.gitignore

@@ -5,7 +5,6 @@
 *.px4log
 *.dSYM
 *.o
-*.gch
 *.pyc
 *~
 .*.swp
@@ -65,6 +64,7 @@ CMakeLists.txt.user
 GPATH
 GRTAGS
 GTAGS
+*.config
 *.creator
 *.creator.user
 *.files
@@ -73,7 +73,3 @@ GTAGS
 # uavcan firmware
 ROMFS/px4fmu_common/uavcan/
 vectorcontrol/
-
-
-# CLion ignores
-.idea

.gitmodules

@@ -1,15 +1,12 @@
 [submodule "mavlink/include/mavlink/v1.0"]
 	path = mavlink/include/mavlink/v1.0
-	url = https://github.com/mavlink/c_library_v1.git
-[submodule "mavlink/include/mavlink/v2.0"]
-	path = mavlink/include/mavlink/v2.0
-	url = https://github.com/mavlink/c_library_v2.git
+	url = git://github.com/mavlink/c_library.git
 [submodule "NuttX"]
 	path = NuttX
-	url = https://github.com/PX4/NuttX.git
+	url = git://github.com/PX4/NuttX.git
 [submodule "src/modules/uavcan/libuavcan"]
 	path = src/modules/uavcan/libuavcan
-	url = https://github.com/UAVCAN/libuavcan.git
+	url = git://github.com/UAVCAN/libuavcan.git
 [submodule "Tools/genmsg"]
 	path = Tools/genmsg
 	url = https://github.com/ros/genmsg.git
@@ -41,3 +38,6 @@
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/GpsDrivers.git
+[submodule "mavlink/include/mavlink/v2.0"]
+	path = mavlink/include/mavlink/v2.0
+	url = git://github.com/mavlink/c_library.git

.travis.yml

@@ -3,124 +3,134 @@
 
 language: cpp
 
-git:
-  depth: 1000
-
 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
+      sudo: false
+      env: GCC_VER=4.8
+    - os: linux
+      sudo: false
+      env: GCC_VER=4.9
     - os: osx
+      osx_image: xcode7
       sudo: true
-      osx_image: xcode8
-      env: CCACHE_CPP2=1
 
 cache:
-  ccache: true
-  pip: true
   directories:
-    - $HOME/.pip/cache/
-    - $HOME/Library/Caches/pip
+    - $HOME/.ccache
+
+addons:
+  apt:
+    sources:
+    - kubuntu-backports
+    - ubuntu-toolchain-r-test
+    - george-edison55-precise-backports
+    packages:
+    - build-essential
+    - ccache
+    - clang-3.5
+    - cmake
+    - g++-4.9
+    - gcc-4.9
+    - genromfs
+    - libc6-i386
+    - libncurses5-dev
+    - ninja-build
+    - python-argparse
+    - python-empy
+    - s3cmd
+    - texinfo
+    - zlib1g-dev
 
 before_install:
+  - cd ${TRAVIS_BUILD_DIR} && git fetch --unshallow && git fetch --all --tags
   - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-         cd ${TRAVIS_BUILD_DIR}
-      && git fetch --unshallow && git fetch --all --tags
-      && docker pull ${DOCKER_REPO}
+         pushd .
+      && cd ~ && mkdir gcc && cd gcc
+      && if [ "$GCC_VER" = "4.8" ]; then GCC_URL="https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2" ; fi
+      && if [ "$GCC_VER" = "4.9" ]; then GCC_URL="https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2" ; fi
+      && wget -O gcc.tar.bz2 ${GCC_URL}
+      && tar -jxf gcc.tar.bz2 --strip 1
+      && exportline="export PATH=$HOME/gcc/bin:\$PATH"
+      && if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
+      && . ~/.profile
+      && popd
+      && git clone git://github.com/PX4/CI-Tools.git
+      && ./CI-Tools/s3cmd-configure
+      && mkdir -p ~/bin
+      && wget -O ~/bin/astyle https://github.com/PX4/astyle/releases/download/2.05.1/astyle-linux && chmod +x ~/bin/astyle
+      && astyle --version
+      && if [ "$CXX" = "g++" ]; then export CXX="g++-4.9" CC="gcc-4.9"; fi
       ;
     elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-         sudo -H easy_install pip
-      && sudo -H pip install empy
-      && wget https://s3.amazonaws.com/px4-travis/toolchain/macos/ccache
-      && sudo mv ccache /usr/local/bin
-      && chmod +x /usr/local/bin/ccache
-      && mkdir -p ~/bin
-      && sudo ln -s /usr/local/bin/ccache ~/bin/c++
-      && sudo ln -s /usr/local/bin/ccache ~/bin/cc
-      && sudo ln -s /usr/local/bin/ccache ~/bin/clang
-      && sudo ln -s /usr/local/bin/ccache ~/bin/clang++
-      && sudo ln -s /usr/local/bin/ccache ~/bin/g++
-      && sudo ln -s /usr/local/bin/ccache ~/bin/gcc
-      && export PATH=~/bin:$PATH
-      && wget https://s3.amazonaws.com/px4-travis/toolchain/macos/ninja
-      && sudo mv ninja /usr/local/bin
-      && chmod +x /usr/local/bin/ninja
+         brew tap PX4/homebrew-px4
+      && brew update; brew update
+      && brew install cmake ninja
+      && brew install genromfs
+      && sudo easy_install pip
+      && sudo pip install empy
       ;
     fi
 
+before_script:
+# setup ccache
+  - mkdir -p ~/bin
+  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
+  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-gcc
+  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-size
+  - ln -s /usr/bin/ccache ~/bin/arm-none-eabi-objcopy
+  - ln -s /usr/bin/ccache ~/bin/clang++
+  - ln -s /usr/bin/ccache ~/bin/clang++-3.4
+  - ln -s /usr/bin/ccache ~/bin/clang++-3.5
+  - ln -s /usr/bin/ccache ~/bin/clang
+  - ln -s /usr/bin/ccache ~/bin/clang-3.4
+  - ln -s /usr/bin/ccache ~/bin/clang-3.5
+  - export PATH=~/bin:$PATH
+
 env:
   global:
+    - NINJA_BUILD=1
 # AWS KEY: $PX4_AWS_KEY
     - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
 # AWS SECRET: $PX4_AWS_SECRET
     - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
     - PX4_AWS_BUCKET=px4-travis
-    - GIT_SUBMODULES_ARE_EVIL=1
 
 script:
-  - ccache -M 1GB; ccache -z
+  - git submodule update --quiet --init --recursive
   - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-      docker run --rm -v `pwd`:`pwd`:rw -v $HOME/.ccache:$HOME/.ccache:rw -e CCACHE_DIR=$HOME/.ccache -e CI=true -e GIT_SUBMODULES_ARE_EVIL=1 -w=`pwd` --user=$UID -it ${DOCKER_REPO} /bin/bash -c "make check_qgc_firmware VECTORCONTROL=0";
+      arm-none-eabi-gcc --version && make check VECTORCONTROL=1;
     elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-      make tests;
+      make check_posix_sitl_default;
     fi
-  - ccache -s
 
 after_success:
-  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-         make package_firmware && mkdir s3deploy-archive && cp Firmware.zip s3deploy-archive/
-      && find . -type f -name 'nuttx-*-default.px4' -exec cp "{}" . \;
+  - if [[ "${TRAVIS_OS_NAME}" = "linux" && "${GCC_VER}" = "4.8" ]]; then
+         make package_firmware
+      && find . -name \*.px4 -exec cp "{}" . \;
       && find . -maxdepth 1 -mindepth 1 -type f -name 'nuttx-*-default.px4' | sed 's/.\/nuttx-//' | sed 's/-default.px4//' | xargs -I{} mv nuttx-{}-default.px4 {}_default.px4
-      && mkdir s3deploy-branch && mv *_default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml s3deploy-branch/;
-    fi
-  - if [[ "${TRAVIS_OS_NAME}" = "linux" && "$GCC_VER" == "4.9" ]]; then
-      export PX4_S3_DEPLOY=1;
+      && ./CI-Tools/s3cmd-put `find . -maxdepth 1 -mindepth 1 -type f -name '*_default.px4'` build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
+      && ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
+      && ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
+      && ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
+      && ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
+      && echo ""
+      && echo "Binaries have been posted to:" https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
+      ;
     fi
 
 deploy:
-# deploy *.px4 to S3 px4-travis/Firmware/$TRAVIS_BRANCH
-  - provider: s3
-    access_key_id: $PX4_AWS_KEY
-    secret_access_key:
-      secure: $PX4_AWS_SECRET
-    bucket: px4-travis
-    local_dir: s3deploy-branch
-    upload-dir: Firmware/$TRAVIS_BRANCH
-    acl: public_read
-    skip_cleanup: true
-    on:
-      all_branches: true
-      condition: $PX4_S3_DEPLOY = 1
-
-# deploy Firmware.zip to S3 px4-travis/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID
-  - provider: s3
-    access_key_id: $PX4_AWS_KEY
-    secret_access_key:
-      secure: $PX4_AWS_SECRET
-    bucket: px4-travis
-    local_dir: s3deploy-archive
-    upload-dir: archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID
-    acl: public_read
-    skip_cleanup: true
-    on:
-      all_branches: true
-      condition: $PX4_S3_DEPLOY = 1
-
-# on tags deploy Firmware.zip to Github releases
-  - provider: releases
-    api_key: 
-      secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
-    file: "Firmware.zip"
-    skip_cleanup: true
-    on:
-      tags: true
-      all_branches: true
-      repo: PX4/Firmware
-      condition: $GCC_VER = 4.9
+  provider: releases
+  api_key:
+    secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
+  file: "Firmware.zip"
+  skip_cleanup: true
+  on:
+    tags: true
+    all_branches: true
+    repo: PX4/Firmware
+    condition: $GCC_VER = 4.8
 
 notifications:
   webhooks:
@@ -129,8 +139,6 @@ notifications:
     on_success: always  # options: [always|never|change] default: always
     on_failure: always  # options: [always|never|change] default: always
   slack:
-    rooms:
-      - secure: "QKw73Zel/s3JAbe/7XyO9tPnJwiiGFpYzSjdR8lG3tYFjRdXZnhxG4c+G7bkgkaPTS4Hult33VXE3kcEqOI7+C+eRwRlZhDfL0knQbXVCxjcLjzmUFdoPOwurlgZDw66PFWCi5tZcLKSRo3u4U8ibT4WKi3jm9sDSyOcfBAucMU="
-    on_pull_requests: false
-    on_success: never  # options: [always|never|change] default: always
-    on_failure: never  # options: [always|never|change] default: always
+    secure: "QKw73Zel/s3JAbe/7XyO9tPnJwiiGFpYzSjdR8lG3tYFjRdXZnhxG4c+G7bkgkaPTS4Hult33VXE3kcEqOI7+C+eRwRlZhDfL0knQbXVCxjcLjzmUFdoPOwurlgZDw66PFWCi5tZcLKSRo3u4U8ibT4WKi3jm9sDSyOcfBAucMU="
+    on_success: change  # options: [always|never|change] default: always
+    on_failure: always  # options: [always|never|change] default: always

CMakeLists.txt

@@ -121,14 +121,6 @@
 # and leads to wrong toolchain detection
 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
 
-set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
-set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
-
-execute_process(
-	COMMAND Tools/check_submodules.sh
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
-
 # Use clang
 #SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
 #SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
@@ -140,13 +132,12 @@ execute_process(
 set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
 	STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
-set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
+set(CONFIG "nuttx_px4fmu-v2_default" CACHE STRING "desired configuration")
 file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
 set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
 set(THREADS "4" CACHE STRING
 	"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
@@ -161,22 +152,12 @@ set(target_name "${OS}-${BOARD}-${LABEL}")
 
 message(STATUS "${target_name}")
 
-# Define GNU standard installation directories
-include(GNUInstallDirs)
+# switch to ros CMake file if building ros
+if (${OS} STREQUAL "ros")
+	include("cmake/ros-CMakeLists.txt")
+else()  # otherwise use the rest of this file
 
-# Add support for external project building
-include(ExternalProject)
-
-# Setup install paths
-if(NOT CMAKE_INSTALL_PREFIX)
-	if (${OS} STREQUAL "posix")
-		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
-	endif()
-endif()
-message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
-
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
-message(STATUS "cmake module path: ${CMAKE_MODULE_PATH}")
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
 set(config_module "configs/${CONFIG}")
 include(${config_module})
 
@@ -207,9 +188,6 @@ if(DEFINED config_df_driver_list)
 	message("DF Drivers: ${config_df_driver_list}")
 endif()
 
-# force static lib build
-set(BUILD_SHARED_LIBS OFF)
-
 #=============================================================================
 # project definition
 #
@@ -224,28 +202,14 @@ if (NOT ${CMAKE_VERSION} VERSION_LESS 3.1.0)
 endif()
 
 set(version_major 1)
-set(version_minor 5)
-set(version_patch 0)
+set(version_minor 0)
+set(version_patch 1)
 set(version "${version_major}.${version_minor}.${version_patch}")
 set(package-contact "px4users@googlegroups.com")
 
 #=============================================================================
-# find programs and packages
+# programs
 #
-
-# see if catkin was invoked to build this
-if (CATKIN_DEVEL_PREFIX)
-	message(STATUS "catkin ENABLED")
-	find_package(catkin REQUIRED)
-	if (catkin_FOUND)
-		catkin_package()
-	else()
-		message(FATAL_ERROR "catkin not found")
-	endif()
-else()
-	message(STATUS "catkin DISABLED")
-endif()
-
 find_package(PythonInterp REQUIRED)
 
 #=============================================================================
@@ -253,11 +217,6 @@ find_package(PythonInterp REQUIRED)
 #
 enable_testing()
 
-#=============================================================================
-# generate compile command database
-#
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
 #=============================================================================
 # check required toolchain variables
 #
@@ -276,7 +235,7 @@ endforeach()
 px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
 px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
 px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
-px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
+px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
 px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
 px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
 px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
@@ -287,7 +246,7 @@ px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
 add_custom_target(submodule_clean
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 	COMMAND git submodule deinit -f .
 	COMMAND rm -rf .git/modules/*
 	)
@@ -297,12 +256,12 @@ add_custom_target(submodule_clean
 #
 add_custom_target(check_format
 	COMMAND Tools/check_code_style.sh
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 	)
 
 add_custom_target(config
 	COMMAND cmake-gui .
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
 	)
 
 #=============================================================================
@@ -319,15 +278,14 @@ px4_os_add_flags(
 	BOARD ${BOARD}
 	C_FLAGS c_flags
 	CXX_FLAGS cxx_flags
-	OPTIMIZATION_FLAGS optimization_flags
 	EXE_LINKER_FLAGS exe_linker_flags
 	INCLUDE_DIRS include_dirs
 	LINK_DIRS link_dirs
 	DEFINITIONS definitions)
 
 px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
-px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags};${optimization_flags}" GLUE " ")
-px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags};${optimization_flags}" GLUE " ")
+px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
+px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
 
 include_directories(${include_dirs})
 #message("INCLUDE_DIRS=${include_dirs}")
@@ -352,7 +310,7 @@ add_custom_target(xml_gen
 # external projects
 #
 
-set(ep_base ${PX4_BINARY_DIR}/external)
+set(ep_base ${CMAKE_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
 
 # add external project install folders to build
@@ -372,24 +330,6 @@ foreach(driver ${config_df_driver_list})
 	message("Adding DF driver: ${driver}")
 endforeach()
 
