FINALLY fix mag rotation issues. (#7366)

* sensors : second cut at fixing mag calibration - remove old problematic code

* sensors : use more intuitive naming for loop variables

.clang-tidy

@@ -0,0 +1,85 @@
+Checks:          '*
+		,-cert-dcl50-cpp
+		,-cert-err34-c
+		,-cert-err58-cpp
+		,-cert-msc30-c
+		,-cert-msc50-cpp
+		,-clang-analyzer-core.CallAndMessage
+		,-clang-analyzer-core.NullDereference
+		,-clang-analyzer-core.UndefinedBinaryOperatorResult
+		,-clang-analyzer-core.uninitialized.Assign
+		,-clang-analyzer-core.VLASize
+		,-clang-analyzer-cplusplus.NewDeleteLeaks
+		,-clang-analyzer-deadcode.DeadStores
+		,-clang-analyzer-optin.cplusplus.VirtualCall
+		,-clang-analyzer-optin.performance.Padding
+		,-clang-analyzer-security.insecureAPI.strcpy
+		,-clang-analyzer-unix.cstring.BadSizeArg
+		,-clang-analyzer-unix.Malloc
+		,-clang-analyzer-unix.MallocSizeof
+		,-cppcoreguidelines-c-copy-assignment-signature
+		,-cppcoreguidelines-interfaces-global-init
+		,-cppcoreguidelines-no-malloc
+		,-cppcoreguidelines-pro-bounds-array-to-pointer-decay
+		,-cppcoreguidelines-pro-bounds-constant-array-index
+		,-cppcoreguidelines-pro-bounds-pointer-arithmetic
+		,-cppcoreguidelines-pro-type-const-cast
+		,-cppcoreguidelines-pro-type-cstyle-cast
+		,-cppcoreguidelines-pro-type-member-init
+		,-cppcoreguidelines-pro-type-reinterpret-cast
+		,-cppcoreguidelines-pro-type-union-access
+		,-cppcoreguidelines-pro-type-vararg
+		,-cppcoreguidelines-special-member-functions
+		,-google-build-using-namespace
+		,-google-explicit-constructor
+		,-google-global-names-in-headers
+		,-google-readability-casting
+		,-google-readability-namespace-comments
+		,-google-readability-todo
+		,-google-runtime-int
+		,-google-runtime-references
+		,-llvm-header-guard
+		,-llvm-include-order
+		,-llvm-namespace-comment
+		,-misc-incorrect-roundings
+		,-misc-macro-parentheses
+		,-misc-misplaced-widening-cast
+		,-misc-redundant-expression
+		,-misc-unconventional-assign-operator
+		,-misc-unused-parameters
+		,-modernize-deprecated-headers
+		,-modernize-loop-convert
+		,-modernize-use-auto
+		,-modernize-use-bool-literals
+		,-modernize-use-default-member-init
+		,-modernize-use-emplace
+		,-modernize-use-equals-default
+		,-modernize-use-equals-delete
+		,-modernize-use-override
+		,-modernize-use-using
+		,-performance-inefficient-string-concatenation
+		,-readability-avoid-const-params-in-decls
+		,-readability-else-after-return
+		,-readability-implicit-bool-cast
+		,-readability-inconsistent-declaration-parameter-name
+		,-readability-non-const-parameter
+		,-readability-redundant-declaration
+		,-readability-redundant-member-init
+		,-readability-simplify-boolean-expr
+		'
+WarningsAsErrors: '*'
+CheckOptions:    
+  - key:             google-readability-braces-around-statements.ShortStatementLines
+    value:           '1'
+  - key:             google-readability-function-size.BranchThreshold
+    value:           '600'
+  - key:             google-readability-function-size.LineThreshold
+    value:           '4000'
+  - key:             google-readability-function-size.StatementThreshold
+    value:           '4000'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '1'
+  - key:             readability-function-size.LineThreshold
+    value:           '4000'
+  - key:             readability-function-size.StatementThreshold
+    value:           '4000'

.gitignore

@@ -20,6 +20,9 @@
 Archives/*
 Build/*
 Testing/
+Packages/*
+s3deploy-branch/
+s3deploy-archive/
 build/*
 build_*/
 core
@@ -28,15 +31,6 @@ cscope.in.out
 cscope.po.out
 Firmware.sublime-workspace
 user.sublime*
-Images/*.bin
-Images/*.px4
-mavlink/include/mavlink/v0.9/
-/nuttx-configs/px4io-v2/src/.depend
-/nuttx-configs/px4io-v2/src/Make.dep
-/nuttx-configs/px4io-v2/src/libboard.a
-/nuttx-configs/px4io-v1/src/.depend
-/nuttx-configs/px4io-v1/src/Make.dep
-/nuttx-configs/px4io-v1/src/libboard.a
 /Documentation/doxy.log
 /Documentation/html/
 /Documentation/doxygen*objdb*tmp
@@ -77,3 +71,15 @@ vectorcontrol/
 
 # CLion ignores
 .idea
+cmake-build-*/
+
+posix-configs/SITL/init/test/*_generated
+
+parameters.md
+airframes.md
+airframes.xml
+
+cppcheck-result.xml
+cppcheck
+
+scan-build

.gitmodules

@@ -6,7 +6,7 @@
 	url = https://github.com/mavlink/c_library_v2.git
 [submodule "NuttX"]
 	path = NuttX
-	url = https://github.com/PX4/NuttX.git
+	url = https://github.com/PX4/PX4NuttX.git
 [submodule "src/modules/uavcan/libuavcan"]
 	path = src/modules/uavcan/libuavcan
 	url = https://github.com/UAVCAN/libuavcan.git

.travis.yml

@@ -4,123 +4,101 @@
 language: cpp
 
 git:
-  depth: 1000
+  depth: 2000
+  submodules: false
 
 matrix:
   fast_finish: true
   include:
     - os: linux
       sudo: required
-      env: GCC_VER=4.9 DOCKER_REPO="px4io/px4-dev-base:2016-10-20"
       services:
         - docker
-    - os: osx
-      sudo: true
-      osx_image: xcode8
-      env: CCACHE_CPP2=1
+      env: BUILD_TARGET=check_format
+    - os: linux
+      sudo: required
+      services:
+        - docker
+      env: BUILD_TARGET=tests
+    - os: linux
+      sudo: required
+      services:
+        - docker
+      env: BUILD_TARGET=clang-tidy
+    - os: linux
+      sudo: required
+      services:
+        - docker
+      env: BUILD_TARGET=scan-build
+    - os: linux
+      sudo: required
+      services:
+        - docker
+      env: BUILD_TARGET=cppcheck
+    - os: linux
+      sudo: required
+      services:
+        - docker
+      env: BUILD_TARGET=px4_metadata
+    - os: linux
+      dist: trusty
+      sudo: required
+      env: BUILD_TARGET=coverity_scan
 
 cache:
   ccache: true
-  pip: true
-  directories:
-    - $HOME/.pip/cache/
-    - $HOME/Library/Caches/pip
 
 before_install:
-  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-         cd ${TRAVIS_BUILD_DIR}
-      && git fetch --unshallow && git fetch --all --tags
-      && docker pull ${DOCKER_REPO}
-      ;
-    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-         sudo -H easy_install pip
-      && sudo -H pip install empy
-      && wget https://s3.amazonaws.com/px4-travis/toolchain/macos/ccache
-      && sudo mv ccache /usr/local/bin
-      && chmod +x /usr/local/bin/ccache
-      && mkdir -p ~/bin
-      && sudo ln -s /usr/local/bin/ccache ~/bin/c++
-      && sudo ln -s /usr/local/bin/ccache ~/bin/cc
-      && sudo ln -s /usr/local/bin/ccache ~/bin/clang
-      && sudo ln -s /usr/local/bin/ccache ~/bin/clang++
-      && sudo ln -s /usr/local/bin/ccache ~/bin/g++
-      && sudo ln -s /usr/local/bin/ccache ~/bin/gcc
-      && export PATH=~/bin:$PATH
-      && wget https://s3.amazonaws.com/px4-travis/toolchain/macos/ninja
-      && sudo mv ninja /usr/local/bin
-      && chmod +x /usr/local/bin/ninja
-      ;
+  # install dependencies for the coverity build (target and branch), otherwise exit early
+  - if [[ "${TRAVIS_BRANCH}" = "coverity" ]]; then
+      if [[ "${BUILD_TARGET}" = "coverity_scan" ]]; then sudo apt-get install genromfs && pip install empy jinja2; else exit 0; fi;
     fi
 
 env:
   global:
-# AWS KEY: $PX4_AWS_KEY
+    # COVERITY KEY
+    - secure: "NyaJoCGjU0Xc90Y6bxVYWLgjrJX5HlZsm/SPxruZ6I7xkGo19fJIFzGegOHQFR32D4AiKjllfjTUNy+ncckWplind0QwxtF4/kxXrz9XBfiby6X8jLYXIekrB6Ay0mBLGbniDdh+lpWtcyop6Dmkt5bdJCJuKY2nv9ENnhhs07M="
+    # AWS KEY: $PX4_AWS_KEY
     - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
-# AWS SECRET: $PX4_AWS_SECRET
+    # AWS SECRET: $PX4_AWS_SECRET
     - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
-    - PX4_AWS_BUCKET=px4-travis
-    - GIT_SUBMODULES_ARE_EVIL=1
 
 script:
-  - ccache -M 1GB; ccache -z
-  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-      docker run --rm -v `pwd`:`pwd`:rw -v $HOME/.ccache:$HOME/.ccache:rw -e CCACHE_DIR=$HOME/.ccache -e CI=true -e GIT_SUBMODULES_ARE_EVIL=1 -w=`pwd` --user=$UID -it ${DOCKER_REPO} /bin/bash -c "make check_qgc_firmware VECTORCONTROL=0";
-    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-      make tests;
+  - if [[ "${BUILD_TARGET}" = "coverity_scan" ]]; then
+      echo "no script for coverity build";
+    elif [[ "${TRAVIS_BRANCH}" = "coverity" ]]; then
+      echo "exit early for coverity build" && exit 0;
+    elif [[ "${BUILD_TARGET}" = "check_format" ]]; then
+      ./Tools/docker_run.sh 'make check_format';
+    elif [[ "${BUILD_TARGET}" = "tests" ]]; then
+      ./Tools/docker_run.sh 'make tests';
+    elif [[ "${BUILD_TARGET}" = "px4_metadata" ]]; then
+      ./Tools/docker_run.sh 'make px4_metadata';
+    elif [[ "${BUILD_TARGET}" = "clang-tidy" ]]; then
+      ./Tools/docker_run.sh 'make clang-tidy-quiet';
     fi
-  - ccache -s
 
 after_success:
-  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-         make package_firmware && mkdir s3deploy-archive && cp Firmware.zip s3deploy-archive/
-      && find . -type f -name 'nuttx-*-default.px4' -exec cp "{}" . \;
-      && find . -maxdepth 1 -mindepth 1 -type f -name 'nuttx-*-default.px4' | sed 's/.\/nuttx-//' | sed 's/-default.px4//' | xargs -I{} mv nuttx-{}-default.px4 {}_default.px4
-      && mkdir s3deploy-branch && mv *_default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml s3deploy-branch/;
+  # s3 upload airframe and parameter metadata
+  - if [[ "${BUILD_TARGET}" = "px4_metadata" && "${TRAVIS_PULL_REQUEST}" = "false" ]]; then
+         ./Tools/docker_run.sh 'make s3put_metadata AWS_S3_BUCKET="px4-travis/Firmware/${TRAVIS_BRANCH}"';
     fi
-  - if [[ "${TRAVIS_OS_NAME}" = "linux" && "$GCC_VER" == "4.9" ]]; then
-      export PX4_S3_DEPLOY=1;
+  # s3 upload clang scan-build output for master branch
+  - if [[ "${BUILD_TARGET}" = "scan-build" && "${TRAVIS_PULL_REQUEST}" = "false" ]]; then
+         ./Tools/docker_run.sh 'make s3put_scan-build AWS_S3_BUCKET="px4-travis/Firmware/${TRAVIS_BRANCH}/scan-build"';
+    fi
+  # s3 upload cppcheck output for master branch
+  - if [[ "${BUILD_TARGET}" = "cppcheck" && "${TRAVIS_PULL_REQUEST}" = "false" ]]; then
+         ./Tools/docker_run.sh 'make s3put_cppcheck AWS_S3_BUCKET="px4-travis/Firmware/${TRAVIS_BRANCH}/cppcheck"';
     fi
 
-deploy:
-# deploy *.px4 to S3 px4-travis/Firmware/$TRAVIS_BRANCH
-  - provider: s3
-    access_key_id: $PX4_AWS_KEY
-    secret_access_key:
-      secure: $PX4_AWS_SECRET
-    bucket: px4-travis
-    local_dir: s3deploy-branch
-    upload-dir: Firmware/$TRAVIS_BRANCH
-    acl: public_read
-    skip_cleanup: true
-    on:
-      all_branches: true
-      condition: $PX4_S3_DEPLOY = 1
-
-# deploy Firmware.zip to S3 px4-travis/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID
-  - provider: s3
-    access_key_id: $PX4_AWS_KEY
-    secret_access_key:
-      secure: $PX4_AWS_SECRET
-    bucket: px4-travis
-    local_dir: s3deploy-archive
-    upload-dir: archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID
-    acl: public_read
-    skip_cleanup: true
-    on:
-      all_branches: true
-      condition: $PX4_S3_DEPLOY = 1
-
-# on tags deploy Firmware.zip to Github releases
-  - provider: releases
-    api_key: 
-      secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
-    file: "Firmware.zip"
-    skip_cleanup: true
-    on:
-      tags: true
-      all_branches: true
-      repo: PX4/Firmware
-      condition: $GCC_VER = 4.9
+addons:
+  coverity_scan:
+    project:
+      name: PX4/Firmware
+    notification_email: ci@px4.io
+    build_command: make posix_sitl_default
+    branch_pattern: coverity
 
 notifications:
   webhooks:

CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -55,24 +55,6 @@
 #
 # * For else, endif, endfunction, etc, never put the name of the statement
 #
-#	Instead of the very confusing:
-#		if (${var} STREQUAL "1") <-- condition now becomes if name
-#			# do somthing
-#		elseif (${var} STREQUAL "2") <-- another condition
-#			# do somthing
-#		else (${var} STREQUAL "1") <-- tag is referring to name of if
-#			# do somthing
-#		endif (${var} STREQUAL "1") <-- tag is referring to name of if
-#
-#	Do this:
-#		if (${var} STREQUAL "1") <-- condition now becomes if name
-#			# do somthing
-#		elseif (${var} STREQUAL "2") <-- another condition
-#			# do somthing
-#		else () <-- leave blank
-#			# do somthing
-#		endif () <-- leave blank
-#
 # Functions/Macros
 # ---------------------------------------------------------------------------
 #
@@ -101,7 +83,7 @@
 #
 # * Setting a global variable in a CMakeLists.txt file is ok, because
 #	each CMakeLists.txt file has scope in the current directory and all
-#	subdirecties, so it is not truly global.
+#	subdirectories, so it is not truly global.
 #
 # * All toolchain files should be included in the cmake
 #	directory and named Toolchain-"name".cmake.
@@ -117,9 +99,18 @@
 #
 #=============================================================================
 
