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stream distance sensor at 10Hz for SITL-EKF testing
Navigator: Fix pause mode to not continue to next waypoint if already set
2026-06-12 12:50:05 +08:00 · 2017-07-12 07:19:20 +02:00 · 2017-07-11 13:59:12 +02:00 · 2017-07-11 13:23:12 +02:00 · 2017-07-11 09:52:51 +02:00 · 2017-07-11 09:52:51 +02:00
366 changed files with 5616 additions and 3404 deletions
@@ -44,7 +44,6 @@ src/modules/uORB/topics/*
 src/platforms/nuttx/px4_messages/*
 src/platforms/ros/px4_messages/*
 Firmware.zip
-unittests/build
 *.generated.h
 .vagrant
 *.pretty
@@ -22,10 +22,6 @@
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
 	url = https://github.com/PX4/sitl_gazebo.git
-[submodule "unittests/googletest"]
-	path = unittests/googletest
-	url = https://github.com/google/googletest.git
-	ignore = untracked
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
 	url = https://github.com/PX4/Matrix.git
@@ -99,7 +99,7 @@
 #
 #=============================================================================

-if ("${CMAKE_VERSION}" VERSION_LESS 3.1.0)
+if (${CMAKE_VERSION} VERSION_LESS 3.1.0)
 	message("Not a valid CMake version")
 	message("On Ubuntu >= 16.04, install or upgrade via:")
 	message("	sudo apt-get install cmake")
@@ -157,8 +157,6 @@ include(common/sanitizers)
 if (NOT CMAKE_BUILD_TYPE)
 	if (${OS} STREQUAL "nuttx")
 		set(PX4_BUILD_TYPE "MinSizeRel")
-	elseif (${OS} STREQUAL "qurt")
-		set(PX4_BUILD_TYPE "MinSizeRel")
 	elseif (${OS} STREQUAL "bebop")
 		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
@@ -195,10 +193,11 @@ px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
 px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
 px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
+px4_add_git_submodule(TARGET git_gazebo_flow PATH "Tools/sitl_gazebo/external/OpticalFlow")
+px4_add_git_submodule(TARGET git_gazebo_klt PATH "Tools/sitl_gazebo/external/OpticalFlow/external/klt_feature_tracker")
 px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
 px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
 px4_add_git_submodule(TARGET git_gps_devices PATH "src/drivers/gps/devices")
-px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
 px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
 px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
 px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
@@ -371,7 +370,7 @@ link_directories(${link_dirs})
 add_definitions(${definitions})

 #=============================================================================
-# message, parameter, and airframe generation
+# message, and airframe generation
 #

 include(common/px4_metadata)
@@ -384,13 +383,7 @@ px4_generate_messages(TARGET msg_gen
 	DEPENDS git_genmsg git_gencpp prebuild_targets
 	)

-px4_generate_parameters_xml(OUT parameters.xml 
-	BOARD ${BOARD}
-	MODULES ${config_module_list}
-	OVERRIDES ${PARAM_DEFAULT_OVERRIDES})
-
-px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
-add_custom_target(xml_gen DEPENDS parameters.xml airframes.xml)
+px4_generate_airframes_xml(BOARD ${BOARD})

 #=============================================================================
 # DriverFramework
@@ -305,27 +305,22 @@ format:

 # Testing
 # --------------------------------------------------------------------
-.PHONY: unittest run_tests_posix tests tests_coverage
-
-unittest: posix_sitl_default
-	$(call cmake-build,unittest,$(SRC_DIR)/unittests)
-	@(cd build_unittest && ctest -j2 --output-on-failure)
+.PHONY: run_tests_posix tests tests_coverage

 run_tests_posix:
 	$(MAKE) --no-print-directory posix_sitl_default test_results

-tests: unittest run_tests_posix
+tests: run_tests_posix

 tests_coverage:
 	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage

 coveralls_upload:
 	@cpp-coveralls --include src/ \
-		--exclude src/lib/DriverFramework \
-		--exclude src/lib/ecl \
-		--exclude src/lib/Matrix \
+		--exclude=src/lib/DriverFramework \
+		--exclude=src/lib/ecl \
+		--exclude=src/lib/Matrix \
 		--exclude=src/modules/uavcan/libuavcan \
-		--exclude-pattern ".*/unittests/googletest/.*" \
 		--root . --build-root build_posix_sitl_default/ --follow-symlinks

 codecov_upload:
@@ -2,7 +2,7 @@

 [![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)

-[![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)
+[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io) [![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](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

@@ -3,11 +3,14 @@
 # @name HILStar (XPlane)
 #
 # @type Simulation
+# @class Plane
 #
 # @output MAIN1 aileron
 # @output MAIN2 elevator
 # @output MAIN3 rudder
 # @output MAIN4 throttle
+# @output MAIN5 flaps
+# @output MAIN6 gear
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -3,6 +3,7 @@
 # @name Team Blacksheep Discovery
 #
 # @type Quadrotor Wide
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -16,7 +17,7 @@
 # @output AUX3 feed-through of RC AUX3 channel
 # @output AUX4 feed-through of RC FLAPS channel
 #
-# @maintainer Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -3,6 +3,7 @@
 # @name 3DR Iris Quadrotor
 #
 # @type Quadrotor Wide
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -14,7 +15,7 @@
 # @output AUX3 feed-through of RC AUX3 channel
 # @output AUX4 feed-through of RC FLAPS channel
 #
-# @maintainer Anton Babushkin <anton@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -3,6 +3,7 @@
 # @name Steadidrone QU4D
 #
 # @type Quadrotor Wide
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -16,7 +17,7 @@
 # @output AUX3 feed-through of RC AUX3 channel
 # @output AUX4 feed-through of RC FLAPS channel
 #
-# @maintainer Thomas Gubler <thomas@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -3,6 +3,7 @@
 # @name Team Blacksheep Discovery Endurance
 #
 # @type Quadrotor Wide
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -16,7 +17,7 @@
 # @output AUX3 feed-through of RC AUX3 channel
 # @output AUX4 feed-through of RC FLAPS channel
 #
-# @maintainer Simon Wilks <simon@px4.io>
+# @maintainer Simon Wilks <simon@uaventure.com>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -39,7 +40,6 @@ then
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0

