Disable LPE in px4fmu-v2_default

With GCC 4.9 the binary is to large for the flash memory.
This is why we disabled LPE on that platform.

.gitignore

@@ -5,6 +5,7 @@
 *.px4log
 *.dSYM
 *.o
+*.gch
 *.pyc
 *~
 .*.swp
@@ -72,3 +73,11 @@ GTAGS
 # uavcan firmware
 ROMFS/px4fmu_common/uavcan/
 vectorcontrol/
+
+
+# CLion ignores
+.idea
+
+# gcov code coverage
+coverage-html/
+coverage.info

.travis.yml

@@ -3,17 +3,20 @@
 
 language: cpp
 
+git:
+  depth: 1000
+
 matrix:
   fast_finish: true
   include:
     - os: linux
       sudo: required
-      env: GCC_VER=4.8 DOCKER_REPO="px4io/px4-dev-base:2016-07-14"
+      env: GCC_VER=4.9 DOCKER_REPO="px4io/px4-dev-base:2016-10-20"
       services:
         - docker
     - os: osx
       sudo: true
-      osx_image: xcode7.3
+      osx_image: xcode8
       env: CCACHE_CPP2=1
 
 cache:
@@ -61,20 +64,20 @@ env:
 script:
   - ccache -M 1GB; ccache -z
   - 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";
+      docker run --rm -v `pwd`:`pwd`:rw -v $HOME/.ccache:$HOME/.ccache:rw -e CCACHE_DIR=$HOME/.ccache -e CI=true -e GIT_SUBMODULES_ARE_EVIL=1 -w=`pwd` --user=$UID -it ${DOCKER_REPO} /bin/bash -c "make check_qgc_firmware VECTORCONTROL=0";
     elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-      make check_posix_sitl_default;
+      make tests;
     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
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+         make package_firmware && mkdir s3deploy-archive && cp Firmware.zip s3deploy-archive/
+      && find . -type f -name 'nuttx-*-default.px4' -exec cp "{}" . \;
+      && find . -maxdepth 1 -mindepth 1 -type f -name 'nuttx-*-default.px4' | sed 's/.\/nuttx-//' | sed 's/-default.px4//' | xargs -I{} mv nuttx-{}-default.px4 {}_default.px4
+      && mkdir s3deploy-branch && mv *_default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml s3deploy-branch/;
+    fi
+  - if [[ "${TRAVIS_OS_NAME}" = "linux" && "$GCC_VER" == "4.9" ]]; then
       export PX4_S3_DEPLOY=1;
     fi
 
@@ -117,7 +120,7 @@ deploy:
       tags: true
       all_branches: true
       repo: PX4/Firmware
-      condition: $GCC_VER = 4.8
+      condition: $GCC_VER = 4.9
 
 notifications:
   webhooks:
@@ -126,6 +129,8 @@ notifications:
     on_success: always  # options: [always|never|change] default: always
     on_failure: always  # options: [always|never|change] default: always
   slack:
-    secure: "QKw73Zel/s3JAbe/7XyO9tPnJwiiGFpYzSjdR8lG3tYFjRdXZnhxG4c+G7bkgkaPTS4Hult33VXE3kcEqOI7+C+eRwRlZhDfL0knQbXVCxjcLjzmUFdoPOwurlgZDw66PFWCi5tZcLKSRo3u4U8ibT4WKi3jm9sDSyOcfBAucMU="
-    on_success: change  # options: [always|never|change] default: always
-    on_failure: always  # options: [always|never|change] default: always
+    rooms:
+      - secure: "QKw73Zel/s3JAbe/7XyO9tPnJwiiGFpYzSjdR8lG3tYFjRdXZnhxG4c+G7bkgkaPTS4Hult33VXE3kcEqOI7+C+eRwRlZhDfL0knQbXVCxjcLjzmUFdoPOwurlgZDw66PFWCi5tZcLKSRo3u4U8ibT4WKi3jm9sDSyOcfBAucMU="
+    on_pull_requests: false
+    on_success: never  # options: [always|never|change] default: always
+    on_failure: never  # options: [always|never|change] default: always

CMakeLists.txt

@@ -121,6 +121,14 @@
 # and leads to wrong toolchain detection
 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
 
+set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
+
+execute_process(
+	COMMAND Tools/check_submodules.sh
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
+
 # Use clang
 #SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
 #SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
@@ -138,6 +146,7 @@ set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
 set(THREADS "4" CACHE STRING
 	"number of threads to use for external build processes")
 set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
+set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
 
 #=============================================================================
 # configuration
@@ -155,6 +164,9 @@ message(STATUS "${target_name}")
 # Define GNU standard installation directories
 include(GNUInstallDirs)
 
+# Add support for external project building
+include(ExternalProject)
+
 # Setup install paths
 if(NOT CMAKE_INSTALL_PREFIX)
 	if (${OS} STREQUAL "posix")
@@ -163,12 +175,8 @@ if(NOT CMAKE_INSTALL_PREFIX)
 endif()
 message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
 
-# switch to ros CMake file if building ros
-if (${OS} STREQUAL "ros")
-	include("cmake/ros-CMakeLists.txt")
-else()  # otherwise use the rest of this file
-
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
+message(STATUS "cmake module path: ${CMAKE_MODULE_PATH}")
 set(config_module "configs/${CONFIG}")
 include(${config_module})
 
@@ -199,6 +207,9 @@ if(DEFINED config_df_driver_list)
 	message("DF Drivers: ${config_df_driver_list}")
 endif()
 
+# force static lib build
+set(BUILD_SHARED_LIBS OFF)
+
 #=============================================================================
 # project definition
 #
@@ -213,14 +224,28 @@ if (NOT ${CMAKE_VERSION} VERSION_LESS 3.1.0)
 endif()
 
 set(version_major 1)
-set(version_minor 4)
-set(version_patch 1)
+set(version_minor 5)
+set(version_patch 0)
 set(version "${version_major}.${version_minor}.${version_patch}")
 set(package-contact "px4users@googlegroups.com")
 
 #=============================================================================
-# programs
+# find programs and packages
 #
+
+# see if catkin was invoked to build this
+if (CATKIN_DEVEL_PREFIX)
+	message(STATUS "catkin ENABLED")
+	find_package(catkin REQUIRED)
+	if (catkin_FOUND)
+		catkin_package()
+	else()
+		message(FATAL_ERROR "catkin not found")
+	endif()
+else()
+	message(STATUS "catkin DISABLED")
+endif()
+
 find_package(PythonInterp REQUIRED)
 
 #=============================================================================
@@ -228,6 +253,11 @@ find_package(PythonInterp REQUIRED)
 #
 enable_testing()
 
+#=============================================================================
+# generate compile command database
+#
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 #=============================================================================
 # check required toolchain variables
 #
@@ -257,7 +287,7 @@ px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
 add_custom_target(submodule_clean
-	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	COMMAND git submodule deinit -f .
 	COMMAND rm -rf .git/modules/*
 	)
@@ -267,12 +297,12 @@ add_custom_target(submodule_clean
 #
 add_custom_target(check_format
 	COMMAND Tools/check_code_style.sh
-	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
 add_custom_target(config
 	COMMAND cmake-gui .
-	WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	)
 
 #=============================================================================
@@ -289,14 +319,15 @@ px4_os_add_flags(
 	BOARD ${BOARD}
 	C_FLAGS c_flags
 	CXX_FLAGS cxx_flags
+	OPTIMIZATION_FLAGS optimization_flags
 	EXE_LINKER_FLAGS exe_linker_flags
 	INCLUDE_DIRS include_dirs
 	LINK_DIRS link_dirs
 	DEFINITIONS definitions)
 
 px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
-px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
-px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
+px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags};${optimization_flags}" GLUE " ")
+px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags};${optimization_flags}" GLUE " ")
 
 include_directories(${include_dirs})
 #message("INCLUDE_DIRS=${include_dirs}")
@@ -321,7 +352,7 @@ add_custom_target(xml_gen
 # external projects
 #
 
-set(ep_base ${CMAKE_BINARY_DIR}/external)
+set(ep_base ${PX4_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
 
 # add external project install folders to build
@@ -341,6 +372,24 @@ foreach(driver ${config_df_driver_list})
 	message("Adding DF driver: ${driver}")
 endforeach()
 
+#=============================================================================
+# external modules
+#
+if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
+	message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")
+	add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules_src)
+
+	set(config_module_list_external_expanded)
+	foreach(external_module ${config_module_list_external})
+		list(APPEND config_module_list_external_expanded
+			${EXTERNAL_MODULES_LOCATION}/src/${external_module})
+	endforeach()
+	set(config_module_list
+		${config_module_list}
+		${config_module_list_external_expanded}
+		)
+endif()
+
 #=============================================================================
 # subdirectories
 #
@@ -350,7 +399,7 @@ foreach(module ${config_module_list})
 	if(external_module)
 		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
 		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
-		add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
+		add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
 	else()
 		add_subdirectory(src/${module})
 	endif()
@@ -372,16 +421,35 @@ if (config_io_board)
 	add_subdirectory(src/modules/px4iofirmware)
 endif()
 
+#=============================================================================
+# generate custom target to print for all executable and module cmake targets
+#
+if(all_posix_cmake_targets)
+	list(SORT all_posix_cmake_targets)
+	px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
+	add_custom_target(list_cmake_targets
+		COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\""
+		COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:"
+		VERBATIM
+		)
+endif()
+
 #=============================================================================
 # generate git version
 #
-px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
+px4_create_git_hash_header(HEADER ${PX4_BINARY_DIR}/build_git_version.h)
 
 #=============================================================================
 # packaging
 #
 # Important to having packaging at end of cmake file.
 #
+execute_process(
+	COMMAND git describe --always --tags
+	OUTPUT_VARIABLE git_tag
+	OUTPUT_STRIP_TRAILING_WHITESPACE
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
 set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
 set(CPACK_PACKAGE_VERSION ${version})
 set(CPACK_PACKAGE_CONTACT ${package-contact})
@@ -391,20 +459,17 @@ set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
 set(short-description "The px4 autopilot.")
 set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
 set(CPACK_GENERATOR "ZIP")
-set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${version}")
+set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
 set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}")
 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
+set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
+set(CPACK_SET_DESTDIR "OFF")
 if ("${CMAKE_SYSTEM}" MATCHES "Linux")
-  find_program(DPKG_PROGRAM dpkg)
-  if (EXISTS ${DPKG_PROGRAM})
-    list (APPEND CPACK_GENERATOR "DEB")
-  endif()
-endif()
-if (${OS} STREQUAL "posix")
-	set(CPACK_SET_DESTDIR "ON")
+	find_program(DPKG_PROGRAM dpkg)
+	if (EXISTS ${DPKG_PROGRAM})
+		list (APPEND CPACK_GENERATOR "DEB")
+	endif()
 endif()
 include(CPack)
 
-endif() # ros alternative endif
-
 # vim: set noet fenc=utf-8 ff=unix ft=cmake :

Images/aerofc-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 65,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the Intel Aero FC board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AEROFCv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/auav-x21.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 33,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the AUAV X2.1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AUAV X2.1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/crazyflie.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 12, 
+    "magic": "Crazyflie", 
+    "description": "Firmware for the Crazyflie 2.0", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "CRAZYFLIE",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v3.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 9, 
+    "magic": "PX4FWv1", 
+    "description": "Firmware for the PX4FMUv3 board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4FMUv3",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/tap-v1.prototype

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

Makefile

@@ -42,7 +42,7 @@ endif
 CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?)
 ifneq ($(CMAKE_VER),0)
     $(warning Not a valid CMake version or CMake not installed.)
-    $(warning On Ubuntu, install or upgrade via:)
+    $(warning On Ubuntu 16.04, install or upgrade via:)
     $(warning )
     $(warning 3rd party PPA:)
     $(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
@@ -84,10 +84,13 @@ all: posix_sitl_default
 # assume 1st argument passed is the main target, the
 # rest are arguments to pass to the makefile generated
 # by cmake in the subdirectory
+FIRST_ARG := $(firstword $(MAKECMDGOALS))
 ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
 j ?= 4
 
+ifndef NO_NINJA_BUILD
 NINJA_BUILD := $(shell ninja --version 2>/dev/null)
+endif
 ifdef NINJA_BUILD
     PX4_CMAKE_GENERATOR ?= "Ninja"
     PX4_MAKE = ninja
@@ -100,7 +103,7 @@ ifdef SYSTEMROOT
 else
 	PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
 endif
-    PX4_MAKE = make
+    PX4_MAKE = $(MAKE)
     PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif
 
@@ -111,27 +114,30 @@ else
 	BUILD_DIR_SUFFIX :=
 endif
 
+# additional config parameters passed to cmake
+CMAKE_ARGS :=
+ifdef EXTERNAL_MODULES_LOCATION
+	CMAKE_ARGS := -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
+endif
+
+SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
+
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@$(BUILD_DIR_SUFFIX)/Makefile ]; then rm -rf ./build_$@$(BUILD_DIR_SUFFIX); fi
-+@if [ ! -e ./build_$@$(BUILD_DIR_SUFFIX)/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@$(BUILD_DIR_SUFFIX) && cd ./build_$@$(BUILD_DIR_SUFFIX) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf ./build_$@$(BUILD_DIR_SUFFIX)); fi
-+@Tools/check_submodules.sh
-+@(echo "PX4 CONFIG: $@$(BUILD_DIR_SUFFIX)" && cd ./build_$@$(BUILD_DIR_SUFFIX) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
++@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
++@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
++@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) $(CMAKE_ARGS) || (cd .. && rm -rf $(BUILD_DIR)); fi
++@echo "PX4 CONFIG: $(BUILD_DIR)"
++@$(PX4_MAKE) -C "$(BUILD_DIR)" $(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) $(ARGS))
-endef
-
-# create empty targets to avoid msgs for targets passed to cmake
-define cmake-targ
-$(1):
-	@#
-.PHONY: $(1)
++@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
++@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
++@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
++@$(PX4_MAKE) -C "$(BUILD_DIR)" $(PX4_MAKE_ARGS) $(ARGS)
 endef
 
 define colorecho
@@ -140,107 +146,60 @@ define colorecho
       @tput sgr0
 endef
 
+# Get a list of all config targets.
+ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed  -e 's:^.*/::' | sort))
+# Strip off leading nuttx_
+NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS)))
+
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
 #  Do not put any spaces between function arguments.
 
-tap-v1_default:
-	$(call cmake-build,nuttx_tap-v1_default)
-
-px4fmu-v1_default:
-	$(call cmake-build,nuttx_px4fmu-v1_default)
-
-px4fmu-v2_default:
-	$(call cmake-build,nuttx_px4fmu-v2_default)
-
-px4fmu-v2_test:
-	$(call cmake-build,nuttx_px4fmu-v2_test)
-
-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:
-	$(call cmake-build,nuttx_mindpx-v2_default)
-
-posix_sitl_default:
+# All targets.
+$(ALL_CONFIG_TARGETS):
 	$(call cmake-build,$@)
 
-posix_sitl_lpe:
-	$(call cmake-build,$@)
+# Abbreviated config targets.
 
-posix_sitl_replay:
-	$(call cmake-build,$@)
+# nuttx_ is left off by default; provide a rule to allow that.
+$(NUTTX_CONFIG_TARGETS):
+	$(call cmake-build,nuttx_$@)
 
-posix_sitl_broadcast:
-	$(call cmake-build,$@)
+all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
+
+posix: posix_sitl_default
+broadcast: posix_sitl_broadcast
+
+# Multi- config targets.
+
+eagle_default: posix_eagle_default qurt_eagle_default
+eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default
+excelsior_default: posix_excelsior_default qurt_excelsior_default
+
+# Deprecated config targets.
 
 ros_sitl_default:
 	@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
 
-qurt_eagle_travis:
-	$(call cmake-build,$@)
-
-qurt_eagle_default:
-	$(call cmake-build,$@)
-
-posix_eagle_default:
-	$(call cmake-build,$@)
-
-eagle_default: posix_eagle_default qurt_eagle_default
-eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default
-
-qurt_eagle_legacy_driver_default:
-	$(call cmake-build,$@)
-
-posix_eagle_legacy_driver_default:
-	$(call cmake-build,$@)
-
-qurt_excelsior_default:
-	$(call cmake-build,$@)
-
-posix_excelsior_default:
-	$(call cmake-build,$@)
-
-excelsior_default: posix_excelsior_default qurt_excelsior_default
-
-posix_rpi_native:
-	$(call cmake-build,$@)
-
-posix_rpi_cross:
-	$(call cmake-build,$@)
-
-posix_bebop_default:
-	$(call cmake-build,$@)
-
-posix: posix_sitl_default
-
-broadcast: posix_sitl_broadcast
-
-sitl_deprecation:
+_sitl_deprecation:
 	@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
 	@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
 
-run_sitl_quad: sitl_deprecation
-run_sitl_plane: sitl_deprecation
-run_sitl_ros: sitl_deprecation
+run_sitl_quad: _sitl_deprecation
+run_sitl_plane: _sitl_deprecation
+run_sitl_ros: _sitl_deprecation
+
+# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
+.PHONY: all posix broadcast eagle_default eagle_legacy_default excelsior_default run_sitl_quad run_sitl_plane run_sitl_ros all_nuttx_targets
 
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
-.NOTPARALLEL: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+.PHONY: uavcan_firmware check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+.NOTPARALLEL:
 
-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
+# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
+.PHONY: checks_defaults checks_bootloaders checks_tests checks_alts checks_uavcan checks_sitls checks_last quick_check tests extra_firmware
 
 uavcan_firmware:
 ifeq ($(VECTORCONTROL),1)
@@ -248,46 +207,6 @@ ifeq ($(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_mindpx-v2_default \
-	check_px4-stm32f4discovery_default \
-	check_tap-v1_default \
-
-checks_bootloaders: \
-
-
-checks_tests: \
-	check_px4fmu-v2_test
-
-checks_alts: \
-	check_px4fmu-v2_ekf2 \
-
-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_tests check_format
-
-check_format:
-	$(call colorecho,"Checking formatting with astyle")
-	@./Tools/fix_code_style.sh
-	@./Tools/check_code_style_all.sh
-
-check_%:
-	@echo
-	$(call colorecho,"Building" $(subst check_,,$@))
-	@$(MAKE) --no-print-directory $(subst check_,,$@)
-	@echo
-
 check_px4fmu-v4_default: uavcan_firmware
 check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
 	@echo
@@ -297,53 +216,83 @@ ifeq ($(VECTORCONTROL),1)
 	@rm -rf ROMFS/px4fmu_common/uavcan
 endif
 
+# All default targets that don't require a special build environment (currently built on semaphore-ci)
+check: 	check_px4fmu-v1_default \
+	check_px4fmu-v2_default \
+	check_px4fmu-v2_test \
+	check_px4fmu-v4_default_and_uavcan \
+	check_mindpx-v2_default \
+	check_posix_sitl_default \
+	check_tap-v1_default \
+	check_aerofc-v1_default \
+	check_px4-stm32f4discovery_default \
+	check_crazyflie_default \
+	check_tests \
+	check_format
+
+# quick_check builds a single nuttx and posix target, runs testing, and checks the style
+quick_check: check_posix_sitl_default check_px4fmu-v4_default check_tests check_format
+
+check_format:
+	$(call colorecho,"Checking formatting with astyle")
+	@./Tools/check_code_style_all.sh
+	@git diff --check
+
+format:
+	$(call colorecho,"Formatting with astyle")
+	@./Tools/check_code_style_all.sh --fix
+
+check_%:
+	@echo
+	$(call colorecho,"Building" $(subst check_,,$@))
+	@$(MAKE) --no-print-directory $(subst check_,,$@)
+	@echo
+
 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)
+	@(cd build_posix_sitl_default/ && ctest -V)
 
 tests: check_unittest run_tests_posix
 
-# QGroundControl flashable firmware
+tests_coverage:
+	@(PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1 ${MAKE} tests)
+	@(lcov --directory . --capture --quiet --output-file coverage.info)
+	@(lcov --remove coverage.info '/usr/*' --quiet --output-file coverage.info)
+	#@(lcov --list coverage.info)
+	@(genhtml coverage.info --quiet --output-directory coverage-html)
+
+# QGroundControl flashable firmware (currently built by travis-ci)
 qgc_firmware: \
 	check_px4fmu-v1_default \
 	check_px4fmu-v2_default \
-	check_mindpx-v2_default \
+	check_px4fmu-v3_default \
 	check_px4fmu-v4_default_and_uavcan \
+	check_mindpx-v2_default \
+	check_tap-v1_default \
 	check_format
 
-extra_firmware: \
-	check_px4-stm32f4discovery_default \
-	check_px4fmu-v2_test \
-	check_px4fmu-v2_ekf2
-
 package_firmware:
 	@zip --junk-paths Firmware.zip `find . -name \*.px4`
 
 clean:
 	@rm -rf build_*/
-	@(cd NuttX/nuttx && make clean)
+	-@$(MAKE) -C NuttX/nuttx clean
 
 submodulesclean:
 	@git submodule sync --recursive
 	@git submodule deinit -f .
 	@git submodule update --init --recursive --force
 
-distclean: submodulesclean
-	@git clean -ff -x -d -e ".project" -e ".cproject"
+distclean: submodulesclean clean
+	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea"
 
-# targets handled by cmake
-cmake_targets = install test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
-	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim replay \
-	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
-$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
+# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
+%:
+	$(if $(filter $(FIRST_ARG),$@), \
+		$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
 
 .PHONY: clean
 
@@ -354,3 +303,22 @@ CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
 #	@echo "Type 'make ' and hit the tab key twice to see a list of the available"
 #	@echo "build configurations."
 #	@echo
+
+empty :=
+space := $(empty) $(empty)
+
+# Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
+help:
+	@echo "Usage: $(MAKE) <target>"
+	@echo "Where <target> is one of:"
+	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
+		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
+	@echo
+	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
+	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
+
+# Print a list of all config targets.
+list_config_targets:
+	@for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done
+

README.md

@@ -6,30 +6,60 @@
 
 This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the src/modules directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
-*   Official Website: http://px4.io
-*   License: BSD 3-clause (see [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
-*   Supported airframes (more experimental are supported):
+*   Official Website: http://px4.io (License: BSD 3-clause, [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
+*   Supported airframes (more experimental types than listed here are supported):
   * [Multicopters](http://px4.io/portfolio_category/multicopter/)
   * [Fixed wing](http://px4.io/portfolio_category/plane/)
   * [VTOL](http://px4.io/portfolio_category/vtol/)
-*   Releases
-  * [Downloads](https://github.com/PX4/Firmware/releases)
+*   Releases: [Downloads](https://github.com/PX4/Firmware/releases)
 
 ### Users ###
 
-Please refer to the [user documentation](http://px4.io) and [user forum](http://discuss.px4.io) for flying drones with the PX4 flight stack.
+Please refer to the [user documentation](http://px4.io/user-guide/) and [user forum](http://discuss.px4.io) for flying drones with the PX4 flight stack.
 
 ### Developers ###
 
-  * [Developer Forum / Mailing list](http://groups.google.com/group/px4users)
+  * [Developer Forum](http://discuss.px4.io)
   * [Guide for Contributions](https://github.com/PX4/Firmware/blob/master/CONTRIBUTING.md)
   * [Developer guide](http://dev.px4.io)
 
+## Maintenance Team
+
+  * Project / Founder - [Lorenz Meier](http://github.com/LorenzMeier)
+  * Dev Call - [Mark Whitehorn](http://github.com/kd0aij), [Ramon Roche](http://github.com/mrpollo)
+  * Communication Architecture - [Beat Kueng](http://github.com/bkueng), [Julian Oes](http://github.com/JulianOes)
+  * UI / UX - [Gus Grubba](http://github.com/dogmaphobic)
+  * Multicopter Flight Control - [Dennis Mannhart](http://github.com/Stifael), [Matthias Grob](http://github.com/MaEtUgR)
+  * VTOL Flight Control - [Roman Bapst](http://github.com/tumbili), [Andreas Antener](http://github.com/AndreasAntener), [Sander Smeets](http://github.com/sanderux)
+  * Fixed Wing Flight Control - [Daniel Agar](http://github.com/dagar), [Paul Riseborough](http://github.com/priseborough)
+  * Racers - [Mark Whitehorn](http://github.com/kd0aij)
+  * OS / drivers - [David Sidrane](http://github.com/david_s5)
+  * UAVCAN / Industrial - [Pavel Kirienko](http://github.com/pavel-kirienko)
+  * State Estimation - [James Goppert](http://github.com/jgoppert), [Paul Riseborough](http://github.com/priseborough)
+  * VIO - Christoph Tobler
+  * Obstacle Avoidance - [Vilhjalmur Vilhjalmsson](http://github.com/vilhjalmur89)
+  * Snapdragon - [Mark Charlebois](http://github.com/mcharleb)
+  * Intel Aero - [Lucas de Marchi](http://github.com/lucasdemarchi), [Simone Guscetti](http://github.com/simonegu)
+  * Raspberry Pi / Navio - [Beat Kueng](http://github.com/bkueng)
+  * Parrot Bebop - [Michael Schaeuble](http://github.com/eyeam3)
+
+## Supported Hardware
 
 This repository contains code supporting these boards:
   * [Snapdragon Flight](http://dev.px4.io/hardware-snapdragon.html)
+  * Intel Aero
+  * Raspberry PI with Navio 2
+  * [Parrot Bebop](http://dev.px4.io/starting-building.html#parrot-bebop)
   * FMUv1.x
-  * FMUv2.x ([Pixhawk](http://dev.px4.io/hardware-pixhawk.html), Pixhawk 2 and [Pixfalcon](http://dev.px4.io/hardware-pixfalcon.html))
-  * FMUv4.x (Pixhawk X and [Pixracer](http://dev.px4.io/hardware-pixracer.html))
+  * FMUv2.x ([Pixhawk](http://dev.px4.io/hardware-pixhawk.html) and [Pixfalcon](http://dev.px4.io/hardware-pixfalcon.html))
+  * FMUv3.x ([Pixhawk 2](http://dev.px4.io/hardware-pixhawk.html))
+  * FMUv4.x (Pixhawk 3 Pro and [Pixracer](http://dev.px4.io/hardware-pixracer.html))
+  * FMUv5.x (ARM Cortex M7, future Pixhawk)
   * AeroCore (v1 and v2)
   * STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
+  * MindPX V2.8 [Tutorial] (http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
+  * MindRacer V1.2 [Tutorial] (http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
+  
+## Project Milestones
+
+The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by Lorenz Meier.