+if ("${CMAKE_VERSION}" VERSION_LESS 3.1.0)
+	message("Not a valid CMake version")
+	message("On Ubuntu >= 16.04, install or upgrade via:")
+	message("	sudo apt-get install cmake")
+	message("")
+	message("Official website: https://cmake.org/download/")
+	message(FATAL_ERROR "Update CMake and try again" )
+endif()
+
 # Warning: Changing this modifies CMake's internal workings
 # and leads to wrong toolchain detection
-cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.1 FATAL_ERROR)
 
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
@@ -129,37 +120,107 @@ execute_process(
 	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)
-
-#=============================================================================
-# parameters
-#
-
-set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
-set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
-	STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
-set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
-file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
-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
 #
 # must come before project to set toolchain
 
+set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
+
 string(REPLACE "_" ";" config_args ${CONFIG})
 list(GET config_args 0 OS)
 list(GET config_args 1 BOARD)
 list(GET config_args 2 LABEL)
 set(target_name "${OS}-${BOARD}-${LABEL}")
 
-message(STATUS "${target_name}")
+file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
+set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
+
+set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
+set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
+set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
+
+if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
+	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
+endif()
+
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
+message(STATUS "CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}")
+set(config_module "configs/${CONFIG}")
+include(${config_module})
+
+include(common/coverage)
+include(common/sanitizers)
+
+# CMake build type
+# Debug Release RelWithDebInfo MinSizeRel Coverage
+if (NOT CMAKE_BUILD_TYPE)
+	if (${OS} STREQUAL "nuttx")
+		set(PX4_BUILD_TYPE "MinSizeRel")
+	elseif (${OS} STREQUAL "qurt")
+		set(PX4_BUILD_TYPE "MinSizeRel")
+	elseif (${OS} STREQUAL "bebop")
+		set(PX4_BUILD_TYPE "MinSizeRel")
+	else()
+		set(PX4_BUILD_TYPE "RelWithDebInfo")
+	endif()
+
+	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
+endif()
+
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
+
+message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
+
+
+#=============================================================================
+# git
+#
+include(common/px4_git)
+
+execute_process(
+	COMMAND git describe --always --tags
+	OUTPUT_VARIABLE git_tag
+	OUTPUT_STRIP_TRAILING_WHITESPACE
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
+
+execute_process(
+	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
+	OUTPUT_VARIABLE git_version
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
+
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
+px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
+px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
+px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
+px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
+px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
+px4_add_git_submodule(TARGET git_gps_devices PATH "src/drivers/gps/devices")
+px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
+px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
+px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
+px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
+px4_add_git_submodule(TARGET git_mavlink2 PATH "mavlink/include/mavlink/v2.0")
+px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
+px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
+
+px4_create_git_hash_header()
+
+#=============================================================================
+
+message(STATUS "PX4 VERSION: ${git_tag}")
+message(STATUS "CONFIG: ${target_name}")
+
+# The URL for the elf file for crash logging
+if (DEFINED ENV{BUILD_URI})
+	set(BUILD_URI $ENV{BUILD_URI})
+else()
+	set(BUILD_URI "localhost")
+endif()
+
+add_definitions(-DBUILD_URI=${BUILD_URI})
 
 # Define GNU standard installation directories
 include(GNUInstallDirs)
@@ -168,65 +229,52 @@ include(GNUInstallDirs)
 include(ExternalProject)
 
 # Setup install paths
-if(NOT CMAKE_INSTALL_PREFIX)
+if (NOT CMAKE_INSTALL_PREFIX)
 	if (${OS} STREQUAL "posix")
 		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
 	endif()
 endif()
-message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
-
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
-message(STATUS "cmake module path: ${CMAKE_MODULE_PATH}")
-set(config_module "configs/${CONFIG}")
-include(${config_module})
-
-# cmake modules
-include(ExternalProject)
+if (CMAKE_INSTALL_PREFIX)
+	message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
+endif()
 
+#=============================================================================
 # require px4 module interface
 set(px4_required_interface
 	px4_os_prebuild_targets
 	px4_os_add_flags
 	)
 foreach(cmd ${px4_required_interface})
-	if(NOT COMMAND ${cmd})
+	if (NOT COMMAND ${cmd})
 		message(FATAL_ERROR "${config_module} must implement ${cmd}")
 	endif()
 endforeach()
-set(px4_required_config
-	config_module_list
-	)
+
+set(px4_required_config config_module_list)
 foreach(conf ${px4_required_config})
-	if(NOT DEFINED ${conf})
+	if (NOT DEFINED ${conf})
 		message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
 	endif()
 endforeach()
 
-# List the DriverFramework drivers
-if(DEFINED config_df_driver_list)
-	message("DF Drivers: ${config_df_driver_list}")
-endif()
-
 # force static lib build
 set(BUILD_SHARED_LIBS OFF)
 
+#=============================================================================
+# ccache
+#
+option(CCACHE "Use ccache if available" OFF)
+find_program(CCACHE_PROGRAM ccache)
+if (CCACHE AND CCACHE_PROGRAM)
+	message(STATUS "Enabled ccache: ${CCACHE_PROGRAM}")
+	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
+endif()
+
 #=============================================================================
 # project definition
 #
 project(px4 CXX C ASM)
-if (NOT ${CMAKE_VERSION} VERSION_LESS 3.0.0)
-	cmake_policy(SET CMP0045 NEW) # error on non-existent target in get prop
-	cmake_policy(SET CMP0046 NEW) # no non-existent targets as dependencies
-	cmake_policy(SET CMP0025 OLD) # still report AppleClang as Clang
-endif()
-if (NOT ${CMAKE_VERSION} VERSION_LESS 3.1.0)
-	cmake_policy(SET CMP0054 NEW) # don't dereference quoted variables
-endif()
 
-set(version_major 1)
-set(version_minor 5)
-set(version_patch 0)
-set(version "${version_major}.${version_minor}.${version_patch}")
 set(package-contact "px4users@googlegroups.com")
 
 #=============================================================================
@@ -242,16 +290,16 @@ if (CATKIN_DEVEL_PREFIX)
 	else()
 		message(FATAL_ERROR "catkin not found")
 	endif()
-else()
-	message(STATUS "catkin DISABLED")
 endif()
 
 find_package(PythonInterp REQUIRED)
+px4_find_python_module(jinja2 REQUIRED)
 
 #=============================================================================
-# cmake modules
+# cmake testing
 #
 enable_testing()
+include(CTest)
 
 #=============================================================================
 # generate compile command database
@@ -261,49 +309,37 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 #=============================================================================
 # check required toolchain variables
 #
-set(required_variables
-	CMAKE_C_COMPILER_ID
-	)
+
+# PX4 requires c++11
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# PX4 requires c99
+set(CMAKE_C_STANDARD 99)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+
+set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
 foreach(var ${required_variables})
 	if (NOT ${var})
 		message(FATAL_ERROR "Toolchain/config must define ${var}")
 	endif()
 endforeach()
 
-#=============================================================================
-# git
-#
-px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
-px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
-px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
-px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
-px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
-px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
-px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
-px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
-px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
-px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
-px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
+# print full c compiler version
+execute_process(COMMAND ${CMAKE_C_COMPILER} --version
+		OUTPUT_VARIABLE c_compiler_version
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		)
+STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version})
+message(STATUS "C compiler: ${c_compiler_version_short}")
 
-add_custom_target(submodule_clean
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	COMMAND git submodule deinit -f .
-	COMMAND rm -rf .git/modules/*
-	)
-
-#=============================================================================
-# misc targets
-#
-add_custom_target(check_format
-	COMMAND Tools/check_code_style.sh
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
-
-add_custom_target(config
-	COMMAND cmake-gui .
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
-	)
+# print full c++ compiler version
+execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
+		OUTPUT_VARIABLE cxx_compiler_version
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		)
+STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
+message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
 
 #=============================================================================
 # external libraries
@@ -335,18 +371,42 @@ link_directories(${link_dirs})
 add_definitions(${definitions})
 
 #=============================================================================
-# source code generation
+# message, parameter, and airframe generation
 #
+
+include(common/px4_metadata)
+
 add_subdirectory(msg)
 px4_generate_messages(TARGET msg_gen
 	MSG_FILES ${msg_files}
 	OS ${OS}
+	INCLUDES ${msg_include_paths}
 	DEPENDS git_genmsg git_gencpp prebuild_targets
 	)
-px4_generate_parameters_xml(OUT parameters.xml BOARD ${BOARD})
+
+px4_generate_parameters_xml(OUT parameters.xml 
+	BOARD ${BOARD}
+	MODULES ${config_module_list}
+	OVERRIDES ${PARAM_DEFAULT_OVERRIDES})
+
 px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
-add_custom_target(xml_gen
-	DEPENDS parameters.xml airframes.xml)
+add_custom_target(xml_gen DEPENDS parameters.xml airframes.xml)
+
+#=============================================================================
+# DriverFramework
+#
+
+# List the DriverFramework drivers
+if (DEFINED config_df_driver_list)
+	message("DF Drivers: ${config_df_driver_list}")
+endif()
+
+set(df_driver_libs)
+foreach(driver ${config_df_driver_list})
+	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
+	list(APPEND df_driver_libs df_${driver})
+	message("Adding DF driver: ${driver}")
+endforeach()
 
 #=============================================================================
 # external projects
@@ -362,20 +422,10 @@ include_directories(${ep_base}/Install/include)
 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
 
-#=============================================================================
-# DriverFramework Drivers
-#
-set(df_driver_libs)
-foreach(driver ${config_df_driver_list})
-	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
-	list(APPEND df_driver_libs df_${driver})
-	message("Adding DF driver: ${driver}")
-endforeach()
-
 #=============================================================================
 # external modules
 #
-if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
+if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")
 	add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules_src)
 
@@ -396,7 +446,7 @@ endif()
 set(module_libraries)
 foreach(module ${config_module_list})
 	string(REGEX MATCH "^[./]" external_module ${module})
-	if(external_module)
+	if (external_module)
 		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
 		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
 		add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
@@ -405,7 +455,6 @@ foreach(module ${config_module_list})
 	endif()
 	px4_mangle_name(${module} mangled_name)
 	list(APPEND module_libraries ${mangled_name})
-	#message(STATUS "adding module: ${module}")
 endforeach()
 
 # Keep track of external shared libs required for modules
@@ -413,10 +462,6 @@ set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "mod
 
 add_subdirectory(src/firmware/${OS})
 
-#add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
-if (NOT "${OS}" STREQUAL "nuttx")
-endif()
-
 if (config_io_board)
 	add_subdirectory(src/modules/px4iofirmware)
 endif()
@@ -424,7 +469,7 @@ endif()
 #=============================================================================
 # generate custom target to print for all executable and module cmake targets
 #
-if(all_posix_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
@@ -434,24 +479,13 @@ if(all_posix_cmake_targets)
 		)
 endif()
 
-#=============================================================================
-# generate git version
-#
-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_VERSION ${git_version})
 set(CPACK_PACKAGE_CONTACT ${package-contact})
 set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
 set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
@@ -460,9 +494,9 @@ set(short-description "The px4 autopilot.")
 set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
 set(CPACK_GENERATOR "ZIP")
 set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
-set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
-set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
+set(CPACK_PACKAGING_INSTALL_PREFIX "")
 set(CPACK_SET_DESTDIR "OFF")
 if ("${CMAKE_SYSTEM}" MATCHES "Linux")
 	find_program(DPKG_PROGRAM dpkg)

CTestConfig.cmake

@@ -0,0 +1,15 @@
+## This file should be placed in the root directory of your project.
+## Then modify the CMakeLists.txt file in the root directory of your
+## project to incorporate the testing dashboard.
+##
+## # The following are required to submit to the CDash dashboard:
+##   ENABLE_TESTING()
+##   INCLUDE(CTest)
+
+set(CTEST_PROJECT_NAME "PX4 Firmware")
+set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
+
+set(CTEST_DROP_METHOD "http")
+set(CTEST_DROP_SITE "my.cdash.org")
+set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
+set(CTEST_DROP_SITE_CDASH TRUE)

Debug/poor-mans-profiler.sh

@@ -1,12 +1,20 @@
 #!/bin/bash
 #
+# Author: Pavel Kirienko <pavel.kirienko@zubax.com>
+#
 # Poor man's sampling profiler for NuttX.
 #
 # Usage: Install flamegraph.pl in your PATH, configure your .gdbinit, run the script with proper arguments and go
 #        have a coffee. When you're back, you'll see the flamegraph. Note that frequent calls to GDB significantly
 #        interfere with normal operation of the target, which means that you can't profile real-time tasks with it.
+#        For best results, ensure that the PC is not overloaded, the USB host controller to which the debugger is
+#        connected is not congested. You should also allow the current user to set negative nice values.
 #
-# Requirements: ARM GDB with Python support
+# The FlameGraph script can be downloaded from https://github.com/brendangregg/FlameGraph. Thanks Mr. Gregg.
+#
+# Requirements: ARM GDB with Python support. You can get one by downloading the sources from
+#               https://launchpad.net/gcc-arm-embedded and building them with correct flags.
+#               Note that Python support is not required if no per-task sampling is needed.
 #
 
 set -e
@@ -33,7 +41,7 @@ which flamegraph.pl > /dev/null || die "Install flamegraph.pl first"
 nsamples=0
 sleeptime=0.1    # Doctors recommend 7-8 hours a day
 taskname=
-elf=$root/Build/px4fmu-v2_default.build/firmware.elf
+elf=
 append=0
 fgfontsize=10
 fgwidth=1900
@@ -69,6 +77,8 @@ do
     shift
 done
 
+[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build_px4fmu-v4_default/src/firmware/nuttx/firmware_nuttx"
+
 #
 # Temporary files
 #
@@ -237,8 +247,8 @@ for s, f in sorted(stacks.items(), key=lambda (s, f): s):
 
 print('Total stack frames:', num_stack_frames, file=sys.stderr)
 print('Top consumers (distribution of the stack tops):', file=sys.stderr)
-for name,num in sorted(stack_tops.items(), key=lambda (name, num): num, reverse=True)[:10]:
-    print('% 5.1f%%   ' % (100 * num / num_stack_frames), name, file=sys.stderr)
+for name,num in sorted(stack_tops.items(), key=lambda (name, num): num, reverse=True)[:300]:
+    print('% 7.3f%%   ' % (100 * num / num_stack_frames), name, file=sys.stderr)
 EOF
 
 cat $stacksfile | python /tmp/pmpn-folder.py > $foldfile

Firmware.sublime-project

@@ -25,7 +25,8 @@
 			[
 				".settings",
 				"nuttx/arch/arm/src/board",
-				"nuttx/arch/arm/src/chip"
+				"nuttx/arch/arm/src/chip",
+				"build_*"
 			]
 		}
 	],

Images/aerocore2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 98,
+    "magic": "AeroCore2",
+    "description": "Firmware for the Gumstix AeroCore2 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AEROCORE2",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/crazyflie.prototype

@@ -1,9 +1,9 @@
 {
-    "board_id": 12, 
-    "magic": "Crazyflie", 
-    "description": "Firmware for the Crazyflie 2.0", 
-    "image": "", 
-    "build_time": 0, 
+    "board_id": 12,
+    "magic": "Crazyflie",
+    "description": "Firmware for the Crazyflie 2.0",
+    "image": "",
+    "build_time": 0,
     "summary": "CRAZYFLIE",
     "version": "0.1",
     "image_size": 0,