-#=============================================================================
-# external modules
-#
-if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
-	message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")
-	add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules_src)
-
-	set(config_module_list_external_expanded)
-	foreach(external_module ${config_module_list_external})
-		list(APPEND config_module_list_external_expanded
-			${EXTERNAL_MODULES_LOCATION}/src/${external_module})
-	endforeach()
-	set(config_module_list
-		${config_module_list}
-		${config_module_list_external_expanded}
-		)
-endif()
-
 #=============================================================================
 # subdirectories
 #
@@ -399,7 +339,7 @@ foreach(module ${config_module_list})
 	if(external_module)
 		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
 		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
-		add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
+		add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
 	else()
 		add_subdirectory(src/${module})
 	endif()
@@ -421,55 +361,22 @@ if (config_io_board)
 	add_subdirectory(src/modules/px4iofirmware)
 endif()
 
-#=============================================================================
-# generate custom target to print for all executable and module cmake targets
-#
-if(all_posix_cmake_targets)
-	list(SORT all_posix_cmake_targets)
-	px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
-	add_custom_target(list_cmake_targets
-		COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\""
-		COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:"
-		VERBATIM
-		)
-endif()
-
 #=============================================================================
 # generate git version
 #
-px4_create_git_hash_header(HEADER ${PX4_BINARY_DIR}/build_git_version.h)
+px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
 
 #=============================================================================
 # packaging
 #
 # Important to having packaging at end of cmake file.
 #
-execute_process(
-	COMMAND git describe --always --tags
-	OUTPUT_VARIABLE git_tag
-	OUTPUT_STRIP_TRAILING_WHITESPACE
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
-set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
 set(CPACK_PACKAGE_VERSION ${version})
-set(CPACK_PACKAGE_CONTACT ${package-contact})
-set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
-set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
-set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
-set(short-description "The px4 autopilot.")
-set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
+set(CPACK_PACKAGE_CONTACT ${package_contact})
 set(CPACK_GENERATOR "ZIP")
-set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
-set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}")
-set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
-set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
-set(CPACK_SET_DESTDIR "OFF")
-if ("${CMAKE_SYSTEM}" MATCHES "Linux")
-	find_program(DPKG_PROGRAM dpkg)
-	if (EXISTS ${DPKG_PROGRAM})
-		list (APPEND CPACK_GENERATOR "DEB")
-	endif()
-endif()
+set(CPACK_SOURCE_GENERATOR "ZIP")
 include(CPack)
 
+endif() # ros alternative endif
+
 # vim: set noet fenc=utf-8 ff=unix ft=cmake :

Documentation/px4_hil/UserGuide.md

@@ -66,8 +66,8 @@ Linux or Eagle with a working IP interface (?? does this need further instructio
 > adb shell
 # bash
 root@linaro-developer:/# cd ???
-root@linaro-developer:/# ./px4
-App name: px4
+root@linaro-developer:/# ./mainapp
+App name: mainapp
 Enter a command and its args:
 uorb start
 muorb start

Images/aerofc-v1.prototype

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

Images/auav-x21.prototype

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

Images/crazyflie.prototype

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

Images/px4fmu-v3.prototype

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

Images/tap-v1.prototype

@@ -1,12 +0,0 @@
-{
-    "board_id": 64,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the TAPv1 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "TAPv1",
-    "version": "0.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}

Makefile

@@ -42,7 +42,7 @@ endif
 CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?)
 ifneq ($(CMAKE_VER),0)
     $(warning Not a valid CMake version or CMake not installed.)
-    $(warning On Ubuntu 16.04, install or upgrade via:)
+    $(warning On Ubuntu, install or upgrade via:)
     $(warning )
     $(warning 3rd party PPA:)
     $(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
@@ -50,11 +50,11 @@ ifneq ($(CMAKE_VER),0)
     $(warning sudo apt-get install cmake)
     $(warning )
     $(warning Official website:)
-    $(warning wget https://cmake.org/files/v3.4/cmake-3.4.3-Linux-x86_64.sh)
-    $(warning chmod +x cmake-3.4.3-Linux-x86_64.sh)
-    $(warning sudo mkdir /opt/cmake-3.4.3)
-    $(warning sudo ./cmake-3.4.3-Linux-x86_64.sh --prefix=/opt/cmake-3.4.3 --exclude-subdir)
-    $(warning export PATH=/opt/cmake-3.4.3/bin:$$PATH)
+    $(warning wget https://cmake.org/files/v3.3/cmake-3.3.2-Linux-x86_64.sh)
+    $(warning chmod +x cmake-3.3.2-Linux-x86_64.sh)
+    $(warning sudo mkdir /opt/cmake-3.3.2)
+    $(warning sudo ./cmake-3.3.2-Linux-x86_64.sh --prefix=/opt/cmake-3.3.2 --exclude-subdir)
+    $(warning export PATH=/opt/cmake-3.3.2/bin:$$PATH)
     $(warning )
     $(error Fatal)
 endif
@@ -77,20 +77,17 @@ endif
 # in that directory with the target upload.
 
 #  explicity set default build target
-all: posix_sitl_default
+all: px4fmu-v2_default
 
 # Parsing
 # --------------------------------------------------------------------
 # assume 1st argument passed is the main target, the
 # rest are arguments to pass to the makefile generated
 # by cmake in the subdirectory
-FIRST_ARG := $(firstword $(MAKECMDGOALS))
 ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
 j ?= 4
 
-ifndef NO_NINJA_BUILD
 NINJA_BUILD := $(shell ninja --version 2>/dev/null)
-endif
 ifdef NINJA_BUILD
     PX4_CMAKE_GENERATOR ?= "Ninja"
     PX4_MAKE = ninja
@@ -103,41 +100,31 @@ ifdef SYSTEMROOT
 else
 	PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
 endif
-    PX4_MAKE = $(MAKE)
+    PX4_MAKE = make
     PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif
 
-# check if replay env variable is set & set build dir accordingly
-ifdef replay
-	BUILD_DIR_SUFFIX := _replay
-else
-	BUILD_DIR_SUFFIX :=
-endif
-
-# additional config parameters passed to cmake
-CMAKE_ARGS :=
-ifdef EXTERNAL_MODULES_LOCATION
-	CMAKE_ARGS := -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
-endif
-
-SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
-
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+@$(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)
++@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
++@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(PWD)/build_$@); fi
++@Tools/check_submodules.sh
++@(echo "PX4 CONFIG: $@" && cd $(PWD)/build_$@ && $(PX4_MAKE) $(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 [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
++@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake $(2) -G$(PX4_CMAKE_GENERATOR) || (cd .. && rm -rf $(PWD)/build_$@); fi
++@(cd $(PWD)/build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
+endef
+
+# create empty targets to avoid msgs for targets passed to cmake
+define cmake-targ
+$(1):
+	@#
+.PHONY: $(1)
 endef
 
 define colorecho
@@ -146,60 +133,104 @@ define colorecho
       @tput sgr0
 endef
 
-# Get a list of all config targets.
-ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed  -e 's:^.*/::' | sort))
-# Strip off leading nuttx_
-NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS)))
-
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
 #  Do not put any spaces between function arguments.
 
-# All targets.
-$(ALL_CONFIG_TARGETS):
+px4fmu-v1_default:
+	$(call cmake-build,nuttx_px4fmu-v1_default)
+
+px4fmu-v2_default:
+	$(call cmake-build,nuttx_px4fmu-v2_default)
+	
+px4fmu-v2_test:
+	$(call cmake-build,nuttx_px4fmu-v2_test)
+
+px4fmu-v4_default:
+	$(call cmake-build,nuttx_px4fmu-v4_default)
+
+px4-stm32f4discovery_default:
+	$(call cmake-build,nuttx_px4-stm32f4discovery_default)
+
+px4fmu-v2_ekf2:
+	$(call cmake-build,nuttx_px4fmu-v2_ekf2)
+
+mindpx-v2_default:
+	$(call cmake-build,nuttx_mindpx-v2_default)
+
+posix_sitl_default:
 	$(call cmake-build,$@)
 
-# Abbreviated config targets.
+posix_sitl_test:
+	$(call cmake-build,$@)
 
-# nuttx_ is left off by default; provide a rule to allow that.
-$(NUTTX_CONFIG_TARGETS):
-	$(call cmake-build,nuttx_$@)
+posix_sitl_replay:
+	$(call cmake-build,$@)
 
-all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
-
-posix: posix_sitl_default
-broadcast: posix_sitl_broadcast
-
-# Multi- config targets.
-
-eagle_default: posix_eagle_default qurt_eagle_default
-eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default
-excelsior_default: posix_excelsior_default qurt_excelsior_default
-
-# Deprecated config targets.
+posix_sitl_broadcast:
+	$(call cmake-build,$@)
 
 ros_sitl_default:
 	@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
 
-_sitl_deprecation:
+qurt_eagle_travis:
+	$(call cmake-build,$@)
+
+qurt_eagle_default:
+	$(call cmake-build,$@)
+
+posix_eagle_default:
+	$(call cmake-build,$@)
+
+eagle_default: posix_eagle_default qurt_eagle_default
+eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default
+
+qurt_eagle_legacy_driver_default:
+	$(call cmake-build,$@)	
+	
+posix_eagle_legacy_driver_default:
+	$(call cmake-build,$@) 
+
+qurt_excelsior_default:
+	$(call cmake-build,$@)
+
+posix_excelsior_default:
+	$(call cmake-build,$@)
+
+excelsior_default: posix_excelsior_default qurt_excelsior_default
+
+posix_rpi2_default:
+	$(call cmake-build,$@)
+
+posix_rpi2_release:
+	$(call cmake-build,$@)
+
+posix_bebop_default:
+	$(call cmake-build,$@)
+
+posix: posix_sitl_default
+
+broadcast: posix_sitl_broadcast
+
+sitl_deprecation:
 	@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
 	@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
 
-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
+run_sitl_quad: sitl_deprecation
+run_sitl_plane: sitl_deprecation
+run_sitl_ros: sitl_deprecation
 
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: uavcan_firmware check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
-.NOTPARALLEL:
+.PHONY: gazebo_build uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean
+.NOTPARALLEL: gazebo_build uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean
 
-# 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
+gazebo_build:
+	@mkdir -p build_gazebo
+	@if [ ! -e $(PWD)/build_gazebo/CMakeCache.txt ];then cd build_gazebo && cmake -Wno-dev -G$(PX4_CMAKE_GENERATOR) $(PWD)/Tools/sitl_gazebo; fi
+	@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS)
+	@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS) sdf
 
 uavcan_firmware:
 ifeq ($(VECTORCONTROL),1)
@@ -207,6 +238,45 @@ ifeq ($(VECTORCONTROL),1)
 	@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
 endif
 
+checks_defaults: \
+	check_px4fmu-v1_default \
+	check_px4fmu-v2_default \
+	check_mindpx-v2_default \
+	check_px4-stm32f4discovery_default \
+
+checks_bootloaders: \
+
+
+checks_tests: \
+	check_px4fmu-v2_test
+
+checks_alts: \
+	check_px4fmu-v2_ekf2 \
+
+checks_uavcan: \
+	check_px4fmu-v4_default_and_uavcan
+
+checks_sitls: \
+	check_posix_sitl_default \
+	check_posix_sitl_test \
+
+checks_last: \
+	check_unittest \
+	check_format \
+
+check: checks_defaults checks_tests checks_alts checks_uavcan checks_bootloaders checks_sitls checks_last
+
+check_format:
+	$(call colorecho,"Checking formatting with astyle")
+	@./Tools/fix_code_style.sh
+	@./Tools/check_code_style_all.sh
+
+check_%:
+	@echo
+	$(call colorecho,"Building" $(subst check_,,$@))
+	@$(MAKE) --no-print-directory $(subst check_,,$@)
+	@echo
+
 check_px4fmu-v4_default: uavcan_firmware
 check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
 	@echo
@@ -216,76 +286,37 @@ ifeq ($(VECTORCONTROL),1)
 	@rm -rf ROMFS/px4fmu_common/uavcan
 endif
 
-# All default targets that don't require a special build environment (currently built on semaphore-ci)
-check: 	check_px4fmu-v1_default \
-	check_px4fmu-v2_default \
-	check_px4fmu-v2_test \
-	check_px4fmu-v4_default_and_uavcan \
-	check_mindpx-v2_default \
-	check_posix_sitl_default \
-	check_tap-v1_default \
-	check_aerofc-v1_default \
-	check_px4-stm32f4discovery_default \
-	check_crazyflie_default \
-	check_tests \
-	check_format
-
-# quick_check builds a single nuttx and posix target, runs testing, and checks the style
-quick_check: check_posix_sitl_default check_px4fmu-v4_default check_tests check_format
-
-check_format:
-	$(call colorecho,"Checking formatting with astyle")
-	@./Tools/check_code_style_all.sh
-	@git diff --check
-
-format:
-	$(call colorecho,"Formatting with astyle")
-	@./Tools/check_code_style_all.sh --fix
-
-check_%:
-	@echo
-	$(call colorecho,"Building" $(subst check_,,$@))
-	@$(MAKE) --no-print-directory $(subst check_,,$@)
-	@echo
-
-unittest: posix_sitl_default
+unittest: posix_sitl_test
+	@export CC=clang
+	@export CXX=clang++
+	@export ASAN_OPTIONS=symbolize=1
 	$(call cmake-build-other,unittest, ../unittests)
 	@(cd build_unittest && ctest -j2 --output-on-failure)
-
-run_tests_posix: posix_sitl_default
-	@(cd build_posix_sitl_default/ && ctest -V)
-
-tests: check_unittest run_tests_posix
-
-# 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
+	
+test_onboard_sitl:
+	@HEADLESS=1 make posix_sitl_test gazebo_iris
 
 package_firmware:
 	@zip --junk-paths Firmware.zip `find . -name \*.px4`
 
 clean:
 	@rm -rf build_*/
-	-@$(MAKE) -C NuttX/nuttx clean
+	@(cd NuttX/nuttx && make clean)
 
 submodulesclean:
 	@git submodule sync --recursive
 	@git submodule deinit -f .
 	@git submodule update --init --recursive --force
 
-distclean: submodulesclean clean
-	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea"
+distclean: submodulesclean
+	@git clean -ff -x -d -e ".project" -e ".cproject"
 
-# 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 '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
+# targets handled by cmake
+cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
+	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim replay \
+	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
+	gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane gazebo_solo
+$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
 
 .PHONY: clean
 
@@ -296,22 +327,3 @@ CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
 #	@echo "Type 'make ' and hit the tab key twice to see a list of the available"
 #	@echo "build configurations."
 #	@echo
-
-empty :=
-space := $(empty) $(empty)
-
-# Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
-help:
-	@echo "Usage: $(MAKE) <target>"
-	@echo "Where <target> is one of:"
-	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
-		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
-	@echo
-	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
-	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
-
-# Print a list of all config targets.
-list_config_targets:
-	@for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done
-

NuttX

@@ -1 +1 @@
-Subproject commit af5d2b058c55431607aa5aa29fc1d1bbc7e51089
+Subproject commit f0f4bdc872d324f64e9d93d6f8989d3c1dfa2633

README.md

@@ -1,65 +1,35 @@
 ## PX4 Pro Drone Autopilot ##
 
-[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware) [![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)
+[![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)
 
 [![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
 
 This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the src/modules directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
-*   Official Website: http://px4.io (License: BSD 3-clause, [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
-*   Supported airframes (more experimental types than listed here are supported):
+*   Official Website: http://px4.io
+*   License: BSD 3-clause (see [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
+*   Supported airframes (more experimental are supported):
   * [Multicopters](http://px4.io/portfolio_category/multicopter/)
   * [Fixed wing](http://px4.io/portfolio_category/plane/)
   * [VTOL](http://px4.io/portfolio_category/vtol/)
-*   Releases: [Downloads](https://github.com/PX4/Firmware/releases)
+*   Releases
+  * [Downloads](https://github.com/PX4/Firmware/releases)
 
 ### Users ###
 
-Please refer to the [user documentation](http://px4.io/user-guide/) and [user forum](http://discuss.px4.io) for flying drones with the PX4 flight stack.
+Please refer to the [user documentation](http://px4.io) and [user forum](http://discuss.px4.io) for flying drones with the PX4 flight stack.
 
