @@ then
 	#
 	if [ $VEHICLE_TYPE == vtol ]
 	then
-		echo "INFO  [init] VTOL"
+		echo "[init] Vehicle type: VTOL"

 		if [ $MIXER == none ]
 		then
-			echo "WARN  [init] VTOL mixer undefined"
+			echo "Default mixer for vtol not defined"
 		fi

 		if [ $MAV_TYPE == none ]
@@ -798,7 +689,7 @@ then
 		# Still no MAV_TYPE found
 		if [ $MAV_TYPE == none ]
 		then
-			echo "WARN  [init] Unknown MAV_TYPE"
+			echo "Unknown MAV_TYPE"
 			param set MAV_TYPE 19
 		else
 			param set MAV_TYPE $MAV_TYPE
@@ -808,7 +699,10 @@ then
 		sh /etc/init.d/rc.interface

 		# Start standard vtol apps
-		sh /etc/init.d/rc.vtol_apps
+		if [ $LOAD_DAPPS == yes ]
+		then
+			sh /etc/init.d/rc.vtol_apps
+		fi
 	fi

 	#
@@ -823,51 +717,14 @@ then
 		sh /etc/init.d/rc.interface

 		# Start standard rover apps
-		sh /etc/init.d/rc.axialracing_ax10_apps
+		if [ $LOAD_DAPPS == yes ]
+		then
+			sh /etc/init.d/rc.axialracing_ax10_apps
+		fi

 		param set MAV_TYPE 10
 	fi

-	#
-	# For snapdragon, we need a passthrough mode
-	# Do not run any mavlink instances since we need the serial port for
-	# communication with Snapdragon.
-	#
-	if [ $VEHICLE_TYPE == passthrough ]
-	then
-		mavlink stop-all
-		commander stop
-
-		# Stop multicopter attitude controller if it is running, the controls come
-		# from Snapdragon.
-		if mc_att_control stop
-		then
-		fi
-
-		# Start snapdragon interface on serial port.
-		if ver hwcmp PX4FMU_V2
-		then
-			# On Pixfalcon use the standard telemetry port (Telem 1).
-			snapdragon_rc_pwm start -d /dev/ttyS1
-			px4io start
-		fi
-
-		if ver hwcmp PX4FMU_V4
-		then
-			# On Pixracer use Telem 2 port (TL2).
-			snapdragon_rc_pwm start -d /dev/ttyS2
-			fmu mode_pwm4
-		fi
-
-		pwm failsafe -c 1234 -p 900
-		pwm disarmed -c 1234 -p 900
-
-		# Arm straightaway.
-		pwm arm
-		# Use 400 Hz PWM on all channels.
-		pwm rate -a -r 400
-	fi
-
 	unset MIXER
 	unset MAV_TYPE
 	unset OUTPUT_MODE
@@ -882,14 +739,15 @@ then
 	#
 	if [ $VEHICLE_TYPE == none ]
 	then
-		echo "WARN  [init] No autostart ID found"
+		echo "[i] No autostart ID found"
+
 	fi

 	# Start any custom addons
 	set FEXTRAS /fs/microsd/etc/extras.txt
 	if [ -f $FEXTRAS ]
 	then
-		echo "INFO  [init] Addons script: $FEXTRAS"
+		echo "[i] Addons script: $FEXTRAS"
 		sh $FEXTRAS
 	fi
 	unset FEXTRAS
@@ -897,6 +755,7 @@ then
 	# Run no SD alarm
 	if [ $LOG_FILE == /dev/null ]
 	then
+		echo "[i] No microSD card found"
 		# Play SOS
 		tone_alarm error
 	fi
@@ -911,9 +770,40 @@ unset TUNE_ERR
 # Boot is complete, inform MAVLink app(s) that the system is now fully up and running
 mavlink boot_complete

+# Sensors on the PWM interface bank
+if param compare SENS_EN_LL40LS 1
+then
+	if pwm_input start
+	then
+		if ll40ls start pwm
+		then
+		fi
+	fi
+fi
+
+if ver hwcmp PX4FMU_V4
+then
+	frsky_telemetry start -d /dev/ttyS6
+fi
+
+if ver hwcmp PX4FMU_V2
+then
+	# Check for flow sensor - as it is a background task, launch it last
+	px4flow start &
+fi
+
+# Start USB shell if no microSD present, MAVLink else
+if [ $LOG_FILE == /dev/null ]
+then
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+else
+	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+fi
+
 if [ $EXIT_ON_END == yes ]
 then
-	echo "INFO  [init] NSH exit"
+	echo "Exit from nsh"
 	exit
 fi
 unset EXIT_ON_END
@@ -62,3 +62,24 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / flaps / payload mixer for last four channels,
+using the payload control group
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 3  10000  10000      0 -10000  10000
@@ -58,3 +58,23 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
@@ -62,3 +62,23 @@ endpoints to suit.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000
+
+Gimbal / flaps / payload mixer for last four channels,
+using the payload control group
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 3  10000  10000      0 -10000  10000
@@ -49,3 +49,22 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
@@ -51,3 +51,23 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
@@ -47,3 +47,22 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
@@ -3,21 +3,17 @@ Caipirinha tailsitter mixer

 This file defines a mixer for the TBS Caipirinha tailsitter edition. This vehicle
 has two motors in total, one attached to each wing. It also has two elevons which
-are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
-elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
-at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used. 
+are located in the slipstream of the propellers.

 Motor mixer
 ------------
-Channel 1 connects to the right (starboard) motor.
-Channel 2 connects to the left (port) motor.
+When standing in front of the vehicle the first motor should be on the left side
+while the second motor should be on the right side.

 R: 2- 10000 10000 10000 0

 Zero mixer (2x)
 ---------------
-Channels 3,4 are unused.