Images/esc35-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 27,
+    "magic": "ESC35v1",
+    "description": "Firmware for the ESC35V1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ESC35v1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4cannode-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 22,
+    "magic": "CANNODEFWv1",
+    "description": "Firmware for the PX4CANNODE board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4CANNODEv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4esc-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 25,
+    "magic": "ESCv1",
+    "description": "Firmware for the PX4ESCV1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4ESCv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4flow-v2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 24,
+    "magic": "FLOWv1",
+    "description": "Firmware for the PX4FLowV1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FLOWv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v3.prototype

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

Images/px4fmu-v4pro.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 13,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv4PRO board, based on STM32F469",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv4PRO",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v5.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 50,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv5 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv5",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4iov2.prototype

@@ -1,12 +0,0 @@
-{
-    "board_id": 10, 
-    "magic": "PX4FWv2", 
-    "description": "Firmware for the PX4IOv2 board", 
-    "image": "", 
-    "build_time": 0, 
-    "summary": "PX4IOv2",
-    "version": "2.0",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}

Images/px4nucleoF767ZI-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 90,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ST nucleo-144 with STM32FF767ZI-v1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4NUCLEOF767ZIv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/s2740vc-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 23,
+    "magic": "S2740VCblv1",
+    "description": "Firmware for the S2740VC board",
+    "image": "",
+    "build_time": 0,
+    "summary": "S2740VCv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/zubaxgnss-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 26,
+    "magic": "ZUBAXGNSSFWv1",
+    "description": "Firmware for the ZUBAXGNSS board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ZUBAXGNSSv1",
+    "version": "0.0",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Makefile

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2016 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2017 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -39,26 +39,6 @@ ifeq ($(wildcard .git),)
     $(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
 endif
 
-CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?)
-ifneq ($(CMAKE_VER),0)
-    $(warning Not a valid CMake version or CMake not installed.)
-    $(warning On Ubuntu 16.04, install or upgrade via:)
-    $(warning )
-    $(warning 3rd party PPA:)
-    $(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
-    $(warning sudo apt-get update)
-    $(warning sudo apt-get install cmake)
-    $(warning )
-    $(warning Official website:)
-    $(warning wget https://cmake.org/files/v3.4/cmake-3.4.3-Linux-x86_64.sh)
-    $(warning chmod +x cmake-3.4.3-Linux-x86_64.sh)
-    $(warning sudo mkdir /opt/cmake-3.4.3)
-    $(warning sudo ./cmake-3.4.3-Linux-x86_64.sh --prefix=/opt/cmake-3.4.3 --exclude-subdir)
-    $(warning export PATH=/opt/cmake-3.4.3/bin:$$PATH)
-    $(warning )
-    $(error Fatal)
-endif
-
 # Help
 # --------------------------------------------------------------------
 # Don't be afraid of this makefile, it is just passing
@@ -88,25 +68,38 @@ FIRST_ARG := $(firstword $(MAKECMDGOALS))
 ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
 j ?= 4
 
+NINJA_BIN := ninja
 ifndef NO_NINJA_BUILD
-NINJA_BUILD := $(shell ninja --version 2>/dev/null)
-endif
-ifdef NINJA_BUILD
-    PX4_CMAKE_GENERATOR ?= "Ninja"
-    PX4_MAKE = ninja
-    PX4_MAKE_ARGS =
-else
+	NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
 
-ifdef SYSTEMROOT
-	# Windows
-	PX4_CMAKE_GENERATOR ?= "MSYS Makefiles"
+	ifndef NINJA_BUILD
+		NINJA_BIN := ninja-build
+		NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
+	endif
+endif
+
+ifdef NINJA_BUILD
+	PX4_CMAKE_GENERATOR := Ninja
+	PX4_MAKE := $(NINJA_BIN)
+
+	ifdef VERBOSE
+		PX4_MAKE_ARGS := -v
+	else
+		PX4_MAKE_ARGS :=
+	endif
 else
-	PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
-endif
-    PX4_MAKE = $(MAKE)
-    PX4_MAKE_ARGS = -j$(j) --no-print-directory
+	ifdef SYSTEMROOT
+		# Windows
+		PX4_CMAKE_GENERATOR := "MSYS\ Makefiles"
+	else
+		PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
+	endif
+	PX4_MAKE = $(MAKE)
+	PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif
 
+SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
+
 # check if replay env variable is set & set build dir accordingly
 ifdef replay
 	BUILD_DIR_SUFFIX := _replay
@@ -114,13 +107,26 @@ else
 	BUILD_DIR_SUFFIX :=
 endif
 
+# NuttX verbose output
+ifdef VN
+	export PX4_NUTTX_BUILD_VERBOSE=1
+	export V=1
+endif
+
+# NuttX verbose patches output
+ifdef VNP
+	export PX4_NUTTX_PATCHES_VERBOSE=1
+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 $(MAKEFILE_LIST))))
+ifdef PX4_CMAKE_BUILD_TYPE
+	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
+endif
 
 # Functions
 # --------------------------------------------------------------------
@@ -128,22 +134,14 @@ SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
 define cmake-build
 +@$(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) $(ARGS)
-endef
-
-define cmake-build-other
-+@$(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)
++@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2)  -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=$(1) $(CMAKE_ARGS) || (rm -rf $(BUILD_DIR)); fi
++@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef
 
 define colorecho
-      @tput setaf 6
-      @echo $1
-      @tput sgr0
++@tput setaf 6
++@echo $1
++@tput sgr0
 endef
 
 # Get a list of all config targets.
@@ -157,13 +155,13 @@ NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGE
 
 # All targets.
 $(ALL_CONFIG_TARGETS):
-	$(call cmake-build,$@)
+	$(call cmake-build,$@,$(SRC_DIR))
 
 # Abbreviated config targets.
 
 # nuttx_ is left off by default; provide a rule to allow that.
 $(NUTTX_CONFIG_TARGETS):
-	$(call cmake-build,nuttx_$@)
+	$(call cmake-build,nuttx_$@,$(SRC_DIR))
 
 all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
 
@@ -171,76 +169,69 @@ 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
+eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
 excelsior_default: posix_excelsior_default qurt_excelsior_default
+excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
 
-# Deprecated config targets.
-
-ros_sitl_default:
-	@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
-
-_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
 
 # 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
+.PHONY: all posix broadcast eagle_default eagle_legacy_default excelsior_legacy_default excelsior_default all_nuttx_targets
 
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: uavcan_firmware check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
-.NOTPARALLEL:
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware checks_bootloaders sizes check quick_check
 
-# 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
+# QGroundControl flashable NuttX firmware
+qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes
 
-uavcan_firmware:
-ifeq ($(VECTORCONTROL),1)
-	$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6")
-	@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
-endif
-
-check_px4fmu-v4_default: uavcan_firmware
-check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
-	@echo
-ifeq ($(VECTORCONTROL),1)
-	@echo "Cleaning up vectorcontrol firmware"
-	@rm -rf vectorcontrol
-	@rm -rf ROMFS/px4fmu_common/uavcan
-endif
-
-# All default targets that don't require a special build environment (currently built on semaphore-ci)
-check: 	check_px4fmu-v1_default \
+# px4fmu NuttX firmware
+px4fmu_firmware: \
+	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_px4fmu-v3_default \
+	check_px4fmu-v4_default \
+	check_px4fmu-v4pro_default \
+	check_px4fmu-v5_default \
+	sizes
+
+misc_qgc_extra_firmware: \
+	check_aerocore2_default \
 	check_aerofc-v1_default \
-	check_px4-stm32f4discovery_default \
+	check_auav-x21_default \
 	check_crazyflie_default \
-	check_tests \
-	check_format
+	check_mindpx-v2_default \
+	check_px4fmu-v2_lpe \
+	check_tap-v1_default \
+	sizes
+
+# Other NuttX firmware
+alt_firmware: \
+	check_px4-stm32f4discovery_default \
+	check_px4cannode-v1_default \
+	check_px4esc-v1_default \
+	check_px4nucleoF767ZI-v1_default \
+	check_s2740vc-v1_default \
+	sizes
+
+checks_bootloaders: \
+	check_esc35-v1_bootloader \
+	check_px4cannode-v1_bootloader \
+	check_px4esc-v1_bootloader \
+	check_px4flow-v2_bootloader \
+	check_s2740vc-v1_bootloader \
+# not fitting in flash	check_zubaxgnss-v1_bootloader \
+	sizes
+
+sizes:
+	@-find build_* -name firmware_nuttx -type f | xargs size 2> /dev/null || :
+
+# All default targets that don't require a special build environment
+check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware checks_bootloaders 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
+quick_check: check_posix_sitl_default check_px4fmu-v3_default tests check_format
 
 check_%:
 	@echo
@@ -248,47 +239,163 @@ 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)
+# Documentation
+# --------------------------------------------------------------------
+.PHONY: parameters_metadata airframe_metadata px4_metadata
 
-run_tests_posix: posix_sitl_default
-	@(cd build_posix_sitl_default/ && ctest -V)
+parameters_metadata: posix_sitl_default
+	@python $(SRC_DIR)/Tools/px_process_params.py -s $(SRC_DIR)/src --markdown
 
-tests: check_unittest run_tests_posix
+airframe_metadata:
+	@python ${SRC_DIR}/Tools/px_process_airframes.py -v -a ${SRC_DIR}/ROMFS/px4fmu_common/init.d --markdown
+	@python ${SRC_DIR}/Tools/px_process_airframes.py -v -a ${SRC_DIR}/ROMFS/px4fmu_common/init.d --xml
 
-# QGroundControl flashable firmware (currently built by travis-ci)
-qgc_firmware: \
-	check_px4fmu-v1_default \
-	check_px4fmu-v2_default \
-	check_px4fmu-v3_default \
-	check_px4fmu-v4_default_and_uavcan \
-	check_mindpx-v2_default \
-	check_tap-v1_default \
-	check_format
+px4_metadata: parameters_metadata airframe_metadata
 
-package_firmware:
+# S3 upload helpers
+# --------------------------------------------------------------------
+# s3cmd uses these ENV variables
+#  AWS_ACCESS_KEY_ID
+#  AWS_SECRET_ACCESS_KEY
+#  AWS_S3_BUCKET
+.PHONY: s3put_firmware s3put_qgc_firmware s3put_px4fmu_firmware s3put_misc_qgc_extra_firmware s3put_metadata s3put_scan-build s3put_cppcheck s3put_coverage
+
+Firmware.zip:
+	@rm -rf Firmware.zip
 	@zip --junk-paths Firmware.zip `find . -name \*.px4`
 
+s3put_firmware: Firmware.zip
+	$(SRC_DIR)/Tools/s3put.sh Firmware.zip
+
+s3put_qgc_firmware: s3put_px4fmu_firmware s3put_misc_qgc_extra_firmware
+
+s3put_px4fmu_firmware: px4fmu_firmware
+	@find $(SRC_DIR)/build_* -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
+
+s3put_misc_qgc_extra_firmware: misc_qgc_extra_firmware
+	@find $(SRC_DIR)/build_* -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
+
+s3put_metadata: px4_metadata
+	@$(SRC_DIR)/Tools/s3put.sh airframes.md
+	@$(SRC_DIR)/Tools/s3put.sh airframes.xml
+	@$(SRC_DIR)/Tools/s3put.sh build_posix_sitl_default/parameters.xml
+	@$(SRC_DIR)/Tools/s3put.sh parameters.md
+
+s3put_scan-build: scan-build
+	@cd $(SRC_DIR) && ./Tools/s3put.sh `find build_scan-build -mindepth 1 -maxdepth 1 -type d`/
+
+s3put_cppcheck: cppcheck
+	@cd $(SRC_DIR) && ./Tools/s3put.sh cppcheck/
+
+s3put_coverage: tests_coverage
+	@cd $(SRC_DIR) && ./Tools/s3put.sh build_posix_sitl_default/coverage-html/
+
+# Astyle
+# --------------------------------------------------------------------
+.PHONY: check_format format
+
+check_format:
+	$(call colorecho,"Checking formatting with astyle")
+	@$(SRC_DIR)/Tools/check_code_style_all.sh
+	@git diff --check
+
+format:
+	$(call colorecho,"Formatting with astyle")
+	@$(SRC_DIR)/Tools/check_code_style_all.sh --fix
+
+# Testing
+# --------------------------------------------------------------------
+.PHONY: unittest run_tests_posix tests tests_coverage
+
+unittest: posix_sitl_default
+	$(call cmake-build,unittest,$(SRC_DIR)/unittests)
+	@(cd build_unittest && ctest -j2 --output-on-failure)
+
+run_tests_posix:
+	$(MAKE) --no-print-directory posix_sitl_default test_results
+
+tests: unittest run_tests_posix
+
+tests_coverage:
+	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
+
+coveralls_upload:
+	@cpp-coveralls --include src/ \
+		--exclude src/lib/DriverFramework \
+		--exclude src/lib/ecl \
+		--exclude src/lib/Matrix \
+		--exclude=src/modules/uavcan/libuavcan \
+		--exclude-pattern ".*/unittests/googletest/.*" \
+		--root . --build-root build_posix_sitl_default/ --follow-symlinks
+
+codecov_upload:
+	@/bin/bash -c "bash <(curl -s https://codecov.io/bash)"
+
+# static analyzers (scan-build, clang-tidy, cppcheck)
+# --------------------------------------------------------------------
+.PHONY: posix_sitl_default-clang scan-build clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck
+
+posix_sitl_default-clang:
+	@mkdir -p $(SRC_DIR)/build_posix_sitl_default-clang
+	@cd $(SRC_DIR)/build_posix_sitl_default-clang && cmake .. -GNinja -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
+	@cd $(SRC_DIR)/build_posix_sitl_default-clang && ninja
+
+scan-build:
+	@export CCC_CC=clang
+	@export CCC_CXX=clang++
+	@mkdir -p $(SRC_DIR)/build_posix_sitl_default-scan-build
+	@cd $(SRC_DIR)/build_posix_sitl_default-scan-build && scan-build cmake .. -GNinja -DCONFIG=posix_sitl_default
+	@scan-build -o $(SRC_DIR)/build_scan-build cmake --build $(SRC_DIR)/build_posix_sitl_default-scan-build
+
+clang-tidy: posix_sitl_default-clang
+	@cd build_posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
+
+# to automatically fix a single check at a time, eg modernize-redundant-void-arg
+#  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
+clang-tidy-fix: posix_sitl_default-clang
+	@cd build_posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .
+
+# modified version of run-clang-tidy.py to return error codes and only output relevant results
+clang-tidy-quiet: posix_sitl_default-clang
+	@cd build_posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+
+# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
+cppcheck: posix_sitl_default
+	@cppcheck -i$(SRC_DIR)/src/examples --std=c++11 --std=c99 --std=posix --project=build_posix_sitl_default/compile_commands.json --xml-version=2 2> cppcheck-result.xml
+	@cppcheck-htmlreport --source-encoding=ascii --file=cppcheck-result.xml --report-dir=cppcheck --source-dir=$(SRC_DIR)/src/
+
+# Cleanup
+# --------------------------------------------------------------------
+.PHONY: clean submodulesclean distclean
+
 clean:
-	@rm -rf build_*/
-	-@$(MAKE) -C NuttX/nuttx clean
+	@rm -rf $(SRC_DIR)/build_*/
+	-@$(MAKE) --no-print-directory -C NuttX/nuttx clean
 
 submodulesclean:
+	@git submodule foreach --quiet --recursive git clean -ff -x -d
+	@git submodule update --quiet --init --recursive --force || true
 	@git submodule sync --recursive
-	@git submodule deinit -f .
 	@git submodule update --init --recursive --force
 