 ### Developers ###
 
-  * [Developer Forum](http://discuss.px4.io)
+  * [Developer Forum / Mailing list](http://groups.google.com/group/px4users)
   * [Guide for Contributions](https://github.com/PX4/Firmware/blob/master/CONTRIBUTING.md)
   * [Developer guide](http://dev.px4.io)
 
-## Maintenance Team
-
-  * Project / Founder - [Lorenz Meier](http://github.com/LorenzMeier)
-  * Dev Call - [Mark Whitehorn](http://github.com/kd0aij), [Ramon Roche](http://github.com/mrpollo)
-  * Communication Architecture - [Beat Kueng](http://github.com/bkueng), [Julian Oes](http://github.com/JulianOes)
-  * UI / UX - [Gus Grubba](http://github.com/dogmaphobic)
-  * Multicopter Flight Control - [Dennis Mannhart](http://github.com/Stifael), [Matthias Grob](http://github.com/MaEtUgR)
-  * VTOL Flight Control - [Roman Bapst](http://github.com/tumbili), [Andreas Antener](http://github.com/AndreasAntener), [Sander Smeets](http://github.com/sanderux)
-  * Fixed Wing Flight Control - [Daniel Agar](http://github.com/dagar), [Paul Riseborough](http://github.com/priseborough)
-  * Racers - [Mark Whitehorn](http://github.com/kd0aij)
-  * OS / drivers - [David Sidrane](http://github.com/david_s5)
-  * UAVCAN / Industrial - [Pavel Kirienko](http://github.com/pavel-kirienko)
-  * State Estimation - [James Goppert](http://github.com/jgoppert), [Paul Riseborough](http://github.com/priseborough)
-  * VIO - Christoph Tobler
-  * Obstacle Avoidance - [Vilhjalmur Vilhjalmsson](http://github.com/vilhjalmur89)
-  * Snapdragon - [Mark Charlebois](http://github.com/mcharleb)
-  * Intel Aero - [Lucas de Marchi](http://github.com/lucasdemarchi), [Simone Guscetti](http://github.com/simonegu)
-  * Raspberry Pi / Navio - [Beat Kueng](http://github.com/bkueng)
-  * Parrot Bebop - [Michael Schaeuble](http://github.com/eyeam3)
-
-## Supported Hardware
 
 This repository contains code supporting these boards:
   * [Snapdragon Flight](http://dev.px4.io/hardware-snapdragon.html)
-  * Intel Aero
-  * Raspberry PI with Navio 2
-  * [Parrot Bebop](http://dev.px4.io/starting-building.html#parrot-bebop)
   * FMUv1.x
-  * FMUv2.x ([Pixhawk](http://dev.px4.io/hardware-pixhawk.html) and [Pixfalcon](http://dev.px4.io/hardware-pixfalcon.html))
-  * FMUv3.x ([Pixhawk 2](http://dev.px4.io/hardware-pixhawk.html))
-  * FMUv4.x (Pixhawk 3 Pro and [Pixracer](http://dev.px4.io/hardware-pixracer.html))
-  * FMUv5.x (ARM Cortex M7, future Pixhawk)
+  * FMUv2.x ([Pixhawk](http://dev.px4.io/hardware-pixhawk.html), Pixhawk 2 and [Pixfalcon](http://dev.px4.io/hardware-pixfalcon.html))
+  * FMUv4.x (Pixhawk X and [Pixracer](http://dev.px4.io/hardware-pixracer.html))
   * AeroCore (v1 and v2)
   * STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
-  * MindPX V2.8 [Tutorial] (http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
-  * MindRacer V1.2 [Tutorial] (http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-
-## Project Milestones
-
-The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by Lorenz Meier.

ROMFS/px4fmu_common/init.d/10019_sk450_deadcat

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

ROMFS/px4fmu_common/init.d/10020_3dr_quad

@@ -7,7 +7,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-sh /etc/init.d/4001_quad_x
+sh /etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF == yes ]
 then
@@ -21,3 +21,10 @@ then
 	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 4
 fi
+
+set MIXER quad_x
+
+set PWM_OUT 1234
+
+set PWM_MIN 1100
+set PWM_MAX 1950

ROMFS/px4fmu_common/init.d/10021_H4_680mm

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

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

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

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

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

ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad

@@ -1,17 +1,10 @@
 #!nsh
 #
-# @name Fun Cub Quad VTOL
+# @name Fun Cub Quad VTOL.
+#
 # @type Standard VTOL
+#
 # @maintainer Simon Wilks <simon@uaventure.com>
-# @output MAIN1 Front right motor: CCW
-# @output MAIN2 Back left motor: CCW
-# @output MAIN3 Front left motor: CW
-# @output MAIN4 Back right motor: CW
-# @output AUX1 Aileron 1
-# @output AUX2 Aileron 2
-# @output AUX3 Elevator
-# @output AUX4 Rudder
-# @output AUX5 Throttle
 #
 
 sh /etc/init.d/rc.vtol_defaults
@@ -40,8 +33,6 @@ then
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
-	param set MC_YAWRATE_MAX 40
-	param set MC_YAWRAUTO_MAX 40
 
 	param set FW_PR_FF 0.5
 	param set FW_PR_I 0.02

ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta

@@ -1,15 +1,10 @@
 #!nsh
 #
-# @name Generic quad delta VTOL
+# @name Generic quad delta VTOL.
+#
 # @type Standard VTOL
+#
 # @maintainer Simon Wilks <simon@uaventure.com>
-# @output MAIN1 Front right motor: CCW
-# @output MAIN2 Back left motor: CCW
-# @output MAIN3 Front left motor: CW
-# @output MAIN4 Back right motor: CW
-# @output AUX1 Right elevon
-# @output AUX2 Left elevon
-# @output AUX3 Motor
 #
 
 sh /etc/init.d/rc.vtol_defaults
@@ -20,28 +15,22 @@ then
 	param set VT_MOT_COUNT 4
 	param set VT_TRANS_THR 0.75
 
-	param set MC_ROLL_P 6.5
+	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.01
+	param set MC_ROLLRATE_I 0.002
 	param set MC_ROLLRATE_D 0.003
 	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.01
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCHRATE_I 0.002
 	param set MC_PITCHRATE_D 0.003
 	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 3.5
+	param set MC_YAW_P 2.8
 	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
-	param set MC_YAWRATE_MAX 20
-	param set MC_YAWRAUTO_MAX 20
-
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P 0.1
-	param set MPC_ACC_HOR_MAX 2.0
 
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080

ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad

@@ -31,8 +31,6 @@ then
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
-	param set MC_YAWRATE_MAX 40
-	param set MC_YAWRAUTO_MAX 40
 
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080

ROMFS/px4fmu_common/init.d/13008_QuadRanger

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

ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger

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

ROMFS/px4fmu_common/init.d/13010_claire

@@ -1,36 +0,0 @@
-#!nsh
-#
-# @name CruiseAder Claire
-#
-# @type VTOL Tiltrotor
-#
-# @maintainer Samay Siga <samay_s@icloud.com>
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-param set VT_TYPE 1
-param set VT_TILT_MC 0.08
-param set VT_TILT_TRANS 0.5
-param set VT_TILT_FW 0.9
-
-param set VT_MOT_COUNT 4
-param set VT_IDLE_PWM_MC 1080
-param set VT_TYPE 1
-fi
-
-set MIXER claire
-set PWM_OUT 1234
-set PWM_RATE 400
-set PWM_MAX 2000
-
-set MIXER_AUX claire
-set PWM_AUX_RATE 50
-set PWM_AUX_RATE 123
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
-set PWM_AUX_DISARMED 1000
-
-set MAV_TYPE 21

ROMFS/px4fmu_common/init.d/15001_coax_heli

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

ROMFS/px4fmu_common/init.d/16001_helicopter

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

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

@@ -11,44 +11,31 @@ sh /etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF == yes ]
 then
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 12.5
-	param set FW_AIRSPD_TRIM 16.5
-	param set LNDFW_AIRSPD_MAX 6
-	param set LNDFW_VELI_MAX 4
-	param set LNDFW_VEL_XY_MAX 3
-	param set LNDFW_VEL_Z_MAX 5
-	param set FW_R_TC 0.4
-	param set FW_P_TC 0.4
-	param set FW_THR_CRUISE 0.55
-	param set FW_L1_DAMPING 0.75
-	param set FW_L1_PERIOD 15
+	param set FW_AIRSPD_MAX 20
+	param set FW_AIRSPD_MIN 12
+	param set FW_AIRSPD_TRIM 16
+	param set FW_R_TC 0.3
+	param set FW_P_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
-	param set FW_LND_FLALT 8
+	param set FW_LND_FLALT 5
 	param set FW_LND_HHDIST 15
 	param set FW_LND_HVIRT 13
-	param set FW_LND_TLALT 10
+	param set FW_LND_TLALT 5
 	param set FW_THR_LND_MAX 0
-	param set FW_P_LIM_MAX 20
-	param set FW_P_LIM_MIN -30
-	param set FW_R_LIM 45
-	param set FW_PR_FF 0.45
+	param set FW_PR_FF 0.35
 	param set FW_PR_IMAX 0.4
-	param set FW_PR_P 0.005
-	param set FW_RR_FF 0.45
+	param set FW_PR_P 0.08
+	param set FW_RR_FF 0.6
 	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.013
-	param set FW_P_RMAX_NEG 70
-	param set FW_P_RMAX_POS 70
-	param set FW_R_RMAX 70
+	param set FW_RR_P 0.04
 	param set SYS_COMPANION 157600
+	param set PWM_MAIN_REV0 1
 	param set PWM_MAIN_REV1 1
-	param set PWM_MAIN_REV2 1
 	param set PWM_DISARMED 0
 	param set PWM_MIN 900
 	param set PWM_MAX 2100
-	param set MIS_TAKEOFF_ALT 50
-	param set NAV_LOITER_RAD 30
 fi
 
 set PWM_DISARMED p:PWM_DISARMED

ROMFS/px4fmu_common/init.d/4002_qavr5

@@ -1,36 +0,0 @@
-#!nsh
-#
-# @name Lumenier QAV-R (raceblade) 5" arms
-#
-# @type Quadrotor x
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer James Goppert <james.goppert@gmail.com>
-#
-
-sh /etc/init.d/4001_quad_x
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLL_P 8.0
-	param set MC_ROLLRATE_P 0.08
-	param set MC_ROLLRATE_I 0.16
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 8.0
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.2
-	param set MC_PITCHRATE_D 0.003
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.15
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
-	param set MC_TPA_BREAK 0.7
-	param set MC_TPA_SLOPE 1.0
-	param set PWM_MIN 1075
-	param set MPC_THR_MIN 0.06
-	param set MPC_MANTHR_MIN 0.06
-fi

ROMFS/px4fmu_common/init.d/4002_quad_x_mount

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

ROMFS/px4fmu_common/init.d/4008_ardrone

@@ -29,7 +29,7 @@ then
     param set MC_YAWRATE_D 0.0
     param set MC_YAW_FF 0.8
 
-    param set BAT_V_DIV 34.32838
+    param set BAT_V_SCALING 0.00838095238
 fi
 
 set OUTPUT_MODE ardrone

ROMFS/px4fmu_common/init.d/4009_qav250

@@ -4,15 +4,9 @@
 #
 # @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 +33,4 @@ then
 	param set MPC_MANTHR_MIN 0.06
 	param set CBRK_IO_SAFETY 22027
 	param set ATT_BIAS_MAX 0.0
-	param set MC_TPA_BREAK 0.5
- 	param set MC_TPA_SLOPE 1.0
 fi

ROMFS/px4fmu_common/init.d/4013_bebop

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

ROMFS/px4fmu_common/init.d/4030_solo

@@ -79,7 +79,7 @@ then
     param set RC5_TRIM          1500
 fi
 
-set MIXER quad_x
+set MIXER solo
 
 set PWM_OUT 1234
 set MIXER_AUX none

ROMFS/px4fmu_common/init.d/4050_generic_250

@@ -4,15 +4,9 @@
 #
 # @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>
 #
@@ -26,9 +20,9 @@ then
 	param set MC_ROLLRATE_I 0.1
 	param set MC_ROLLRATE_D 0.0055
 	param set MC_PITCH_P 8.0
-	param set MC_PITCHRATE_P 0.19
+	param set MC_PITCHRATE_P 0.24
 	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.0055
+	param set MC_PITCHRATE_D 0.0065
 	param set MC_YAW_P 4.0
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
@@ -39,9 +33,6 @@ then
 	param set MC_YAWRATE_MAX 400.0
 	param set MC_ACRO_R_MAX 360.0
 	param set MC_ACRO_P_MAX 360.0
-	param set MC_TPA_BREAK 0.5
-	param set MC_TPA_SLOPE 1.0
-	
 
 	param set PWM_MIN 1075
 

ROMFS/px4fmu_common/init.d/4060_dji_matrice_100

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

ROMFS/px4fmu_common/init.d/4070_aerofc

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

ROMFS/px4fmu_common/init.d/4900_crazyflie

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

ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps

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

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -6,7 +6,7 @@
 #
 # Start the attitude and position estimator
 #
-ekf2 start
+ekf_att_pos_estimator start
 
 #
 # Start attitude controller

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -11,12 +11,12 @@ then
 	param set RTL_DESCEND_ALT 100
 	param set RTL_LAND_DELAY -1
 
-	# FW uses L1 distance for acceptance radius 
-	#  set a smaller NAV_ACC_RAD for vertical acceptance distance
-	param set NAV_ACC_RAD 10
-	
-	param set MIS_LTRMIN_ALT 25
-	param set MIS_TAKEOFF_ALT 25
+	param set NAV_ACC_RAD 50
+
+	param set PE_VELNE_NOISE 0.3
+	param set PE_VELD_NOISE 0.35
+	param set PE_POSNE_NOISE 0.5
+	param set PE_POSD_NOISE 1.0
 fi
 
 # This is the gimbal pass mixer

ROMFS/px4fmu_common/init.d/rc.interface

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

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -8,25 +8,18 @@
 #---------------------------------------
 # Estimator group selction
 #
-# INAV (deprecated)
+# INAV
 if param compare SYS_MC_EST_GROUP 0
 then
-	echo "ERROR [init] Estimator INAV deprecated. Using LPE"
-	param set SYS_MC_EST_GROUP 1
-	param save
+	attitude_estimator_q start
+	position_estimator_inav start
 fi
 
 # LPE
 if param compare SYS_MC_EST_GROUP 1
 then
-	# Try to start LPE. If it fails, start EKF2 as a default
-	# Unfortunately we do not build it on px4fmu-v2 duo to a limited flash.
-	if attitude_estimator_q start
-	then
-		local_position_estimator start
-	else
-		ekf2 start
-	fi
+	attitude_estimator_q start
+	local_position_estimator start
 fi
 
 # EKF
@@ -36,9 +29,19 @@ then
 fi
 #---------------------------------------
 
-mc_att_control start
+if mc_att_control start
+then
+else
+	# try the multiplatform version
+	mc_att_control_m start
+fi
 
-mc_pos_control start
+if mc_pos_control start
+then
+else
+	# try the multiplatform version
+	mc_pos_control_m start
+fi
 