ROMFS/px4fmu_common/init.d/10019_sk450_deadcat

@@ -1,39 +0,0 @@
-#!nsh
-#
-# @name HobbyKing SK450 DeadCat modification
-#
-# @type Quadrotor Wide
-#
-# @maintainer Anton Matosov <anton.matosov@gmail.com>
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLL_P 6.0
-	param set MC_ROLLRATE_P 0.08
-	param set MC_ROLLRATE_I 0.03
-	param set MC_ROLLRATE_D 0.0015
-	
-	param set MC_PITCH_P 6.0
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.03
-	param set MC_PITCHRATE_D 0.0015
-	
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.1
-	param set MC_YAWRATE_I 0.07
-	param set MC_YAWRATE_D 0.0
-fi
-
-set MIXER sk450_deadcat
-
-set PWM_OUT 1234
-
-set PWM_AUX_OUT 1234
-# set PWM_AUX_MIN 900
-# set PWM_AUX_MAX 2100
-set PWM_AUX_RATE 100
-
-gimbal start

ROMFS/px4fmu_common/init.d/10021_H4_680mm

@@ -0,0 +1,26 @@
+#!nsh
+#
+# @name H4 680mm with Z1 Tiny2 Gimbal
+#
+# @type Quadrotor x
+#
+# @maintainer Leon Mueller <thedevleon>
+#
+
+sh /etc/init.d/4002_quad_x_mount
+
+# The Z1 Tiny2 can handle up to 400Hz
+# and works with min 1020us, middle 1520us, max 2020us
+# see http://www.zhiyun-tech.com/uploadfile/datedown/instruction/Tiny2_English_instructionV1.03.pdf
+# under Gimbal Connection Instruction
+
+set PWM_AUX_RATE 400
+set PWM_AUX_DISARMED 1520
+set PWM_AUX_MIN 1020
+set PWM_AUX_MAX 2020
+
+# Start FrSky telemetry on SERIAL4 (ttyS6, designated "SERIAL4/5" on the case)
+frsky_telemetry start -d /dev/ttyS6
+
+# GPIO LED
+gpio_led start -p 6

ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil

@@ -1,14 +0,0 @@
-#!nsh
-#
-# @name HIL Rascal 110 (Flightgear)
-#
-# @type Simulation
-#
-# @maintainer Thomas Gubler <thomas@px4.io>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-set HIL yes
-
-set MIXER AERT

ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil

@@ -1,41 +0,0 @@
-#!nsh
-#
-# @name HIL Malolo 1 (Flightgear)
-#
-# @type Simulation
-#
-# @maintainer Thomas Gubler <thomas@px4.io>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set FW_AIRSPD_MIN 12
-	param set FW_AIRSPD_TRIM 25
-	param set FW_AIRSPD_MAX 40
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
-	param set FW_L1_DAMPING 0.74
-	param set FW_L1_PERIOD 15
-	param set FW_PR_FF 0.8
-	param set FW_PR_I 0.05
-	param set FW_PR_IMAX 0.2
-	param set FW_PR_P 0.1
-	param set FW_P_ROLLFF 0
-	param set FW_RR_FF 0.6
-	param set FW_RR_I 0.02
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.1
-	param set FW_R_LIM 45
-	param set FW_R_RMAX 0
-	param set FW_YR_FF 0.0
-	param set FW_YR_I 0
-	param set FW_YR_IMAX 0.2
-	param set FW_YR_P 0.0
-fi
-
-set HIL yes
-
-# Set the AERT mixer for HIL (even if the malolo is a flying wing)
-set MIXER AERT

ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad

@@ -1,10 +1,17 @@
 #!nsh
 #
-# @name Fun Cub Quad VTOL.
-#
+# @name Fun Cub Quad VTOL
 # @type Standard VTOL
-#
 # @maintainer Simon Wilks <simon@uaventure.com>
+# @output MAIN1 Front right motor: CCW
+# @output MAIN2 Back left motor: CCW
+# @output MAIN3 Front left motor: CW
+# @output MAIN4 Back right motor: CW
+# @output AUX1 Aileron 1
+# @output AUX2 Aileron 2
+# @output AUX3 Elevator
+# @output AUX4 Rudder
+# @output AUX5 Throttle
 #
 
 sh /etc/init.d/rc.vtol_defaults
@@ -33,6 +40,8 @@ then
 	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 40
+	param set MC_YAWRAUTO_MAX 40
 
 	param set FW_PR_FF 0.5
 	param set FW_PR_I 0.02

ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta

@@ -1,10 +1,15 @@
 #!nsh
 #
-# @name Generic quad delta VTOL.
-#
+# @name Generic quad delta VTOL
 # @type Standard VTOL
-#
 # @maintainer Simon Wilks <simon@uaventure.com>
+# @output MAIN1 Front right motor: CCW
+# @output MAIN2 Back left motor: CCW
+# @output MAIN3 Front left motor: CW
+# @output MAIN4 Back right motor: CW
+# @output AUX1 Right elevon
+# @output AUX2 Left elevon
+# @output AUX3 Motor
 #
 
 sh /etc/init.d/rc.vtol_defaults

ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad

@@ -31,6 +31,8 @@ then
 	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 40
+	param set MC_YAWRAUTO_MAX 40
 
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080

ROMFS/px4fmu_common/init.d/13008_QuadRanger

@@ -34,6 +34,8 @@ then
 	param set MC_YAWRATE_I 0.04
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_MAX 40.0
+	param set MC_YAWRAUTO_MAX 40.0
 
 	param set MPC_ACC_HOR_MAX 2.0
 	param set MPC_Z_VEL_MAX 1.5

ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger

@@ -45,6 +45,7 @@ then
     param set MC_YAWRATE_I    0.02
     param set MC_YAWRATE_MAX  40.0
     param set MC_YAWRATE_P    0.18
+    param set MC_YAWRATE_MAX  40.0
     param set MC_YAWRAUTO_MAX 40.0
 
     param set MIS_TAKEOFF_ALT 2.5

ROMFS/px4fmu_common/init.d/13010_claire

@@ -17,6 +17,7 @@ param set VT_TILT_TRANS 0.5
 param set VT_TILT_FW 0.9
 
 param set VT_MOT_COUNT 4
+param set VT_FW_MOT_OFFID 13
 param set VT_IDLE_PWM_MC 1080
 param set VT_TYPE 1
 fi

ROMFS/px4fmu_common/init.d/15001_coax_heli

@@ -17,11 +17,6 @@ set MIXER coax
 
 if [ $AUTOCNF == yes ]
 then
-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.25
-
 	param set NAV_ACC_RAD 2.0
 	param set RTL_RETURN_ALT 30.0
 	param set RTL_DESCEND_ALT 10.0

ROMFS/px4fmu_common/init.d/16001_helicopter

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

ROMFS/px4fmu_common/init.d/4002_qavr5

@@ -17,17 +17,19 @@ 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_I 0.16
 	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_I 0.2
 	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 MC_TPA_BREAK 0.7
+	param set MC_TPA_SLOPE 1.0
 	param set PWM_MIN 1075
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06

ROMFS/px4fmu_common/init.d/4002_quad_x_mount

@@ -0,0 +1,21 @@
+#!nsh
+#
+# @name Generic Quadrotor X config with mount (e.g. gimbal)
+#
+# @type Quadrotor x
+#
+#
+# @maintainer Leon Mueller <thedevleon>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+set MIXER_AUX mount
+set PWM_AUX_OUT 123456
+set PWM_AUX_RATE 50
+
+# Start mount driver
+vmount start

ROMFS/px4fmu_common/init.d/4009_qav250

@@ -4,9 +4,15 @@
 #
 # @type Quadrotor x
 #
+# @output MAIN1 motor1 (front right: CCW)
+# @output MAIN2 motor2 (back left: CCW)
+# @output MAIN3 motor3 (front left: CW)
+# @output MAIN4 motor4 (back right: CW)
+#
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
 #
 # @maintainer Mark Whitehorn <kd0aij@gmail.com>
 #
@@ -33,4 +39,6 @@ then
 	param set MPC_MANTHR_MIN 0.06
 	param set CBRK_IO_SAFETY 22027
 	param set ATT_BIAS_MAX 0.0
+	param set MC_TPA_BREAK 0.5
+ 	param set MC_TPA_SLOPE 1.0
 fi

ROMFS/px4fmu_common/init.d/4013_bebop

@@ -0,0 +1,35 @@
+#!nsh
+#
+# @name Parrot Bebop Frame
+#
+# @type Quadrotor x
+#
+# @maintainer Michael Schaeuble
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+#
+# Load default params for this platform
+#
+if [ $AUTOCNF == yes ]
+then
+    # Set all params here, then disable autoconfig
+    param set MC_ROLL_P 6.5
+    param set MC_ROLLRATE_P 0.109999999403953552
+    param set MC_ROLLRATE_I 0.0
+    param set MC_ROLLRATE_D 0.0006
+    param set MC_PITCH_P 6.5
+    param set MC_PITCHRATE_P 0.1
+    param set MC_PITCHRATE_I 0.0
+    param set MC_PITCHRATE_D 0.000799999
+    param set MC_YAW_P 1.049999
+    param set MC_YAWRATE_P 0.05
+    param set MC_YAWRATE_I 0.001
+    param set MC_YAWRATE_D 0.0
+    param set MC_YAW_FF 0.7
+fi
+
+set OUTPUT_MODE bebop
+set USE_IO no
+set MIXER bebop

ROMFS/px4fmu_common/init.d/4050_generic_250

@@ -4,9 +4,15 @@
 #
 # @type Quadrotor x
 #
+# @output MAIN1 motor1 (front right: CCW)
+# @output MAIN2 motor2 (back left: CCW)
+# @output MAIN3 motor3 (front left: CW)
+# @output MAIN4 motor4 (back right: CW)
+#
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
 #
 # @maintainer Mark Whitehorn <kd0aij@gmail.com>
 #
@@ -20,9 +26,9 @@ then
 	param set MC_ROLLRATE_I 0.1
 	param set MC_ROLLRATE_D 0.0055
 	param set MC_PITCH_P 8.0
-	param set MC_PITCHRATE_P 0.24
+	param set MC_PITCHRATE_P 0.19
 	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.0065
+	param set MC_PITCHRATE_D 0.0055
 	param set MC_YAW_P 4.0
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
@@ -33,6 +39,9 @@ then
 	param set MC_YAWRATE_MAX 400.0
 	param set MC_ACRO_R_MAX 360.0
 	param set MC_ACRO_P_MAX 360.0
+	param set MC_TPA_BREAK 0.5
+	param set MC_TPA_SLOPE 1.0
+	
 
 	param set PWM_MIN 1075
 

ROMFS/px4fmu_common/init.d/4060_dji_matrice_100

@@ -15,9 +15,17 @@ sh /etc/init.d/4001_quad_x
 
 if [ $AUTOCNF == yes ]
 then
+	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.05
+	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.001
+	param set MC_PITCH_P 6.5
 	param set MC_PITCHRATE_P 0.05
+	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.001
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
 	param set BAT_N_CELLS 6
+	param set PWM_MIN 1200
 fi

ROMFS/px4fmu_common/init.d/4070_aerofc

@@ -0,0 +1,43 @@
+#!nsh
+#
+# @name Intel Aero RTF
+#
+# @type Quadrotor x
+
+sh /etc/init.d/rc.mc_defaults
+
+#
+# Load default params for this platform
+#
+if [ $AUTOCNF == yes ]
+then
+	# Set all params here, then disable autoconfig
+	param set MC_ROLL_P 8.0000
+	param set MC_ROLLRATE_P 0.1300
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.0012
+	param set MC_ROLLRATE_MAX 360
+	param set MC_PITCH_P 8.0000
+	param set MC_PITCHRATE_P 0.1300
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.0012
+	param set MC_PITCHRATE_MAX 360
+	param set MC_YAW_P 4.0
+	param set MC_YAWRATE_P 0.119999997317790985
+	param set MC_YAWRATE_I 0.050000000745058060
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+	param set MPC_XY_CRUISE 8
+
+	param set SYS_LOGGER 1
+fi
+
+tap_esc start -d /dev/ttyS0 -n 4
+usleep 300000
+
+set OUTPUT_MODE tap_esc
+set MIXER quad_x
+set USE_IO no
+
+param set SYS_COMPANION 1500000
+set MAVLINK_COMPANION_DEVICE /dev/ttyS1

ROMFS/px4fmu_common/init.d/4900_crazyflie

@@ -0,0 +1,42 @@
+#!nsh
+#
+# @name Crazyflie 2.0
+#
+# @type Quadrotor x
+#
+
+sh /etc/init.d/4001_quad_x
+
+
+if [ $AUTOCNF == yes ]
+then
+	param set COM_RC_IN_MODE 2
+	param set BAT_N_CELLS 1
+	param set BAT_CAPACITY 240
+	param set BAT_SOURCE 1
+
+	param set PWM_DISARMED 0
+	param set PWM_MIN 0
+	param set PWM_MAX 255
+
+	param set SYS_COMPANION 20
+
+	param set MC_PITCHRATE_D 0.0015
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_P 0.045
+	param set MC_PITCH_P 6.5
+	param set MC_ROLLRATE_D 0.0015
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_P 0.045
+	param set MC_ROLL_P 6.5
+	param set MC_YAW_P 3.0
+
+	param set CBRK_SUPPLY_CHK 894281
+	param set CBRK_USB_CHK 197848
+fi
+
+set PWM_MIN none
+set PWM_MAX none
+set PWM_DISARMED none
+# Will run the motors at 328.125 kHz (recommended)
+set PWM_RATE 3921

ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps

@@ -4,7 +4,7 @@
 # att & pos estimator, rover steering control
 #
 
-ekf_att_pos_estimator start
+ekf2 start
 
 # disabled the start of steering control app due to use of offboard mode only
 # rover_steering_control start

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -17,11 +17,6 @@ then
 	
 	param set MIS_LTRMIN_ALT 25
 	param set MIS_TAKEOFF_ALT 25
-
-	param set PE_VELNE_NOISE 0.3
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.0
 fi
 
 # This is the gimbal pass mixer

ROMFS/px4fmu_common/init.d/rc.interface

@@ -43,6 +43,11 @@ then
 		set OUTPUT_DEV /dev/uavcan/esc
 	fi
 
+	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"
@@ -109,6 +114,16 @@ then
         set MIXER_AUX none
 fi
 
+if ver hwcmp CRAZYFLIE
+then
+	set MIXER_AUX none
+fi
+
+if ver hwcmp AEROFC_V1
+then
+	set MIXER_AUX none
+fi
+
 if [ $MIXER_AUX != none -a $AUX_MODE != none ]
 then
 	#
@@ -133,7 +148,18 @@ then
 	then
 		if fmu mode_$AUX_MODE
 		then
-			if [ -e $OUTPUT_AUX_DEV ]
+			# Append aux mixer to main device
+			if [ $OUTPUT_MODE == hil ]
+			then
+				if mixer append $OUTPUT_DEV $MIXER_AUX_FILE
+				then
+					echo "INFO  [init] Mixer: $MIXER_AUX_FILE appended to $OUTPUT_DEV"
+				else
+					echo "ERROR [init] Error appending mixer: $MIXER_AUX_FILE"
+					echo "ERROR [init] Could not append mixer: $MIXER_AUX_FILE" >> $LOG_FILE
+				fi
+			fi
+			if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
 			then
 				if mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
 				then

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -8,18 +8,25 @@
 #---------------------------------------
 # Estimator group selction
 #
-# INAV
+# INAV (deprecated)
 if param compare SYS_MC_EST_GROUP 0
 then
-	attitude_estimator_q start
-	position_estimator_inav start
+	echo "ERROR [init] Estimator INAV deprecated. Using LPE"
+	param set SYS_MC_EST_GROUP 1
+	param save
 fi
 
 # LPE
 if param compare SYS_MC_EST_GROUP 1
 then
-	attitude_estimator_q start
-	local_position_estimator start
+	# Try to start LPE. If it fails, start EKF2 as a default
+	# Unfortunately we do not build it on px4fmu-v2 duo to a limited flash.
+	if attitude_estimator_q start
+	then
+		local_position_estimator start
+	else
+		ekf2 start
+	fi
 fi
 
 # EKF

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -4,24 +4,19 @@ set VEHICLE_TYPE mc
 
 if [ $AUTOCNF == yes ]
 then
-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.25
-
 	param set NAV_ACC_RAD 2.0
 	param set RTL_RETURN_ALT 30.0
 	param set RTL_DESCEND_ALT 10.0
 	param set PWM_DISARMED 900
 	param set PWM_MIN 1075
 	param set PWM_MAX 1950
+	param set PWM_RATE 400
 
 	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_RATE p:PWM_RATE
 set PWM_DISARMED p:PWM_DISARMED
 set PWM_MIN p:PWM_MIN
 set PWM_MAX p:PWM_MAX
@@ -34,15 +29,6 @@ set PWM_AUX_DISARMED 1500
 set PWM_AUX_MIN 1000
 set PWM_AUX_MAX 2000
 
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1000
-then
-	param set PWM_MIN 1075
-fi
-if param compare PWM_MAX 2000
-then
-	param set PWM_MAX 1950
-fi
 if param compare PWM_DISARMED 0
 then
 	param set PWM_DISARMED 900

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -8,30 +8,47 @@ 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 ver hwcmp PX4FMU_V4
+	if ver hwcmp AEROFC_V1
 	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
+		# Aero FC uses separate driver
+	else
+		if ver hwcmp CRAZYFLIE
+		then
+			# Crazyflie uses separate driver
+		else
+			# Configure all I2C buses to 100 KHz as they
+			# are all external or slow
+			fmu i2c 1 100000
+			fmu i2c 2 100000
+		fi
 
-	if ms5611 -s start
-	then
-	fi
+		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 50
+		fi
 
-	# Blacksheep telemetry
-	if bst start
-	then
+		# External SPI
+		if ms5611 -S start
+		then
+		fi
+
+		# Internal SPI
+		if ms5611 -s start
+		then
+		fi
+
+		# Blacksheep telemetry
+		if bst start
+		then
+		fi
 	fi
 fi
 
@@ -39,6 +56,29 @@ if adc start
 then
 fi
 
+if ver hwcmp AUAV_X21
+then
+	# I2C bus
+	if hmc5883 -C -T start
+	then
+	fi
+
+	# I2C bus
+	if lis3mdl 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_V2
 then
 	# External I2C bus
@@ -56,16 +96,30 @@ 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
+	if mpu6000 -S -R 4 start
 	then
 		set BOARD_FMUV3 true
 	else
-		set BOARD_FMUV3 false
+		# Check for Pixhawk 2.1 board
+		if mpu9250 -S -R 4 start
+		then
+			set BOARD_FMUV3 true
+		else
+			set BOARD_FMUV3 false
+		fi
 	fi
 
 	if [ $BOARD_FMUV3 == true ]
 	then
+		# sensor heating is available, but we disable it for now
+		param set SENS_EN_THERMAL 0
+
 		# external L3GD20H is rotated 180 degrees yaw
 		if l3gd20 -X -R 4 start
 		then
@@ -79,6 +133,10 @@ then
 		# internal MPU6000 is rotated 180 deg roll, 270 deg yaw
 		if mpu6000 -R 14 start
 		then
+		else
+			if mpu9250 -R 14 start
+			then
+			fi
 		fi
 
 		if hmc5883 -C -T -S -R 8 start
@@ -95,6 +153,10 @@ then
 		then
 		fi
 
+		if mpu9250 start
+		then
+		fi
+
 		if l3gd20 start
 		then
 		fi
@@ -126,10 +188,19 @@ then
 	then
 	fi
 
+	# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
+	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
+	# will prevent the incorrect driver from a successful initialization.
+
 	# Internal SPI bus mpu9250 is rotated 90 deg yaw
 	if mpu9250 -R 2 start
 	then
 	fi
+
+	# Internal SPI bus BMI160
+	if bmi160 start
+	then
+	fi
 fi
 
 if ver hwcmp PX4FMU_V1
@@ -167,24 +238,63 @@ 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
+	# Internal I2C bus
+	if hmc5883 -C -T -I -R 8 start
+	then
+	fi
+
+	if mpu6500 -R 8 start
+	then
+	fi
+
+	if lsm303d -R 10 start
+	then
+	fi
+
+	if l3gd20 -R 14 start
+	then
+	fi
+fi
+
+if ver hwcmp CRAZYFLIE
+then
+	# Onboard I2C
+	if mpu9250 -R 12 start
+	then
+	fi
+
+	# I2C bypass of mpu 
+	if lps25h start
+	then
+	fi
+fi
+
+if ver hwcmp AEROFC_V1
+then
+	if ms5611 start
+	then
+	fi
+
+	if mpu6500 -R 14 start
+	then
+	fi
+
+	# Internal compass
+	if hmc5883 -I -R 4 start
+	then
+	fi
+
+	# Possible external compasses
+	if hmc5883 -X start
+	then
+	fi
+
+	if ist8310 -C -b 1 -R 8 start
 	then
 	fi
 fi

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -9,18 +9,25 @@
 #---------------------------------------
 # Estimator group selction
 #
-# INAV
+# INAV (deprecated)
 if param compare SYS_MC_EST_GROUP 0
 then
-	attitude_estimator_q start
-	position_estimator_inav start
+	echo "ERROR [init] Estimator INAV deprecated. Using LPE"
+	param set SYS_MC_EST_GROUP 1
+	param save
 fi
 
 # LPE
 if param compare SYS_MC_EST_GROUP 1
 then
-	attitude_estimator_q start
-	local_position_estimator start
+	# Try to start LPE. If it fails, start EKF2 as a default
+	# Unfortunately we do not build it on px4fmu-v2 duo to a limited flash.
+	if attitude_estimator_q start
+	then
+		local_position_estimator start
+	else
+		ekf2 start
+	fi
 fi
 
 # EKF

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -8,12 +8,6 @@ then
 	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
 	#
@@ -34,15 +28,6 @@ set PWM_DISARMED p:PWM_DISARMED
 set PWM_MIN p:PWM_MIN
 set PWM_MAX p:PWM_MAX
 
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1000
-then
-	param set PWM_MIN 1075
-fi
-if param compare PWM_MAX 2000
-then
-	param set PWM_MAX 1950
-fi
 if param compare PWM_DISARMED 0
 then
 	param set PWM_DISARMED 900

ROMFS/px4fmu_common/init.d/rcS

@@ -145,6 +145,7 @@ then
 	set FMU_MODE pwm
 	set AUX_MODE pwm
 	set MAVLINK_F default
+	set MAVLINK_COMPANION_DEVICE /dev/ttyS2
 	set EXIT_ON_END no
 	set MAV_TYPE none
 	set FAILSAFE none
@@ -164,18 +165,36 @@ then
 		then
 			set USE_IO no
 		fi
+
+		if ver hwcmp CRAZYFLIE
+		then
+			set USE_IO no
+
+			if param compare SYS_AUTOSTART 0
+			then
+				param set SYS_AUTOSTART 4900
+				set AUTOCNF yes
+			fi
+		fi
+
+		if ver hwcmp AEROFC_V1
+		then
+			set USE_IO no
+		fi
 	else
 		set USE_IO no
 	fi
 
-	# should set to 0.8 for mindpx-v2 borad.
-	if param compare INAV_LIDAR_ERR 0.5
+	if ver hwcmp AEROFC_V1
 	then
-		if ver hwcmp MINDPX_V2
+		if param compare SYS_AUTOSTART 0
 		then
-			param set INAV_LIDAR_ERR 0.8
-			param save
+			set AUTOCNF yes
 		fi
+
+		# We don't allow changing AUTOSTART as it doesn't work in
+		# other configurations
+		param set SYS_AUTOSTART 4070
 	fi
 
 	#
@@ -183,7 +202,6 @@ then
 	#
 	if param compare SYS_AUTOSTART 0
 	then
-		echo "INFO  [init] No autostart"
 	else
 		sh /etc/init.d/rc.autostart
 	fi
@@ -196,13 +214,18 @@ then
 		set MIXER_AUX none
 	fi
 
+	if ver hwcmp AEROFC_V1
+	then
+		set MIXER_AUX none
+	fi
+
 	#
 	# Override parameters from user configuration file
 	#
 	set FCONFIG /fs/microsd/etc/config.txt
 	if [ -f $FCONFIG ]
 	then
-		echo "INFO  [init] Custom: $FCONFIG"
+		echo "Custom: $FCONFIG"
 		sh $FCONFIG
 	fi
 	unset FCONFIG
@@ -213,7 +236,6 @@ then
 	if [ $AUTOCNF == yes ]
 	then
 		param set SYS_AUTOCONFIG 0
-		param save
 	fi
 	unset AUTOCNF
 
@@ -233,7 +255,7 @@ then
 
 		if px4io checkcrc ${IO_FILE}
 		then
-			echo "INFO  [init] PX4IO CRC OK" >> $LOG_FILE
+			echo "[init] PX4IO CRC OK" >> $LOG_FILE
 
 			set IO_PRESENT yes
 		else
@@ -256,16 +278,16 @@ 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 +295,7 @@ then
 
 		if [ $IO_PRESENT == no ]
 		then
-			echo "ERROR [init] PX4IO not found" >> $LOG_FILE
+			echo "PX4IO not found" >> $LOG_FILE
 			tone_alarm $TUNE_ERR
 		fi
 	fi
@@ -308,6 +330,11 @@ then
 		set FMU_MODE gpio_serial
 	fi
 
+	if [ $OUTPUT_MODE == tap_esc ]
+	then
+		set FMU_MODE rcin
+	fi
+
 	if [ $HIL == yes ]
 	then
 		set OUTPUT_MODE hil
@@ -358,6 +385,20 @@ then
 		set OUTPUT_MODE uavcan_esc
 	fi
 
+	# Sensors on the PWM interface bank
+	# clear pins 5 and 6
+	if param compare SENS_EN_LL40LS 1
+	then
+		set FMU_MODE pwm4
+		set AUX_MODE pwm4
+	fi
+	if param greater TRIG_MODE 0
+	then
+		set FMU_MODE pwm4
+		set AUX_MODE pwm4
+		camera_trigger start
+	fi
+
 	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
 	if [ $OUTPUT_MODE != none ]
 	then
@@ -365,8 +406,8 @@ then
 		then
 			if param compare UAVCAN_ENABLE 0
 			then
-				echo "INFO  [init] OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE
-				param set UAVCAN_ENABLE 1
+				echo "OVERRIDING UAVCAN_ENABLE = 3" >> $LOG_FILE
+				param set UAVCAN_ENABLE 3
 			fi
 		fi
 
@@ -376,7 +417,7 @@ 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 $TUNE_ERR
 			fi
 		fi
@@ -386,7 +427,7 @@ then
 			if fmu mode_$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 +459,7 @@ then
 			if mkblctrl $MKBLCTRL_ARG
 			then
 			else
-				echo "ERROR [init] MK start failed" >> $LOG_FILE
+				echo "MK start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 			unset MKBLCTRL_ARG
@@ -427,10 +468,9 @@ then
 
 		if [ $OUTPUT_MODE == hil ]
 		then
-			if pwm_out_sim mode_port2_pwm8
+			if pwm_out_sim mode_pwm16
 			then
 			else
-				echo "ERROR [init] PWM SIM start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -446,7 +486,7 @@ 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 $TUNE_ERR
 				fi
 			fi
@@ -456,7 +496,7 @@ then
 				if fmu mode_$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
 
@@ -494,10 +534,25 @@ then
 				# Start MAVLink on Wifi (ESP8266 port)
 				mavlink start -r 20000 -m config -b 921600 -d /dev/ttyS0
 			fi
+
+			if ver hwcmp AEROFC_V1
+			then
+				set MAVLINK_F "-r 1200 -d /dev/ttyS4"
+			fi
+		fi
+
+		if ver hwcmp CRAZYFLIE
+		then
+			# Avoid using either of the two available serials
+			set MAVLINK_F none
 		fi
 	fi
 
-	mavlink start $MAVLINK_F
+	if [ "x$MAVLINK_F" == xnone ]
+	then
+	else
+		mavlink start $MAVLINK_F
+	fi
 	unset MAVLINK_F
 
 	#
@@ -510,60 +565,57 @@ then
 		# but this works for now
 		if param compare SYS_COMPANION 10
 		then
-			frsky_telemetry start -d /dev/ttyS2
+			frsky_telemetry start -d $MAVLINK_COMPANION_DEVICE
+		fi
+		if param compare SYS_COMPANION 20
+		then
+			syslink start
+			mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
 		fi
 		if param compare SYS_COMPANION 921600
 		then
-			mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 80000 -x
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -m onboard -r 80000 -x
 		fi
 		if param compare SYS_COMPANION 57600
 		then
-			mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 5000 -x
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m onboard -r 5000 -x
 		fi
 		if param compare SYS_COMPANION 157600
 		then
-			mavlink start -d /dev/ttyS2 -b 57600 -m osd -r 1000
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m osd -r 1000
 		fi
 		if param compare SYS_COMPANION 257600
 		then
-			mavlink start -d /dev/ttyS2 -b 57600 -m magic -r 5000 -x
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m magic -r 5000 -x
+		fi
+		if param compare SYS_COMPANION 319200
+		then
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 19200 -r 1000
+		fi
+		if param compare SYS_COMPANION 338400
+		then
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 38400 -r 1000
 		fi
 		if param compare SYS_COMPANION 357600
 		then
-			mavlink start -d /dev/ttyS2 -b 57600 -r 1000
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -r 1000
 		fi
 		if param compare SYS_COMPANION 1921600
 		then
-			mavlink start -d /dev/ttyS2 -b 921600 -r 20000
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -r 20000
 		fi
-		# Sensors on the PWM interface bank
-		# clear pins 5 and 6
-		if param compare SENS_EN_LL40LS 1
+		if param compare SYS_COMPANION 1500000
 		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
-			camera_trigger start
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 1500000 -m onboard -r 100000 -x
 		fi
 	fi
 
+	unset MAVLINK_COMPANION_DEVICE
+
 	#
 	# Starting stuff according to UAVCAN_ENABLE value
 	#
 	if param greater UAVCAN_ENABLE 0
-	then
-		if uavcan start
-		then
-		else
-			tone_alarm $TUNE_ERR
-		fi
-	fi
-
-	if param greater UAVCAN_ENABLE 1
 	then
 		if uavcan start fw
 		then
@@ -587,44 +639,62 @@ then
 		fi
 	fi
 
-	# sf0x lidar sensor
-	if param compare SENS_EN_SF0X 1
+	# lightware serial lidar sensor
+	if param compare SENS_EN_SF0X 0
 	then
+	else
 		sf0x start
 	fi
 
+	# lightware i2c lidar sensor
+	if param compare SENS_EN_SF1XX 0
+	then
+	else
+		sf1xx start
+	fi
+
 	# mb12xx sonar sensor
 	if param compare SENS_EN_MB12XX 1
 	then
 		mb12xx start
 	fi
 
+	# teraranger one tof sensor
+	if param compare SENS_EN_TRONE 1
+	then
+		trone start
+	fi
+
 	if ver hwcmp PX4FMU_V4
 	then
 		frsky_telemetry start -d /dev/ttyS6
 	fi
 
+	if ver hwcmp MINDPX_V2
+	then
+		frsky_telemetry start -d /dev/ttyS6
+	fi
+
 	if ver hwcmp PX4FMU_V2
 	then
 		# Check for flow sensor - as it is a background task, launch it last
 		px4flow start &
 	fi
 