-distclean: submodulesclean clean
+submodulesupdate:
+	@git submodule update --quiet --init --recursive || true
+	@git submodule sync --recursive
+	@git submodule update --init --recursive
+
+gazeboclean:
+	@rm -rf ~/.gazebo/*
+
+distclean: submodulesclean gazeboclean
 	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea"
 
+# --------------------------------------------------------------------
+
 # 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
-
 CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
 
 #help:
@@ -314,4 +421,3 @@ help:
 # 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

@@ -4,62 +4,95 @@
 
 [![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
 
-This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the src/modules directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/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, [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)
+  * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
+  * Supported airframes:
+    * [Multicopters](http://px4.io/portfolio_category/multicopter/)
+    * [Fixed wing](http://px4.io/portfolio_category/plane/)
+    * [VTOL](http://px4.io/portfolio_category/vtol/)
+    * many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
+  * Releases: [Downloads](https://github.com/PX4/Firmware/releases)
 
-### Users ###
+Please refer to the [user documentation](https://docs.px4.io/en/) 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.
+### Weekly Dev Call
+
+The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/).
+
+  * [Wednesday 17:00 Central European Time, 11:00 Eastern Time, 08:00 Pacific Standard Time](https://www.google.com/calendar/embed?src=bGludXhmb3VuZGF0aW9uLm9yZ19nMjF0dmFtMjRtN3BtN2poZXYwMWJ2bHFoOEBncm91cC5jYWxlbmRhci5nb29nbGUuY29t)
+  * [Uber conference (dial-in or web client)](https://www.uberconference.com/lf-dronecode)
+  * The agenda is announced in advance on the [PX4 Discuss](http://discuss.px4.io/c/weekly-dev-call)
+  * Issues and PRs may be labelled [devcall](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3Adevcall) to flag them for discussion
 
 ### Developers ###
-
-  * [Developer Forum](http://discuss.px4.io)
-  * [Guide for Contributions](https://github.com/PX4/Firmware/blob/master/CONTRIBUTING.md)
-  * [Developer guide](http://dev.px4.io)
+  * [Developer Guide](https://dev.px4.io/)
+    * [Build instructions](https://dev.px4.io/en/setup/building_px4.html)
+    * [Guide for Contributions](https://dev.px4.io/en/contribute/)
 
 ## 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)
+  * Project / Founder - [Lorenz Meier](https://github.com/LorenzMeier)
+  * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
+  * Communication Architecture
+    * [Beat Kueng](https://github.com/bkueng)
+    * [Julian Oes](https://github.com/JulianOes)
+  * UI / UX
+    * [Donald Gagne](https://github.com/DonLakeFlyer)
+    * [Gus Grubba](https://github.com/dogmaphobic)
+  * [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
+    * [Dennis Mannhart](https://github.com/Stifael)
+    * [Matthias Grob](https://github.com/MaEtUgR)
+  * [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
+    * [Daniel Agar](https://github.com/dagar)
+    * [Mathieu Bresciani](https://github.com/bresch)
+    * [Sander Smeets](https://github.com/sanderux)
+    * [Roman Bapst](https://github.com/tumbili)
+    * [Andreas Antener](https://github.com/AndreasAntener)
+  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
+    * [Daniel Agar](https://github.com/dagar)
+    * [Paul Riseborough](https://github.com/priseborough)
+  * Racers - [Matthias Grob](https://github.com/MaEtUgR)
+  * OS / drivers - [David Sidrane](https://github.com/davids5)
+  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) / Industrial - [Pavel Kirienko](https://github.com/pavel-kirienko)
+  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [James Goppert](https://github.com/jgoppert), [Paul Riseborough](https://github.com/priseborough)
+  * Vision based navigation
+    * [Christoph Tobler](https://github.com/ChristophTobler)
+    * [Mohammed Kabir](https://github.com/mhkabir)
+  * Obstacle Avoidance - [Vilhjalmur Vilhjalmsson](https://github.com/vilhjalmur89)
+  * [Snapdragon](https://github.com/PX4/Firmware/labels/snapdragon)
+    * [Christoph Tobler](https://github.com/ChristophTobler)
+    * [Mark Charlebois](https://github.com/mcharleb) 
+  * [Intel Aero](https://github.com/PX4/Firmware/labels/intel%20aero)
+    * [Lucas De Marchi](https://github.com/lucasdemarchi)
+    * [José Roberto de Souza](https://github.com/zehortigoza)
+  * [Raspberry Pi / Navio](https://github.com/PX4/Firmware/labels/raspberry_pi) - [Beat Kueng](https://github.com/bkueng)
+  * [Parrot Bebop](https://github.com/PX4/Firmware/labels/bebop) - [Michael Schaeuble](https://github.com/eyeam3)
+  * [Airmind MindPX / MindRacer](https://github.com/PX4/Firmware/labels/mindpx) - [Henry Zhang](https://github.com/iZhangHui)
 
 ## 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)
+  * [Snapdragon Flight](https://dev.px4.io/en/flight_controller/snapdragon_flight.html)
+  * [Intel Aero](https://dev.px4.io/en/flight_controller/intel_aero.html)
+  * [Raspberry PI with Navio 2](https://dev.px4.io/en/flight_controller/raspberry_pi.html)
+  * [Parrot Bebop 2](https://dev.px4.io/en/advanced/parrot_bebop.html)
   * FMUv1.x
-  * 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))
+  * FMUv2.x
+    * [Pixhawk](https://dev.px4.io/en/flight_controller/pixhawk.html)
+    * Pixhawk Mini
+    * [Pixfalcon](https://dev.px4.io/en/flight_controller/pixfalcon.html)
+  * FMUv3.x [Pixhawk 2](https://pixhawk.org/modules/pixhawk2)
+  * FMUv4.x
+    * [Pixracer](https://dev.px4.io/en/flight_controller/pixracer.html)
+    * Pixhawk 3 Pro
   * 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)
-  
+  * Gumstix AeroCore (v1 and v2)
+  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
+  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
+  * [Bitcraze Crazyflie 2.0](https://dev.px4.io/en/flight_controller/crazyflie2.html)
+
 ## Project Milestones
 
-The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by Lorenz Meier.
+The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by [Lorenz Meier](https://github.com/LorenzMeier).

ROMFS/px4fmu_common/init.d/10015_tbs_discovery

@@ -4,6 +4,18 @@
 #
 # @type Quadrotor Wide
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @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 Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
 #
 

ROMFS/px4fmu_common/init.d/10016_3dr_iris

@@ -4,6 +4,16 @@
 #
 # @type Quadrotor Wide
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+#
+# @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 Anton Babushkin <anton@px4.io>
 #
 
@@ -29,6 +39,6 @@ then
 	param set BAT_A_PER_V 15.39103
 fi
 
-set MIXER quad_w
+set MIXER quad_dc
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d

@@ -4,6 +4,18 @@
 #
 # @type Quadrotor Wide
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @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 Thomas Gubler <thomas@px4.io>
 #
 

ROMFS/px4fmu_common/init.d/10018_tbs_endurance

@@ -4,6 +4,18 @@
 #
 # @type Quadrotor Wide
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @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 Simon Wilks <simon@px4.io>
 #
 
@@ -29,9 +41,9 @@ then
 
 	param set MPC_XY_FF 0.2
 	param set MPC_XY_VEL_MAX 2
+	param set PWM_MIN 1080
 fi
 
 set MIXER quad_w
 
 set PWM_OUT 1234
-set PWM_MIN 1080

ROMFS/px4fmu_common/init.d/12001_octo_cox

@@ -4,6 +4,15 @@
 #
 # @type Octorotor Coaxial
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+# @output MAIN7 motor 7
+# @output MAIN8 motor 8
+#
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 

ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik

@@ -4,6 +4,15 @@
 #
 # @type Octo Coax Wide
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+# @output MAIN7 motor 7
+# @output MAIN8 motor 8
+#
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 
@@ -31,7 +40,7 @@ then
 
 	param set MPC_HOLD_MAX_XY 0.25
 	param set MPC_THR_MIN 0.15
-	param set MPC_Z_VEL_MAX 2.0
+	param set MPC_Z_VEL_MAX_DN 2.0
 
 	param set BAT_N_CELLS 4
 fi

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

@@ -4,10 +4,10 @@
 #
 # @type VTOL Duo Tailsitter
 #
-# @output MAIN1 motor left
-# @output MAIN2 motor right
-# @output MAIN5 elevon left
-# @output MAIN6 elevon right
+# @output MAIN1 motor right
+# @output MAIN2 motor left
+# @output MAIN5 elevon right
+# @output MAIN6 elevon left
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #

ROMFS/px4fmu_common/init.d/13002_firefly6

@@ -1,10 +1,18 @@
 #!nsh
 #
 # @name BirdsEyeView Aerobotics FireFly6
-#
 # @type VTOL Tiltrotor
-#
-# @maintainer Roman Bapst <roman@px4.io>
+# @maintainer Roman Bapst <roman@uaventure.com>
+# @output MAIN1 Front right motor bottom
+# @output MAIN2 Front right motor top
+# @output MAIN3 Back motor bottom
+# @output MAIN4 Back motor top
+# @output MAIN5 Front left motor bottom
+# @output MAIN6 Front left motor top
+# @output AUX1 Tilt servo
+# @output AUX2 Elevon 1
+# @output AUX3 Elevon 2
+# @output AUX4 Gear
 #
 
 sh /etc/init.d/rc.vtol_defaults
@@ -12,16 +20,16 @@ sh /etc/init.d/rc.vtol_defaults
 if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.17
+	param set MC_ROLLRATE_P 0.19
 	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_D 0.005
 	param set MC_ROLLRATE_FF 0.0
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.14
 	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_D 0.004
 	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 3.8
+	param set MC_YAW_P 4.0
 	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02

ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter

@@ -4,6 +4,15 @@
 #
 # @type VTOL Quad Tailsitter
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 4
+# @output MAIN4 motor 5
+# @output MAIN5 elevon left
+# @output MAIN6 elevon right
+# @output MAIN7 canard surface
+# @output MAIN8 rudder
+#
 # @maintainer Roman Bapst <roman@px4.io>
 #
 

ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad

@@ -3,10 +3,10 @@
 # @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 MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
 # @output AUX1 Aileron 1
 # @output AUX2 Aileron 2
 # @output AUX3 Elevator

ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta

@@ -3,10 +3,10 @@
 # @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 MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
 # @output AUX1 Right elevon
 # @output AUX2 Left elevon
 # @output AUX3 Motor
@@ -36,7 +36,7 @@ then
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
-	param set MC_YAWRATE_MAX 20
+	param set MC_YAWRATE_MAX 50
 	param set MC_YAWRAUTO_MAX 20
 
 	param set MPC_XY_P 0.8

ROMFS/px4fmu_common/init.d/13008_QuadRanger

@@ -38,7 +38,7 @@ then
 	param set MC_YAWRAUTO_MAX 40.0
 
 	param set MPC_ACC_HOR_MAX 2.0
-	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_TKO_SPEED 1.5
 	param set MPC_LAND_SPEED 0.8
 

ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger

@@ -67,7 +67,6 @@ then
     param set MPC_XY_VEL_P    0.05
     param set MPC_Z_FF    0.3
     param set MPC_Z_P 0.5
-    param set MPC_Z_VEL_MAX   1.0
     param set MPC_Z_VEL_P 0.1
 
     param set NAV_ACC_RAD 3.0

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/13012_convergence

@@ -0,0 +1,79 @@
+#!nsh
+#
+# @name E-flite Convergence
+# @type VTOL Tiltrotor
+# @maintainer Andreas Antener <andreas@uaventure.com>
+# @output MAIN1 Motor right
+# @output MAIN2 Motor left
+# @output MAIN3 Motor back
+# @output MAIN4 empty
+# @output MAIN5 Tilt servo right
+# @output MAIN6 Tilt servo left
+# @output MAIN7 Elevon right
+# @output MAIN8 Elevon left
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set VT_MOT_COUNT 3
+    param set VT_FW_MOT_OFFID 3
+    param set VT_IDLE_PWM_MC 1080
+    param set VT_TYPE 1
+
+    param set VT_B_TRANS_DUR  1.0
+    param set VT_FW_DIFTHR_EN 1
+    param set VT_FW_DIFTHR_SC 0.17
+    param set VT_FW_PERM_STAB 0
+    param set VT_F_TRANS_DUR  1.2
+    param set VT_F_TR_OL_TM   4.0
+    param set VT_TILT_FW  1.0
+    param set VT_TILT_MC  0.0
+    param set VT_TILT_TRANS   0.45
+    param set VT_TRANS_MIN_TM 1.2
+    param set VT_TRANS_P2_DUR 1.3
+
+    param set FW_L1_PERIOD 17
+    param set FW_MAN_R_MAX 50.0
+    param set FW_ACRO_X_MAX   270
+    param set FW_ACRO_Y_MAX   270
+    param set FW_ACRO_Z_MAX   180
+    param set FW_PR_FF    0.5
+    param set FW_PR_P 0.08
+    param set FW_PSP_OFF  5.0
+    param set FW_P_LIM_MAX    30
+    param set FW_P_LIM_MIN    -30
+    param set FW_P_RMAX_NEG   60
+    param set FW_P_RMAX_POS   60
+    param set FW_RR_FF    0.33
+    param set FW_RR_P 0.11
+    param set FW_YR_FF    0.3
+    param set FW_YR_P 0.05
+    param set MC_PITCHRATE_D  0.003
+    param set MC_PITCHRATE_P  0.15
+    param set MC_PITCH_P  6.0
+    param set MC_ROLLRATE_D   0.003
+    param set MC_ROLLRATE_P   0.15
+    param set MC_ROLL_P   6.0
+    param set MC_YAWRATE_MAX  120
+    param set MC_YAWRATE_P    0.27
+    param set MC_YAW_FF   0.35
+    param set MC_YAW_P    2.5
+
+    param set MC_YAWRATE_P 0.3
+    param set MPC_LAND_SPEED 1.2
+    param set MPC_TKO_SPEED 2.5
+    param set MPC_Z_VEL_MAX_UP 3.0
+
+    param set CBRK_AIRSPD_CHK 162128
+    param set FW_ARSP_MODE 2
+
+    param set SENS_BOARD_ROT 8
+fi
+
+set MIXER vtol_convergence
+set PWM_OUT 1234
+set PWM_RATE 400
+
+set MAV_TYPE 21

