Update Matrix.hpp (#4966 )

This was horribly wrong. Matrix is first cast into a matrix of size NxM (which is supposed to be the size of the result - NOT the starting point) so the transpose result becomes garbage. Instead make "Me" an MxN matrix as the original. Took me a whole evening to figure out this problem. Now my Kalman filter finally returns good results.
px4io: set safety on before going into bootloader (#4860 )
2026-06-14 19:00:05 +08:00 · 2016-07-03 12:30:24 +02:00 · 2016-06-21 09:18:45 +02:00 · 2016-06-01 17:16:29 +02:00 · 2016-05-26 20:00:46 +02:00 · 2016-05-21 15:55:32 +02:00
919 changed files with 17769 additions and 48877 deletions
@@ -64,6 +64,7 @@ CMakeLists.txt.user
 GPATH
 GRTAGS
 GTAGS
+*.config
 *.creator
 *.creator.user
 *.files
@@ -1,15 +1,12 @@
 [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
@@ -7,117 +7,129 @@ 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
+      env: GCC_VER=4.8
+    - os: linux
+      sudo: false
+      env: GCC_VER=4.9
    - 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
+    - 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 ${DOCKER_REPO}
+         pushd .
+      && cd ~ && mkdir gcc && cd gcc
+      && if [ "$GCC_VER" = "4.8" ]; then GCC_URL="https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2" ; fi
+      && if [ "$GCC_VER" = "4.9" ]; then GCC_URL="https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2" ; fi
+      && wget -O gcc.tar.bz2 ${GCC_URL}
+      && tar -jxf gcc.tar.bz2 --strip 1
+      && exportline="export PATH=$HOME/gcc/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 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
  - 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 ${DOCKER_REPO} /bin/bash -c "make check_qgc_firmware VECTORCONTROL=1";
+      arm-none-eabi-gcc --version && make check VECTORCONTROL=1;
    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-      make tests; 
+      make check_posix_sitl_default;
    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 [[ "${TRAVIS_OS_NAME}" = "linux" && "${GCC_VER}" = "4.8" ]]; then
+         make package_firmware
+      && find . -name \*.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
+      && ./CI-Tools/s3cmd-put `find . -maxdepth 1 -mindepth 1 -type f -name '*_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:" 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
+    condition: $GCC_VER = 4.8

 notifications:
  webhooks:
@@ -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 ${configs})
 set(THREADS "4" CACHE STRING
@@ -155,19 +152,12 @@ set(target_name "${OS}-${BOARD}-${LABEL}")

 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})

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

-#=============================================================================
-# generate compile command database
-#
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
 #=============================================================================
 # check required toolchain variables
 #
@@ -250,7 +235,7 @@ endforeach()
 px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
 px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
 px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
-px4_add_git_submodule(TARGET git_gtest PATH "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_driverframework PATH "src/lib/DriverFramework")
@@ -261,7 +246,7 @@ px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")

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

 #=============================================================================
@@ -310,11 +295,11 @@ 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 +310,7 @@ 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
@@ -354,7 +339,7 @@ foreach(module ${config_module_list})
 	if(external_module)
 		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
 		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
-		add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
+		add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
 	else()
 		add_subdirectory(src/${module})
 	endif()
@@ -363,9 +348,6 @@ foreach(module ${config_module_list})
 	#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_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
@@ -379,34 +361,19 @@ 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 :
@@ -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
@@ -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
-}
@@ -1,10 +1,10 @@
 {
-    "board_id": 88,
-    "magic": "MindPX",
-    "description": "Firmware for the MindPXFMUv2 board",
+    "board_id": 9, 
+    "magic": "PX4FWv2",
+    "description": "Firmware for the MindPx-V2  board", 
    "image": "", 
    "build_time": 0, 
-    "summary": "MindPXFMUv2",
+    "summary": "MindPx-v2",
    "version": "2.1",
    "image_size": 0,
    "git_identity": "",
@@ -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
-}
@@ -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
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(PWD)/build_$@); fi
 +@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))
+@(echo "PX4 CONFIG: $@" && cd $(PWD)/build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef

 # create empty targets to avoid msgs for targets passed to cmake
@@ -144,27 +131,21 @@ endef
 # --------------------------------------------------------------------
 #  Do not put any spaces between function arguments.

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

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

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

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

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

@@ -174,6 +155,9 @@ posix_sitl_default:
 posix_sitl_lpe:
 	$(call cmake-build,$@)

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

@@ -193,13 +177,12 @@ 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:
-	$(call cmake-build,$@)
-
+	$(call cmake-build,$@)	
+	
 posix_eagle_legacy_driver_default:
-	$(call cmake-build,$@)
+	$(call cmake-build,$@) 

 qurt_excelsior_default:
 	$(call cmake-build,$@)
@@ -209,13 +192,10 @@ posix_excelsior_default:

 excelsior_default: posix_excelsior_default qurt_excelsior_default

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

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

 posix: posix_sitl_default
@@ -233,14 +213,8 @@ 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
+.PHONY: uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean
+.NOTPARALLEL: uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean

 uavcan_firmware:
 ifeq ($(VECTORCONTROL),1)
@@ -248,45 +222,12 @@ ifeq ($(VECTORCONTROL),1)
 	@(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: check_px4fmu-v1_default check_px4fmu-v2_default check_px4fmu-v4_default_and_uavcan check_mindpx-v2_default check_px4-stm32f4discovery_default check_posix_sitl_default check_unittest 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
+	@./Tools/check_code_style.sh

 check_%:
 	@echo
@@ -304,30 +245,7 @@ ifeq ($(VECTORCONTROL),1)
 endif

 unittest: posix_sitl_default
-	$(call cmake-build-other,unittest, ../unittests)
-	@(cd build_unittest && ctest -j2 --output-on-failure)
-
-run_tests_posix: posix_sitl_default
-	@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/fs/microsd
-	@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/eeprom
-	@touch build_posix_sitl_default/src/firmware/posix/rootfs/eeprom/parameters
-	@(cd build_posix_sitl_default/src/firmware/posix && ./px4 -d ../../../../posix-configs/SITL/init/rcS_tests | tee test_output)
-	@(cd build_posix_sitl_default/src/firmware/posix && grep --color=always "All tests passed" test_output)
-
-tests: check_unittest run_tests_posix
-
-# QGroundControl flashable firmware
-qgc_firmware: \
-	check_px4fmu-v1_default \
-	check_px4fmu-v2_default \
-	check_mindpx-v2_default \
-	check_tap-v1_default \
-	check_px4fmu-v4_default_and_uavcan \
-	check_format
-
-extra_firmware: \
-	check_px4-stm32f4discovery_default \
-	check_px4fmu-v2_test
+	@(cd unittests && cmake -G$(PX4_CMAKE_GENERATOR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) && ctest -j2 --output-on-failure)

 package_firmware:
 	@zip --junk-paths Firmware.zip `find . -name \*.px4`
@@ -337,18 +255,18 @@ clean:
 	@(cd NuttX/nuttx && make clean)

 submodulesclean:
-	@git submodule sync --recursive
+	@git submodule sync
 	@git submodule deinit -f .
 	@git submodule update --init --recursive --force

 distclean: submodulesclean
-	@git clean -ff -x -d -e ".project" -e ".cproject"
+	@git clean -ff -x -d

 # 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 \
+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 replay \
 	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
-	gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane gazebo_solo gazebo_typhoon_h480
+	gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))

 .PHONY: clean
@@ -1,6 +1,6 @@
 ## PX4 Pro Drone Autopilot ##

-[![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)

@@ -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
@@ -15,28 +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
@@ -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
@@ -11,44 +11,31 @@ 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_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 16
 	param set FW_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
@@ -33,6 +33,4 @@ then
 	param set MPC_MANTHR_MIN 0.06
 	param set CBRK_IO_SAFETY 22027
 	param set ATT_BIAS_MAX 0.0
-	param set MC_TPA_BREAK 0.5
- 	param set MC_TPA_SLOPE 1.0
 fi
@@ -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
@@ -20,9 +20,9 @@ then
 	param set MC_ROLLRATE_I 0.1
 	param set MC_ROLLRATE_D 0.0055
 	param set MC_PITCH_P 8.0
-	param set MC_PITCHRATE_P 0.19
+	param set MC_PITCHRATE_P 0.24
 	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.0055
+	param set MC_PITCHRATE_D 0.0065
 	param set MC_YAW_P 4.0
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
@@ -33,9 +33,6 @@ then
 	param set MC_YAWRATE_MAX 400.0
 	param set MC_ACRO_R_MAX 360.0
 	param set MC_ACRO_P_MAX 360.0
-	param set MC_TPA_BREAK 0.5
-	param set MC_TPA_SLOPE 1.0
-	

 	param set PWM_MIN 1075

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

-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
@@ -11,12 +11,7 @@ then
 	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_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
@@ -137,10 +137,10 @@ 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
@@ -29,9 +29,19 @@ then
 fi
 #---------------------------------------

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

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

 #
 # Start Land Detector
@@ -34,6 +34,15 @@ set PWM_AUX_DISARMED 1500
 set PWM_AUX_MIN 1000
 set PWM_AUX_MAX 2000

+# Transitional support: ensure suitable PWM min/max param values
+if param compare PWM_MIN 1000
+then
+	param set PWM_MIN 1075
+fi
+if param compare PWM_MAX 2000
+then
+	param set PWM_MAX 1950
+fi
 if param compare PWM_DISARMED 0
 then
 	param set PWM_DISARMED 900
@@ -14,17 +14,6 @@ else
 	fmu i2c 1 100000
 	fmu i2c 2 100000

-	if ver hwcmp PX4FMU_V4
-	then
-		# We know there are sketchy boards out there
-		# as chinese companies produce Pixracers without
-		# fully understanding the critical parts of the
-		# schematic and BOM, leading to sensor brownouts
-		# on boot. Original Pixracers following the
-		# open hardware design do not require this.
-		fmu sensor_reset 20
-	fi
-
 	if ms5611 -s start
 	then
 	fi
@@ -56,11 +45,6 @@ then
 	then
 	fi

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

-		if mpu9250 start
-		then
-		fi
-
 		if l3gd20 start
 		then
 		fi
@@ -210,7 +190,7 @@ 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
@@ -34,6 +34,15 @@ 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
@@ -32,9 +32,9 @@ 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
@@ -50,7 +50,7 @@ fi
 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
@@ -109,16 +109,6 @@ then
 		set AUTOCNF yes
 	else
 		set AUTOCNF no
-
-		#
-		# Release 1.4.0 transitional support:
-		# set to old default if unconfigured.
-		# this preserves the previous behaviour
-		#
-		if param compare BAT_N_CELLS 0
-		then
-			param set BAT_N_CELLS 3
-		fi
 	fi

 	#
@@ -183,7 +173,7 @@ then
 	#
 	if param compare SYS_AUTOSTART 0
 	then
-		echo "INFO  [init] No autostart"
+		echo "[i] No autostart"
 	else
 		sh /etc/init.d/rc.autostart
 	fi
@@ -202,7 +192,7 @@ then
 	set FCONFIG /fs/microsd/etc/config.txt
 	if [ -f $FCONFIG ]
 	then
-		echo "INFO  [init] Custom: $FCONFIG"
+		echo "[i] Custom: $FCONFIG"
 		sh $FCONFIG
 	fi
 	unset FCONFIG
@@ -233,7 +223,7 @@ 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
@@ -256,16 +246,16 @@ 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 "PX4IO update failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 			else
-				echo "ERROR [init] PX4IO update failed" >> $LOG_FILE
+				echo "PX4IO update failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -273,7 +263,7 @@ then

 		if [ $IO_PRESENT == no ]
 		then
-			echo "ERROR [init] PX4IO not found" >> $LOG_FILE
+			echo "ERROR: PX4IO not found" >> $LOG_FILE
 			tone_alarm $TUNE_ERR
 		fi
 	fi
@@ -340,11 +330,6 @@ then
 	    commander start
 	fi

-	#
-	# Start CPU load monitor
-	#
-	load_mon start
-
 	#
 	# Start primary output
 	#
@@ -365,7 +350,7 @@ 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 +361,7 @@ then
 			then
 				sh /etc/init.d/rc.io
 			else
-				echo "INFO  [init] PX4IO start failed" >> $LOG_FILE
+				echo "PX4IO start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -386,7 +371,7 @@ then
 			if fmu mode_$FMU_MODE
 			then
 			else
-				echo "ERR  [init] FMU start failed" >> $LOG_FILE
+				echo "FMU start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi

@@ -418,7 +403,7 @@ then
 			if mkblctrl $MKBLCTRL_ARG
 			then
 			else
-				echo "ERROR [init] MK start failed" >> $LOG_FILE
+				echo "ERROR: MK start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 			unset MKBLCTRL_ARG
@@ -430,7 +415,7 @@ then
 			if pwm_out_sim mode_port2_pwm8
 			then
 			else
-				echo "ERROR [init] PWM SIM start failed" >> $LOG_FILE
+				echo "PWM SIM start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -446,7 +431,7 @@ then
 				then
 					sh /etc/init.d/rc.io
 				else
-					echo "ERROR [init] PX4IO start failed" >> $LOG_FILE
+					echo "PX4IO start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 			fi
@@ -456,7 +441,7 @@ then
 				if fmu mode_$FMU_MODE
 				then
 				else
-					echo "ERROR [init] FMU mode_$FMU_MODE start failed" >> $LOG_FILE
+					echo "FMU mode_$FMU_MODE start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi

@@ -540,17 +525,25 @@ then
 		# clear pins 5 and 6
 		if param compare SENS_EN_LL40LS 1
 		then
-			set FMU_MODE pwm4
 			set AUX_MODE pwm4
 		fi
 		if param greater TRIG_MODE 0
 		then
-			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

+	# Transitional support: Disable safety on all Pixracer boards
+	if ver hwcmp PX4FMU_V4
+	then
+		if param set CBRK_IO_SAFETY 22027
+		then
+		fi
+	fi
+
 	#
 	# Starting stuff according to UAVCAN_ENABLE value
 	#
@@ -593,12 +586,6 @@ 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
@@ -625,36 +612,26 @@ then
 		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
 	fi

+
 	#
 	# Logging
 	#
-	if ver hwcmp PX4FMU_V1
+	if [ -d /fs/microsd ]
 	then
-		if sdlog2 start -r 30 -a -b 2 -t
+		if ver hwcmp PX4FMU_V1
 		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
+			if sdlog2 start -r 30 -a -b 2 -t
 			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
+			# check if we should increase logging rate for ekf2 replay message logging
+			if param greater EKF2_REC_RPL 0
 			then
-				if sdlog2 start -r 100 -a -b 9 -t
+				if sdlog2 start -r 500 -e -b 20 -t
 				then
 				fi
 			else
-				if logger start -b 12 -t
+				if sdlog2 start -r 100 -a -b 12 -t
 				then
 				fi
 			fi
@@ -674,7 +651,7 @@ then
 	#
 	if [ $VEHICLE_TYPE == fw ]
 	then
-		echo "INFO  [init] Fixedwing"
+		echo "FIXED WING"

 		if [ $MIXER == none ]
 		then
@@ -702,11 +679,11 @@ then
 	#
 	if [ $VEHICLE_TYPE == mc ]
 	then
-		echo "INFO  [init] Multicopter"
+		echo "MULTICOPTER"

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

 		if [ $MAV_TYPE == none ]
@@ -744,16 +721,12 @@ 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
@@ -771,11 +744,11 @@ then
 	#
 	if [ $VEHICLE_TYPE == vtol ]
 	then
-		echo "INFO  [init] VTOL"
+		echo "VTOL"

 		if [ $MIXER == none ]
 		then
-			echo "WARN  [init] VTOL mixer undefined"
+			echo "VTOL mixer undefined"
 		fi

 		if [ $MAV_TYPE == none ]
@@ -798,7 +771,7 @@ 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
@@ -882,14 +855,14 @@ 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
@@ -913,7 +886,7 @@ mavlink boot_complete

 if [ $EXIT_ON_END == yes ]
 then
-	echo "INFO  [init] NSH exit"
+	echo "NSH EXIT"
 	exit
 fi
 unset EXIT_ON_END
@@ -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
@@ -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
@@ -0,0 +1,26 @@
+Mixer for SITL plane, using the VTOL airframe for now
+=========================================================
+
+Z:
+
+Z:
+
+Z:
+
+Z:
+
+# mixer for the elevons
+M: 2
+O:      10000  10000   0 -10000  10000
+S: 0 0  5000   5000    0 -10000  10000
+S: 0 1 -5000 -5000     0 -10000  10000
+
+M: 2
+O:       10000   10000   0 -10000  10000
+S: 0 0   5000    5000    0 -10000  10000
+S: 0 1   5000    5000    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
@@ -0,0 +1,18 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in the V configuration.  All controls
+are mixed 100%.
+
+R: 4v 10000 10000 10000 0
+
+Gimbal / payload mixer for last two channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 6  10000  10000      0 -10000  10000
@@ -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
@@ -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
@@ -1,105 +0,0 @@
-## PX4 mixer definitions ##
-
-Files in this directory implement example mixers that can be used as a basis
-for customisation, or for general testing purposes.
-
-For a detailed description of the mixing architecture and examples see:
-http://px4.io/dev/mixing
-
-### Syntax ###
-
-Mixer definitions are text files; lines beginning with a single capital letter
-followed by a colon are significant. All other lines are ignored, meaning that
-explanatory text can be freely mixed with the definitions.
-
-Each file may define more than one mixer; the allocation of mixers to actuators
-is specific to the device reading the mixer definition, and the number of
-actuator outputs generated by a mixer is specific to the mixer.
-
-For example: each simple or null mixer is assigned to outputs 1 to x
-in the order they appear in the mixer file.
-
-A mixer begins with a line of the form
-
-	<tag>: <mixer arguments>
-
-The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a 
-multirotor mixer, etc.
-
-#### Null Mixer ####
-
-A null mixer consumes no controls and generates a single actuator output whose
-value is always zero.  Typically a null mixer is used as a placeholder in a
-collection of mixers in order to achieve a specific pattern of actuator outputs.
-
-The null mixer definition has the form:
-
-	Z:
-
-#### Simple Mixer ####
-
-A simple mixer combines zero or more control inputs into a single actuator
-output.  Inputs are scaled, and the mixing function sums the result before
-applying an output scaler.
-
-A simple mixer definition begins with:
-
-	M: <control count>
-	O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
-
-If <control count> is zero, the sum is effectively zero and the mixer will
-output a fixed value that is <offset> constrained by <lower limit> and <upper
-limit>.
-
-The second line defines the output scaler with scaler parameters as discussed
-above. Whilst the calculations are performed as floating-point operations, the
-values stored in the definition file are scaled by a factor of 10000; i.e. an
-offset of -0.5 is encoded as -5000.
-
-The definition continues with <control count> entries describing the control
-inputs and their scaling, in the form:
-
-	S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
-
-The <group> value identifies the control group from which the scaler will read,
-and the <index> value an offset within that group.  These values are specific to
-the device reading the mixer definition.
-
-When used to mix vehicle controls, mixer group zero is the vehicle attitude
-control group, and index values zero through three are normally roll, pitch,
-yaw and thrust respectively.
-
-The remaining fields on the line configure the control scaler with parameters as
-discussed above. Whilst the calculations are performed as floating-point
-operations, the values stored in the definition file are scaled by a factor of
-10000; i.e. an offset of -0.5 is encoded as -5000.
-
-#### Multirotor Mixer ####
-
-The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
-into a set of actuator outputs intended to drive motor speed controllers.
-
-The mixer definition is a single line of the form:
-
-	R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
-
-The supported geometries include:
-
- * 4x - quadrotor in X configuration
- * 4+ - quadrotor in + configuration
- * 6x - hexcopter in X configuration
- * 6+ - hexcopter in + configuration
- * 8x - octocopter in X configuration
- * 8+ - octocopter in + configuration
-  
-Each of the roll, pitch and yaw scale values determine scaling of the roll,
-pitch and yaw controls relative to the thrust control.  Whilst the calculations
-are performed as floating-point operations, the values stored in the definition
-file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
-
-Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
-thrust input ranges from 0.0 to 1.0.  Output for each actuator is in the 
-range -1.0 to 1.0.
-
-In the case where an actuator saturates, all actuator values are rescaled so that 
-the saturating actuator is limited to 1.0.
@@ -1,3 +0,0 @@
-# Hexa X
-
-R: 6x 10000 10000 10000 0
@@ -1,7 +0,0 @@
-R: 4x 10000 10000 10000 0
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
@@ -17,9 +17,9 @@

 connection_string       = '127.0.0.1:14540'

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

 ################################################################################################
 # Init
@@ -150,14 +150,14 @@ def save_mission(aFileName):
    Save a mission in the Waypoint file format
    (http://qgroundcontrol.org/mavlink/waypoint_protocol#waypoint_file_format).
    """
-    print "\nSave mission from Vehicle to file: %s" % aFileName
+    print "\nSave mission from Vehicle to file: %s" % export_mission_filename
    #Download mission from vehicle
    missionlist = download_mission()
    #Add file-format information
    output='QGC WPL 110\n'
    #Add home location as 0th waypoint
    home = vehicle.home_location
-    output+="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n\n\n" % (0,1,0,16,0,0,0,0,home.lat,home.lon,home.alt,1)
+    output+="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (0,1,0,16,0,0,0,0,home.lat,home.lon,home.alt,1)
    #Add commands
    for cmd in missionlist:
        commandline="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (cmd.seq,cmd.current,cmd.frame,cmd.command,cmd.param1,cmd.param2,cmd.param3,cmd.param4,cmd.x,cmd.y,cmd.z,cmd.autocontinue)
@@ -0,0 +1,9 @@
+QGC WPL 110
+0	1	0	16	0	0	0	0	47.3979949951	8.54559612274	25.0	1
+1	0	2	3000	4.0	0.0	0.0	0.0	47.3980331421	8.54578971863	25.0	1
+2	0	3	16	0.0	0.0	-0.0	0.0	47.399269104	8.54557228088	25.0	1
+3	0	3	16	0.0	0.0	-0.0	0.0	47.3992652893	8.54230213165	25.0	1
+4	0	3	16	0.0	0.0	-0.0	0.0	47.3974761963	8.54239082336	25.0	1
+5	0	3	16	0.0	0.0	-0.0	0.0	47.3976669312	8.54509449005	25.0	1
+6	0	2	3000	3.0	0.0	0.0	0.0	47.3977851868	8.54526233673	25.0	1
+7	0	3	21	25.0	0.0	-0.0	0.0	47.3979797363	8.54460906982	25.0	1
@@ -23,7 +23,3 @@ do
 	adb push $arg $last
 	((i+=1))
 done
-
-# Make sure they are synced to the file system
-echo "Syncing FS..."
-adb shell sync
@@ -1,39 +0,0 @@
-#!/bin/bash
-
-if [ -z ${BEBOP_IP+x} ]; then 
-  ip=192.168.42.1
-  echo "\$BEBOP_IP is not set (use default: $ip)"
-else 
-  ip=$BEBOP_IP
-  echo "\$BEBOP_IP is set to $ip"
-fi
-port=9050
-
-echo "Connecting to bebop: $ip:$port"
-
-# adb returns also 0 as exit status if the connection fails
-adb_return=$(adb connect $ip:$port)
-adb_status=$(echo $adb_return | cut -f 1 -d " ")
-
-if [[ $adb_status == "unable" ]]; then
-  
-  echo ""
-  echo "Connection with Parrot Bebop could not be established:"
-  echo "  Make sure you are connected with the Bebop's WiFi and"
-  echo "  enable access to the board by pressing the power button 4 times."
-  echo ""
-  exit 50
-
-fi
-
-echo "Connection successfully established"
-
-sleep 1
-
-adb shell mount -o remount,rw /
-adb shell touch /home/root/parameters
-
-../Tools/adb_upload.sh $@
-
-echo "Disconnecting from bebop"
-adb disconnect
@@ -1,29 +1,70 @@
 #!/usr/bin/env bash
+set -eu
+failed=0
+for fn in $(find src/examples \
+                 src/systemcmds \
+                 src/include \
+                 src/drivers \
+                 src/platforms \
+                 src/firmware \
+                 src/lib/launchdetection \
+                 src/lib/geo \
+                 src/lib/geo_lookup \
+                 src/lib/conversion \
+                 src/lib/rc \
+                 src/lib/version \
+                 src/modules/attitude_estimator_q \
+                 src/modules/fw_att_control \
+                 src/modules/gpio_led \
+                 src/modules/land_detector \
+                 src/modules/muorb \
+                 src/modules/px4iofirmware \
+                 src/modules/param \
+                 src/modules/sensors \
+                 src/modules/simulator \
+                 src/modules/uORB \
+                 src/modules/bottle_drop \
+                 src/modules/dataman \
+                 src/modules/segway \
+                 src/modules/local_position_estimator \
+                 src/modules/unit_test \
+                 src/modules/systemlib \
+                 src/lib/controllib \
+                   -path './Build' -prune -o \
+                   -path './mavlink' -prune -o \
+                   -path './NuttX' -prune -o \
+                   -path './src/lib/eigen' -prune -o \
+                   -path './src/modules/uavcan/libuavcan' -prune -o \
+                   -path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
+                   -path './src/modules/ekf_att_pos_estimator' -prune -o \
+                   -path './src/modules/sdlog2' -prune -o \
+                   -path './src/modules/uORB' -prune -o \
+                   -path './src/modules/vtol_att_control' -prune -o \
+                   -path './unittests/build' -prune -o \
+                   -path './unittests/gtest' -prune -o \
+                   -name '*.c' -o -name '*.cpp' -o -name '*.hpp' -o -name '*.h' \
+                   -not -name '*generated*' \
+                   -not -name '*uthash.h' \
+                   -not -name '*utstring.h' \
+                   -not -name '*utlist.h' \
+                   -not -name '*utarray.h' \
+                   -type f); do
+  if [ -f "$fn" ];
+  then
+    ./Tools/fix_code_style.sh --quiet < $fn > $fn.pretty
+    diffsize=$(diff -y --suppress-common-lines $fn $fn.pretty | wc -l)
+    rm -f $fn.pretty
+    if [ $diffsize -ne 0 ]; then
+      failed=1
+      echo $fn 'bad formatting, please run "./Tools/fix_code_style.sh' $fn'"'
+    fi
+  fi
+done