-	param set MPC_XY_FF 0.2
 	param set MPC_XY_VEL_MAX 2
 	param set PWM_MIN 1080
 fi
@@ -3,8 +3,9 @@
 # @name HIL Quadcopter X
 #
 # @type Simulation
+# @class Copter
 #
-# @maintainer Anton Babushkin <anton@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -3,6 +3,7 @@
 # @name 3DR DIY Quad
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -3,6 +3,7 @@
 # @name H4 680mm with Z1 Tiny2 Gimbal
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @maintainer Leon Mueller <thedevleon>
 #
@@ -3,8 +3,9 @@
 # @name HIL Quadcopter +
 #
 # @type Simulation
+# @class Copter
 #
-# @maintainer Anton Babushkin <anton@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -3,13 +3,14 @@
 # @name Generic Hexa coaxial geometry
 #
 # @type Hexarotor Coaxial
+# @class Copter
 #
 # @output MAIN1 front right top, CW; angle:60; direction:CW
 # @output MAIN2 front right bottom, CCW; angle:60; direction:CCW
 # @output MAIN3 back top, CW; angle:180; direction:CW
 # @output MAIN4 back bottom, CCW; angle:180; direction:CCW
 # @output MAIN5 front left top, CW; angle:-60; direction:CW
-# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW 
+# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW
 #
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
@@ -3,6 +3,7 @@
 # @name Generic 10" Octo coaxial geometry
 #
 # @type Octorotor Coaxial
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -3,6 +3,7 @@
 # @name Steadidrone MAVRIK
 #
 # @type Octo Coax Wide
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -3,6 +3,7 @@
 # @name Caipiroshka Duo Tailsitter
 #
 # @type VTOL Duo Tailsitter
+# @class VTOL
 #
 # @output MAIN1 motor right
 # @output MAIN2 motor left
@@ -2,7 +2,10 @@
 #
 # @name BirdsEyeView Aerobotics FireFly6
 # @type VTOL Tiltrotor
+# @class VTOL
+#
 # @maintainer Roman Bapst <roman@uaventure.com>
+#
 # @output MAIN1 Front right motor bottom
 # @output MAIN2 Front right motor top
 # @output MAIN3 Back motor bottom
@@ -3,6 +3,7 @@
 # @name Quadrotor X Tailsitter
 #
 # @type VTOL Quad Tailsitter
+# @class VTOL
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
@@ -3,6 +3,7 @@
 # @name Quadrotor + Tailsitter
 #
 # @type VTOL Quad Tailsitter
+# @class VTOL
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -1,8 +1,12 @@
 #!nsh
 #
 # @name Fun Cub Quad VTOL
+#
 # @type Standard VTOL
+# @class VTOL
+#
 # @maintainer Simon Wilks <simon@uaventure.com>
+#
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
 # @output MAIN3 motor 3
@@ -1,8 +1,12 @@
 #!nsh
 #
 # @name Generic quad delta VTOL
+#
 # @type Standard VTOL
+# @class VTOL
+#
 # @maintainer Simon Wilks <simon@uaventure.com>
+#
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
 # @output MAIN3 motor 3
@@ -3,6 +3,7 @@
 # @name Generic AAVVT v-tail plane airframe with Quad VTOL.
 #
 # @type Standard VTOL
+# @class VTOL
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
@@ -3,6 +3,7 @@
 # @name QuadRanger
 #
 # @type Standard VTOL
+# @class VTOL
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
@@ -3,6 +3,7 @@
 # @name Sparkle Tech Ranger VTOL
 #
 # @type Standard VTOL
+# @class VTOL
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
@@ -61,11 +62,9 @@ then
    param set MPC_TILTMAX_AIR 35.0
    param set MPC_TILTMAX_LND 20.0
    param set MPC_TKO_SPEED   1.0
-    param set MPC_XY_FF   0.1
    param set MPC_XY_P    0.3
    param set MPC_XY_VEL_MAX  3.0
    param set MPC_XY_VEL_P    0.05
-    param set MPC_Z_FF    0.3
    param set MPC_Z_P 0.5
    param set MPC_Z_VEL_P 0.1

@@ -3,6 +3,7 @@
 # @name CruiseAder Claire
 #
 # @type VTOL Tiltrotor
+# @class VTOL
 #
 # @maintainer Samay Siga <samay_s@icloud.com>
 #
@@ -1,8 +1,12 @@
 #!nsh
 #
 # @name E-flite Convergence
+#
 # @type VTOL Tiltrotor
+# @class VTOL
+#
 # @maintainer Andreas Antener <andreas@uaventure.com>
+#
 # @output MAIN1 Motor right
 # @output MAIN2 Motor left
 # @output MAIN3 Motor back
@@ -1,8 +1,12 @@
 #!nsh
 #
 # @name DeltaQuad
+#
 # @type Standard VTOL
+# @class VTOL
+#
 # @maintainer Sander Smeets <sander@droneslab.com>
+#
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
 # @output MAIN3 motor 3
@@ -3,6 +3,7 @@
 # @name Generic Tricopter Y+ Geometry
 #
 # @type Tricopter Y+
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -3,6 +3,7 @@
 # @name Generic Tricopter Y- Geometry
 #
 # @type Tricopter Y-
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -16,6 +17,4 @@ sh /etc/init.d/rc.mc_defaults