ROMFS/px4fmu_common/init.d/13013_deltaquad

@@ -0,0 +1,114 @@
+#!nsh
+#
+# @name DeltaQuad
+# @type Standard VTOL
+# @maintainer Sander Smeets <sander@droneslab.com>
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Right elevon
+# @output AUX2 Left elevon
+# @output AUX3 Motor
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+	param set VT_TRANS_THR 1
+	param set VT_DWN_PITCH_MAX 8
+	param set VT_FW_QC_P 55
+	param set VT_FW_QC_R 55
+	param set VT_TRANS_MIN_TM 8
+	param set VT_B_TRANS_DUR 5
+	param set VT_WV_LND_EN 1
+	param set VT_WV_LTR_EN 1
+	param set VT_FWD_THRUST_SC 2
+	param set VT_F_TRANS_DUR 1
+	param set VT_IDLE_PWM_MC 1025
+
+	param set FW_ARSP_MODE 2
+	param set FW_L1_PERIOD 25
+	param set FW_PR_FF 0.7
+	param set FW_PR_I 0.18
+	param set FW_PR_P 0.15
+	param set FW_P_TC 0.5
+	param set FW_PSP_OFF 5
+	param set FW_R_LIM 35
+	param set FW_RR_FF 0.9
+	param set FW_RR_I 0.08
+	param set FW_RR_P 0.18
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_CLMB_MAX 3
+	param set FW_T_SINK_MAX 3
+	param set FW_T_SINK_MIN 1
+	param set FW_T_VERT_ACC 6
+	param set FW_THR_CRUISE 0.68
+	param set FW_THR_SLEW_MAX 1
+	param set FW_MAN_P_MAX 30
+	param set FW_P_LIM_MAX 20
+	param set FW_P_LIM_MIN -25
+	param set FW_P_RMAX_NEG 45
+	param set FW_P_RMAX_POS 45
+	param set FW_R_RMAX 50
+
+	param set LNDMC_ALT_MAX 9999
+	param set LNDMC_XY_VEL_MAX 1
+	param set LNDMC_Z_VEL_MAX 0.7
+
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_I 0.01
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_ROLLRATE_MAX 80
+	param set MC_PITCH_P 6.5
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0.0
+	param set MC_PITCHRATE_MAX 80
+	param set MC_YAW_P 3.5
+	param set MC_YAW_FF 0.5
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
+	param set MC_YAWRATE_MAX 20
+	param set MC_YAWRAUTO_MAX 20
+
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P 0.1
+	param set MPC_XY_VEL_MAX 4
+	param set MPC_ACC_HOR_MAX 2.0
+	param set MPC_LAND_SPEED 1.5
+	param set MPC_MAN_R_MAX 30
+	param set MPC_TILTMAX_LND 35
+	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_Z_VEL_MAX_UP 1.5
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_HOLD_MAX_XY 0.5
+	param set MPC_HOLD_MAX_Z 0.5
+
+	param set CBRK_AIRSPD_CHK 162128
+	param set CBRK_IO_SAFETY 22027
+
+	param set EKF2_GPS_POS_X -0.12
+	param set EKF2_IMU_POS_X -0.12
+	param set EKF2_TAU_VEL 0.5
+
+	param set SYS_COMPANION 57600
+fi
+
+set MIXER vtol_quad_x
+set PWM_OUT 1234
+set PWM_RATE 400
+
+set MIXER_AUX vtol_delta
+set PWM_ACHDIS 3
+set PWM_AUX_DISARMED 950
+
+set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+

@@ -4,6 +4,11 @@
 #
 # @type Tricopter Y+
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 yaw servo
+#
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
 

ROMFS/px4fmu_common/init.d/14002_tri_y_yaw-

@@ -4,6 +4,11 @@
 #
 # @type Tricopter Y-
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 yaw servo
+#
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
 

ROMFS/px4fmu_common/init.d/15001_coax_heli

@@ -46,14 +46,8 @@ fi
 # use PWM parameters for throttle channel
 set PWM_OUT 34
 set PWM_RATE 400
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
 
 # This is the gimbal pass mixer
 set MIXER_AUX pass
 set PWM_AUX_RATE 50
 set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1500
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000

ROMFS/px4fmu_common/init.d/16001_helicopter

@@ -5,6 +5,11 @@
 # @type Helicopter
 #
 # @maintainer Bart Slinger <bartslinger@gmail.com>
+# @output MAIN1 main motor
+# @output MAIN2 front swashplate servo
+# @output MAIN3 right swashplate servo
+# @output MAIN4 left swashplate servo
+# @output MAIN5 tail-rotor servo
 #
 
 sh /etc/init.d/rc.mc_defaults
@@ -12,9 +17,9 @@ 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 MIXER blade130
 
-set PWM_OUT 1234
+#set PWM_OUT 1234
 
 if [ $AUTOCNF == yes ]
 then
@@ -48,3 +53,5 @@ then
 
 	param set CBRK_IO_SAFETY 22027
 fi
+
+set HIL no

ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm

@@ -4,6 +4,13 @@
 #
 # @type custom
 #
+# @board px4fmu-v1 exclude
+# @board px4fmu-v2 exclude
+# @board px4fmu-v3 exclude
+# @board px4fmu-v4pro exclude
+# @board px4fmu-v5 exclude
+# @board aerofc-v1 exclude
+#
 # @maintainer Julian Oes <julian@oes.ch>
 #
 # This startup can be used on Pixhawk/Pixfalcon/Pixracer for the

ROMFS/px4fmu_common/init.d/2100_mpx_easystar

@@ -4,6 +4,11 @@
 #
 # @type Standard Plane
 #
+# @output MAIN1 aileron
+# @output MAIN2 elevator
+# @output MAIN3 rudder
+# @output MAIN4 throttle
+#
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 

ROMFS/px4fmu_common/init.d/2101_fw_AERT

@@ -23,6 +23,3 @@ set MIXER AERT
 
 # use PWM parameters for throttle channel
 set PWM_OUT 4
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX

ROMFS/px4fmu_common/init.d/2105_maja

@@ -45,6 +45,3 @@ set MIXER AAERTWF
 
 # use PWM parameters for throttle channel
 set PWM_OUT 5
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX

ROMFS/px4fmu_common/init.d/2106_albatross

@@ -46,6 +46,3 @@ set MIXER AAVVTWFF
 
 # use PWM parameters for throttle channel
 set PWM_OUT 5
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

@@ -51,9 +51,5 @@ then
 	param set NAV_LOITER_RAD 30
 fi
 
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
-
 set MIXER caipi
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/4001_quad_x

@@ -4,9 +4,17 @@
 #
 # @type Quadrotor x
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
 # @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 Lorenz Meier <lorenz@px4.io>
 #

ROMFS/px4fmu_common/init.d/4002_quad_x_mount

@@ -5,6 +5,18 @@
 # @type Quadrotor x
 #
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @output AUX1 Mount pitch
+# @output AUX2 Mount roll
+# @output AUX3 Mount yaw
+# @output AUX4 Mount retract
+#
 # @maintainer Leon Mueller <thedevleon>
 #
 
@@ -17,5 +29,3 @@ set MIXER_AUX mount
 set PWM_AUX_OUT 123456
 set PWM_AUX_RATE 50
 
-# Start mount driver
-vmount start

ROMFS/px4fmu_common/init.d/4003_qavr5

@@ -4,9 +4,8 @@
 #
 # @type Quadrotor x
 #
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
+# @board px4fmu-v1 exclude
+# @board px4fmu-v2 exclude
 #
 # @maintainer James Goppert <james.goppert@gmail.com>
 #
@@ -28,8 +27,8 @@ then
 	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 MC_TPA_BREAK_P 0.7
+	param set MC_TPA_RATE_P 0.3
 	param set PWM_MIN 1075
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06

ROMFS/px4fmu_common/init.d/4008_ardrone

@@ -4,6 +4,13 @@
 #
 # @type Quadrotor x
 #
+# @board px4fmu-v2 exclude
+# @board px4fmu-v3 exclude
+# @board px4fmu-v4 exclude
+# @board px4fmu-v4pro exclude
+# @board px4fmu-v5 exclude
+# @board aerofc-v1 exclude
+#
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 

ROMFS/px4fmu_common/init.d/4009_qav250

@@ -4,16 +4,6 @@
 #
 # @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>
 #
 
@@ -39,6 +29,6 @@ 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
+	param set MC_TPA_BREAK_P 0.5
+	param set MC_TPA_RATE_P 0.5
 fi

ROMFS/px4fmu_common/init.d/4010_dji_f330

@@ -4,10 +4,6 @@
 #
 # @type Quadrotor x
 #
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 

ROMFS/px4fmu_common/init.d/4011_dji_f450

@@ -4,10 +4,6 @@
 #
 # @type Quadrotor x
 #
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 

ROMFS/px4fmu_common/init.d/4012_quad_x_can

@@ -25,4 +25,5 @@ then
 	param set MC_YAWRATE_D 0.0
 fi
 
+set MIXER quad_x_can
 set OUTPUT_MODE uavcan_esc

ROMFS/px4fmu_common/init.d/4013_bebop

@@ -4,6 +4,14 @@
 #
 # @type Quadrotor x
 #
+# @board px4fmu-v1 exclude
+# @board px4fmu-v2 exclude
+# @board px4fmu-v3 exclude
+# @board px4fmu-v4 exclude
+# @board px4fmu-v4pro exclude
+# @board px4fmu-v5 exclude
+# @board aerofc-v1 exclude
+#
 # @maintainer Michael Schaeuble
 #
 

ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb

@@ -4,6 +4,13 @@
 #
 # @type Quadrotor x
 #
+# @board px4fmu-v2 exclude
+# @board px4fmu-v3 exclude
+# @board px4fmu-v4 exclude
+# @board px4fmu-v4pro exclude
+# @board px4fmu-v5 exclude
+# @board aerofc-v1 exclude
+#
 # @maintainer Thomas Gubler <thomas@px4.io>
 #
 
@@ -23,6 +30,5 @@ then
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
+	param set PWM_MIN 1200
 fi
-
-set PWM_MIN 1200

ROMFS/px4fmu_common/init.d/4030_solo

@@ -4,6 +4,13 @@
 #
 # @type Quadrotor x
 #
+# @board px4fmu-v1 exclude
+# @board px4fmu-v2 exclude
+# @board px4fmu-v4 exclude
+# @board px4fmu-v4pro exclude
+# @board px4fmu-v5 exclude
+# @board aerofc-v1 exclude
+#
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 
@@ -16,7 +23,7 @@ then
     param set MC_ROLLRATE_P     0.11
     param set MPC_MANTHR_MIN    0.08
     param set MPC_XY_VEL_MAX    3.0
-    param set MPC_Z_VEL_MAX     2.0
+    param set MPC_Z_VEL_MAX_DN     2.0
 
     # INAV: higher GPS weights for better altitude control
     param set INAV_W_Z_BARO     0.3

ROMFS/px4fmu_common/init.d/4040_reaper

@@ -24,19 +24,17 @@ then
     param set NAV_ACC_RAD 2.0
     param set RTL_RETURN_ALT 30.0
     param set RTL_DESCEND_ALT 10.0
+
+    param set PWM_MIN 1100
+    param set PWM_MAX 1900
+    param set PWM_AUX_DISARMED 950
 fi
 
 set MIXER quad_h
 
 set PWM_RATE 50
 set PWM_OUT 1234
-set PWM_MIN 1100
-set PWM_MAX 1900
-set PWM_DISARMED 1500
 
 set MIXER_AUX pass
 set PWM_AUX_RATE 50
 set PWM_AUX_OUT 1234
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
-set PWM_AUX_DISARMED 950

ROMFS/px4fmu_common/init.d/4050_generic_250

@@ -4,16 +4,6 @@
 #
 # @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>
 #
 
@@ -39,9 +29,8 @@ 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 MC_TPA_BREAK_P 0.5
+	param set MC_TPA_RATE_P 0.5
 
 	param set PWM_MIN 1075
 

ROMFS/px4fmu_common/init.d/4051_s250aq

@@ -0,0 +1,64 @@
+#!nsh
+#
+# @name Spedix S250AQ
+#
+# @board px4fmu-v1 exclude
+# @board px4fmu-v2 exclude
+#
+# @type Quadrotor asymmetric
+#
+# @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 MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @maintainer Mark Whitehorn <kd0aij@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_s250aq
+set MAV_TYPE 2
+
+set PWM_OUT 1234
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 8.0
+	param set MC_ROLLRATE_P 0.19
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.0055
+	param set MC_PITCH_P 8.0
+	param set MC_PITCHRATE_P 0.19
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.0055
+	param set MC_YAW_P 4.0
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+	param set MC_ROLLRATE_MAX 720.0
+	param set MC_PITCHRATE_MAX 720.0
+	param set MC_YAWRATE_MAX 400.0
+	param set MC_ACRO_R_MAX 360.0
+	param set MC_ACRO_P_MAX 360.0
+	param set MC_TPA_BREAK_D 0.3
+	param set MC_TPA_BREAK_I 1.0
+	param set MC_TPA_BREAK_P 0.3
+	param set MC_TPA_RATE_D 1.0
+	param set MC_TPA_RATE_I 0.0
+	param set MC_TPA_RATE_P 1.0
+
+
+	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/4060_dji_matrice_100

@@ -4,10 +4,6 @@
 #
 # @type Quadrotor x
 #
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
 # @maintainer James Goppert <james.goppert@gmail.com>
 #
 

ROMFS/px4fmu_common/init.d/4070_aerofc

@@ -2,6 +2,13 @@
 #
 # @name Intel Aero RTF
 #
+# @board px4fmu-v1 exclude
+# @board px4fmu-v2 exclude
+# @board px4fmu-v3 exclude
+# @board px4fmu-v4 exclude
+# @board px4fmu-v4pro exclude
+# @board px4fmu-v5 exclude
+#
 # @type Quadrotor x
 
 sh /etc/init.d/rc.mc_defaults
@@ -12,14 +19,21 @@ sh /etc/init.d/rc.mc_defaults
 if [ $AUTOCNF == yes ]
 then
 	# Set all params here, then disable autoconfig
+
+	param set COM_DISARM_LAND 3
+
+	param set LNDMC_MAN_DWNTHR 0.2500
+	param set LNDMC_POS_UPTHR 0.5500
+	param set LNDMC_Z_VEL_MAX 2.0000
+
 	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_I 0.07
 	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_I 0.07
 	param set MC_PITCHRATE_D 0.0012
 	param set MC_PITCHRATE_MAX 360
 	param set MC_YAW_P 4.0
@@ -27,7 +41,28 @@ then
 	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 MPC_LAND_SPEED 0.7000
+	param set MPC_MANTHR_MIN 0.0400
+	param set MPC_THR_HOVER 0.5000
+	param set MPC_THR_MAX 0.9400
+	param set MPC_THR_MIN 0.1000
+	param set MPC_XY_CRUISE 8.0000
+	param set MPC_XY_P 1.5000
+	param set MPC_XY_VEL_P 0.1500
+	param set MPC_Z_P 1.5000
+	param set MPC_Z_VEL_I 0.1500
+	param set MPC_Z_VEL_MAX_DN 4.0000
+	param set MPC_Z_VEL_MAX_UP 5.0000
+	param set MPC_Z_VEL_P 0.8000
+
+	param set EKF2_GPS_POS_X -0.0600
+	param set EKF2_GPS_POS_Z -0.1000
+	param set EKF2_MIN_OBS_DT 50
+
+	param set EKF2_BARO_GATE 10.0
+	param set EKF2_BARO_NOISE 5.0
+	param set EKF2_ACC_NOISE 0.7
 
 	param set SYS_LOGGER 1
 fi
@@ -39,5 +74,5 @@ set OUTPUT_MODE tap_esc
 set MIXER quad_x
 set USE_IO no
 