-	if ver hwcmp MINDPX_V2
+	if ver hwcmp PX4FMU_V4
 	then
-		#mindxp also need flow
+		# Check for flow sensor - as it is a background task, launch it last
 		px4flow start &
 	fi
 
-	# Start USB shell if no microSD present, MAVLink else
-	if [ $LOG_FILE == /dev/null ]
+	if ver hwcmp MINDPX_V2
 	then
-		# Try to get an USB console
-		nshterm /dev/ttyACM0 &
-	else
-		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+		px4flow start &
 	fi
 
+	# Start MAVLink
+	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+
 	#
 	# Logging
 	#
@@ -634,30 +704,34 @@ then
 		then
 		fi
 	else
-		# check if we should increase logging rate for ekf2 replay message logging
-		if param greater EKF2_REC_RPL 0
+		if param compare SYS_LOGGER 0
 		then
-			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 500 -e -b 18 -t
 				then
 				fi
 			else
-				if logger start -r 500
+				if sdlog2 start -r 100 -a -b 9 -t
 				then
 				fi
 			fi
 		else
-			if param compare SYS_LOGGER 0
+			set LOGGER_ARGS ""
+			if param compare SDLOG_MODE 1
 			then
-				if sdlog2 start -r 100 -a -b 9 -t
-				then
-				fi
-			else
-				if logger start -b 12 -t
-				then
-				fi
+				set LOGGER_ARGS "-e"
 			fi
+			if param compare SDLOG_MODE 2
+			then
+				set LOGGER_ARGS "-f"
+			fi
+
+			if logger start -b 12 -t $LOGGER_ARGS
+			then
+			fi
+			unset LOGGER_ARGS
 		fi
 	fi
 
@@ -674,8 +748,6 @@ then
 	#
 	if [ $VEHICLE_TYPE == fw ]
 	then
-		echo "INFO  [init] Fixedwing"
-
 		if [ $MIXER == none ]
 		then
 			# Set default mixer for fixed wing if not defined
@@ -702,11 +774,9 @@ then
 	#
 	if [ $VEHICLE_TYPE == mc ]
 	then
-		echo "INFO  [init] Multicopter"
-
 		if [ $MIXER == none ]
 		then
-			echo "INFO  [init] Mixer undefined"
+			echo "Mixer undefined"
 		fi
 
 		if [ $MAV_TYPE == none ]
@@ -753,7 +823,7 @@ 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 2
 		else
 			param set MAV_TYPE $MAV_TYPE
@@ -771,11 +841,9 @@ then
 	#
 	if [ $VEHICLE_TYPE == vtol ]
 	then
-		echo "INFO  [init] VTOL"
-
 		if [ $MIXER == none ]
 		then
-			echo "WARN  [init] VTOL mixer undefined"
+			echo "VTOL mixer undefined"
 		fi
 
 		if [ $MAV_TYPE == none ]
@@ -798,7 +866,7 @@ 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
@@ -882,23 +950,30 @@ then
 	#
 	if [ $VEHICLE_TYPE == none ]
 	then
-		echo "WARN  [init] No autostart ID found"
+		echo "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 "Addons script: $FEXTRAS"
 		sh $FEXTRAS
 	fi
 	unset FEXTRAS
 
-	# Run no SD alarm
-	if [ $LOG_FILE == /dev/null ]
+	if ver hwcmp CRAZYFLIE
 	then
-		# Play SOS
-		tone_alarm error
+		# CF2 shouldn't have an sd card
+	else
+
+		# Run no SD alarm
+		if [ $LOG_FILE == /dev/null ]
+		then
+			# Play SOS
+			tone_alarm error
+		fi
+
 	fi
 
 # End of autostart
@@ -913,7 +988,7 @@ mavlink boot_complete
 
 if [ $EXIT_ON_END == yes ]
 then
-	echo "INFO  [init] NSH exit"
+	echo "NSH exit"
 	exit
 fi
 unset EXIT_ON_END

ROMFS/px4fmu_common/mixers/bebop.main.mix

@@ -0,0 +1,7 @@
+Multirotor mixer for Parrot Bebop
+=================================
+
+This file defines a single mixer for a quadrotor in the x configuration. All controls
+are mixed 100%.
+
+R: 4x 10000 10000 -10000 0

ROMFS/px4fmu_common/mixers/claire.aux.mix

@@ -1,4 +1,4 @@
-# mixer for the CruiseAder Claire tilt mechansim servo, aileron and elevator
+# mixer for the CruiseAder Claire tilt mechansim servo and elevons
 
 =======================================================================
 
@@ -15,24 +15,17 @@ S: 1 4  10000  10000      0 -10000  10000
 
 
 
-Aileron mixers
+Elevon mixers
 
 -------------
 
-M: 1
+M: 2
 
 O:      10000  10000      0 -10000  10000
+S: 1 0  -7500  -7500      0 -10000  10000
+S: 1 1   7500   7500      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
+M: 2
+O:       10000   10000    0 -10000  10000
+S: 1 0   -7500   -7500    0 -10000  10000
+S: 1 1   -7500   -7500    0 -10000  10000

ROMFS/px4fmu_common/mixers/heli_120deg.main.mix

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

ROMFS/px4fmu_common/mixers/hexa_x.main.mix

@@ -1,3 +1,4 @@
 # Hexa X
 
 R: 6x 10000 10000 10000 0
+

ROMFS/px4fmu_common/mixers/mount.aux.mix

@@ -0,0 +1,27 @@
+# Mount Mixer (e.g. Gimbal, servo-controlled gimbal, etc...)
+
+
+# pitch
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
+
+# roll
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
+
+# yaw
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000
+
+# mode
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 3  10000  10000      0 -10000  10000
+
+# retracts
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 4  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/mount_legs.aux.mix

@@ -0,0 +1,27 @@
+
+# Roll channel for mount
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
+
+# Pitch channel for mount
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
+
+# Yaw channel for mount
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000
+
+
+# mixer for left leg
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7      0  20000 -10000 -10000  10000
+
+# mixer for right leg
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7      0  20000 -10000 -10000  10000
+

ROMFS/sitl/mixers/delta_wing_sitl.main.mix

@@ -0,0 +1,38 @@
+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: 2
+O:      10000  10000   0 -10000  10000
+S: 0 0 -4000  -4000    0 -10000  10000
+S: 0 1  10000  10000   0 -10000  10000
+
+# mixer for the right aileron
+M: 2
+O:      10000  10000   0 -10000  10000
+S: 0 0  4000   4000    0 -10000  10000
+S: 0 1  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

ROMFS/tap_common/init.d/4001_quad_x

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

ROMFS/tap_common/init.d/6001_hexa_x

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

ROMFS/tap_common/init.d/rc.fw_defaults

@@ -12,11 +12,6 @@ then
 	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

ROMFS/tap_common/init.d/rc.interface

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

ROMFS/tap_common/init.d/rc.mc_defaults

@@ -4,21 +4,19 @@ set VEHICLE_TYPE mc
 
 if [ $AUTOCNF == yes ]
 then
-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.35
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.25
-
-	param set NAV_ACC_RAD 2.0
-	param set RTL_RETURN_ALT 30.0
-	param set RTL_DESCEND_ALT 10.0
 	param set PWM_DISARMED 900
 	param set PWM_MIN 1075
 	param set PWM_MAX 1950
-
-	param set RTL_LAND_DELAY 0
 fi
 
+param set NAV_ACC_RAD 2.0
+param set MIS_TAKEOFF_ALT 2.5
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+param set RTL_LAND_DELAY 0
+param set MPC_THR_MIN 0.10
+param set MPC_MANTHR_MIN 0.04
+
 # set environment variables (!= parameters)
 set PWM_RATE 400
 # tell the mixer to use parameters for these instead
@@ -33,17 +31,3 @@ set PWM_AUX_OUT 1234
 set PWM_AUX_DISARMED 1500
 set PWM_AUX_MIN 1000
 set PWM_AUX_MAX 2000
-
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1000
-then
-	param set PWM_MIN 1075
-fi
-if param compare PWM_MAX 2000
-then
-	param set PWM_MAX 1950
-fi
-if param compare PWM_DISARMED 0
-then
-	param set PWM_DISARMED 900
-fi

ROMFS/tap_common/init.d/rc.sensors

@@ -7,40 +7,22 @@ if adc start
 then
 fi
 
+if ms5611 -T 5607 -I start
+then
+fi
+
 # External I2C bus
 if hmc5883 -C -T -X start
 then
 fi
 
-if lis3mdl -R 2 start
+# Internal I2C bus
+if mpu6000 -I -T 6000 start
 then
 fi
 
-# Internal SPI bus is rotated 90 deg yaw
-if hmc5883 -C -T -S -R 2 start
-then
-fi
-
-# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
-if mpu6000 -R 2 -T 20608 start
-then
-fi
-
-# Internal SPI bus mpu9250 is rotated 90 deg yaw
-if mpu9250 -R 2 start
-then
-fi
-
-if meas_airspeed start
-then
-fi
-
-if sf1xx start
-then
-fi
-
-# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
-usleep 20000
+# Wait 50 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
+usleep 50000
 if sensors start
 then
 fi

ROMFS/tap_common/init.d/rc.vtol_defaults

@@ -8,12 +8,6 @@ then
 	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
 	#

ROMFS/tap_common/init.d/rcS

@@ -1,38 +1,41 @@
 #!nsh
 #
-# PX4FMU startup script.
+# TAP startup script.
 #
 #  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
 
+# Serial map:
+# /dev/ttyS0: GPS
+# /dev/ttyS1: GB
+# /dev/ttyS2: nsh shell / console
+# /dev/ttyS3: payload
+# /dev/ttyS4: esc bus
+# /dev/ttyS5: RC input
+
 #
 # Start CDC/ACM serial driver
 #
 sercon
 
-#
-# Default to auto-start mode.
-#
-set MODE autostart
-
 set TUNE_ERR ML<<CP4CP4CP4CP4CP4
 set LOG_FILE /fs/microsd/bootlog.txt
+set DATAMAN_OPT -r
 
 #
 # Try to mount the microSD card.
 #
-# REBOOTWORK this needs to start after the flight control loop
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
-	# Start playing the startup tune
-	tone_alarm start
+	echo "microSD present"
+	unset DATAMAN_OPT
 else
-	tone_alarm MBAGP
 	if mkfatfs /dev/mmcsd0
 	then
 		if mount -t vfat /dev/mmcsd0 /fs/microsd
 		then
-			echo "INFO  [init] MicroSD card formatted"
+			echo "microSD card formatted"
+			unset DATAMAN_OPT
 		else
 			echo "ERROR [init] Format failed"
 			tone_alarm MNBG
@@ -44,431 +47,309 @@ else
 fi
 
 #
-# Look for an init script on the microSD card.
-# Disable autostart if the script found.
+# Start the ORB (first app to start)
 #
-set FRC /fs/microsd/etc/rc.txt
-if [ -f $FRC ]
+uorb start
+
+#
+# Load parameters
+#
+set PARAM_FILE /fs/microsd/params
+if mtd start
 then
-	echo "INFO  [init] Executing script: $FRC"
-	sh $FRC
-	set MODE custom
+	set PARAM_FILE /fs/mtd_params
 fi
-unset FRC
 
-if [ $MODE == autostart ]
+param select $PARAM_FILE
+if param load
 then
-
-	#
-	# Start the ORB (first app to start)
-	#
-	uorb start
-
-	#
-	# Load parameters
-	#
-	set PARAM_FILE /fs/microsd/params
-	if mtd start
+else
+	if param reset
 	then
-		set PARAM_FILE /fs/mtd_params
 	fi
+fi
 
-	param select $PARAM_FILE
-	if param load
+tone_alarm start
+
+#
+# Start system state indicator
+#
+if rgbled start
+then
+fi
+
+#
+# Set parameters and env variables for selected AUTOSTART
+#
+if param compare SYS_AUTOSTART 0
+then
+	param set SYS_AUTOSTART 6001
+	param set SYS_AUTOCONFIG 1
+fi
+
+#
+# Set AUTOCNF flag to use it in AUTOSTART scripts
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Wipe out params except RC*
+	param reset_nostart RC*
+	set AUTOCNF yes
+else
+	set AUTOCNF no
+fi
+
+#
+# Set default values
+#
+set VEHICLE_TYPE none
+set MIXER none
+set OUTPUT_MODE none
+set PWM_OUT none
+set PWM_RATE none
+set PWM_DISARMED none
+set PWM_MIN none
+set PWM_MAX none
+set FMU_MODE pwm
+set MAV_TYPE none
+set FAILSAFE none
+
+# Start canned airframe config
+sh /etc/init.d/rc.autostart
+
+#
+# If autoconfig parameter was set, reset it and save parameters
+#
+if [ $AUTOCNF == yes ]
+then
+	param set SYS_AUTOCONFIG 0
+	param save
+fi
+unset AUTOCNF
+
+#
+# Set default output if not set
+#
+if [ $OUTPUT_MODE == none ]
+then
+	if [ $USE_IO == yes ]
 	then
+		set OUTPUT_MODE io
 	else
-		if param reset
+		set OUTPUT_MODE fmu
+	fi
+fi
+
+gps start -d /dev/ttyS0
+
+# waypoint storage
+# REBOOTWORK this needs to start in parallel
+if dataman start $DATAMAN_OPT
+then
+fi
+
+#
+# Sensors System (start before Commander so Preflight checks are properly run)
+#
+sh /etc/init.d/rc.sensors
+
+commander start
+
+#
+# Start CPU load monitor
+#
+load_mon start
+
+# Start MAVLink on the gimbal port
+#mavlink start -r 1200 -d /dev/ttyS1
+
+# Start MAVLink on USB, developers can use the MAVLink shell
+mavlink start -r 60000 -d /dev/ttyACM0 -m config
+
+#
+# Logging
+#
+#if logger start -b 2 -t
+#then
+#fi
+
+#
+# Fixed wing setup
+#
+if [ $VEHICLE_TYPE == fw ]
+then
+	echo "INFO  [init] Fixedwing"
+
+	if [ $MIXER == none ]
+	then
+		# Set default mixer for fixed wing if not defined
+		set MIXER AERT
+	fi
+
+	if [ $MAV_TYPE == none ]
+	then
+		# Use MAV_TYPE = 1 (fixed wing) if not defined
+		set MAV_TYPE 1
+	fi
+
+	param set MAV_TYPE $MAV_TYPE
+
+	# Load mixer and configure outputs
+	sh /etc/init.d/rc.interface
+
+	# Start standard fixedwing apps
+	sh /etc/init.d/rc.fw_apps
+fi
+
+#
+# Multicopters setup
+#
+if [ $VEHICLE_TYPE == mc ]
+then
+	echo "INFO  [init] Multicopter"
+
+	if [ $MIXER == none ]
+	then
+		echo "INFO  [init] Mixer undefined"
+	fi
+
+	if [ $MAV_TYPE == none ]
+	then
+		# Use mixer to detect vehicle type
+		if [ $MIXER == quad_x -o $MIXER == quad_+ ]
 		then
+			set MAV_TYPE 2
+		fi
+		if [ $MIXER == quad_w ]
+		then
+			set MAV_TYPE 2
+		fi
+		if [ $MIXER == quad_h ]
+		then
+			set MAV_TYPE 2
+		fi
+		if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
+		then
+			set MAV_TYPE 15
+		fi
+		if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
+		then
+			set MAV_TYPE 13
+		fi
+		if [ $MIXER == hexa_cox ]
+		then
+			set MAV_TYPE 13
+		fi
+		if [ $MIXER == octo_x -o $MIXER == octo_+ ]
+		then
+			set MAV_TYPE 14
 		fi
 	fi
 
-	#
-	# Start system state indicator
-	#
-	if rgbled start
+	# Still no MAV_TYPE found
+	if [ $MAV_TYPE == none ]
 	then
-	fi
-
-	#
-	# Set AUTOCNF flag to use it in AUTOSTART scripts
-	#
-	if param compare SYS_AUTOCONFIG 1
-	then
-		# Wipe out params except RC*
-		param reset_nostart RC*
-		set AUTOCNF yes
+		echo "WARN  [init] Unknown MAV_TYPE"
+		param set MAV_TYPE 2
 	else
-		set AUTOCNF no
-	fi
-
-	#
-	# Set default values
-	#
-	set VEHICLE_TYPE none
-	set MIXER none
-	set OUTPUT_MODE none
-	set PWM_OUT none
-	set PWM_RATE none
-	set PWM_DISARMED none
-	set PWM_MIN none
-	set PWM_MAX none
-	set FMU_MODE pwm
-	set MAVLINK_F default
-	set EXIT_ON_END no
-	set MAV_TYPE none
-	set FAILSAFE none
-	set USE_IO no
-	
-
-	#
-	# Set parameters and env variables for selected AUTOSTART
-	#
-	if param compare SYS_AUTOSTART 0
-	then
-		echo "INFO  [init] No autostart"
-	else
-		sh /etc/init.d/rc.autostart
-	fi
-	unset MODE
-
-	#
-	# If autoconfig parameter was set, reset it and save parameters
-	#
-	if [ $AUTOCNF == yes ]
-	then
-		param set SYS_AUTOCONFIG 0
-		param save
-	fi
-	unset AUTOCNF
-
-	#
-	# Set default output if not set
-	#
-	if [ $OUTPUT_MODE == none ]
-	then
-		if [ $USE_IO == yes ]
-		then
-			set OUTPUT_MODE io
-		else
-			set OUTPUT_MODE fmu
-		fi
-	fi
-
-	gps start -d /dev/ttyS0
-
-	# waypoint storage
-	# REBOOTWORK this needs to start in parallel
-	if dataman start
-	then
-	fi
-
-	#
-	# Sensors System (start before Commander so Preflight checks are properly run)
-	#
-	sh /etc/init.d/rc.sensors
-
-	commander start
-
-	#
-	# Start CPU load monitor
-	#
-	load_mon start
-
-	#
-	# Start primary output
-	#
-	set TTYS1_BUSY no
-
-	#
-	# Check if UAVCAN is enabled, default to it for ESCs
-	#
-	if param greater UAVCAN_ENABLE 2
-	then
-		set OUTPUT_MODE uavcan_esc
-	fi
-
-	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
-	if [ $OUTPUT_MODE != none ]
-	then
-		if [ $OUTPUT_MODE == uavcan_esc ]
-		then
-			if param compare UAVCAN_ENABLE 0
-			then
-				echo "INFO  [init] OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE
-				param set UAVCAN_ENABLE 1
-			fi
-		fi
-
-		if [ $OUTPUT_MODE == fmu ]
-		then
-			if fmu mode_$FMU_MODE
-			then
-			else
-				echo "ERR  [init] FMU start failed" >> $LOG_FILE
-				tone_alarm $TUNE_ERR
-			fi
-		fi
-
-		if fmu mode_pwm4
-		then
-		else
-			echo "ERROR [init] FMU mode_$FMU_MODE start failed" >> $LOG_FILE
-			tone_alarm $TUNE_ERR
-		fi
-	fi
-
-	mavlink start -r 1200 -d /dev/ttyS1
-
-	#
-	# Starting stuff according to UAVCAN_ENABLE value
-	#
-	if param greater UAVCAN_ENABLE 0
-	then
-		if uavcan start
-		then
-		else
-			tone_alarm $TUNE_ERR
-		fi
-	fi
-
-	if param greater UAVCAN_ENABLE 1
-	then
-		if uavcan start fw
-		then
-		else
-			tone_alarm $TUNE_ERR
-		fi
-	fi
-
-	#
-	# Optional drivers
-	#
-
-	# Sensors on the PWM interface bank
-	if param compare SENS_EN_LL40LS 1
-	then
-		if pwm_input start
-		then
-			if ll40ls start pwm
-			then
-			fi
-		fi
-	fi
-
-	# sf0x lidar sensor
-	if param compare SENS_EN_SF0X 1
-	then
-		sf0x start
-	fi
-
-	# Start USB shell if no microSD present, MAVLink else
-	if [ $LOG_FILE == /dev/null ]
-	then
-		# Try to get an USB console
-		nshterm /dev/ttyACM0 &
-	else
-		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
-	fi
-
-	#
-	# Logging
-	#
-	if param compare SYS_LOGGER 0
-	then
-		if sdlog2 start -r 100 -a -b 9 -t
-		then
-		fi
-	else
-		if logger start -b 12 -t
-		then
-		fi
-	fi
-
-	#
-	# Fixed wing setup
-	#
-	if [ $VEHICLE_TYPE == fw ]
-	then
-		echo "INFO  [init] Fixedwing"
-
-		if [ $MIXER == none ]
-		then
-			# Set default mixer for fixed wing if not defined
-			set MIXER AERT
-		fi
-
-		if [ $MAV_TYPE == none ]
-		then
-			# Use MAV_TYPE = 1 (fixed wing) if not defined
-			set MAV_TYPE 1
-		fi
-
 		param set MAV_TYPE $MAV_TYPE
-
-		# Load mixer and configure outputs
-		sh /etc/init.d/rc.interface
-
-		# Start standard fixedwing apps
-		sh /etc/init.d/rc.fw_apps
 	fi
 
-	#
-	# Multicopters setup
-	#
-	if [ $VEHICLE_TYPE == mc ]
+	# Load mixer and configure outputs
+	sh /etc/init.d/rc.interface
+
+	# Start standard multicopter apps
+	sh /etc/init.d/rc.mc_apps
+fi
+
+#
+# VTOL setup
+#
+if [ $VEHICLE_TYPE == vtol ]
+then
+	echo "INFO  [init] VTOL"
+
+	if [ $MIXER == none ]
 	then
-		echo "INFO  [init] Multicopter"
-
-		if [ $MIXER == none ]
-		then
-			echo "INFO  [init] Mixer undefined"
-		fi
-
-		if [ $MAV_TYPE == none ]
-		then
-			# Use mixer to detect vehicle type
-			if [ $MIXER == quad_x -o $MIXER == quad_+ ]
-			then
-				set MAV_TYPE 2
-			fi
-			if [ $MIXER == quad_w ]
-			then
-				set MAV_TYPE 2
-			fi
-			if [ $MIXER == quad_h ]
-			then
-				set MAV_TYPE 2
-			fi
-			if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
-			then
-				set MAV_TYPE 15
-			fi
-			if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
-			then
-				set MAV_TYPE 13
-			fi
-			if [ $MIXER == hexa_cox ]
-			then
-				set MAV_TYPE 13
-			fi
-			if [ $MIXER == octo_x -o $MIXER == octo_+ ]
-			then
-				set MAV_TYPE 14
-			fi
-		fi
-
-		# Still no MAV_TYPE found
-		if [ $MAV_TYPE == none ]
-		then
-			echo "WARN  [init] Unknown MAV_TYPE"
-			param set MAV_TYPE 2
-		else
-			param set MAV_TYPE $MAV_TYPE
-		fi
-
-		# Load mixer and configure outputs
-		sh /etc/init.d/rc.interface
-
-		# Start standard multicopter apps
-		sh /etc/init.d/rc.mc_apps
+		echo "WARN  [init] VTOL mixer undefined"
 	fi
 
-	#
-	# VTOL setup
-	#
-	if [ $VEHICLE_TYPE == vtol ]
+	if [ $MAV_TYPE == none ]
 	then
-		echo "INFO  [init] VTOL"
-
-		if [ $MIXER == none ]
+		# Use mixer to detect vehicle type
+		if [ $MIXER == caipirinha_vtol ]
 		then
-			echo "WARN  [init] VTOL mixer undefined"
+			set MAV_TYPE 19
 		fi
-
-		if [ $MAV_TYPE == none ]
+		if [ $MIXER == firefly6 ]
 		then
-			# Use mixer to detect vehicle type
-			if [ $MIXER == caipirinha_vtol ]
-			then
-				set MAV_TYPE 19
-			fi
-			if [ $MIXER == firefly6 ]
-			then
-				set MAV_TYPE 21
-			fi
-			if [ $MIXER == quad_x_pusher_vtol ]
-			then
-				set MAV_TYPE 22
-			fi
+			set MAV_TYPE 21
 		fi
-
-		# Still no MAV_TYPE found
-		if [ $MAV_TYPE == none ]
+		if [ $MIXER == quad_x_pusher_vtol ]
 		then
-			echo "WARN  [init] Unknown MAV_TYPE"
-			param set MAV_TYPE 19
-		else
-			param set MAV_TYPE $MAV_TYPE
+			set MAV_TYPE 22
 		fi
-
-		# Load mixer and configure outputs
-		sh /etc/init.d/rc.interface
-
-		# Start standard vtol apps
-		sh /etc/init.d/rc.vtol_apps
 	fi
 
-	#
-	# Rover setup
-	#
-	if [ $VEHICLE_TYPE == rover ]
+	# Still no MAV_TYPE found
+	if [ $MAV_TYPE == none ]
 	then
-		# 10 is MAV_TYPE_GROUND_ROVER
-		set MAV_TYPE 10
-
-		# Load mixer and configure outputs
-		sh /etc/init.d/rc.interface
-
-		# Start standard rover apps
-		sh /etc/init.d/rc.axialracing_ax10_apps
-
-		param set MAV_TYPE 10
+		echo "WARN  [init] Unknown MAV_TYPE"
+		param set MAV_TYPE 19
+	else
+		param set MAV_TYPE $MAV_TYPE
 	fi
 
-	unset MIXER
-	unset MAV_TYPE
-	unset OUTPUT_MODE
+	# Load mixer and configure outputs
+	sh /etc/init.d/rc.interface
 
-	#
-	# Start the navigator
-	#
-	navigator start
+	# Start standard vtol apps
+	sh /etc/init.d/rc.vtol_apps
+fi
 
-	#
-	# Generic setup (autostart ID not found)
-	#
-	if [ $VEHICLE_TYPE == none ]
-	then
-		echo "WARN  [init] No autostart ID found"
-	fi
+#
+# Rover setup
+#
+if [ $VEHICLE_TYPE == rover ]
+then
+	# 10 is MAV_TYPE_GROUND_ROVER
+	set MAV_TYPE 10
 
-	# Start any custom addons
-	set FEXTRAS /fs/microsd/etc/extras.txt
-	if [ -f $FEXTRAS ]
-	then
-		echo "INFO  [init] Addons script: $FEXTRAS"
-		sh $FEXTRAS
-	fi
-	unset FEXTRAS
+	# Load mixer and configure outputs
+	sh /etc/init.d/rc.interface
 
-	# Run no SD alarm
-	if [ $LOG_FILE == /dev/null ]
-	then
-		# Play SOS
-		tone_alarm error
-	fi
+	# Start standard rover apps
+	sh /etc/init.d/rc.axialracing_ax10_apps
 
-# End of autostart
+	param set MAV_TYPE 10
+fi
+
+unset MIXER
+unset MAV_TYPE
+unset OUTPUT_MODE
+
+#
+# Start the RC input driver
+#
+if fmu mode_pwm1
+then
+fi
+
+#
+# Use 400 Hz PWM output for landing gear (frequency also affects RGB LED)
+#
+pwm rate -c 1 -r 400
+
+#
+# Load the gear mixer onto fmu
+#
+mixer load /dev/px4fmu /etc/mixers/gear.mix
+
+#
+# Start the navigator
+#
+if navigator start
+then
 fi
 
 # There is no further script processing, so we can free some RAM
@@ -477,10 +358,3 @@ unset TUNE_ERR
 
 # Boot is complete, inform MAVLink app(s) that the system is now fully up and running
 mavlink boot_complete
-
-if [ $EXIT_ON_END == yes ]
-then
-	echo "INFO  [init] NSH exit"
-	exit
-fi
-unset EXIT_ON_END

ROMFS/tap_common/mixers/gear.mix

@@ -0,0 +1,7 @@
+#
+# This maps actuator_controls_0[7] to the first and only PWM output
+#
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

Tools/adb_upload_to_bebop.sh

@@ -33,6 +33,10 @@ sleep 1
 adb shell mount -o remount,rw /
 adb shell touch /home/root/parameters
 
+${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-strip \
+  -R .comment -R .gnu.version \
+  ../build_posix_bebop_default/src/firmware/posix/px4
+
 ../Tools/adb_upload.sh $@
 
 echo "Disconnecting from bebop"

Tools/aero_upload.sh

@@ -0,0 +1,53 @@
+#!/bin/bash
+############################################################################
+#
+#   Copyright (C) 2016  Intel Corporation. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+set -e
+
+USER=${AERO_USER:-root}
+HOSTNAME=${AERO_HOSTNAME:-intel-aero.local}
+SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]}))
+
+target=$USER@$HOSTNAME
+firmware=$1
+px_uploader=${SCRIPT_DIR}/px_uploader.py
+
+echo "Copying files to Aero board ($target)..."
+scp -v $firmware $px_uploader $target:
+
+echo "Running px_uploader.py on Aero to update firmware in AeroFC..."
+ssh $target 'PATH=$PATH":/usr/sbin" && /etc/init.d/mavlink_bridge.sh stop'
+ssh $target "./px_uploader.py --port /dev/ttyS1 --baud-flightstack 1500000 $(basename $firmware)"
+ssh $target 'PATH=$PATH":/usr/sbin" && /etc/init.d/mavlink_bridge.sh start'
+
+echo "Firmware updated"