 set MIXER tri_y_yaw-

-set PWM_OUT 1234 
-
-
+set PWM_OUT 1234
@@ -3,7 +3,8 @@
 # @name Esky (Big) Lama v4
 #
 # @type Coaxial Helicopter
-# 
+# @class Copter
+#
 # @output MAIN1 Left swashplate servomotor, pitch axis
 # @output MAIN2 Right swashplate servomotor, roll axis
 # @output MAIN3 Upper rotor (CCW)
@@ -3,8 +3,10 @@
 # @name Blade 130X
 #
 # @type Helicopter
+# @class Copter
 #
 # @maintainer Bart Slinger <bartslinger@gmail.com>
+#
 # @output MAIN1 main motor
 # @output MAIN2 front swashplate servo
 # @output MAIN3 right swashplate servo
@@ -3,6 +3,7 @@
 # @name Passthrough mode for Snapdragon
 #
 # @type custom
+# @class Tool
 #
 # @board px4fmu-v1 exclude
 # @board px4fmu-v2 exclude
@@ -1,17 +0,0 @@
-#!nsh
-#
-# @name Multiplex Easystar
-#
-# @type Standard Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 elevator
-# @output MAIN3 rudder
-# @output MAIN4 throttle
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-sh /etc/init.d/rc.fw_defaults
- 
-set MIXER easystar
@@ -1,14 +1,16 @@
 #!nsh
 #
-# @name Standard AETR Plane
+# @name Standard Plane
 #
 # @type Standard Plane
+# @class Plane
 #
 # @output MAIN1 aileron
 # @output MAIN2 elevator
 # @output MAIN3 throttle
 # @output MAIN4 rudder
 # @output MAIN5 flaps
+# @output MAIN6 gear
 #
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
@@ -19,10 +21,10 @@

 sh /etc/init.d/rc.fw_defaults

-set MIXER AETR
+set MIXER AETRFG

-# use PWM parameters for throttle channel
-set PWM_OUT 3
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
+set PWM_RATE 50
+set PWM_AUX_RATE 50
+
+# rate must be set by group (see pwm info)
+# throttle is in the same group as servos
@@ -1,25 +0,0 @@
-#!nsh
-#
-# @name Standard AERT Plane
-#
-# @type Standard Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 elevator
-# @output MAIN3 rudder
-# @output MAIN4 throttle
-# @output MAIN5 flaps
-#
-# @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.fw_defaults
-
-set MIXER AERT
-
-# use PWM parameters for throttle channel
-set PWM_OUT 4
@@ -1,22 +0,0 @@
-#!nsh
-#
-# @name Skywalker (3DR Aero)
-#
-# @type Standard Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 elevator
-# @output MAIN4 rudder
-# @output MAIN3 throttle
-# @output MAIN5 flaps
-#
-# @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.fw_defaults
-
-set MIXER skywalker
@@ -1,20 +0,0 @@
-#!nsh
-#
-# @name Skyhunter 1800
-#
-# @type Standard Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 elevator
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-set MIXER AET
@@ -3,6 +3,7 @@
 # @name Bormatec Maja
 #
 # @type Standard Plane
+# @class Plane
 #
 # @output MAIN1 aileron
 # @output MAIN2 aileron
@@ -3,6 +3,7 @@
 # @name Applied Aeronautics Albatross
 #
 # @type Plane A-Tail
+# @class Plane
 #
 # @output MAIN1 aileron right
 # @output MAIN2 aileron left
@@ -0,0 +1,51 @@
+#!nsh
+#
+# @name Generic Dodecarotor cox geometry
+#
+# @type Dodecarotor cox
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+#
+# @output AUX1 motor 7
+# @output AUX2 motor 8
+# @output AUX3 motor 9
+# @output AUX4 motor 10
+# @output AUX5 motor 11
+# @output AUX6 motor 12
+#
+# @maintainer Ian McNanie <ianmcnanie@gmail.com>
+# @maintainer William Peale <develop707@gmail.com>
+#
+
+set VEHICLE_TYPE mc
+
+if [ $AUTOCNF == yes ]
+then
+	param set NAV_ACC_RAD 2.0
+	param set RTL_RETURN_ALT 30.0
+	param set RTL_DESCEND_ALT 10.0
+	param set PWM_MIN 1075
+	param set PWM_MAX 1950
+	param set PWM_RATE 400
+
+	param set RTL_LAND_DELAY 0
+fi
+
+set PWM_AUX_RATE 400
+# Note: May Have to set these parameters manually. They don't appear to save.
+set PWM_AUX_DISARMED 900
+param set PWM_AUX_MIN 1075
+param set PWM_AUX_MAX 1950
+
+set MIXER dodeca_top_cox
+set MIXER_AUX dodeca_bottom_cox
+
+# Need to set all 8 channels
+set PWM_OUT 12345678
+set PWM_AUX_OUT 123456
@@ -5,6 +5,7 @@
 # @url https://pixhawk.org/platforms/planes/bormatec_camflyer_q
 #
 # @type Flying Wing
+# @class Plane
 #
 # @output MAIN1 left aileron
 # @output MAIN2 right aileron
@@ -14,7 +15,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Simon Wilks <simon@px4.io>
+# @maintainer Simon Wilks <simon@uaventure.com>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -5,6 +5,7 @@
 # @url https://pixhawk.org/platforms/planes/z-84_wing_wing
 #
 # @type Flying Wing
+# @class Plane
 #
 # @output MAIN1 left aileron
 # @output MAIN2 right aileron
@@ -14,7 +15,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Simon Wilks <simon@px4.io>
+# @maintainer Simon Wilks <simon@uaventure.com>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -5,6 +5,7 @@
 # @url https://pixhawk.org/platforms/planes/skywalker_x5
 #
 # @type Flying Wing
+# @class Plane
 #
 # @output MAIN1 left aileron
 # @output MAIN2 right aileron
@@ -14,7 +15,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
+# @maintainer Julian Oes <julian@px4.io>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -2,9 +2,10 @@
 #
 # @name Wing Wing (aka Z-84) Flying Wing
 #
-# @url https://pixhawk.org/platforms/planes/z-84_wing_wing
+# @url https://docs.px4.io/en/framebuild_plane/wing_wing_z84.html
 #
 # @type Flying Wing
+# @class Plane
 #
 # @output MAIN1 left aileron
 # @output MAIN2 right aileron
@@ -3,8 +3,9 @@
 # @name FX-79 Buffalo Flying Wing
 #
 # @type Flying Wing
+# @class Plane
 #
-# @maintainer Simon Wilks <simon@px4.io>
+# @maintainer Simon Wilks <simon@uaventure.com>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -4,8 +4,9 @@
 # @name Viper
 #
 # @type Flying Wing
+# @class Plane
 #
-# @maintainer Simon Wilks <simon@px4.io>
+# @maintainer Simon Wilks <simon@uaventure.com>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -5,6 +5,7 @@
 # @url http://www.sparkletech.hk/
 #
 # @type Flying Wing
+# @class Plane
 #
 # @output MAIN1 left aileron
 # @output MAIN2 right aileron
@@ -14,7 +15,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Simon Wilks <simon@px4.io>
+# @maintainer Simon Wilks <simon@uaventure.com>
 #