-file=$1
-
-DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-
-if [ -f "$file" ];
-then
-	${DIR}/fix_code_style.sh --dry-run $file | grep --quiet Formatted
-	if [[ $? -eq 0 ]]
-	then
-		${DIR}/fix_code_style.sh --quiet < $file > $file.pretty
-
-		echo
-		git --no-pager diff --no-index --minimal --histogram --color=always  $file $file.pretty
-		echo
-
-		rm -f $file.pretty
-
-		if [[ $PX4_ASTYLE_FIX -eq 1 ]]
-		then
-			${DIR}/fix_code_style.sh $file
-		else
-			echo $file 'bad formatting, please run "./Tools/fix_code_style.sh' $file'"'
-			exit 1
-		fi
-	fi
+if [ $failed -eq 0 ]; then
+    echo "Format checks passed"
+    exit 0
+else
+    echo "Format checks failed"
+    exit 1
 fi
-
@@ -1,38 +0,0 @@
-#!/usr/bin/env bash
-set -eu
-
-if [[ "$@" == "--fix" ]]
-then
-    export PX4_ASTYLE_FIX=1
-fi
-
-DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-
-find src \
-    -path src/lib/DriverFramework -prune -o \
-    -path src/lib/ecl -prune -o \
-    -path src/lib/external_lgpl -prune -o \
-    -path src/lib/mathlib -prune -o \
-    -path src/lib/matrix -prune -o \
-    -path src/modules/attitude_estimator_ekf -prune -o \
-    -path src/modules/commander -prune -o \
-    -path src/examples/ekf_att_pos_estimator -prune -o \
-    -path src/modules/mavlink -prune -o \
-    -path src/examples/attitude_estimator_ekf -prune -o \
-    -path src/modules/navigator -prune -o \
-    -path src/modules/sdlog2 -prune -o \
-    -path src/modules/uavcan -prune -o \
-    -path src/modules/uavcan/libuavcan -prune -o \
-    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) \
-    -not -name '*generated.h' \
-    -not -name '*uthash.h' \
-    -not -name '*utstring.h' \
-    -not -name '*utlist.h' \
-    -not -name '*utarray.h' \
-    -print0 | xargs -0 -n 1 -P 8 -I % ${DIR}/check_code_style.sh %
-
-
-if [ $? -eq 0 ]; then
-    echo "Format checks passed"
-    exit 0
-fi
@@ -69,7 +69,6 @@ check_git_submodule Tools/jMAVSim
 check_git_submodule Tools/sitl_gazebo
 check_git_submodule cmake/cmake_hexagon
 check_git_submodule mavlink/include/mavlink/v1.0
-check_git_submodule mavlink/include/mavlink/v2.0
 check_git_submodule src/lib/DriverFramework
 check_git_submodule src/lib/DriverFramework/cmake/cmake_hexagon
 check_git_submodule src/lib/DriverFramework/dspal
@@ -1,54 +0,0 @@
-#!/bin/bash
-
-while getopts "b:t:" opt; do
-  case "${opt}" in
-    b)
-      builddir=$OPTARG
-      ;;
-    t)
-      tool=$OPTARG
-      ;;
-  esac
-done
-
-echo "builddir = ${builddir}, tool = ${tool}"
-
-case "${builddir}" in
-  "build_posix_rpi_cross")
-    CXX_INC=$(cd ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/arm-linux-gnueabihf/include/c++/*; pwd)
-    EXTRA_ARG1=-I${CXX_INC}
-    EXTRA_ARG2=-I${CXX_INC}/arm-linux-gnueabihf
-    EXTRA_ARG3=-I${CXX_INC}/backward
-    extra_args="--extra-arg=-I${CXX_INC} --extra-arg=-I${CXX_INC}/arm-linux-gnueabihf --extra-arg=-I${CXX_INC}/backward"
-    ;;
-  "build_posix_sitl_default")
-    ;;
-  *)
-    echo "unknown build dir: ${builddir}"
-    ;;
-esac
-
-COMPILE_DB=$(/bin/pwd)/${builddir}
-if [[ ! -f ${COMPILE_DB}/compile_commands.json ]]; then
-  echo "compile_commands.json not found in ${COMPILE_DB}"
-  exit 1
-fi
-
-case "${tool}" in
-  "clang-check")
-    command=clang-check;
-    option=-analyze;
-    ;;
-  "clang-tidy")
-    command=clang-tidy
-    ;;
-esac
-
-grep file ${COMPILE_DB}/compile_commands.json |
-awk '{ print $2; }' |
-sed 's/\"//g' |
-while read FILE; do
-    (cd $(dirname ${FILE});
-    ${command} ${option} -p ${COMPILE_DB} ${extra_args} $(basename ${FILE})
-    );
-  done
@@ -43,10 +43,10 @@ import subprocess
 # If the following lines were pasted into the shell after running decode_backtrace.py
 #
 # INFO  Backtrace: 10
-# INFO  ./px4(px4_backtrace+0x27) [0x42b212]
-# INFO  ./px4() [0x42d608]
-# INFO  ./px4() [0x42d57e]
-# INFO  ./px4() [0x4ba48d]
+# INFO  ./mainapp(px4_backtrace+0x27) [0x42b212]
+# INFO  ./mainapp() [0x42d608]
+# INFO  ./mainapp() [0x42d57e]
+# INFO  ./mainapp() [0x4ba48d]
 #
 # The output would be:
 #
@@ -63,7 +63,7 @@ def usage():
 	msg = """
 Usage: Tools/decode_backtrace.py <builddir>

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

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

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

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

 #ifndef PRIu64
@@ -172,7 +173,6 @@ for index,m in enumerate(messages[1:]):
 	print("\t\t\ti++;")
 	print("\t\t\tprintf(\"\\nTOPIC: %s #%%d\\n\", i);" % m)
 	print("\t\t\torb_copy(ID,sub,&container);")
-	print("\t\t\tprintf(\"timestamp: %\" PRIu64 \"\\n\", container.timestamp);")
 	for item in message_elements[index+1]:
 		if item[0] == "float":
 			print("\t\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
@@ -1,206 +0,0 @@
-#!/usr/bin/env python
-
-"""
-Open a shell over MAVLink.
-
-@author: Beat Kueng (beat-kueng@gmx.net)
-"""
-
-
-from __future__ import print_function
-import sys, select
-import termios
-
-try:
-    from pymavlink import mavutil
-    import serial
-except:
-    print("Failed to import pymavlink.")
-    print("You may need to install it with 'pip install pymavlink pyserial'")
-    exit(-1)
-from argparse import ArgumentParser
-
-
-class MavlinkSerialPort():
-    '''an object that looks like a serial port, but
-    transmits using mavlink SERIAL_CONTROL packets'''
-    def __init__(self, portname, baudrate, devnum=0, debug=0):
-        self.baudrate = 0
-        self._debug = debug
-        self.buf = ''
-        self.port = devnum
-        self.debug("Connecting with MAVLink to %s ..." % portname)
-        self.mav = mavutil.mavlink_connection(portname, autoreconnect=True, baud=baudrate)
-        self.mav.wait_heartbeat()
-        self.debug("HEARTBEAT OK\n")
-        self.debug("Locked serial device\n")
-
-    def debug(self, s, level=1):
-        '''write some debug text'''
-        if self._debug >= level:
-            print(s)
-
-    def write(self, b):
-        '''write some bytes'''
-        self.debug("sending '%s' (0x%02x) of len %u\n" % (b, ord(b[0]), len(b)), 2)
-        while len(b) > 0:
-            n = len(b)
-            if n > 70:
-                n = 70
-            buf = [ord(x) for x in b[:n]]
-            buf.extend([0]*(70-len(buf)))
-            self.mav.mav.serial_control_send(self.port,
-                                             mavutil.mavlink.SERIAL_CONTROL_FLAG_EXCLUSIVE |
-                                             mavutil.mavlink.SERIAL_CONTROL_FLAG_RESPOND,
-                                             0,
-                                             0,
-                                             n,
-                                             buf)
-            b = b[n:]
-
-    def close(self):
-        self.mav.mav.serial_control_send(self.port, 0, 0, 0, 0, [0]*70)
-
-    def _recv(self):
-        '''read some bytes into self.buf'''
-        m = self.mav.recv_match(condition='SERIAL_CONTROL.count!=0',
-                                type='SERIAL_CONTROL', blocking=True,
-                                timeout=0.03)
-        if m is not None:
-            if self._debug > 2:
-                print(m)
-            data = m.data[:m.count]
-            self.buf += ''.join(str(chr(x)) for x in data)
-
-    def read(self, n):
-        '''read some bytes'''
-        if len(self.buf) == 0:
-            self._recv()
-        if len(self.buf) > 0:
-            if n > len(self.buf):
-                n = len(self.buf)
-            ret = self.buf[:n]
-            self.buf = self.buf[n:]
-            if self._debug >= 2:
-                for b in ret:
-                    self.debug("read 0x%x" % ord(b), 2)
-            return ret
-        return ''
-
-
-def main():
-    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('port', metavar='PORT', nargs='?', default = None,
-            help='Mavlink port name: serial: DEVICE[,BAUD], udp: IP:PORT, tcp: tcp:IP:PORT. Eg: \
-/dev/ttyUSB0 or 0.0.0.0:14550. Auto-detect serial if not given.')
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int,
-                      help="Mavlink port baud rate (default=115200)", default=115200)
-    args = parser.parse_args()
-
-
-    if args.port == None:
-        serial_list = mavutil.auto_detect_serial(preferred_list=['*FTDI*',
-            "*Arduino_Mega_2560*", "*3D_Robotics*", "*USB_to_UART*", '*PX4*', '*FMU*'])
-
-        if len(serial_list) == 0:
-            print("Error: no serial connection found")
-            return
-
-        if len(serial_list) > 1:
-            print('Auto-detected serial ports are:')
-            for port in serial_list:
-                print(" {:}".format(port))
-        print('Using port {:}'.format(serial_list[0]))
-        args.port = serial_list[0].device
-
-
-    print("Connecting to MAVLINK...")
-    mav_serialport = MavlinkSerialPort(args.port, args.baudrate, devnum=10)
-
-    mav_serialport.write('\n') # make sure the shell is started
-
-    # setup the console, so we can read one char at a time
-    fd_in = sys.stdin.fileno()
-    old_attr = termios.tcgetattr(fd_in)
-    new_attr = termios.tcgetattr(fd_in)
-    new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
-    new_attr[3] = new_attr[3] & ~termios.ICANON
-
-    try:
-        termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
-        cur_line = ''
-        command_history = []
-        cur_history_index = 0
-
-        def erase_last_n_chars(N):
-            if N == 0: return
-            CURSOR_BACK_N = '\x1b['+str(N)+'D'
-            ERASE_END_LINE = '\x1b[K'
-            sys.stdout.write(CURSOR_BACK_N + ERASE_END_LINE)
-
-        while True:
-            while True:
-                i, o, e = select.select([sys.stdin], [], [], 0)
-                if not i: break
-                ch = sys.stdin.read(1)
-
-                # provide a simple shell with command history
-                if ch == '\n':
-                    if len(cur_line) > 0:
-                        # erase current text (mavlink shell will echo it as well)
-                        erase_last_n_chars(len(cur_line))
-
-                        # add to history
-                        if len(command_history) == 0 or command_history[-1] != cur_line:
-                            command_history.append(cur_line)
-                            if len(command_history) > 50:
-                                del command_history[0]
-                        cur_history_index = len(command_history)
-                    mav_serialport.write(cur_line+'\n')
-                    cur_line = ''
-                elif ord(ch) == 127: # backslash
-                    if len(cur_line) > 0:
-                        erase_last_n_chars(1)
-                        cur_line = cur_line[:-1]
-                        sys.stdout.write(ch)
-                elif ord(ch) == 033:
-                    ch = sys.stdin.read(1) # skip one
-                    ch = sys.stdin.read(1)
-                    if ch == 'A': # arrow up
-                        if cur_history_index > 0:
-                            cur_history_index -= 1
-                    elif ch == 'B': # arrow down
-                        if cur_history_index < len(command_history):
-                            cur_history_index += 1
-                    # TODO: else: support line editing
-
-                    erase_last_n_chars(len(cur_line))
-                    if cur_history_index == len(command_history):
-                        cur_line = ''
-                    else:
-                        cur_line = command_history[cur_history_index]
-                    sys.stdout.write(cur_line)
-
-                elif ord(ch) > 3:
-                    cur_line += ch
-                    sys.stdout.write(ch)
-                sys.stdout.flush()
-
-            data = mav_serialport.read(4096)
-            if data and len(data) > 0:
-                sys.stdout.write(data)
-                sys.stdout.flush()
-
-    except serial.serialutil.SerialException as e:
-        print(e)
-
-    except KeyboardInterrupt:
-        mav_serialport.close()
-
-    finally:
-        termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)
-
-
-if __name__ == '__main__':
-    main()
-
@@ -69,8 +69,6 @@ class XMLOutput():
                xml_group.attrib["image"] = "VTOLTiltRotor"
            elif (group.GetName() == "Coaxial Helicopter"):
                xml_group.attrib["image"] = "HelicopterCoaxial"
-            elif (group.GetName() == "Helicopter"):
-                xml_group.attrib["image"] = "Helicopter"
            elif (group.GetName() == "Hexarotor Coaxial"):
                xml_group.attrib["image"] = "Y6A"
            elif (group.GetName() == "Y6B"):
@@ -1,7 +1,5 @@
 import sys
 import re
-import math
-
 global default_var
 default_var = {}