 #
 # Start Land Detector

ROMFS/px4fmu_common/init.d/rc.mc_defaults

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

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -8,47 +8,19 @@ then
 	if ms5611 start
 	then
 	fi
-
 else
-	if ver hwcmp AEROFC_V1
+	# Configure all I2C buses to 100 KHz as they
+	# are all external or slow
+	fmu i2c 1 100000
+	fmu i2c 2 100000
+
+	if ms5611 -s start
 	then
-		# Aero FC uses separate driver
-	else
-		if ver hwcmp CRAZYFLIE
-		then
-			# Crazyflie uses separate driver
-		else
-			# Configure all I2C buses to 100 KHz as they
-			# are all external or slow
-			fmu i2c 1 100000
-			fmu i2c 2 100000
-		fi
+	fi
 
-		if ver hwcmp PX4FMU_V4
-		then
-			# We know there are sketchy boards out there
-			# as chinese companies produce Pixracers without
-			# fully understanding the critical parts of the
-			# schematic and BOM, leading to sensor brownouts
-			# on boot. Original Pixracers following the
-			# open hardware design do not require this.
-			fmu sensor_reset 50
-		fi
-
-		# External SPI
-		if ms5611 -S start
-		then
-		fi
-
-		# Internal SPI
-		if ms5611 -s start
-		then
-		fi
-
-		# Blacksheep telemetry
-		if bst start
-		then
-		fi
+	# Blacksheep telemetry
+	if bst start
+	then
 	fi
 fi
 
@@ -56,29 +28,6 @@ if adc start
 then
 fi
 
-if ver hwcmp AUAV_X21
-then
-	# I2C bus
-	if hmc5883 -C -T start
-	then
-	fi
-
-	# I2C bus
-	if lis3mdl start
-	then
-	fi
-
-	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
-	if mpu6000 -R 2 -T 20608 start
-	then
-	fi
-
-	# Internal SPI bus mpu9250 is rotated 90 deg yaw
-	if mpu9250 -R 2 start
-	then
-	fi
-fi
-
 if ver hwcmp PX4FMU_V2
 then
 	# External I2C bus
@@ -96,30 +45,16 @@ then
 	then
 	fi
 
-	# Internal SPI bus ICM-20608-G
-	if mpu6000 -T 20608 start
-	then
-	fi
-
 	# external MPU6K is rotated 180 degrees yaw
-	if mpu6000 -S -R 4 start
+	if mpu6000 -X -R 4 start
 	then
 		set BOARD_FMUV3 true
 	else
-		# Check for Pixhawk 2.1 board
-		if mpu9250 -S -R 4 start
-		then
-			set BOARD_FMUV3 true
-		else
-			set BOARD_FMUV3 false
-		fi
+		set BOARD_FMUV3 false
 	fi
 
 	if [ $BOARD_FMUV3 == true ]
 	then
-		# sensor heating is available, but we disable it for now
-		param set SENS_EN_THERMAL 0
-
 		# external L3GD20H is rotated 180 degrees yaw
 		if l3gd20 -X -R 4 start
 		then
@@ -133,10 +68,6 @@ then
 		# internal MPU6000 is rotated 180 deg roll, 270 deg yaw
 		if mpu6000 -R 14 start
 		then
-		else
-			if mpu9250 -R 14 start
-			then
-			fi
 		fi
 
 		if hmc5883 -C -T -S -R 8 start
@@ -153,10 +84,6 @@ then
 		then
 		fi
 
-		if mpu9250 start
-		then
-		fi
-
 		if l3gd20 start
 		then
 		fi
@@ -188,19 +115,10 @@ then
 	then
 	fi
 
-	# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
-	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
-	# will prevent the incorrect driver from a successful initialization.
-
 	# Internal SPI bus mpu9250 is rotated 90 deg yaw
 	if mpu9250 -R 2 start
 	then
 	fi
-
-	# Internal SPI bus BMI160
-	if bmi160 start
-	then
-	fi
 fi
 
 if ver hwcmp PX4FMU_V1
@@ -238,63 +156,24 @@ fi
 
 if ver hwcmp MINDPX_V2
 then
+	if mpu6500 start
+	then
+	fi
+
+	if lsm303d start
+	then
+	fi
+
+	if l3gd20 start
+	then
+	fi
+
 	# External I2C bus
 	if hmc5883 -C -T -X start
 	then
 	fi
 
-	# Internal I2C bus
-	if hmc5883 -C -T -I -R 8 start
-	then
-	fi
-
-	if mpu6500 -R 8 start
-	then
-	fi
-
-	if lsm303d -R 10 start
-	then
-	fi
-
-	if l3gd20 -R 14 start
-	then
-	fi
-fi
-
-if ver hwcmp CRAZYFLIE
-then
-	# Onboard I2C
-	if mpu9250 -R 12 start
-	then
-	fi
-
-	# I2C bypass of mpu 
-	if lps25h start
-	then
-	fi
-fi
-
-if ver hwcmp AEROFC_V1
-then
-	if ms5611 start
-	then
-	fi
-
-	if mpu6500 -R 14 start
-	then
-	fi
-
-	# Internal compass
-	if hmc5883 -I -R 4 start
-	then
-	fi
-
-	# Possible external compasses
-	if hmc5883 -X start
-	then
-	fi
-
-	if ist8310 -C -b 1 -R 8 start
+	if lis3mdl -R 2 start
 	then
 	fi
 fi
@@ -311,7 +190,7 @@ else
 	fi
 fi
 
-if sf1xx start
+if sf10a start
 then
 fi
 

ROMFS/px4fmu_common/init.d/rc.uavcan

@@ -0,0 +1,29 @@
+#!nsh
+#
+# UAVCAN initialization script.
+#
+
+#
+# Starting stuff according to UAVCAN_ENABLE value
+#
+if param greater UAVCAN_ENABLE 0
+then
+	if uavcan start
+	then
+		echo "[i] UAVCAN started"
+	else
+		echo "[i] ERROR: Could not start UAVCAN"
+		tone_alarm $TUNE_ERR
+	fi
+fi
+
+if param greater UAVCAN_ENABLE 1
+then
+	if uavcan start fw
+	then
+		echo "[i] UAVCAN servers started"
+	else
+		echo "[i] ERROR: Could not start UAVCAN servers"
+		tone_alarm $TUNE_ERR
+	fi
+fi

ROMFS/px4fmu_common/init.d/rc.usb

@@ -0,0 +1,9 @@
+#!nsh
+#
+# USB MAVLink start
+#
+
+mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+
+# Exit shell to make it available to MAVLink
+exit

ROMFS/px4fmu_common/init.d/rc.vtol_apps

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

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -8,6 +8,12 @@ then
 	param set MC_PITCH_P 6.0
 	param set MC_YAW_P 4
 
+	param set PE_VELNE_NOISE 0.5
+	param set PE_VELD_NOISE 0.3
+	param set PE_POSNE_NOISE 0.5
+	param set PE_POSD_NOISE 1.25
+	param set PE_ABIAS_PNOISE 0.0001
+
 	#
 	# Default parameters for mission and position handling
 	#
@@ -28,6 +34,15 @@ set PWM_DISARMED p:PWM_DISARMED
 set PWM_MIN p:PWM_MIN
 set PWM_MAX p:PWM_MAX
 
+# Transitional support: ensure suitable PWM min/max param values
+if param compare PWM_MIN 1000
+then
+	param set PWM_MIN 1075
+fi
+if param compare PWM_MAX 2000
+then
+	param set PWM_MAX 1950
+fi
 if param compare PWM_DISARMED 0
 then
 	param set PWM_DISARMED 900

ROMFS/px4fmu_common/init.d/rcS

@@ -109,16 +109,6 @@ then
 		set AUTOCNF yes
 	else
 		set AUTOCNF no
-
-		#
-		# Release 1.4.0 transitional support:
-		# set to old default if unconfigured.
-		# this preserves the previous behaviour
-		#
-		if param compare BAT_N_CELLS 0
-		then
-			param set BAT_N_CELLS 3
-		fi
 	fi
 
 	#
@@ -145,7 +135,6 @@ then
 	set FMU_MODE pwm
 	set AUX_MODE pwm
 	set MAVLINK_F default
-	set MAVLINK_COMPANION_DEVICE /dev/ttyS2
 	set EXIT_ON_END no
 	set MAV_TYPE none
 	set FAILSAFE none
@@ -165,36 +154,18 @@ then
 		then
 			set USE_IO no
 		fi
-
-		if ver hwcmp CRAZYFLIE
-		then
-			set USE_IO no
-
-			if param compare SYS_AUTOSTART 0
-			then
-				param set SYS_AUTOSTART 4900
-				set AUTOCNF yes
-			fi
-		fi
-
-		if ver hwcmp AEROFC_V1
-		then
-			set USE_IO no
-		fi
 	else
 		set USE_IO no
 	fi
 
-	if ver hwcmp AEROFC_V1
+	# should set to 0.8 for mindpx-v2 borad.
+	if param compare INAV_LIDAR_ERR 0.5
 	then
-		if param compare SYS_AUTOSTART 0
+		if ver hwcmp MINDPX_V2
 		then
-			set AUTOCNF yes
+			param set INAV_LIDAR_ERR 0.8
+			param save
 		fi
-
-		# We don't allow changing AUTOSTART as it doesn't work in
-		# other configurations
-		param set SYS_AUTOSTART 4070
 	fi
 
 	#
@@ -202,6 +173,7 @@ then
 	#
 	if param compare SYS_AUTOSTART 0
 	then
+		echo "INFO  [init] No autostart"
 	else
 		sh /etc/init.d/rc.autostart
 	fi
@@ -214,18 +186,13 @@ then
 		set MIXER_AUX none
 	fi
 
-	if ver hwcmp AEROFC_V1
-	then
-		set MIXER_AUX none
-	fi
-
 	#
 	# Override parameters from user configuration file
 	#
 	set FCONFIG /fs/microsd/etc/config.txt
 	if [ -f $FCONFIG ]
 	then
-		echo "Custom: $FCONFIG"
+		echo "INFO  [init] Custom: $FCONFIG"
 		sh $FCONFIG
 	fi
 	unset FCONFIG
@@ -236,6 +203,7 @@ then
 	if [ $AUTOCNF == yes ]
 	then
 		param set SYS_AUTOCONFIG 0
+		param save
 	fi
 	unset AUTOCNF
 
@@ -255,7 +223,7 @@ then
 
 		if px4io checkcrc ${IO_FILE}
 		then
-			echo "[init] PX4IO CRC OK" >> $LOG_FILE
+			echo "INFO  [init] PX4IO CRC OK" >> $LOG_FILE
 
 			set IO_PRESENT yes
 		else
@@ -278,16 +246,16 @@ then
 				usleep 500000
 				if px4io checkcrc $IO_FILE
 				then
-					echo "PX4IO CRC OK after updating" >> $LOG_FILE
+					echo "INFO  [init] PX4IO CRC OK after updating" >> $LOG_FILE
 					tone_alarm MLL8CDE
 
 					set IO_PRESENT yes
 				else
-					echo "PX4IO update failed" >> $LOG_FILE
+					echo "ERROR [init] PX4IO update failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 			else
-				echo "PX4IO update failed" >> $LOG_FILE
+				echo "ERROR [init] PX4IO update failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -295,7 +263,7 @@ then
 
 		if [ $IO_PRESENT == no ]
 		then
-			echo "PX4IO not found" >> $LOG_FILE
+			echo "ERROR [init] PX4IO not found" >> $LOG_FILE
 			tone_alarm $TUNE_ERR
 		fi
 	fi
@@ -330,11 +298,6 @@ then
 		set FMU_MODE gpio_serial
 	fi
 
-	if [ $OUTPUT_MODE == tap_esc ]
-	then
-		set FMU_MODE rcin
-	fi
-
 	if [ $HIL == yes ]
 	then
 		set OUTPUT_MODE hil
@@ -385,20 +348,6 @@ then
 		set OUTPUT_MODE uavcan_esc
 	fi
 
-	# Sensors on the PWM interface bank
-	# clear pins 5 and 6
-	if param compare SENS_EN_LL40LS 1
-	then
-		set FMU_MODE pwm4
-		set AUX_MODE pwm4
-	fi
-	if param greater TRIG_MODE 0
-	then
-		set FMU_MODE pwm4
-		set AUX_MODE pwm4
-		camera_trigger start
-	fi
-
 	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
 	if [ $OUTPUT_MODE != none ]
 	then
@@ -406,8 +355,8 @@ then
 		then
 			if param compare UAVCAN_ENABLE 0
 			then
-				echo "OVERRIDING UAVCAN_ENABLE = 3" >> $LOG_FILE
-				param set UAVCAN_ENABLE 3
+				echo "INFO  [init] OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE
+				param set UAVCAN_ENABLE 1
 			fi
 		fi
 
@@ -417,7 +366,7 @@ then
 			then
 				sh /etc/init.d/rc.io
 			else
-				echo "PX4IO start failed" >> $LOG_FILE
+				echo "INFO  [init] PX4IO start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -427,7 +376,7 @@ then
 			if fmu mode_$FMU_MODE
 			then
 			else
-				echo "FMU start failed" >> $LOG_FILE
+				echo "ERR  [init] FMU start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 
@@ -459,7 +408,7 @@ then
 			if mkblctrl $MKBLCTRL_ARG
 			then
 			else
-				echo "MK start failed" >> $LOG_FILE
+				echo "ERROR [init] MK start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 			unset MKBLCTRL_ARG
@@ -468,9 +417,10 @@ then
 
 		if [ $OUTPUT_MODE == hil ]
 		then
-			if pwm_out_sim mode_pwm16
+			if pwm_out_sim mode_port2_pwm8
 			then
 			else
+				echo "ERROR [init] PWM SIM start failed" >> $LOG_FILE
 				tone_alarm $TUNE_ERR
 			fi
 		fi
@@ -486,7 +436,7 @@ then
 				then
 					sh /etc/init.d/rc.io
 				else
-					echo "PX4IO start failed" >> $LOG_FILE
+					echo "ERROR [init] PX4IO start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 			fi
@@ -496,7 +446,7 @@ then
 				if fmu mode_$FMU_MODE
 				then
 				else
-					echo "FMU mode_$FMU_MODE start failed" >> $LOG_FILE
+					echo "ERROR [init] FMU mode_$FMU_MODE start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 
@@ -534,25 +484,10 @@ then
 				# Start MAVLink on Wifi (ESP8266 port)
 				mavlink start -r 20000 -m config -b 921600 -d /dev/ttyS0
 			fi
-
-			if ver hwcmp AEROFC_V1
-			then
-				set MAVLINK_F "-r 1200 -d /dev/ttyS4"
-			fi
-		fi
-
-		if ver hwcmp CRAZYFLIE
-		then
-			# Avoid using either of the two available serials
-			set MAVLINK_F none
 		fi
 	fi
 
-	if [ "x$MAVLINK_F" == xnone ]
-	then
-	else
-		mavlink start $MAVLINK_F
-	fi
+	mavlink start $MAVLINK_F
 	unset MAVLINK_F
 
 	#
@@ -565,57 +500,60 @@ then
 		# but this works for now
 		if param compare SYS_COMPANION 10
 		then
-			frsky_telemetry start -d $MAVLINK_COMPANION_DEVICE
-		fi
-		if param compare SYS_COMPANION 20
-		then
-			syslink start
-			mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
+			frsky_telemetry start -d /dev/ttyS2
 		fi
 		if param compare SYS_COMPANION 921600
 		then
-			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -m onboard -r 80000 -x
+			mavlink start -d /dev/ttyS2 -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 /dev/ttyS2 -b 57600 -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 /dev/ttyS2 -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
-		fi
-		if param compare SYS_COMPANION 319200
-		then
-			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 19200 -r 1000
-		fi
-		if param compare SYS_COMPANION 338400
-		then
-			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 38400 -r 1000
+			mavlink start -d /dev/ttyS2 -b 57600 -m magic -r 5000 -x
 		fi
 		if param compare SYS_COMPANION 357600
 		then
-			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -r 1000
+			mavlink start -d /dev/ttyS2 -b 57600 -r 1000
 		fi
 		if param compare SYS_COMPANION 1921600
 		then
-			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -r 20000
+			mavlink start -d /dev/ttyS2 -b 921600 -r 20000
 		fi
-		if param compare SYS_COMPANION 1500000
+		# Sensors on the PWM interface bank
+		# clear pins 5 and 6
+		if param compare SENS_EN_LL40LS 1
 		then
-			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 1500000 -m onboard -r 100000 -x
+			set AUX_MODE pwm4
+		fi
+		if param greater TRIG_MODE 0
+		then
+			# Get FMU driver out of the way
+			set MIXER_AUX none
+			set AUX_MODE none
+			camera_trigger start
 		fi
 	fi
 