 sh /etc/init.d/rc.fw_defaults
@@ -3,6 +3,7 @@
 # @name TBS Caipirinha
 #
 # @type Flying Wing
+# @class Plane
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -3,6 +3,7 @@
 # @name Generic Quadrotor X config
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -3,7 +3,7 @@
 # @name Generic Quadrotor X config with mount (e.g. gimbal)
 #
 # @type Quadrotor x
-#
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -3,6 +3,7 @@
 # @name Lumenier QAV-R (raceblade) 5" arms
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @board px4fmu-v1 exclude
 # @board px4fmu-v2 exclude
@@ -3,6 +3,7 @@
 # @name AR.Drone Frame
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @board px4fmu-v2 exclude
 # @board px4fmu-v3 exclude
@@ -3,8 +3,9 @@
 # @name Lumenier QAV250
 #
 # @type Quadrotor x
+# @class Copter
 #
-# @maintainer Mark Whitehorn <kd0aij@gmail.com>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/4001_quad_x
@@ -3,6 +3,7 @@
 # @name DJI Flame Wheel F330
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -3,6 +3,7 @@
 # @name DJI Flame Wheel F450
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -3,8 +3,9 @@
 # @name F450-sized quadrotor with CAN
 #
 # @type Quadrotor x
+# @class Copter
 #
-# @maintainer Pavel Kirienko <pavel@px4.io>
+# @maintainer Pavel Kirienko <pavel.kirienko@gmail.com>
 #

 sh /etc/init.d/4001_quad_x
@@ -3,6 +3,7 @@
 # @name Parrot Bebop Frame
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @board px4fmu-v1 exclude
 # @board px4fmu-v2 exclude
@@ -3,6 +3,7 @@
 # @name Hobbyking Micro PCB
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @board px4fmu-v2 exclude
 # @board px4fmu-v3 exclude
@@ -3,6 +3,7 @@
 # @name 3DR Solo
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @board px4fmu-v1 exclude
 # @board px4fmu-v2 exclude
@@ -3,6 +3,7 @@
 # @name Reaper 500 Quad
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @maintainer Blankered
 #
@@ -3,8 +3,9 @@
 # @name Generic 250 Racer
 #
 # @type Quadrotor x
+# @class Copter
 #
-# @maintainer Mark Whitehorn <kd0aij@gmail.com>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/4001_quad_x
@@ -1,11 +1,13 @@
 #!nsh
 #
 # @name Spedix S250AQ
+# @url https://docs.px4.io/en/framebuild_multicopter/spedix_s250_pixracer.html
 #
 # @board px4fmu-v1 exclude
 # @board px4fmu-v2 exclude
 #
 # @type Quadrotor asymmetric
+# @class Copter
 #
 # @output MAIN1 motor1 (front right: CCW)
 # @output MAIN2 motor2 (back left: CCW)
@@ -15,7 +17,7 @@
 # @output MAIN5 feed-through of RC AUX1 channel
 # @output MAIN6 feed-through of RC AUX2 channel
 #
-# @maintainer Mark Whitehorn <kd0aij@gmail.com>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -3,6 +3,7 @@
 # @name DJI Matrice 100
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @maintainer James Goppert <james.goppert@gmail.com>
 #
@@ -10,6 +10,8 @@
 # @board px4fmu-v5 exclude
 #
 # @type Quadrotor x
+# @class Copter
+#

 sh /etc/init.d/rc.mc_defaults

@@ -3,6 +3,7 @@
 # @name ZMR250 Racer
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @board px4fmu-v1 exclude
 # @board px4fmu-v2 exclude
@@ -3,6 +3,7 @@
 # @name NanoMind 110 Quad
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @board px4fmu-v1 exclude
 # @board px4fmu-v2 exclude
@@ -11,6 +11,7 @@
 # @board aerofc-v1 exclude
 #
 # @type Quadrotor x
+# @class Copter
 #

 sh /etc/init.d/4001_quad_x
@@ -3,6 +3,7 @@
 # @name Axial Racing AX10
 #
 # @type Rover
+# @class Rover
 #
 # @output MAIN1 pass-through of control group 0, channel 0
 # @output MAIN2 pass-through of control group 0, channel 1
@@ -5,7 +5,8 @@
 # @url https://traxxas.com/products/models/electric/stampede-vxl-tsm
 #
 # @type Rover
-# 
+# @class Rover
+#
 # @output MAIN2 steering
 # @output MAIN4 throttle
 #
@@ -17,16 +18,16 @@ sh /etc/init.d/rc.gnd_defaults
 if [ $AUTOCNF == yes ]
 then
 	param set BAT_N_CELLS 7
-	
+
 	param set FW_AIRSPD_MIN 0
 	param set FW_AIRSPD_TRIM 1
 	param set FW_AIRSPD_MAX 3
-	
+
 	param set NAV_ACC_RAD 0.5

 	param set MIS_LTRMIN_ALT 0.01
 	param set MIS_TAKEOFF_ALT 0.01
-	
+
 	param set EKF2_GBIAS_INIT 0.01
 	param set EKF2_ANGERR_INIT 0.01
 	param set EKF2_MAG_TYPE 1
@@ -3,6 +3,7 @@
 # @name Generic 10" Quad + geometry
 #
 # @type Quadrotor +
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -16,7 +17,7 @@
 # @output AUX3 feed-through of RC AUX3 channel
 # @output AUX4 feed-through of RC FLAPS channel
 #
-# @maintainer Anton Babushkin <anton@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -3,6 +3,7 @@
 # @name Generic Hexarotor x geometry
 #
 # @type Hexarotor x
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -15,7 +16,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Anton Babushkin <anton@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -3,6 +3,7 @@
 # @name Generic Hexarotor + geometry
 #
 # @type Hexarotor +
+# @class Copter
 #
 # @output MAIN1 motor1
 # @output MAIN2 motor2
@@ -15,7 +16,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Anton Babushkin <anton@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -3,6 +3,7 @@
 # @name Generic Octocopter X geometry
 #
 # @type Octorotor x
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -17,7 +18,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Anton Babushkin <anton@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -3,6 +3,7 @@
 # @name Generic Octocopter + geometry
 #
 # @type Octorotor +
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -17,7 +18,7 @@
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
 #
-# @maintainer Anton Babushkin <anton@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -4,9 +4,15 @@ set VEHICLE_TYPE fw