 Z:

@@ -25,15 +21,13 @@ Z:

 Elevons mixer
 --------------
-Channel 5 connects to the right (starboard) elevon.
-Channel 6 connects to the left (port) elevon.

 M: 2
-O:        7500    7500    0 -10000  10000
-S: 1 0  -10000  -10000    0 -10000  10000
-S: 1 1   10000   10000    0 -10000  10000
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+S: 1 1  10000  10000      0 -10000  10000

 M: 2
-O:        7500    7500    0 -10000  10000
-S: 1 0  -10000  -10000    0 -10000  10000
+O:       10000   10000    0 -10000  10000
+S: 1 0   10000   10000    0 -10000  10000
 S: 1 1  -10000  -10000    0 -10000  10000
@@ -1,38 +0,0 @@
-# mixer for the CruiseAder Claire tilt mechansim servo, aileron and elevator
-
-=======================================================================
-
-
-Tilt mechanism servo mixer
-
---------------------------
-
-M: 1
-
-O:      10000  10000      0 -10000  10000
-
-S: 1 4  10000  10000      0 -10000  10000
-
-
-
-Aileron mixers
-
-------------
-
-M: 1
-
-O:      10000  10000      0 -10000  10000
-
-S: 1 0  10000  10000      0 -10000  10000
-
-
-
-Elevator mixers
-
-------------
-
-M: 1
-
-O:      10000  10000      0 -10000  10000
-
-S: 1 1 -10000 -10000      0 -10000  10000
@@ -1,7 +0,0 @@
-# CruiseAder Claire Main Multirotor mixer for PX4FMU
-
-#
-
-#===========================
-
-R: 4x 10000 10000 10000 0
@@ -47,3 +47,24 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
+
@@ -1,20 +0,0 @@
-# mixer for the GreenKoptr tilt mechansim servo, elevons and landing gear
-=======================================================================
-
-Tilt mechanism servo mixer
---------------------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
-
-Elevon mixers
-------------
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  -7500  -7500      0 -10000  10000
-S: 1 1   8000   8000      0 -10000  10000
-
-M: 2
-O:       10000   10000    0 -10000  10000
-S: 1 0   -7500   -7500    0 -10000  10000
-S: 1 1   -8000   -8000    0 -10000  10000
@@ -1,4 +0,0 @@
-# GreenKoptr mixer for PX4FMU
-#
-#===========================
-R: 6t 10000 10000 10000 0
@@ -1,54 +0,0 @@
-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
@@ -46,3 +46,22 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
@@ -6,13 +6,22 @@ are mixed 100%.

 R: 4+ 10000 10000 10000 0

-Gimbal / payload mixer for last two channels
+
+Gimbal / payload mixer for last four channels
 -----------------------------------------------------

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
@@ -6,13 +6,21 @@ are mixed 100%.

 R: 4h 10000 10000 10000 0

-Gimbal / payload mixer for last two channels
+Gimbal / payload mixer for last four channels
 -----------------------------------------------------

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
@@ -1,9 +1,10 @@
-Multirotor mixer for TEST
+Multirotor mixer for PX4FMU
 ===========================

-This file defines a single mixer for a quadrotor with a wide configuration.  All controls are mixed 100%.
+This file defines a single mixer for a quadrotor in the V configuration.  All controls
+are mixed 100%.

-R: 4w 10000 10000 10000 0
+R: 4v 10000 10000 10000 0

 Gimbal / payload mixer for last four channels
 -----------------------------------------------------
@@ -5,13 +5,21 @@ This file defines a single mixer for a quadrotor with a wide configuration.  All

 R: 4w 10000 10000 10000 0

-Gimbal / payload mixer for last two channels
+Gimbal / payload mixer for last four channels
 -----------------------------------------------------

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
@@ -1,7 +1,26 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in the X configuration.  All controls
+are mixed 100%.
+
 R: 4x 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
@@ -6,21 +6,13 @@ are mixed 100%.

 R: 4x 10000 10000 10000 0

-Z:
-
-# left elevon
+#mixer for the elevons
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 1 0  5000  5000      0 -10000  10000
 S: 1 1  5000  5000      0 -10000  10000

-# right elevon
 M: 2
 O:       10000   10000    0 -10000  10000
 S: 1 0   5000   5000    0 -10000  10000
 S: 1 1  -5000  -5000    0 -10000  10000
-
-# mixer for the virtual elevator
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 1 1   10000   10000    0 -10000  10000
@@ -5,17 +5,21 @@ This file defines a single mixer for a quadrotor in SK450 DeadCat configuration.

 R: 4dc 10000 10000 10000 0

-Gimbal / payload mixer for last three channels
+Gimbal / payload mixer for last four channels
 -----------------------------------------------------

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000

 M: 1
 O:      10000  10000      0 -10000  10000
-S: 3 7  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
@@ -0,0 +1,7 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in the X configuration.  All controls
+are mixed 100%.
+
+R: 4x 10000 10000 10000 0
@@ -1,26 +1,24 @@
 Mixer for standard vtol plane (SITL) with motor x configuration
 =========================================================

-This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
+This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration.
+The plane has two ailerons and one elevator. The ailerons and elevator are treated as elevons
+in order to make the standard vtol simulation compatible with the tailsitter simulation.

 R: 4x 10000 10000 10000 0

+# mixer for the elevons
+M: 2
+O:      10000  10000   0 -10000  10000
+S: 1 0  5000   5000    0 -10000  10000
+S: 1 1 -5000 -5000     0 -10000  10000
+
+M: 2
+O:       10000   10000   0 -10000  10000
+S: 1 0   5000    5000    0 -10000  10000
+S: 1 1   5000    5000    0 -10000  10000
+
 # mixer for the pusher/puller throttle
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 1 3      0  20000 -10000 -10000  10000
-
-# mixer for the left aileron
-M: 1
-O:      10000  10000   0 -10000  10000
-S: 1 0  10000  10000    0 -10000  10000
-
-# mixer for the right aileron
-M: 1
-O:      10000  10000   0 -10000  10000
-S: 1 0  -10000  -10000    0 -10000  10000
-
-# mixer for the elevator
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 1 1   10000   10000    0 -10000  10000
@@ -19,13 +19,13 @@ input is inverted between the two servos.