-	unset MAVLINK_COMPANION_DEVICE
-
 	#
 	# Starting stuff according to UAVCAN_ENABLE value
 	#
 	if param greater UAVCAN_ENABLE 0
+	then
+		if uavcan start
+		then
+		else
+			tone_alarm $TUNE_ERR
+		fi
+	fi
+
+	if param greater UAVCAN_ENABLE 1
 	then
 		if uavcan start fw
 		then
@@ -639,61 +577,37 @@ then
 		fi
 	fi
 
-	# lightware serial lidar sensor
-	if param compare SENS_EN_SF0X 0
+	# sf0x lidar sensor
+	if param compare SENS_EN_SF0X 1
 	then
-	else
 		sf0x start
 	fi
 
-	# lightware i2c lidar sensor
-	if param compare SENS_EN_SF1XX 0
-	then
-	else
-		sf1xx start
-	fi
-
-	# mb12xx sonar sensor
-	if param compare SENS_EN_MB12XX 1
-	then
-		mb12xx start
-	fi
-
-	# teraranger one tof sensor
-	if param compare SENS_EN_TRONE 1
-	then
-		trone start
-	fi
-
 	if ver hwcmp PX4FMU_V4
 	then
 		frsky_telemetry start -d /dev/ttyS6
 	fi
 
-	if ver hwcmp MINDPX_V2
-	then
-		frsky_telemetry start -d /dev/ttyS6
-	fi
-
 	if ver hwcmp PX4FMU_V2
 	then
 		# Check for flow sensor - as it is a background task, launch it last
 		px4flow start &
 	fi
 
-	if ver hwcmp PX4FMU_V4
-	then
-		# Check for flow sensor - as it is a background task, launch it last
-		px4flow start &
-	fi
-
 	if ver hwcmp MINDPX_V2
 	then
+		#mindxp also need flow
 		px4flow start &
 	fi
 
-	# Start MAVLink
-	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+	# Start USB shell if no microSD present, MAVLink else
+	if [ $LOG_FILE == /dev/null ]
+	then
+		# Try to get an USB console
+		nshterm /dev/ttyACM0 &
+	else
+		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+	fi
 
 	#
 	# Logging
@@ -704,34 +618,30 @@ then
 		then
 		fi
 	else
-		if param compare SYS_LOGGER 0
+		# check if we should increase logging rate for ekf2 replay message logging
+		if param greater EKF2_REC_RPL 0
 		then
-			# check if we should increase logging rate for ekf2 replay message logging
-			if param greater EKF2_REC_RPL 0
+			if param compare SYS_LOGGER 0
 			then
 				if sdlog2 start -r 500 -e -b 18 -t
 				then
 				fi
 			else
-				if sdlog2 start -r 100 -a -b 9 -t
+				if logger start -r 500
 				then
 				fi
 			fi
 		else
-			set LOGGER_ARGS ""
-			if param compare SDLOG_MODE 1
+			if param compare SYS_LOGGER 0
 			then
-				set LOGGER_ARGS "-e"
+				if sdlog2 start -r 100 -a -b 9 -t
+				then
+				fi
+			else
+				if logger start -b 12
+				then
+				fi
 			fi
-			if param compare SDLOG_MODE 2
-			then
-				set LOGGER_ARGS "-f"
-			fi
-
-			if logger start -b 12 -t $LOGGER_ARGS
-			then
-			fi
-			unset LOGGER_ARGS
 		fi
 	fi
 
@@ -748,6 +658,8 @@ then
 	#
 	if [ $VEHICLE_TYPE == fw ]
 	then
+		echo "INFO  [init] Fixedwing"
+
 		if [ $MIXER == none ]
 		then
 			# Set default mixer for fixed wing if not defined
@@ -774,9 +686,11 @@ then
 	#
 	if [ $VEHICLE_TYPE == mc ]
 	then
+		echo "INFO  [init] Multicopter"
+
 		if [ $MIXER == none ]
 		then
-			echo "Mixer undefined"
+			echo "INFO  [init] Mixer undefined"
 		fi
 
 		if [ $MAV_TYPE == none ]
@@ -823,7 +737,7 @@ then
 		# Still no MAV_TYPE found
 		if [ $MAV_TYPE == none ]
 		then
-			echo "Unknown MAV_TYPE"
+			echo "WARN  [init] Unknown MAV_TYPE"
 			param set MAV_TYPE 2
 		else
 			param set MAV_TYPE $MAV_TYPE
@@ -841,9 +755,11 @@ then
 	#
 	if [ $VEHICLE_TYPE == vtol ]
 	then
+		echo "INFO  [init] VTOL"
+
 		if [ $MIXER == none ]
 		then
-			echo "VTOL mixer undefined"
+			echo "WARN  [init] VTOL mixer undefined"
 		fi
 
 		if [ $MAV_TYPE == none ]
@@ -866,7 +782,7 @@ then
 		# Still no MAV_TYPE found
 		if [ $MAV_TYPE == none ]
 		then
-			echo "Unknown MAV_TYPE"
+			echo "WARN  [init] Unknown MAV_TYPE"
 			param set MAV_TYPE 19
 		else
 			param set MAV_TYPE $MAV_TYPE
@@ -950,30 +866,23 @@ then
 	#
 	if [ $VEHICLE_TYPE == none ]
 	then
-		echo "No autostart ID found"
+		echo "WARN  [init] No autostart ID found"
 	fi
 
 	# Start any custom addons
 	set FEXTRAS /fs/microsd/etc/extras.txt
 	if [ -f $FEXTRAS ]
 	then
-		echo "Addons script: $FEXTRAS"
+		echo "INFO  [init] Addons script: $FEXTRAS"
 		sh $FEXTRAS
 	fi
 	unset FEXTRAS
 
-	if ver hwcmp CRAZYFLIE
+	# Run no SD alarm
+	if [ $LOG_FILE == /dev/null ]
 	then
-		# CF2 shouldn't have an sd card
-	else
-
-		# Run no SD alarm
-		if [ $LOG_FILE == /dev/null ]
-		then
-			# Play SOS
-			tone_alarm error
-		fi
-
+		# Play SOS
+		tone_alarm error
 	fi
 
 # End of autostart
@@ -988,7 +897,7 @@ mavlink boot_complete
 
 if [ $EXIT_ON_END == yes ]
 then
-	echo "NSH exit"
+	echo "INFO  [init] NSH exit"
 	exit
 fi
 unset EXIT_ON_END

ROMFS/px4fmu_common/mixers/bebop.main.mix

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

ROMFS/px4fmu_common/mixers/claire.aux.mix

@@ -1,38 +0,0 @@
-# mixer for the CruiseAder Claire tilt mechansim servo, aileron and elevator
-
-=======================================================================
-
-
-Tilt mechanism servo mixer
-
----------------------------
-
-M: 1
-
-O:      10000  10000      0 -10000  10000
-
-S: 1 4  10000  10000      0 -10000  10000
-
-
-
-Aileron mixers
-
--------------
-
-M: 1
-
-O:      10000  10000      0 -10000  10000
-
-S: 1 0  10000  10000      0 -10000  10000
-
-
-
-Elevator mixers
-
--------------
-
-M: 1
-
-O:      10000  10000      0 -10000  10000
-
-S: 1 1 -10000 -10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/claire.main.mix

@@ -1,7 +0,0 @@
-# CruiseAder Claire Main Multirotor mixer for PX4FMU
-
-#
-
-#===========================
-
-R: 4x 10000 10000 10000 0

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/hexa_x.main.mix

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

ROMFS/px4fmu_common/mixers/mount.aux.mix

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

ROMFS/px4fmu_common/mixers/mount_legs.aux.mix

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

ROMFS/px4fmu_common/mixers/plane_sitl.main.mix

@@ -0,0 +1,26 @@
+Mixer for SITL plane, using the VTOL airframe for now
+=========================================================
+
+Z:
+
+Z:
+
+Z:
+
+Z:
+
+# mixer for the elevons
+M: 2
+O:      10000  10000   0 -10000  10000
+S: 0 0  5000   5000    0 -10000  10000
+S: 0 1 -5000 -5000     0 -10000  10000
+
+M: 2
+O:       10000   10000   0 -10000  10000
+S: 0 0   5000    5000    0 -10000  10000
+S: 0 1   5000    5000    0 -10000  10000
+
+# mixer for the pusher/puller throttle
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/quad_v.main.mix

@@ -0,0 +1,18 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in the V configuration.  All controls
+are mixed 100%.
+
+R: 4v 10000 10000 10000 0
+
+Gimbal / payload mixer for last two channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 6  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix

@@ -6,21 +6,13 @@ are mixed 100%.
 
 R: 4x 10000 10000 10000 0
 
-Z:
-
-# left elevon
+#mixer for the elevons
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 1 0  5000  5000      0 -10000  10000
 S: 1 1  5000  5000      0 -10000  10000
 
-# right elevon
 M: 2
 O:       10000   10000    0 -10000  10000
 S: 1 0   5000   5000    0 -10000  10000
 S: 1 1  -5000  -5000    0 -10000  10000
-
-# mixer for the virtual elevator
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 1 1   10000   10000    0 -10000  10000

ROMFS/px4fmu_common/mixers/solo.main.mix

@@ -0,0 +1,7 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in the X configuration.  All controls
+are mixed 100%.
+
+R: 4x 10000 10000 10000 0

ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix

@@ -1,26 +1,24 @@
 Mixer for standard vtol plane (SITL) with motor x configuration
 =========================================================
 
-This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
+This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration.
+The plane has two ailerons and one elevator. The ailerons and elevator are treated as elevons
+in order to make the standard vtol simulation compatible with the tailsitter simulation.
 
 R: 4x 10000 10000 10000 0
 
+# mixer for the elevons
+M: 2
+O:      10000  10000   0 -10000  10000
+S: 1 0  5000   5000    0 -10000  10000
+S: 1 1 -5000 -5000     0 -10000  10000
+
+M: 2
+O:       10000   10000   0 -10000  10000
+S: 1 0   5000    5000    0 -10000  10000
+S: 1 1   5000    5000    0 -10000  10000
+
 # mixer for the pusher/puller throttle
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 1 3      0  20000 -10000 -10000  10000
-
-# mixer for the left aileron
-M: 1
-O:      10000  10000   0 -10000  10000
-S: 1 0  10000  10000    0 -10000  10000
-
-# mixer for the right aileron
-M: 1
-O:      10000  10000   0 -10000  10000
-S: 1 0  -10000  -10000    0 -10000  10000
-
-# mixer for the elevator
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 1 1   10000   10000    0 -10000  10000

ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix

@@ -19,13 +19,13 @@ input is inverted between the two servos.
 
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 0  -8000  -8000      0 -10000  10000
-S: 1 1   8000   8000      0 -10000  10000
+S: 1 0  -6000  -6000      0 -10000  10000
+S: 1 1   6500   6500      0 -10000  10000
 
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 0  -8000  -8000      0 -10000  10000
-S: 1 1  -8000  -8000      0 -10000  10000
+S: 1 0  -6000  -6000      0 -10000  10000
+S: 1 1  -6500  -6500      0 -10000  10000
 
 Motor speed mixer
 -----------------

ROMFS/px4fmu_test/init.d/rc.sensors

@@ -190,7 +190,7 @@ else
 	fi
 fi
 
-if sf1xx start
+if sf10a start
 then
 fi
 

ROMFS/px4fmu_test/init.d/rcS

@@ -111,22 +111,87 @@ fi
 
 sh /etc/init.d/rc.sensors
 
-ver all
+# Check for flow sensor
+if px4flow start
+then
+fi
+
+if ll40ls start
+then
+fi
 
 #
 # Run unit tests at board boot, reporting failure as needed.
 # Add new unit tests using the same pattern as below.
 #
 
+echo
+echo "--------------------------------------------------------------------------------"
+echo "[mavlink_tests]             STARTING TEST"
+if mavlink_tests
+then
+	echo "[mavlink_tests]             PASS"
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
+	echo "[mavlink_tests]             FAILED"
+fi
+echo "--------------------------------------------------------------------------------"
+echo
+echo "--------------------------------------------------------------------------------"
+echo "[commander_tests]             STARTING TEST"
+if commander_tests
+then
+	echo "[commander_tests]             PASS"
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} commander_tests"
+	echo "[commander_tests]             FAILED"
+fi
+echo "--------------------------------------------------------------------------------"
+echo
+echo "--------------------------------------------------------------------------------"
+echo "[controllib_test]             STARTING TEST"
+if controllib_test
+then
+	echo "[controllib_test]             PASS"
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} controllib_tests"
+	echo "[controllib_test]             FAILED"
+fi
+echo "--------------------------------------------------------------------------------"
+echo
+echo "--------------------------------------------------------------------------------"
+echo "[uorb_tests]             STARTING TEST"
+if uorb_tests
+then
+	echo "[uorb_tests]             PASS"
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} uorb_tests"
+	echo "[uorb_tests]             FAILED"
+fi
+echo "--------------------------------------------------------------------------------"
+
 if tests all
+then
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} system_tests"
+fi
+
+if [ $unit_test_failure == 0 ]
 then
 	echo
 	echo "All Unit Tests PASSED"
 	rgbled rgb 20 255 20
 else
 	echo
-	echo "Some Unit Tests FAILED"
+	echo "Some Unit Tests FAILED:${unit_test_failure_list}"
 	rgbled rgb 255 20 20
 fi
 
+ver all
+
 free

ROMFS/sitl/mixers/delta_wing_sitl.main.mix

@@ -1,38 +0,0 @@
-Mixer for SITL plane
-=========================================================
-
-Z:
-
-Z:
-
-# mixer for the rudder
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 2   10000   10000    0 -10000  10000
-
-# mixer for the flaps
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 4   10000   10000    0 -10000  10000
-
-# mixer for the pusher/puller throttle
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-# mixer for the left aileron
-M: 2
-O:      10000  10000   0 -10000  10000
-S: 0 0 -4000  -4000    0 -10000  10000
-S: 0 1  10000  10000   0 -10000  10000
-
-# mixer for the right aileron
-M: 2
-O:      10000  10000   0 -10000  10000
-S: 0 0  4000   4000    0 -10000  10000
-S: 0 1  10000  10000   0 -10000  10000
-
-# mixer for the elevator
-M: 1
-O:      10000  10000   0 -10000  10000
-S: 0 1 -10000 -10000   0 -10000  10000

ROMFS/sitl/mixers/plane_sitl.main.mix

@@ -1,36 +0,0 @@
-Mixer for SITL plane
-=========================================================
-
-Z:
-
-Z:
-
-# mixer for the rudder
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 2   10000   10000    0 -10000  10000
-
-# mixer for the flaps
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 4   10000   10000    0 -10000  10000
-
-# mixer for the pusher/puller throttle
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-# mixer for the left aileron
-M: 1
-O:      10000  10000   0 -10000  10000
-S: 0 0  -10000  -10000    0 -10000  10000
-
-# mixer for the right aileron
-M: 1
-O:      10000  10000   0 -10000  10000
-S: 0 0  10000  10000    0 -10000  10000
-
-# mixer for the elevator
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 1   10000   10000    0 -10000  10000

