land_detector: fix timestamp type (#4710 )

The overflow of the uint32_t lead to the land_detector start getting aborted.
Fixed stack overflow in UAVCAN process (#4643 )
2026-06-15 21:31:29 +08:00 · 2016-06-01 17:16:29 +02:00 · 2016-05-26 20:00:46 +02:00 · 2016-05-21 15:55:32 +02:00 · 2016-05-21 14:13:30 +02:00 · 2016-05-21 14:13:22 +02:00
2108 changed files with 65156 additions and 239557 deletions
--- a/.clang-tidy
+++ b/.clang-tidy
@ -1,85 +0,0 @@
-Checks:          '*
-		,-cert-dcl50-cpp
-		,-cert-err34-c
-		,-cert-err58-cpp
-		,-cert-msc30-c
-		,-cert-msc50-cpp
-		,-clang-analyzer-core.CallAndMessage
-		,-clang-analyzer-core.NullDereference
-		,-clang-analyzer-core.UndefinedBinaryOperatorResult
-		,-clang-analyzer-core.uninitialized.Assign
-		,-clang-analyzer-core.VLASize
-		,-clang-analyzer-cplusplus.NewDeleteLeaks
-		,-clang-analyzer-deadcode.DeadStores
-		,-clang-analyzer-optin.cplusplus.VirtualCall
-		,-clang-analyzer-optin.performance.Padding
-		,-clang-analyzer-security.insecureAPI.strcpy
-		,-clang-analyzer-unix.cstring.BadSizeArg
-		,-clang-analyzer-unix.Malloc
-		,-clang-analyzer-unix.MallocSizeof
-		,-cppcoreguidelines-c-copy-assignment-signature
-		,-cppcoreguidelines-interfaces-global-init
-		,-cppcoreguidelines-no-malloc
-		,-cppcoreguidelines-pro-bounds-array-to-pointer-decay
-		,-cppcoreguidelines-pro-bounds-constant-array-index
-		,-cppcoreguidelines-pro-bounds-pointer-arithmetic
-		,-cppcoreguidelines-pro-type-const-cast
-		,-cppcoreguidelines-pro-type-cstyle-cast
-		,-cppcoreguidelines-pro-type-member-init
-		,-cppcoreguidelines-pro-type-reinterpret-cast
-		,-cppcoreguidelines-pro-type-union-access
-		,-cppcoreguidelines-pro-type-vararg
-		,-cppcoreguidelines-special-member-functions
-		,-google-build-using-namespace
-		,-google-explicit-constructor
-		,-google-global-names-in-headers
-		,-google-readability-casting
-		,-google-readability-namespace-comments
-		,-google-readability-todo
-		,-google-runtime-int
-		,-google-runtime-references
-		,-llvm-header-guard
-		,-llvm-include-order
-		,-llvm-namespace-comment
-		,-misc-incorrect-roundings
-		,-misc-macro-parentheses
-		,-misc-misplaced-widening-cast
-		,-misc-redundant-expression
-		,-misc-unconventional-assign-operator
-		,-misc-unused-parameters
-		,-modernize-deprecated-headers
-		,-modernize-loop-convert
-		,-modernize-use-auto
-		,-modernize-use-bool-literals
-		,-modernize-use-default-member-init
-		,-modernize-use-emplace
-		,-modernize-use-equals-default
-		,-modernize-use-equals-delete
-		,-modernize-use-override
-		,-modernize-use-using
-		,-performance-inefficient-string-concatenation
-		,-readability-avoid-const-params-in-decls
-		,-readability-else-after-return
-		,-readability-implicit-bool-cast
-		,-readability-inconsistent-declaration-parameter-name
-		,-readability-non-const-parameter
-		,-readability-redundant-declaration
-		,-readability-redundant-member-init
-		,-readability-simplify-boolean-expr
-		'
-WarningsAsErrors: '*'
-CheckOptions:    
-  - key:             google-readability-braces-around-statements.ShortStatementLines
-    value:           '1'
-  - key:             google-readability-function-size.BranchThreshold
-    value:           '600'
-  - key:             google-readability-function-size.LineThreshold
-    value:           '4000'
-  - key:             google-readability-function-size.StatementThreshold
-    value:           '4000'
-  - key:             readability-braces-around-statements.ShortStatementLines
-    value:           '1'
-  - key:             readability-function-size.LineThreshold
-    value:           '4000'
-  - key:             readability-function-size.StatementThreshold
-    value:           '4000'
--- a/.gitignore
+++ b/.gitignore
@ -5,7 +5,6 @@
 *.px4log
 *.dSYM
 *.o
-*.gch
 *.pyc
 *~
 .*.swp
@ -20,9 +19,6 @@
 Archives/*
 Build/*
 Testing/
-Packages/*
-s3deploy-branch/
-s3deploy-archive/
 build/*
 build_*/
 core
@ -31,6 +27,15 @@ cscope.in.out
 cscope.po.out
 Firmware.sublime-workspace
 user.sublime*
+Images/*.bin
+Images/*.px4
+mavlink/include/mavlink/v0.9/
+/nuttx-configs/px4io-v2/src/.depend
+/nuttx-configs/px4io-v2/src/Make.dep
+/nuttx-configs/px4io-v2/src/libboard.a
+/nuttx-configs/px4io-v1/src/.depend
+/nuttx-configs/px4io-v1/src/Make.dep
+/nuttx-configs/px4io-v1/src/libboard.a
 /Documentation/doxy.log
 /Documentation/html/
 /Documentation/doxygen*objdb*tmp
@ -59,6 +64,7 @@ CMakeLists.txt.user
 GPATH
 GRTAGS
 GTAGS
+*.config
 *.creator
 *.creator.user
 *.files
@ -67,19 +73,3 @@ GTAGS
 # uavcan firmware
 ROMFS/px4fmu_common/uavcan/
 vectorcontrol/
-
-
-# CLion ignores
-.idea
-cmake-build-*/
-
-posix-configs/SITL/init/test/*_generated
-
-parameters.md
-airframes.md
-airframes.xml
-
-cppcheck-result.xml
-cppcheck
-
-scan-build
--- a/.gitmodules
+++ b/.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/PX4NuttX.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
--- a/.travis.yml
+++ b/.travis.yml
@ -3,102 +3,133 @@