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

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

 Motor speed mixer
 -----------------
@@ -1,201 +0,0 @@
-#!nsh
-#
-# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers.
-#
-
-if ver hwcmp PX4FMU_V1
-then
-	if ms5611 start
-	then
-	fi
-else
-	# Configure all I2C buses to 100 KHz as they
-	# are all external or slow
-	fmu i2c 1 100000
-	fmu i2c 2 100000
-
-	if ms5611 -s start
-	then
-	fi
-
-	# Blacksheep telemetry
-	if bst start
-	then
-	fi
-fi
-
-if adc start
-then
-fi
-
-if ver hwcmp PX4FMU_V2
-then
-	# External I2C bus
-	if hmc5883 -C -T -X start
-	then
-	fi
-
-	# External I2C bus
-	if lis3mdl -X start
-	then
-	fi
-
-	# Internal I2C bus
-	if hmc5883 -C -T -I -R 4 start
-	then
-	fi
-
-	# external MPU6K is rotated 180 degrees yaw
-	if mpu6000 -X -R 4 start
-	then
-		set BOARD_FMUV3 true
-	else
-		set BOARD_FMUV3 false
-	fi
-
-	if [ $BOARD_FMUV3 == true ]
-	then
-		# external L3GD20H is rotated 180 degrees yaw
-		if l3gd20 -X -R 4 start
-		then
-		fi
-
-		# external LSM303D is rotated 270 degrees yaw
-		if lsm303d -X -R 6 start
-		then
-		fi
-
-		# internal MPU6000 is rotated 180 deg roll, 270 deg yaw
-		if mpu6000 -R 14 start
-		then
-		fi
-
-		if hmc5883 -C -T -S -R 8 start
-		then
-		fi
-
-		if meas_airspeed start -b 2
-		then
-		fi
-
-	else
-		# FMUv2
-		if mpu6000 start
-		then
-		fi
-
-		if l3gd20 start
-		then
-		fi
-
-		if lsm303d start
-		then
-		fi
-	fi
-fi
-
-if ver hwcmp PX4FMU_V4
-then
-	# External I2C bus
-	if hmc5883 -C -T -X start
-	then
-	fi
-
-	if lis3mdl -R 2 start
-	then
-	fi
-
-	# Internal SPI bus is rotated 90 deg yaw
-	if hmc5883 -C -T -S -R 2 start
-	then
-	fi
-
-	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
-	if mpu6000 -R 2 -T 20608 start
-	then
-	fi
-
-	# Internal SPI bus mpu9250 is rotated 90 deg yaw
-	if mpu9250 -R 2 start
-	then
-	fi
-fi
-
-if ver hwcmp PX4FMU_V1
-then
-	# FMUv1
-	if mpu6000 start
-	then
-	fi
-
-	if l3gd20 start
-	then
-	fi
-
-	# MAG selection
-	if param compare SENS_EXT_MAG 2
-	then
-		if hmc5883 -C -I start
-		then
-		fi
-	else
-		# Use only external as primary
-		if param compare SENS_EXT_MAG 1
-		then
-			if hmc5883 -C -X start
-			then
-			fi
-		else
-		# auto-detect the primary, prefer external
-			if hmc5883 start
-			then
-			fi
-		fi
-	fi
-fi
-
-if ver hwcmp MINDPX_V2
-then
-	if mpu6500 start
-	then
-	fi
-
-	if lsm303d start
-	then
-	fi
-
-	if l3gd20 start
-	then
-	fi
-
-	# External I2C bus
-	if hmc5883 -C -T -X start
-	then
-	fi
-
-	if lis3mdl -R 2 start
-	then
-	fi
-fi
-
-if meas_airspeed start
-then
-else
-	if ets_airspeed start
-	then
-	else
-		if ets_airspeed start -b 1
-		then
-		fi
-	fi
-fi
-
-if sf1xx start
-then
-fi
-
-# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
-usleep 20000
-if sensors start
-then
-fi
@@ -38,11 +38,6 @@ fi
 # Start a minimal system
 #

-#
-# Start the ORB (first app to start)
-#
-uorb start
-
 #
 # Load parameters
 #
@@ -109,24 +104,131 @@ then
 	tests mount
 fi

-sh /etc/init.d/rc.sensors
-
-ver all
-
 #
 # Run unit tests at board boot, reporting failure as needed.
 # Add new unit tests using the same pattern as below.
 #

+if mavlink_tests
+then
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
+fi
+
+if commander_tests
+then
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} commander_tests"
+fi
+
+if uorb test
+then
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} uorb_tests"
+fi
+
+# Start all sensors on all boards
+ms5611 start
+adc start
+
+if mpu6000 -X start
+then
+fi
+
+if mpu6000 start
+then
+fi
+
+if l3gd20 -X start
+then
+fi
+
+if l3gd20 start
+then
+fi
+
+# MAG selection
+if param compare SENS_EXT_MAG 2
+then
+	if hmc5883 -I start
+	then
+	fi
+else
+	# Use only external as primary
+	if param compare SENS_EXT_MAG 1
+	then
+		if hmc5883 -X start
+		then
+		fi
+	else
+	# auto-detect the primary, prefer external
+		if hmc5883 start
+		then
+		fi
+	fi
+fi
+
+if ver hwcmp PX4FMU_V2
+then
+	if lsm303d -X start
+	then
+	fi
+
+	if lsm303d start
+	then
+	fi
+
+	if ms5611 -X start
+	then
+	fi
+fi
+
+if meas_airspeed start
+then
+else
+	if ets_airspeed start
+	then
+	else
+		if ets_airspeed start -b 1
+		then
+		fi
+	fi
+fi
+
+if sensors start
+then
+fi
+
+# Check for flow sensor
+if px4flow start
+then
+fi
+
+if ll40ls start
+then
+fi
+
 if tests all
+then
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} system_tests"
+fi
+
+if [ $unit_test_failure == 0 ]
 then
 	echo
 	echo "All Unit Tests PASSED"
 	rgbled rgb 20 255 20
 else
 	echo
-	echo "Some Unit Tests FAILED"
+	echo "Some Unit Tests FAILED:${unit_test_failure_list}"
 	rgbled rgb 255 20 20
 fi