Tools/check_code_style.sh

@@ -1,23 +1,23 @@
 #!/usr/bin/env bash
 
-file=$1
-
+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 > $file.pretty
+if [ -f "$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
+		git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty
+		rm -f $FILE.pretty
 		echo
 
-		rm -f $file.pretty
-		echo $file 'bad formatting, please run "./Tools/fix_code_style.sh' $file'"'
-		exit 1
+		if [[ $PX4_ASTYLE_FIX -eq 1 ]]; then
+			${DIR}/fix_code_style.sh $FILE
+		else
+			echo $FILE 'bad formatting, please run "make format" or "./Tools/fix_code_style.sh' $FILE'"'
+			exit 1
+		fi
 	fi
 fi
-

Tools/check_code_style_all.sh

@@ -1,55 +1,55 @@
 #!/usr/bin/env bash
 set -eu
-failed=0
 
-DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+ASTYLE_VER_REQUIRED="Artistic Style Version 2.05.1"
+astyle_ver() {
+	echo "PX4 requires ${ASTYLE_VER_REQUIRED}"
+	echo "You can get the correct version here: https://github.com/PX4/astyle/releases/tag/2.05.1"
+}
 
-find \
-    src/drivers \
-    src/examples \
-    src/firmware \
-    src/include \
-    src/lib/controllib \
-    src/lib/conversion \
-    src/lib/geo \
-    src/lib/geo_lookup \
-    src/lib/launchdetection \
-    src/lib/rc \
-    src/lib/tailsitter_recovery \
-    src/lib/terrain_estimation \
-    src/lib/version \
-    src/modules/attitude_estimator_q \
-    src/modules/bottle_drop \
-    src/modules/controllib_test \
-    src/modules/dataman \
-    src/modules/fw_att_control \
-    src/modules/fw_pos_control_l1 \
-    src/modules/gpio_led \
-    src/modules/land_detector \
-    src/modules/local_position_estimator \
-    src/modules/logger \
-    src/modules/mavlink/mavlink_tests \
-    src/modules/muorb \
-    src/modules/param \
-    src/modules/px4iofirmware \
-    src/modules/replay \
-    src/modules/segway \
-    src/modules/sensors \
-    src/modules/simulator \
-    src/modules/systemlib \
-    src/modules/unit_test \
-    src/modules/uORB \
-    src/modules/vtol_att_control \
-    src/platforms \
-    src/systemcmds \
-    -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 % ${DIR}/check_code_style.sh %
+# check if astyle is installed
+condition=$(which astyle 2>/dev/null | grep -v "not found" | wc -l)
+if [ $condition -eq 0 ]; then
+	echo "astyle is not installed"
+	astyle_ver
+	exit 1
+else
+	ASTYLE_VER=`astyle --version`
 
+	if [ "$ASTYLE_VER" != "$ASTYLE_VER_REQUIRED" ]; then
+		echo "Error: you're using ${ASTYLE_VER}"
+		astyle_ver
+		exit 1
+	fi
+fi
+
+CI="${CI:-false}"
+DIR=$(cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd)
+
+if [[ "$@" == "--fix" ]]
+then
+    export PX4_ASTYLE_FIX=1
+fi
+
+
+# install git pre-commit hook
+HOOK_FILE="$DIR/../.git/hooks/pre-commit"
+if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ]; then
+	echo ""
+	echo -e "\033[31mNinja tip: add a git pre-commit hook to automatically check code style\033[0m"
+	echo -e "Would you like to install one now? (\033[94mcp ./Tools/pre-commit .git/hooks/pre-commit\033[0m): [y/\033[1mN\033[0m]"
+
+	read user_cmd
+	if [ "$user_cmd" == "y" ]; then
+		echo -e "copying ./Tools/pre-commit -> .git/hooks/pre-commit"
+		cp $DIR/pre-commit $HOOK_FILE
+		echo -e "\033[94mGreat, hook installed!\033[0m (checking style now)"
+	else
+		echo -e "\033[94mOk, I will remind you again later!\033[0m (checking style now)"
+	fi
+fi
+
+${DIR}/files_to_check_code_style.sh | xargs -n 1 -P 8 -I % ${DIR}/check_code_style.sh %
 
 if [ $? -eq 0 ]; then
     echo "Format checks passed"

Tools/clang-tool.sh

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

Tools/files_to_check_code_style.sh

@@ -0,0 +1,28 @@
+#!/usr/bin/env bash
+set -eu
+
+PATTERN="-e ."
+
+if [ $# -gt 0 ]
+then
+    PATTERN="$1"
+fi
+
+exec find src \
+    -path src/examples/attitude_estimator_ekf -prune -o \
+    -path src/examples/ekf_att_pos_estimator -prune -o \
+    -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/modules/mavlink -prune -o \
+    -path src/modules/navigator -prune -o \
+    -path src/modules/sdlog2 -prune -o \
+    -path src/modules/systemlib/uthash -prune -o \
+    -path src/modules/uavcan -prune -o \
+    -path src/modules/uavcan/libuavcan -prune -o \
+    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
+

Tools/fix_code_style.sh

@@ -1,14 +1,5 @@
 #!/bin/bash
 
-ASTYLE_VER=`astyle --version`
-ASTYLE_VER_REQUIRED="Artistic Style Version 2.05.1"
-
-if [ "$ASTYLE_VER" != "$ASTYLE_VER_REQUIRED" ]; then
-  echo "Error: you're using ${ASTYLE_VER}, but PX4 requires ${ASTYLE_VER_REQUIRED}"
-  echo "You can get the correct version here: https://github.com/PX4/astyle/releases/tag/2.05.1"
-  exit 1
-fi
-
 if [[ $# -eq 0 ]] ; then
   exit 0
 fi

Tools/fix_headers.sh

@@ -0,0 +1,901 @@
+#! /bin/bash
+
+# Written by Carlo Wood, September/October 2016.
+
+function fatal
+{
+	echo "$0: ERROR: $*"
+	exit 1
+}
+
+# Make sure we're not having a broken gawk.
+AWK_VERSION=$(awk -V | head -n 1)
+if [[ $AWK_VERSION =~ ^GNU\ Awk\ 4\.[0-9]+\.[0-9]+ ]]; then
+	AWK_VERSION=$(echo $AWK_VERSION | sed -e 's/GNU Awk \(4\.[0-9]*\.[0-9]*\).*/\1/')
+	if [[ $AWK_VERSION =~ ^4\.0*([2-9]+|1\.0*[2-9]+) ]]; then
+		fatal "Your version of awk ($AWK_VERSION) is broken. Please use version 4.1.1 or lower."
+	fi
+fi
+echo "AWK_VERSION=$AWK_VERSION"
+
+# Find out what the base directory is.
+BASEDIR="$(dirname $(dirname $(readlink -en "$0")))"
+echo "BASEDIR=\"$BASEDIR\""
+striplen=$((${#BASEDIR} + 2))
+
+# BASEDIR may not contain a space, that's just too hard to get to work.
+expr index "$BASEDIR" " " >/dev/null && fatal "it is not supported that BASEDIR contains a space."
+
+# Make sure that worked.
+test -f $BASEDIR/cmake/posix/px4_impl_posix.cmake || fatal "Failed to determine BASEDIR: '\$BASEDIR/cmake/posix/px4_impl_posix.cmake' is not a regular file."
+
+# Parse command line parameters.
+debug=0	# Set to non-zero to enable debugging.
+force=0	# Set to 1 to force running of script even when there are uncommitted changes.
+merge=0	# Set to 1 when merging a branch that didn't run this script into master that did already run this script.
+while [[ $# -gt 0 ]]
+do
+	case $1 in
+		--debug)
+			debug=1
+			;;
+		--force)
+			force=1
+			;;
+		--merge)
+			force=1
+			merge=1
+			fatal "--merge is not implemented yet."
+			;;
+		-*)
+			fatal "Unknown option $1"
+			;;
+		--|*)
+			break
+			;;
+	esac
+	shift
+done
+non_option_arguments=$#
+if [ $non_option_arguments -eq 0 -a $debug -ne 0 ]; then
+	fatal "--debug screws up the source files with debug output! You must provide a single filename to run on."
+fi
+
+# Better not run this script with changes that still need to be committed.
+cd "$BASEDIR" || fatal "Could not change directory to \"$BASEDIR\""
+if ! git diff-index --quiet HEAD --; then
+	if [ $non_option_arguments -ne 0 -o $force -eq 1 ]; then
+		if [ $force -eq 1 ]; then
+			echo "Uncommitted changes, but running anyway because --force is used."
+		else
+			echo -n "WARNING: You have uncommitted changes (use --force to remove this warning). Run anyway? [y/N] "
+			read answer
+			if [ "x$answer" != "xy" -a "x$answer" != "xY" ]; then exit 0; fi
+		fi
+	else
+		fatal "Your working directory has uncommitted changes (see 'git status')! Bailing out."
+	fi
+fi
+
+# Find a reasonable tmp directory.
+# First make a list of all build directories by looking for a CMakeCache.txt in them. Sort them so the most recent one is first.
+CMAKECACHE_FILES=$(find "$BASEDIR" -mindepth 2 -maxdepth 2 -type f -name CMakeCache.txt -wholename "$BASEDIR/build_*/CMakeCache.txt" | xargs /bin/ls -td)
+# Make a list of all candidate tmp directories.
+TMPDIRS=
+for f in $CMAKECACHE_FILES; do
+	if [ -d $(dirname $f)/tmp ]; then
+		TMPDIRS+=" $(dirname $f)/tmp"
+	fi
+done
+# Put BASEDIR first in case there are no build directories because /tmp is probably on a different file system.
+TMPDIRS+=" $BASEDIR /tmp ."
+# Pick the first one that is actually writable.
+for tmp in $TMPDIRS; do
+	TMPDIR="$tmp"
+	if [ -w "$TMPDIR" ]; then
+		break;
+	fi
+done
+test -n "$TMPDIR" || fatal "Can not find a writable tmp directory."
+echo "TMPDIR=\"$TMPDIR\""
+
+# Make a list of all source and header files that we need to fix.
+# List of directories that we don't want to touch.
+EXCLUDE_FOLDERS=".git unittests Tools"
+EXCLUDE_PATTERNS="examples matlab/scripts tests test unit_test *_test *_tests test_* apps/test_* UnitTests"
+# A regular expression for the exclude patterns.
+EXCLUDE_PATTERNS_RE="($(echo $EXCLUDE_PATTERNS | sed -e 's/\*/[^\/]*/g;s/ /|/g'))"
+# Extensions of files that we do want to change (leaving out .y and .py for now).
+C_EXTENSIONS=".c .c_in .c_shipped"
+H_EXTENSIONS=".h .h.in .h_template"
+CXX_EXTENSIONS=".cc .cpp .cpp.in .cxx .cpp_template"
+HXX_EXTENSIONS=".hh .hpp .hxx"
+# The regular expression that we consider to be an #include.
+INCLUDE_RE='^[[:space:]]*#[[:space:]]*include[[:space:]]*[<"]'
+# Regular expression for empty lines.
+EMPTY_LINE_RE='^[[:space:]]*$'
+# Regular expression for one-line comments.
+COMMENT_LINE_RE='^[[:space:]]*(\/\/.*|\/\*([^*]|\*+[^\/*])*\*+\/[[:space:]]*)$'
+# Regular expression for a #define (on one line).
+DEFINE_RE='^[[:space:]]*#[[:space:]]*define[[:space:]].*[^\\]$'
+# Regular expression for an #if[[n]def].
+IF_RE='^[[:space:]]*#[[:space:]]*if(n?def)?[[:space:]]'
+# Regular expression for an #endif.
+ENDIF_RE='^[[:space:]]*#[[:space:]]*endif($|[^[:alnum:]])'
+# Regular expression for header file extension.
+HEADER_RE="($(echo $H_EXTENSIONS $HXX_EXTENSIONS | sed -e 's/\./\\./g;s/ /|/g'))"
+# Regular expression for C++ source and header files.
+CXXSRC_RE="($(echo $CXX_EXTENSIONS $HXX_EXTENSIONS | sed -e 's/\./\\./g;s/ /|/g'))"
+# List of standard C header files. Note that cfcntl, cshed and cunistd are NOT standard header files, even though they are in NuttX/nuttx/include/cxx.
+REAL_STDC_HEADERS_RE='(cassert|ccomplex|cctype|cerrno|cfenv|cfloat|cinttypes|ciso646|climits|clocale|cmath|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype)'
+STDC_HEADERS=$(find "$BASEDIR/NuttX/nuttx/include/cxx" -mindepth 1 -maxdepth 1 -type f | xargs basename -a | grep -E "$REAL_STDC_HEADERS_RE" | xargs echo)
+# Regular expression of standard C header files, but with the leading 'c' stripped.
+STDC_HEADERS_RE="($(echo $STDC_HEADERS | sed -e 's/^c//;s/ c/|/g'))"
+# Actual list of standard C header files.
+# List of standard C++ header files.
+REAL_STDCXX_HEADERS_RE='(algorithm|any|array|atomic|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|complex|condition_variable|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|execution|filesystem|forward_list|fstream|functional|future|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|limits|list|locale|map|memory|memory_resource|mutex|new|numeric|optional|ostream|queue|random|ratio|regex|scoped_allocator|set|shared_mutex|sstream|stack|stdexcept|streambuf|string|string_view|strstream|system_error|thread|tuple|typeindex|typeinfo|type_traits|unordered_map|unordered_set|utility|valarray|variant|vector)'
+STDCXX_HEADERS=$(find "$BASEDIR/NuttX/misc/uClibc++/include/uClibc++" -mindepth 1 -maxdepth 1 -type f | xargs basename -a | grep -E "$REAL_STDCXX_HEADERS_RE" | grep -E -v "$REAL_STDC_HEADERS_RE" | xargs echo)
+# Regular expression of C++ header files.
+STDCXX_HEADERS_RE="($(echo $STDCXX_HEADERS | sed -e 's/ /|/g'))"
+# Regular expression for #pragma once.
+PRAGMA_ONCE_RE='^#pragma once'
+# Regular expression to recognize the start of a C-comment block.
+COMMENT_BEGIN_RE='(^|[^\/])\/\*([^*]|\*+($|[^\/*]))*$'
+# Regular expression to recognize the end of a C-comment block.
+COMMENT_END_RE='\*\/'
+# Regular expression to match C++ unsafe headers. We currently don't have any C++ unsafe headers, do we?
+# v2.0/standard/mavlink.h is not unsafe, but this way the script will leave it alone and not
+# move it above function declarations that need to be declared before including it.
+UNSAFE_HEADERS_RE='(v2\.0\/standard\/mavlink\.h)'
+#UNSAFE_HEADERS_RE='(stm32\.h|arch\/board\/board\.h)'
+
+# Find all submodules.
+test -f $BASEDIR/.gitmodules || fatal "No such file: $BASEDIR/.gitmodules"
+SUBMODULES=$(grep -A 1 '^\[submodule' $BASEDIR/.gitmodules | grep '^[[:space:]]*path = ' | sed -r -e 's/^[[:space:]]*path = //' | xargs echo)
+echo "SUBMODULES=\"$SUBMODULES\""
+SUBMODULES_RE="($(echo $SUBMODULES | sed -e 's/ /|/g'))"
+
+# Disable path name expansion (otherwise the find patterns will be expanded against the files in the current working directory).
+set -f
+
+EXCLUDE_ARGS=
+for excl in $EXCLUDE_FOLDERS; do
+	if [ -z "$EXCLUDE_ARGS" ]; then
+		EXCLUDE_ARGS="-wholename $BASEDIR/$excl/*"
+	else
+		EXCLUDE_ARGS+=" -o -wholename $BASEDIR/$excl/*"
+	fi
+done
+for excl in $EXCLUDE_PATTERNS; do
+	EXCLUDE_ARGS+=" -o -wholename */$excl/*"
+done
+INCLUDE_H_ARGS=
+for ext in $H_EXTENSIONS $HXX_EXTENSIONS; do
+	if [ -z "$INCLUDE_H_ARGS" ]; then
+		INCLUDE_H_ARGS="-name *$ext"
+	else
+		INCLUDE_H_ARGS+=" -o -name *$ext"
+	fi
+done
+INCLUDE_C_ARGS=
+for ext in $C_EXTENSIONS $CXX_EXTENSIONS; do
+	if [ -z "$INCLUDE_C_ARGS" ]; then
+		INCLUDE_C_ARGS="-name *$ext"
+	else
+		INCLUDE_C_ARGS+=" -o -name *$ext"
+	fi
+done
+# Also exclude all submodules -- because we don't maintain those (are we?).
+for subm in $SUBMODULES; do
+	if [ -z "$SUBMODULES_ARGS" ]; then
+		SUBMODULES_ARGS="-wholename $BASEDIR/$subm/*"
+	else
+		SUBMODULES_ARGS+=" -o -wholename $BASEDIR/$subm/*"
+	fi
+done
+
+echo -n "Finding all source files with #include's (excluding submodules and build directory)... "
+find $BASEDIR -mindepth 2 -type f ! \( -wholename $BASEDIR/build_* -o $EXCLUDE_ARGS -o $SUBMODULES_ARGS \) \( $INCLUDE_C_ARGS -o $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_sources
+cat "$TMPDIR/fix_headers_sources" | xargs grep -l "$INCLUDE_RE" > $TMPDIR/fix_headers_sources_with_includes
+echo "done"
+number_of_files=$(sed -n '$=' "$TMPDIR/fix_headers_sources_with_includes")
+count=0
+
+echo -n "Finding all submodule header files (excluding stdc++ headers)... "
+find $BASEDIR -type f ! \( $EXCLUDE_ARGS \) \( $SUBMODULES_ARGS \) \( $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_SUBMODULE_HEADERS
+echo "done"
+
+echo -n "Finding all header files (excluding stdc++ headers)... "
+find $BASEDIR -type f ! \( $EXCLUDE_ARGS \) -wholename $BASEDIR/build_* \( $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_HEADERS
+grep -E "$HEADER_RE" $TMPDIR/fix_headers_sources >> $TMPDIR/fix_headers_HEADERS
+cat $TMPDIR/fix_headers_SUBMODULE_HEADERS >> $TMPDIR/fix_headers_HEADERS
+echo "done"
+
+echo -n "Finding all include paths... "
+for f in `cat $TMPDIR/fix_headers_sources_with_includes`; do grep -E "$INCLUDE_RE" $f | sed -r -e "s%$INCLUDE_RE%%"';s/[">].*//'; done | sort -u | grep -E -v "(/|^)$EXCLUDE_PATTERNS_RE/" > $TMPDIR/fix_headers_include_paths
+echo "done"
+
+function include_path()
+{
+	# If the include path starts with a '.', then it is a local header.
+	if [[ $1 =~ ^\. ]]; then return 1; fi
+	# If the include path starts with 'platforms/' then it is a local header;
+	# added this exception here because not everyone has all build_ directories for all targets installed.
+	if [[ $1 =~ platforms/ ]]; then return 1; fi
+	# apps.h is generated from apps.h.in.
+	if [ $1 = "apps.h" ]; then return 1; fi
+	# Treat the following headers from src/platforms/*/include as system header because they replace what is found in nuttx (for posix and qurt).
+	if [ $1 = "arch/board/board.h" -o $1 = "crc32.h" -o $1 = "i2c.h" -o $1 = "queue.h" -o $1 = "poll.h" -o $1 = "sys/ioctl.h" ]; then return 2; fi
+	# Escape the path for reg.exp. matching.
+	PATH_RE=$(echo $1 | sed -e 's/\([+.]\)/\\\1/')
+	issubmodule=0;
+	islocal=0;
+	foo=0
+	for includedir in $(grep "/$PATH_RE\$" $TMPDIR/fix_headers_HEADERS | cut -c $striplen-); do
+		# If the include directory is NuttX header that was copied to the build directory, then it's still a system file.
+		if [[ $includedir/ =~ ^build_.*/NuttX/ ]]; then
+			issubmodule=1
+		# If the include directory is a submodule, then treat it as a system file.
+		elif [[ $includedir/ =~ ^$SUBMODULES_RE/ ]]; then
+			issubmodule=1;
+		else
+			islocal=1
+		fi
+	done
+	if [ $islocal -eq 0 ]; then
+		if [ $issubmodule -eq 0 ]; then
+			# If an include path can't be found then usually it will be a real system header,
+			# however, there are a few (ros related?) files that start with px4... In that
+			# case just leave the quotes alone ("px4muorb.h" and several <px4/...>).
+			if [[ $1 =~ ^px4 ]]; then return 0; fi
+			# While if the include path starts with uORB/topics or topics, and it isn't found,
+			# then likely we just don't have a build directory. These should be local though.
+			# Same for the generated files mixer_multirotor.generated.h and build_git_version.h.
+			if [[ $1 =~ ((/|^)topics/|mixer_multirotor\.generated\.h|build_git_version\.h) ]]; then return 1; fi
+		fi
+		return 2;
+	fi	# Submodule or system header.
+	if [ $issubmodule -eq 0 ]; then return 1; fi	# Local.
+	# Files that are both local and submodule are simply left alone.
+	# These are (at this moment): "battery.h" "common.h" "Matrix.hpp" "mavlink.h" "protocol.h" "pwm.h" "spi.h" "Vector.hpp".
+	return 0;
+}
+
+# Run the include_path function for each of the files in $TMPDIR/fix_headers_include_paths
+echo -n "Determining which headers need to be included with double quotes... "
+echo -n > $TMPDIR/fix_headers_quotes
+for arg in $(cat "$TMPDIR/fix_headers_include_paths"); do
+	include_path $arg
+	localsystem=$?
+	if [ $localsystem -eq 1 ]; then
+		echo "$arg \"$arg\"" >> $TMPDIR/fix_headers_quotes
+	elif [ $localsystem -eq 2 ]; then
+		echo "$arg <$arg>" >> $TMPDIR/fix_headers_quotes
+	fi
+done
+echo "done"
+
+# Truncate the error log.
+echo -n > $TMPDIR/fix_headers_ERROR.log
+
+function print_error
+{
+	echo
+	echo -n "  ";
+	echo "*** $1" | tee -a "$TMPDIR/fix_headers_ERROR.log"
+	return 1
+}
+
+if [ $debug -ne 0 ]; then
+	# Debug Line.
+	DL='if (cdbl != NR) { printf "\n%u. \"%s\"", NR, $0; cdbl = NR }'
+	# Debug Begin.
+	DB='if (cdbl != NR) { printf "\n%u. \"%s\" ---> ", NR, $0; cdbl = NR } else printf "; "; printf'
+	# Debug End.
+	DE=''
+else
+	DL='#'
+	DB='#'
+	DE=''
+fi
+# Error Prefix.
+EP='###'
+
+# The main function that is called for each source file.
+function fixup_header
+{
+	count=$((count + 1))
+	echo -n "[$((100 * count / number_of_files))%] Fixing headers of $1... "
+
+	# Is this a header?
+	echo "$1" | sed -e 's/\.in$/;in/;s/.*\././;s/;in$/.in/' | grep -v -E "$HEADER_RE\$" >/dev/null; is_header=$?
+	if [ $debug -ne 0 ]; then echo "is_header = \"$is_header\""; fi
+
+	# Is this C++ source?
+	echo "$1" | sed -e 's/.*\././' | grep -v -E $CXXSRC_RE >/dev/null; is_cxxsrc=$?
+	if [ $debug -ne 0 ]; then echo "is_cxxsrc = \"$is_cxxsrc\""; fi
+	dont_make_cxxsrc=1
+	if [ $is_cxxsrc -eq 0 -a $is_header -ne 0 ]; then
+		grep -m 1 -q -E "^[[:space:]]*(#[[:space:]]*include[[:space:]]*<$STDCXX_HEADERS_RE>|(template|namespace|class)(\$|[^[:alnum:]_]))" "$1"
+		dont_make_cxxsrc=$?
+	fi
+	if [ $dont_make_cxxsrc -eq 0 ]; then
+		is_cxxsrc=1
+	fi
+
+	# Current directory.
+	curdir=$(dirname "$BASEDIR/$1")
+
+	# Parse the file.
+	#
+	# Returns an array of line[]'s. The first line is either the first #include, when it is outside
+	# any #if*...#endif constructs not counting the header guard if the file is a header. For example:
+	#
+	#	  // Anything here except #include lines.
+	#	  #include <first_include.h>	// <-- first line.
+	#
+	# Or, the first #if* that contains the first #include line. For example:
+	#	  // Anything here except #include lines.
+	#	  #ifndef FOO_H // header guard.
+	#	  #define FOO_H
+	#	  int global = 1; // Anything unknown.
+	#	  #ifdef SOMETHING		// <-- first line.
+	#	  #if maybe_more
+	#	    // anything except #include lines.
+	#	  #else
+	#	    // anything except #include lines.
+	#	    #include <first_include.h>
+	#
+	# Subsequent line[]'s mark the beginning of a new block, where we have the following blocks:
+	# type[]		Description
+	type_include=0		# An #include, outside #if*...#endif constructs except a possible header guard.
+	type_ifincludeendif=1	# #if*...#endif constructs with #include's.
+	type_ifendif=2		# #if*...#endif constructs without #include's.
+	type_decls=3		# __BEGIN_DECLS ... __END_DECLS block.
+	type_macro=4		# Contiguous #define block.
+	type_comment=5		#(Multi-line) comments.
+	type_emptyline=6	# Empty lines.
+	type_pragmaonce=7	# #pragma once (must be outside any #if*...#endif constructs).
+	type_end=8		# The first line of the remainder of the file.
+	#
+	# However, any block NOT containing one or more #include's (all types > 1) will
+	# cause subsequent blocks that do not contain #include's to be ignored,
+	# with as result that those blocks will be treated as contiguous code blocks.
+	# A comment that is followed by a type that is not to be ignored as such
+	# is given the type that follows (which itself is then ignored).
+	# Empty lines are ignored unless they appear directly in front of a type
+	# that is not to be ignored according to the above rules, where 'previous
+	# types' then are the types before the empty line.
+	#
+	# For example:
+	#
+	#   >	#include <first_header.h>	# type_include
+	#   >	#include <second_header.h>	# type_include
+	#   >					# type_emptyline
+	#   >	#include <third_header.h>	# type_include
+	#   ^	#ifdef FOO			# type_ifendif
+	#   |	#define BAR 1
+	#   |	#endif				# (detected here)
+	#   |								<-- ignored because:
+	#   v	#define BAZ(x) x // Do baz				<-- ignored (prev and this type in {type_ifendif, type_macro})
+	#   >					# type_emptyline
+	#   ^	// This include is important:	# type_comment, but then replaced by type_ifincludeendif
+	#   |								<-- ignored because:
+	#   |	// more here.						<-- ignored same type
+	#   |	#ifdef BAR						<-- "ignored": type_ifincludeendif, but put 3 lines higher.
+	#   |	#include <bar.h>
+	#   v	#endif				# (detected here)
+	#   >					# type_emptyline
+	#   >	#include <another.h>		# type_include
+	#
+	# This script stops parsing at the first not recognized line outside #if*...#endif constructs
+	# unless no first line was found yet. It does not attempt overly hard to decode rare constructs,
+	# most notably anything with a leading C comment is not recognized and will thus lead to an abort.
+	# For example the following lines are not recognized:
+	#
+	# /* Some comment */ #include <header.h>
+	# /* Some comment */ // Another comment.
+	#
+	# Lines that have a trailing comment are recognized (by ignoring the comment).
+
+	result=$(awk "\
+		function add(l, t) {
+			# First add always succeeds.
+			if (ptr > 0) {
+				# An empty line is always added, at first, unless the immediate preceding type is an empty line.
+				if (t == $type_emptyline && type[ptr - 1] == $type_emptyline) {
+					return;				$DB \"ignored because line %d is also empty.\", line[ptr - 1] $DE
+				}
+				# A comment is always, added at first, unless the preceding non-empty line type is a comment.
+				# Same for #include's.
+				if (t == $type_comment && last_none_type == t) {
+									$DB \"ignoring because same type as last_none_type (%s)\", type_name[t] $DE
+					# Gobble up preceding empty lines.
+					if (type[ptr - 1] == $type_emptyline) {
+						--ptr;			$DB \"ptr = %d; Removed type_emptyline @ line %d\", ptr, line[ptr] $DE
+					}
+					return;
+
+				}
+				# {ifendif, macro}'s are collapsed too.
+				if ((t == $type_ifendif || t == $type_macro) && (last_nonws_type == $type_ifendif || last_nonws_type == $type_macro)) {
+					# Gobble up preceding comments and empty lines.
+					while (ptr > 0 && (type[ptr - 1] == $type_emptyline || type[ptr - 1] == $type_comment)) {
+						--ptr;			$DB \"ptr = %d; Removed %s @ line %d\", ptr, type_name[type[ptr]], line[ptr] $DE
+					}
+					# ptr > 0 here because the first add is never for an empty line or comment.
+					last_none_type = type[ptr - 1];	$DB \"last_none_type = %s\", type_name[last_none_type] $DE
+					return;
+				}
+				# type_include and type_pragmaonce and higher are always added.
+			}
+			if (t == $type_end) {
+				# Remove drag.
+				while(ptr > 0 && line[ptr - 1] >= l) --ptr;
+			}
+			# If this type is not an empty line and it was preceded by a comment, then melt it together with that comment.
+			else if (t != $type_emptyline && last_none_type == $type_comment) {
+				# In this case t cannot be type_comment.
+				# Gobble up preceding empty lines.
+				if (type[ptr - 1] == $type_emptyline) {
+					--ptr;				$DB \"ptr = %d; Removed type_emptyline @ line %d\", ptr, line[ptr] $DE
+				}
+				# And replace the comment type.
+				--ptr;					$DB \"ptr = %d; replacing the %s @ line %d\", ptr, type_name[type[ptr]], line[ptr] $DE
+				l = line[ptr];
+
+			}
+			line[ptr] = l;					$DB \"ptr = %d; %s @ line %d\", ptr, type_name[t], l $DE;
+			type[ptr++] = t;
+			if (t != $type_emptyline) {
+				last_none_type = t;			$DB \"last_none_type = %s\", type_name[last_none_type] $DE
+				if (t != $type_comment)
+					last_nonws_type = t;
+			}
+		}
+
+		BEGIN {
+			debug = $debug;		# 0: no debug output; non-zero: print debug output.
+			header = $is_header;	# 0: do not look for a header guard; 1: treat first #ifndef as header guard.
+			in_if = 0;		# The number of nested levels inside #if, #ifdef or #ifndef ... #endif constructs.
+			in_if_base = 0;		# 0: no header guard was found (or #pragma once); 1: an #ifndef header guard was found.
+			in_decl = 0;		# 0: not inside a __BEGIN_DECLS ... __END_DECLS block; 1: inside such a block.
+			found_guard = 0;	# 0: no header guard was found; 1: a header guard was found (including #pragma once).
+			base_if = 0;		# The current base-level #if that we are scanning.
+			drag = 0;		# The number of lines since the last certainly relevant line (a base-level #include or a base-level #endif containing one of more #includes).
+			skipped = 0;		# 0: No #include was encountered in the current (base-level) #if block; 1: one or more #include's encountered in the current base-level #if block.
+			in_comment = 0;		# 0: not in a multi-line C comment; 1: in a multi-line C comment.
+			cdbl = 0;		# Current debug line.
+			error = 0;		# 0: no error occured; 1: an error occured.
+			ptr = 0;		# Current pointer into line[] and type[].
+			found_comment_end = 0;	# The last line (possibly the current line) that is/was a multi-line C comment termination.
+			last_none_type = -1;	# The last non-emptyline type that was added.
+			last_nonws_type = -1;	# The last non-whitespace type that was added.
+			# For debug purposes:
+			type_name[$type_ifendif] = \"type_ifendif\";
+			type_name[$type_ifincludeendif] = \"type_ifincludeendif\";
+			type_name[$type_decls] = \"type_decls\";
+			type_name[$type_comment] = \"type_comment\";
+			type_name[$type_emptyline] = \"type_emptyline\";
+			type_name[$type_include] = \"type_include\";
+			type_name[$type_macro] = \"type_macro\";
+			type_name[$type_pragmaonce] = \"type_pragmaonce\";
+			type_name[$type_end] = \"type_end\";
+		}
+
+		END {
+			last_line = NR - drag;
+			add(last_line + 1, $type_end);			$DB \"\n\" $DE;
+			# Print output.
+			if (error || ptr == 0 || last_line < line[0]) {
+				print \"error=1\";
+				exit
+			}
+			printf \"lines=\\\"\";
+			for (i = 0; i < ptr - 1; ++i)
+				printf \"%d \", line[i];
+			printf \"%d\\\"; \", line[ptr - 1];
+			printf \"types=\\\"\";
+			for (i = 0; i < ptr - 1; ++i)
+				printf \"%d \", type[i];
+			printf \"%d\\\"; \", type[ptr - 1];
+			print \"error=0; first_line=\" line[0] \"; last_line=\" last_line
+		}
+
+	#======================================================================================================
+	# Handle multi-line C comments.
+
+		/$COMMENT_END_RE/ {
+			if (in_comment) {
+				in_comment = 0;				$DB \"comment end\" $DE;
+				found_comment_end = NR;
+				sub(/^([^*]|\*+[^*\/])*\*+\//, \"\")	# Remove the tail of the comment.
+			}
+			# FALL-THROUGH
+		}
+
+		{
+			if (in_comment) {
+				++drag;					$DB \"in comment; drag = %d\", drag $DE;
+				next
+			}
+			found_comment_begin = 0;
+			# FALL-THROUGH
+		}
+
+		/$COMMENT_BEGIN_RE/ {
+			in_comment = 1;					$DB \"comment begin\" $DE;
+			found_comment_begin = 1;
+			sub(/\/\*([^*]|\*+($|[^*\/]))*$/, \"\")		# Remove the head of the comment so that we'll recognize this as an empty line if it is.
+			# FALL-THROUGH
+		}
+
+	#======================================================================================================
+	# Detect and handle header guard.
+
+		/$PRAGMA_ONCE_RE/ {
+			++drag;						$DB \"drag = %d\", drag $DE;
+			if (header && found_guard == 0 && in_if == 0) {
+				found_guard = NR;			$DB \"found_guard = %d\", found_guard $DE;
+				if (ptr > 0)
+					add(NR, $type_pragmaonce)
+				next
+			}
+			print \"\\n$EP $1:\" NR \": unexpected #pragma once\";
+			error = 1;
+			exit
+		}
+
+		/^#ifndef / {
+			if (ptr == 0 && header && found_guard == 0 && in_if == 0) {
+				found_guard = NR;			$DB \"found_guard = %d\", found_guard $DE;
+				in_if = 1;				$DB \"in_if = %d\", in_if $DE;
+				in_if_base = 1;				$DB \"in_if_base = %d\", in_if_base $DE;
+				next
+			}
+			# FALL-THROUGH
+		}
+
+	#======================================================================================================
+	# Detect and handle __BEGIN_DECLS ... __END_DECLS blocks.
+
+		/^[[:space:]]*__BEGIN_DECLS/ {
+			++drag;						$DB \"drag = %d\", drag $DE;
+			if (in_decl == 0) {
+				in_decl = 1;				$DB \"in_decl = 1\" $DE
+				add(NR, $type_decls);
+				next
+			}
+			print \"\\n$EP $1:\" NR \": Nested __BEGIN_DECLS!\";
+			error = 1;
+			exit
+		}
+
+		/^[[:space:]]*__END_DECLS/ {
+			++drag;						$DB \"drag = %d\", drag $DE;
+			if (in_decl == 1) {
+				in_decl = 0;				$DB \"in_decl = 0\" $DE
+				if (skipped) {
+					drag = 0;
+				} else if (ptr == 1) {
+					ptr = 0;			$DB \"erase DECLS block\" $DE
+					last_none_type = -1;
+				}
+				next
+			}
+			print \"\\n$EP $1:\" NR \": __END_DECLS without matching __BEGIN_DECLS!\";
+			error = 1;
+			exit
+		}
+
+	#======================================================================================================
+	# Detect and handle #if ... #endif blocks.
+
+		/$IF_RE/ {
+			++drag;						$DB \"drag = %d\", drag $DE;
+			if (in_if == in_if_base && in_decl == 0) {
+				skipped = 0;				$DB \"skipped = 0\" $DE;
+				base_if = NR;				$DB \"base_if = %d\", NR $DE;
+			}
+			++in_if;					$DB \"in_if = %d\", in_if $DE;
+			next
+		}
+
+		/$ENDIF_RE/ {
+			--in_if;					$DB \"in_if = %d\", in_if $DE;
+			if (in_if < 0) {
+				print \"\\n$EP $1:\" NR \": #endif without matching #if!\";
+				error = 1;
+				exit
+			}
+			++drag;
+			if (in_if == in_if_base && in_decl == 0) {
+				if (skipped) {
+					drag = 0;
+					add(base_if, $type_ifincludeendif);
+				} else if (ptr > 0)
+					add(base_if, $type_ifendif);
+			}						$DB \"drag = %d\", drag $DE;
+			# Left header guard?
+			if (in_if < in_if_base) {			$DB \"left header guard:\" $DE;
+				# assert(in_if == 0 && in_if_base == 1 && header && found_guard)
+				exit
+			}
+			next
+		}
+
+	#======================================================================================================
+	# Handle #include lines.
+
+		/$INCLUDE_RE/ {
+			if (!/\"(\.\/)?mavlink_msg/) {
+				# If we're inside a __BEGIN_DECLS ... __END_DECLS block then only certain headers may be included.
+				hname = gensub(/^[[:space:]]*#[[:space:]]*include[[:space:]]*[<\"]([^>\"]*)[>\"].*/, \"\\\1\", \"1\");
+				cpp_safe = !(hname ~ /$UNSAFE_HEADERS_RE/);
+										$DB \"hname = \\\"\" hname \"\\\"; cpp_safe = \" cpp_safe \"; in_decl = \" in_decl \"; is_cxxsrc = $is_cxxsrc\" $DE
+				if (in_decl && cpp_safe) {
+					print \"\\n$EP $1:\" NR \": including \" hname \" inside a __BEGIN_DECLS ... __END_DECLS block.\";
+					error = 1;
+					exit
+				} else if (!in_decl && !cpp_safe && $is_cxxsrc) {
+					print \"\\n$EP $1:\" NR \": including \" hname \" outside a __BEGIN_DECLS ... __END_DECLS block!\";
+					error = 1;
+					exit
+				}
+				if (in_if > in_if_base || in_decl) {
+					skipped = 1;				$DB \"skipped = 1\" $DE;
+				} else {
+					drag = 0;				$DB \"drag = 0\" $DE;
+					add(NR, $type_include);			$DB \"first_line = %d\", NR $DE;
+				}
+				next
+			}
+		}
+
+	#======================================================================================================
+	# Ignore #define's, empty lines and lines with just comments.
+
+		/$DEFINE_RE/ {
+			++drag;						$DB \"drag = %d\", drag $DE;
+			if (ptr > 0 && in_if == in_if_base && in_decl == 0) {
+				add(NR, $type_macro);
+			}
+			next
+		}
+
+		/$EMPTY_LINE_RE/ {
+			++drag;						$DB \"drag = %d\", drag $DE;
+			if (ptr > 0 && in_if == in_if_base && in_decl == 0) {
+				if (found_comment_begin)
+					add(NR, $type_comment);
+				else if (found_comment_end != NR)
+					add(NR, $type_emptyline);
+			}
+			next
+		}
+
+		/$COMMENT_LINE_RE/ {
+			++drag;						$DB \"drag = %d\", drag $DE;
+			if (ptr > 0 && in_if == in_if_base && in_decl == 0 && type[ptr - 1] != $type_comment) {
+				add(NR, $type_comment);
+			}
+			next
+		}
+
+	#======================================================================================================
+	# Handle everything else (unrecognized lines).
+
+		{
+			++drag;						$DB \"unknown; drag = %d\", drag $DE;
+			if (ptr > 0 && in_if <= in_if_base && in_decl == 0) {
+				exit
+			}
+		}
+
+		" "$BASEDIR/$1")
+
+	# Decode the result.
+	vars=$(echo "$result" | tail -n 1)
+	error_msg=$(echo "$result" | grep "^$EP " | sed -e 's/^....//')
+	if [ $debug -ne 0 ]; then
+		len=$(echo "$result" | wc --lines)
+		echo "$result" | head -n $((len - 1)) | grep -v "^$EP "	# Debug messages
+		echo "vars: $vars"
+	fi
+	# Evaluate the last line printed in END.
+	error=1; eval $vars
+	test -z "$error_msg" || print_error "$error_msg" || return
+	test $error -eq 0 -a $first_line -gt 0 || print_error "FAILED to find an #include in $1?!" || return
+	test $last_line -ge $first_line || print_error "FAILED to find a sensible last line in $1?!" || return
+
+	# Calculate the number of lines starting from the current line.
+	# Use sed to count lines, because wc --lines doesn't report the last line when that doesn't end on a new-line, contrary to the fact that tail treats such lines as lines.
+	total_lines=$(sed -n '$=' "$BASEDIR/$1")
+	if [ $debug -ne 0 ]; then echo "total_lines = \"$total_lines\""; fi
+
+	# Edit the first_line...last_line block.
+	# Header files are ordered as follows (lowest value first):
+	cat_winsock=0;		# Winsock2.h
+	cat_posix_sys=1;	# posix_sys.h or one of the px4_ headers that include it.
+	cat_px4=2;		# Other px4_*.h
+	cat_local=3;		# "*.h"
+	cat_cxx=4;		# <std c++ header>, ie <iostream>
+	cat_c=5;		# <c std c++ header>, ie <cstdio>
+	cat_system=6;		# <*.h>
+
+	head -n $last_line "$BASEDIR/$1" | tail -n $((last_line - first_line + 1))  | awk "
+
+		function sort_by_type_line_header_type_hname(blk2, v2, blk1, v1) {
+			# Return true if blk1 comes before blk2.
+			# Move type_include before the rest. Keep the same line order for the rest.
+			return (type[blk2] != $type_include && (type[blk1] == $type_include || line[blk1] < line[blk2])) ||
+			       (type[blk2] == $type_include && type[blk1] == $type_include &&
+				   # If both are include's then put include with a lower header_type first; sort alphabetically for the same header type.
+				   (header_type[blk1] < header_type[blk2] || (header_type[blk1] == header_type[blk2] && hname[blk1] < hname[blk2])));
+		}
+
+		BEGIN {
+			first_line = $first_line;
+			split(\"$lines\", line);
+			split(\"$types\", type);
+			i = 0;
+			do {
+				line[++i] -= first_line - 1;
+			} while(type[i] != $type_end)
+			for(b = 0; b < i; ++b) header_type[b] = 100;
+			blk = 1;
+			n = 0;
+			is_cxxsrc = $is_cxxsrc;
+			# px4_posix.h includes px4_defines.h includes px4_log.h includes posix_sys.h which must be the first header included.
+			sys_val[\"px4_posix.h\"] = 1;
+			sys_val[\"px4_defines.h\"] = 2;
+			sys_val[\"px4_log.h\"] = 3;
+			sys_val[\"posix_sys.h\"] = 4;
+			saw_sys_val = 5;		# Didn't see any of the above; otherwise the lowest value of the header seen.
+			for(b = 0; b < i; ++b) saw_sys[b] = saw_sys_val;
+		}
+
+		END {
+			l = asorti(txt, k, \"sort_by_type_line_header_type_hname\");
+			for (b = 1; b <= l; ++b) {
+				if (type[k[b]] == $type_include && header_type[k[b]] == $cat_posix_sys && saw_sys[k[b]] > saw_sys_val) continue;
+				len = length(txt[k[b]]);
+				for (n = 0; n < len; ++n) print txt[k[b]][n];
+				if (b < l && type[k[b]] == $type_include && type[k[b+1]] != $type_emptyline &&
+				    (type[k[b+1]] != $type_include || (header_type[k[b]] != header_type[k[b+1]] && header_type[k[b+1]] != $cat_px4))) {
+					printf \"\n\";
+				}
+			}
+		}
+
+		{
+			if (NR == line[blk + 1]) {
+				++blk;
+				n = 0;
+			}
+		}
+
+		/$INCLUDE_RE/ {
+			# Don't use double quotes around standard header names.
+			\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)\\\"$STDC_HEADERS_RE\\.h\\\"/, \"\\\1<\\\2.h>\", \"1\");
+			if (is_cxxsrc) {
+				\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)\\\"$STDCXX_HEADERS_RE\\\"/, \"\\\1<\\\2>\", \"1\");
+				# Change deprecated C header names to standard C++ header names in C++ source files.
+				\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*<)$STDC_HEADERS_RE\\.h>/, \"\\\1c\\\2>\", \"1\");
+			}
+			# Don't include \"./foo.h\", that is implied, so just include \"foo.h\".
+			\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*\\\")\.\//, \"\\\1\", \"1\");
+			# Extract the header filename.
+			hname[blk] = gensub(/^[[:space:]]*#[[:space:]]*include[[:space:]]*[<\"]([^>\"]*)[>\"].*/, \"\\\1\", \"1\");
+			# If the header exists in the directory of the including file, then it is a local header.
+			command = sprintf(\"test -e %s/%s\", \"$curdir\", hname[blk]);
+			if (system(command) == 0) {
+				\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)[\"<]([^\">]*)[\">]/, \"\\\1\\\"\\\2\\\"\", \"1\");
+			} else {
+				# Do we know if this is a local file, or a submodule / system header?
+				# The grep reg.exp needs \\ (for backslah) and \1 for back reference, thus: \\\1.
+				# However we print the grep command using sprintf, so each backslash needs to be escaped once more: \\\\\\1.
+				# Finally, this is a bash string and we need to escape each backslash once more to pass it corrently to awk, hence we need twelve backslahes:
+				command = sprintf(\"grep '^%s ' '%s' 2>/dev/null\", gensub(/([.+])/, \"\\\\\\\\\\\\1\", \"g\", hname[blk]), \"$TMPDIR/fix_headers_quotes\");
+				ret = command | getline result;
+				if (ret != 0) {
+					result = substr(result, index(result, \" \") + 1);
+					\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)[\"<][^\">]*[\">]/, \"\\\1\" result, \"1\");
+				}
+			}
+			# Categorise the header.
+			if (hname[blk] == \"Winsock2.h\") {
+				if (header_type[blk] > $cat_winsock)
+					header_type[blk] = $cat_winsock;
+			}
+			else if (hname[blk] in sys_val) {
+				if (header_type[blk] > $cat_posix_sys)
+					header_type[blk] = $cat_posix_sys;
+				# posix_sys.h is sometimes included within #ifdef __PX4_POSIX ... #endif. The other headers should not be conditional.
+				if ((hname[blk] == \"posix_sys.h\" || type[blk] == $type_include)) {
+					type[blk] = $type_include;		# Treat #ifdef __PX4_POSIX #include \"posix_sys.h\" #endif as an include for sorting purposes.
+					saw_sys[blk] = sys_val[hname[blk]];	# There will be only one include (header name) for this block.
+					if (sys_val[hname[blk]] < saw_sys_val)
+						saw_sys_val = sys_val[hname[blk]];
+				}
+				# Use double quotes for these headers.
+				\$0 = gensub(/<([[:alnum:]_\/.]*)>/, \"\\\"\\\1\\\"\", \"1\");
+			}
+			else if (hname[blk] ~ /^(platforms\/px4_|px4_)/) {
+				if (header_type[blk] > $cat_px4)
+					header_type[blk] = $cat_px4;
+				# Use double quotes for these headers.
+				\$0 = gensub(/<([[:alnum:]_\/.]*)>/, \"\\\"\\\1\\\"\", \"1\");
+			}
+			else if (\$0 ~ /^[[:space:]]*#[[:space:]]*include[[:space:]]*\"/) {
+				if (header_type[blk] > $cat_local)
+					header_type[blk] = $cat_local;
+			}
+			else if (hname[blk] ~ /^$STDCXX_HEADERS_RE\$/) {
+				if (header_type[blk] > $cat_cxx)
+					header_type[blk] = $cat_cxx;
+			}
+			else if (hname[blk] ~ /^c$STDC_HEADERS_RE\$/) {
+				if (header_type[blk] > $cat_c)
+					header_type[blk] = $cat_c;
+			}
+			else if (hname[blk] ~ /^$STDC_HEADERS_RE\.h\$/) {
+				if (header_type[blk] > $cat_system)
+					header_type[blk] = $cat_system;
+			}
+		}
+
+		{
+			# Remove empty lines before #include's.
+			if (type[blk] == $type_include) {
+				for (i = 1; blk > i && type[blk - i] == $type_emptyline; ++i)
+					delete txt[blk - i]
+			}
+			txt[blk][n++] = \$0;
+		}
+
+		" > $TMPDIR/fix_headers_current_block
+
+	# Construct a new file in TMPDIR.
+	head -n $((first_line - 1)) "$BASEDIR/$1" > $TMPDIR/fix_headers_current_file
+
+	# Append the editted block.
+	cat $TMPDIR/fix_headers_current_block >> $TMPDIR/fix_headers_current_file
+
+	# Append the rest.
+	tail -n $((total_lines - last_line)) "$BASEDIR/$1" >> $TMPDIR/fix_headers_current_file
+
+	# Compare original with result.
+	if cmp --quiet "$BASEDIR/$1" $TMPDIR/fix_headers_current_file; then
+		echo "No change"
+	else
+		echo "Fixed lines $first_line-$last_line"
+		mv $TMPDIR/fix_headers_current_file "$BASEDIR/$1" || fatal "Failed to move $TMPDIR/fix_headers_current_file to $BASEDIR/$1 !?!"
+	fi
+}
+
+if [ $non_option_arguments -ne 0 ]; then
+	fixup_header $1
+	exit
+fi
+
+# Run the fixup function for each of the files in $TMPDIR/fix_headers_sources_with_includes.
+# Strip BASEDIR because we don't know how long that is and it might too much for bash.
+for arg in $(cat "$TMPDIR/fix_headers_sources_with_includes" | cut -c $striplen-); do
+		fixup_header $arg
+done
+
+# Clean up.
+if [ $debug -eq 0 -o $# -eq 0 ]; then
+	rm "$TMPDIR/fix_headers_sources" "$TMPDIR/fix_headers_sources_with_includes" "$TMPDIR/fix_headers_SUBMODULE_HEADERS" "$TMPDIR/fix_headers_HEADERS" \
+	   "$TMPDIR/fix_headers_include_paths" "$TMPDIR/fix_headers_quotes" "$TMPDIR/fix_headers_current_block"
+fi
+
+# Print all error messages again at the end.
+if [ -s "$TMPDIR/fix_headers_ERROR.log" ]; then
+	echo "$0 finished with errors:"
+	cat "$TMPDIR/fix_headers_ERROR.log"
+else
+	echo "SUCCESS"
+	rm "$TMPDIR/fix_headers_ERROR.log"
+fi