 language: cpp

-git:
-  depth: 2000
-  submodules: false
-
 matrix:
  fast_finish: true
  include:
    - os: linux
-      sudo: required
-      services:
-        - docker
-      env: BUILD_TARGET=check_format
+      sudo: false
+      env: GCC_VER=4.8
    - os: linux
-      sudo: required
-      services:
-        - docker
-      env: BUILD_TARGET=tests
-    - os: linux
-      sudo: required
-      services:
-        - docker
-      env: BUILD_TARGET=clang-tidy
-    - os: linux
-      sudo: required
-      services:
-        - docker
-      env: BUILD_TARGET=scan-build
-    - os: linux
-      sudo: required
-      services:
-        - docker
-      env: BUILD_TARGET=cppcheck
-    - os: linux
-      sudo: required
-      services:
-        - docker
-      env: BUILD_TARGET=px4_metadata
-    - os: linux
-      dist: trusty
-      sudo: required
-      env: BUILD_TARGET=coverity_scan
+      sudo: false
+      env: GCC_VER=4.9
+    - os: osx
+      osx_image: xcode7
+      sudo: true

 cache:
-  ccache: true
+  directories:
+    - $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:
-  # install dependencies for the coverity build (target and branch), otherwise exit early
-  - if [[ "${TRAVIS_BRANCH}" = "coverity" ]]; then
-      if [[ "${BUILD_TARGET}" = "coverity_scan" ]]; then sudo apt-get install genromfs && pip install empy jinja2; else exit 0; fi;
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+         pushd .
+      && cd ~ && mkdir gcc && cd gcc
+      && if [ "$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
+         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:
-    # COVERITY KEY
-    - secure: "NyaJoCGjU0Xc90Y6bxVYWLgjrJX5HlZsm/SPxruZ6I7xkGo19fJIFzGegOHQFR32D4AiKjllfjTUNy+ncckWplind0QwxtF4/kxXrz9XBfiby6X8jLYXIekrB6Ay0mBLGbniDdh+lpWtcyop6Dmkt5bdJCJuKY2nv9ENnhhs07M="
-    # AWS KEY: $PX4_AWS_KEY
+    - NINJA_BUILD=1
+# AWS KEY: $PX4_AWS_KEY
    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
-    # AWS SECRET: $PX4_AWS_SECRET
+# AWS SECRET: $PX4_AWS_SECRET
    - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
+    - PX4_AWS_BUCKET=px4-travis

 script:
-  - if [[ "${BUILD_TARGET}" = "coverity_scan" ]]; then
-      echo "no script for coverity build";
-    elif [[ "${TRAVIS_BRANCH}" = "coverity" ]]; then
-      echo "exit early for coverity build" && exit 0;
-    elif [[ "${BUILD_TARGET}" = "check_format" ]]; then
-      ./Tools/docker_run.sh 'make check_format';
-    elif [[ "${BUILD_TARGET}" = "tests" ]]; then
-      ./Tools/docker_run.sh 'make tests';
-    elif [[ "${BUILD_TARGET}" = "px4_metadata" ]]; then
-      ./Tools/docker_run.sh 'make px4_metadata';
-    elif [[ "${BUILD_TARGET}" = "clang-tidy" ]]; then
-      ./Tools/docker_run.sh 'make clang-tidy-quiet';
+  - git submodule update --quiet --init --recursive
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+      arm-none-eabi-gcc --version && make check VECTORCONTROL=1;
+    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
+      make check_posix_sitl_default;
    fi

 after_success:
-  # s3 upload airframe and parameter metadata
-  - if [[ "${BUILD_TARGET}" = "px4_metadata" && "${TRAVIS_PULL_REQUEST}" = "false" ]]; then
-         ./Tools/docker_run.sh 'make s3put_metadata AWS_S3_BUCKET="px4-travis/Firmware/${TRAVIS_BRANCH}"';
-    fi
-  # s3 upload clang scan-build output for master branch
-  - if [[ "${BUILD_TARGET}" = "scan-build" && "${TRAVIS_PULL_REQUEST}" = "false" ]]; then
-         ./Tools/docker_run.sh 'make s3put_scan-build AWS_S3_BUCKET="px4-travis/Firmware/${TRAVIS_BRANCH}/scan-build"';
-    fi
-  # s3 upload cppcheck output for master branch
-  - if [[ "${BUILD_TARGET}" = "cppcheck" && "${TRAVIS_PULL_REQUEST}" = "false" ]]; then
-         ./Tools/docker_run.sh 'make s3put_cppcheck AWS_S3_BUCKET="px4-travis/Firmware/${TRAVIS_BRANCH}/cppcheck"';
+  - if [[ "${TRAVIS_OS_NAME}" = "linux" && "${GCC_VER}" = "4.8" ]]; then
+         make package_firmware
+      && find . -name \*.px4 -exec cp "{}" . \;
+      && find . -maxdepth 1 -mindepth 1 -type f -name 'nuttx-*-default.px4' | sed 's/.\/nuttx-//' | sed 's/-default.px4//' | xargs -I{} mv nuttx-{}-default.px4 {}_default.px4
+      && ./CI-Tools/s3cmd-put `find . -maxdepth 1 -mindepth 1 -type f -name '*_default.px4'` build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
+      && ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
+      && ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
+      && ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
+      && ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
+      && echo ""
+      && echo "Binaries have been posted to:" https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
+      ;
    fi

-addons:
-  coverity_scan:
-    project:
-      name: PX4/Firmware
-    notification_email: ci@px4.io
-    build_command: make posix_sitl_default
-    branch_pattern: coverity
+deploy:
+  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:
@ -107,8 +138,6 @@ 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
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@ -55,6 +55,24 @@
 #
 # * For else, endif, endfunction, etc, never put the name of the statement
 #
+#	Instead of the very confusing:
+#		if (${var} STREQUAL "1") <-- condition now becomes if name
+#			# do somthing
+#		elseif (${var} STREQUAL "2") <-- another condition
+#			# do somthing
+#		else (${var} STREQUAL "1") <-- tag is referring to name of if
+#			# do somthing
+#		endif (${var} STREQUAL "1") <-- tag is referring to name of if
+#
+#	Do this:
+#		if (${var} STREQUAL "1") <-- condition now becomes if name
+#			# do somthing
+#		elseif (${var} STREQUAL "2") <-- another condition
+#			# do somthing
+#		else () <-- leave blank
+#			# do somthing
+#		endif () <-- leave blank
+#
 # Functions/Macros
 # ---------------------------------------------------------------------------
 #
@ -83,7 +101,7 @@
 #
 # * Setting a global variable in a CMakeLists.txt file is ok, because
 #	each CMakeLists.txt file has scope in the current directory and all
-#	subdirectories, so it is not truly global.
+#	subdirecties, so it is not truly global.
 #
 # * All toolchain files should be included in the cmake
 #	directory and named Toolchain-"name".cmake.
@ -99,247 +117,152 @@
 #
 #=============================================================================