+ver all
+
 free
@@ -1,36 +0,0 @@
-Mixer for SITL plane
-=========================================================
-
-Z:
-
-Z:
-
-# mixer for the rudder
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 2   10000   10000    0 -10000  10000
-
-# mixer for the flaps
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 4   10000   10000    0 -10000  10000
-
-# mixer for the pusher/puller throttle
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-# mixer for the left aileron
-M: 1
-O:      10000  10000   0 -10000  10000
-S: 0 0  -10000  -10000    0 -10000  10000
-
-# mixer for the right aileron
-M: 1
-O:      10000  10000   0 -10000  10000
-S: 0 0  10000  10000    0 -10000  10000
-
-# mixer for the elevator
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 1   10000   10000    0 -10000  10000
@@ -1,21 +0,0 @@
-#!nsh
-#
-# @name Generic Quadrotor X config
-#
-# @type Quadrotor x
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-sh /etc/init.d/rc.mc_defaults
-if tap_esc start -d /dev/ttyS4 -n 4
-then
-fi
-set OUTPUT_MODE tap_esc
-param set BAT_N_CELLS 4
-
-set MIXER quad_x
@@ -1,25 +0,0 @@
-#!nsh
-#
-# @name Generic Hexarotor x geometry
-#
-# @type Hexarotor x
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Anton Babushkin <anton@px4.io>
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-param set MAV_TYPE 13
-param set MC_YAWRATE_P 0.12
-param set CAL_MAG0_ROT 6
-
-if tap_esc start -d /dev/ttyS4 -n 6
-then
-fi
-set OUTPUT_MODE tap_esc
-
-set MIXER hexa_x
@@ -1,20 +0,0 @@
-#!nsh
-#
-# Standard apps for fixed wing
-#
-
-#
-# Start the attitude and position estimator
-#
-ekf2 start
-
-#
-# Start attitude controller
-#
-fw_att_control start
-fw_pos_control_l1 start
-
-#
-# Start Land Detector
-#
-land_detector start fixedwing
@@ -1,28 +0,0 @@
-#!nsh
-
-set VEHICLE_TYPE fw
-
-if [ $AUTOCNF == yes ]
-then
-#
-# Default parameters for FW
-#
-	param set RTL_RETURN_ALT 100
-	param set RTL_DESCEND_ALT 100
-	param set RTL_LAND_DELAY -1
-
-	param set NAV_ACC_RAD 50
-
-	param set PE_VELNE_NOISE 0.3
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.0
-fi
-
-# This is the gimbal pass mixer
-set MIXER_AUX pass
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1500
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
@@ -1,83 +0,0 @@
-#!nsh
-#
-# Script to configure control interface
-#
-
-set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
-
-if [ $MIXER != none -a $MIXER != skip ]
-then
-	#
-	# Load main mixer
-	#
-
-	# Use the mixer file
-	set MIXER_FILE /etc/mixers/$MIXER.main.mix
-
-	set OUTPUT_DEV /dev/pwm_output0
-
-	if [ $OUTPUT_MODE == tap_esc ]
-	then
-		set OUTPUT_DEV /dev/tap_esc
-	fi
-
-	if mixer load $OUTPUT_DEV $MIXER_FILE
-	then
-		echo "INFO  [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
-	else
-		echo "ERROR [init] Error loading mixer: $MIXER_FILE"
-		echo "ERROR:[init] Could not load mixer: $MIXER_FILE" >> $LOG_FILE
-		tone_alarm $TUNE_ERR
-	fi
-
-	unset MIXER_FILE
-else
-	if [ $MIXER != skip ]
-	then
-		echo "ERROR [init] Mixer not defined"
-		echo "ERROR [init] Mixer not defined" >> $LOG_FILE
-		tone_alarm $TUNE_ERR
-	fi
-fi
-
-if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
-then
-	if [ $PWM_OUT != none ]
-	then
-		#
-		# Set PWM output frequency
-		#
-		if [ $PWM_RATE != none ]
-		then
-			pwm rate -c $PWM_OUT -r $PWM_RATE
-		fi
-
-		#
-		# Set disarmed, min and max PWM values
-		#
-		if [ $PWM_DISARMED != none ]
-		then
-			pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
-		fi
-		if [ $PWM_MIN != none ]
-		then
-			pwm min -c $PWM_OUT -p $PWM_MIN
-		fi
-		if [ $PWM_MAX != none ]
-		then
-			pwm max -c $PWM_OUT -p $PWM_MAX
-		fi
-	fi
-
-	if [ $FAILSAFE != none ]
-	then
-		pwm failsafe -d $OUTPUT_DEV $FAILSAFE
-	fi
-fi
-
-unset PWM_OUT
-unset PWM_RATE
-unset PWM_MIN
-unset PWM_MAX
-unset FAILSAFE
-unset OUTPUT_DEV
@@ -1,17 +0,0 @@
-#!nsh
-#
-# Standard apps for multirotors:
-# att & pos estimator, att & pos control.
-#
-
-
-ekf2 start
-
-mc_att_control start
-
-mc_pos_control start
-
-#
-# Start Land Detector
-#
-land_detector start multicopter
@@ -1,38 +0,0 @@
-#!nsh
-
-set VEHICLE_TYPE mc
-
-if [ $AUTOCNF == yes ]
-then