-param set SYS_COMPANION 1500000
+param set SYS_COMPANION 460800
 set MAVLINK_COMPANION_DEVICE /dev/ttyS1

ROMFS/px4fmu_common/init.d/4080_zmr250

@@ -0,0 +1,55 @@
+#!nsh
+#
+# @name ZMR250 Racer
+#
+# @type Quadrotor x
+#
+# @board px4fmu-v1 exclude
+# @board px4fmu-v2 exclude
+#
+# @maintainer Anton Matosov <anton.matosov@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER zmr250
+set PWM_OUT 1234
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 2.0
+	param set MC_ROLLRATE_P 0.05
+	param set MC_ROLLRATE_I 0.2
+	param set MC_ROLLRATE_D 0.0015
+	param set MC_ROLL_TC 0.18
+
+	param set MC_PITCH_P 2.0
+	param set MC_PITCHRATE_P 0.05
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_D 0.0015
+	param set MC_PITCH_TC 0.18
+
+	param set MC_YAW_P 1.0
+	param set MC_YAWRATE_P 0.15
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+
+	param set MC_ACRO_R_MAX 1000.0
+	param set MC_ACRO_P_MAX 1000.0
+	param set MC_ACRO_Y_MAX 1000.0
+
+	param set MC_TPA_BREAK_P 0.5
+	param set MC_TPA_BREAK_D 0.7
+	param set MC_TPA_RATE_P 0.5
+	param set MC_TPA_RATE_D 0.5
+
+	param set PWM_MIN 1075
+	param set PWM_RATE 400
+	param set PWM_DISARMED 900
+	param set FAILSAFE 100
+
+	# param set NAV_RCL_ACT 6 # Lockdown
+
+	param set CBRK_IO_SAFETY 22027
+fi

ROMFS/px4fmu_common/init.d/4090_nanomind

@@ -0,0 +1,41 @@
+#!nsh
+#
+# @name NanoMind 110 Quad
+#
+# @type Quadrotor x
+#
+# @board px4fmu-v1 exclude
+# @board px4fmu-v2 exclude
+# @board px4fmu-v3 exclude
+# @board px4fmu-v4 exclude
+# @board px4fmu-v4pro exclude
+# @board px4fmu-v5 exclude
+# @board aerofc-v1 exclude
+#
+# @maintainer Henry Zhang <zhanghui629@gmail.com>
+#
+
+sh /etc/init.d/4001_quad_x
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 8.0
+	param set MC_ROLLRATE_P 0.19
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.0055
+	param set MC_PITCH_P 8.0
+	param set MC_PITCHRATE_P 0.19
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.0055
+	param set MC_YAW_P 4.0
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+
+	param set BAT_N_CELLS 1
+
+	param set PWM_DISARMED 0
+	param set PWM_MIN 500
+	param set PWM_MAX 2200
+fi

ROMFS/px4fmu_common/init.d/4900_crazyflie

@@ -2,6 +2,14 @@
 #
 # @name Crazyflie 2.0
 #
+# @board px4fmu-v1 exclude
+# @board px4fmu-v2 exclude
+# @board px4fmu-v3 exclude
+# @board px4fmu-v4 exclude
+# @board px4fmu-v4pro exclude
+# @board px4fmu-v5 exclude
+# @board aerofc-v1 exclude
+#
 # @type Quadrotor x
 #
 

ROMFS/px4fmu_common/init.d/50001_axialracing_ax10

@@ -4,6 +4,15 @@
 #
 # @type Rover
 #
+# @output MAIN1 pass-through of control group 0, channel 0
+# @output MAIN2 pass-through of control group 0, channel 1
+# @output MAIN3 pass-through of control group 0, channel 2
+# @output MAIN4 pass-through of control group 0, channel 3
+# @output MAIN5 pass-through of control group 0, channel 4
+# @output MAIN6 pass-through of control group 0, channel 5
+# @output MAIN7 pass-through of control group 0, channel 6
+# @output MAIN8 pass-through of control group 0, channel 7
+#
 
 sh /etc/init.d/rc.axialracing_ax10_defaults
 

ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd

@@ -0,0 +1,61 @@
+#!nsh
+#
+# @name Traxxas stampede vxl 2wd
+#
+# @url https://traxxas.com/products/models/electric/stampede-vxl-tsm
+#
+# @type Rover
+# 
+# @output MAIN2 steering
+# @output MAIN4 throttle
+#
+# @maintainer Marco Zorzi
+#
+
+sh /etc/init.d/rc.gnd_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set BAT_N_CELLS 7
+	
+	param set FW_AIRSPD_MIN 0
+	param set FW_AIRSPD_TRIM 1
+	param set FW_AIRSPD_MAX 3
+	
+	param set NAV_ACC_RAD 0.5
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	
+	param set EKF2_GBIAS_INIT 0.01
+	param set EKF2_ANGERR_INIT 0.01
+	param set EKF2_MAG_TYPE 1
+
+	param set GND_WR_P 2
+	param set GND_WR_I 0.9674
+	param set GND_WR_IMAX 0.1
+	param set GND_WR_D 1.2
+	param set GND_SP_CTRL_MODE 1
+	param set GND_L1_DIST 10
+	param set GND_THR_IDLE 0
+	param set GND_THR_CRUISE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_D 3
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_THR_SC 1
+
+fi
+
+# Configure this as ugv
+set MAV_TYPE 10
+# Set mixer
+set MIXER stampede
+
+# Provide ESC a constant 1500 us pulse
+set PWM_DISARMED 1500
+set PWM_MAIN_REV2 1
+set PWM_MAX 2000
+set PWM_MIN 1000

ROMFS/px4fmu_common/init.d/5001_quad_+

@@ -4,6 +4,18 @@
 #
 # @type Quadrotor +
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @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 Anton Babushkin <anton@px4.io>
 #
 

ROMFS/px4fmu_common/init.d/6001_hexa_x

@@ -4,6 +4,13 @@
 #
 # @type Hexarotor x
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+#
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel

ROMFS/px4fmu_common/init.d/7001_hexa_+

@@ -4,6 +4,13 @@
 #
 # @type Hexarotor +
 #
+# @output MAIN1 motor1
+# @output MAIN2 motor2
+# @output MAIN3 motor3
+# @output MAIN4 motor4
+# @output MAIN5 motor5
+# @output MAIN6 motor6
+#
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel

ROMFS/px4fmu_common/init.d/8001_octo_x

@@ -4,6 +4,15 @@
 #
 # @type Octorotor x
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+# @output MAIN7 motor 7
+# @output MAIN8 motor 8
+#
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel

ROMFS/px4fmu_common/init.d/9001_octo_+

@@ -4,6 +4,15 @@
 #
 # @type Octorotor +
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+# @output MAIN7 motor 7
+# @output MAIN8 motor 8
+#
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel

ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults

@@ -1,27 +1,25 @@
 #!nsh
 
-set VEHICLE_TYPE rover
+set VEHICLE_TYPE ugv
 
 # This section can be enabled once tuning parameters for this particular
 # rover model are known. It allows to configure default gains via the GUI
-#if [ $AUTOCNF == yes ]
-#then
-#	# param set MC_ROLL_P 7.0
-#fi
+if [ $AUTOCNF == yes ]
+then
+	# PWM default value for "disarmed" mode
+	# this centers the steering and throttle, which means no motion
+	# for a rover
+	param set PWM_DISARMED 1500
+
+	# PWM range
+	param set PWM_MIN 1200
+	param set PWM_MAX 1800
+fi
 
 # PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
 # may damage analog servos.
 set PWM_RATE 50
 
-# PWM default value for "disarmed" mode
-# this centers the steering and throttle, which means no motion
-# for a rover
-set PWM_DISARMED 1500
-
-# PWM range
-set PWM_MIN 1200
-set PWM_MAX 1800
-
 # Enable servo output on pins 3 and 4 (steering and thrust)
 # but also include 1+2 as they form together one output group
 # and need to be set together.

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -3,6 +3,14 @@
 # Standard apps for fixed wing
 #
 
+# LPE
+if param compare SYS_MC_EST_GROUP 1
+then
+	echo "ERROR [init] Estimator LPE not supported on fixed wing. Using EKF2"
+	param set SYS_MC_EST_GROUP 2
+	param save
+fi
+
 #
 # Start the attitude and position estimator
 #
@@ -18,7 +26,3 @@ fw_pos_control_l1 start
 # Start Land Detector
 #
 land_detector start fixedwing
-
-#
-# Misc apps
-#

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -11,10 +11,10 @@ then
 	param set RTL_DESCEND_ALT 100
 	param set RTL_LAND_DELAY -1
 
-	# FW uses L1 distance for acceptance radius 
+	# FW uses L1 distance for acceptance radius
 	#  set a smaller NAV_ACC_RAD for vertical acceptance distance
 	param set NAV_ACC_RAD 10
-	
+
 	param set MIS_LTRMIN_ALT 25
 	param set MIS_TAKEOFF_ALT 25
 fi
@@ -23,6 +23,3 @@ fi
 set MIXER_AUX pass
 set PWM_AUX_RATE 50
 set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1500
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000

ROMFS/px4fmu_common/init.d/rc.gnd_apps

@@ -0,0 +1,24 @@
+#!nsh
+#
+# Standard apps for unmanned ground vehicles (UGV)
+#
+
+#
+# Start the attitude and position estimator
+#
+ekf2 start
+#attitude_estimator_q start
+#local_position_estimator start
+
+
+#
+# Start attitude controllers
+#
+gnd_att_control start
+gnd_pos_control start
+
+
+#
+# Start Land Detector
+#
+land_detector start ugv

ROMFS/px4fmu_common/init.d/rc.gnd_defaults

@@ -0,0 +1,32 @@
+#!nsh
+
+set VEHICLE_TYPE ugv
+
+if [ $AUTOCNF == yes ]
+then
+#
+# Default parameters for UGVs
+#
+	param set NAV_DLL_ACT 0
+	param set NAV_ACC_RAD 2.0
+	
+	# temporary
+	param set NAV_FW_ALT_RAD 1000
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+fi
+
+# Enable servo output on pins 3 and 4 (steering and thrust)
+# but also include 1+2 as they form together one output group
+# and need to be set together.
+set PWM_OUT 1234
+
+# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
+# may damage analog servos.
+set PWM_RATE 50
+
+# This is the gimbal pass mixer
+set MIXER_AUX pass
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/rc.interface

@@ -2,6 +2,12 @@
 #
 # Script to configure control interface
 #
+#
+# NOTE: environment variable references:
+#  If the dollar sign ('$') is followed by a left bracket ('{') then the
+#  variable name is terminated with the right bracket character ('}').
+#  Otherwise, the variable name goes to the end of the argument.
+#
 
 set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 
@@ -13,21 +19,21 @@ then
 
 	if [ $MIXER_AUX == none -a $USE_IO == yes ]
 	then
-		set MIXER_AUX $MIXER.aux
+		set MIXER_AUX ${MIXER}
 	fi
 
 	# Use the mixer file from the SD-card if it exists
-	if [ -f $SDCARD_MIXERS_PATH/$MIXER.main.mix ]
+	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix ]
 	then
-		set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.main.mix
+		set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix
 	# Try out the old convention, for backward compatibility
 	else
 
-		if [ -f $SDCARD_MIXERS_PATH/$MIXER.mix ]
+		if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.mix ]
 		then
-			set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.mix
+			set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.mix
 		else
-			set MIXER_FILE /etc/mixers/$MIXER.main.mix
+			set MIXER_FILE /etc/mixers/${MIXER}.main.mix
 		fi
 	fi
 
@@ -48,22 +54,22 @@ then
 		set OUTPUT_DEV /dev/tap_esc
 	fi
 
-	if mixer load $OUTPUT_DEV $MIXER_FILE
+	if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
 	then
-		echo "INFO  [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
+		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
 	else
-		echo "ERROR [init] Error loading mixer: $MIXER_FILE"
-		echo "ERROR:[init] Could not load mixer: $MIXER_FILE" >> $LOG_FILE
-		tone_alarm $TUNE_ERR
+		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}"
+		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}" >> $LOG_FILE
+		tone_alarm ${TUNE_ERR}
 	fi
 
 	unset MIXER_FILE
 else
 	if [ $MIXER != skip ]
 	then
-		echo "ERROR [init] Mixer not defined"
-		echo "ERROR [init] Mixer not defined" >> $LOG_FILE
-		tone_alarm $TUNE_ERR
+		echo "ERROR  [init] Mixer undefined"
+		echo "ERROR  [init] Mixer undefined" >> $LOG_FILE
+		tone_alarm ${TUNE_ERR}
 	fi
 fi
 
@@ -76,7 +82,7 @@ then
 		#
 		if [ $PWM_RATE != none ]
 		then
-			pwm rate -c $PWM_OUT -r $PWM_RATE
+			pwm rate -c ${PWM_OUT} -r ${PWM_RATE}
 		fi
 
 		#
@@ -84,21 +90,21 @@ then
 		#
 		if [ $PWM_DISARMED != none ]
 		then
-			pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
+			pwm disarmed -c ${PWM_OUT} -p ${PWM_DISARMED}
 		fi
 		if [ $PWM_MIN != none ]
 		then
-			pwm min -c $PWM_OUT -p $PWM_MIN
+			pwm min -c ${PWM_OUT} -p ${PWM_MIN}
 		fi
 		if [ $PWM_MAX != none ]
 		then
-			pwm max -c $PWM_OUT -p $PWM_MAX
+			pwm max -c ${PWM_OUT} -p ${PWM_MAX}
 		fi
 	fi
 
 	if [ $FAILSAFE != none ]
 	then
-		pwm failsafe -d $OUTPUT_DEV $FAILSAFE
+		pwm failsafe -d ${OUTPUT_DEV} ${FAILSAFE}
 	fi
 fi
 
@@ -111,7 +117,7 @@ fi
 #MindPX has not aux mixer
 if ver hwcmp MINDPX_V2
 then
-        set MIXER_AUX none
+	set MIXER_AUX none
 fi
 
 if ver hwcmp CRAZYFLIE
@@ -124,6 +130,11 @@ then
 	set MIXER_AUX none
 fi
 
+if ver hwcmp PX4FMU_V5
+then
+	set MIXER_AUX none
+fi
+
 if [ $MIXER_AUX != none -a $AUX_MODE != none ]
 then
 	#
@@ -133,40 +144,40 @@ then
 	set MIXER_AUX_FILE none
 	set OUTPUT_AUX_DEV /dev/pwm_output1
 
-	if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.aux.mix ]
+	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
 	then
-		set MIXER_AUX_FILE $SDCARD_MIXERS_PATH/$MIXER_AUX.aux.mix
+		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
 	else
 