-if ("${CMAKE_VERSION}" VERSION_LESS 3.1.0)
-	message("Not a valid CMake version")
-	message("On Ubuntu >= 16.04, install or upgrade via:")
-	message("	sudo apt-get install cmake")
-	message("")
-	message("Official website: https://cmake.org/download/")
-	message(FATAL_ERROR "Update CMake and try again" )
-endif()
-
 # Warning: Changing this modifies CMake's internal workings
 # and leads to wrong toolchain detection
-cmake_minimum_required(VERSION 3.1 FATAL_ERROR)
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

-set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
-set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
+# Use clang
+#SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
+#SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)

-execute_process(
-	COMMAND Tools/check_submodules.sh
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
+#=============================================================================
+# parameters
+#
+
+set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
+	STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
+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")

 #=============================================================================
 # configuration
 #
 # must come before project to set toolchain

-set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
-
 string(REPLACE "_" ";" config_args ${CONFIG})
 list(GET config_args 0 OS)
 list(GET config_args 1 BOARD)
 list(GET config_args 2 LABEL)
 set(target_name "${OS}-${BOARD}-${LABEL}")

-file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
-set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
+message(STATUS "${target_name}")

-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")
+# 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

-if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
-	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
-endif()
-
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
-message(STATUS "CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}")
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
 set(config_module "configs/${CONFIG}")
 include(${config_module})

-include(common/coverage)
-include(common/sanitizers)
-
-# CMake build type
-# Debug Release RelWithDebInfo MinSizeRel Coverage
-if (NOT CMAKE_BUILD_TYPE)
-	if (${OS} STREQUAL "nuttx")
-		set(PX4_BUILD_TYPE "MinSizeRel")
-	elseif (${OS} STREQUAL "qurt")
-		set(PX4_BUILD_TYPE "MinSizeRel")
-	elseif (${OS} STREQUAL "bebop")
-		set(PX4_BUILD_TYPE "MinSizeRel")
-	else()
-		set(PX4_BUILD_TYPE "RelWithDebInfo")
-	endif()
-
-	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
-endif()
-
-set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
-
-message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
-
-
-#=============================================================================
-# git
-#
-include(common/px4_git)
-
-execute_process(
-	COMMAND git describe --always --tags
-	OUTPUT_VARIABLE git_tag
-	OUTPUT_STRIP_TRAILING_WHITESPACE
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
-
-execute_process(
-	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
-	OUTPUT_VARIABLE git_version
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
-
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
-px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
-px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
-px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
-px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
-px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
-px4_add_git_submodule(TARGET git_gps_devices PATH "src/drivers/gps/devices")
-px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
-px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
-px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
-px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
-px4_add_git_submodule(TARGET git_mavlink2 PATH "mavlink/include/mavlink/v2.0")
-px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
-px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
-
-px4_create_git_hash_header()
-
-#=============================================================================
-
-message(STATUS "PX4 VERSION: ${git_tag}")
-message(STATUS "CONFIG: ${target_name}")
-
-# The URL for the elf file for crash logging
-if (DEFINED ENV{BUILD_URI})
-	set(BUILD_URI $ENV{BUILD_URI})
-else()
-	set(BUILD_URI "localhost")
-endif()
-
-add_definitions(-DBUILD_URI=${BUILD_URI})
-
-# Define GNU standard installation directories
-include(GNUInstallDirs)
-
-# Add support for external project building
+# cmake modules
 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()
-if (CMAKE_INSTALL_PREFIX)
-	message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
-endif()
-
-#=============================================================================
 # require px4 module interface
 set(px4_required_interface
 	px4_os_prebuild_targets
 	px4_os_add_flags
 	)
 foreach(cmd ${px4_required_interface})
-	if (NOT COMMAND ${cmd})
+	if(NOT COMMAND ${cmd})
 		message(FATAL_ERROR "${config_module} must implement ${cmd}")
 	endif()
 endforeach()
-
-set(px4_required_config config_module_list)
+set(px4_required_config
+	config_module_list
+	)
 foreach(conf ${px4_required_config})
-	if (NOT DEFINED ${conf})
+	if(NOT DEFINED ${conf})
 		message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
 	endif()
 endforeach()

-# force static lib build
-set(BUILD_SHARED_LIBS OFF)
-
-#=============================================================================
-# ccache
-#
-option(CCACHE "Use ccache if available" OFF)
-find_program(CCACHE_PROGRAM ccache)
-if (CCACHE AND CCACHE_PROGRAM)
-	message(STATUS "Enabled ccache: ${CCACHE_PROGRAM}")
-	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
+# List the DriverFramework drivers
+if(DEFINED config_df_driver_list)
+	message("DF Drivers: ${config_df_driver_list}")
 endif()

 #=============================================================================
 # project definition
 #
 project(px4 CXX C ASM)
+if (NOT ${CMAKE_VERSION} VERSION_LESS 3.0.0)
+	cmake_policy(SET CMP0045 NEW) # error on non-existent target in get prop
+	cmake_policy(SET CMP0046 NEW) # no non-existent targets as dependencies
+	cmake_policy(SET CMP0025 OLD) # still report AppleClang as Clang
+endif()
+if (NOT ${CMAKE_VERSION} VERSION_LESS 3.1.0)
+	cmake_policy(SET CMP0054 NEW) # don't dereference quoted variables
+endif()

+set(version_major 1)
+set(version_minor 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()
-endif()
-
 find_package(PythonInterp REQUIRED)
-px4_find_python_module(jinja2 REQUIRED)

 #=============================================================================
-# cmake testing
+# cmake modules
 #
 enable_testing()
-include(CTest)
-
-#=============================================================================
-# generate compile command database
-#
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