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

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

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

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

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

    # Order of parameter groups
    priority = {
@@ -191,7 +164,6 @@ class SourceParser(object):
                long_desc = None
                tags = {}
                def_values = {}
-                def_bitmask = {}
            elif state is not None and state != "comment-processed":
                m = self.re_comment_end.search(line)
                if m:
@@ -215,10 +187,6 @@ class SourceParser(object):
                                # Take the meta info string and split the code and description
                                metainfo = desc.split(" ",  1)
                                def_values[metainfo[0]] = metainfo[1]
-                            elif (tag == "bit"):
-                                # Take the meta info string and split the code and description
-                                metainfo = desc.split(" ",  1)
-                                def_bitmask[metainfo[0]] = metainfo[1]
                            else:
                                tags[tag] = desc
                            current_tag = tag
@@ -294,8 +262,6 @@ class SourceParser(object):
                                param.SetField(tag, tags[tag])
                        for def_value in def_values:
                            param.SetEnumValue(def_value, def_values[def_value])
-                        for def_bit in def_bitmask:
-                            param.SetBitmaskBit(def_bit, def_bitmask[def_bit])
                    # Store the parameter
                    if group not in self.param_groups:
                        self.param_groups[group] = ParameterGroup(group)
@@ -318,9 +284,6 @@ class SourceParser(object):
        for group in self.GetParamGroups():
            for param in group.GetParams():
                name  = param.GetName()
-                if len(name) > 16:
-                    sys.stderr.write("Parameter Name {0} is too long (Limit is 16)\n".format(name))
-                    return False
                board = param.GetFieldValue("board")
                # Check for duplicates
                name_plus_board = name + "+" + board
@@ -358,16 +321,6 @@ class SourceParser(object):
                        if param.GetEnumValue(code) == "":
                            sys.stderr.write("Description for enum value is empty: {0} {1}\n".format(name, code))
                            return False
-                for index in param.GetBitmaskList():
-                        if not self.IsNumber(index):
-                            sys.stderr.write("bit value not number: {0} {1}\n".format(name, index))
-                            return False
-                        if not int(min) <= math.pow(2, int(index)) <= int(max):
-                            sys.stderr.write("Bitmask bit must be between {0} and {1}: {2} {3}\n".format(min, max, name, math.pow(2, int(index))))
-                            return False
-                        if param.GetBitmaskBit(index) == "":
-                            sys.stderr.write("Description for bitmask bit is empty: {0} {1}\n".format(name, index))
-                            return False
        return True

    def GetParamGroups(self):
@@ -33,9 +33,8 @@ class SourceScanner(object):
        Scans provided file and passes its contents to the parser using
        parser.Parse method.
        """
-        prefix = "^.*" + os.path.sep + "src" + os.path.sep
-        scope = re.sub(prefix.replace("\\", "/"), "", os.path.dirname(os.path.relpath(path)).replace("\\", "/"))
-
+        prefix = ".." + os.path.sep + "src" + os.path.sep
+        scope = re.sub(prefix, '', os.path.dirname(os.path.relpath(path)))
        with codecs.open(path, 'r', 'utf-8') as f:
            try:
                contents = f.read()
@@ -63,14 +63,6 @@ class XMLOutput():
                        xml_value = ET.SubElement(xml_values, "value")
                        xml_value.attrib["code"] = code;
                        xml_value.text = param.GetEnumValue(code)
-
-                if len(param.GetBitmaskList()) > 0:
-                    xml_values = ET.SubElement(xml_param, "bitmask")
-                    for index in param.GetBitmaskList():
-                        xml_value = ET.SubElement(xml_values, "bit")
-                        xml_value.attrib["index"] = index;
-                        xml_value.text = param.GetBitmaskBit(index)
-
        indent(xml_parameters)
        self.xml_document = ET.ElementTree(xml_parameters)

@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 #############################################################################
 #
-#   Copyright (C) 2013-2016 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2013-2015 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
@@ -33,8 +33,8 @@
 #############################################################################

 """
-px_generate_uorb_topics.py
-Generates c/cpp header/source files for uorb topics from .msg (ROS syntax)
+px_generate_uorb_topic_headers.py
+Generates c/cpp header files for uorb topics from .msg (ROS syntax)
 message files
 """
 from __future__ import print_function
@@ -49,7 +49,6 @@ sys.path.append(px4_tools_dir + "/genmsg/src")
 sys.path.append(px4_tools_dir + "/gencpp/src")

 try:
-        import em
        import genmsg.template_tools
 except ImportError as e:
        print("python import error: ", e)
@@ -69,99 +68,35 @@ On Windows please run:
 ''')
        exit(1)

-__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
-__copyright__ = "Copyright (C) 2013-2016 PX4 Development Team."
+__author__ = "Thomas Gubler"
+__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team."
 __license__ = "BSD"
 __email__ = "thomasgubler@gmail.com"


-TEMPLATE_FILE = ['msg.h.template', 'msg.cpp.template']
-TOPICS_LIST_TEMPLATE_FILE = 'uORBTopics.cpp.template'
-OUTPUT_FILE_EXT = ['.h', '.cpp']
-INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
-PACKAGE = 'px4'
-TOPICS_TOKEN = '# TOPICS '
+msg_template_map = {'msg.h.template': '@NAME@.h'}
+srv_template_map = {}
+incl_default = ['std_msgs:./msg/std_msgs']
+package = 'px4'


-def get_multi_topics(filename):
+def convert_file(filename, outputdir, templatedir, includepath):
        """
-        Get TOPICS names from a "# TOPICS" line
+        Converts a single .msg file to a uorb header
        """
-        ofile = open(filename, 'r')
-        text = ofile.read()
-        result = []
-        for each_line in text.split('\n'):
-                if each_line.startswith (TOPICS_TOKEN):
-                        topic_names_str = each_line.strip()
-                        topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
-                        result.extend(topic_names_str.split(" "))
-        ofile.close()
-        return result
-
-def get_msgs_list(msgdir):
-    """
-    Makes list of msg files in the given directory
-    """
-    return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
+        #print("Generating headers from {0}".format(filename))
+        genmsg.template_tools.generate_from_file(filename,
+                                                 package,
+                                                 outputdir,
+                                                 templatedir,
+                                                 includepath,
+                                                 msg_template_map,
+                                                 srv_template_map)


-def generate_output_from_file(format_idx, filename, outputdir, templatedir, includepath):
+def convert_dir(inputdir, outputdir, templatedir):
        """
-        Converts a single .msg file to an uorb header/source file
-        """
-        msg_context = genmsg.msg_loader.MsgContext.create_default()
-        full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename))
-        spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
-        topics = get_multi_topics(filename)
-        if includepath:
-                search_path = genmsg.command_line.includepath_to_dict(includepath)
-        else:
-                search_path = {}
-        genmsg.msg_loader.load_depends(msg_context, spec, search_path)
-        md5sum = genmsg.gentools.compute_md5(msg_context, spec)
-        if len(topics) == 0:
-                topics.append(spec.short_name)
-        em_globals = {
-            "file_name_in": filename,
-            "md5sum": md5sum,
-            "search_path": search_path,
-            "msg_context": msg_context,
-            "spec": spec,
-            "topics": topics
-        }
-
-        # Make sure output directory exists:
-        if not os.path.isdir(outputdir):
-                os.makedirs(outputdir)
-
-        template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
-        output_file = os.path.join(outputdir, spec.short_name +
-                OUTPUT_FILE_EXT[format_idx])
-
-        return generate_by_template(output_file, template_file, em_globals)
-
-
-def generate_by_template(output_file, template_file, em_globals):
-        """
-        Invokes empy intepreter to geneate output_file by the
-        given template_file and predefined em_globals dict
-        """
-        ofile = open(output_file, 'w')
-        # todo, reuse interpreter
-        interpreter = em.Interpreter(output=ofile, globals=em_globals, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
-        if not os.path.isfile(template_file):
-                ofile.close()
-                os.remove(output_file)
-                raise RuntimeError("Template file %s not found" % (template_file))
-        interpreter.file(open(template_file)) #todo try
-        interpreter.shutdown()
-        ofile.close()
-        return True
-
-
-def convert_dir(format_idx, inputdir, outputdir, templatedir):
-        """
-        Converts all .msg files in inputdir to uORB header/source files
+        Converts all .msg files in inputdir to uORB header files
        """

        # Find the most recent modification time in input dir
@@ -187,7 +122,7 @@ def convert_dir(format_idx, inputdir, outputdir, templatedir):
        if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime):
            return False

-        includepath = INCL_DEFAULT + [':'.join([PACKAGE, inputdir])]
+        includepath = incl_default + [':'.join([package, inputdir])]
        for f in os.listdir(inputdir):
                # Ignore hidden files
                if f.startswith("."):
@@ -198,10 +133,11 @@ def convert_dir(format_idx, inputdir, outputdir, templatedir):
                if not os.path.isfile(fn):
                        continue

-                if fn[-4:].lower() != '.msg':
-                        continue
+                convert_file(fn,
+                             outputdir,
+                             templatedir,
+                             includepath)

-                generate_output_from_file(format_idx, fn, outputdir, templatedir, includepath)
        return True


@@ -215,15 +151,15 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
        if not os.path.isdir(outputdir):
                os.makedirs(outputdir)

-        for input_file in os.listdir(inputdir):
-                fni = os.path.join(inputdir, input_file)
+        for f in os.listdir(inputdir):
+                fni = os.path.join(inputdir, f)
                if os.path.isfile(fni):
-                        # Check if input_file exists in outpoutdir, copy the file if not
-                        fno = os.path.join(outputdir, prefix + input_file)
+                        # Check if f exists in outpoutdir, copy the file if not
+                        fno = os.path.join(outputdir, prefix + f)
                        if not os.path.isfile(fno):
                                shutil.copy(fni, fno)
                                if not quiet:
-                                    print("{0}: new header file".format(fno))
+                                    print("{0}: new header file".format(f))
                                continue

                        if os.path.getmtime(fni) > os.path.getmtime(fno):
@@ -232,39 +168,26 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
                                if not filecmp.cmp(fni, fno):
                                        shutil.copy(fni, fno)
                                        if not quiet:
-                                            print("{0}: updated".format(input_file))
+                                            print("{0}: updated".format(f))
                                        continue

                        if not quiet:
-                            print("{0}: unchanged".format(input_file))
+                            print("{0}: unchanged".format(f))


-def convert_dir_save(format_idx, inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
+def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
        """
        Converts all .msg files in inputdir to uORB header files
        Unchanged existing files are not overwritten.
        """
        # Create new headers in temporary output directory
-        convert_dir(format_idx, inputdir, temporarydir, templatedir)
-        if generate_idx == 1:
-            generate_topics_list_file(inputdir, temporarydir, templatedir)
+        convert_dir(inputdir, temporarydir, templatedir)
        # Copy changed headers from temporary dir to output dir
        copy_changed(temporarydir, outputdir, prefix, quiet)