-		if [ -f /etc/mixers/$MIXER_AUX.aux.mix ]
+		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
 		then
-			set MIXER_AUX_FILE /etc/mixers/$MIXER_AUX.aux.mix
+			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
 		fi
 	fi
 
 	if [ $MIXER_AUX_FILE != none ]
 	then
-		if fmu mode_$AUX_MODE
+		if fmu mode_${AUX_MODE}
 		then
 			# Append aux mixer to main device
 			if [ $OUTPUT_MODE == hil ]
 			then
-				if mixer append $OUTPUT_DEV $MIXER_AUX_FILE
+				if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
 				then
-					echo "INFO  [init] Mixer: $MIXER_AUX_FILE appended to $OUTPUT_DEV"
+					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
+					echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
+					echo "ERROR  [init] Failed appending 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
+				if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
 				then
-					echo "INFO  [init] Mixer: $MIXER_AUX_FILE on $OUTPUT_AUX_DEV"
+					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
 				else
-					echo "ERROR [init] Error loading mixer: $MIXER_AUX_FILE"
-					echo "ERROR [init] Could not load mixer: $MIXER_AUX_FILE" >> $LOG_FILE
+					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
+					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}" >> $LOG_FILE
 				fi
 			else
 				set PWM_AUX_OUT none
@@ -174,7 +185,7 @@ then
 			fi
 		else
 			echo "ERROR: Could not start: fmu mode_pwm" >> $LOG_FILE
-			tone_alarm $TUNE_ERR
+			tone_alarm ${TUNE_ERR}
 			set PWM_AUX_OUT none
 			set FAILSAFE_AUX none
 		fi
@@ -187,16 +198,16 @@ then
 			#
 			if [ $PWM_AUX_RATE != none ]
 			then
-				pwm rate -c $PWM_AUX_OUT -r $PWM_AUX_RATE -d $OUTPUT_AUX_DEV
+				pwm rate -e -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
 			fi
 
 			if [ $PWM_AUX_MIN != none ]
 			then
-				pwm min -c $PWM_AUX_OUT -p $PWM_AUX_MIN -d $OUTPUT_AUX_DEV
+				pwm min -e -c ${PWM_AUX_OUT} -p ${PWM_AUX_MIN} -d ${OUTPUT_AUX_DEV}
 			fi
 			if [ $PWM_AUX_MAX != none ]
 			then
-				pwm max -c $PWM_AUX_OUT -p $PWM_AUX_MAX -d $OUTPUT_AUX_DEV
+				pwm max -e -c ${PWM_AUX_OUT} -p ${PWM_AUX_MAX} -d ${OUTPUT_AUX_DEV}
 			fi
 		fi
 
@@ -214,12 +225,12 @@ then
 		#
 		if [ $PWM_AUX_DISARMED != none -a $PWM_ACHDIS != none ]
 		then
-			pwm disarmed -c $PWM_ACHDIS -p $PWM_AUX_DISARMED -d $OUTPUT_AUX_DEV
+			pwm disarmed -e -c ${PWM_ACHDIS} -p ${PWM_AUX_DISARMED} -d ${OUTPUT_AUX_DEV}
 		fi
 
 		if [ $FAILSAFE_AUX != none ]
 		then
-			pwm failsafe -d $OUTPUT_AUX_DEV $FAILSAFE
+			pwm failsafe -e -d ${OUTPUT_AUX_DEV} ${FAILSAFE}
 		fi
 
 	fi

ROMFS/px4fmu_common/init.d/rc.io

@@ -16,6 +16,6 @@ then
 	set PX4IO_LIMIT 200
 fi
 
-if px4io limit $PX4IO_LIMIT
+if px4io limit ${PX4IO_LIMIT}
 then
 fi

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -11,16 +11,24 @@
 # INAV (deprecated)
 if param compare SYS_MC_EST_GROUP 0
 then
-	echo "ERROR [init] Estimator INAV deprecated. Using LPE"
-	param set SYS_MC_EST_GROUP 1
+	echo "ERROR [init] Estimator INAV deprecated. Using EKF2"
+	param set SYS_MC_EST_GROUP 2
 	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 due to a limited flash.
+	if attitude_estimator_q start
+	then
+		local_position_estimator start
+	else
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		param set SYS_MC_EST_GROUP 2
+		param save
+	fi
 fi
 
 # EKF

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -7,7 +7,6 @@ then
 	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
@@ -15,21 +14,7 @@ then
 	param set RTL_LAND_DELAY 0
 fi
 
-# 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
-
 # This is the gimbal pass mixer
 set MIXER_AUX pass
 set PWM_AUX_RATE 50
 set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1500
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
-
-if param compare PWM_DISARMED 0
-then
-	param set PWM_DISARMED 900
-fi

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -52,8 +52,13 @@ else
 	fi
 fi
 
-if adc start
+if ver hwcmp AEROFC_V1
 then
+	# Aero FC uses separate driver
+else
+	if adc start
+	then
+	fi
 fi
 
 if ver hwcmp AUAV_X21
@@ -68,6 +73,11 @@ then
 	then
 	fi
 
+	# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
+	if mpu6000 -R 2 -T 20602 start
+	then
+	fi
+
 	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
 	if mpu6000 -R 2 -T 20608 start
 	then
@@ -188,6 +198,11 @@ then
 	then
 	fi
 
+	# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
+	if mpu6000 -R 2 -T 20602 start
+	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.
@@ -201,6 +216,30 @@ then
 	if bmi160 start
 	then
 	fi
+
+	# Start either ICM2060X or BMI055. 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 BMI055_ACC
+	if bmi055 -A start
+	then
+	fi
+
+	# Internal SPI bus BMI055_GYR
+	if bmi055 -G start
+	then
+	fi
+
+	# expansion i2c used for BMM150 rotated by 90deg
+	if bmm150 -R 2 start
+	then
+	fi
+
+	# expansion i2c used for BMP280
+	if bmp280 -I start
+	then
+	fi
 fi
 
 if ver hwcmp PX4FMU_V1
@@ -244,11 +283,11 @@ then
 	fi
 
 	# Internal I2C bus
-	if hmc5883 -C -T -I -R 8 start
+	if hmc5883 -C -T -I -R 12 start
 	then
 	fi
 
-	if mpu6500 -R 8 start
+	if mpu9250 -s -R 8 start
 	then
 	fi
 
@@ -268,7 +307,7 @@ then
 	then
 	fi
 
-	# I2C bypass of mpu 
+	# I2C bypass of mpu
 	if lps25h start
 	then
 	fi
@@ -276,16 +315,11 @@ fi
 
 if ver hwcmp AEROFC_V1
 then
-	if ms5611 start
+	if ms5611 -T 0 start
 	then
 	fi
 
-	if mpu6500 -R 14 start
-	then
-	fi
-
-	# Internal compass
-	if hmc5883 -I -R 4 start
+	if mpu9250 -s -R 14 start
 	then
 	fi
 
@@ -294,9 +328,88 @@ then
 	then
 	fi
 
-	if ist8310 -C -b 1 -R 8 start
+	if ist8310 -C -b 1 -R 4 start
 	then
 	fi
+
+	if aerofc_adc start
+	then
+	fi
+
+	if ll40ls start i2c
+	then
+	fi
+fi
+
+if ver hwcmp PX4FMU_V4PRO
+then
+
+	# Internal SPI bus ICM-20608-G
+	if mpu6000 -R 2 -T 20608 start
+	then
+	fi
+	
+	# Internal SPI bus ICM-20602
+	if mpu6000 -R 2 -T 20602 start
+	then
+	fi	
+
+	# Internal SPI bus mpu9250
+	if mpu9250 -R 2 start
+	then
+	fi
+
+	# Internal SPI bus
+	if lis3mdl -R 0 start
+	then
+	fi
+
+	# Possible external compasses
+	if hmc5883 -C -T -X start
+	then
+	fi
+
+fi
+
+if ver hwcmp PX4FMU_V5
+then
+
+	# Internal SPI bus ICM-20602
+	if mpu6000 -R 8 -s -T 20602 start
+	then
+	fi
+
+	# Internal SPI bus ICM-20689
+	if mpu6000 -R 8 -z -T 20689 start
+	then
+	fi
+
+	# Internal SPI bus BMI055 accel
+	if bmi055 -A -R 10 start
+	then
+	fi
+
+	# Internal SPI bus BMI055 gyro
+	if bmi055 -G -R 10 start
+	then
+	fi
+
+	# Possible external compasses
+	if hmc5883 -C -T -X start
+	then
+	fi
+
+	# Possible external airspeed sensor
+	if meas_airspeed start -b 2
+	then
+	fi
+
+fi
+
+if ver hwcmp AEROCORE2
+then
+	l3gd20 -R 12 start
+	lsm303d start
 fi
 
 if meas_airspeed start
@@ -311,10 +424,6 @@ else
 	fi
 fi
 
-if sf1xx start
-then
-fi
-
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
 if sensors start

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -12,16 +12,24 @@
 # INAV (deprecated)
 if param compare SYS_MC_EST_GROUP 0
 then
-	echo "ERROR [init] Estimator INAV deprecated. Using LPE"
-	param set SYS_MC_EST_GROUP 1
+	echo "ERROR [init] Estimator INAV deprecated. Using EKF2"
+	param set SYS_MC_EST_GROUP 2
 	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 due to a limited flash.
+	if attitude_estimator_q start
+	then
+		local_position_estimator start
+	else
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		param set SYS_MC_EST_GROUP 2
+		param save
+	fi
 fi
 
 # EKF

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -14,7 +14,7 @@ then
 	param set NAV_ACC_RAD 3
 	param set MPC_TKO_SPEED 1.0
 	param set MPC_LAND_SPEED 0.7
-	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_XY_VEL_MAX 4.0
 	param set MIS_YAW_TMT 10
 	param set MPC_ACC_HOR_MAX 2.0
@@ -23,12 +23,3 @@ fi
 
 # set environment variables (!= parameters)
 set PWM_RATE 400
-# tell the mixer to use parameters for these instead
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
-
-if param compare PWM_DISARMED 0
-then
-	param set PWM_DISARMED 900
-fi

ROMFS/px4fmu_common/init.d/rcS

@@ -1,14 +1,49 @@
 #!nsh
-#
+# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
+#set +e
+# Un comment the line below to help debug scripts by printing a trace of the script commands
+#set -x
 # PX4FMU startup script.
 #
-#  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+# NOTE: environment variable references:
+#    If the dollar sign ('$') is followed by a left bracket ('{') then the
+#    variable name is terminated with the right bracket character ('}').
+#    Otherwise, the variable name goes to the end of the argument.
 #
+#
+# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+# UART mapping on FMUv1/2/3/4:
+#
+# UART1			/dev/ttyS0		IO debug
+# USART2		/dev/ttyS1		TELEM1 (flow control)
+# USART3		/dev/ttyS2		TELEM2 (flow control)
+# UART4
+# UART7							CONSOLE
+# UART8							SERIAL4
+#
+#
+# UART mapping on FMUv5:
+#
+# UART1			/dev/ttyS0		GPS
+# USART2		/dev/ttyS1		TELEM1 (flow control)
+# USART3		/dev/ttyS2		TELEM2 (flow control)
+# UART4			/dev/ttyS3		?
+# USART6		/dev/ttyS4		TELEM3 (flow control)
+# UART7			/dev/ttyS5		?
+# UART8			/dev/ttyS6		CONSOLE
+
+#
+# Mount the procfs.
+#
+mount -t procfs /proc
 
 #
 # Start CDC/ACM serial driver
 #
-sercon
+if sercon
+then
+fi
 
 #
 # Default to auto-start mode.
@@ -24,8 +59,19 @@ set LOG_FILE /fs/microsd/bootlog.txt
 # REBOOTWORK this needs to start after the flight control loop
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
-	# Start playing the startup tune
-	tone_alarm start
+	echo "[i] microSD mounted: /fs/microsd"
+	if hardfault_log check
+	then
+		tone_alarm error
+		if hardfault_log commit
+		then
+			hardfault_log reset
+			tone_alarm stop
+		fi
+  else
+    # Start playing the startup tune
+    tone_alarm start
+ fi
 else
 	tone_alarm MBAGP
 	if mkfatfs /dev/mmcsd0
@@ -50,7 +96,7 @@ fi
 set FRC /fs/microsd/etc/rc.txt
 if [ -f $FRC ]
 then
-	echo "INFO  [init] Executing script: $FRC"
+	echo "INFO  [init] Executing script: ${FRC}"
 	sh $FRC
 	set MODE custom
 fi
@@ -104,8 +150,8 @@ then
 	#
 	if param compare SYS_AUTOCONFIG 1
 	then
-		# Wipe out params except RC*
-		param reset_nostart RC*
+		# Wipe out params except RC* and total flight time
+		param reset_nostart RC* LND_FLIGHT_T_*
 		set AUTOCNF yes
 	else
 		set AUTOCNF no
@@ -130,16 +176,16 @@ then
 	set MIXER_AUX 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 PWM_RATE p:PWM_RATE
+	set PWM_DISARMED p:PWM_DISARMED
+	set PWM_MIN p:PWM_MIN
+	set PWM_MAX p:PWM_MAX
 	set PWM_AUX_OUT none
 	set PWM_AUX_RATE none
 	set PWM_ACHDIS none
-	set PWM_AUX_DISARMED none
-	set PWM_AUX_MIN none
-	set PWM_AUX_MAX none
+	set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
+	set PWM_AUX_MIN p:PWM_AUX_MIN
+	set PWM_AUX_MAX p:PWM_AUX_MAX
 	set FAILSAFE_AUX none
 	set MK_MODE none
 	set FMU_MODE pwm
@@ -150,6 +196,7 @@ then
 	set MAV_TYPE none
 	set FAILSAFE none
 	set USE_IO yes
+	set LOGGER_BUF 16
 
 	#
 	# Set USE_IO flag
@@ -161,6 +208,12 @@ then
 			set USE_IO no
 		fi
 
+		if ver hwcmp PX4FMU_V5
+		then
+			set USE_IO no
+			set MAVLINK_COMPANION_DEVICE /dev/ttyS3
+		fi
+
 		if ver hwcmp MINDPX_V2
 		then
 			set USE_IO no
@@ -181,6 +234,11 @@ then
 		then
 			set USE_IO no
 		fi
+
+		if ver hwcmp AEROCORE2
+		then
+			set USE_IO no
+		fi
 	else
 		set USE_IO no
 	fi
@@ -202,11 +260,25 @@ then
 	#
 	if param compare SYS_AUTOSTART 0
 	then
+		ekf2 start
 	else
 		sh /etc/init.d/rc.autostart
 	fi
 	unset MODE
 
+	#
+	# If mount (gimbal) control is enabled and output mode is AUX, set the aux
+	# mixer to mount (override the airframe-specific MIXER_AUX setting)
+	#
+	if param compare MNT_MODE_IN -1
+	then
+	else
+		if param compare MNT_MODE_OUT 0
+		then
+			set MIXER_AUX mount
+		fi
+	fi
+
 	#
 	# Wipe incompatible settings for boards not having two outputs
 	if ver hwcmp PX4FMU_V4
@@ -214,6 +286,11 @@ then
 		set MIXER_AUX none
 	fi
 