 #=============================================================================
 # check required toolchain variables
 #
-
-# PX4 requires c++11
-set(CMAKE_CXX_STANDARD 11)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-# PX4 requires c99
-set(CMAKE_C_STANDARD 99)
-set(CMAKE_C_STANDARD_REQUIRED ON)
-
-set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
+set(required_variables
+	CMAKE_C_COMPILER_ID
+	)
 foreach(var ${required_variables})
 	if (NOT ${var})
 		message(FATAL_ERROR "Toolchain/config must define ${var}")
 	endif()
 endforeach()

-# print full c compiler version
-execute_process(COMMAND ${CMAKE_C_COMPILER} --version
-		OUTPUT_VARIABLE c_compiler_version
-		OUTPUT_STRIP_TRAILING_WHITESPACE
-		)
-STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version})
-message(STATUS "C compiler: ${c_compiler_version_short}")
+#=============================================================================
+# git
+#
+px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
+px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
+px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
+px4_add_git_submodule(TARGET git_gtest PATH "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")
+px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
+px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
+px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
+px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")

-# print full c++ compiler version
-execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
-		OUTPUT_VARIABLE cxx_compiler_version
-		OUTPUT_STRIP_TRAILING_WHITESPACE
-		)
-STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
-message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
+add_custom_target(submodule_clean
+	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+	COMMAND git submodule deinit -f .
+	COMMAND rm -rf .git/modules/*
+	)
+
+#=============================================================================
+# misc targets
+#
+add_custom_target(check_format
+	COMMAND Tools/check_code_style.sh
+	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+	)
+
+add_custom_target(config
+	COMMAND cmake-gui .
+	WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+	)

 #=============================================================================
 # external libraries
@ -355,15 +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}")
@ -371,48 +293,24 @@ link_directories(${link_dirs})
 add_definitions(${definitions})

 #=============================================================================
-# message, parameter, and airframe generation
+# source code generation
 #
-
-include(common/px4_metadata)
-
-add_subdirectory(msg)
+file(GLOB_RECURSE msg_files msg/*.msg)
 px4_generate_messages(TARGET msg_gen
 	MSG_FILES ${msg_files}
 	OS ${OS}
-	INCLUDES ${msg_include_paths}
-	DEPENDS git_genmsg git_gencpp prebuild_targets
+	DEPENDS git_genmsg git_gencpp
 	)
-
-px4_generate_parameters_xml(OUT parameters.xml 
-	BOARD ${BOARD}
-	MODULES ${config_module_list}
-	OVERRIDES ${PARAM_DEFAULT_OVERRIDES})
-
+px4_generate_parameters_xml(OUT parameters.xml BOARD ${BOARD})
 px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
-add_custom_target(xml_gen DEPENDS parameters.xml airframes.xml)
-
-#=============================================================================
-# DriverFramework
-#
-
-# List the DriverFramework drivers
-if (DEFINED config_df_driver_list)
-	message("DF Drivers: ${config_df_driver_list}")
-endif()
-
-set(df_driver_libs)
-foreach(driver ${config_df_driver_list})
-	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
-	list(APPEND df_driver_libs df_${driver})
-	message("Adding DF driver: ${driver}")
-endforeach()
+add_custom_target(xml_gen
+	DEPENDS parameters.xml airframes.xml)

 #=============================================================================
 # 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
@ -423,22 +321,14 @@ execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)

 #=============================================================================
-# external modules
+# DriverFramework Drivers
 #
-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()
+set(df_driver_libs)
+foreach(driver ${config_df_driver_list})
+	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
+	list(APPEND df_driver_libs df_${driver})
+	message("Adding DF driver: ${driver}")
+endforeach()

 #=============================================================================
 # subdirectories
@ -446,64 +336,44 @@ endif()
 set(module_libraries)
 foreach(module ${config_module_list})
 	string(REGEX MATCH "^[./]" external_module ${module})
-	if (external_module)
+	if(external_module)
 		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
 		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
-		add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
+		add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
 	else()
 		add_subdirectory(src/${module})
 	endif()
 	px4_mangle_name(${module} mangled_name)
 	list(APPEND module_libraries ${mangled_name})
+	#message(STATUS "adding module: ${module}")
 endforeach()

-# Keep track of external shared libs required for modules
-set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "module_external_libraries")
-
 add_subdirectory(src/firmware/${OS})

+#add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
+if (NOT "${OS}" STREQUAL "nuttx")
+endif()
+
 if (config_io_board)
 	add_subdirectory(src/modules/px4iofirmware)
 endif()

 #=============================================================================
-# generate custom target to print for all executable and module cmake targets
+# generate git version
 #
-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()
+px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)

 #=============================================================================
 # packaging
 #
 # Important to having packaging at end of cmake file.
 #
-set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
-set(CPACK_PACKAGE_VERSION ${git_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_VERSION ${version})
+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 "${PROJECT_NAME}-${git_version}")
-set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
-set(CPACK_PACKAGING_INSTALL_PREFIX "")
-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 :
--- a/CTestConfig.cmake
+++ b/CTestConfig.cmake
@ -1,15 +0,0 @@
-## This file should be placed in the root directory of your project.
-## Then modify the CMakeLists.txt file in the root directory of your
-## project to incorporate the testing dashboard.
-##
-## # The following are required to submit to the CDash dashboard:
-##   ENABLE_TESTING()
-##   INCLUDE(CTest)
-
-set(CTEST_PROJECT_NAME "PX4 Firmware")
-set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
-
-set(CTEST_DROP_METHOD "http")
-set(CTEST_DROP_SITE "my.cdash.org")
-set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
-set(CTEST_DROP_SITE_CDASH TRUE)
--- a/Debug/poor-mans-profiler.sh
+++ b/Debug/poor-mans-profiler.sh
@ -1,20 +1,12 @@
 #!/bin/bash
 #
-# Author: Pavel Kirienko <pavel.kirienko@zubax.com>
-#
 # Poor man's sampling profiler for NuttX.
 #
 # Usage: Install flamegraph.pl in your PATH, configure your .gdbinit, run the script with proper arguments and go
 #        have a coffee. When you're back, you'll see the flamegraph. Note that frequent calls to GDB significantly
 #        interfere with normal operation of the target, which means that you can't profile real-time tasks with it.
-#        For best results, ensure that the PC is not overloaded, the USB host controller to which the debugger is
-#        connected is not congested. You should also allow the current user to set negative nice values.
 #
-# The FlameGraph script can be downloaded from https://github.com/brendangregg/FlameGraph. Thanks Mr. Gregg.
-#
-# Requirements: ARM GDB with Python support. You can get one by downloading the sources from
-#               https://launchpad.net/gcc-arm-embedded and building them with correct flags.
-#               Note that Python support is not required if no per-task sampling is needed.
+# Requirements: ARM GDB with Python support
 #

 set -e
@ -41,7 +33,7 @@ which flamegraph.pl > /dev/null || die "Install flamegraph.pl first"
 nsamples=0
 sleeptime=0.1    # Doctors recommend 7-8 hours a day
 taskname=
-elf=
+elf=$root/Build/px4fmu-v2_default.build/firmware.elf
 append=0
 fgfontsize=10
 fgwidth=1900
@ -77,8 +69,6 @@ do
    shift
 done