 if [ $AUTOCNF == yes ]
 then
-#
-# Default parameters for FW
-#
+	#
+	# Default parameters for FW
+	#
+
+	param set EKF2_ARSP_THR 8.0
+	param set EKF2_FUSE_BETA 0
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
+
 	param set RTL_RETURN_ALT 100
 	param set RTL_DESCEND_ALT 100
 	param set RTL_LAND_DELAY -1
@@ -17,6 +23,11 @@ then

 	param set MIS_LTRMIN_ALT 25
 	param set MIS_TAKEOFF_ALT 25
+
+	param set PWM_RATE 50
+
+	# FW takeoff acceleration can easily exceed ublox GPS 2G default
+	param set GPS_UBX_DYNMODEL 8
 fi

 # This is the gimbal pass mixer
@@ -8,7 +8,6 @@ then
 	if ms5611 start
 	then
 	fi
-
 else
 	if ver hwcmp AEROFC_V1
 	then
@@ -63,18 +62,8 @@ 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-20602-G is rotated 90 deg yaw
-	if mpu6000 -R 2 -T 20602 start
+	# External I2C bus
+	if hmc5883 -C -T -X start
 	then
 	fi

@@ -152,11 +141,6 @@ then
 		if hmc5883 -C -T -S -R 8 start
 		then
 		fi
-
-		if meas_airspeed start -b 2
-		then
-		fi
-
 	else
 		# FMUv2
 		if mpu6000 start
@@ -287,6 +271,10 @@ then
 	then
 	fi

+	if mpu6000 -s -R 8 start
+	then
+	fi
+
 	if mpu9250 -s -R 8 start
 	then
 	fi
@@ -343,16 +331,15 @@ fi

 if ver hwcmp PX4FMU_V4PRO
 then
-
 	# Internal SPI bus ICM-20608-G
 	if mpu6000 -R 2 -T 20608 start
 	then
 	fi
-	
+
 	# Internal SPI bus ICM-20602
 	if mpu6000 -R 2 -T 20602 start
 	then
-	fi	
+	fi

 	# Internal SPI bus mpu9250
 	if mpu9250 -R 2 start
@@ -368,7 +355,6 @@ then
 	if hmc5883 -C -T -X start
 	then
 	fi
-
 fi

 if ver hwcmp PX4FMU_V5
@@ -398,12 +384,6 @@ then
 	if hmc5883 -C -T -X start
 	then
 	fi
-
-	# Possible external airspeed sensor
-	if meas_airspeed start -b 2
-	then
-	fi
-
 fi

 if ver hwcmp AEROCORE2
@@ -412,18 +392,91 @@ then
 	lsm303d start
 fi

-if meas_airspeed start
+#
+# Optional drivers
+#
+
+if sdp3x_airspeed start
 then
-else
-	if ets_airspeed start
+fi
+
+if ms5525_airspeed start
+then
+fi
+
+if ms5525_airspeed start -b 2
+then
+fi
+
+if ms4525_airspeed start
+then
+fi
+
+if ms4525_airspeed start -b 2
+then
+fi
+
+if ets_airspeed start
+then
+fi
+
+if ets_airspeed start -b 1
+then
+fi
+
+# Sensors on the PWM interface bank
+if param compare SENS_EN_LL40LS 1
+then
+	if pwm_input start
 	then
-	else
-		if ets_airspeed start -b 1
+		if ll40ls start pwm
 		then
 		fi
 	fi
 fi

+# Lidar-Lite on I2C
+if param compare SENS_EN_LL40LS 2
+then
+	if ll40ls start i2c
+	then
+	fi
+fi
+
+# lightware serial lidar sensor
+if param compare SENS_EN_SF0X 0
+then
+else
+	if sf0x start
+	then
+	fi
+fi
+
+# lightware i2c lidar sensor
+if param compare SENS_EN_SF1XX 0
+then
+else
+	if sf1xx start
+	then
+	fi
+fi
+
+# mb12xx sonar sensor
+if param compare SENS_EN_MB12XX 1
+then
+	if mb12xx start
+	then
+	fi
+fi
+
+# teraranger one tof sensor
+if param compare SENS_EN_TRONE 1
+then
+	if trone start
+	then
+	fi
+fi
+
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
 if sensors start
@@ -1,6 +1,6 @@
 #!nsh
 # Un comment and use set +e to ignore and set -e to enable 'exit on error control'
-#set +e
+set +e
 # Un comment the line below to help debug scripts by printing a trace of the script commands
 #set -x
 # PX4FMU startup script.
@@ -750,63 +750,6 @@ then
 		fi
 	fi