-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.25
-
-	param set PWM_DISARMED 900
-	param set PWM_MIN 1075
-	param set PWM_MAX 1950
-fi
-
-param set NAV_ACC_RAD 2.0
-param set MIS_TAKEOFF_ALT 2.5
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 10.0
-param set RTL_LAND_DELAY 0
-param set MPC_THR_MIN 0.10
-param set MPC_MANTHR_MIN 0.04
-
-# set environment variables (!= parameters)
-set PWM_RATE 400
-# tell the mixer to use parameters for these instead
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
-
-# This is the gimbal pass mixer
-set MIXER_AUX pass
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1500
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
@@ -1,28 +0,0 @@
-#!nsh
-#
-# Standard startup script for TAP v1 onboard sensor drivers.
-#
-
-if adc start
-then
-fi
-
-if ms5611 -T 5607 -I start
-then
-fi
-
-# External I2C bus
-if hmc5883 -C -T -X start
-then
-fi
-
-# Internal I2C bus
-if mpu6000 -I -T 6000 start
-then
-fi
-
-# Wait 50 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
-usleep 50000
-if sensors start
-then
-fi
@@ -1,24 +0,0 @@
-#!nsh
-#
-# Standard apps for vtol:
-# att & pos estimator, att & pos control.
-#
-#
-
-
-#---------------------------------------
-# Estimator group selction
-#
-ekf2 start
-
-vtol_att_control start
-mc_att_control start
-mc_pos_control start
-fw_att_control start
-fw_pos_control_l1 start
-
-#
-# Start Land Detector
-# Multicopter for now until we have something for VTOL
-#
-land_detector start vtol
@@ -1,49 +0,0 @@
-#!nsh
-
-set VEHICLE_TYPE vtol
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLL_P 6.0
-	param set MC_PITCH_P 6.0
-	param set MC_YAW_P 4
-
-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.3
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.25
-	param set PE_ABIAS_PNOISE 0.0001
-
-	#
-	# Default parameters for mission and position handling
-	#
-	param set NAV_ACC_RAD 3
-	param set MPC_TKO_SPEED 1.0
-	param set MPC_LAND_SPEED 0.7
-	param set MPC_Z_VEL_MAX 1.5
-	param set MPC_XY_VEL_MAX 4.0
-	param set MIS_YAW_TMT 10
-	param set MPC_ACC_HOR_MAX 2.0
-	param set RTL_LAND_DELAY 0
-fi
-
-# set environment variables (!= parameters)
-set PWM_RATE 400
-# tell the mixer to use parameters for these instead
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
-
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1000
-then
-	param set PWM_MIN 1075
-fi
-if param compare PWM_MAX 2000
-then
-	param set PWM_MAX 1950
-fi
-if param compare PWM_DISARMED 0
-then
-	param set PWM_DISARMED 900
-fi
@@ -1,347 +0,0 @@
-#!nsh
-#
-# TAP startup script.
-#
-#  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
-#
-
-# Serial map:
-# /dev/ttyS0: GPS
-# /dev/ttyS1: GB
-# /dev/ttyS2: nsh shell / console
-# /dev/ttyS3: payload
-# /dev/ttyS4: esc bus
-# /dev/ttyS5: RC input
-
-#
-# Start CDC/ACM serial driver
-#
-sercon
-
-set TUNE_ERR ML<<CP4CP4CP4CP4CP4
-set LOG_FILE /fs/microsd/bootlog.txt
-
-#
-# Try to mount the microSD card.
-#
-if mount -t vfat /dev/mmcsd0 /fs/microsd
-then
-	echo "microSD present"
-else
-	if mkfatfs /dev/mmcsd0
-	then
-		if mount -t vfat /dev/mmcsd0 /fs/microsd
-		then
-			echo "microSD card formatted"
-		else
-			echo "ERROR [init] Format failed"
-			tone_alarm MNBG
-			set LOG_FILE /dev/null
-		fi
-	else
-		set LOG_FILE /dev/null
-	fi
-fi
-
-#
-# Start the ORB (first app to start)
-#
-uorb start
-
-#
-# Load parameters
-#
-set PARAM_FILE /fs/microsd/params
-if mtd start
-then
-	set PARAM_FILE /fs/mtd_params
-fi
-
-param select $PARAM_FILE
-if param load
-then
-else
-	if param reset
-	then
-	fi
-fi
-
-tone_alarm start
-
-#
-# Start system state indicator
-#
-if rgbled start
-then
-fi
-
-#
-# Set parameters and env variables for selected AUTOSTART
-#
-if param compare SYS_AUTOSTART 0
-then
-	param set SYS_AUTOSTART 6001
-	param set SYS_AUTOCONFIG 1
-fi
-
-#
-# Set AUTOCNF flag to use it in AUTOSTART scripts
-#
-if param compare SYS_AUTOCONFIG 1
-then
-	# Wipe out params except RC*
-	param reset_nostart RC*
-	set AUTOCNF yes
-else
-	set AUTOCNF no
-fi
-
-#
-# Set default values
-#
-set VEHICLE_TYPE none
-set MIXER none
-set OUTPUT_MODE none
-set PWM_OUT none
-set PWM_RATE none
-set PWM_DISARMED none