-[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build_px4fmu-v4_default/src/firmware/nuttx/firmware_nuttx"
-
 #
 # Temporary files
 #
@ -247,8 +237,8 @@ for s, f in sorted(stacks.items(), key=lambda (s, f): s):

 print('Total stack frames:', num_stack_frames, file=sys.stderr)
 print('Top consumers (distribution of the stack tops):', file=sys.stderr)
-for name,num in sorted(stack_tops.items(), key=lambda (name, num): num, reverse=True)[:300]:
-    print('% 7.3f%%   ' % (100 * num / num_stack_frames), name, file=sys.stderr)
+for name,num in sorted(stack_tops.items(), key=lambda (name, num): num, reverse=True)[:10]:
+    print('% 5.1f%%   ' % (100 * num / num_stack_frames), name, file=sys.stderr)
 EOF

 cat $stacksfile | python /tmp/pmpn-folder.py > $foldfile
--- a/Documentation/px4_hil/UserGuide.md
+++ b/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
--- a/Firmware.sublime-project
+++ b/Firmware.sublime-project
@ -25,8 +25,7 @@
 			[
 				".settings",
 				"nuttx/arch/arm/src/board",
-				"nuttx/arch/arm/src/chip",
-				"build_*"
+				"nuttx/arch/arm/src/chip"
 			]
 		}
 	],
--- a/Images/aerocore2.prototype
+++ b/Images/aerocore2.prototype
@ -1,12 +0,0 @@
-{
-    "board_id": 98,
-    "magic": "AeroCore2",
-    "description": "Firmware for the Gumstix AeroCore2 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "AEROCORE2",
-    "version": "0.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}
--- a/Images/aerofc-v1.prototype
+++ b/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
-}
--- a/Images/auav-x21.prototype
+++ b/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
-}
--- a/Images/crazyflie.prototype
+++ b/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
-}
--- a/Images/esc35-v1.prototype
+++ b/Images/esc35-v1.prototype
@ -1,12 +0,0 @@
-{
-    "board_id": 27,
-    "magic": "ESC35v1",
-    "description": "Firmware for the ESC35V1 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "ESC35v1",
-    "version": "0.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}
--- a/Images/mindpx-v2.prototype
+++ b/Images/mindpx-v2.prototype
@ -1,10 +1,10 @@
 {
-    "board_id": 88,
-    "magic": "MindPX",
-    "description": "Firmware for the MindPXFMUv2 board",
+    "board_id": 9, 
+    "magic": "PX4FWv2",
+    "description": "Firmware for the MindPx-V2  board", 
    "image": "", 
    "build_time": 0, 
-    "summary": "MindPXFMUv2",
+    "summary": "MindPx-v2",
    "version": "2.1",
    "image_size": 0,
    "git_identity": "",
--- a/Images/px4cannode-v1.prototype
+++ b/Images/px4cannode-v1.prototype
@ -1,12 +0,0 @@
-{
-    "board_id": 22,
-    "magic": "CANNODEFWv1",
-    "description": "Firmware for the PX4CANNODE board",
-    "image": "",
-    "build_time": 0,
-    "summary": "PX4CANNODEv1",
-    "version": "0.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}
--- a/Images/px4esc-v1.prototype
+++ b/Images/px4esc-v1.prototype
@ -1,12 +0,0 @@
-{
-    "board_id": 25,
-    "magic": "ESCv1",
-    "description": "Firmware for the PX4ESCV1 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "PX4ESCv1",
-    "version": "0.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}
--- a/Images/px4flow-v2.prototype
+++ b/Images/px4flow-v2.prototype
@ -1,12 +0,0 @@
-{
-    "board_id": 24,
-    "magic": "FLOWv1",
-    "description": "Firmware for the PX4FLowV1 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "PX4FLOWv1",
-    "version": "0.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}
--- a/Images/px4fmu-v3.prototype
+++ b/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
-}
--- a/Images/px4fmu-v4pro.prototype
+++ b/Images/px4fmu-v4pro.prototype
@ -1,12 +0,0 @@
-{
-    "board_id": 13,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the PX4FMUv4PRO board, based on STM32F469",
-    "image": "",
-    "build_time": 0,
-    "summary": "PX4FMUv4PRO",
-    "version": "0.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}
--- a/Images/px4fmu-v5.prototype
+++ b/Images/px4fmu-v5.prototype
@ -1,12 +0,0 @@
-{
-    "board_id": 50,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the PX4FMUv5 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "PX4FMUv5",
-    "version": "0.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}
--- a/Images/px4iov2.prototype
+++ b/Images/px4iov2.prototype
@ -0,0 +1,12 @@
+{
+    "board_id": 10, 
+    "magic": "PX4FWv2", 
+    "description": "Firmware for the PX4IOv2 board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4IOv2",
+    "version": "2.0",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
--- a/Images/px4nucleoF767ZI-v1.prototype
+++ b/Images/px4nucleoF767ZI-v1.prototype
@ -1,12 +0,0 @@
-{
-    "board_id": 90,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the ST nucleo-144 with STM32FF767ZI-v1 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "PX4NUCLEOF767ZIv1",
-    "version": "0.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}
--- a/Images/s2740vc-v1.prototype
+++ b/Images/s2740vc-v1.prototype
@ -1,12 +0,0 @@
-{
-    "board_id": 23,
-    "magic": "S2740VCblv1",
-    "description": "Firmware for the S2740VC board",
-    "image": "",
-    "build_time": 0,
-    "summary": "S2740VCv1",
-    "version": "0.1",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}
--- a/Images/tap-v1.prototype
+++ b/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
-}
--- a/Images/zubaxgnss-v1.prototype
+++ b/Images/zubaxgnss-v1.prototype
@ -1,12 +0,0 @@
-{
-    "board_id": 26,
-    "magic": "ZUBAXGNSSFWv1",
-    "description": "Firmware for the ZUBAXGNSS board",
-    "image": "",
-    "build_time": 0,
-    "summary": "ZUBAXGNSSv1",
-    "version": "0.0",
-    "image_size": 0,
-    "git_identity": "",
-    "board_revision": 0
-}
--- a/447
+++ b/447
@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2017 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2016 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@ -39,6 +39,26 @@ ifeq ($(wildcard .git),)
    $(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
 endif

+CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?)
+ifneq ($(CMAKE_VER),0)
+    $(warning Not a valid CMake version or CMake not installed.)
+    $(warning On Ubuntu, install or upgrade via:)
+    $(warning )
+    $(warning 3rd party PPA:)
+    $(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
+    $(warning sudo apt-get update)
+    $(warning sudo apt-get install cmake)
+    $(warning )
+    $(warning Official website:)
+    $(warning wget https://cmake.org/files/v3.3/cmake-3.3.2-Linux-x86_64.sh)
+    $(warning chmod +x cmake-3.3.2-Linux-x86_64.sh)
+    $(warning sudo mkdir /opt/cmake-3.3.2)
+    $(warning sudo ./cmake-3.3.2-Linux-x86_64.sh --prefix=/opt/cmake-3.3.2 --exclude-subdir)
+    $(warning export PATH=/opt/cmake-3.3.2/bin:$$PATH)
+    $(warning )
+    $(error Fatal)
+endif
+
 # Help
 # --------------------------------------------------------------------
 # Don't be afraid of this makefile, it is just passing
@ -57,181 +77,157 @@ 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

-NINJA_BIN := ninja
-ifndef NO_NINJA_BUILD
-	NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
-
-	ifndef NINJA_BUILD
-		NINJA_BIN := ninja-build
-		NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
-	endif
-endif
-
+NINJA_BUILD := $(shell ninja --version 2>/dev/null)
 ifdef NINJA_BUILD
-	PX4_CMAKE_GENERATOR := Ninja
-	PX4_MAKE := $(NINJA_BIN)
-
-	ifdef VERBOSE
-		PX4_MAKE_ARGS := -v
-	else
-		PX4_MAKE_ARGS :=
-	endif
+    PX4_CMAKE_GENERATOR ?= "Ninja"
+    PX4_MAKE = ninja
+    PX4_MAKE_ARGS =
 else
-	ifdef SYSTEMROOT
-		# Windows
-		PX4_CMAKE_GENERATOR := "MSYS\ Makefiles"
-	else
-		PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
-	endif
-	PX4_MAKE = $(MAKE)
-	PX4_MAKE_ARGS = -j$(j) --no-print-directory
-endif

-SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
-
-# check if replay env variable is set & set build dir accordingly
-ifdef replay
-	BUILD_DIR_SUFFIX := _replay
+ifdef SYSTEMROOT
+	# Windows
+	PX4_CMAKE_GENERATOR ?= "MSYS Makefiles"
 else
-	BUILD_DIR_SUFFIX :=
+	PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
 endif
-
-# NuttX verbose output
-ifdef VN
-	export PX4_NUTTX_BUILD_VERBOSE=1
-	export V=1
-endif
-
-# NuttX verbose patches output
-ifdef VNP
-	export PX4_NUTTX_PATCHES_VERBOSE=1
-endif
-
-# additional config parameters passed to cmake
-CMAKE_ARGS :=
-ifdef EXTERNAL_MODULES_LOCATION
-	CMAKE_ARGS := -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
-endif
-
-ifdef PX4_CMAKE_BUILD_TYPE
-	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
+    PX4_MAKE = make
+    PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif

 # 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 $(2)  -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=$(1) $(CMAKE_ARGS) || (rm -rf $(BUILD_DIR)); fi
-+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(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) $(ARGS))
+endef
+
+# create empty targets to avoid msgs for targets passed to cmake
+define cmake-targ
+$(1):
+	@#
+.PHONY: $(1)
 endef

 define colorecho
-+@tput setaf 6
-+@echo $1
-+@tput sgr0
+      @tput setaf 6
+      @echo $1
+      @tput sgr0
 endef

-# Get a list of all config targets.
-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):
-	$(call cmake-build,$@,$(SRC_DIR))
+px4fmu-v1_default:
+	$(call cmake-build,nuttx_px4fmu-v1_default)

-# Abbreviated config targets.
+px4fmu-v2_default:
+	$(call cmake-build,nuttx_px4fmu-v2_default)

-# nuttx_ is left off by default; provide a rule to allow that.
-$(NUTTX_CONFIG_TARGETS):
-	$(call cmake-build,nuttx_$@,$(SRC_DIR))
+px4fmu-v4_default:
+	$(call cmake-build,nuttx_px4fmu-v4_default)

-all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
+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:
+	$(call cmake-build,$@)
+
+posix_sitl_lpe:
+	$(call cmake-build,$@)
+
+posix_sitl_ekf2:
+	$(call cmake-build,$@)
+
+posix_sitl_replay:
+	$(call cmake-build,$@)
+
+posix_sitl_broadcast:
+	$(call cmake-build,$@)
+
+ros_sitl_default:
+	@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
+
+qurt_eagle_travis:
+	$(call cmake-build,$@)
+
+qurt_eagle_default:
+	$(call cmake-build,$@)
+
+posix_eagle_default:
+	$(call cmake-build,$@)
+
+eagle_default: posix_eagle_default qurt_eagle_default
+
+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: posix_sitl_default
+
 broadcast: posix_sitl_broadcast

-# Multi- config targets.
-eagle_default: posix_eagle_default qurt_eagle_default
-eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
-excelsior_default: posix_excelsior_default qurt_excelsior_default
-excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
+sitl_deprecation:
+	@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
+	@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."