+	if ver hwcmp PX4FMU_V5
+	then
+		set MIXER_AUX none
+	fi
+
 	if ver hwcmp AEROFC_V1
 	then
 		set MIXER_AUX none
@@ -225,7 +302,7 @@ then
 	set FCONFIG /fs/microsd/etc/config.txt
 	if [ -f $FCONFIG ]
 	then
-		echo "Custom: $FCONFIG"
+		echo "Custom: ${FCONFIG}"
 		sh $FCONFIG
 	fi
 	unset FCONFIG
@@ -235,6 +312,11 @@ then
 	#
 	if [ $AUTOCNF == yes ]
 	then
+		# Disable safety switch by default on Pixracer
+		if ver hwcmp PX4FMU_V4
+		then
+			param set CBRK_IO_SAFETY 22027
+		fi
 		param set SYS_AUTOCONFIG 0
 	fi
 	unset AUTOCNF
@@ -275,8 +357,8 @@ then
 
 			if px4io forceupdate 14662 ${IO_FILE}
 			then
-				usleep 500000
-				if px4io checkcrc $IO_FILE
+				usleep 10000
+				if px4io checkcrc ${IO_FILE}
 				then
 					echo "PX4IO CRC OK after updating" >> $LOG_FILE
 					tone_alarm MLL8CDE
@@ -284,11 +366,11 @@ then
 					set IO_PRESENT yes
 				else
 					echo "PX4IO update failed" >> $LOG_FILE
-					tone_alarm $TUNE_ERR
+					tone_alarm ${TUNE_ERR}
 				fi
 			else
 				echo "PX4IO update failed" >> $LOG_FILE
-				tone_alarm $TUNE_ERR
+				tone_alarm ${TUNE_ERR}
 			fi
 		fi
 		unset IO_FILE
@@ -296,7 +378,7 @@ then
 		if [ $IO_PRESENT == no ]
 		then
 			echo "PX4IO not found" >> $LOG_FILE
-			tone_alarm $TUNE_ERR
+			tone_alarm ${TUNE_ERR}
 		fi
 	fi
 
@@ -342,22 +424,36 @@ then
 		then
 			set FMU_MODE serial
 		fi
-		unset HIL
 	else
-		unset HIL
 		gps start
 	fi
 
+	set DATAMAN_OPT ""
+	if ver hwcmp AEROFC_V1
+	then
+		set DATAMAN_OPT -i
+	fi
+	if ver hwcmp AEROCORE2
+	then
+		set DATAMAN_OPT "-f /fs/mtd_dataman"
+	fi
 	# waypoint storage
 	# REBOOTWORK this needs to start in parallel
-	if dataman start
+	if dataman start $DATAMAN_OPT
 	then
 	fi
+	unset DATAMAN_OPT
 
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run)
 	#
-	sh /etc/init.d/rc.sensors
+	if [ $HIL == yes ]
+	then
+		sensors start -hil
+	else
+		sh /etc/init.d/rc.sensors
+	fi
+	unset HIL
 
 	# Needs to be this early for in-air-restarts
 	if [ $OUTPUT_MODE == hil ]
@@ -367,6 +463,10 @@ then
 	    commander start
 	fi
 
+	if send_event start_listening
+	then
+	fi
+
 	#
 	# Start CPU load monitor
 	#
@@ -386,17 +486,28 @@ then
 	fi
 
 	# Sensors on the PWM interface bank
-	# clear pins 5 and 6
 	if param compare SENS_EN_LL40LS 1
 	then
+		# clear pins 5 and 6
 		set FMU_MODE pwm4
 		set AUX_MODE pwm4
 	fi
 	if param greater TRIG_MODE 0
 	then
-		set FMU_MODE pwm4
-		set AUX_MODE pwm4
+		# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output
+		if param compare TRIG_PINS 56
+		then
+			# clear pins 5 and 6
+			set FMU_MODE pwm4
+			set AUX_MODE pwm4
+		else
+			set FMU_MODE none
+			set AUX_MODE none
+		fi
 		camera_trigger start
+
+		param set CAM_FBACK_MODE 1
+		camera_feedback start
 	fi
 
 	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
@@ -493,10 +604,10 @@ then
 		else
 			if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
 			then
-				if fmu mode_$FMU_MODE
+				if fmu mode_${FMU_MODE}
 				then
 				else
-					echo "FMU mode_$FMU_MODE start failed" >> $LOG_FILE
+					echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 
@@ -551,7 +662,7 @@ then
 	if [ "x$MAVLINK_F" == xnone ]
 	then
 	else
-		mavlink start $MAVLINK_F
+		mavlink start ${MAVLINK_F}
 	fi
 	unset MAVLINK_F
 
@@ -565,7 +676,7 @@ then
 		# but this works for now
 		if param compare SYS_COMPANION 10
 		then
-			frsky_telemetry start -d $MAVLINK_COMPANION_DEVICE
+			frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
 		fi
 		if param compare SYS_COMPANION 20
 		then
@@ -574,39 +685,52 @@ then
 		fi
 		if param compare SYS_COMPANION 921600
 		then
-			mavlink start -d $MAVLINK_COMPANION_DEVICE -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 $MAVLINK_COMPANION_DEVICE -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 460800
+		then
+			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 460800 -m onboard -r 5000 -x
 		fi
 		if param compare SYS_COMPANION 157600
 		then
-			mavlink start -d $MAVLINK_COMPANION_DEVICE -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 $MAVLINK_COMPANION_DEVICE -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
+			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
+			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000
 		fi
 		if param compare SYS_COMPANION 357600
 		then
-			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -r 1000
+			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000
+		fi
+		if param compare SYS_COMPANION 3115200
+		then
+			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -r 1000
+		fi
+		if param compare SYS_COMPANION 419200
+		then
+			iridiumsbd start -d /dev/ttyS2
+			mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
 		fi
 		if param compare SYS_COMPANION 1921600
 		then
-			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -r 20000
+			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
 		fi
 		if param compare SYS_COMPANION 1500000
 		then
-			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 1500000 -m onboard -r 100000 -x
+			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x
 		fi
 	fi
 
@@ -617,10 +741,12 @@ then
 	#
 	if param greater UAVCAN_ENABLE 0
 	then
-		if uavcan start fw
+		if uavcan start
 		then
+			set LOGGER_BUF 7
+			uavcan start fw
 		else
-			tone_alarm $TUNE_ERR
+			tone_alarm ${TUNE_ERR}
 		fi
 	fi
 
@@ -639,30 +765,46 @@ then
 		fi
 	fi
 
+	# Lidar-Lite on I2C
+	if param compare SENS_EN_LL40LS 2
+	then
+		if ll40ls start i2c
+		then
+		fi
+	fi
+
 	# lightware serial lidar sensor
 	if param compare SENS_EN_SF0X 0
 	then
 	else
-		sf0x start
+		if sf0x start
+		then
+		fi
 	fi
 
 	# lightware i2c lidar sensor
 	if param compare SENS_EN_SF1XX 0
 	then
 	else
-		sf1xx start
+		if sf1xx start
+		then
+		fi
 	fi
 
 	# mb12xx sonar sensor
 	if param compare SENS_EN_MB12XX 1
 	then
-		mb12xx start
+		if mb12xx start
+		then
+		fi
 	fi
 
 	# teraranger one tof sensor
 	if param compare SENS_EN_TRONE 1
 	then
-		trone start
+		if trone start
+		then
+		fi
 	fi
 
 	if ver hwcmp PX4FMU_V4
@@ -692,8 +834,12 @@ then
 		px4flow start &
 	fi
 
-	# Start MAVLink
-	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+	if ver hwcmp AEROFC_V1
+	then
+	else
+		# Start MAVLink
+		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+	fi
 
 	#
 	# Logging
@@ -719,6 +865,14 @@ then
 			fi
 		else
 			set LOGGER_ARGS ""
+			#
+			# Adjust FMUv5 logging settings
+			#
+			if ver hwcmp PX4FMU_V5
+			then
+				set LOGGER_BUF 64
+				param set SDLOG_MODE 3
+			fi
 			if param compare SDLOG_MODE 1
 			then
 				set LOGGER_ARGS "-e"
@@ -727,10 +881,18 @@ then
 			then
 				set LOGGER_ARGS "-f"
 			fi
-
-			if logger start -b 12 -t $LOGGER_ARGS
+			if param compare SDLOG_MODE 3
+			then
+				set LOGGER_ARGS "-f"
+			fi
+			if ver hwcmp AEROFC_V1
+			then
+				set LOGGER_ARGS "-m mavlink"
+			fi
+			if logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
 			then
 			fi
+			unset LOGGER_BUF
 			unset LOGGER_ARGS
 		fi
 	fi
@@ -760,7 +922,7 @@ then
 			set MAV_TYPE 1
 		fi
 
-		param set MAV_TYPE $MAV_TYPE
+		param set MAV_TYPE ${MAV_TYPE}
 
 		# Load mixer and configure outputs
 		sh /etc/init.d/rc.interface
@@ -786,7 +948,7 @@ then
 			then
 				set MAV_TYPE 2
 			fi
-			if [ $MIXER == quad_w -o $MIXER == sk450_deadcat ]
+			if [ $MIXER == quad_w -o $MIXER == quad_dc ]
 			then
 				set MAV_TYPE 2
 			fi
@@ -826,7 +988,7 @@ then
 			echo "Unknown MAV_TYPE"
 			param set MAV_TYPE 2
 		else
-			param set MAV_TYPE $MAV_TYPE
+			param set MAV_TYPE ${MAV_TYPE}
 		fi
 
 		# Load mixer and configure outputs
@@ -869,7 +1031,7 @@ then
 			echo "Unknown MAV_TYPE"
 			param set MAV_TYPE 19
 		else
-			param set MAV_TYPE $MAV_TYPE
+			param set MAV_TYPE ${MAV_TYPE}
 		fi
 
 		# Load mixer and configure outputs
@@ -880,20 +1042,29 @@ then
 	fi
 
 	#
-	# Rover setup
+	# UGV setup
 	#
-	if [ $VEHICLE_TYPE == rover ]
+	if [ $VEHICLE_TYPE == ugv ]
 	then
-		# 10 is MAV_TYPE_GROUND_ROVER
-		set MAV_TYPE 10
+		if [ $MIXER == none ]
+		then
+			# Set default mixer for UGV if not defined
+			set MIXER stampede
+		fi
+
+		if [ $MAV_TYPE == none ]
+		then
+			# Use MAV_TYPE = 10 (UGV) if not defined
+			set MAV_TYPE 10
+		fi
+
+		param set MAV_TYPE ${MAV_TYPE}
 
 		# 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
+		# Start standard UGV apps
+		sh /etc/init.d/rc.gnd_apps
 	fi
 
 	#
@@ -957,7 +1128,7 @@ then
 	set FEXTRAS /fs/microsd/etc/extras.txt
 	if [ -f $FEXTRAS ]
 	then
-		echo "Addons script: $FEXTRAS"
+		echo "Addons script: ${FEXTRAS}"
 		sh $FEXTRAS
 	fi
 	unset FEXTRAS
@@ -967,15 +1138,57 @@ then
 		# CF2 shouldn't have an sd card
 	else
 
-		# Run no SD alarm
-		if [ $LOG_FILE == /dev/null ]
+		if ver hwcmp AEROCORE2
 		then
-			# Play SOS
-			tone_alarm error
+			# AEROCORE2 shouldn't have an sd card
+		else
+
+			# Run no SD alarm
+			if [ $LOG_FILE == /dev/null ]
+			then
+				# Play SOS
+				tone_alarm error
+			fi
+
 		fi
 
 	fi
 
+	#
+	# Check if we should start a thermal calibration
+	# TODO move further up and don't start unnecessary services if we are calibrating
+	#
+	set TEMP_CALIB_ARGS ""
+	if param compare SYS_CAL_GYRO 1
+	then
+		set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -g"
+		param set SYS_CAL_GYRO 0
+	fi
+	if param compare SYS_CAL_ACCEL 1
+	then
+		set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -a"
+		param set SYS_CAL_ACCEL 0
+	fi
+	if param compare SYS_CAL_BARO 1
+	then
+		set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -b"
+		param set SYS_CAL_BARO 0
+	fi
+	if [ "x$TEMP_CALIB_ARGS" != "x" ]
+	then
+		send_event temperature_calibration ${TEMP_CALIB_ARGS}
+	fi
+	unset TEMP_CALIB_ARGS
+
+	# vmount to control mounts such as gimbals, disabled by default.
+	if param compare MNT_MODE_IN -1
+	then
+	else
+		if vmount start
+		then
+		fi
+	fi
+
 # End of autostart
 fi
 

ROMFS/px4fmu_common/mixers/bebop.main.mix

@@ -1,3 +1,13 @@
+#
+# @board px4fmu-v1 exclude
+# @board px4fmu-v2 exclude
+# @board px4fmu-v3 exclude
+# @board px4fmu-v4 exclude
+# @board px4fmu-v4pro exclude
+# @board px4fmu-v5 exclude
+# @board aerofc-v1 exclude
+#
+
 Multirotor mixer for Parrot Bebop
 =================================
 

ROMFS/px4fmu_common/mixers/blade130.main.mix

@@ -0,0 +1,16 @@
+Helicopter Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
+Blade 130x helicopter has longer servo arms left and right. The front servo arm is shortest and has normalized length 10000.
+==================================================
+
+H: 3
+T:      0   3000   6000   8000  10000
+P:    500   1500   2500   3500   4500
+# Swash plate servos:
+S:      0  10000  10000      0  -8000   8000
+S:    140  13054  10000      0  -8000   8000
+S:    220  13054  10000      0  -8000   8000
+
+# Tail servo:
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/caipi.main.mix

@@ -24,12 +24,12 @@ The scaling factor for roll inputs is adjusted to implement differential travel
 for the elevons.
 
 M: 2
-O:      10000  10000      3000 -10000  10000
+O:      10000  10000      0 -10000  10000
 S: 0 0   8000   8000      0 -10000  10000
 S: 0 1   9000   9000      0 -10000  10000
 
 M: 2
-O:      10000  10000      -3000 -10000  10000
+O:      10000  10000      0 -10000  10000
 S: 0 0   8000   8000      0 -10000  10000
 S: 0 1  -9000  -9000      0 -10000  10000
 

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/coax.main.mix

@@ -1,5 +1,5 @@
 Coaxial helicopter mixer
-- Two servomotors act on the swashplate (90° angle on the swashplate, decoupled effect on roll and pitch).
+- Two servomotors act on the swashplate (90 degree angle on the swashplate, decoupled effect on roll and pitch).
 - No collective pitch.
 - One motor per rotor.
 ===========================

ROMFS/px4fmu_common/mixers/heli_120deg.main.mix

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

ROMFS/px4fmu_common/mixers/mount.aux.mix

@@ -4,24 +4,20 @@
 # pitch
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 2 0  10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
 
 # roll
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 2 1  10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
 
 # yaw
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 2 2  10000  10000      0 -10000  10000
 
-# mode
+# Shutter/retract
 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/ocpoc_quad_x.main.mix

@@ -0,0 +1 @@
+R: 4x 10000 10000 10000 1300

ROMFS/px4fmu_common/mixers/quad_dc.main.mix

@@ -0,0 +1,6 @@
+Multirotor mixer
+===========================
+
+This file defines a single mixer for a quadrotor in DC wide arms configuration.  All controls are mixed 100%.
+
+R: 4dc 10000 10000 10000 0

ROMFS/px4fmu_common/mixers/quad_s250aq.main.mix

@@ -0,0 +1,7 @@
+R: 4s 10000 10000 10000 0
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 6  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/quad_x_can.main.mix

@@ -0,0 +1 @@
+R: 4x 10000 10000 10000 0