-def generate_topics_list_file(msgdir, outputdir, templatedir):
-        # generate cpp file with topics list
-        tl_globals = {"msgs" : get_msgs_list(msgdir)}
-        tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
-        tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
-        generate_by_template(tl_out_file, tl_template_file, tl_globals)
-
 if __name__ == "__main__":
        parser = argparse.ArgumentParser(
-            description='Convert msg files to uorb headers/sources')
-        parser.add_argument('--headers', help='Generate header files',
-            action='store_true')
-        parser.add_argument('--sources', help='Generate source files',
-            action='store_true')
+            description='Convert msg files to uorb headers')
        parser.add_argument('-d', dest='dir', help='directory with msg files')
        parser.add_argument('-f', dest='file',
                            help="files to convert (use only without -d)",
@@ -283,22 +206,15 @@ if __name__ == "__main__":
                            ' name when converting directories')
        args = parser.parse_args()

-        if args.headers:
-            generate_idx = 0
-        elif args.sources:
-            generate_idx = 1
-        else:
-            print('Error: either --headers or --sources must be specified')
-            exit(-1)
-
        if args.file is not None:
-            for f in args.file:
-                generate_output_from_file(generate_idx, f, args.outputdir, args.templatedir, INCL_DEFAULT)
-            if generate_idx == 1:
-                generate_topics_list_file(args.dir, args.outputdir, args.templatedir)
+                for f in args.file:
+                        convert_file(
+                            f,
+                            args.outputdir,
+                            args.templatedir,
+                            incl_default)
        elif args.dir is not None:
-            convert_dir_save(
-                    generate_idx,
+                convert_dir_save(
                    args.dir,
                    args.outputdir,
                    args.templatedir,
@@ -1,171 +0,0 @@
-
-# helper methods & common code for the uorb message templates msg.{cpp,h}.template
-
-# Another positive effect of having the code here, is that this file will get
-# precompiled and thus message generation will be much faster
-
-
-import genmsg.msgs
-import gencpp
-
-type_map = {
-    'int8': 'int8_t',
-    'int16': 'int16_t',
-    'int32': 'int32_t',
-    'int64': 'int64_t',
-    'uint8': 'uint8_t',
-    'uint16': 'uint16_t',
-    'uint32': 'uint32_t',
-    'uint64': 'uint64_t',
-    'float32': 'float',
-    'float64': 'double',
-    'bool': 'bool',
-    'char': 'char',
-}
-
-msgtype_size_map = {
-    'int8': 1,
-    'int16': 2,
-    'int32': 4,
-    'int64': 8,
-    'uint8': 1,
-    'uint16': 2,
-    'uint32': 4,
-    'uint64': 8,
-    'float32': 4,
-    'float64': 8,
-    'bool': 1,
-    'char': 1,
-}
-
-
-def bare_name(msg_type):
-    """
-    Get bare_name from <dir>/<bare_name>[x] format
-    """
-    bare = msg_type
-    if '/' in msg_type:
-        # removing prefix
-        bare = (msg_type.split('/'))[1]
-    # removing suffix
-    return bare.split('[')[0]
-
-
-def sizeof_field_type(field):
-    """
-    Get size of a field, used for sorting
-    """
-    bare_name_str = bare_name(field.type)
-    if bare_name_str in msgtype_size_map:
-        return msgtype_size_map[bare_name_str]
-    return 0 # this is for non-builtin types: sort them at the end
-
-def get_children_fields(base_type, search_path):
-    (package, name) = genmsg.names.package_resource_name(base_type)
-    tmp_msg_context = genmsg.msg_loader.MsgContext.create_default()
-    spec_temp = genmsg.msg_loader.load_msg_by_type(tmp_msg_context, '%s/%s' %(package, name), search_path)  
-    sorted_fields = sorted(spec_temp.parsed_fields(), key=sizeof_field_type, reverse=True)
-    return sorted_fields
-
-def add_padding_bytes(fields, search_path):
-    """
-    Add padding fields before the embedded types, at the end and calculate the
-    struct size
-    returns a tuple with the struct size and padding at the end
-    """
-    struct_size = 8 # account for the timestamp
-    align_to = 8 # this is always 8, because of the 64bit timestamp
-    i = 0
-    padding_idx = 0
-    while i < len(fields):
-        field = fields[i]
-        if not field.is_header:
-            a_pos = field.type.find('[')
-            array_size = 1
-            if field.is_array:
-                array_size = field.array_len
-            if field.is_builtin:
-                field.sizeof_field_type = sizeof_field_type(field)
-            else:
-                # embedded type: may need to add padding
-                num_padding_bytes = align_to - (struct_size % align_to)
-                if num_padding_bytes != align_to:
-                    padding_field = genmsg.Field('_padding'+str(padding_idx),
-                        'uint8['+str(num_padding_bytes)+']')
-                    padding_idx += 1
-                    padding_field.sizeof_field_type = 1
-                    struct_size += num_padding_bytes
-                    fields.insert(i, padding_field)
-                    i += 1
-                children_fields = get_children_fields(field.base_type, search_path)
-                field.sizeof_field_type, unused = add_padding_bytes(children_fields,
-                        search_path)
-            struct_size += field.sizeof_field_type * array_size
-        i += 1
-
-    # add padding at the end (necessary for embedded types)
-    num_padding_bytes = align_to - (struct_size % align_to)
-    if num_padding_bytes == align_to:
-        num_padding_bytes = 0
-    else:
-        padding_field = genmsg.Field('_padding'+str(padding_idx),
-                'uint8['+str(num_padding_bytes)+']')
-        padding_idx += 1
-        padding_field.sizeof_field_type = 1
-        struct_size += num_padding_bytes
-        fields.append(padding_field)
-    return (struct_size, num_padding_bytes)
-
-
-def convert_type(spec_type):
-    """
-    Convert from msg type to C type
-    """
-    bare_type = spec_type
-    if '/' in spec_type:
-        # removing prefix
-        bare_type = (spec_type.split('/'))[1]
-
-    msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
-    c_type = msg_type
-    if msg_type in type_map:
-        c_type = type_map[msg_type]
-    if is_array:
-        return c_type + "[" + str(array_length) + "]"
-    return c_type
-
-
-def print_field_def(field):
-    """
-    Print the C type from a field
-    """
-    type_name = field.type
-    # detect embedded types
-    sl_pos = type_name.find('/')
-    type_appendix = ''
-    type_prefix = ''
-    if (sl_pos >= 0):
-        type_name = type_name[sl_pos + 1:]
-        type_prefix = 'struct '
-        type_appendix = '_s'
-
-    # detect arrays
-    a_pos = type_name.find('[')
-    array_size = ''
-    if (a_pos >= 0):
-        # field is array
-        array_size = type_name[a_pos:]
-        type_name = type_name[:a_pos]
-
-    if type_name in type_map:
-        # need to add _t: int8 --> int8_t
-        type_px4 = type_map[type_name]
-    else:
-        type_px4 = type_name
-
-    comment = ''
-    if field.name.startswith('_padding'):
-        comment = ' // required for logger'
-
-    print('\t%s%s%s %s%s;%s'%(type_prefix, type_px4, type_appendix, field.name,
-                array_size, comment))
@@ -71,7 +71,7 @@ def main():
                         const="",
                         metavar="BOARD",
                         help="Board to create airframes xml for")
-    parser.add_argument('-v', '--verbose', action='store_true', help="verbose output")
+    parser.add_argument("-v", "--verbose", help="verbose output")
    args = parser.parse_args()

    # Check for valid command
@@ -107,7 +107,7 @@ def main():
                        metavar="SUMMARY",
                        default="Automagically updated parameter documentation from code.",
                        help="DokuWiki page edit summary")
-    parser.add_argument('-v', '--verbose', action='store_true', help="verbose output")
+    parser.add_argument("-v", "--verbose", help="verbose output")
    args = parser.parse_args()

    # Check for valid command
@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 ############################################################################
 #
-#   Copyright (C) 2014-2016 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2014-2015 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
@@ -35,12 +35,7 @@

 """
 px_romfs_pruner.py:
-Try to keep size of ROMFS minimal.
-
-This script goes through the temporarily copied ROMFS data and deletes all
-comments, empty lines and leading whitespace.
-It also deletes hidden files such as auto-saved backups that a text editor
-might have left in the tree.
+Delete all comments and newlines before ROMFS is converted to an image

@author: Julian Oes <julian@oes.ch>
 """
@@ -58,26 +53,19 @@ def main():
                        help="ROMFS scratch folder.")
    args = parser.parse_args()

-    # go through temp folder
+    #print("Pruning ROMFS files.")
+
+    # go through
    for (root, dirs, files) in os.walk(args.folder):
        for file in files:
-            file_path = os.path.join(root, file)
-
-            # delete hidden files
-            if file.startswith("."):
-                os.remove(file_path)
-                continue
-
-            # delete documentation
-            if file.startswith("README"):
-                os.remove(file_path)
-                continue
-
            # only prune text files
            if ".zip" in file or ".bin" in file or ".swp" in file \
-                    or ".data" in file or ".DS_Store" in file:
+                    or ".data" in file or ".DS_Store" in file \
+                    or file.startswith("."):
                continue

+            file_path = os.path.join(root, file)
+
            # read file line by line
            pruned_content = ""
            with open(file_path, "rU") as f:
@@ -89,7 +77,7 @@ def main():
                    else:
                        if not line.isspace() \
                                and not line.strip().startswith("#"):
-                            pruned_content += line.strip() + "\n"
+                            pruned_content += line
            # overwrite old scratch file
            with open(file_path, "wb") as f:
                pruned_content = re.sub("\r\n", "\n", pruned_content)
@@ -1,32 +0,0 @@
-#!/bin/bash
-
-if [[ "$#" < 2 ]]; then
-	echo "usage: scp_upload.sh SRC1 [SRC2 ...] DEST"
-	exit
-fi
-
-if [ -z ${AUTOPILOT_HOST+x} ]; then
-	host=px4autopilot
-	echo "\$AUTOPILOT_HOST is not set (use default: $host)"
-else
-	host=$AUTOPILOT_HOST
-	echo "\$AUTOPILOT_HOST is set to $host"
-fi
-
-echo "Uploading..."
-
-# Get last argument
-for last; do true; done
-
-# Go through source files and push them one by one.
-i=0
-for arg
-do
-	if [[ $((i+1)) == "$#" ]]; then
-		break
-	fi
-	# echo "Pushing $arg to $last"
-	#adb push $arg $last
-	scp $arg pi@$host:$last
-	((i+=1))
-done
@@ -8,22 +8,6 @@ logconv.m: This is a MATLAB script which will automatically convert and display