-
-# 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_legacy_default excelsior_default all_nuttx_targets
+run_sitl_quad: sitl_deprecation
+run_sitl_plane: sitl_deprecation
+run_sitl_ros: sitl_deprecation

 # Other targets
 # --------------------------------------------------------------------

-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware checks_bootloaders sizes check quick_check
+.PHONY: uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean
+.NOTPARALLEL: uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean

-# QGroundControl flashable NuttX firmware
-qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes
+uavcan_firmware:
+ifeq ($(VECTORCONTROL),1)
+	$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6")
+	@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
+endif

-# px4fmu NuttX firmware
-px4fmu_firmware: \
-	check_px4fmu-v1_default \
-	check_px4fmu-v2_default \
-	check_px4fmu-v3_default \
-	check_px4fmu-v4_default \
-	check_px4fmu-v4pro_default \
-	check_px4fmu-v5_default \
-	sizes
+check: check_px4fmu-v1_default check_px4fmu-v2_default check_px4fmu-v4_default_and_uavcan check_mindpx-v2_default check_px4-stm32f4discovery_default check_posix_sitl_default check_unittest check_format

-misc_qgc_extra_firmware: \
-	check_aerocore2_default \
-	check_aerofc-v1_default \
-	check_auav-x21_default \
-	check_crazyflie_default \
-	check_mindpx-v2_default \
-	check_px4fmu-v2_lpe \
-	check_tap-v1_default \
-	sizes
-
-# Other NuttX firmware
-alt_firmware: \
-	check_px4-stm32f4discovery_default \
-	check_px4cannode-v1_default \
-	check_px4esc-v1_default \
-	check_px4nucleoF767ZI-v1_default \
-	check_s2740vc-v1_default \
-	sizes
-
-checks_bootloaders: \
-	check_esc35-v1_bootloader \
-	check_px4cannode-v1_bootloader \
-	check_px4esc-v1_bootloader \
-	check_px4flow-v2_bootloader \
-	check_s2740vc-v1_bootloader \
-# not fitting in flash	check_zubaxgnss-v1_bootloader \
-	sizes
-
-sizes:
-	@-find build_* -name firmware_nuttx -type f | xargs size 2> /dev/null || :
-
-# All default targets that don't require a special build environment
-check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware checks_bootloaders tests check_format
-
-# quick_check builds a single nuttx and posix target, runs testing, and checks the style
-quick_check: check_posix_sitl_default check_px4fmu-v3_default tests check_format
+check_format:
+	$(call colorecho,"Checking formatting with astyle")
+	@./Tools/fix_code_style.sh
+	@./Tools/check_code_style.sh

 check_%:
 	@echo
@ -239,162 +235,41 @@ check_%:
 	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo

-# Documentation
-# --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata px4_metadata
-
-parameters_metadata: posix_sitl_default
-	@python $(SRC_DIR)/Tools/px_process_params.py -s $(SRC_DIR)/src --markdown
-
-airframe_metadata:
-	@python ${SRC_DIR}/Tools/px_process_airframes.py -v -a ${SRC_DIR}/ROMFS/px4fmu_common/init.d --markdown
-	@python ${SRC_DIR}/Tools/px_process_airframes.py -v -a ${SRC_DIR}/ROMFS/px4fmu_common/init.d --xml
-
-px4_metadata: parameters_metadata airframe_metadata
-
-# S3 upload helpers
-# --------------------------------------------------------------------
-# s3cmd uses these ENV variables
-#  AWS_ACCESS_KEY_ID
-#  AWS_SECRET_ACCESS_KEY
-#  AWS_S3_BUCKET
-.PHONY: s3put_firmware s3put_qgc_firmware s3put_px4fmu_firmware s3put_misc_qgc_extra_firmware s3put_metadata s3put_scan-build s3put_cppcheck s3put_coverage
-
-Firmware.zip:
-	@rm -rf Firmware.zip
-	@zip --junk-paths Firmware.zip `find . -name \*.px4`
-
-s3put_firmware: Firmware.zip
-	$(SRC_DIR)/Tools/s3put.sh Firmware.zip
-
-s3put_qgc_firmware: s3put_px4fmu_firmware s3put_misc_qgc_extra_firmware
-
-s3put_px4fmu_firmware: px4fmu_firmware
-	@find $(SRC_DIR)/build_* -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
-
-s3put_misc_qgc_extra_firmware: misc_qgc_extra_firmware
-	@find $(SRC_DIR)/build_* -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
-
-s3put_metadata: px4_metadata
-	@$(SRC_DIR)/Tools/s3put.sh airframes.md
-	@$(SRC_DIR)/Tools/s3put.sh airframes.xml
-	@$(SRC_DIR)/Tools/s3put.sh build_posix_sitl_default/parameters.xml
-	@$(SRC_DIR)/Tools/s3put.sh parameters.md
-
-s3put_scan-build: scan-build
-	@cd $(SRC_DIR) && ./Tools/s3put.sh `find build_scan-build -mindepth 1 -maxdepth 1 -type d`/
-
-s3put_cppcheck: cppcheck
-	@cd $(SRC_DIR) && ./Tools/s3put.sh cppcheck/
-
-s3put_coverage: tests_coverage
-	@cd $(SRC_DIR) && ./Tools/s3put.sh build_posix_sitl_default/coverage-html/
-
-# Astyle
-# --------------------------------------------------------------------
-.PHONY: check_format format
-
-check_format:
-	$(call colorecho,"Checking formatting with astyle")
-	@$(SRC_DIR)/Tools/check_code_style_all.sh
-	@git diff --check
-
-format:
-	$(call colorecho,"Formatting with astyle")
-	@$(SRC_DIR)/Tools/check_code_style_all.sh --fix
-
-# Testing
-# --------------------------------------------------------------------
-.PHONY: unittest run_tests_posix tests tests_coverage
+check_px4fmu-v4_default: uavcan_firmware
+check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
+	@echo
+ifeq ($(VECTORCONTROL),1)
+	@echo "Cleaning up vectorcontrol firmware"
+	@rm -rf vectorcontrol
+	@rm -rf ROMFS/px4fmu_common/uavcan
+endif

 unittest: posix_sitl_default
-	$(call cmake-build,unittest,$(SRC_DIR)/unittests)
-	@(cd build_unittest && ctest -j2 --output-on-failure)
+	@(cd unittests && cmake -G$(PX4_CMAKE_GENERATOR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) && ctest -j2 --output-on-failure)