Tools/generate_listener.py

@@ -3,6 +3,7 @@
 import glob
 import os
 import sys
+import re
 
 # This script is run from Build/<target>_default.build/$(PX4_BASE)/Firmware/src/systemcmds/topic_listener
 
@@ -21,37 +22,39 @@ for index,m in enumerate(raw_messages):
 		temp_list = []
 		f = open(m,'r')
 		for line in f.readlines():
-			if ('float32[' in line.split(' ')[0]):
-				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
-				temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
-			elif ('float64[' in line.split(' ')[0]):
-				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
-				temp_list.append(("double_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
-			elif ('uint64[' in line.split(' ')[0]):
-				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
-				temp_list.append(("uint64_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
-			elif(line.split(' ')[0] == "float32"):
-				temp_list.append(("float",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-			elif(line.split(' ')[0] == "float64"):
-				temp_list.append(("double",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-			elif(line.split(' ')[0] == "uint64") and len(line.split('=')) == 1:
-				temp_list.append(("uint64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-			elif(line.split(' ')[0] == "uint32") and len(line.split('=')) == 1:
-				temp_list.append(("uint32",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-			elif(line.split(' ')[0] == "uint16") and len(line.split('=')) == 1:
-				temp_list.append(("uint16",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-			elif(line.split(' ')[0] == "int64") and len(line.split('=')) == 1:
-				temp_list.append(("int64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-			elif(line.split(' ')[0] == "int32") and len(line.split('=')) == 1:
-				temp_list.append(("int32",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-			elif(line.split(' ')[0] == "int16") and len(line.split('=')) == 1:
-				temp_list.append(("int16",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-			elif (line.split(' ')[0] == "bool") and len(line.split('=')) == 1:
-				temp_list.append(("bool",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-			elif (line.split(' ')[0] == "uint8") and len(line.split('=')) == 1:
-				temp_list.append(("uint8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
-			elif (line.split(' ')[0] == "int8") and len(line.split('=')) == 1:
-				temp_list.append(("int8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			items = re.split('\s+', line.strip())
+
+			if ('float32[' in items[0]):
+				num_floats = int(items[0].split("[")[1].split("]")[0])
+				temp_list.append(("float_array",items[1],num_floats))
+			elif ('float64[' in items[0]):
+				num_floats = int(items[0].split("[")[1].split("]")[0])
+				temp_list.append(("double_array",items[1],num_floats))
+			elif ('uint64[' in items[0]):
+				num_floats = int(items[0].split("[")[1].split("]")[0])
+				temp_list.append(("uint64_array",items[1],num_floats))
+			elif(items[0] == "float32"):
+				temp_list.append(("float",items[1]))
+			elif(items[0] == "float64"):
+				temp_list.append(("double",items[1]))
+			elif(items[0] == "uint64") and len(line.split('=')) == 1:
+				temp_list.append(("uint64",items[1]))
+			elif(items[0] == "uint32") and len(line.split('=')) == 1:
+				temp_list.append(("uint32",items[1]))
+			elif(items[0] == "uint16") and len(line.split('=')) == 1:
+				temp_list.append(("uint16",items[1]))
+			elif(items[0] == "int64") and len(line.split('=')) == 1:
+				temp_list.append(("int64",items[1]))
+			elif(items[0] == "int32") and len(line.split('=')) == 1:
+				temp_list.append(("int32",items[1]))
+			elif(items[0] == "int16") and len(line.split('=')) == 1:
+				temp_list.append(("int16",items[1]))
+			elif (items[0] == "bool") and len(line.split('=')) == 1:
+				temp_list.append(("bool",items[1]))
+			elif (items[0] == "uint8") and len(line.split('=')) == 1:
+				temp_list.append(("uint8",items[1]))
+			elif (items[0] == "int8") and len(line.split('=')) == 1:
+				temp_list.append(("int8",items[1]))
 
 		f.close()
 		(m_head, m_tail) = os.path.split(m)

Tools/jmavsim_run.sh

@@ -0,0 +1,39 @@
+#! /bin/bash
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+cd "$SCRIPT_DIR/jMAVSim"
+
+udp_port=14560
+extra_args=
+baudrate=921600
+device=
+while getopts ":b:d:p:q" opt; do
+	case $opt in
+		b)
+			baudrate=$OPTARG
+			;;
+		d)
+			device="$OPTARG"
+			;;
+		p)
+			udp_port=$OPTARG
+			;;
+		q)
+			extra_args="$extra_args -qgc"
+			;;
+		\?)
+			echo "Invalid option: -$OPTARG" >&2
+			exit 1
+			;;
+	esac
+done
+
+if [ "$device" == "" ]; then
+	device="-udp 127.0.0.1:$udp_port"
+else
+	device="-serial $device $baudrate"
+fi
+
+ant create_run_jar copy_res
+cd out/production
+java -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args

Tools/mavlink_shell.py

@@ -10,6 +10,7 @@ Open a shell over MAVLink.
 from __future__ import print_function
 import sys, select
 import termios
+from timeit import default_timer as timer
 
 try:
     from pymavlink import mavutil
@@ -17,7 +18,8 @@ try:
 except:
     print("Failed to import pymavlink.")
     print("You may need to install it with 'pip install pymavlink pyserial'")
-    exit(-1)
+    print("")
+    raise
 from argparse import ArgumentParser
 
 
@@ -94,24 +96,27 @@ def main():
             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)
+                      help="Mavlink port baud rate (default=57600)", default=57600)
     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 sys.platform == "darwin":
+            args.port = "/dev/tty.usbmodem1"
+        else:
+            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) == 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
+            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...")
@@ -138,6 +143,8 @@ def main():
             ERASE_END_LINE = '\x1b[K'
             sys.stdout.write(CURSOR_BACK_N + ERASE_END_LINE)
 
+        next_heartbeat_time = timer()
+
         while True:
             while True:
                 i, o, e = select.select([sys.stdin], [], [], 0)
@@ -163,7 +170,7 @@ def main():
                         erase_last_n_chars(1)
                         cur_line = cur_line[:-1]
                         sys.stdout.write(ch)
-                elif ord(ch) == 033:
+                elif ord(ch) == 27:
                     ch = sys.stdin.read(1) # skip one
                     ch = sys.stdin.read(1)
                     if ch == 'A': # arrow up
@@ -191,6 +198,13 @@ def main():
                 sys.stdout.write(data)
                 sys.stdout.flush()
 
+            # handle heartbeat sending
+            heartbeat_time = timer()
+            if heartbeat_time > next_heartbeat_time:
+                mav_serialport.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS,
+                        mavutil.mavlink.MAV_AUTOPILOT_GENERIC, 0, 0, 0)
+                next_heartbeat_time = heartbeat_time + 1
+
     except serial.serialutil.SerialException as e:
         print(e)
 