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

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

-geo_tag_images.py: Use this script to geotag a set of images. It uses GPS time and file creation date to synchronize the images, so it needs that the images have a valid creation date. Can generate a KML file to view where the photos were taken in Google Earth (including height).
-
-```sh
-python geo_tag_images.py --logfile=mylog.bin --input=images/ --output=tagged/ --kml -v
-
-python geo_tag_images.py -l=mylog.bin -i=images/ -o=tagged/ --kml -v
-```
-
-geotagging.py: Use this script to geotag a set of images. It uses the CAM trigger data from the log file for image association.
-	
-```sh
-python geotagging.py --logfile=mylog.bin --input=images/ --output=tagged/
-```
-
-Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux.
+Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux.
@@ -1,404 +0,0 @@
-#!/usr/bin/env python
-#
-#  Tag the images recorded during a flight with geo location extracted from
-#  a PX4 binary log file.
-#
-#  This file accepts *.jpg format images and reads position information
-#  from a *.bin file
-#
-#  Example Syntax:
-#  python geotag.py --logfile=log001.bin --input=images/ --output=imagesWithTag/ --offset=-0.4 -v
-#
-#   Author: Hector Azpurua hector@azpurua.com
-#   Based on the script of Andreas Bircher
-
-import os
-import re
-import sys
-import csv
-import bisect
-import pyexiv2
-import argparse
-from lxml import etree
-import datetime, calendar
-from shutil import copyfile
-from subprocess import check_output
-from pykml.factory import KML_ElementMaker as KML
-from pykml.factory import GX_ElementMaker as GX
-
-
-class GpsPosition(object):
-    def __init__(self, timestamp, lat, lon, alt):
-        self.timestamp = timestamp
-        self.lat = float(lat)
-        self.lon = float(lon)
-        self.alt = float(alt)
-
-
-class Main:
-    def __init__(self):
-        """
-
-        :param logfile:
-        :param input:
-        :param output:
-        :param offset:
-        :param verbose:
-        :return:
-        """
-        args = self.get_arg()
-
-        self.logfile = args['logfile']
-        self.input = args['input']
-        self.output = args['output']
-        self.kml = args['kml']
-        self.verbose = args['verbose']
-        self.offset = args['offset']
-        self.time_tresh = args['treshold']
-
-        self.tdiff_list = []
-        self.non_processed_files = []
-        self.tagged_gps = []
-
-        print '[INFO] Loading logs and images locations...'
-
-        self.gps_list = self.load_gps_from_log(self.logfile, self.offset)
-        self.img_list = self.load_image_list(self.input)
-
-        if len(self.img_list) <= 0:
-            print '[ERROR] Cannot load JPG images from input folder, please check filename extensions.'
-            sys.exit(1)
-
-        if not os.path.exists(self.output):
-            os.makedirs(self.output)
-
-        if not self.output.endswith(os.path.sep):
-            self.output += os.path.sep
-
-        self.tag_images()
-
-        if self.kml and len(self.tdiff_list) > 0:
-            self.gen_kml()
-
-        if len(self.non_processed_files) > 0:
-            print '[WARNING] Some images werent processed (', len(self.non_processed_files), 'of', len(self.img_list), '):'
-            for elem in self.non_processed_files:
-                print '\t', elem
-
-    @staticmethod
-    def to_degree(value, loc):
-        """
-        Convert a lat or lon value to degrees/minutes/seconds
-        :param value: the latitude or longitude value
-        :param loc: could be ["S", "N"] or ["W", "E"]
-        :return:
-        """
-        if value < 0:
-            loc_value = loc[0]
-        elif value > 0:
-            loc_value = loc[1]
-        else:
-            loc_value = ""
-
-        absolute_value = abs(value)
-        deg = int(absolute_value)
-        t1 = (absolute_value-deg) * 60
-        minute = int(t1)
-        sec = round((t1 - minute) * 60, 5)
-
-        return deg, minute, sec, loc_value
-
-    @staticmethod
-    def gps_week_seconds_to_datetime(gpsweek, gpsmillis, leapmillis=0):
-        """
-        Convert GPS week and seconds to datetime object, using leap milliseconds if necessary
-        :param gpsweek:
-        :param gpsmillis:
-        :param leapmillis:
-        :return:
-        """
-        datetimeformat = "%Y-%m-%d %H:%M:%S.%f"
-        epoch = datetime.datetime.strptime("1980-01-06 00:00:00.000", datetimeformat)
-        elapsed = datetime.timedelta(days=(gpsweek * 7), milliseconds=(gpsmillis + leapmillis))
-
-        return Main.utc_to_local(epoch + elapsed)
-
-    @staticmethod
-    def utc_to_local(utc_dt):
-        """
-        Convert UTC time in local time
-        :param utc_dt:
-        :return:
-        """
-        timestamp = calendar.timegm(utc_dt.timetuple())  # use integer timestamp to avoid precision lost
-        local_dt = datetime.datetime.fromtimestamp(timestamp)
-        assert utc_dt.resolution >= datetime.timedelta(microseconds=1)
-
-        return local_dt.replace(microsecond=utc_dt.microsecond)
-
-    def gen_kml(self):
-        """
-        Generate a KML file with keypoints on the locations of the pictures, including height
-        :return:
-        """
-        style_dot = "sn_shaded_dot"
-        style_path = "red_path"
-
-        doc = KML.kml(
-            KML.Document(
-                KML.Name("GPS of the images"),
-                KML.Style(
-                    KML.IconStyle(
-                        KML.scale(0.4),
-                        KML.Icon(
-                            KML.href("http://maps.google.com/mapfiles/kml/shapes/shaded_dot.png")
-                        ),
-                    ),
-                    id=style_dot,
-                ),
-                KML.Style(
-                    KML.LineStyle(
-                        KML.color('7f0000ff'),
-                        KML.width(6),
-                        GX.labelVisibility('1'),
-                    ),
-                    id=style_path
-                )   
-            )
-        )
-
-        # create points
-        for i, gps in enumerate(self.tagged_gps):
-                ii = i + 1
-                doc.Document.append(
-                    KML.Placemark(
-                        KML.styleUrl('#{0}'.format(style_dot)),
-                        KML.Point(
-                            KML.extrude(True),
-                            KML.altitudeMode('absolute'),
-                            KML.coordinates("{},{},{}".format(gps.lon, gps.lat, gps.alt))
-                        ),
-                        KML.name(str(ii)) if ii % 5 == 0 or ii == 1 else KML.name()
-                    )
-                )
-
-        # create the path
-        doc.Document.append(
-            KML.Placemark(
-                KML.styleUrl('#{0}'.format(style_path)),
-                KML.LineString(
-                    KML.altitudeMode('absolute'),
-                    KML.coordinates(
-                        ' '.join(["{},{},{}".format(gps.lon, gps.lat, gps.alt) for gps in self.tagged_gps])
-                    )
-                )
-            )
-        )
-
-        s = etree.tostring(doc)
-
-        file_path = self.output + 'GoogleEarth_points.kml'
-        f = open(file_path,'w')
-        f.write(s)
-        f.close()
-
-        print '[INFO] KML file generated on:', file_path
-
-    def get_closest_datetime_index(self, datetime_list, elem):
-        """
-        Get the closest element between a list of datetime objects and a date
-        :param datetime_list:
-        :param elem:
-        :return:
-        """
-        dlist_len = len(datetime_list)
-
-        i = bisect.bisect_left(datetime_list, elem)
-
-        # Cleanup of the indices 
-        if i < 0: 
-            i = 0 
-        elif i >= dlist_len:
-            i = dlist_len - 1 
-
-        date = datetime_list[i]
-        diff = abs((date - elem).total_seconds())
-
-        if diff > self.time_tresh:
-            return -1, diff
-
-        return i, diff
-
-    def set_gps_location(self, file_name, lat, lng, alt):
-        """
-        Add the GPS tag and altitude to a image file
-        :param file_name:
-        :param lat:
-        :param lng:
-        :param alt:
-        :return:
-        """
-        lat_deg = self.to_degree(lat, ["S", "N"])
-        lng_deg = self.to_degree(lng, ["W", "E"])
-
-        exiv_lat = (pyexiv2.Rational(lat_deg[0] * 60 + lat_deg[1], 60),
-                    pyexiv2.Rational(lat_deg[2] * 100, 6000), pyexiv2.Rational(0, 1))
-        exiv_lng = (pyexiv2.Rational(lng_deg[0] * 60 + lng_deg[1], 60),
-                    pyexiv2.Rational(lng_deg[2] * 100, 6000), pyexiv2.Rational(0, 1))
-
-        try:
-            exiv_image = pyexiv2.ImageMetadata(file_name)
-            exiv_image.read()
-
-            exiv_image["Exif.GPSInfo.GPSLatitude"] = exiv_lat
-            exiv_image["Exif.GPSInfo.GPSLatitudeRef"] = lat_deg[3]
-            exiv_image["Exif.GPSInfo.GPSLongitude"] = exiv_lng
-            exiv_image["Exif.GPSInfo.GPSLongitudeRef"] = lng_deg[3]
-            exiv_image["Exif.GPSInfo.GPSAltitude"] = pyexiv2.Rational(alt, 1)
-            exiv_image["Exif.GPSInfo.GPSAltitudeRef"] = '0'
-            exiv_image["Exif.Image.GPSTag"] = 654
-            exiv_image["Exif.GPSInfo.GPSMapDatum"] = "WGS-84"
-            exiv_image["Exif.GPSInfo.GPSVersionID"] = '2 0 0 0'
-
-            exiv_image.write(True)
-        except Exception as e:
-            print '[ERROR]', e
-
-    def load_gps_from_log(self, log_file, offset):
-        """
-        Load gps list from PX4 binary log
-        :param log_file:
-        :param offset:
-        :return:
-        """
-        gps_list = []
-        out = check_output(["python", "sdlog2_dump.py", log_file, "-m GPS", "-v"])
-
-        for line in out.splitlines():
-            if not line.startswith("MSG GPS:"):
-                continue
-
-            vdict = {}
-            pairs = re.split(r'[;,:]\s*', line)
-            for pair in pairs:
-                e = pair.split('=')
-                if len(e) == 2:
-                    vdict[e[0]] = float(e[1])
-
-            gps_time = vdict['TimeMS']
-            gps_week = vdict['Week']
-            gps_lat = vdict['Lat']
-            gps_lon = vdict['Lng']
-            gps_alt = vdict['Alt']
-
-            date = self.gps_week_seconds_to_datetime(gps_week, gps_time, leapmillis=offset)
-            gps_list.append(GpsPosition(date, gps_lat, gps_lon, gps_alt))
-
-        return gps_list
-
-    def get_image_creation_date(self, filename):
-        exiv_image = pyexiv2.ImageMetadata(filename)
-        exiv_image.read()
-
-        # Prefer DateTime/Original over the other values
-        if 'Exif.Photo.DateTimeOriginal' in exiv_image:
-            cdate = exiv_image['Exif.Photo.DateTimeOriginal'].value
-            return cdate
-        elif 'Exif.Image.DateTime' in exiv_image:
-            cdate = exiv_image['Exif.Image.DateTime'].value
-            return cdate
-        else:
-            epoch = os.path.getmtime(filename)
-            return datetime.datetime.fromtimestamp(epoch)
-
-    def load_image_list(self, input_folder, file_type='jpg'):
-        """
-        Load image list from a folder given a file type
-        :param input_folder:
-        :param file_type:
-        :return:
-        """
-        self.img_list = [input_folder + filename for filename in os.listdir(input_folder)
-                         if re.search(r'\.'+file_type+'$', filename, re.IGNORECASE)]
-        self.img_list = sorted(self.img_list)
-        return self.img_list
-
-    def tag_images(self):
-        """
-        Tag the image list using the GPS loaded from the LOG file
-        :return:
-        """
-        tagged_gps = []
-        img_size = len(self.img_list)
-        print '[INFO] Number of images:', img_size
-        print '[INFO] Number of gps logs:', len(self.gps_list)
-
-        dt_list = [x.timestamp for x in self.gps_list]
-
-        img_seq = 1
-
-        for i in xrange(img_size):
-            cdate = self.get_image_creation_date(self.img_list[i])
-            gps_i, img_tdiff = self.get_closest_datetime_index(dt_list, cdate)
-            base_path, filename = os.path.split(self.img_list[i])
-
-            if gps_i == -1:
-                self.non_processed_files.append(filename)
-                continue
-
-            closest_gps = self.gps_list[gps_i]
-            self.tdiff_list.append(img_tdiff)
-
-            if self.verbose:
-                msg = "[DEBUG] %s/%s) %s\n\timg %s -> gps %s (%ss)\n\tlat:%s, lon:%s, alt:%s".ljust(60) %\
-                        (i+1, img_size, filename, cdate, closest_gps.timestamp, img_tdiff, closest_gps.lat, closest_gps.lon, closest_gps.alt)
-                print msg
-
-            output_filename = self.output + str(img_seq) + '_' + filename
-            copyfile(self.img_list[i], output_filename)
-            self.set_gps_location(output_filename, closest_gps.lat, closest_gps.lon, closest_gps.alt)
-            self.tagged_gps.append(closest_gps)
-            img_seq += 1
-
-        if len(self.tdiff_list) > 0:
-            print '[INFO] Mean diff in seconds:', sum(self.tdiff_list) / float(len(self.tdiff_list))
-
-    @staticmethod
-    def get_arg():
-        parser = argparse.ArgumentParser(
-            description='Geotag script to add GPS info to pictures from PX4 binary log files.'\
-                        'It uses synchronized time to allocate GPS positions.'
-        )
-
-        parser.add_argument(
-            '-l', '--logfile', help='PX4 log file containing recorded positions.', required=True
-        )
-        parser.add_argument(
-            '-i', '--input', help='Input folder containing untagged images.', required=True
-        )
-        parser.add_argument(
-            '-o', '--output', help='Output folder to contain tagged images.', required=True
-        )
-        parser.add_argument(
-            '-t', '--treshold', help='Time treshold between the GPS time and the local image time.',
-            default=1, required=False, type=float
-        )
-        parser.add_argument(
-            '-of', '--offset', help='Time offset in MILLISECONDS between the GPS time and the local time.',
-            default=-17000, required=False, type=float
-        )
-        parser.add_argument(
-            '-kml', '--kml', help='Save the in KML format the information of all tagged images.',
-            required=False, action='store_true'
-        )
-        parser.add_argument(
-            '-v', '--verbose', help='Prints lots of information.',
-            required=False, action='store_true'
-        )
-
-        args = vars(parser.parse_args())
-        return args
-
-
-if __name__ == "__main__":
-    m = Main()
@@ -1,52 +0,0 @@
-#!/bin/bash
-
-sitl_num=2
-
-sim_port=15019
-mav_port=15010
-mav_port2=15011
-
-mav_oport=15015
-mav_oport2=15016
-
-port_step=10
-
-src_path=`pwd`
-
-rc_script="posix-configs/SITL/init/rcS_multiple"
-build_path=${src_path}/build_posix_sitl_default
-
-pkill px4
-sleep 2
-
-cd $build_path/src/firmware/posix
-
-user=`whoami`
-n=1
-while [ $n -le $sitl_num ]; do
- if [ ! -d $n ]; then
-  mkdir -p $n
-  cd $n
-
-  mkdir -p rootfs/fs/microsd
-  mkdir -p rootfs/eeprom
-  touch rootfs/eeprom/parameters
-
-  cp ${src_path}/ROMFS/px4fmu_common/mixers/quad_w.main.mix ./
-  cat ${src_path}/${rc_script}_gazebo_iris | sed s/_SIMPORT_/${sim_port}/ | sed s/_MAVPORT_/${mav_port}/g | sed s/_MAVOPORT_/${mav_oport}/ | sed s/_MAVPORT2_/${mav_port2}/ | sed s/_MAVOPORT2_/${mav_oport2}/ > rcS
-  cd ../
- fi
-
- cd $n
-
- sudo -b -u $user ../px4 -d rcS >out.log 2>err.log
-
- cd ../
-
- n=$(($n + 1))
- sim_port=$(($sim_port + $port_step))
- mav_port=$(($mav_port + $port_step))
- mav_port2=$(($mav_port2 + $port_step))
- mav_oport=$(($mav_oport + $port_step))
- mav_oport2=$(($mav_oport2 + $port_step))
-done
@@ -43,8 +43,8 @@ fi
 # kill process names that might stil
 # be running from last time
 pkill gazebo
-pkill px4
-jmavsim_pid=`ps aux | grep java | grep Simulator | cut -d" " -f1`
+pkill mainapp
+jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
 if [ -n "$jmavsim_pid" ]
 then
 	kill $jmavsim_pid
@@ -58,7 +58,7 @@ cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit

 SIM_PID=0

-if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
+if [ "$program" == "jmavsim" ] && [ "$no_sim" == "" ]
 then
 	cd Tools/jMAVSim
 	ant create_run_jar copy_res
@@ -66,33 +66,31 @@ then
 	java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
 	SIM_PID=`echo $!`
 	cd ../..
-elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]
+elif [ "$program" == "gazebo" ] && [ "$no_sim" == "" ]
 then
 	if [ -x "$(command -v gazebo)" ]
 	then
 		# Set the plugin path so Gazebo finds our model and sim
-		export GAZEBO_PLUGIN_PATH=$curr_dir/build_gazebo:${GAZEBO_PLUGIN_PATH}
+		export GAZEBO_PLUGIN_PATH=$curr_dir/Tools/sitl_gazebo/Build:${GAZEBO_PLUGIN_PATH}
 		# Set the model path so Gazebo finds the airframes
 		export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$curr_dir/Tools/sitl_gazebo/models
 		# The next line would disable online model lookup, can be commented in, in case of unstable behaviour.
 		# export GAZEBO_MODEL_DATABASE_URI=""
 		export SITL_GAZEBO_PATH=$curr_dir/Tools/sitl_gazebo
-		make --no-print-directory gazebo_build
-
-		gzserver --verbose $curr_dir/Tools/sitl_gazebo/worlds/${model}.world &
+		mkdir -p Tools/sitl_gazebo/Build
+		cd Tools/sitl_gazebo/Build
+		cmake -Wno-dev ..
+		make -j4
+		make sdf
+		gzserver --verbose ../worlds/${model}.world &
 		SIM_PID=`echo $!`
-
-		if [[ -n "$HEADLESS" ]]; then
-			echo "not running gazebo gui"
-		else
-			gzclient --verbose &
-			GUI_PID=`echo $!`
-		fi
+		gzclient --verbose &
+		GUI_PID=`echo $!`
 	else
 		echo "You need to have gazebo simulator installed!"
 		exit 1
 	fi
-elif [ "$program" == "replay" ] && [ ! -n "$no_sim" ]
+elif [ "$program" == "replay" ] && [ "$no_sim" == "" ]
 then
 	echo "Replaying logfile: $logfile"
 	# This is not a simulator, but a log file to replay
@@ -117,18 +115,18 @@ set +e
 # Start Java simulator
 if [ "$debugger" == "lldb" ]
 then
-	lldb -- px4 ../../../../${rc_script}_${program}_${model}
+	lldb -- mainapp ../../../../${rc_script}_${program}_${model}
 elif [ "$debugger" == "gdb" ]
 then
-	gdb --args px4 ../../../../${rc_script}_${program}_${model}
+	gdb --args mainapp ../../../../${rc_script}_${program}_${model}
 elif [ "$debugger" == "ddd" ]
 then
-	ddd --debugger gdb --args px4 ../../../../${rc_script}_${program}_${model}
+	ddd --debugger gdb --args mainapp ../../../../${rc_script}_${program}_${model}
 elif [ "$debugger" == "valgrind" ]
 then
-	valgrind ./px4 ../../../../${rc_script}_${program}_${model}
+	valgrind ./mainapp ../../../../${rc_script}_${program}_${model}
 else
-	$sudo_enabled ./px4 $chroot_enabled ../../../../${rc_script}_${program}_${model}
+	$sudo_enabled ./mainapp $chroot_enabled ../../../../${rc_script}_${program}_${model}
 fi

 if [ "$program" == "jmavsim" ]
@@ -137,7 +135,5 @@ then
 elif [ "$program" == "gazebo" ]
 then
 	kill -9 $SIM_PID
-	if [[ ! -n "$HEADLESS" ]]; then
-		kill -9 $GUI_PID
-	fi
+	kill -9 $GUI_PID
 fi
@@ -17,7 +17,7 @@ fi

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

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

-python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
+python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
@@ -1,20 +0,0 @@
-machine:
-  services:
-    - docker
-
-checkout:
-  post:
-    - git submodule sync --recursive
-    - git submodule update --init --recursive
-
-## Customize dependencies
-dependencies:
-  cache_directories:
-    - "~/.ccache"
-  pre:
-    - docker pull px4io/px4-dev-nuttx-gcc4.9
-
-test:
-  override:
-    - docker run --rm -v `pwd`:`pwd`:rw -w=`pwd` -v $HOME/.ccache:$HOME/.ccache:rw -e CCACHE_DIR=$HOME/.ccache --user=$UID -it px4io/px4-dev-nuttx-gcc4.9 /bin/bash -c "ccache -z; make px4fmu-v4_default; ccache -s"
-
@@ -136,14 +136,14 @@ function(px4_add_git_submodule)
 		REQUIRED TARGET PATH
 		ARGN ${ARGN})
 	string(REPLACE "/" "_" NAME ${PATH})
-	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-		COMMAND touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
-		DEPENDS ${PX4_SOURCE_DIR}/.gitmodules
+	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		COMMAND touch ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
+		DEPENDS ${CMAKE_SOURCE_DIR}/.gitmodules
 		)
 	add_custom_target(${TARGET}
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-		DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		DEPENDS ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
 		)
 endfunction()

@@ -303,9 +303,6 @@ function(px4_add_module)
 	if(MAIN)
 		set_target_properties(${MODULE} PROPERTIES
 			COMPILE_DEFINITIONS PX4_MAIN=${MAIN}_app_main)
-		add_definitions(-DMODULE_NAME="${MAIN}")
-	else()
-		add_definitions(-DMODULE_NAME="${MODULE}")
 	endif()

 	if(INCLUDES)
@@ -362,16 +359,14 @@ function(px4_generate_messages)
 		NAME px4_generate_messages
 		OPTIONS VERBOSE
 		ONE_VALUE OS TARGET
-		MULTI_VALUE MSG_FILES DEPENDS INCLUDES
+		MULTI_VALUE MSG_FILES DEPENDS
 		REQUIRED MSG_FILES OS TARGET
 		ARGN ${ARGN})
 	set(QUIET)
 	if(NOT VERBOSE)
 		set(QUIET "-q")
 	endif()
-
-	# headers
-	set(msg_out_path ${PX4_BINARY_DIR}/src/modules/uORB/topics)
+	set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
 	set(msg_list)
 	foreach(msg_file ${MSG_FILES})
 		get_filename_component(msg ${msg_file} NAME_WE)
@@ -383,77 +378,41 @@ function(px4_generate_messages)
 	endforeach()
 	add_custom_command(OUTPUT ${msg_files_out}
 		COMMAND ${PYTHON_EXECUTABLE}
-			Tools/px_generate_uorb_topic_files.py
-			--headers
+			Tools/px_generate_uorb_topic_headers.py
 			${QUIET}
 			-d msg
 			-o ${msg_out_path}
 			-e msg/templates/uorb
-			-t ${PX4_BINARY_DIR}/topics_temporary_header
+			-t ${CMAKE_BINARY_DIR}/topics_temporary
 		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 		COMMENT "Generating uORB topic headers"
 		VERBATIM
 		)

-	# !sources
-	set(msg_source_out_path	${PX4_BINARY_DIR}/topics_sources)
-	set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
-	foreach(msg ${msg_list})
-		list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
-	endforeach()
-	add_custom_command(OUTPUT ${msg_source_files_out}
-		COMMAND ${PYTHON_EXECUTABLE}
-			Tools/px_generate_uorb_topic_files.py
-			--sources
-			${QUIET}
-			-d msg
-			-o ${msg_source_out_path}
-			-e msg/templates/uorb
-			-t ${PX4_BINARY_DIR}/topics_temporary_sources
-		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-		COMMENT "Generating uORB topic sources"
-		VERBATIM
-		)
-	set_source_files_properties(${msg_source_files_out} PROPERTIES GENERATED TRUE)
-
-	# We remove uORBTopics.cpp to make sure the generator is re-run, which is
-	# necessary when a .msg file is removed and because uORBTopics.cpp depends
-	# on all topics.
-	execute_process(COMMAND rm uORBTopics.cpp
-		WORKING_DIRECTORY ${msg_source_out_path}
-		ERROR_QUIET)
-
 	# multi messages for target OS
 	set(msg_multi_out_path
-		${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
+		${CMAKE_BINARY_DIR}/src/platforms/${OS}/px4_messages)
 	set(msg_multi_files_out)
 	foreach(msg ${msg_list})
 		list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
 	endforeach()
 	add_custom_command(OUTPUT ${msg_multi_files_out}
 		COMMAND ${PYTHON_EXECUTABLE}
-			Tools/px_generate_uorb_topic_files.py
-			--headers
+			Tools/px_generate_uorb_topic_headers.py
 			${QUIET}
 			-d msg
 			-o ${msg_multi_out_path}
 			-e msg/templates/px4/uorb
-			-t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
+			-t ${CMAKE_BINARY_DIR}/multi_topics_temporary/${OS}
 			-p "px4_"
 		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 		COMMENT "Generating uORB topic multi headers for ${OS}"
 		VERBATIM
 		)
-
-	add_library(${TARGET}
-		${msg_source_files_out}
-		${msg_multi_files_out}
-		${msg_files_out}
-		)
-
+	add_custom_target(${TARGET}
+		DEPENDS ${msg_multi_files_out} ${msg_files_out})
 endfunction()

 #=============================================================================
@@ -488,7 +447,6 @@ function(px4_add_upload)
 	if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
 		list(APPEND serial_ports
 			/dev/serial/by-id/usb-3D_Robotics*
-			/dev/serial/by-id/usb-The_Autopilot*
 			/dev/serial/by-id/pci-3D_Robotics*
 			)
 	elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
@@ -504,9 +462,9 @@ function(px4_add_upload)
 	px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
 	add_custom_target(${OUT}
 		COMMAND ${PYTHON_EXECUTABLE}
-			${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
+			${CMAKE_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
 		DEPENDS ${BUNDLE}
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@@ -523,45 +481,9 @@ function(px4_add_adb_push)
 		ARGN ${ARGN})

 	add_custom_target(${OUT}
-		COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
+		COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
 		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
-		COMMENT "uploading ${BUNDLE}"
-		VERBATIM
-		USES_TERMINAL
-		)
-endfunction()
-
-function(px4_add_adb_push_to_bebop)
-	px4_parse_function_args(
-		NAME px4_add_upload_to_bebop
-		ONE_VALUE OS BOARD OUT DEST
-		MULTI_VALUE FILES DEPENDS
-		REQUIRED OS BOARD OUT FILES DEPENDS DEST
-		ARGN ${ARGN})
-
-	add_custom_target(${OUT}
-		COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
-		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
-		COMMENT "uploading ${BUNDLE}"
-		VERBATIM
-		USES_TERMINAL
-		)
-endfunction()
-
-function(px4_add_scp_push)
-	px4_parse_function_args(
-		NAME px4_add_upload
-		ONE_VALUE OS BOARD OUT DEST
-		MULTI_VALUE FILES DEPENDS
-		REQUIRED OS BOARD OUT FILES DEPENDS DEST
-		ARGN ${ARGN})
-
-	add_custom_target(${OUT}
-		COMMAND ${PX4_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
-		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@@ -619,6 +541,7 @@ function(px4_add_common_flags)
 		-Wall
 		-Werror
 		-Wextra
+		-Wpacked
 		-Wno-sign-compare
 		-Wshadow
 		-Wfloat-equal
@@ -660,8 +583,7 @@ function(px4_add_common_flags)
 	endif()

 	if ($ENV{MEMORY_DEBUG} MATCHES "1")
-		message(STATUS "address sanitizer enabled")
-		set(max_optimization -Os)
+		set(max_optimization -O0)

 		set(optimization_flags
 			-fno-strict-aliasing
@@ -669,7 +591,7 @@ function(px4_add_common_flags)
 			-funsafe-math-optimizations
 			-ffunction-sections
 			-fdata-sections
-			-g3 -fsanitize=address
+			-g -fsanitize=address
 			)
 	else()
 		set(max_optimization -Os)
@@ -761,21 +683,21 @@ function(px4_add_common_flags)
 		)