-	#
-	# Optional drivers
-	#
-
-	# Sensors on the PWM interface bank
-	if param compare SENS_EN_LL40LS 1
-	then
-		if pwm_input start
-		then
-			if ll40ls start pwm
-			then
-			fi
-		fi
-	fi
-
-	# Lidar-Lite on I2C
-	if param compare SENS_EN_LL40LS 2
-	then
-		if ll40ls start i2c
-		then
-		fi
-	fi
-
-	# lightware serial lidar sensor
-	if param compare SENS_EN_SF0X 0
-	then
-	else
-		if sf0x start
-		then
-		fi
-	fi
-
-	# lightware i2c lidar sensor
-	if param compare SENS_EN_SF1XX 0
-	then
-	else
-		if sf1xx start
-		then
-		fi
-	fi
-
-	# mb12xx sonar sensor
-	if param compare SENS_EN_MB12XX 1
-	then
-		if mb12xx start
-		then
-		fi
-	fi
-
-	# teraranger one tof sensor
-	if param compare SENS_EN_TRONE 1
-	then
-		if trone start
-		then
-		fi
-	fi
-
 	if ver hwcmp PX4FMU_V4
 	then
 		frsky_telemetry start -d /dev/ttyS6
@@ -871,7 +814,7 @@ then
 			if ver hwcmp PX4FMU_V5
 			then
 				set LOGGER_BUF 64
-				param set SDLOG_MODE 3
+				param set SDLOG_MODE 2
 			fi
 			if param compare SDLOG_MODE 1
 			then
@@ -881,10 +824,6 @@ then
 			then
 				set LOGGER_ARGS "-f"
 			fi
-			if param compare SDLOG_MODE 3
-			then
-				set LOGGER_ARGS "-f"
-			fi
 			if ver hwcmp AEROFC_V1
 			then
 				set LOGGER_ARGS "-m mavlink"
@@ -1,60 +0,0 @@
-Aileron/elevator/throttle mixer for PX4FMU
-==================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, elevator and throttle controls using PX4FMU. The configuration  assumes
-the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to
-output 1 and the throttle to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-Aileron mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-As there is only one output, if using two servos adjustments to compensate for
-differences between the servos must be made mechanically.  To obtain the correct
-motion using a Y  cable, the servos can be positioned reversed from one another.
-
-Alternatively, output 2 could be used as a second aileron servo output with
-separate mixing.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-
-Elevator mixer
------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Output 2
--------
-This mixer is empty.
-
-Z:
-
-Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
@@ -1,64 +0,0 @@
-Aileron/Elevator/Throttle/Rudder mixer for PX4FMU
-==================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
-assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
-elevator to output 1, the throttle to output 2 and the rudder to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-Aileron mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-As there is only one output, if using two servos adjustments to compensate for
-differences between the servos must be made mechanically.  To obtain the correct
-motion using a Y  cable, the servos can be positioned reversed from one another.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-
-Elevator mixer
------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-Rudder mixer
------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
@@ -1,15 +1,15 @@
-Aileron/rudder/elevator/throttle mixer for PX4FMU
+Aileron/Elevator/Throttle/Rudder/Gear/Flaps mixer
 ==================================================

 This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
-assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
-elevator to output 1, the rudder to output 2 and the throttle to output 3.
+aileron, rudder, elevator, throttle, gear, flaps controls. The configuration
+assumes the aileron servo(s) are connected to output 0, the elevator to
+output 1, the throttle to output 2 and the rudder to output 3.

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
+(roll), 1 (pitch), 2 (thrust), 3 (yaw), 4 (flaps), 7 (landing gear)

-Aileron mixer
+CH1: Aileron mixer
 -------------
 Two scalers total (output, roll).

@@ -23,10 +23,10 @@ differences between the servos must be made mechanically.  To obtain the correct
 motion using a Y  cable, the servos can be positioned reversed from one another.

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

-Elevator mixer
+CH2: Elevator mixer
 ------------
 Two scalers total (output, roll).

@@ -36,10 +36,21 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.

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

-Rudder mixer
+CH3: Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:       10000  10000       0  -10000  10000
+S: 0 3       0  20000  -10000  -10000  10000
+
+CH4: Rudder mixer
 ------------
 Two scalers total (output, yaw).

@@ -49,16 +60,22 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.

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

-Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
+CH5: Flaps mixer
+------------
+Flaps are controlled automatically in position control and auto
+but can also be controlled manually

 M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
+O:        5000  10000       0  -10000  10000
+S: 0 4   10000  10000       0  -10000  10000
+
+CH6: Landing gear mixer
+------------
+By default pass-through of gear switch
+
+M: 1
+O:        10000 10000       0  -10000  10000
+S: 3 5    10000 10000       0  -10000  10000
@@ -1,38 +0,0 @@
-Passthrough mixer for PX4IO
-============================
-
-This file defines passthrough mixers suitable for testing.
-
-Channel group 0, channels 0-7 are passed directly through to the outputs.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 1  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
@@ -1,53 +0,0 @@
-Rudder/elevator/throttle mixer for PX4FMU
-=========================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-rudder, elevator and throttle controls using PX4FMU. The configuration assumes
-the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1
-and the throttle to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-Rudder mixer
------------
-Two scalers total (output, roll).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-
-Elevator mixer
------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Output 2
--------
-This mixer is empty.
-
-Z:
-
-Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
@@ -0,0 +1,3 @@
+# Dodeca Cox
+
+R: 6a 10000 10000 10000 0
@@ -0,0 +1,3 @@
+# Dodeca Cox
+
+R: 6m 10000 10000 10000 0
@@ -1,31 +0,0 @@
-EASYSTAR / EASYSTAR II MIXER
-============================
-
-Aileron mixer
-------------
-One output - would be easy to add support for 2 servos
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-
-Elevator mixer
------------
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Rudder mixer
------------
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 2  -10000  -10000      0 -10000  10000
-
-Motor speed mixer
-----------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
@@ -1,64 +0,0 @@
-Mixer for Skywalker Airframe
-==================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
-assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
-elevator to output 1, the rudder to output 2 and the throttle to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-Aileron mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-As there is only one output, if using two servos adjustments to compensate for
-differences between the servos must be made mechanically.  To obtain the correct
-motion using a Y  cable, the servos can be positioned reversed from one another.
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 0  -10000  -10000      0 -10000  10000
-
-Elevator mixer
------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1   10000   10000      0 -10000  10000
-
-Rudder mixer
------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
-
-Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
@@ -73,11 +73,6 @@ then
 		if hmc5883 -C -T -S -R 8 start
 		then
 		fi
-
-		if meas_airspeed start -b 2
-		then
-		fi
-
 	else
 		# FMUv2
 		if mpu6000 start
@@ -179,16 +174,32 @@ then
 	fi
 fi

-if meas_airspeed start
+if sdp3x_airspeed start
+then
+fi
+
+if ms5525_airspeed start
+then
+fi
+
+if ms5525_airspeed start -b 2
+then
+fi
+
+if ms4525_airspeed start
+then
+fi
+
+if ms4525_airspeed start -b 2
+then
+fi
+
+if ets_airspeed start
+then
+fi
+
+if ets_airspeed start -b 1
 then
-else
-	if ets_airspeed start
-	then
-	else
-		if ets_airspeed start -b 1
-		then
-		fi
-	fi
 fi

 if sf1xx start
@@ -3,6 +3,7 @@
 # @name Generic Quadrotor X config
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
@@ -3,12 +3,13 @@
 # @name Generic Hexarotor x geometry
 #
 # @type Hexarotor x
+# @class Copter
 #
 # @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>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #

 sh /etc/init.d/rc.mc_defaults
@@ -34,11 +34,21 @@ adb shell mount -o remount,rw /
 adb shell touch /home/root/parameters
 adb shell mkdir -p /data/ftp/internal_000/fs/microsd