ROMFS/tap_common/init.d/4001_quad_x

@@ -1,21 +0,0 @@
-#!nsh
-#
-# @name Generic Quadrotor X config
-#
-# @type Quadrotor x
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-sh /etc/init.d/rc.mc_defaults
-if tap_esc start -d /dev/ttyS4 -n 4
-then
-fi
-set OUTPUT_MODE tap_esc
-param set BAT_N_CELLS 4
-
-set MIXER quad_x

ROMFS/tap_common/init.d/6001_hexa_x

@@ -1,25 +0,0 @@
-#!nsh
-#
-# @name Generic Hexarotor x geometry
-#
-# @type Hexarotor x
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Anton Babushkin <anton@px4.io>
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-param set MAV_TYPE 13
-param set MC_YAWRATE_P 0.12
-param set CAL_MAG0_ROT 6
-
-if tap_esc start -d /dev/ttyS4 -n 6
-then
-fi
-set OUTPUT_MODE tap_esc
-
-set MIXER hexa_x

ROMFS/tap_common/init.d/rc.fw_apps

@@ -1,20 +0,0 @@
-#!nsh
-#
-# Standard apps for fixed wing
-#
-
-#
-# Start the attitude and position estimator
-#
-ekf2 start
-
-#
-# Start attitude controller
-#
-fw_att_control start
-fw_pos_control_l1 start
-
-#
-# Start Land Detector
-#
-land_detector start fixedwing

ROMFS/tap_common/init.d/rc.fw_defaults

@@ -1,23 +0,0 @@
-#!nsh
-
-set VEHICLE_TYPE fw
-
-if [ $AUTOCNF == yes ]
-then
-#
-# Default parameters for FW
-#
-	param set RTL_RETURN_ALT 100
-	param set RTL_DESCEND_ALT 100
-	param set RTL_LAND_DELAY -1
-
-	param set NAV_ACC_RAD 50
-fi
-
-# This is the gimbal pass mixer
-set MIXER_AUX pass
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1500
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000

ROMFS/tap_common/init.d/rc.interface

@@ -1,83 +0,0 @@
-#!nsh
-#
-# Script to configure control interface
-#
-
-set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
-
-if [ $MIXER != none -a $MIXER != skip ]
-then
-	#
-	# Load main mixer
-	#
-
-	# Use the mixer file
-	set MIXER_FILE /etc/mixers/$MIXER.main.mix
-
-	set OUTPUT_DEV /dev/pwm_output0
-
-	if [ $OUTPUT_MODE == tap_esc ]
-	then
-		set OUTPUT_DEV /dev/tap_esc
-	fi
-
-	if mixer load $OUTPUT_DEV $MIXER_FILE
-	then
-		echo "INFO  [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
-	else
-		echo "ERROR [init] Error loading mixer: $MIXER_FILE"
-		echo "ERROR:[init] Could not load mixer: $MIXER_FILE" >> $LOG_FILE
-		tone_alarm $TUNE_ERR
-	fi
-
-	unset MIXER_FILE
-else
-	if [ $MIXER != skip ]
-	then
-		echo "ERROR [init] Mixer not defined"
-		echo "ERROR [init] Mixer not defined" >> $LOG_FILE
-		tone_alarm $TUNE_ERR
-	fi
-fi
-
-if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
-then
-	if [ $PWM_OUT != none ]
-	then
-		#
-		# Set PWM output frequency
-		#
-		if [ $PWM_RATE != none ]
-		then
-			pwm rate -c $PWM_OUT -r $PWM_RATE
-		fi
-
-		#
-		# Set disarmed, min and max PWM values
-		#
-		if [ $PWM_DISARMED != none ]
-		then
-			pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
-		fi
-		if [ $PWM_MIN != none ]
-		then
-			pwm min -c $PWM_OUT -p $PWM_MIN
-		fi
-		if [ $PWM_MAX != none ]
-		then
-			pwm max -c $PWM_OUT -p $PWM_MAX
-		fi
-	fi
-
-	if [ $FAILSAFE != none ]
-	then
-		pwm failsafe -d $OUTPUT_DEV $FAILSAFE
-	fi
-fi
-
-unset PWM_OUT
-unset PWM_RATE
-unset PWM_MIN
-unset PWM_MAX
-unset FAILSAFE
-unset OUTPUT_DEV

ROMFS/tap_common/init.d/rc.mc_apps

@@ -1,17 +0,0 @@
-#!nsh
-#
-# Standard apps for multirotors:
-# att & pos estimator, att & pos control.
-#
-
-
-ekf2 start
-
-mc_att_control start
-
-mc_pos_control start
-
-#
-# Start Land Detector
-#
-land_detector start multicopter

ROMFS/tap_common/init.d/rc.mc_defaults

@@ -1,33 +0,0 @@
-#!nsh
-
-set VEHICLE_TYPE mc
-
-if [ $AUTOCNF == yes ]
-then
-	param set PWM_DISARMED 900
-	param set PWM_MIN 1075
-	param set PWM_MAX 1950
-fi
-
-param set NAV_ACC_RAD 2.0
-param set MIS_TAKEOFF_ALT 2.5
-param set RTL_RETURN_ALT 30.0
-param set RTL_DESCEND_ALT 10.0
-param set RTL_LAND_DELAY 0
-param set MPC_THR_MIN 0.10
-param set MPC_MANTHR_MIN 0.04
-
-# set environment variables (!= parameters)
-set PWM_RATE 400
-# tell the mixer to use parameters for these instead
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
-
-# This is the gimbal pass mixer
-set MIXER_AUX pass
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1500
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000

ROMFS/tap_common/init.d/rc.sensors

@@ -1,28 +0,0 @@
-#!nsh
-#
-# Standard startup script for TAP v1 onboard sensor drivers.
-#
-
-if adc start
-then
-fi
-
-if ms5611 -T 5607 -I start
-then
-fi
-
-# External I2C bus
-if hmc5883 -C -T -X start
-then
-fi
-
-# Internal I2C bus
-if mpu6000 -I -T 6000 start
-then
-fi
-
-# Wait 50 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
-usleep 50000
-if sensors start
-then
-fi

ROMFS/tap_common/init.d/rc.vtol_apps

@@ -1,24 +0,0 @@
-#!nsh
-#
-# Standard apps for vtol:
-# att & pos estimator, att & pos control.
-#
-#
-
-
-#---------------------------------------
-# Estimator group selction
-#
-ekf2 start
-
-vtol_att_control start
-mc_att_control start
-mc_pos_control start
-fw_att_control start
-fw_pos_control_l1 start
-
-#
-# Start Land Detector
-# Multicopter for now until we have something for VTOL
-#
-land_detector start vtol

ROMFS/tap_common/init.d/rc.vtol_defaults

@@ -1,43 +0,0 @@
-#!nsh
-
-set VEHICLE_TYPE vtol
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLL_P 6.0
-	param set MC_PITCH_P 6.0
-	param set MC_YAW_P 4
-
-	#
-	# Default parameters for mission and position handling
-	#
-	param set NAV_ACC_RAD 3
-	param set MPC_TKO_SPEED 1.0
-	param set MPC_LAND_SPEED 0.7
-	param set MPC_Z_VEL_MAX 1.5
-	param set MPC_XY_VEL_MAX 4.0
-	param set MIS_YAW_TMT 10
-	param set MPC_ACC_HOR_MAX 2.0
-	param set RTL_LAND_DELAY 0
-fi
-
-# set environment variables (!= parameters)
-set PWM_RATE 400
-# tell the mixer to use parameters for these instead
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
-
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1000
-then
-	param set PWM_MIN 1075
-fi
-if param compare PWM_MAX 2000
-then
-	param set PWM_MAX 1950
-fi
-if param compare PWM_DISARMED 0
-then
-	param set PWM_DISARMED 900
-fi

ROMFS/tap_common/init.d/rcS

@@ -1,360 +0,0 @@
-#!nsh
-#
-# TAP startup script.
-#
-#  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
-#
-
-# Serial map:
-# /dev/ttyS0: GPS
-# /dev/ttyS1: GB
-# /dev/ttyS2: nsh shell / console
-# /dev/ttyS3: payload
-# /dev/ttyS4: esc bus
-# /dev/ttyS5: RC input
-
-#
-# Start CDC/ACM serial driver
-#
-sercon
-
-set TUNE_ERR ML<<CP4CP4CP4CP4CP4
-set LOG_FILE /fs/microsd/bootlog.txt
-set DATAMAN_OPT -r
-
-#
-# Try to mount the microSD card.
-#
-if mount -t vfat /dev/mmcsd0 /fs/microsd
-then
-	echo "microSD present"
-	unset DATAMAN_OPT
-else
-	if mkfatfs /dev/mmcsd0
-	then
-		if mount -t vfat /dev/mmcsd0 /fs/microsd
-		then
-			echo "microSD card formatted"
-			unset DATAMAN_OPT
-		else
-			echo "ERROR [init] Format failed"
-			tone_alarm MNBG
-			set LOG_FILE /dev/null
-		fi
-	else
-		set LOG_FILE /dev/null
-	fi
-fi
-
-#
-# Start the ORB (first app to start)
-#
-uorb start
-
-#
-# Load parameters
-#
-set PARAM_FILE /fs/microsd/params
-if mtd start
-then
-	set PARAM_FILE /fs/mtd_params
-fi
-
-param select $PARAM_FILE
-if param load
-then
-else
-	if param reset
-	then
-	fi
-fi
-
-tone_alarm start
-
-#
-# Start system state indicator
-#
-if rgbled start
-then
-fi
-
-#
-# Set parameters and env variables for selected AUTOSTART
-#
-if param compare SYS_AUTOSTART 0
-then
-	param set SYS_AUTOSTART 6001
-	param set SYS_AUTOCONFIG 1
-fi
-
-#
-# Set AUTOCNF flag to use it in AUTOSTART scripts
-#
-if param compare SYS_AUTOCONFIG 1
-then
-	# Wipe out params except RC*
-	param reset_nostart RC*
-	set AUTOCNF yes
-else
-	set AUTOCNF no
-fi
-
-#
-# Set default values
-#
-set VEHICLE_TYPE none
-set MIXER none
-set OUTPUT_MODE none
-set PWM_OUT none
-set PWM_RATE none
-set PWM_DISARMED none
-set PWM_MIN none
-set PWM_MAX none
-set FMU_MODE pwm
-set MAV_TYPE none
-set FAILSAFE none
-
-# Start canned airframe config
-sh /etc/init.d/rc.autostart
-
-#
-# If autoconfig parameter was set, reset it and save parameters
-#
-if [ $AUTOCNF == yes ]
-then
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
-unset AUTOCNF
-
-#
-# Set default output if not set
-#
-if [ $OUTPUT_MODE == none ]
-then
-	if [ $USE_IO == yes ]
-	then
-		set OUTPUT_MODE io
-	else
-		set OUTPUT_MODE fmu
-	fi
-fi
-
-gps start -d /dev/ttyS0
-
-# waypoint storage
-# REBOOTWORK this needs to start in parallel
-if dataman start $DATAMAN_OPT
-then
-fi
-
-#
-# Sensors System (start before Commander so Preflight checks are properly run)
-#
-sh /etc/init.d/rc.sensors
-
-commander start
-
-#
-# Start CPU load monitor
-#
-load_mon start
-
-# Start MAVLink on the gimbal port
-#mavlink start -r 1200 -d /dev/ttyS1
-
-# Start MAVLink on USB, developers can use the MAVLink shell
-mavlink start -r 60000 -d /dev/ttyACM0 -m config
-
-#
-# Logging
-#
-#if logger start -b 2 -t
-#then
-#fi
-
-#
-# Fixed wing setup
-#
-if [ $VEHICLE_TYPE == fw ]
-then
-	echo "INFO  [init] Fixedwing"
-
-	if [ $MIXER == none ]
-	then
-		# Set default mixer for fixed wing if not defined
-		set MIXER AERT
-	fi
-
-	if [ $MAV_TYPE == none ]
-	then
-		# Use MAV_TYPE = 1 (fixed wing) if not defined
-		set MAV_TYPE 1
-	fi
-
-	param set MAV_TYPE $MAV_TYPE
-
-	# Load mixer and configure outputs
-	sh /etc/init.d/rc.interface
-
-	# Start standard fixedwing apps
-	sh /etc/init.d/rc.fw_apps
-fi
-
-#
-# Multicopters setup
-#
-if [ $VEHICLE_TYPE == mc ]
-then
-	echo "INFO  [init] Multicopter"
-
-	if [ $MIXER == none ]
-	then
-		echo "INFO  [init] Mixer undefined"
-	fi
-
-	if [ $MAV_TYPE == none ]
-	then
-		# Use mixer to detect vehicle type
-		if [ $MIXER == quad_x -o $MIXER == quad_+ ]
-		then
-			set MAV_TYPE 2
-		fi
-		if [ $MIXER == quad_w ]
-		then
-			set MAV_TYPE 2
-		fi
-		if [ $MIXER == quad_h ]
-		then
-			set MAV_TYPE 2
-		fi
-		if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
-		then
-			set MAV_TYPE 15
-		fi
-		if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER == hexa_cox ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER == octo_x -o $MIXER == octo_+ ]
-		then
-			set MAV_TYPE 14
-		fi
-	fi
-
-	# Still no MAV_TYPE found
-	if [ $MAV_TYPE == none ]
-	then
-		echo "WARN  [init] Unknown MAV_TYPE"
-		param set MAV_TYPE 2
-	else
-		param set MAV_TYPE $MAV_TYPE
-	fi
-
-	# Load mixer and configure outputs
-	sh /etc/init.d/rc.interface
-
-	# Start standard multicopter apps
-	sh /etc/init.d/rc.mc_apps
-fi
-
-#
-# VTOL setup
-#
-if [ $VEHICLE_TYPE == vtol ]
-then
-	echo "INFO  [init] VTOL"
-
-	if [ $MIXER == none ]
-	then
-		echo "WARN  [init] VTOL mixer undefined"
-	fi
-
-	if [ $MAV_TYPE == none ]
-	then
-		# Use mixer to detect vehicle type
-		if [ $MIXER == caipirinha_vtol ]
-		then
-			set MAV_TYPE 19
-		fi
-		if [ $MIXER == firefly6 ]
-		then
-			set MAV_TYPE 21
-		fi
-		if [ $MIXER == quad_x_pusher_vtol ]
-		then
-			set MAV_TYPE 22
-		fi
-	fi
-
-	# Still no MAV_TYPE found
-	if [ $MAV_TYPE == none ]
-	then
-		echo "WARN  [init] Unknown MAV_TYPE"
-		param set MAV_TYPE 19
-	else
-		param set MAV_TYPE $MAV_TYPE
-	fi
-
-	# Load mixer and configure outputs
-	sh /etc/init.d/rc.interface
-
-	# Start standard vtol apps
-	sh /etc/init.d/rc.vtol_apps
-fi
-
-#
-# Rover setup
-#
-if [ $VEHICLE_TYPE == rover ]
-then
-	# 10 is MAV_TYPE_GROUND_ROVER
-	set MAV_TYPE 10
-
-	# Load mixer and configure outputs
-	sh /etc/init.d/rc.interface
-
-	# Start standard rover apps
-	sh /etc/init.d/rc.axialracing_ax10_apps
-
-	param set MAV_TYPE 10
-fi
-
-unset MIXER
-unset MAV_TYPE
-unset OUTPUT_MODE
-
-#
-# Start the RC input driver
-#
-if fmu mode_pwm1
-then
-fi
-
-#
-# Use 400 Hz PWM output for landing gear (frequency also affects RGB LED)
-#
-pwm rate -c 1 -r 400
-
-#
-# Load the gear mixer onto fmu
-#
-mixer load /dev/px4fmu /etc/mixers/gear.mix
-
-#
-# Start the navigator
-#
-if navigator start
-then
-fi
-
-# There is no further script processing, so we can free some RAM
-# XXX potentially unset all script variables.
-unset TUNE_ERR
-
-# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
-mavlink boot_complete