-set PWM_MIN none
-set PWM_MAX none
-set FMU_MODE pwm
-set MAV_TYPE none
-set FAILSAFE none
-
-# Start canned airframe config
-sh /etc/init.d/rc.autostart
-
-#
-# If autoconfig parameter was set, reset it and save parameters
-#
-if [ $AUTOCNF == yes ]
-then
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
-unset AUTOCNF
-
-#
-# Set default output if not set
-#
-if [ $OUTPUT_MODE == none ]
-then
-	if [ $USE_IO == yes ]
-	then
-		set OUTPUT_MODE io
-	else
-		set OUTPUT_MODE fmu
-	fi
-fi
-
-gps start -d /dev/ttyS0
-
-# waypoint storage
-# REBOOTWORK this needs to start in parallel
-if dataman start
-then
-fi
-
-#
-# Sensors System (start before Commander so Preflight checks are properly run)
-#
-sh /etc/init.d/rc.sensors
-
-commander start
-
-#
-# Start CPU load monitor
-#
-load_mon start
-
-# Start MAVLink on the gimbal port
-#mavlink start -r 1200 -d /dev/ttyS1
-
-# Start MAVLink on USB, developers can use the MAVLink shell
-mavlink start -r 60000 -d /dev/ttyACM0 -m config
-
-#
-# Logging
-#
-#if logger start -b 2 -t
-#then
-#fi
-
-#
-# Fixed wing setup
-#
-if [ $VEHICLE_TYPE == fw ]
-then
-	echo "INFO  [init] Fixedwing"
-
-	if [ $MIXER == none ]
-	then
-		# Set default mixer for fixed wing if not defined
-		set MIXER AERT
-	fi
-
-	if [ $MAV_TYPE == none ]
-	then
-		# Use MAV_TYPE = 1 (fixed wing) if not defined
-		set MAV_TYPE 1
-	fi
-
-	param set MAV_TYPE $MAV_TYPE
-
-	# Load mixer and configure outputs
-	sh /etc/init.d/rc.interface
-
-	# Start standard fixedwing apps
-	sh /etc/init.d/rc.fw_apps
-fi
-
-#
-# Multicopters setup
-#
-if [ $VEHICLE_TYPE == mc ]
-then
-	echo "INFO  [init] Multicopter"
-
-	if [ $MIXER == none ]
-	then
-		echo "INFO  [init] Mixer undefined"
-	fi
-
-	if [ $MAV_TYPE == none ]
-	then
-		# Use mixer to detect vehicle type
-		if [ $MIXER == quad_x -o $MIXER == quad_+ ]
-		then
-			set MAV_TYPE 2
-		fi
-		if [ $MIXER == quad_w ]
-		then
-			set MAV_TYPE 2
-		fi
-		if [ $MIXER == quad_h ]
-		then
-			set MAV_TYPE 2
-		fi
-		if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
-		then
-			set MAV_TYPE 15
-		fi
-		if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER == hexa_cox ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER == octo_x -o $MIXER == octo_+ ]
-		then
-			set MAV_TYPE 14
-		fi
-	fi
-
-	# Still no MAV_TYPE found
-	if [ $MAV_TYPE == none ]
-	then
-		echo "WARN  [init] Unknown MAV_TYPE"
-		param set MAV_TYPE 2
-	else
-		param set MAV_TYPE $MAV_TYPE
-	fi
-
-	# Load mixer and configure outputs
-	sh /etc/init.d/rc.interface
-
-	# Start standard multicopter apps
-	sh /etc/init.d/rc.mc_apps
-fi
-
-#
-# VTOL setup
-#
-if [ $VEHICLE_TYPE == vtol ]
-then
-	echo "INFO  [init] VTOL"
-
-	if [ $MIXER == none ]
-	then
-		echo "WARN  [init] VTOL mixer undefined"
-	fi
-
-	if [ $MAV_TYPE == none ]
-	then
-		# Use mixer to detect vehicle type
-		if [ $MIXER == caipirinha_vtol ]
-		then
-			set MAV_TYPE 19
-		fi
-		if [ $MIXER == firefly6 ]
-		then
-			set MAV_TYPE 21
-		fi
-		if [ $MIXER == quad_x_pusher_vtol ]
-		then
-			set MAV_TYPE 22
-		fi
-	fi
-
-	# Still no MAV_TYPE found
-	if [ $MAV_TYPE == none ]
-	then
-		echo "WARN  [init] Unknown MAV_TYPE"
-		param set MAV_TYPE 19
-	else
-		param set MAV_TYPE $MAV_TYPE
-	fi
-
-	# Load mixer and configure outputs
-	sh /etc/init.d/rc.interface
-
-	# Start standard vtol apps
-	sh /etc/init.d/rc.vtol_apps
-fi
-
-#
-# Rover setup
-#
-if [ $VEHICLE_TYPE == rover ]
-then
-	# 10 is MAV_TYPE_GROUND_ROVER
-	set MAV_TYPE 10
-
-	# Load mixer and configure outputs
-	sh /etc/init.d/rc.interface
-
-	# Start standard rover apps
-	sh /etc/init.d/rc.axialracing_ax10_apps
-
-	param set MAV_TYPE 10
-fi
-
-unset MIXER
-unset MAV_TYPE
-unset OUTPUT_MODE
-
-#
-# Start the RC input driver
-#
-if fmu mode_rcin
-then
-fi
-
-#
-# Start the navigator
-#
-if navigator start
-then
-fi
-
-# There is no further script processing, so we can free some RAM
-# XXX potentially unset all script variables.
-unset TUNE_ERR
-
-# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
-mavlink boot_complete
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Lorenz Meier	f5efe0afb0	Merge branch 'beta' into stable	2016-02-21 01:37:36 +01:00