-${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-strip \
-  -R .comment -R .gnu.version \
-  ../build_posix_bebop_default/src/firmware/posix/px4
+# kill PX4 if it is already running from autostart
+restart_px4=false
+adb_return=$(adb shell killall -KILL px4)
+if [[ $adb_return == "" ]]; then
+    echo "Killed running PX4 process"
+    restart_px4=true
+fi

 ../Tools/adb_upload.sh $@

-echo "Disconnecting from bebop"
+# restart the process after uploading
+if [ "$restart_px4" = true ]; then
+    echo "Restarting PX4 process"
+    adb shell /etc/init.d/rcS_mode_default 2>/dev/null 1>/dev/null &
+fi
+
+echo "Disconnecting from Bebop"
 adb disconnect
@@ -5,9 +5,10 @@ set -eu
 ASTYLE_VER_REQUIRED_1="Artistic Style Version 2.05.1"
 ASTYLE_VER_REQUIRED_2="Artistic Style Version 2.06"
 ASTYLE_VER_REQUIRED_3="Artistic Style Version 3.0"
+ASTYLE_VER_REQUIRED_4="Artistic Style Version 3.0.1"

 astyle_ver() {
-	echo "PX4 requires ${ASTYLE_VER_REQUIRED}"
+	echo "PX4 requires at least ${ASTYLE_VER_REQUIRED_1}"
 	echo "You can get the correct version here: https://sourceforge.net/projects/astyle/files/astyle/astyle%202.06/"
 }

@@ -23,7 +24,8 @@ else

 	if [ "$ASTYLE_VER" != "$ASTYLE_VER_REQUIRED_1" -a \
 	     "$ASTYLE_VER" != "$ASTYLE_VER_REQUIRED_2" -a \
-	     "$ASTYLE_VER" != "$ASTYLE_VER_REQUIRED_3" ];
+	     "$ASTYLE_VER" != "$ASTYLE_VER_REQUIRED_3" -a \
+	     "$ASTYLE_VER" != "$ASTYLE_VER_REQUIRED_4" ];
 	then
 	    echo "Error: you're using ${ASTYLE_VER}"
 	    echo "but should be using ${ASTYLE_VER_REQUIRED} instead"
@@ -5,7 +5,7 @@ if [[ $@ =~ .*px4fmu.* ]]; then
 	PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2017-06-01"
 elif [[ $@ =~ .*rpi.* ]] || [[ $@ =~ .*bebop.* ]]; then
 	# posix_rpi_cross, posix_bebop_default
-	PX4_DOCKER_REPO="px4io/px4-dev-raspi:2017-04-22"
+	PX4_DOCKER_REPO="px4io/px4-dev-raspi:2017-05-31"
 elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
 	# eagle, excelsior
 	PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2017-01-14"
@@ -24,4 +24,4 @@ print("\n"+"analysing all .ulog files in "+ulog_directory)
 for file in os.listdir(ulog_directory):
    if file.endswith(".ulg"):
        print("\n"+"loading "+file+" for analysis")
-        os.system("python process_logdata_ekf.py "+ulog_directory+"/"+file)
+        os.system("python process_logdata_ekf.py '{}'".format(os.path.join(ulog_directory, file)))
@@ -101,7 +101,7 @@ echo "TMPDIR=\"$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_FOLDERS=".git 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'))"
@@ -16,7 +16,7 @@ Data can be gathered using the following sequence:
 1) Power up the board and set the TC_A_ENABLE, TC_B_ENABLE and TC_G_ENABLE parameters to 1
 2) Set all CAL_GYR and CAL_ACC parameters to defaults
 3) Set the SYS_LOGGER parameter to 1 to use the new system logger
-4) Set the SDLOG_MODE parameter to 3 to enable logging of sensor data for calibration and power off
+4) Set the SDLOG_MODE parameter to 2, and SDLOG_PROFILE parameter to 2 to enable logging of sensor data for calibration and power off
 5) Cold soak the board for 30 minutes
 6) Move to a warm dry, still air, constant pressure environment.
 7) Apply power for 45 minutes, keeping the board still.
@@ -88,17 +88,17 @@ for d in data:

 # extract baro data
 sensor_instance = 0
+num_baros = 0
 for d in data:
    if d.name == 'sensor_baro':
        if sensor_instance == 0:
            sensor_baro_0 = d.data
            print('found baro 0 data')
+        num_baros = 1
        if sensor_instance == 1:
            sensor_baro_1 = d.data
            print('found baro 1 data')
-        if sensor_instance == 2:
-            sensor_baro_2 = d.data
-            print('found baro 2 data')
+        num_baros = 2
        sensor_instance = sensor_instance +1

 # open file to save plots to PDF
@@ -738,12 +738,65 @@ plt.figure(7,figsize=(20,13))
 plt.plot(sensor_baro_0['temperature'],100*sensor_baro_0['pressure']-100*median_pressure,'b')
 plt.plot(temp_resample,baro_0_x_resample,'r')
 plt.title('Baro 0 Bias vs Temperature')
-plt.ylabel('X bias (Pa)')
+plt.ylabel('Z bias (Pa)')
 plt.xlabel('temperature (degC)')
 plt.grid()

 pp.savefig()