Tools/mavlink_ulog_streaming.py

@@ -0,0 +1,268 @@
+#!/usr/bin/env python
+
+"""
+Stream ULog data over MAVLink.
+
+@author: Beat Kueng (beat-kueng@gmx.net)
+"""
+
+
+from __future__ import print_function
+import sys, select, os
+import datetime
+from timeit import default_timer as timer
+os.environ['MAVLINK20'] = '1' # The commands require mavlink 2
+
+try:
+    from pymavlink import mavutil
+except:
+    print("Failed to import pymavlink.")
+    print("You may need to install it with 'pip install pymavlink pyserial'")
+    print("")
+    raise
+from argparse import ArgumentParser
+
+
+class MavlinkLogStreaming():
+    '''Streams log data via MAVLink.
+       Assumptions:
+       - the sender only sends one acked message at a time
+       - the data is in the ULog format '''
+    def __init__(self, portname, baudrate, output_filename, debug=0):
+        self.baudrate = 0
+        self._debug = debug
+        self.buf = ''
+        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")
+
+        self.got_ulog_header = False
+        self.got_header_section = False
+        self.ulog_message = []
+        self.file = open(output_filename,'wb')
+        self.start_time = timer()
+        self.last_sequence = -1
+        self.logging_started = False
+        self.num_dropouts = 0
+        self.target_component = 1
+
+    def debug(self, s, level=1):
+        '''write some debug text'''
+        if self._debug >= level:
+            print(s)
+
+    def start_log(self):
+        self.mav.mav.command_long_send(self.mav.target_system,
+                self.target_component,
+                mavutil.mavlink.MAV_CMD_LOGGING_START, 0,
+                0, 0, 0, 0, 0, 0, 0)
+
+    def stop_log(self):
+        self.mav.mav.command_long_send(self.mav.target_system,
+                self.target_component,
+                mavutil.mavlink.MAV_CMD_LOGGING_STOP, 0,
+                0, 0, 0, 0, 0, 0, 0)
+
+    def read_messages(self):
+        ''' main loop reading messages '''
+        measure_time_start = timer()
+        measured_data = 0
+
+        next_heartbeat_time = timer()
+        while True:
+
+            # handle heartbeat sending
+            heartbeat_time = timer()
+            if heartbeat_time > next_heartbeat_time:
+                self.debug('sending heartbeat')
+                self.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS,
+                        mavutil.mavlink.MAV_AUTOPILOT_GENERIC, 0, 0, 0)
+                next_heartbeat_time = heartbeat_time + 1
+
+            m, first_msg_start, num_drops = self.read_message()
+            if m is not None:
+                self.process_streamed_ulog_data(m, first_msg_start, num_drops)
+
+                # status output
+                if self.logging_started:
+                    measured_data += len(m)
+                    measure_time_cur = timer()
+                    dt = measure_time_cur - measure_time_start
+                    if dt > 1:
+                        sys.stdout.write('\rData Rate: {:0.1f} KB/s  Drops: {:} \033[K'.format(
+                            measured_data / dt / 1024, self.num_dropouts))
+                        sys.stdout.flush()
+                        measure_time_start = measure_time_cur
+                        measured_data = 0
+
+            if not self.logging_started and timer()-self.start_time > 4:
+                raise Exception('Start timed out. Is the logger running in MAVLink mode?')
+
+
+    def read_message(self):
+        ''' read a single mavlink message, handle ACK & return a tuple of (data, first
+        message start, num dropouts) '''
+        m = self.mav.recv_match(type=['LOGGING_DATA_ACKED',
+                            'LOGGING_DATA', 'COMMAND_ACK'], blocking=True,
+                            timeout=0.05)
+        if m is not None:
+            self.debug(m, 3)
+
+            if m.get_type() == 'COMMAND_ACK':
+                if m.command == mavutil.mavlink.MAV_CMD_LOGGING_START and \
+                        not self.got_header_section:
+                    if m.result == 0:
+                        self.logging_started = True
+                        print('Logging started. Waiting for Header...')
+                    else:
+                        raise Exception('Logging start failed', m.result)
+                return None, 0, 0
+
+            # m is either 'LOGGING_DATA_ACKED' or 'LOGGING_DATA':
+            is_newer, num_drops = self.check_sequence(m.sequence)
+
+            # return an ack, even we already sent it for the same sequence,
+            # because the ack could have been dropped
+            if m.get_type() == 'LOGGING_DATA_ACKED':
+                self.mav.mav.logging_ack_send(self.mav.target_system,
+                        self.target_component, m.sequence)
+
+            if is_newer:
+                if num_drops > 0:
+                    self.num_dropouts += num_drops
+
+                if m.get_type() == 'LOGGING_DATA':
+                    if not self.got_header_section:
+                        print('Header received in {:0.2f}s'.format(timer()-self.start_time))
+                        self.logging_started = True
+                        self.got_header_section = True
+                self.last_sequence = m.sequence
+                return m.data[:m.length], m.first_message_offset, num_drops
+
+            else:
+                self.debug('dup/reordered message '+str(m.sequence))
+
+        return None, 0, 0
+
+
+    def check_sequence(self, seq):
+        ''' check if a sequence is newer than the previously received one & if
+        there were dropped messages between the last and this '''
+        if self.last_sequence == -1:
+            return True, 0
+        if seq == self.last_sequence: # duplicate
+            return False, 0
+        if seq > self.last_sequence:
+            # account for wrap-arounds, sequence is 2 bytes
+            if seq - self.last_sequence > (1<<15): # assume reordered
+                return False, 0
+            return True, seq - self.last_sequence - 1
+        else:
+            if self.last_sequence - seq > (1<<15):
+                return True, (1<<16) - self.last_sequence - 1 + seq
+            return False, 0
+
+
+    def process_streamed_ulog_data(self, data, first_msg_start, num_drops):
+        ''' write streamed data to a file '''
+        if not self.got_ulog_header: # the first 16 bytes need special treatment
+            if len(data) < 16: # that's never the case anyway
+                raise Exception('first received message too short')
+            self.file.write(bytearray(data[0:16]))
+            data = data[16:]
+            self.got_ulog_header = True
+
+        if self.got_header_section and num_drops > 0:
+            if num_drops > 25: num_drops = 25
+            # write a dropout message. We don't really know the actual duration,
+            # so just use the number of drops * 10 ms
+            self.file.write(bytearray([ 2, 0, 79, num_drops*10, 0 ]))
+
+        if num_drops > 0:
+            self.write_ulog_messages(self.ulog_message)
+            self.ulog_message = []
+            if first_msg_start == 255:
+                return # no useful information in this message: drop it
+            data = data[first_msg_start:]
+            first_msg_start = 0
+
+        if first_msg_start == 255 and len(self.ulog_message) > 0:
+            self.ulog_message.extend(data)
+            return
+
+        if len(self.ulog_message) > 0:
+            self.file.write(bytearray(self.ulog_message + data[:first_msg_start]))
+            self.ulog_message = []
+
+        data = self.write_ulog_messages(data[first_msg_start:])
+        self.ulog_message = data # store the rest for the next message
+
+
+    def write_ulog_messages(self, data):
+        ''' write ulog data w/o integrity checking, assuming data starts with a
+        valid ulog message. returns the remaining data at the end. '''
+        while len(data) > 2:
+            message_length = data[0] + data[1] * 256 + 3 # 3=ULog msg header
+            if message_length > len(data):
+                break
+            self.file.write(bytearray(data[:message_length]))
+            data = data[message_length:]
+        return data
+
+
+
+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)
+    parser.add_argument("--output", "-o", dest="output", default = '.',
+                      help="output file or directory (default=CWD)")
+    args = parser.parse_args()
+
+    if os.path.isdir(args.output):
+        filename = datetime.datetime.now().strftime("%Y-%m-%d_%H-%M-%S.ulg")
+        filename = os.path.join(args.output, filename)
+    else:
+        filename = args.output
+    print('Output file name: {:}'.format(filename))
+
+    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_log_streaming = MavlinkLogStreaming(args.port, args.baudrate, filename)
+
+    try:
+        print('Starting log...')
+        mav_log_streaming.start_log()
+        mav_log_streaming.read_messages()
+
+        print('Stopping log')
+        mav_log_streaming.stop_log()
+
+    except KeyboardInterrupt:
+        print('Stopping log')
+        mav_log_streaming.stop_log()
+
+
+if __name__ == '__main__':
+    main()
+

Tools/posix_apps.py

@@ -1,148 +0,0 @@
-#!/usr/bin/env python
-############################################################################
-#
-#   Copyright (C) 2015 Mark Charlebois. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-import glob
-builtins = glob.glob("builtin_commands/COMMAND*")
-
-apps = []
-for f in builtins:
-	apps.append(f.split(".")[-1].split("_main")[0])
-
-print("""
-#include <string>
-#include <map>
-
-#define __EXPORT 
-
-#include <px4_tasks.h>
-#include <px4_posix.h>
-#include <stdlib.h>
-
-using namespace std;
-
-extern void px4_show_devices(void);
-
-extern "C" {
-""")
-for app in apps:
-	print("extern int "+app+"_main(int argc, char *argv[]);")
-
-print("""
-static int shutdown_main(int argc, char *argv[]);
-static int list_tasks_main(int argc, char *argv[]);
-static int list_files_main(int argc, char *argv[]);
-static int list_devices_main(int argc, char *argv[]);
-static int list_topics_main(int argc, char *argv[]);
-static int sleep_main(int argc, char *argv[]);
-}
-
-
-static map<string,px4_main_t> app_map(void);
-
-static map<string,px4_main_t> app_map(void)
-{
-	static map<string,px4_main_t> apps;
-""")
-for app in apps:
-	print('\tapps["'+app+'"] = '+app+'_main;')
-
-print('\tapps["shutdown"] = shutdown_main;')
-print('\tapps["list_tasks"] = list_tasks_main;')
-print('\tapps["list_files"] = list_files_main;')
-print('\tapps["list_devices"] = list_devices_main;')
-print('\tapps["list_topics"] = list_topics_main;')
-print('\tapps["sleep"] = sleep_main;')
-print("""
-	return apps;
-}
-
-map<string,px4_main_t> apps = app_map();
-
-static void list_builtins(void)
-{
-	cout << "Builtin Commands:" << endl;
-	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
-		cout << '\t' << it->first << endl;
-}
-
-static int shutdown_main(int argc, char *argv[])
-{
-	cout.flush();
-	cout << endl << "Shutting down" << endl;
-	cout.flush();
-	exit(0);
-}
-
-static int list_tasks_main(int argc, char *argv[])
-{
-	px4_show_tasks();
-	return 0;
-}
-
-static int list_devices_main(int argc, char *argv[])
-{
-	px4_show_devices();
-	return 0;
-}
-
-static int list_topics_main(int argc, char *argv[])
-{
-	px4_show_topics();
-	return 0;
-}
-static int list_files_main(int argc, char *argv[])
-{
-	px4_show_files();
-	return 0;
-}
-static int sleep_main(int argc, char *argv[])
-{
-	if (argc != 2) {
-		cout << "Usage: sleep <seconds>" << endl;
-		return 1;
-	}
-	sleep(atoi(argv[1]));
-	return 0;
-}
-static int usleep_main(int argc, char *argv[])
-{
-	if (argc != 2) {
-		cout << "Usage: usleep <microseconds>" << endl;
-		return 1;
-	}
-	usleep(atoi(argv[1]));
-	return 0;
-}
-""")
-

Tools/pre-commit

@@ -1,26 +1,64 @@
 #!/bin/sh
+#
+# An example hook script to verify what is about to be committed.
+# Called by "git commit" with no arguments.  The hook should
+# exit with non-zero status after issuing an appropriate message if
+# it wants to stop the commit.
+#
+# To enable this hook, rename this file to "pre-commit".
+
 if git rev-parse --verify HEAD >/dev/null 2>&1
 then
-  against=HEAD
+	against=HEAD
 else
-  # Initial commit: diff against an empty tree object
-  against=4b825dc642cb6eb9a060e54bf8d69288fbee4904
+	# Initial commit: diff against an empty tree object
+	against=4b825dc642cb6eb9a060e54bf8d69288fbee4904
 fi
 
+# If you want to allow non-ascii filenames set this variable to true.
+allownonascii=$(git config hooks.allownonascii)
+
 # Redirect output to stderr.
 exec 1>&2
 
-CHANGED_FILES=`git diff --cached --name-only --diff-filter=ACM $against | grep '\.c\|\.cpp\|\.h\|\.hpp'`
-FAILED=0
-if [ ! -z "$CHANGED_FILES" -a "$CHANGED_FILES" != " " ]; then
-  for FILE in $CHANGED_FILES; do
-    ./Tools/fix_code_style.sh --quiet < $FILE > $FILE.pretty
-    diff -u $FILE $FILE.pretty || FAILED=1
-    rm -f $FILE.pretty
-    if [ $FAILED -ne 0 ]; then
-      echo "There are code formatting errors. Please fix them by running ./Tools/fix_code_style.sh $FILE"
-      exit $FAILED
-    fi
-  done
+# Cross platform projects tend to avoid non-ascii filenames; prevent
+# them from being added to the repository. We exploit the fact that the
+# printable range starts at the space character and ends with tilde.
+if [ "$allownonascii" != "true" ] &&
+	# Note that the use of brackets around a tr range is ok here, (it's
+	# even required, for portability to Solaris 10's /usr/bin/tr), since
+	# the square bracket bytes happen to fall in the designated range.
+	test $(git diff --cached --name-only --diff-filter=A -z $against |
+	  LC_ALL=C tr -d '[ -~]\0' | wc -c) != 0
+then
+	echo "Error: Attempt to add a non-ascii file name."
+	echo
+	echo "This can cause problems if you want to work"
+	echo "with people on other platforms."
+	echo
+	echo "To be portable it is advisable to rename the file ..."
+	echo
+	echo "If you know what you are doing you can disable this"
+	echo "check using:"
+	echo
+	echo "  git config hooks.allownonascii true"
+	echo
+	exit 1
 fi
-exit 0
+
+# If there are whitespace errors, print the offending file names and fail.
+git diff-index --check --cached $against --
+if [ $? -ne 0 ]
+then
+        exit 1
+fi
+
+# Check for code style, only in changed files
+for i in `git diff --cached --name-only --diff-filter=ACM`
+do
+        ./Tools/files_to_check_code_style.sh $i | xargs -n 1 -P 8 -I % ./Tools/check_code_style.sh %
+        if [ $? -ne 0 ]
+        then
+                exit 1
+        fi
+done

Tools/px4_snapflight_sanitytest.sh

@@ -0,0 +1,273 @@
+#!/bin/bash
+
+#################################################################################################
+#
+# This script loads PX4 binaries to the Snapdragon Flight target and does a quick on-target sanity test.
+#
+# Pre-requisites:
+#  - Snapdragon Flight board connected to the host computer via USB cable
+#  - Snapdragon Flight board must have the latest platform BSP and flight controller addon installed"
+#  - mini-dm installed on host computer (see https://github.com/ATLFlight/ATLFlightDocs/blob/master/UserGuide.md#adsp)
+#  - PX4 software was built and binaries are in their usual locations in the Firmware tree.
+#
+# This script supports two modes:
+#  - Default mode (supported by PX4 community)
+#  - Legacy mode (uses proprietary drivers for ESC and RC Receiver, supported by Qualcomm)
+#
+# For help and cmd line options, run the script with the -h option
+#
+#################################################################################################
+
+# Halt on error
+set -e
+
+# Verbose mode
+## set -x
+
+# Mode of operation
+readonly MODE_DEFAULT=0
+readonly MODE_LEGACY=1
+readonly MODE_MAX=$MODE_LEGACY
+
+readonly RESULT_PASS=0
+readonly RESULT_FAIL=3
+readonly EXIT_ERROR=3
+
+
+# List of expected strings from the apps proc
+declare -a appsproc_strings_present=(
+   "on udp port 14556 remote port 14550" 
+   )
+
+# List of unexpected strings from the apps proc
+declare -a appsproc_strings_absent=(
+   "ERROR" 
+   "Getting Bulk data from fastRPC link"
+   "Segmentation fault"
+   )
+
+# List of expected strings from the DSP
+declare -a dsp_strings_present=(
+   "EKF alignment complete"
+   "AdspCoreSvc: Started successfully"
+   "loading BLSP configuration"
+   )
+
+# List of unexpected strings from the DSP
+declare -a dsp_strings_absent=(
+   "Segmentation fault"
+   )
+
+
+install=0
+test=0
+mode=0
+result=$RESULT_PASS
+
+# Default mini-dm path (needs to be installed in this location or overriden through cmd line
+minidmPath=~/Qualcomm/Hexagon_SDK/3.0/tools/debug/mini-dm/Linux_Debug
+# Default workspace path (parent directory of the script location)
+workspace=`pwd`/..
+
+
+verifypx4test() {
+
+   echo -e "Verifying test results..."
+   
+   # verify the presence of expected stings in the apps proc console log
+   for lineString in "${appsproc_strings_present[@]}"
+   do
+   	if ! grep -Fq "$lineString" px4.log
+   	then
+         # code if not found
+         echo -e "[ERROR] Missing expected string in apps proc log: $lineString"
+         result=$RESULT_FAIL
+      fi
+   done
+
+   # verify the absence of unexpected stings in the apps proc console log
+   for lineString in "${appsproc_strings_absent[@]}"
+   do
+   	if grep -Fq "$lineString" px4.log
+   	then
+         # code if not found
+         echo -e "[ERROR] Found unexpected string in apps proc log: $lineString"
+         result=$RESULT_FAIL
+      fi
+   done
+
+   # verify the presence of expected stings in the DSP console log
+   for lineString in "${dsp_strings_present[@]}"
+   do
+   	if ! grep -Fq "$lineString" minidm.log
+   	then
+         # code if not found
+         echo -e "[ERROR] Missing expected string in DSP log: $lineString"
+         result=$RESULT_FAIL
+      fi
+   done
+
+   # verify the absence of unexpected stings in the DSP console log
+   for lineString in "${dsp_strings_absent[@]}"
+   do
+   	if grep -Fq "$lineString" minidm.log
+   	then
+         # code if not found
+         echo -e "[ERROR] Found unexpected string in DSP log: $lineString"
+         result=$RESULT_FAIL
+      fi
+   done
+   
+   echo -e "Verification complete."
+   
+   if [ $result -eq $RESULT_FAIL ]; then
+      echo -e "PX4 test result: FAIL"
+   else
+      echo -e "PX4 test result: PASS"
+   fi    
+}
+
+installpx4() {
+
+   if [ $install -eq 0 ]; then
+      echo -e "SKIPPING install"
+      return 0;
+   fi
+
+   # Reboot the target before beginning the installation
+   echo -e "Rebooting the target..."
+   adb shell reboot
+   sleep 45
+   
+   echo -e "Now installing PX4 binaries..."
+   # Copy binaries to the target
+   if [ $mode == 0 ]; then
+      # copy default binaries
+      adb push $workspace/build_qurt_eagle_legacy_driver_default/src/firmware/qurt/libpx4.so /usr/share/data/adsp
+      adb push $workspace/build_qurt_eagle_legacy_driver_default/src/firmware/qurt/libpx4muorb_skel.so /usr/share/data/adsp
+      adb push $workspace/build_posix_eagle_legacy_driver_default/src/firmware/posix/px4 /home/linaro
+      adb push $workspace/posix-configs/eagle/flight/px4.config /usr/share/data/adsp
+      adb push $workspace/posix-configs/eagle/flight/mainapp.config /home/linaro
+   else
+      # copy legacy binaries
+      adb push $workspace/build_qurt_eagle_default/src/firmware/qurt/libpx4.so /usr/share/data/adsp
+      adb push $workspace/build_qurt_eagle_default/src/firmware/qurt/libpx4muorb_skel.so /usr/share/data/adsp
+      adb push $workspace/build_posix_eagle_legacy_driver_default/src/firmware/posix/px4 /home/linaro   
+      adb push $workspace/posix-configs/eagle/200qx/px4.config /usr/share/data/adsp
+      adb push $workspace/posix-configs/eagle/200qx/mainapp.config /home/linaro
+   fi
+
+   echo -e "Installation complete."
+}
+
+
+testpx4() {
+
+   if [ $test -eq 0 ]; then
+      echo -e "SKIPPING test"
+      return 0;
+   fi
+   
+   echo -e "Starting PX4 test..."
+   
+   # Remove previous instances of the file
+   rm px4.log | true
+   rm minidm.log | true
+   
+   # Start mini-dm
+   ${minidmPath}/mini-dm > minidm.log &
+   sleep 5
+   # Verify that mini-dm is running
+   checkProc=$(ps -aef | grep mini-dm | grep -v grep)
+
+   if [ -z "${checkProc}" ]; then
+      echo "[ERROR] Unable to start mini-dm from path: ${minidmPath}"
+      exit $EXIT_ERROR
+   fi
+
+   
+   # Start PX4
+   adb shell "/home/linaro/px4 /home/linaro/mainapp.config" > px4.log 2>&1 &
+   sleep 20
+   # Verify that PX4 is still running
+   checkProc=$(adb shell "ps -aef | grep px4 | grep -v grep")
+   if [ -z "${checkProc}" ]; then
+      echo "[ERROR] PX4 is not running on target!"
+      exit $EXIT_ERROR
+   fi
+   
+   # Stop the PX4 process on target
+   adb shell "ps -eaf | grep px4 | grep -v grep | awk '{print $2}' | tr -s ' ' | cut -d' ' -f2 | xargs kill"
+   sleep 5
+   
+   # Stop the mini-dm
+   killall mini-dm
+   
+   echo -e "PX4 test complete."
+   
+   # Verify the results
+   verifypx4test
+   
+   echo -e "For more information, see px4.log and minidm.log."
+}
+
+
+usage() {
+  echo -e "\nThis script can copy PX4 binaries to the Snapdragon Flight target and do a quick on-target sanity test.\n"
+  echo -e "Pre-requisites:"
+  echo -e "- Snapdragon Flight board must be connected to host computer via USB"
+  echo -e "- Snapdragon Flight board must have the latest platform BSP and flight controller addon installed"
+  echo -e "- mini-dm must be installed on host computer (see https://github.com/ATLFlight/ATLFlightDocs/blob/master/UserGuide.md#adsp)"
+  echo -e "- PX4 software was built and binaries are in their usual locations in the tree\n"
+  echo -e "USAGE:\n ${0} [-m mode] [-i] [-t] [-l <minidm-path>]"
+  echo -e "    -m --> Build mode (0 = default mode, 1 = legacy mode)"
+  echo -e "    -i --> Install the PX4 binaries"
+  echo -e "    -t --> Test PX4 on target"
+  echo -e "    -l --> location of the mini-dm executable (Default: ${minidmPath})"
+  echo -e "    -h --> Display this help information"
+}
+
+# Parse the command line options
+while getopts "m:l:ith" opt;
+   do
+      case $opt in
+         m)
+            if [ $OPTARG -gt $MODE_MAX ]; then
+               echo "Invalid mode: $OPTARG (max allowed is $MODE_MAX)"
+               exit $EXIT_ERROR
+            fi
+            mode=$OPTARG
+            echo "Will run the script in mode $mode."
+            ;;
+         i)
+            install=1
+            ;;
+         t)
+            test=1
+            ;;
+         l)
+            minidmPath=$OPTARG
+            ;;
+         h)
+            usage
+            exit 0
+            ;;
+         :) 
+            echo "Option -$OPTARG requires an argument" >&2
+            exit 1;;
+         ?)
+            echo "Unknown arg $opt"
+            usage
+            exit 1
+            ;;
+      esac
+done
+
+# Install the PX4 binaries
+installpx4
+
+# Run the sanity test
+testpx4
+
+exit $result
+

Tools/px4params/srcparser.py

@@ -129,8 +129,7 @@ class Parameter(object):
         Return list of existing bitmask codes in convenient order
         """
         keys = self.bitmask.keys()
-        keys.sort(key=float)
-        return keys
+        return sorted(keys, key=float)
 
     def GetBitmaskBit(self, index):
         """

Tools/px_generate_uorb_topic_files.py

@@ -47,6 +47,7 @@ import sys
 px4_tools_dir = os.path.dirname(os.path.abspath(__file__))
 sys.path.append(px4_tools_dir + "/genmsg/src")
 sys.path.append(px4_tools_dir + "/gencpp/src")
+px4_msg_dir = os.path.join(px4_tools_dir,"../msg")
 
 try:
         import em
@@ -78,7 +79,7 @@ __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']
+INCL_DEFAULT = ['std_msgs:./msg/std_msgs','px4:%s'%(px4_msg_dir)]
 PACKAGE = 'px4'
 TOPICS_TOKEN = '# TOPICS '
 
@@ -146,6 +147,11 @@ 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
         """
+        # check if folder exists:
+        folder_name = os.path.dirname(output_file)
+        if not os.path.exists(folder_name):
+            os.makedirs(folder_name)
+            
         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})
@@ -171,7 +177,7 @@ def convert_dir(format_idx, inputdir, outputdir, templatedir):
                 if os.path.isfile(fni):
                     it = os.path.getmtime(fni)
                     if it > maxinputtime:
-                        maxinputtime = it;
+                        maxinputtime = it
 
         # Find the most recent modification time in output dir
         maxouttime = 0
@@ -181,7 +187,7 @@ def convert_dir(format_idx, inputdir, outputdir, templatedir):
                     if os.path.isfile(fni):
                         it = os.path.getmtime(fni)
                         if it > maxouttime:
-                            maxouttime = it;
+                            maxouttime = it
 
         # Do not generate if nothing changed on the input
         if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime):
@@ -253,11 +259,27 @@ def convert_dir_save(format_idx, inputdir, outputdir, templatedir, temporarydir,
 
 def generate_topics_list_file(msgdir, outputdir, templatedir):
         # generate cpp file with topics list
-        tl_globals = {"msgs" : get_msgs_list(msgdir)}
+        msgs = get_msgs_list(msgdir)
+        multi_topics = []
+        for msg in msgs:
+            msg_filename = os.path.join(msgdir, msg)
+            multi_topics.extend(get_multi_topics(msg_filename))
+        tl_globals = {"msgs" : msgs, "multi_topics" : multi_topics}
         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)
-
+        
+def generate_topics_list_file_from_files(files, outputdir, templatedir):
+        # generate cpp file with topics list
+        filenames = [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]
+        multi_topics = []
+        for msg_filename in files:
+            multi_topics.extend(get_multi_topics(msg_filename))
+        tl_globals = {"msgs" : filenames, "multi_topics" : multi_topics}
+        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')
@@ -290,12 +312,12 @@ if __name__ == "__main__":
         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)
+                generate_output_from_file(generate_idx, f, args.temporarydir, args.templatedir, INCL_DEFAULT)
             if generate_idx == 1:
-                generate_topics_list_file(args.dir, args.outputdir, args.templatedir)
+                generate_topics_list_file_from_files(args.file, args.outputdir, args.templatedir)
+            copy_changed(args.temporarydir, args.outputdir, args.prefix, args.quiet)
         elif args.dir is not None:
             convert_dir_save(
                     generate_idx,

Tools/px_mkfw.py

@@ -39,7 +39,6 @@
 # metadata fields and a zlib-compressed base64-encoded firmware image.
 #
 
-import sys
 import argparse
 import json
 import base64
@@ -108,7 +107,7 @@ if args.parameter_xml != None:
 	bytes = f.read()
 	desc['parameter_xml_size'] = len(bytes)
 	desc['parameter_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
-        desc['mav_autopilot'] = 12 # 12 = MAV_AUTOPILOT_PX4
+	desc['mav_autopilot'] = 12 # 12 = MAV_AUTOPILOT_PX4
 if args.airframe_xml != None:
 	f = open(args.airframe_xml, "rb")
 	bytes = f.read()

Tools/px_uploader.py

@@ -167,7 +167,7 @@ class uploader(object):
         MAX_DES_LENGTH  = 20
 
         REBOOT          = b'\x30'
-        
+
         INFO_BL_REV     = b'\x01'        # bootloader protocol revision
         BL_REV_MIN      = 2              # minimum supported bootloader protocol
         BL_REV_MAX      = 5              # maximum supported bootloader protocol
@@ -177,18 +177,20 @@ class uploader(object):
 
         PROG_MULTI_MAX  = 252            # protocol max is 255, must be multiple of 4
         READ_MULTI_MAX  = 252            # protocol max is 255
-        
+
         NSH_INIT        = bytearray(b'\x0d\x0d\x0d')
         NSH_REBOOT_BL   = b"reboot -b\n"
         NSH_REBOOT      = b"reboot\n"
-        MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x48\xf0')
-        MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xd7\xac')
+        MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x53\x6b')
+        MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xcc\x37')
 
-        def __init__(self, portname, baudrate):
+        def __init__(self, portname, baudrate_bootloader, baudrate_flightstack):
                 # open the port, keep the default timeout short so we can poll quickly
-                self.port = serial.Serial(portname, baudrate, timeout=0.5)
+                self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5)
                 self.otp = b''
                 self.sn = b''
+                self.baudrate_bootloader = baudrate_bootloader;
+                self.baudrate_flightstack = baudrate_flightstack;
 
         def close(self):
                 if self.port is not None:
@@ -328,12 +330,12 @@ class uploader(object):
 