ROMFS/tap_common/mixers/README.md

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

ROMFS/tap_common/mixers/gear.mix

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

ROMFS/tap_common/mixers/hexa_x.main.mix

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

ROMFS/tap_common/mixers/quad_x.main.mix

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

Tools/CI/MissionCheck.py

@@ -17,9 +17,9 @@
 
 connection_string       = '127.0.0.1:14540'
 
-import_mission_filename = 'VTOL_TAKEOFF.mission'
-max_execution_time      = 200
-alt_acceptance_radius   = 5
+import_mission_filename = 'VTOLmission.txt'
+max_execution_time      = 250
+alt_acceptance_radius   = 10
 
 ################################################################################################
 # Init
@@ -150,14 +150,14 @@ def save_mission(aFileName):
     Save a mission in the Waypoint file format
     (http://qgroundcontrol.org/mavlink/waypoint_protocol#waypoint_file_format).
     """
-    print "\nSave mission from Vehicle to file: %s" % aFileName
+    print "\nSave mission from Vehicle to file: %s" % export_mission_filename
     #Download mission from vehicle
     missionlist = download_mission()
     #Add file-format information
     output='QGC WPL 110\n'
     #Add home location as 0th waypoint
     home = vehicle.home_location
-    output+="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n\n\n" % (0,1,0,16,0,0,0,0,home.lat,home.lon,home.alt,1)
+    output+="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (0,1,0,16,0,0,0,0,home.lat,home.lon,home.alt,1)
     #Add commands
     for cmd in missionlist:
         commandline="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (cmd.seq,cmd.current,cmd.frame,cmd.command,cmd.param1,cmd.param2,cmd.param3,cmd.param4,cmd.x,cmd.y,cmd.z,cmd.autocontinue)

Tools/CI/VTOLmission.txt

@@ -0,0 +1,9 @@
+QGC WPL 110
+0	1	0	16	0	0	0	0	47.3979949951	8.54559612274	25.0	1
+1	0	2	3000	4.0	0.0	0.0	0.0	47.3980331421	8.54578971863	25.0	1
+2	0	3	16	0.0	0.0	-0.0	0.0	47.399269104	8.54557228088	25.0	1
+3	0	3	16	0.0	0.0	-0.0	0.0	47.3992652893	8.54230213165	25.0	1
+4	0	3	16	0.0	0.0	-0.0	0.0	47.3974761963	8.54239082336	25.0	1
+5	0	3	16	0.0	0.0	-0.0	0.0	47.3976669312	8.54509449005	25.0	1
+6	0	2	3000	3.0	0.0	0.0	0.0	47.3977851868	8.54526233673	25.0	1
+7	0	3	21	25.0	0.0	-0.0	0.0	47.3979797363	8.54460906982	25.0	1

Tools/adb_upload_to_bebop.sh

@@ -1,12 +1,6 @@
 #!/bin/bash
 
-if [ -z ${BEBOP_IP+x} ]; then 
-  ip=192.168.42.1
-  echo "\$BEBOP_IP is not set (use default: $ip)"
-else 
-  ip=$BEBOP_IP
-  echo "\$BEBOP_IP is set to $ip"
-fi
+ip=192.168.42.1
 port=9050
 
 echo "Connecting to bebop: $ip:$port"
@@ -31,11 +25,6 @@ echo "Connection successfully established"
 sleep 1
 
 adb shell mount -o remount,rw /
-adb shell touch /home/root/parameters
-
-${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-strip \
-  -R .comment -R .gnu.version \
-  ../build_posix_bebop_default/src/firmware/posix/px4
 
 ../Tools/adb_upload.sh $@
 

Tools/aero_upload.sh

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

Tools/check_code_style.sh

@@ -1,23 +1,16 @@
 #!/usr/bin/env bash
 
-FILE=$1
+file=$1
+
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 
-if [ -f "$FILE" ]; then
-	${DIR}/fix_code_style.sh --dry-run $FILE | grep --quiet Formatted
-	if [[ $? -eq 0 ]]; then
-		${DIR}/fix_code_style.sh --quiet < $FILE > $FILE.pretty
-
-		echo
-		git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty
-		rm -f $FILE.pretty
-		echo
-
-		if [[ $PX4_ASTYLE_FIX -eq 1 ]]; then
-			${DIR}/fix_code_style.sh $FILE
-		else
-			echo $FILE 'bad formatting, please run "make format" or "./Tools/fix_code_style.sh' $FILE'"'
-			exit 1
-		fi
+if [ -f "$file" ];
+then
+	${DIR}/fix_code_style.sh --dry-run $file | grep --quiet Formatted
+	if [[ $? -eq 0 ]]
+	then
+		echo $file 'bad formatting, please run "./Tools/fix_code_style.sh' $file'"'
+		exit 1
 	fi
 fi
+

Tools/check_code_style_all.sh

@@ -1,55 +1,53 @@
 #!/usr/bin/env bash
 set -eu
+failed=0
 
-ASTYLE_VER_REQUIRED="Artistic Style Version 2.05.1"
-astyle_ver() {
-	echo "PX4 requires ${ASTYLE_VER_REQUIRED}"
-	echo "You can get the correct version here: https://github.com/PX4/astyle/releases/tag/2.05.1"
-}
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 
-# check if astyle is installed
-condition=$(which astyle 2>/dev/null | grep -v "not found" | wc -l)
-if [ $condition -eq 0 ]; then
-	echo "astyle is not installed"
-	astyle_ver
-	exit 1
-else
-	ASTYLE_VER=`astyle --version`
+find \
+    src/drivers \
+    src/examples \
+    src/firmware \
+    src/include \
+    src/lib/controllib \
+    src/lib/conversion \
+    src/lib/geo \
+    src/lib/geo_lookup \
+    src/lib/launchdetection \
+    src/lib/rc \
+    src/lib/tailsitter_recovery \
+    src/lib/terrain_estimation \
+    src/lib/version \
+    src/modules/attitude_estimator_q \
+    src/modules/bottle_drop \
+    src/modules/controllib_test \
+    src/modules/dataman \
+    src/modules/fw_att_control \
+    src/modules/gpio_led \
+    src/modules/land_detector \
+    src/modules/local_position_estimator \
+    src/modules/logger \
+    src/modules/mavlink/mavlink_tests \
+    src/modules/muorb \
+    src/modules/param \
+    src/modules/px4iofirmware \
+    src/modules/segway \
+    src/modules/sensors \
+    src/modules/simulator \
+    src/modules/systemlib \
+    src/modules/unit_test \
+    src/modules/uORB \
+    src/modules/vtol_att_control \
+    src/platforms \
+    src/systemcmds \
+    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) \
+    -not -name '*generated.h' \
+    -not -name '*uthash.h' \
+    -not -name '*utstring.h' \
+    -not -name '*utlist.h' \
+    -not -name '*utarray.h' \
+    -print0 | xargs -0 -n 1 -P 8 -I % ${DIR}/check_code_style.sh %
 
-	if [ "$ASTYLE_VER" != "$ASTYLE_VER_REQUIRED" ]; then
-		echo "Error: you're using ${ASTYLE_VER}"
-		astyle_ver
-		exit 1
-	fi
-fi
-
-CI="${CI:-false}"
-DIR=$(cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd)
-
-if [[ "$@" == "--fix" ]]
-then
-    export PX4_ASTYLE_FIX=1
-fi
-
-
-# install git pre-commit hook
-HOOK_FILE="$DIR/../.git/hooks/pre-commit"
-if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ]; then
-	echo ""
-	echo -e "\033[31mNinja tip: add a git pre-commit hook to automatically check code style\033[0m"
-	echo -e "Would you like to install one now? (\033[94mcp ./Tools/pre-commit .git/hooks/pre-commit\033[0m): [y/\033[1mN\033[0m]"
-
-	read user_cmd
-	if [ "$user_cmd" == "y" ]; then
-		echo -e "copying ./Tools/pre-commit -> .git/hooks/pre-commit"
-		cp $DIR/pre-commit $HOOK_FILE
-		echo -e "\033[94mGreat, hook installed!\033[0m (checking style now)"
-	else
-		echo -e "\033[94mOk, I will remind you again later!\033[0m (checking style now)"
-	fi
-fi
-
-${DIR}/files_to_check_code_style.sh | xargs -n 1 -P 8 -I % ${DIR}/check_code_style.sh %
 
 if [ $? -eq 0 ]; then
     echo "Format checks passed"

Tools/clang-tool.sh

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

Tools/decode_backtrace.py

@@ -43,10 +43,10 @@ import subprocess
 # If the following lines were pasted into the shell after running decode_backtrace.py
 #
 # INFO  Backtrace: 10
-# INFO  ./px4(px4_backtrace+0x27) [0x42b212]
-# INFO  ./px4() [0x42d608]
-# INFO  ./px4() [0x42d57e]
-# INFO  ./px4() [0x4ba48d]
+# INFO  ./mainapp(px4_backtrace+0x27) [0x42b212]
+# INFO  ./mainapp() [0x42d608]
+# INFO  ./mainapp() [0x42d57e]
+# INFO  ./mainapp() [0x4ba48d]
 #
 # The output would be:
 #
@@ -63,7 +63,7 @@ def usage():
 	msg = """
 Usage: Tools/decode_backtrace.py <builddir>
 
-This will load the symbols for <builddir>/src/firmware/posix/px4
+This will load the symbols for <builddir>/src/firmware/posix/mainapp
 The user just needs to copy and paste the backtrace into the terminal
 where decode_backtrace.py is running.
 
@@ -75,7 +75,7 @@ func = []
 
 # Load the symbols from the binary
 def load_symbol_map():
-	output = subprocess.check_output(["nm", "-p", "-C", os.sys.argv[1]+"/src/firmware/posix/px4"])
+	output = subprocess.check_output(["nm", "-p", "-C", os.sys.argv[1]+"/src/firmware/posix/mainapp"])
 	data = output.split("\n")
 	data.sort()
 

Tools/files_to_check_code_style.sh

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

Tools/fix_code_style.sh

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

Tools/fix_headers.sh

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

Tools/generate_listener.py

@@ -3,7 +3,6 @@
 import glob
 import os
 import sys
-import re
 
 # This script is run from Build/<target>_default.build/$(PX4_BASE)/Firmware/src/systemcmds/topic_listener
 
@@ -22,39 +21,37 @@ for index,m in enumerate(raw_messages):
 		temp_list = []
 		f = open(m,'r')
 		for line in f.readlines():
-			items = re.split('\s+', line.strip())
-
-			if ('float32[' in items[0]):
-				num_floats = int(items[0].split("[")[1].split("]")[0])
-				temp_list.append(("float_array",items[1],num_floats))
-			elif ('float64[' in items[0]):
-				num_floats = int(items[0].split("[")[1].split("]")[0])
-				temp_list.append(("double_array",items[1],num_floats))
-			elif ('uint64[' in items[0]):
-				num_floats = int(items[0].split("[")[1].split("]")[0])
-				temp_list.append(("uint64_array",items[1],num_floats))
-			elif(items[0] == "float32"):
-				temp_list.append(("float",items[1]))
-			elif(items[0] == "float64"):
-				temp_list.append(("double",items[1]))
-			elif(items[0] == "uint64") and len(line.split('=')) == 1:
-				temp_list.append(("uint64",items[1]))
-			elif(items[0] == "uint32") and len(line.split('=')) == 1:
-				temp_list.append(("uint32",items[1]))
-			elif(items[0] == "uint16") and len(line.split('=')) == 1:
-				temp_list.append(("uint16",items[1]))
-			elif(items[0] == "int64") and len(line.split('=')) == 1:
-				temp_list.append(("int64",items[1]))
-			elif(items[0] == "int32") and len(line.split('=')) == 1:
-				temp_list.append(("int32",items[1]))
-			elif(items[0] == "int16") and len(line.split('=')) == 1:
-				temp_list.append(("int16",items[1]))
-			elif (items[0] == "bool") and len(line.split('=')) == 1:
-				temp_list.append(("bool",items[1]))
-			elif (items[0] == "uint8") and len(line.split('=')) == 1:
-				temp_list.append(("uint8",items[1]))
-			elif (items[0] == "int8") and len(line.split('=')) == 1:
-				temp_list.append(("int8",items[1]))
+			if ('float32[' in line.split(' ')[0]):
+				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
+				temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
+			elif ('float64[' in line.split(' ')[0]):
+				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
+				temp_list.append(("double_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
+			elif ('uint64[' in line.split(' ')[0]):
+				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
+				temp_list.append(("uint64_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
+			elif(line.split(' ')[0] == "float32"):
+				temp_list.append(("float",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "float64"):
+				temp_list.append(("double",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "uint64") and len(line.split('=')) == 1:
+				temp_list.append(("uint64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "uint32") and len(line.split('=')) == 1:
+				temp_list.append(("uint32",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "uint16") and len(line.split('=')) == 1:
+				temp_list.append(("uint16",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "int64") and len(line.split('=')) == 1:
+				temp_list.append(("int64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "int32") and len(line.split('=')) == 1:
+				temp_list.append(("int32",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "int16") and len(line.split('=')) == 1:
+				temp_list.append(("int16",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif (line.split(' ')[0] == "bool") and len(line.split('=')) == 1:
+				temp_list.append(("bool",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif (line.split(' ')[0] == "uint8") and len(line.split('=')) == 1:
+				temp_list.append(("uint8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif (line.split(' ')[0] == "int8") and len(line.split('=')) == 1:
+				temp_list.append(("int8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
 
 		f.close()
 		(m_head, m_tail) = os.path.split(m)
@@ -118,6 +115,7 @@ print("""
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
+#define __STDC_FORMAT_MACROS
 #include <inttypes.h>
 
 #ifndef PRIu64

Tools/jMAVSim

@@ -1 +1 @@
-Subproject commit aca1ddf30910b25d313aed3614b75bff018f2f32
+Subproject commit 39cee41574520c4151e318925c6982f3269b790e