+# define data dictionary of baro 1 thermal correction  parameters
+baro_1_params = {
+'TC_B1_ID':0,
+'TC_B1_TMIN':0.0,
+'TC_B1_TMAX':0.0,
+'TC_B1_TREF':0.0,
+'TC_B1_X0':0.0,
+'TC_B1_X1':0.0,
+'TC_B1_X2':0.0,
+'TC_B1_X3':0.0,
+'TC_B1_X4':0.0,
+'TC_B1_X5':0.0,
+'TC_B1_SCL':1.0,
+}
+
+if num_baros >= 2:
+
+	# curve fit the data for baro 0 corrections
+	baro_1_params['TC_B1_ID'] = int(np.median(sensor_baro_1['device_id']))
+
+	# find the min, max and reference temperature
+	baro_1_params['TC_B1_TMIN'] = np.amin(sensor_baro_1['temperature'])
+	baro_1_params['TC_B1_TMAX'] = np.amax(sensor_baro_1['temperature'])
+	baro_1_params['TC_B1_TREF'] = 0.5 * (baro_1_params['TC_B1_TMIN'] + baro_1_params['TC_B1_TMAX'])
+	temp_rel = sensor_baro_1['temperature'] - baro_1_params['TC_B1_TREF']
+	temp_rel_resample = np.linspace(baro_1_params['TC_B1_TMIN']-baro_1_params['TC_B1_TREF'], baro_1_params['TC_B1_TMAX']-baro_1_params['TC_B1_TREF'], 100)
+	temp_resample = temp_rel_resample + baro_1_params['TC_B1_TREF']
+
+	# fit data
+	median_pressure = np.median(sensor_baro_1['pressure']);
+	coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
+	baro_1_params['TC_B1_X5'] = coef_baro_1_x[0]
+	baro_1_params['TC_B1_X4'] = coef_baro_1_x[1]
+	baro_1_params['TC_B1_X3'] = coef_baro_1_x[2]
+	baro_1_params['TC_B1_X2'] = coef_baro_1_x[3]
+	baro_1_params['TC_B1_X1'] = coef_baro_1_x[4]
+	baro_1_params['TC_B1_X0'] = coef_baro_1_x[5]
+	fit_coef_baro_1_x = np.poly1d(coef_baro_1_x)
+	baro_1_x_resample = fit_coef_baro_1_x(temp_rel_resample)
+
+	# baro 1 vs temperature
+	plt.figure(8,figsize=(20,13))
+
+	# draw plots
+	plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
+	plt.plot(temp_resample,baro_1_x_resample,'r')
+	plt.title('Baro 1 Bias vs Temperature')
+	plt.ylabel('Z bias (Pa)')
+	plt.xlabel('temperature (degC)')
+	plt.grid()
+
+	pp.savefig()
+
 #################################################################################

 # close the pdf file
@@ -790,15 +843,25 @@ for key in key_list_accel:
    file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(accel_2_params[key])+"\t"+type+"\n")

 # baro 0 corrections
-key_list_accel = list(baro_0_params.keys())
-key_list_accel.sort
-for key in key_list_accel:
+key_list_baro = list(baro_0_params.keys())
+key_list_baro.sort
+for key in key_list_baro:
    if key == 'TC_B0_ID':
        type = "6"
    else:
        type = "9"
    file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(baro_0_params[key])+"\t"+type+"\n")

+# baro 1 corrections
+key_list_baro = list(baro_1_params.keys())
+key_list_baro.sort
+for key in key_list_baro:
+    if key == 'TC_B1_ID':
+        type = "6"
+    else:
+        type = "9"
+    file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(baro_1_params[key])+"\t"+type+"\n")
+
 # gyro 0 corrections
 key_list_gyro = list(gyro_0_params.keys())
 key_list_gyro.sort()
@@ -0,0 +1,68 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# 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.
+#
+############################################################################
+
+#
+# Basic central executable for PX4 maintenance
+#
+
+# for python2.7 compatibility
+from __future__ import print_function
+
+import sys
+import argparse
+import binascii
+import serial
+import socket
+import struct
+import json
+import zlib
+import base64
+import time
+import array
+import os
+
+from sys import platform as _platform
+
+# Detect python version
+if sys.version_info[0] < 3:
+    runningPython3 = False
+else:
+    runningPython3 = True
+
+def main():
+
+    print("PX4 release v1.6")
+
+if __name__ == '__main__':
+    main()
@@ -12,17 +12,23 @@ class MarkdownTablesOutput():

        result += """This page lists all supported airframes and types including
 the motor assignment and numbering. The motors in **green** rotate clockwise,
- the ones in **blue** conterclockwise.\n\n"""
+ the ones in **blue** counterclockwise.\n\n"""
+ 
+        type_set = set()
+        

        for group in groups:
+            if group.GetClass() not in type_set:
+               result += '## %s\n\n' % group.GetClass()
+               type_set.add(group.GetClass())

-            result += '## %s\n\n' % group.GetName()
+            result += '### %s\n\n' % group.GetName()

            # Display an image of the frame
            image_name = group.GetImageName()
            result += '<div>\n'
            if image_name != 'AirframeUnknown':
-                result += '<img src="../images/airframes/types/%s.svg" width="29%%" style="max-height: 180px;"/>\n' % (image_name)
+                result += '<img src="../../assets/airframes/types/%s.svg" width="29%%" style="max-height: 180px;"/>\n' % (image_name)

            # check if all outputs are equal for the group: if so, show them
            # only once
@@ -81,6 +87,8 @@ class MarkdownTablesOutput():
                    if maintainer != '':
                        maintainer_entry = '<p>Maintainer: %s</p>' % (maintainer)
                    url = param.GetFieldValue('url')
+                    name_anchor='id="%s_%s_%s"' % (group.GetClass(),group.GetName(),name)
+                    name_anchor=name_anchor.replace(' ','_').lower()
                    name_entry = name
                    if url != '':
                        name_entry = '<a href="%s">%s</a>' % (url, name)
@@ -107,8 +115,8 @@ class MarkdownTablesOutput():
                    else:
                        outputs_entry = ''

-                    result += ('<tr>\n <td style="vertical-align: top;">%s</td>\n <td style="vertical-align: top;">%s%s%s</td>\n\n</tr>\n' %
-                        (name_entry, maintainer_entry, airframe_id_entry,
+                    result += ('<tr %s>\n <td style="vertical-align: top;">%s</td>\n <td style="vertical-align: top;">%s%s%s</td>\n\n</tr>\n' %
+                        (name_anchor, name_entry, maintainer_entry, airframe_id_entry,
                        outputs_entry))


--- a/Show More
+++ b/Show More