         # send a PROG_MULTI command to write a collection of bytes
         def __program_multi(self, data):
-                
+
                 if runningPython3 == True:
                     length = len(data).to_bytes(1, byteorder='big')
                 else:
                     length = chr(len(data))
-            
+
                 self.__send(uploader.PROG_MULTI)
                 self.__send(length)
                 self.__send(data)
@@ -342,12 +344,12 @@ class uploader(object):
 
         # verify multiple bytes in flash
         def __verify_multi(self, data):
-            
+
                 if runningPython3 == True:
                     length = len(data).to_bytes(1, byteorder='big')
                 else:
                     length = chr(len(data))
-                
+
                 self.__send(uploader.READ_MULTI)
                 self.__send(length)
                 self.__send(uploader.EOC)
@@ -410,12 +412,11 @@ class uploader(object):
         def __verify_v3(self, label, fw):
                 print("\n", end='')
                 self.__drawProgressBar(label, 1, 100)
-                expect_crc = fw.crc(self.fw_maxsize)                
+                expect_crc = fw.crc(self.fw_maxsize)
                 self.__send(uploader.GET_CRC
                             + uploader.EOC)
                 report_crc = self.__recv_int()
                 self.__getSync()
-                verifyProgress = 0
                 if report_crc != expect_crc:
                         print("Expected 0x%x" % expect_crc)
                         print("Got      0x%x" % report_crc)
@@ -493,7 +494,7 @@ class uploader(object):
                     except Exception:
                             # ignore bad character encodings
                             pass
-                
+
                 self.__erase("Erase  ")
                 self.__program("Program", fw)
 
@@ -508,19 +509,27 @@ class uploader(object):
                 print("\nRebooting.\n")
                 self.__reboot()
                 self.port.close()
-                
+
         def send_reboot(self):
                 try:
-                    # try reboot via NSH first
+                    # try MAVLINK command first
+                    self.port.flush()
+                    self.port.baudrate = self.baudrate_flightstack
+                    self.__send(uploader.MAVLINK_REBOOT_ID1)
+                    self.__send(uploader.MAVLINK_REBOOT_ID0)
+                    # then try reboot via NSH
                     self.__send(uploader.NSH_INIT)
                     self.__send(uploader.NSH_REBOOT_BL)
                     self.__send(uploader.NSH_INIT)
                     self.__send(uploader.NSH_REBOOT)
-                    # then try MAVLINK command
-                    self.__send(uploader.MAVLINK_REBOOT_ID1)
-                    self.__send(uploader.MAVLINK_REBOOT_ID0)
+                    self.port.flush()
+                    self.port.baudrate = self.baudrate_bootloader
                 except:
-                    return
+                    try:
+                        self.port.flush()
+                        self.port.baudrate = self.baudrate_bootloader
+                    except Exception:
+                        pass
 
 
 # Detect python version
@@ -532,7 +541,8 @@ else:
 # Parse commandline arguments
 parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
 parser.add_argument('--port', action="store", required=True, help="Serial port(s) to which the FMU may be attached")
-parser.add_argument('--baud', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200), only required for true serial ports.")
+parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
+parser.add_argument('--baud-flightstack', action="store", type=int, default=57600, help="Baud rate of the serial port (default is 57600) when communicating with flight stack(Mavlink or NSH), only required for true serial ports.")
 parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading')
 parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
 parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
@@ -573,15 +583,15 @@ try:
                             if "linux" in _platform:
                             # Linux, don't open Mac OS and Win ports
                                     if not "COM" in port and not "tty.usb" in port:
-                                            up = uploader(port, args.baud)
+                                            up = uploader(port, args.baud_bootloader, args.baud_flightstack)
                             elif "darwin" in _platform:
                                     # OS X, don't open Windows and Linux ports
                                     if not "COM" in port and not "ACM" in port:
-                                            up = uploader(port, args.baud)
+                                            up = uploader(port, args.baud_bootloader, args.baud_flightstack)
                             elif "win" in _platform:
                                     # Windows, don't open POSIX ports
                                     if not "/" in port:
-                                            up = uploader(port, args.baud)
+                                            up = uploader(port, args.baud_bootloader, args.baud_flightstack)
                     except Exception:
                             # open failed, rate-limit our attempts
                             time.sleep(0.05)

Tools/qurt_apps.py

@@ -1,137 +0,0 @@
-#!/usr/bin/env python
-############################################################################
-#
-#   Copyright (C) 2015 Mark Charlebois. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-import glob
-#builtins = glob.glob("../Build/linux_default.build/builtin_commands/COMMAND*")
-builtins = glob.glob("builtin_commands/COMMAND*")
-
-apps = []
-for f in builtins:
-	apps.append(f.split(".")[-1].split("_main")[0])
-
-print
-print """
-#include <string>
-#include <map>
-#include <stdio.h>
-
-#include <px4_tasks.h>
-#include <px4_posix.h>
-#include <px4_log.h>
-#include <stdlib.h>
-
-using namespace std;
-
-extern void px4_show_devices(void);
-
-extern "C" {
-"""
-for app in apps:
-	print "extern int "+app+"_main(int argc, char *argv[]);"
-
-print """
-static int shutdown_main(int argc, char *argv[]);
-static int list_tasks_main(int argc, char *argv[]);
-static int list_files_main(int argc, char *argv[]);
-static int list_devices_main(int argc, char *argv[]);
-static int list_topics_main(int argc, char *argv[]);
-static int sleep_main(int argc, char *argv[]);
-}
-
-
-void init_app_map(map<string,px4_main_t> &apps)
-{
-"""
-for app in apps:
-	print '\tapps["'+app+'"] = '+app+'_main;'
-
-print '\tapps["shutdown"] = shutdown_main;'
-print '\tapps["list_tasks"] = list_tasks_main;'
-print '\tapps["list_files"] = list_files_main;'
-print '\tapps["list_devices"] = list_devices_main;'
-print '\tapps["list_topics"] = list_topics_main;'
-print '\tapps["sleep"] = sleep_main;'
-
-print """
-}
-
-void list_builtins(map<string,px4_main_t> &apps)
-{
-	printf("Builtin Commands:\\n");
-	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
-		printf("\\t%s\\n", (it->first).c_str());
-}
-
-static int shutdown_main(int argc, char *argv[])
-{
-	printf("Shutting down\\n");
-	exit(0);
-}
-
-static int list_tasks_main(int argc, char *argv[])
-{
-	px4_show_tasks();
-	return 0;
-}
-
-static int list_devices_main(int argc, char *argv[])
-{
-	px4_show_devices();
-	return 0;
-}
-
-static int list_topics_main(int argc, char *argv[])
-{
-	px4_show_topics();
-	return 0;
-}
-static int list_files_main(int argc, char *argv[])
-{
-	px4_show_files();
-	return 0;
-}
-static int sleep_main(int argc, char *argv[])
-{
-        if (argc != 2) {
-           PX4_WARN( "Usage: sleep <seconds>" );
-           return 1;
-        }
-
-        unsigned long usecs = ( (unsigned long) atol( argv[1] ) ) * 1000 * 1000;
-        PX4_WARN("Sleeping for %s, %ld",argv[1],usecs);
-        usleep( usecs );
-        return 0;
-}
-"""
-

Tools/scp_upload.sh

@@ -1,4 +1,5 @@
 #!/bin/bash
+# upload script for network-connected devices via scp (eg Raspberry Pi)
 
 if [[ "$#" < 2 ]]; then
 	echo "usage: scp_upload.sh SRC1 [SRC2 ...] DEST"
@@ -13,20 +14,20 @@ else
 	echo "\$AUTOPILOT_HOST is set to $host"
 fi
 
-echo "Uploading..."
+user=pi
+if [ -n "${AUTOPILOT_USER}" ]; then
+	user=${AUTOPILOT_USER}
+fi
 
 # 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:$last
-	((i+=1))
-done
+# All except last argument
+length=$(($#-1))
+src_files=${@:1:$length}
+
+echo "Uploading $src_files..."
+
+# Upload files
+scp -r $src_files ${user}@${host}:$last
+

Tools/sdlog2/README.md

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

Tools/sdlog2/geo_tag_images.py

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

Tools/setup_gazebo.bash

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

Tools/sitl_multiple_run.sh

@@ -1,4 +1,6 @@
 #!/bin/bash
+# run multiple instances of the 'px4' binary, but w/o starting the simulator.
+# It assumes px4 is already built, with 'make posix_sitl_default'
 
 sitl_num=2
 
@@ -11,42 +13,42 @@ mav_oport2=15016
 
 port_step=10
 
-src_path=`pwd`
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+src_path="$SCRIPT_DIR/.."
 
-rc_script="posix-configs/SITL/init/rcS_multiple"
+rc_script="posix-configs/SITL/init/ekf2/multiple_iris"
 build_path=${src_path}/build_posix_sitl_default
 
+echo "killing running instances"
 pkill px4
-sleep 2
+sleep 1
 
-cd $build_path/src/firmware/posix
+cd $build_path
 
 user=`whoami`
 n=1
 while [ $n -le $sitl_num ]; do
- if [ ! -d $n ]; then
-  mkdir -p $n
-  cd $n
+	working_dir="instance_$n"
+	if [ ! -d $working_dir ]; then
+		mkdir -p "$working_dir"
+		pushd "$working_dir" &>/dev/null
 
-  mkdir -p rootfs/fs/microsd
-  mkdir -p rootfs/eeprom
-  touch rootfs/eeprom/parameters
+		# replace template config with configured ports of current instance
+		cat ${src_path}/${rc_script} | 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
+		popd &>/dev/null
+	fi
 
-  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_/${mav_oport2}/ > rcS
-  cd ../
- fi
+	pushd "$working_dir" &>/dev/null
+	echo "starting instance $n in $(pwd)"
+	sudo -b -u $user ../src/firmware/posix/px4 -d "$src_path" rcS >out.log 2>err.log
+	popd &>/dev/null
 
- 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 + $port_step))
+	n=$(($n + 1))
+	sim_port=$(($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

Tools/sitl_run.sh

@@ -1,22 +1,30 @@
 #!/bin/bash
 
-rc_script=$1
-debugger=$2
-program=$3
-model=$4
-build_path=$5
-curr_dir=`pwd`
+set -e
+
+echo args: $@
+
+sitl_bin=$1
+rcS_dir=$2
+debugger=$3
+program=$4
+model=$5
+src_path=$6
+build_path=$7
 
 echo SITL ARGS
-echo rc_script: $rc_script
+
+echo sitl_bin: $sitl_bin
+echo rcS_dir: $rcS_dir
 echo debugger: $debugger
 echo program: $program
 echo model: $model
+echo src_path: $src_path
 echo build_path: $build_path
 
-mkdir -p $build_path/src/firmware/posix/rootfs/fs/microsd
-mkdir -p $build_path/src/firmware/posix/rootfs/eeprom
-touch $build_path/src/firmware/posix/rootfs/eeprom/parameters
+working_dir=`pwd`
+sitl_bin=$build_path/src/firmware/posix/px4
+rootfs=$build_path/tmp/rootfs
 
 if [ "$chroot" == "1" ]
 then
@@ -27,43 +35,44 @@ else
 	sudo_enabled=""
 fi
 
+# To disable user input
+if [[ -n "$NO_PXH" ]]; then
+	no_pxh=-d
+else
+	no_pxh=""
+fi
+
 if [ "$model" == "" ] || [ "$model" == "none" ]
 then
 	echo "empty model, setting iris as default"
 	model="iris"
 fi
 
-if [ "$#" -lt 5 ]
+if [ "$#" -lt 7 ]
 then
-	echo usage: sitl_run.sh rc_script debugger program model build_path
+	echo usage: sitl_run.sh rc_script rcS_dir debugger program model src_path build_path
 	echo ""
 	exit 1
 fi
 
 # kill process names that might stil
 # be running from last time
-pkill gazebo
-pkill px4
-jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
+pgrep gazebo && pkill gazebo
+pgrep px4 && pkill px4
+jmavsim_pid=`ps aux | grep java | grep Simulator | cut -d" " -f1`
 if [ -n "$jmavsim_pid" ]
 then
 	kill $jmavsim_pid
 fi
 
-set -e
-
-cd $build_path/..
-cp Tools/posix_lldbinit $build_path/src/firmware/posix/.lldbinit
-cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit
+cp $src_path/Tools/posix_lldbinit $working_dir/.lldbinit
+cp $src_path/Tools/posix.gdbinit $working_dir/.gdbinit
 
 SIM_PID=0
 
 if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
 then
-	cd Tools/jMAVSim
-	ant create_run_jar copy_res
-	cd out/production
-	java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
+	$src_path/Tools/jmavsim_run.sh &
 	SIM_PID=`echo $!`
 	cd ../..
 elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]
@@ -71,15 +80,9 @@ then
 	if [ -x "$(command -v gazebo)" ]
 	then
 		# Set the plugin path so Gazebo finds our model and sim
-		export GAZEBO_PLUGIN_PATH=$curr_dir/build_gazebo:${GAZEBO_PLUGIN_PATH}
-		# Set the model path so Gazebo finds the airframes
-		export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$curr_dir/Tools/sitl_gazebo/models
-		# The next line would disable online model lookup, can be commented in, in case of unstable behaviour.
-		# export GAZEBO_MODEL_DATABASE_URI=""
-		export SITL_GAZEBO_PATH=$curr_dir/Tools/sitl_gazebo
-		make --no-print-directory gazebo_build
+		source $src_path/Tools/setup_gazebo.bash ${src_path} ${build_path}
 
-		gzserver --verbose $curr_dir/Tools/sitl_gazebo/worlds/${model}.world &
+		gzserver --verbose ${src_path}/Tools/sitl_gazebo/worlds/${model}.world &
 		SIM_PID=`echo $!`
 
 		if [[ -n "$HEADLESS" ]]; then
@@ -98,41 +101,47 @@ then
 	# This is not a simulator, but a log file to replay
 
 	# Check if we need to creat a param file to allow user to change parameters
-	if ! [ -f "${build_path}/src/firmware/posix/rootfs/replay_params.txt" ]
+	if ! [ -f "$rootfs/replay_params.txt" ]
 		then
-		touch ${build_path}/src/firmware/posix/rootfs/replay_params.txt
+		mkdir -p $rootfs
+		touch $rootfs/replay_params.txt
 	fi
 fi
 
-cd $build_path/src/firmware/posix
+cd $working_dir
 
 if [ "$logfile" != "" ]
 then
-	cp $logfile rootfs/replay.px4log
+	cp $logfile $rootfs/replay.px4log
 fi
 
 # Do not exit on failure now from here on because we want the complete cleanup
 set +e
 
+sitl_command="$sudo_enabled $sitl_bin $no_pxh $chroot_enabled $src_path $src_path/${rcS_dir}/${model}"
+
+echo SITL COMMAND: $sitl_command
+
 # Start Java simulator
 if [ "$debugger" == "lldb" ]
 then
-	lldb -- px4 ../../../../${rc_script}_${program}_${model}
+	lldb -- $sitl_command
 elif [ "$debugger" == "gdb" ]
 then
-	gdb --args px4 ../../../../${rc_script}_${program}_${model}
+	gdb --args $sitl_command
 elif [ "$debugger" == "ddd" ]
 then
-	ddd --debugger gdb --args px4 ../../../../${rc_script}_${program}_${model}
+	ddd --debugger gdb --args $sitl_command
 elif [ "$debugger" == "valgrind" ]
 then
-	valgrind ./px4 ../../../../${rc_script}_${program}_${model}
+	valgrind $sitl_command
 else
-	$sudo_enabled ./px4 $chroot_enabled ../../../../${rc_script}_${program}_${model}
+	$sitl_command
 fi
 
 if [ "$program" == "jmavsim" ]
 then
+	pkill -9 -P $SIM_PID
 	kill -9 $SIM_PID
 elif [ "$program" == "gazebo" ]
 then

Tools/upload.sh

@@ -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/*_PX4_*,/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/usb-The_Autopilot*,/dev/serial/by-id/usb-Bitcraze*,/dev/serial/by-id/pci-Bitcraze*,"
 fi
 
 if [ $SYSTYPE = "" ];

Tools/upload_log.py

@@ -0,0 +1,109 @@
+#!/usr/bin/env python
+
+"""
+Upload an ULog file to the logs.px4.io web server.
+
+@author: Beat Kueng (beat-kueng@gmx.net)
+"""
+
+
+from __future__ import print_function
+
+from argparse import ArgumentParser
+import subprocess
+import sys
+
+
+try:
+    import requests
+except:
+    print("Failed to import requests.")
+    print("You may need to install it with 'pip install requests'")
+    print("")
+    raise
+
+
+SERVER = 'http://logs.px4.io'
+#SERVER = 'http://localhost:5006' # for testing locally
+UPLOAD_URL = SERVER+'/upload'
+
+quiet = False
+
+def ask_value(text, default=None):
+    """ ask the user to provide a certain value """
+    if quiet:
+        return ""
+
+    ask_string = 'Enter ' + text
+    if default != None:
+        ask_string += ' (Press ENTER to use ' + default + ')'
+    ask_string += ': '
+
+    if sys.version_info[0] < 3:
+        ret = raw_input(ask_string)
+    else:
+        ret = input(ask_string)
+
+    if ret == "" and default != None:
+        return default
+    return ret
+
+def get_git_email():
+    """ get (globally) configured git email """
+    output = subprocess.check_output(["git", "config", "--global", "user.email"])
+    return output.decode("utf-8").replace('\n', '')
+
+
+def main():
+    global quiet
+    parser = ArgumentParser(description=__doc__)
+    parser.add_argument('--quiet', '-q', dest='quiet', action='store_true', default=False,
+            help='Quiet mode: do not ask for values which were not provided as parameters')
+    parser.add_argument("--description", dest="description", type=str,
+                      help="Log description", default=None)
+    parser.add_argument("--feedback", dest="feedback", type=str,
+                      help="Additional feedback", default=None)
+    parser.add_argument("--source", dest="source", type=str,
+                      help="Log source (Eg. CI)", default="webui")
+    parser.add_argument("--email", dest="email", type=str,
+                      help="Your e-mail (to send the upload link)", default=None)
+    parser.add_argument("FILE", help="ULog file(s)", nargs="+")
+    args = parser.parse_args()
+
+    # arguments
+    quiet = args.quiet
+    if args.description == None:
+        description = ask_value('Log Description')
+    else:
+        description = args.description
+
+    if args.feedback == None:
+        feedback = ask_value('Additional Feedback')
+    else:
+        feedback = args.feedback
+
+    if args.email == None:
+        default_email = get_git_email()
+        email = ask_value('Your e-mail', default_email)
+    else:
+        email = args.email
+
+    payload = {'type': 'personal', 'description': description,
+            'feedback': feedback, 'email': email}
+
+    for file_name in args.FILE:
+        print('Uploading '+file_name+'...')
+        with open(file_name, 'rb') as f:
+            r = requests.post(UPLOAD_URL, data=payload, files={'filearg': f},
+                    allow_redirects=False)
+            if r.status_code == 302: # redirect
+                if 'Location'  in r.headers:
+                    plot_url = r.headers['Location']
+                    if len(plot_url) > 0 and plot_url[0] == '/':
+                        plot_url = SERVER + plot_url
+                    print('URL: '+plot_url)
+
+
+if __name__ == '__main__':
+    main()
+

circle.yml

@@ -4,17 +4,23 @@ machine:
 
 checkout:
   post:
+    # workaround for known git bug where attempting to fetch a missing commit fails early on the first try
+    - git submodule update --init --recursive || true
     - git submodule sync --recursive
-    - git submodule update --init --recursive
+    - git submodule deinit -f .
+    - git submodule update --init --recursive --force
 
-## Customize dependencies
 dependencies:
-  cache_directories:
-    - "~/.ccache"
   pre:
-    - docker pull px4io/px4-dev-nuttx-gcc4.9
+    - docker pull px4io/px4-dev-nuttx-gcc_next:2016-10-20
 
 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"
+    - docker run --rm -v `pwd`:`pwd`:rw -e CI=true -w=`pwd` --user=$UID -it px4io/px4-dev-nuttx-gcc_next:2016-10-20 /bin/bash -c "make quick_check"
+
+general:
+  artifacts:
+    - "build_px4fmu-v2_default/parameters.xml"
+    - "build_px4fmu-v2_default/airframes.xml"
+    - "build_.*/src/firmware/nuttx/.*.px4"
 

cmake/common/px4_base.cmake

@@ -45,6 +45,9 @@
 #		* px4_generate_messages
 #		* px4_add_upload
 #		* px4_add_common_flags
+#		* px4_add_optimization_flags_for_target
+#		* px4_add_executable
+#		* px4_add_library
 #
 
 include(CMakeParseArguments)
@@ -98,9 +101,6 @@ include(CMakeParseArguments)
 function(px4_parse_function_args)
 	cmake_parse_arguments(IN "" "NAME" "OPTIONS;ONE_VALUE;MULTI_VALUE;REQUIRED;ARGN" "${ARGN}")
 	cmake_parse_arguments(OUT "${IN_OPTIONS}" "${IN_ONE_VALUE}" "${IN_MULTI_VALUE}" "${IN_ARGN}")
-	if (OUT_UNPARSED_ARGUMENTS)
-		message(FATAL_ERROR "${IN_NAME}: unparsed ${OUT_UNPARSED_ARGUMENTS}")
-	endif()
 	foreach(arg ${IN_REQUIRED})
 		if (NOT OUT_${arg})
 			message(FATAL_ERROR "${IN_NAME} requires argument ${arg}\nARGN: ${IN_ARGN}")
@@ -136,14 +136,14 @@ function(px4_add_git_submodule)
 		REQUIRED TARGET PATH
 		ARGN ${ARGN})
 	string(REPLACE "/" "_" NAME ${PATH})
-	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-		COMMAND touch ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
-		DEPENDS ${CMAKE_SOURCE_DIR}/.gitmodules
+	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		COMMAND touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
+		DEPENDS ${PX4_SOURCE_DIR}/.gitmodules
 		)
 	add_custom_target(${TARGET}
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-		DEPENDS ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
 		)
 endfunction()
 
@@ -231,6 +231,7 @@ endfunction()
 #			[ COMPILE_FLAGS <list> ]
 #			[ INCLUDES <list> ]
 #			[ DEPENDS <string> ]
+#			[ EXTERNAL ]
 #			)
 #
 #	Input:
@@ -239,11 +240,12 @@ endfunction()
 #		STACK			: deprecated use stack main instead
 #		STACK_MAIN		: size of stack for main function
 #		STACK_MAX		: maximum stack size of any frame
-#		COMPILE_FLAGS	: compile flags
+#		COMPILE_FLAGS		: compile flags
 #		LINK_FLAGS		: link flags
 #		SRCS			: source files
 #		INCLUDES		: include directories
 #		DEPENDS			: targets which this module depends on
+#		EXTERNAL		: flag to indicate that this module is out-of-tree
 #
 #	Output:
 #		Static library with name matching MODULE.
@@ -263,10 +265,15 @@ function(px4_add_module)
 		NAME px4_add_module
 		ONE_VALUE MODULE MAIN STACK STACK_MAIN STACK_MAX PRIORITY
 		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS
+		OPTIONS EXTERNAL
 		REQUIRED MODULE
 		ARGN ${ARGN})
 
-	add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
+	if(EXTERNAL)
+		px4_mangle_name("${EXTERNAL_MODULES_LOCATION}/src/${MODULE}" MODULE)
+	endif()
+
+	px4_add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
 
 	# set defaults if not set
 	set(MAIN_DEFAULT MAIN-NOTFOUND)
@@ -326,6 +333,9 @@ function(px4_add_module)
 	# store module properties in target
 	# COMPILE_FLAGS and LINK_FLAGS are passed to compiler/linker by cmake
 	# STACK_MAIN, MAIN, PRIORITY are PX4 specific
+	if(COMPILE_FLAGS AND ${_no_optimization_for_target})
+		px4_strip_optimization(COMPILE_FLAGS ${COMPILE_FLAGS})
+	endif()
 	foreach (prop COMPILE_FLAGS LINK_FLAGS STACK_MAIN MAIN PRIORITY)
 		if (${prop})
 			set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
@@ -371,7 +381,7 @@ function(px4_generate_messages)
 	endif()
 
 	# headers
-	set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
+	set(msg_out_path ${PX4_BINARY_DIR}/src/modules/uORB/topics)
 	set(msg_list)
 	foreach(msg_file ${MSG_FILES})
 		get_filename_component(msg ${msg_file} NAME_WE)
@@ -386,18 +396,18 @@ function(px4_generate_messages)
 			Tools/px_generate_uorb_topic_files.py
 			--headers
 			${QUIET}
-			-d msg
+			-f ${MSG_FILES}
 			-o ${msg_out_path}
 			-e msg/templates/uorb
-			-t ${CMAKE_BINARY_DIR}/topics_temporary_header
+			-t ${PX4_BINARY_DIR}/topics_temporary_header
 		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		COMMENT "Generating uORB topic headers"
 		VERBATIM
 		)
 
 	# !sources
-	set(msg_source_out_path	${CMAKE_BINARY_DIR}/topics_sources)
+	set(msg_source_out_path	${PX4_BINARY_DIR}/topics_sources)
 	set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
 	foreach(msg ${msg_list})
 		list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
@@ -407,12 +417,12 @@ function(px4_generate_messages)
 			Tools/px_generate_uorb_topic_files.py
 			--sources
 			${QUIET}
-			-d msg
+			-f ${MSG_FILES}
 			-o ${msg_source_out_path}
 			-e msg/templates/uorb
-			-t ${CMAKE_BINARY_DIR}/topics_temporary_sources
+			-t ${PX4_BINARY_DIR}/topics_temporary_sources
 		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		COMMENT "Generating uORB topic sources"
 		VERBATIM
 		)
@@ -427,7 +437,7 @@ function(px4_generate_messages)
 
 	# multi messages for target OS
 	set(msg_multi_out_path
-		${CMAKE_BINARY_DIR}/src/platforms/${OS}/px4_messages)
+		${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
 	set(msg_multi_files_out)
 	foreach(msg ${msg_list})
 		list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
@@ -437,18 +447,18 @@ function(px4_generate_messages)
 			Tools/px_generate_uorb_topic_files.py
 			--headers
 			${QUIET}
-			-d msg
+			-f ${MSG_FILES}
 			-o ${msg_multi_out_path}
 			-e msg/templates/px4/uorb
-			-t ${CMAKE_BINARY_DIR}/multi_topics_temporary/${OS}
+			-t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
 			-p "px4_"
 		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		COMMENT "Generating uORB topic multi headers for ${OS}"
 		VERBATIM
 		)
 
-	add_library(${TARGET}
+	px4_add_library(${TARGET}
 		${msg_source_files_out}
 		${msg_multi_files_out}
 		${msg_files_out}
@@ -489,7 +499,9 @@ function(px4_add_upload)
 		list(APPEND serial_ports
 			/dev/serial/by-id/usb-3D_Robotics*
 			/dev/serial/by-id/usb-The_Autopilot*
+			/dev/serial/by-id/usb-Bitcraze*
 			/dev/serial/by-id/pci-3D_Robotics*
+			/dev/serial/by-id/pci-Bitcraze*
 			)
 	elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
 		list(APPEND serial_ports
@@ -504,9 +516,9 @@ function(px4_add_upload)
 	px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
 	add_custom_target(${OUT}
 		COMMAND ${PYTHON_EXECUTABLE}
-			${CMAKE_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
+			${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
 		DEPENDS ${BUNDLE}
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@@ -523,9 +535,9 @@ function(px4_add_adb_push)
 		ARGN ${ARGN})
 
 	add_custom_target(${OUT}
-		COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
+		COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
 		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@@ -541,9 +553,9 @@ function(px4_add_adb_push_to_bebop)
 		ARGN ${ARGN})
 
 	add_custom_target(${OUT}
-		COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
+		COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
 		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@@ -559,9 +571,26 @@ function(px4_add_scp_push)
 		ARGN ${ARGN})
 
 	add_custom_target(${OUT}
-		COMMAND ${CMAKE_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
+		COMMAND ${PX4_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
 		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		COMMENT "uploading ${BUNDLE}"
+		VERBATIM
+		USES_TERMINAL
+		)
+endfunction()
+
+function(px4_add_upload_aero)
+	px4_parse_function_args(
+		NAME px4_add_upload_aero
+		ONE_VALUE OS BOARD OUT BUNDLE
+		REQUIRED OS BOARD OUT BUNDLE
+		ARGN ${ARGN})
+
+	add_custom_target(${OUT}
+		COMMAND ${PX4_SOURCE_DIR}/Tools/aero_upload.sh ${BUNDLE}
+		DEPENDS ${BUNDLE}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@@ -573,13 +602,14 @@ endfunction()
 #
 #	px4_add_common_flags
 #
-#	Set ths default build flags.
+#	Set the default build flags.
 #
 #	Usage:
 #		px4_add_common_flags(
 #			BOARD <in-string>
 #			C_FLAGS <inout-variable>
 #			CXX_FLAGS <inout-variable>
+#			OPTIMIZATION_FLAGS <inout-variable>
 #			EXE_LINKER_FLAGS <inout-variable>
 #			INCLUDE_DIRS <inout-variable>
 #			LINK_DIRS <inout-variable>
@@ -591,8 +621,9 @@ endfunction()
 #	Input/Output: (appends to existing variable)
 #		C_FLAGS					: c compile flags variable
 #		CXX_FLAGS				: c++ compile flags variable
-#		EXE_LINKER_FLAGS		: executable linker flags variable
-#		INCLUDE_DIRS			: include directories
+#		OPTIMIZATION_FLAGS			: optimization compile flags variable
+#		EXE_LINKER_FLAGS			: executable linker flags variable
+#		INCLUDE_DIRS				: include directories
 #		LINK_DIRS				: link directories
 #		DEFINITIONS				: definitions
 #
@@ -601,13 +632,14 @@ endfunction()
 #			BOARD px4fmu-v2
 #			C_FLAGS CMAKE_C_FLAGS
 #			CXX_FLAGS CMAKE_CXX_FLAGS
+#			OPTIMIZATION_FLAGS optimization_flags
 #			EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
 #			INCLUDES <list>)
 #
 function(px4_add_common_flags)
 
 	set(inout_vars
-		C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
+		C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
 
 	px4_parse_function_args(
 		NAME px4_add_common_flags
@@ -661,9 +693,14 @@ function(px4_add_common_flags)
 
 	if ($ENV{MEMORY_DEBUG} MATCHES "1")
 		message(STATUS "address sanitizer enabled")
-		set(max_optimization -Os)
+		if ("${OS}" STREQUAL "nuttx")
+			set(max_optimization -Os)
+		elseif (${BOARD} STREQUAL "bebop")
+			set(max_optimization -Os)
+		endif()
 