Lorenz Meier	73751922de	Harmonize Pixracer and Pixhawk OSD API	2016-02-19 21:42:45 +01:00
Lorenz Meier	08fbfd8ab4	More autostart items for serial link	2016-02-19 20:36:36 +01:00
tumbili	1c03d3bfe5	Merge remote-tracking branch 'origin/master' into beta	2016-02-19 14:41:46 +01:00
Lorenz Meier	37ae05df05	Merge branch 'master' into beta	2016-02-19 09:00:41 +01:00
Lorenz Meier	6d372e7d02	Merge branch 'master' into beta	2016-02-18 19:02:45 +01:00
Lorenz Meier	cc79299375	Merge branch 'master' into stable	2016-01-27 14:08:53 +01:00
Lorenz Meier	1e7cfae683	Merge branch 'master' into beta	2016-01-27 14:08:33 +01:00
Lorenz Meier	cb14e8589d	Sensors: Fix FMUv4 voltage	2016-01-18 10:23:23 +01:00
Lorenz Meier	3fd4f11f65	Merge branch 'master' into stable	2016-01-16 12:08:23 +01:00
Lorenz Meier	44792eb2fe	Merge branch 'master' into beta	2016-01-16 12:08:04 +01:00
Lorenz Meier	f37865e5b4	Merge branch 'master' of github.com:PX4/Firmware into beta	2016-01-16 11:18:08 +01:00
Lorenz Meier	44e229656c	Merge branch 'master' of github.com:PX4/Firmware into stable	2016-01-16 11:17:46 +01:00
Lorenz Meier	f62a2ccfc3	Merge branch 'master' into beta	2016-01-10 16:19:40 +01:00
Lorenz Meier	c4a3387a39	Merge branch 'master' into stable	2016-01-10 16:19:23 +01:00
Lorenz Meier	d4fb8c2a89	Merge branch 'master' into stable	2016-01-09 11:55:27 +01:00
Lorenz Meier	b15757d6d5	Merge branch 'master' into beta	2016-01-09 11:35:03 +01:00
Lorenz Meier	f40243890e	Merge branch 'master' of github.com:PX4/Firmware into beta	2015-12-24 09:11:36 +01:00
Lorenz Meier	92f7f0d2c2	Merged master	2015-12-24 09:11:13 +01:00
Lorenz Meier	585e1c93e8	Merge branch 'master' into beta	2015-12-18 16:28:36 +00:00
Lorenz Meier	10430d430c	Merge branch 'master' into beta	2015-11-17 13:04:49 +01:00
Lorenz Meier	5e57553615	Merged master to beta	2015-11-06 10:58:59 +01:00
Lorenz Meier	424f4a9066	Set climbout altitude to 10 meters by default	2015-10-23 11:17:55 +02:00
Lorenz Meier	30df075244	Revert "MAVLink: Add named value float to output" This reverts commit `864068b99d`.	2015-10-23 11:17:10 +02:00
Lorenz Meier	f6ddf53865	EKF: Fixed high CPU load	2015-10-10 22:19:19 +02:00
Lorenz Meier	ada07e2206	Commander: Only indicate green led if home position is valid	2015-10-07 15:13:32 +02:00
Lorenz Meier	365b3680a1	Merge branch 'master' into beta	2015-10-06 10:25:25 +02:00
Lorenz Meier	864068b99d	MAVLink: Add named value float to output	2015-10-03 10:08:08 +02:00
Lorenz Meier	c6462b07ad	Revert "fix handling of mavlink mode argument" This reverts commit `485f0d0379`.	2015-09-24 18:14:42 +02:00
tumbili	485f0d0379	fix handling of mavlink mode argument	2015-09-23 12:23:39 +02:00
tumbili	27725534a3	fix handling of mavlink mode argument	2015-09-23 12:23:23 +02:00
Lorenz Meier	8580ac0155	Merge branch 'beta' into stable	2015-08-30 22:43:19 +02:00
Lorenz Meier	de6d3a13de	Merge branch 'beta' into stable	2015-08-28 22:03:22 +02:00
Lorenz Meier	e7a87710bc	Merge branch 'beta' into stable	2015-08-26 12:36:02 +02:00
Lorenz Meier	5282dc04b5	Merge branch 'beta' into stable	2015-08-26 09:33:46 +02:00
Lorenz Meier	b26d15c979	Merge branch 'beta' into stable	2015-08-24 10:13:35 +02:00
Lorenz Meier	401d35677f	Merge branch 'beta' into stable	2015-08-23 14:07:12 +02:00
Lorenz Meier	b8517eb428	Merge branch 'beta' into stable	2015-08-23 00:32:42 +02:00
Lorenz Meier	630740d54f	Merge branch 'beta' into stable	2015-08-19 16:30:08 +02:00
Lorenz Meier	8531cde567	Merge branch 'beta' into stable	2015-08-14 14:29:28 +02:00
Lorenz Meier	c0316f3db1	Merge branch 'beta' into stable	2015-08-11 13:43:43 +02:00
Lorenz Meier	71e743009a	Merge branch 'beta' into stable	2015-08-11 10:51:43 +02:00
Lorenz Meier	b2ff9e37c4	Merge branch 'beta' into stable	2015-08-08 23:50:35 +02:00
Lorenz Meier	bd2551d5f7	Merge branch 'beta' into stable	2015-08-08 11:32:10 +02:00
Lorenz Meier	7df8610cbd	Merge branch 'beta' into stable	2015-08-07 17:46:57 +02:00
Lorenz Meier	24c98ef14e	Merge branch 'beta' into stable	2015-08-07 15:49:30 +02:00
Lorenz Meier	5e6aebc8fa	Merge branch 'beta' into stable	2015-08-06 22:09:46 +02:00
Lorenz Meier	1dbbe90e06	Merge branch 'beta' into stable	2015-08-06 10:07:02 +02:00