Tools/jmavsim_run.sh

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

Tools/mavlink_shell.py

@@ -1,220 +0,0 @@
-#!/usr/bin/env python
-
-"""
-Open a shell over MAVLink.
-
-@author: Beat Kueng (beat-kueng@gmx.net)
-"""
-
-
-from __future__ import print_function
-import sys, select
-import termios
-from timeit import default_timer as timer
-
-try:
-    from pymavlink import mavutil
-    import serial
-except:
-    print("Failed to import pymavlink.")
-    print("You may need to install it with 'pip install pymavlink pyserial'")
-    print("")
-    raise
-from argparse import ArgumentParser
-
-
-class MavlinkSerialPort():
-    '''an object that looks like a serial port, but
-    transmits using mavlink SERIAL_CONTROL packets'''
-    def __init__(self, portname, baudrate, devnum=0, debug=0):
-        self.baudrate = 0
-        self._debug = debug
-        self.buf = ''
-        self.port = devnum
-        self.debug("Connecting with MAVLink to %s ..." % portname)
-        self.mav = mavutil.mavlink_connection(portname, autoreconnect=True, baud=baudrate)
-        self.mav.wait_heartbeat()
-        self.debug("HEARTBEAT OK\n")
-        self.debug("Locked serial device\n")
-
-    def debug(self, s, level=1):
-        '''write some debug text'''
-        if self._debug >= level:
-            print(s)
-
-    def write(self, b):
-        '''write some bytes'''
-        self.debug("sending '%s' (0x%02x) of len %u\n" % (b, ord(b[0]), len(b)), 2)
-        while len(b) > 0:
-            n = len(b)
-            if n > 70:
-                n = 70
-            buf = [ord(x) for x in b[:n]]
-            buf.extend([0]*(70-len(buf)))
-            self.mav.mav.serial_control_send(self.port,
-                                             mavutil.mavlink.SERIAL_CONTROL_FLAG_EXCLUSIVE |
-                                             mavutil.mavlink.SERIAL_CONTROL_FLAG_RESPOND,
-                                             0,
-                                             0,
-                                             n,
-                                             buf)
-            b = b[n:]
-
-    def close(self):
-        self.mav.mav.serial_control_send(self.port, 0, 0, 0, 0, [0]*70)
-
-    def _recv(self):
-        '''read some bytes into self.buf'''
-        m = self.mav.recv_match(condition='SERIAL_CONTROL.count!=0',
-                                type='SERIAL_CONTROL', blocking=True,
-                                timeout=0.03)
-        if m is not None:
-            if self._debug > 2:
-                print(m)
-            data = m.data[:m.count]
-            self.buf += ''.join(str(chr(x)) for x in data)
-
-    def read(self, n):
-        '''read some bytes'''
-        if len(self.buf) == 0:
-            self._recv()
-        if len(self.buf) > 0:
-            if n > len(self.buf):
-                n = len(self.buf)
-            ret = self.buf[:n]
-            self.buf = self.buf[n:]
-            if self._debug >= 2:
-                for b in ret:
-                    self.debug("read 0x%x" % ord(b), 2)
-            return ret
-        return ''
-
-
-def main():
-    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('port', metavar='PORT', nargs='?', default = None,
-            help='Mavlink port name: serial: DEVICE[,BAUD], udp: IP:PORT, tcp: tcp:IP:PORT. Eg: \
-/dev/ttyUSB0 or 0.0.0.0:14550. Auto-detect serial if not given.')
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int,
-                      help="Mavlink port baud rate (default=57600)", default=57600)
-    args = parser.parse_args()
-
-
-    if args.port == None:
-        if sys.platform == "darwin":
-            args.port = "/dev/tty.usbmodem1"
-        else:
-            serial_list = mavutil.auto_detect_serial(preferred_list=['*FTDI*',
-                "*Arduino_Mega_2560*", "*3D_Robotics*", "*USB_to_UART*", '*PX4*', '*FMU*'])
-
-            if len(serial_list) == 0:
-                print("Error: no serial connection found")
-                return
-
-            if len(serial_list) > 1:
-                print('Auto-detected serial ports are:')
-                for port in serial_list:
-                    print(" {:}".format(port))
-            print('Using port {:}'.format(serial_list[0]))
-            args.port = serial_list[0].device
-
-
-    print("Connecting to MAVLINK...")
-    mav_serialport = MavlinkSerialPort(args.port, args.baudrate, devnum=10)
-
-    mav_serialport.write('\n') # make sure the shell is started
-
-    # setup the console, so we can read one char at a time
-    fd_in = sys.stdin.fileno()
-    old_attr = termios.tcgetattr(fd_in)
-    new_attr = termios.tcgetattr(fd_in)
-    new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
-    new_attr[3] = new_attr[3] & ~termios.ICANON
-
-    try:
-        termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
-        cur_line = ''
-        command_history = []
-        cur_history_index = 0
-
-        def erase_last_n_chars(N):
-            if N == 0: return
-            CURSOR_BACK_N = '\x1b['+str(N)+'D'
-            ERASE_END_LINE = '\x1b[K'
-            sys.stdout.write(CURSOR_BACK_N + ERASE_END_LINE)
-
-        next_heartbeat_time = timer()
-
-        while True:
-            while True:
-                i, o, e = select.select([sys.stdin], [], [], 0)
-                if not i: break
-                ch = sys.stdin.read(1)
-
-                # provide a simple shell with command history
-                if ch == '\n':
-                    if len(cur_line) > 0:
-                        # erase current text (mavlink shell will echo it as well)
-                        erase_last_n_chars(len(cur_line))
-
-                        # add to history
-                        if len(command_history) == 0 or command_history[-1] != cur_line:
-                            command_history.append(cur_line)
-                            if len(command_history) > 50:
-                                del command_history[0]
-                        cur_history_index = len(command_history)
-                    mav_serialport.write(cur_line+'\n')
-                    cur_line = ''
-                elif ord(ch) == 127: # backslash
-                    if len(cur_line) > 0:
-                        erase_last_n_chars(1)
-                        cur_line = cur_line[:-1]
-                        sys.stdout.write(ch)
-                elif ord(ch) == 27:
-                    ch = sys.stdin.read(1) # skip one
-                    ch = sys.stdin.read(1)
-                    if ch == 'A': # arrow up
-                        if cur_history_index > 0:
-                            cur_history_index -= 1
-                    elif ch == 'B': # arrow down
-                        if cur_history_index < len(command_history):
-                            cur_history_index += 1
-                    # TODO: else: support line editing
-
-                    erase_last_n_chars(len(cur_line))
-                    if cur_history_index == len(command_history):
-                        cur_line = ''
-                    else:
-                        cur_line = command_history[cur_history_index]
-                    sys.stdout.write(cur_line)
-
-                elif ord(ch) > 3:
-                    cur_line += ch
-                    sys.stdout.write(ch)
-                sys.stdout.flush()
-
-            data = mav_serialport.read(4096)
-            if data and len(data) > 0:
-                sys.stdout.write(data)
-                sys.stdout.flush()
-
-            # handle heartbeat sending
-            heartbeat_time = timer()
-            if heartbeat_time > next_heartbeat_time:
-                mav_serialport.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS,
-                        mavutil.mavlink.MAV_AUTOPILOT_GENERIC, 0, 0, 0)
-                next_heartbeat_time = heartbeat_time + 1
-
-    except serial.serialutil.SerialException as e:
-        print(e)
-
-    except KeyboardInterrupt:
-        mav_serialport.close()
-
-    finally:
-        termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)
-
-
-if __name__ == '__main__':
-    main()
-

Tools/mavlink_ulog_streaming.py

@@ -1,268 +0,0 @@
-#!/usr/bin/env python
-
-"""
-Stream ULog data over MAVLink.
-
-@author: Beat Kueng (beat-kueng@gmx.net)
-"""
-
-
-from __future__ import print_function
-import sys, select, os
-import datetime
-from timeit import default_timer as timer
-os.environ['MAVLINK20'] = '1' # The commands require mavlink 2
-
-try:
-    from pymavlink import mavutil
-except:
-    print("Failed to import pymavlink.")
-    print("You may need to install it with 'pip install pymavlink pyserial'")
-    print("")
-    raise
-from argparse import ArgumentParser
-
-
-class MavlinkLogStreaming():
-    '''Streams log data via MAVLink.
-       Assumptions:
-       - the sender only sends one acked message at a time
-       - the data is in the ULog format '''
-    def __init__(self, portname, baudrate, output_filename, debug=0):
-        self.baudrate = 0
-        self._debug = debug
-        self.buf = ''
-        self.debug("Connecting with MAVLink to %s ..." % portname)
-        self.mav = mavutil.mavlink_connection(portname, autoreconnect=True, baud=baudrate)
-        self.mav.wait_heartbeat()
-        self.debug("HEARTBEAT OK\n")
-        self.debug("Locked serial device\n")
-
-        self.got_ulog_header = False
-        self.got_header_section = False
-        self.ulog_message = []
-        self.file = open(output_filename,'wb')
-        self.start_time = timer()
-        self.last_sequence = -1
-        self.logging_started = False
-        self.num_dropouts = 0
-        self.target_component = 1
-
-    def debug(self, s, level=1):
-        '''write some debug text'''
-        if self._debug >= level:
-            print(s)
-
-    def start_log(self):
-        self.mav.mav.command_long_send(self.mav.target_system,
-                self.target_component,
-                mavutil.mavlink.MAV_CMD_LOGGING_START, 0,
-                0, 0, 0, 0, 0, 0, 0)
-
-    def stop_log(self):
-        self.mav.mav.command_long_send(self.mav.target_system,
-                self.target_component,
-                mavutil.mavlink.MAV_CMD_LOGGING_STOP, 0,
-                0, 0, 0, 0, 0, 0, 0)
-
-    def read_messages(self):
-        ''' main loop reading messages '''
-        measure_time_start = timer()
-        measured_data = 0
-
-        next_heartbeat_time = timer()
-        while True:
-
-            # handle heartbeat sending
-            heartbeat_time = timer()
-            if heartbeat_time > next_heartbeat_time:
-                self.debug('sending heartbeat')
-                self.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS,
-                        mavutil.mavlink.MAV_AUTOPILOT_GENERIC, 0, 0, 0)
-                next_heartbeat_time = heartbeat_time + 1
-
-            m, first_msg_start, num_drops = self.read_message()
-            if m is not None:
-                self.process_streamed_ulog_data(m, first_msg_start, num_drops)
-
-                # status output
-                if self.logging_started:
-                    measured_data += len(m)
-                    measure_time_cur = timer()
-                    dt = measure_time_cur - measure_time_start
-                    if dt > 1:
-                        sys.stdout.write('\rData Rate: {:0.1f} KB/s  Drops: {:} \033[K'.format(
-                            measured_data / dt / 1024, self.num_dropouts))
-                        sys.stdout.flush()
-                        measure_time_start = measure_time_cur
-                        measured_data = 0
-
-            if not self.logging_started and timer()-self.start_time > 4:
-                raise Exception('Start timed out. Is the logger running in MAVLink mode?')
-
-
-    def read_message(self):
-        ''' read a single mavlink message, handle ACK & return a tuple of (data, first
-        message start, num dropouts) '''
-        m = self.mav.recv_match(type=['LOGGING_DATA_ACKED',
-                            'LOGGING_DATA', 'COMMAND_ACK'], blocking=True,
-                            timeout=0.05)
-        if m is not None:
-            self.debug(m, 3)
-
-            if m.get_type() == 'COMMAND_ACK':
-                if m.command == mavutil.mavlink.MAV_CMD_LOGGING_START and \
-                        not self.got_header_section:
-                    if m.result == 0:
-                        self.logging_started = True
-                        print('Logging started. Waiting for Header...')
-                    else:
-                        raise Exception('Logging start failed', m.result)
-                return None, 0, 0
-
-            # m is either 'LOGGING_DATA_ACKED' or 'LOGGING_DATA':
-            is_newer, num_drops = self.check_sequence(m.sequence)
-
-            # return an ack, even we already sent it for the same sequence,
-            # because the ack could have been dropped
-            if m.get_type() == 'LOGGING_DATA_ACKED':
-                self.mav.mav.logging_ack_send(self.mav.target_system,
-                        self.target_component, m.sequence)
-
-            if is_newer:
-                if num_drops > 0:
-                    self.num_dropouts += num_drops
-
-                if m.get_type() == 'LOGGING_DATA':
-                    if not self.got_header_section:
-                        print('Header received in {:0.2f}s'.format(timer()-self.start_time))
-                        self.logging_started = True
-                        self.got_header_section = True
-                self.last_sequence = m.sequence
-                return m.data[:m.length], m.first_message_offset, num_drops
-
-            else:
-                self.debug('dup/reordered message '+str(m.sequence))
-
-        return None, 0, 0
-
-
-    def check_sequence(self, seq):
-        ''' check if a sequence is newer than the previously received one & if
-        there were dropped messages between the last and this '''
-        if self.last_sequence == -1:
-            return True, 0
-        if seq == self.last_sequence: # duplicate
-            return False, 0
-        if seq > self.last_sequence:
-            # account for wrap-arounds, sequence is 2 bytes
-            if seq - self.last_sequence > (1<<15): # assume reordered
-                return False, 0
-            return True, seq - self.last_sequence - 1
-        else:
-            if self.last_sequence - seq > (1<<15):
-                return True, (1<<16) - self.last_sequence - 1 + seq
-            return False, 0
-
-
-    def process_streamed_ulog_data(self, data, first_msg_start, num_drops):
-        ''' write streamed data to a file '''
-        if not self.got_ulog_header: # the first 16 bytes need special treatment
-            if len(data) < 16: # that's never the case anyway
-                raise Exception('first received message too short')
-            self.file.write(bytearray(data[0:16]))
-            data = data[16:]
-            self.got_ulog_header = True
-
-        if self.got_header_section and num_drops > 0:
-            if num_drops > 25: num_drops = 25
-            # write a dropout message. We don't really know the actual duration,
-            # so just use the number of drops * 10 ms
-            self.file.write(bytearray([ 2, 0, 79, num_drops*10, 0 ]))
-
-        if num_drops > 0:
-            self.write_ulog_messages(self.ulog_message)
-            self.ulog_message = []
-            if first_msg_start == 255:
-                return # no useful information in this message: drop it
-            data = data[first_msg_start:]
-            first_msg_start = 0
-
-        if first_msg_start == 255 and len(self.ulog_message) > 0:
-            self.ulog_message.extend(data)
-            return
-
-        if len(self.ulog_message) > 0:
-            self.file.write(bytearray(self.ulog_message + data[:first_msg_start]))
-            self.ulog_message = []
-
-        data = self.write_ulog_messages(data[first_msg_start:])
-        self.ulog_message = data # store the rest for the next message
-
-
-    def write_ulog_messages(self, data):
-        ''' write ulog data w/o integrity checking, assuming data starts with a
-        valid ulog message. returns the remaining data at the end. '''
-        while len(data) > 2:
-            message_length = data[0] + data[1] * 256 + 3 # 3=ULog msg header
-            if message_length > len(data):
-                break
-            self.file.write(bytearray(data[:message_length]))
-            data = data[message_length:]
-        return data
-
-
-
-def main():
-    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('port', metavar='PORT', nargs='?', default = None,
-            help='Mavlink port name: serial: DEVICE[,BAUD], udp: IP:PORT, tcp: tcp:IP:PORT. Eg: \
-/dev/ttyUSB0 or 0.0.0.0:14550. Auto-detect serial if not given.')
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int,
-                      help="Mavlink port baud rate (default=115200)", default=115200)
-    parser.add_argument("--output", "-o", dest="output", default = '.',
-                      help="output file or directory (default=CWD)")
-    args = parser.parse_args()
-
-    if os.path.isdir(args.output):
-        filename = datetime.datetime.now().strftime("%Y-%m-%d_%H-%M-%S.ulg")
-        filename = os.path.join(args.output, filename)
-    else:
-        filename = args.output
-    print('Output file name: {:}'.format(filename))
-
-    if args.port == None:
-        serial_list = mavutil.auto_detect_serial(preferred_list=['*FTDI*',
-            "*Arduino_Mega_2560*", "*3D_Robotics*", "*USB_to_UART*", '*PX4*', '*FMU*'])
-
-        if len(serial_list) == 0:
-            print("Error: no serial connection found")
-            return
-
-        if len(serial_list) > 1:
-            print('Auto-detected serial ports are:')
-            for port in serial_list:
-                print(" {:}".format(port))
-        print('Using port {:}'.format(serial_list[0]))
-        args.port = serial_list[0].device
-
-
-    print("Connecting to MAVLINK...")
-    mav_log_streaming = MavlinkLogStreaming(args.port, args.baudrate, filename)
-
-    try:
-        print('Starting log...')
-        mav_log_streaming.start_log()
-        mav_log_streaming.read_messages()
-
-        print('Stopping log')
-        mav_log_streaming.stop_log()
-
-    except KeyboardInterrupt:
-        print('Stopping log')
-        mav_log_streaming.stop_log()
-
-
-if __name__ == '__main__':
-    main()
-

Tools/posix_apps.py

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