-		set(optimization_flags
+		# Do not use optimization_flags (without _) as that is already used.
+		set(_optimization_flags
 			-fno-strict-aliasing
 			-fno-omit-frame-pointer
 			-funsafe-math-optimizations
@@ -672,12 +709,18 @@ function(px4_add_common_flags)
 			-g3 -fsanitize=address
 			)
 	else()
-		set(max_optimization -Os)
+		if ("${OS}" STREQUAL "nuttx")
+			set(max_optimization -Os)
+		elseif (${BOARD} STREQUAL "bebop")
+			set(max_optimization -Os)
+		else()
+			set(max_optimization -O2)
+		endif()
 
 		if ("${OS}" STREQUAL "qurt")
 			set(PIC_FLAG -fPIC)
 		endif()
-		set(optimization_flags
+		set(_optimization_flags
 			-fno-strict-aliasing
 			-fomit-frame-pointer
 			-funsafe-math-optimizations
@@ -688,7 +731,7 @@ function(px4_add_common_flags)
 	endif()
 
 	if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
-		list(APPEND optimization_flags
+		list(APPEND _optimization_flags
 			-fno-strength-reduce
 			-fno-builtin-printf
 		)
@@ -746,8 +789,6 @@ function(px4_add_common_flags)
 		${c_compile_flags}
 		${warnings}
 		${c_warnings}
-		${max_optimization}
-		${optimization_flags}
 		${visibility_flags}
 		)
 
@@ -755,27 +796,30 @@ function(px4_add_common_flags)
 		${cxx_compile_flags}
 		${warnings}
 		${cxx_warnings}
-		${max_optimization}
-		${optimization_flags}
 		${visibility_flags}
 		)
 
+	set(added_optimization_flags
+		${max_optimization}
+		${_optimization_flags}
+		)
+
 	set(added_include_dirs
-		${CMAKE_SOURCE_DIR}/src
-		${CMAKE_BINARY_DIR}
-		${CMAKE_BINARY_DIR}/src
-		${CMAKE_SOURCE_DIR}/src/modules
-		${CMAKE_SOURCE_DIR}/src/include
-		${CMAKE_SOURCE_DIR}/src/lib
-		${CMAKE_SOURCE_DIR}/src/platforms
+		${PX4_SOURCE_DIR}/src
+		${PX4_BINARY_DIR}
+		${PX4_BINARY_DIR}/src
+		${PX4_SOURCE_DIR}/src/modules
+		${PX4_SOURCE_DIR}/src/include
+		${PX4_SOURCE_DIR}/src/lib
+		${PX4_SOURCE_DIR}/src/platforms
 		# TODO Build/versioning was in Makefile,
 		# do we need this, how does it work with cmake
-		${CMAKE_SOURCE_DIR}/src/drivers/boards/${BOARD}
-		${CMAKE_BINARY_DIR}
-		${CMAKE_BINARY_DIR}/src/modules/px4_messages
-		${CMAKE_BINARY_DIR}/src/modules
-		${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
-		${CMAKE_SOURCE_DIR}/src/lib/DriverFramework/framework/include
+		${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
+		${PX4_BINARY_DIR}
+		${PX4_BINARY_DIR}/src/modules/px4_messages
+		${PX4_BINARY_DIR}/src/modules
+		${PX4_SOURCE_DIR}/mavlink/include/mavlink
+		${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include
 		)
 
 	list(APPEND added_include_dirs
@@ -783,12 +827,18 @@ function(px4_add_common_flags)
 		)
 
 	set(added_link_dirs) # none used currently
+	set(added_exe_linker_flags)
 
 	string(TOUPPER ${BOARD} board_upper)
 	string(REPLACE "-" "_" board_config ${board_upper})
+	set (added_target_definitions)
+	if (NOT ${target_definitions})
+	    px4_prepend_string(OUT added_target_definitions STR "-D" LIST ${target_definitions})
+	endif()
 	set(added_definitions
 		-DCONFIG_ARCH_BOARD_${board_config}
 		-D__STDC_FORMAT_MACROS
+		${added_target_definitions}
 		)
 
 	if (NOT (APPLE AND (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")))
@@ -799,6 +849,20 @@ function(px4_add_common_flags)
 			)
 	endif()
 
+	# code coverage
+	if ($ENV{PX4_CODE_COVERAGE} MATCHES "1")
+		message(STATUS "Code coverage build flags enabled")
+		list(APPEND added_cxx_flags
+			-fprofile-arcs -ftest-coverage --coverage -g3 -O0 -fno-elide-constructors -Wno-invalid-offsetof -fno-default-inline -fno-inline
+		)
+		list(APPEND added_c_flags
+			-fprofile-arcs -ftest-coverage --coverage -g3 -O0 -fno-default-inline -fno-inline
+		)
+		list(APPEND added_exe_linker_flags
+			-ftest-coverage --coverage -lgcov
+		)
+	endif()
+
 	# output
 	foreach(var ${inout_vars})
 		string(TOLOWER ${var} lower_var)
@@ -858,19 +922,20 @@ function(px4_create_git_hash_header)
 		COMMAND git describe --always --tags
 		OUTPUT_VARIABLE git_tag
 		OUTPUT_STRIP_TRAILING_WHITESPACE
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		)
 	message(STATUS "GIT_TAG = ${git_tag}")
 	execute_process(
 		COMMAND git rev-parse --verify HEAD
 		OUTPUT_VARIABLE git_version
 		OUTPUT_STRIP_TRAILING_WHITESPACE
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		)
 	#message(STATUS "GIT_VERSION = ${git_version}")
 	set(git_version_short)
-	string(SUBSTRING ${git_version} 1 16 git_version_short)
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
+	# We use the first 16 chars, starting at index 0
+	string(SUBSTRING ${git_version} 0 16 git_version_short)
+	configure_file(${PX4_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
 endfunction()
 
 #=============================================================================
@@ -897,12 +962,12 @@ function(px4_generate_parameters_xml)
 		ONE_VALUE OUT BOARD
 		REQUIRED OUT BOARD
 		ARGN ${ARGN})
-	set(path ${CMAKE_SOURCE_DIR}/src)
+	set(path ${PX4_SOURCE_DIR}/src)
 	file(GLOB_RECURSE param_src_files
-		${CMAKE_SOURCE_DIR}/src/*params.c
+		${PX4_SOURCE_DIR}/src/*params.c
 		)
 	add_custom_command(OUTPUT ${OUT}
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
 			-s ${path} --board CONFIG_ARCH_${BOARD} --xml --inject-xml
 		DEPENDS ${param_src_files}
 		)
@@ -944,7 +1009,7 @@ function(px4_generate_parameters_source)
 		set(SCOPE "")
 	endif()
 	add_custom_command(OUTPUT ${generated_files}
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
 		DEPENDS ${XML} ${DEPS} ${SCOPE}
 		)
 	set(${OUT} ${generated_files} PARENT_SCOPE)
@@ -975,10 +1040,10 @@ function(px4_generate_airframes_xml)
 		ONE_VALUE OUT BOARD
 		REQUIRED OUT BOARD
 		ARGN ${ARGN})
-	set(process_airframes ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
+	set(process_airframes ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
 	add_custom_command(OUTPUT ${OUT}
 		COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
-			-a ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
+			-a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 			--board CONFIG_ARCH_BOARD_${BOARD} --xml
 		)
 	set(${OUT} ${${OUT}} PARENT_SCOPE)
@@ -1033,5 +1098,73 @@ function(px4_copy_tracked)
 	set(${OUT} ${_files_out} PARENT_SCOPE)
 endfunction()
 
+#=============================================================================
+#
+#	px4_strip_optimization
+#
+function(px4_strip_optimization name)
+	set(_compile_flags)
+	separate_arguments(_args UNIX_COMMAND ${ARGN})
+	foreach(_flag ${_args})
+		if(NOT "${_flag}" MATCHES "^-O")
+			set(_compile_flags "${_compile_flags} ${_flag}")
+		endif()
+	endforeach()
+	string(STRIP "${_compile_flags}" _compile_flags)
+	set(${name} "${_compile_flags}" PARENT_SCOPE)
+endfunction()
+
+#=============================================================================
+#
+#	px4_add_optimization_flags_for_target
+#
+set(all_posix_cmake_targets "" CACHE INTERNAL "All cmake targets for which optimization can be suppressed")
+function(px4_add_optimization_flags_for_target target)
+	set(_no_optimization_for_target FALSE)
+	# If the current CONFIG is posix_sitl_* then suppress optimization for certain targets.
+	if(CONFIG MATCHES "^posix_sitl_")
+		foreach(_regexp $ENV{PX4_NO_OPTIMIZATION})
+			if("${target}" MATCHES "${_regexp}")
+				set(_no_optimization_for_target TRUE)
+				set(_matched_regexp "${_regexp}")
+			endif()
+		endforeach()
+		# Create a full list of targets that optimization can be suppressed for.
+		list(APPEND all_posix_cmake_targets ${target})
+		set(all_posix_cmake_targets ${all_posix_cmake_targets} CACHE INTERNAL "All cmake targets for which optimization can be suppressed")
+	endif()
+	if(NOT ${_no_optimization_for_target})
+		target_compile_options(${target} PRIVATE ${optimization_flags})
+	else()
+		message(STATUS "Disabling optimization for target '${target}' because it matches the regexp '${_matched_regexp}' in env var PX4_NO_OPTIMIZATION")
+		target_compile_options(${target} PRIVATE -O0)
+	endif()
+	# Pass variable to the parent px4_add_library.
+	set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================
+#
+#	px4_add_executable
+#
+#	Like add_executable but with optimization flag fixup.
+#
+function(px4_add_executable target)
+	add_executable(${target} ${ARGN})
+	px4_add_optimization_flags_for_target(${target})
+endfunction()
+
+#=============================================================================
+#
+#	px4_add_library
+#
+#	Like add_library but with optimization flag fixup.
+#
+function(px4_add_library target)
+	add_library(${target} ${ARGN})
+	px4_add_optimization_flags_for_target(${target})
+	# Pass variable to the parent px4_add_module.
+	set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE)
+endfunction()
 
 # vim: set noet fenc=utf-8 ff=unix nowrap:

cmake/configs/nuttx_aerofc-v1_default.cmake

@@ -0,0 +1,131 @@
+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/aerofc-v1
+	drivers/tap_esc
+	drivers/mpu6500
+	drivers/ms5611
+	drivers/hmc5883
+	drivers/gps
+	drivers/ist8310
+	modules/sensors
+	# dummy tone alarm
+	modules/dummy
+
+	#
+	# 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/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	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
+	lib/rc
+	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")

cmake/configs/nuttx_auav-x21_default.cmake

@@ -1,8 +1,8 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
-set(config_uavcan_num_ifaces 2)
+set(config_uavcan_num_ifaces 1)
 
 set(config_module_list
 	#
@@ -15,60 +15,72 @@ set(config_module_list
 	drivers/led
 	drivers/px4fmu
 	drivers/px4io
-	drivers/boards/px4fmu-v2
+	drivers/boards/auav-x21
 	drivers/rgbled
 	drivers/mpu6000
 	drivers/mpu9250
-	drivers/lsm303d
-	drivers/l3gd20
 	drivers/hmc5883
 	drivers/ms5611
-	#drivers/mb12xx
+	drivers/mb12xx
 	drivers/srf02
 	drivers/sf0x
+	drivers/sf1xx
 	drivers/ll40ls
 	drivers/trone
 	drivers/gps
 	drivers/pwm_out_sim
-	#drivers/hott
-	#drivers/hott/hott_telemetry
-	#drivers/hott/hott_sensors
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
 	drivers/blinkm
 	drivers/airspeed
 	drivers/ets_airspeed
 	drivers/meas_airspeed
 	drivers/frsky_telemetry
 	modules/sensors
-	#drivers/mkblctrl
+	drivers/mkblctrl
 	drivers/px4flow
-	#drivers/oreoled
-	drivers/gimbal
+	drivers/oreoled
+	drivers/vmount
 	drivers/pwm_input
 	drivers/camera_trigger
 	drivers/bst
-	#drivers/snapdragon_rc_pwm
-	#drivers/lis3mdl
+	drivers/snapdragon_rc_pwm
+	drivers/lis3mdl
 
 	#
 	# System commands
 	#
 	systemcmds/bl_update
+	systemcmds/config
+	systemcmds/dumpfile
+	systemcmds/esc_calib
 	systemcmds/mixer
+	systemcmds/motor_ramp
+	systemcmds/mtd
+	systemcmds/nshterm
 	systemcmds/param
 	systemcmds/perf
 	systemcmds/pwm
-	systemcmds/esc_calib
 	systemcmds/reboot
-	#systemcmds/topic_listener
+	systemcmds/sd_bench
 	systemcmds/top
-	systemcmds/config
-	systemcmds/nshterm
-	systemcmds/mtd
-	systemcmds/dumpfile
+	systemcmds/topic_listener
 	systemcmds/ver
-	#systemcmds/sd_bench
-	#systemcmds/tests
-	systemcmds/motor_ramp
+
+	#
+	# Testing
+	#
+	drivers/sf0x/sf0x_tests
+	drivers/test_ppm
+	#lib/rc/rc_tests
+	modules/commander/commander_tests
+	modules/controllib_test
+	modules/mavlink/mavlink_tests
+	modules/mc_pos_control/mc_pos_control_tests
+	modules/unit_test
+	modules/uORB/uORB_tests
+	systemcmds/tests
 
 	#
 	# General system control
@@ -77,19 +89,21 @@ set(config_module_list
 	modules/load_mon
 	modules/navigator
 	modules/mavlink
-	#modules/gpio_led
+	modules/gpio_led
 	modules/uavcan
 	modules/land_detector
 
 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
+	modules/attitude_estimator_q
+	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
@@ -130,7 +144,7 @@ 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
 
 	#
@@ -187,9 +201,11 @@ set(config_io_extra_libs
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon" STACK_MAIN "2048")
+	MAIN "sercon" STACK_MAIN "2048"
+	COMPILE_FLAGS "-Os")
 
 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis" STACK_MAIN "2048")
+	MAIN "serdis" STACK_MAIN "2048"
+	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_crazyflie_default.cmake

@@ -0,0 +1,156 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/led
+	drivers/px4fmu
+	drivers/boards/crazyflie
+	drivers/mpu9250
+	drivers/lps25h
+	drivers/gps
+	modules/sensors
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/load_mon
+	modules/navigator
+	modules/mavlink
+	#modules/gpio_led
+	modules/land_detector
+
+	modules/dummy
+	modules/syslink
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	modules/attitude_estimator_q
+	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
+	modules/mc_pos_control
+	# modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/rc
+	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
+
+	#
+	# OBC challenge
+	#
+	modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	#examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_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")

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -1,8 +1,8 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
-set(config_uavcan_num_ifaces 2)
+set(config_uavcan_num_ifaces 1)
 
 set(config_module_list
 	#
@@ -14,11 +14,9 @@ set(config_module_list
 	drivers/stm32/tone_alarm
 	drivers/led
 	drivers/px4fmu
-	#drivers/px4io
-	#drivers/test_ppm
 	drivers/boards/mindpx-v2
-	#drivers/rgbled
-	drivers/rgbled_pwm
+	drivers/rgbled
+	#drivers/rgbled_pwm
 	#drivers/mpu6000
 	#drivers/mpu6050
 	drivers/mpu6500
@@ -27,13 +25,14 @@ set(config_module_list
 	drivers/l3gd20
 	drivers/hmc5883
 	drivers/ms5611
-	#drivers/mb12xx
-	#drivers/srf02
+	drivers/mb12xx
+	drivers/srf02
 	drivers/srf02_i2c
-	drivers/hc_sr04
-	#drivers/sf0x
-	#drivers/ll40ls
-	#drivers/trone
+	#drivers/hc_sr04
+	drivers/sf0x
+	drivers/sf1xx
+	drivers/ll40ls
+	drivers/trone
 	drivers/gps
 	drivers/pwm_out_sim
 	#drivers/hott
@@ -48,7 +47,7 @@ set(config_module_list
 	#drivers/mkblctrl
 	drivers/px4flow
 	#drivers/oreoled
-	drivers/gimbal
+	drivers/vmount
 	drivers/pwm_input
 	drivers/camera_trigger
 	drivers/bst
@@ -80,6 +79,7 @@ set(config_module_list
 	drivers/sf0x/sf0x_tests
 	drivers/test_ppm
 	modules/commander/commander_tests
+	modules/mc_pos_control/mc_pos_control_tests
 	modules/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/unit_test
@@ -98,10 +98,9 @@ set(config_module_list
 	modules/land_detector
 
 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
 	modules/attitude_estimator_q
-	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/local_position_estimator
 	modules/ekf2
@@ -136,6 +135,7 @@ set(config_module_list
 	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter
+	lib/rc
 	lib/ecl
 	lib/external_lgpl
 	lib/geo
@@ -184,6 +184,9 @@ set(config_module_list
 
 	# Hardware test
 	#examples/hwtest
+
+	# EKF
+	#examples/ekf_att_pos_estimator
 )
 
 set(config_extra_builtin_cmds

cmake/configs/nuttx_px4-stm32f4discovery_default.cmake

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

cmake/configs/nuttx_px4fmu-v1_default.cmake

@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_module_list
 	#
@@ -23,7 +23,7 @@ set(config_module_list
 	drivers/ms5611
 	drivers/mb12xx
 	drivers/sf0x
-	drivers/ll40ls
+	#drivers/ll40ls
 	drivers/trone
 	drivers/gps
 	drivers/pwm_out_sim
@@ -36,6 +36,7 @@ set(config_module_list
 	drivers/meas_airspeed
 	drivers/frsky_telemetry
 	modules/sensors
+	drivers/vmount
 	drivers/camera_trigger
 	drivers/mkblctrl
 	drivers/px4flow
@@ -68,13 +69,11 @@ set(config_module_list
 	modules/land_detector
 
 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
-	# Too high RAM usage due to static allocations
-	# modules/attitude_estimator_ekf
 	modules/attitude_estimator_q
-	modules/ekf_att_pos_estimator
-	modules/position_estimator_inav
+	#modules/position_estimator_inav
+	modules/local_position_estimator
 	modules/ekf2
 
 	#
@@ -121,18 +120,18 @@ set(config_module_list
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config
-	platforms/common 
+	platforms/common
 	platforms/nuttx/px4_layer
 
 	#
 	# OBC challenge
 	#
-	modules/bottle_drop
+	# modules/bottle_drop
 
 	#
 	# Rover apps
 	#
-	examples/rover_steering_control
+	# examples/rover_steering_control
 
 	#
 	# Demo apps
@@ -177,10 +176,12 @@ add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
 	MAIN "sercon"
-	STACK_MAIN "2048")
+	STACK_MAIN "2048"
+	COMPILE_FLAGS "-Os")
 
 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
 	MAIN "serdis"
-	STACK_MAIN "2048")
+	STACK_MAIN "2048"
+	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_uavcan_num_ifaces 2)
 
@@ -24,29 +24,29 @@ set(config_module_list
 	drivers/hmc5883
 	drivers/ms5611
 	#drivers/mb12xx
-	drivers/srf02
+	#drivers/srf02
 	drivers/sf0x
-	drivers/ll40ls
+	#drivers/ll40ls
 	drivers/trone
 	drivers/gps
 	drivers/pwm_out_sim
 	#drivers/hott
 	#drivers/hott/hott_telemetry
 	#drivers/hott/hott_sensors
-	drivers/blinkm
+	#drivers/blinkm
 	drivers/airspeed
 	drivers/ets_airspeed
 	drivers/meas_airspeed
-	drivers/frsky_telemetry
+	#drivers/frsky_telemetry
 	modules/sensors
 	#drivers/mkblctrl
 	drivers/px4flow
 	#drivers/oreoled
-	drivers/gimbal
+	#drivers/vmount
 	drivers/pwm_input
 	drivers/camera_trigger
 	drivers/bst
-	drivers/snapdragon_rc_pwm
+	#drivers/snapdragon_rc_pwm
 	drivers/lis3mdl
 
 	#
@@ -54,7 +54,7 @@ set(config_module_list
 	#
 	systemcmds/bl_update
 	systemcmds/config
-	systemcmds/dumpfile
+	#systemcmds/dumpfile
 	#systemcmds/esc_calib
 	systemcmds/mixer
 	#systemcmds/motor_ramp
@@ -89,17 +89,16 @@ set(config_module_list
 	modules/load_mon
 	modules/navigator
 	modules/mavlink
-	#modules/gpio_led
+	modules/gpio_led
 	modules/uavcan
 	modules/land_detector
 
 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
-	modules/attitude_estimator_q
-	#modules/ekf_att_pos_estimator
-	modules/position_estimator_inav
-	modules/local_position_estimator
+	#modules/attitude_estimator_q
+	#modules/position_estimator_inav
+	#modules/local_position_estimator
 	modules/ekf2
 
 	#
@@ -145,7 +144,7 @@ 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
 
 	#
@@ -202,9 +201,11 @@ set(config_io_extra_libs
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon" STACK_MAIN "2048")
+	MAIN "sercon" STACK_MAIN "2048"
+	COMPILE_FLAGS "-Os")
 
 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis" STACK_MAIN "2048")
+	MAIN "serdis" STACK_MAIN "2048"
+	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_px4fmu-v2_test.cmake

@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_uavcan_num_ifaces 2)
 
@@ -42,7 +42,7 @@ set(config_module_list
 	#drivers/mkblctrl
 	drivers/px4flow
 	#drivers/oreoled
-	drivers/gimbal
+	#drivers/vmount
 	drivers/pwm_input
 	drivers/camera_trigger
 	#drivers/bst
@@ -76,6 +76,7 @@ set(config_module_list
 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests
+	modules/mc_pos_control/mc_pos_control_tests
 	modules/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/unit_test
@@ -94,11 +95,10 @@ set(config_module_list
 	modules/land_detector
 
 	#
-	# Estimation modules (EKF/ SO3 / other filters)
+	# Estimation modules
 	#
 	modules/attitude_estimator_q
-	#modules/ekf_att_pos_estimator
-	modules/position_estimator_inav
+	#modules/position_estimator_inav
 	modules/local_position_estimator
 	modules/ekf2
 
@@ -145,7 +145,7 @@ 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
 
 	#

cmake/configs/nuttx_px4fmu-v3_default.cmake

@@ -0,0 +1,219 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_uavcan_num_ifaces 2)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/airspeed
+	drivers/blinkm
+	drivers/bmi160
+	drivers/bmp280
+	drivers/boards/px4fmu-v2
+	drivers/bst
+	drivers/camera_trigger
+	drivers/device
+	drivers/ets_airspeed
+	drivers/frsky_telemetry
+	drivers/gps
+	drivers/hmc5883
+	drivers/hott
+	drivers/hott/hott_sensors
+	drivers/hott/hott_telemetry
+	drivers/l3gd20
+	drivers/led
+	drivers/lis3mdl
+	drivers/ll40ls
+	drivers/lsm303d
+	drivers/mb12xx
+	drivers/meas_airspeed
+	drivers/mkblctrl
+	drivers/mpu6000
+	drivers/mpu9250
+	drivers/ms5611
+	drivers/oreoled
+	drivers/pwm_input
+	drivers/pwm_out_sim
+	drivers/px4flow
+	drivers/px4fmu
+	drivers/px4io
+	drivers/rgbled
+	drivers/sf0x
+	drivers/sf1xx
+	drivers/snapdragon_rc_pwm
+	drivers/srf02
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/tap_esc
+	drivers/trone
+	drivers/vmount
+	modules/sensors
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/config
+	systemcmds/dumpfile
+	systemcmds/esc_calib
+	systemcmds/mixer
+	systemcmds/motor_ramp
+	systemcmds/mtd
+	systemcmds/nshterm
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/reboot
+	systemcmds/sd_bench
+	systemcmds/top
+	systemcmds/topic_listener
+	systemcmds/ver
+
+	#
+	# Testing
+	#
+	drivers/sf0x/sf0x_tests
+	drivers/test_ppm
+	#lib/rc/rc_tests
+	modules/commander/commander_tests
+	modules/controllib_test
+	modules/mavlink/mavlink_tests
+	modules/mc_pos_control/mc_pos_control_tests
+	modules/unit_test
+	modules/uORB/uORB_tests
+	systemcmds/tests
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/gpio_led
+	modules/land_detector
+	modules/load_mon
+	modules/mavlink
+	modules/navigator
+	modules/uavcan
+
+	#
+	# Estimation modules
+	#
+	modules/attitude_estimator_q
+	modules/ekf2
+	modules/local_position_estimator
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	modules/fw_att_control
+	modules/fw_pos_control_l1
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	modules/logger
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/dataman
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/conversion
+	lib/DriverFramework/framework
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/launchdetection
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	lib/terrain_estimation
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common
+	platforms/nuttx/px4_layer
+
+	#
+	# OBC challenge
+	#
+	modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+
+	# EKF
+	examples/ekf_att_pos_estimator
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	px4io-v2
+	)
+
+set(config_extra_libs
+	uavcan
+	uavcan_stm32_driver
+	)
+
+set(config_io_extra_libs
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "sercon" STACK_MAIN "2048"
+	COMPILE_FLAGS "-Os")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "serdis" STACK_MAIN "2048"
+	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_uavcan_num_ifaces 1)
 
@@ -40,7 +40,7 @@ set(config_module_list
 	drivers/mkblctrl
 	drivers/px4flow
 	drivers/oreoled
-	drivers/gimbal
+	drivers/vmount
 	drivers/pwm_input
 	drivers/camera_trigger
 	drivers/bst
@@ -77,6 +77,7 @@ set(config_module_list
 	drivers/sf0x/sf0x_tests
 	drivers/test_ppm
 	modules/commander/commander_tests
+	modules/mc_pos_control/mc_pos_control_tests
 	modules/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/unit_test
@@ -98,7 +99,6 @@ set(config_module_list
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
 	modules/attitude_estimator_q
-	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/ekf2
 	modules/local_position_estimator
@@ -183,6 +183,9 @@ set(config_module_list
 
 	# Hardware test
 	#examples/hwtest
+
+	# EKF
+	examples/ekf_att_pos_estimator
 )
 
 set(config_extra_builtin_cmds
@@ -202,10 +205,12 @@ add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
 	MAIN "sercon"
-	STACK_MAIN "2048")
+	STACK_MAIN "2048"
+	COMPILE_FLAGS "-Os")
 
 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
 	MAIN "serdis"
-	STACK_MAIN "2048")
+	STACK_MAIN "2048"
+	COMPILE_FLAGS "-Os")

cmake/configs/nuttx_tap-v1_default.cmake

@@ -1,6 +1,8 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(target_definitions MEMORY_CONSTRAINED_SYSTEM)
 
 set(config_module_list
 	#
@@ -15,13 +17,14 @@ set(config_module_list
 	drivers/boards/tap-v1
 	drivers/rgbled_pwm
 	drivers/tap_esc
-	#drivers/mpu6500
+	drivers/mpu6000
 	drivers/ms5611
 	drivers/hmc5883
 	drivers/gps
 	drivers/airspeed
 	drivers/meas_airspeed
 	modules/sensors
+	drivers/vmount
 	drivers/camera_trigger
 
 	#
@@ -95,6 +98,7 @@ set(config_module_list
 	lib/runway_takeoff
 	lib/tailsitter_recovery
 	lib/DriverFramework/framework
+	lib/rc
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config