Lorenz Meier	f890dee5aa	Merge branch 'beta' into stable	2015-08-04 23:27:05 +02:00
Lorenz Meier	1418b45942	Merge branch 'beta' into stable	2015-08-04 11:58:47 +02:00
Lorenz Meier	e66aab8e3a	Merge branch 'beta' into stable	2015-08-04 10:57:09 +02:00
Lorenz Meier	9c7970bd7d	Merge branch 'beta' into stable	2015-08-02 01:25:33 +02:00
Lorenz Meier	d18491b76e	Merge branch 'beta' into stable	2015-08-01 17:34:20 +02:00
Lorenz Meier	40a7c5a55d	Merge branch 'beta' into stable	2015-08-01 17:16:30 +02:00
Lorenz Meier	57ac8c19ff	Merge branch 'beta' into stable	2015-08-01 12:48:20 +02:00
Lorenz Meier	acc1aeb571	Merge branch 'beta' into stable	2015-08-01 09:34:17 +02:00
Lorenz Meier	814a6fadc6	Merge branch 'beta' into stable	2015-08-01 09:26:23 +02:00
Lorenz Meier	041b0d379a	Merge branch 'beta' into stable	2015-07-29 21:23:29 +02:00
Lorenz Meier	7c058b21ac	Add airframe icons	2015-07-29 00:03:41 +02:00
Lorenz Meier	e7d45575ad	Airframe Configs: Add version field	2015-07-28 23:59:19 +02:00
Lorenz Meier	0255f881c6	Merge branch 'beta' into stable	2015-07-28 23:45:55 +02:00
Lorenz Meier	bed182f6ab	Merge branch 'beta' into stable	2015-07-22 17:17:13 +02:00
Lorenz Meier	78be95ebc1	Merge branch 'beta' into stable	2015-07-22 12:57:22 +02:00
Lorenz Meier	341d00e806	Merge branch 'beta' into stable	2015-07-22 12:51:00 +02:00
Lorenz Meier	fe3ae3c79b	Merge branch 'beta' into stable	2015-07-22 10:04:21 +02:00
Lorenz Meier	8fc749f19b	Merge branch 'beta' into stable	2015-07-22 09:03:07 +02:00
Lorenz Meier	1e6d911ab9	Merge branch 'beta' into stable	2015-07-14 19:20:19 +02:00
Lorenz Meier	364d323ddf	Merge branch 'release_v1.0.0' into stable	2015-07-04 17:27:12 +02:00
Lorenz Meier	47358a446f	uMerge branch 'release_v1.0.0' into stable	2015-07-03 00:25:40 +02:00
Lorenz Meier	a494b45078	Merge branch 'release_v1.0.0' of github.com:PX4/Firmware into stable	2015-07-02 01:00:41 +02:00
Lorenz Meier	7dfcfd5f2b	Merge branch 'release_v1.0.0' of github.com:PX4/Firmware into stable	2015-06-30 07:10:45 +02:00
Lorenz Meier	e11fbbf312	Merge branch 'release_v1.0.0' of github.com:PX4/Firmware into stable	2015-06-30 07:01:38 +02:00
Lorenz Meier	65f8b81fda	Merge branch 'release_v1.0.0' of github.com:PX4/Firmware into stable	2015-06-25 22:45:08 +02:00
Lorenz Meier	13c993dda4	Merge branch 'release_v1.0.0' of github.com:PX4/Firmware into stable	2015-06-25 21:20:38 +02:00
Lorenz Meier	61f98262cf	Merge branch 'release_v1.0.0' into stable	2015-06-24 21:46:44 +02:00
Lorenz Meier	5ace8d993d	Merge branch 'release_v1.0.0' into stable	2015-06-13 00:20:10 +02:00
Lorenz Meier	a8e5084897	Merge branch 'release_v1.0.0' of github.com:PX4/Firmware into stable	2015-06-11 09:03:26 +02:00
Lorenz Meier	7eebb22a9c	Merge branch 'release_v1.0.0' of github.com:PX4/Firmware into stable	2015-05-28 17:41:54 -07:00
Lorenz Meier	3bdbb6eacf	Merge branch 'release_v1.0.0' into stable	2015-05-24 20:11:13 +02:00
Lorenz Meier	20a829e691	Merge branch 'master' into stable	2015-05-18 23:18:52 +02:00
Lorenz Meier	045a598a97	Merge branch 'master' of github.com:PX4/Firmware into stable	2015-05-18 11:03:34 +02:00
Lorenz Meier	d188f8012f	Merge branch 'master' into stable	2015-05-13 15:46:54 +02:00
Lorenz Meier	4635827f01	Merge branch 'master' into stable	2015-05-13 15:34:56 +02:00
Lorenz Meier	162b7b87e9	Merge branch 'master' into stable	2015-05-13 15:19:34 +02:00
Lorenz Meier	acf01c5e88	Merge branch 'master' into stable	2015-05-12 11:27:17 +02:00
Lorenz Meier	f892492a17	Merge branch 'master' into stable	2015-05-06 19:39:41 +02:00
Lorenz Meier	2a68adfd35	Merge branch 'master' into stable	2015-05-04 13:04:10 +02:00
Lorenz Meier	f56efaf149	Merge branch 'master' into stable	2015-04-27 22:33:32 +02:00
Lorenz Meier	8595c734e6	Merge branch 'master' into stable	2015-04-25 12:54:46 +02:00
Lorenz Meier	0b50c6c003	Merge branch 'master' into stable	2015-04-22 20:45:19 +02:00
Lorenz Meier	9e143e3d4c	Merge branch 'master' into stable	2015-03-10 17:42:32 +01:00
Lorenz Meier	965e0e5226	Merge branch 'master' of github.com:PX4/Firmware into stable	2015-03-09 23:47:53 +01:00
Lorenz Meier	e55f1bc66d	Fix IO update when safety can not be set to on. From @zottgrammes Conflicts: ROMFS/px4fmu_common/init.d/rcS	2015-03-09 20:19:35 +01:00