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

 	list(APPEND added_include_dirs
@@ -788,7 +710,6 @@ function(px4_add_common_flags)
 	string(REPLACE "-" "_" board_config ${board_upper})
 	set(added_definitions
 		-DCONFIG_ARCH_BOARD_${board_config}
-		-D__STDC_FORMAT_MACROS
 		)

 	if (NOT (APPLE AND (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")))
@@ -855,22 +776,22 @@ function(px4_create_git_hash_header)
 		REQUIRED HEADER
 		ARGN ${ARGN})
 	execute_process(
-		COMMAND git describe --always --tags
+		COMMAND git describe --tags
 		OUTPUT_VARIABLE git_tag
 		OUTPUT_STRIP_TRAILING_WHITESPACE
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 		)
-	message(STATUS "GIT_TAG = ${git_tag}")
+	#message(STATUS "GIT_TAG = ${git_tag}")
 	execute_process(
-		COMMAND git rev-parse --verify HEAD
-		OUTPUT_VARIABLE git_version
+		COMMAND git rev-parse HEAD
+		OUTPUT_VARIABLE git_desc
 		OUTPUT_STRIP_TRAILING_WHITESPACE
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 		)
-	#message(STATUS "GIT_VERSION = ${git_version}")
-	set(git_version_short)
-	string(SUBSTRING ${git_version} 1 16 git_version_short)
-	configure_file(${PX4_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
+	#message(STATUS "GIT_DESC = ${git_desc}")
+	set(git_desc_short)
+	string(SUBSTRING ${git_desc} 1 16 git_desc_short)
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
 endfunction()

 #=============================================================================
@@ -897,12 +818,12 @@ function(px4_generate_parameters_xml)
 		ONE_VALUE OUT BOARD
 		REQUIRED OUT BOARD
 		ARGN ${ARGN})
-	set(path ${PX4_SOURCE_DIR}/src)
+	set(path ${CMAKE_SOURCE_DIR}/src)
 	file(GLOB_RECURSE param_src_files
-		${PX4_SOURCE_DIR}/src/*params.c
+		${CMAKE_SOURCE_DIR}/src/*params.c
 		)
 	add_custom_command(OUTPUT ${OUT}
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py
 			-s ${path} --board CONFIG_ARCH_${BOARD} --xml --inject-xml
 		DEPENDS ${param_src_files}
 		)
@@ -944,7 +865,7 @@ function(px4_generate_parameters_source)
 		set(SCOPE "")
 	endif()
 	add_custom_command(OUTPUT ${generated_files}
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
 		DEPENDS ${XML} ${DEPS} ${SCOPE}
 		)
 	set(${OUT} ${generated_files} PARENT_SCOPE)
@@ -975,10 +896,10 @@ function(px4_generate_airframes_xml)
 		ONE_VALUE OUT BOARD
 		REQUIRED OUT BOARD
 		ARGN ${ARGN})
-	set(process_airframes ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
+	set(process_airframes ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
 	add_custom_command(OUTPUT ${OUT}
 		COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
-			-a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
+			-a ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 			--board CONFIG_ARCH_BOARD_${BOARD} --xml
 		)
 	set(${OUT} ${${OUT}} PARENT_SCOPE)
@@ -1,128 +0,0 @@
-include(nuttx/px4_impl_nuttx)
-
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
-
-set(config_module_list
-	#
-	# Board support modules
-	#
-	drivers/device
-	drivers/stm32
-	drivers/stm32/adc
-	drivers/led
-	#drivers/px4fmu
-	drivers/boards/asc-v1
-	drivers/rgbled_pwm
-	drivers/tap_esc
-	drivers/mpu6500
-	drivers/ms5611
-	drivers/hmc5883
-	drivers/gps
-	drivers/airspeed
-	drivers/meas_airspeed
-	modules/sensors
-	drivers/camera_trigger
-
-	#
-	# System commands
-	#
-	systemcmds/bl_update
-	systemcmds/mixer
-	systemcmds/param
-	systemcmds/perf
-	systemcmds/pwm
-	systemcmds/motor_test
-	systemcmds/reboot
-	systemcmds/top
-	systemcmds/config
-	systemcmds/nshterm
-	systemcmds/mtd
-	systemcmds/dumpfile
-	systemcmds/ver
-	systemcmds/topic_listener
-
-	#
-	# General system control
-	#
-	modules/commander
-	modules/load_mon
-	modules/navigator
-	modules/mavlink
-	modules/land_detector
-
-	#
-	# Estimation modules (EKF/ SO3 / other filters)
-	#
-	modules/ekf2
-
-	#
-	# Vehicle Control
-	#
-	modules/fw_pos_control_l1
-	modules/fw_att_control
-	modules/mc_att_control
-	modules/mc_pos_control
-	modules/vtol_att_control
-
-	#
-	# Logging
-	#
-	modules/logger
-
-	#
-	# Library modules
-	#
-	modules/param
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/uORB
-	modules/dataman
-
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/mathlib
-	lib/mathlib/math/filter
-	lib/ecl
-	lib/external_lgpl
-	lib/geo
-	lib/geo_lookup
-	lib/conversion
-	lib/launchdetection
-	lib/terrain_estimation
-	lib/runway_takeoff
-	lib/tailsitter_recovery
-	lib/DriverFramework/framework
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
-)
-
-set(config_extra_builtin_cmds
-	serdis
-	sercon
-	)
-
-set(config_io_board
-	)
-
-set(config_extra_libs
-	)
-
-set(config_io_extra_libs
-	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048")
@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)

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

 set(config_uavcan_num_ifaces 2)

@@ -15,7 +15,7 @@ set(config_module_list
 	drivers/led
 	drivers/px4fmu
 	#drivers/px4io
-	#drivers/test_ppm
+	drivers/test_ppm
 	drivers/boards/mindpx-v2
 	#drivers/rgbled
 	drivers/rgbled_pwm
@@ -64,33 +64,18 @@ set(config_module_list
 	systemcmds/pwm
 	systemcmds/esc_calib
 	systemcmds/reboot
-	systemcmds/topic_listener
+	#systemcmds/topic_listener
 	systemcmds/top
 	systemcmds/config
 	systemcmds/nshterm
 	systemcmds/mtd
 	systemcmds/dumpfile
 	systemcmds/ver
-	systemcmds/sd_bench
-	systemcmds/motor_ramp
-
-	#
-	# Tests
-	#
-	drivers/sf0x/sf0x_tests
-	drivers/test_ppm
-	modules/commander/commander_tests
-	modules/controllib_test
-	modules/mavlink/mavlink_tests
-	modules/unit_test
-	modules/uORB/uORB_tests
-	systemcmds/tests

 	#
 	# General system control
 	#
 	modules/commander
-	modules/load_mon
 	modules/navigator
 	modules/mavlink
 	modules/gpio_led
@@ -100,14 +85,16 @@ set(config_module_list
 	#
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
+	# Too high RAM usage due to static allocations
+	# modules/attitude_estimator_ekf
 	modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
-	modules/local_position_estimator
-	modules/ekf2

 	#
 	# Vehicle Control
 	#
+	# modules/segway # XXX Needs GCC 4.7 fix
 	modules/fw_pos_control_l1
 	modules/fw_att_control
 	modules/mc_att_control
@@ -118,7 +105,6 @@ set(config_module_list
 	# Logging
 	#
 	modules/sdlog2
-	modules/logger

 	#
 	# Library modules
@@ -148,7 +134,7 @@ set(config_module_list
 	platforms/nuttx

 	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
+	platforms/common 
 	platforms/nuttx/px4_layer

 	#
@@ -159,7 +145,7 @@ set(config_module_list
 	#
 	# Rover apps
 	#
-	#examples/rover_steering_control
+	examples/rover_steering_control

 	#
 	# Demo apps
@@ -167,7 +153,7 @@ set(config_module_list
 	#examples/math_demo
 	# Tutorial code from
 	# https://px4.io/dev/px4_simple_app
-	#examples/px4_simple_app
+	examples/px4_simple_app

 	# Tutorial code from
 	# https://px4.io/dev/daemon
@@ -190,6 +176,10 @@ set(config_extra_builtin_cmds
 	sercon
 	)

+set(config_io_board
+	px4io-v2
+	)
+
 set(config_extra_libs
 	uavcan
 	uavcan_stm32_driver
@@ -201,11 +191,9 @@ set(config_io_extra_libs
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon"
-	STACK_MAIN "2048")
+	MAIN "sercon" STACK_MAIN "2048")

 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis"
-	STACK_MAIN "2048")
+	MAIN "serdis" STACK_MAIN "2048")
@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)

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

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

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

 set(config_module_list
 	#
@@ -61,18 +61,19 @@ set(config_module_list
 	# General system control
 	#
 	modules/commander
-	modules/load_mon
 	modules/navigator
 	modules/mavlink
 	modules/gpio_led
 	modules/land_detector

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

 	#
@@ -89,7 +90,6 @@ set(config_module_list
 	# Logging
 	#
 	modules/sdlog2
-	modules/logger

 	#
 	# Library modules
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Martin K. Schröder	cb1528008f	Update Matrix.hpp (#4966 ) This was horribly wrong. Matrix is first cast into a matrix of size NxM (which is supposed to be the size of the result - NOT the starting point) so the transpose result becomes garbage. Instead make "Me" an MxN matrix as the original. Took me a whole evening to figure out this problem. Now my Kalman filter finally returns good results.	2016-07-03 12:30:24 +02:00
Julian Oes	403d76c7a7	px4io: set safety on before going into bootloader (#4860 ) Sometimes when flashing new firmware, the IO update fails because safety is off. In this case, we should set safety on first before putting the IO board into bootloader mode.	2016-06-21 09:18:45 +02:00
Julian Oes	a031f6eec8	land_detector: fix timestamp type (#4710 ) The overflow of the uint32_t lead to the land_detector start getting aborted.	2016-06-01 17:16:29 +02:00
Pavel Kirienko	0749b04c9f	Fixed stack overflow in UAVCAN process (#4643 ) * Increased uavcan stack size; the old value of 1800 was insufficient * Removed a misleading warning message from uavcan servers initialization	2016-05-26 20:00:46 +02:00
Lorenz Meier	0902401115	SBUS decoding: Fix channel 18 return value	2016-05-21 15:55:32 +02:00
Lorenz Meier	87a6d36341	EKF2: Remove unused header	2016-05-21 14:13:30 +02:00
Lorenz Meier	bdf01061d0	Bottle drop: Fix uninitialized member	2016-05-21 14:13:22 +02:00
Lorenz Meier	62c76d62cd	LPE: Fix stack smashing	2016-05-21 14:13:15 +02:00
Lorenz Meier	65c4a9190c	EKF1: Simplify output	2016-05-21 14:13:08 +02:00
Lorenz Meier	5070238504	EKF1: Fix stack smashing resulting from uninitialized publication	2016-05-21 14:13:00 +02:00
Lorenz Meier	2f52c90885	Fix compile error in MAVLink app	2016-05-19 15:34:25 +02:00
Roman Bapst	9b4b67644d	WIP: Manual attitude setpoint for large heading errors (#4564 ) * mc pos control: in manual mode calculate attitude setpoint such that it reflects the users intuition of roll and pitch for any given heading error * added some comments on the new manual attitude setpoint generation * make calculation shorter	2016-05-19 15:32:08 +02:00
Lorenz Meier	556c33cf8c	Battery lib: Set valid flag	2016-05-19 15:32:08 +02:00
Lorenz Meier	ac256eb64d	MAVLink: Use valid flag to initialize fields Conflicts: src/modules/mavlink/mavlink_messages.cpp	2016-05-19 15:32:08 +02:00
Lorenz Meier	fd3efe168a	Battery status: Add valid flag	2016-05-19 15:32:08 +02:00
Lorenz Meier	d091af4fc0	EKF: Be less verbose, avoid floating ng point printing stack smashing	2016-05-14 18:22:58 +02:00
Lorenz Meier	3ebea78d91	IO driver: Fix PWM load	2016-05-14 18:06:32 +02:00
Lorenz Meier	8361b8b3c6	PWM cmd: better reporting	2016-05-14 18:06:24 +02:00
Lorenz Meier	2807e53838	Navigator: Do not publish an empty triplet	2016-05-13 11:05:18 +02:00
Lorenz Meier	2cc613cf64	Commander: Better status feedback	2016-05-13 11:05:12 +02:00