-run_tests_posix:
-	$(MAKE) --no-print-directory posix_sitl_default test_results
-
-tests: unittest run_tests_posix
-
-tests_coverage:
-	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
-
-coveralls_upload:
-	@cpp-coveralls --include src/ \
-		--exclude src/lib/DriverFramework \
-		--exclude src/lib/ecl \
-		--exclude src/lib/Matrix \
-		--exclude=src/modules/uavcan/libuavcan \
-		--exclude-pattern ".*/unittests/googletest/.*" \
-		--root . --build-root build_posix_sitl_default/ --follow-symlinks
-
-codecov_upload:
-	@/bin/bash -c "bash <(curl -s https://codecov.io/bash)"
-
-# static analyzers (scan-build, clang-tidy, cppcheck)
-# --------------------------------------------------------------------
-.PHONY: posix_sitl_default-clang scan-build clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck
-
-posix_sitl_default-clang:
-	@mkdir -p $(SRC_DIR)/build_posix_sitl_default-clang
-	@cd $(SRC_DIR)/build_posix_sitl_default-clang && cmake .. -GNinja -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
-	@cd $(SRC_DIR)/build_posix_sitl_default-clang && ninja
-
-scan-build:
-	@export CCC_CC=clang
-	@export CCC_CXX=clang++
-	@mkdir -p $(SRC_DIR)/build_posix_sitl_default-scan-build
-	@cd $(SRC_DIR)/build_posix_sitl_default-scan-build && scan-build cmake .. -GNinja -DCONFIG=posix_sitl_default
-	@scan-build -o $(SRC_DIR)/build_scan-build cmake --build $(SRC_DIR)/build_posix_sitl_default-scan-build
-
-clang-tidy: posix_sitl_default-clang
-	@cd build_posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
-
-# to automatically fix a single check at a time, eg modernize-redundant-void-arg
-#  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
-clang-tidy-fix: posix_sitl_default-clang
-	@cd build_posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .
-
-# modified version of run-clang-tidy.py to return error codes and only output relevant results
-clang-tidy-quiet: posix_sitl_default-clang
-	@cd build_posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
-
-# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
-cppcheck: posix_sitl_default
-	@cppcheck -i$(SRC_DIR)/src/examples --std=c++11 --std=c99 --std=posix --project=build_posix_sitl_default/compile_commands.json --xml-version=2 2> cppcheck-result.xml
-	@cppcheck-htmlreport --source-encoding=ascii --file=cppcheck-result.xml --report-dir=cppcheck --source-dir=$(SRC_DIR)/src/
-
-# Cleanup
-# --------------------------------------------------------------------
-.PHONY: clean submodulesclean distclean
+package_firmware:
+	@zip --junk-paths Firmware.zip `find . -name \*.px4`

 clean:
-	@rm -rf $(SRC_DIR)/build_*/
-	-@$(MAKE) --no-print-directory -C NuttX/nuttx clean
+	@rm -rf build_*/
+	@(cd NuttX/nuttx && make clean)

 submodulesclean:
-	@git submodule foreach --quiet --recursive git clean -ff -x -d
-	@git submodule update --quiet --init --recursive --force || true
-	@git submodule sync --recursive
+	@git submodule sync
+	@git submodule deinit -f .
 	@git submodule update --init --recursive --force

-submodulesupdate:
-	@git submodule update --quiet --init --recursive || true
-	@git submodule sync --recursive
-	@git submodule update --init --recursive
+distclean: submodulesclean
+	@git clean -ff -x -d

-gazeboclean:
-	@rm -rf ~/.gazebo/*
+# 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
+$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))

-distclean: submodulesclean gazeboclean
-	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea"
-
-# --------------------------------------------------------------------
-
-# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
-%:
-	$(if $(filter $(FIRST_ARG),$@), \
-		$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
+.PHONY: clean

 CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")

@ -403,21 +278,3 @@ 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
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 44ad7e224c1ef17911ab8b4101fd624ad9ee4177
+Subproject commit f0f4bdc872d324f64e9d93d6f8989d3c1dfa2633
--- a/README.md
+++ b/README.md
@ -1,98 +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](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.
+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:
-    * [Multicopters](http://px4.io/portfolio_category/multicopter/)
-    * [Fixed wing](http://px4.io/portfolio_category/plane/)
-    * [VTOL](http://px4.io/portfolio_category/vtol/)
-    * many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
-  * Releases: [Downloads](https://github.com/PX4/Firmware/releases)
+*   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)

-Please refer to the [user documentation](https://docs.px4.io/en/) and [user forum](http://discuss.px4.io) for flying drones with the PX4 flight stack.
+### Users ###

-### Weekly Dev Call
-
-The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/).
-
-  * [Wednesday 17:00 Central European Time, 11:00 Eastern Time, 08:00 Pacific Standard Time](https://www.google.com/calendar/embed?src=bGludXhmb3VuZGF0aW9uLm9yZ19nMjF0dmFtMjRtN3BtN2poZXYwMWJ2bHFoOEBncm91cC5jYWxlbmRhci5nb29nbGUuY29t)
-  * [Uber conference (dial-in or web client)](https://www.uberconference.com/lf-dronecode)
-  * The agenda is announced in advance on the [PX4 Discuss](http://discuss.px4.io/c/weekly-dev-call)
-  * Issues and PRs may be labelled [devcall](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3Adevcall) to flag them for discussion
+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 Guide](https://dev.px4.io/)
-    * [Build instructions](https://dev.px4.io/en/setup/building_px4.html)
-    * [Guide for Contributions](https://dev.px4.io/en/contribute/)

-## Maintenance Team
+  * [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)

-  * Project / Founder - [Lorenz Meier](https://github.com/LorenzMeier)
-  * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
-  * Communication Architecture
-    * [Beat Kueng](https://github.com/bkueng)
-    * [Julian Oes](https://github.com/JulianOes)
-  * UI / UX
-    * [Donald Gagne](https://github.com/DonLakeFlyer)
-    * [Gus Grubba](https://github.com/dogmaphobic)
-  * [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
-    * [Dennis Mannhart](https://github.com/Stifael)
-    * [Matthias Grob](https://github.com/MaEtUgR)
-  * [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
-    * [Daniel Agar](https://github.com/dagar)
-    * [Mathieu Bresciani](https://github.com/bresch)
-    * [Sander Smeets](https://github.com/sanderux)
-    * [Roman Bapst](https://github.com/tumbili)
-    * [Andreas Antener](https://github.com/AndreasAntener)
-  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
-    * [Daniel Agar](https://github.com/dagar)
-    * [Paul Riseborough](https://github.com/priseborough)
-  * Racers - [Matthias Grob](https://github.com/MaEtUgR)
-  * OS / drivers - [David Sidrane](https://github.com/davids5)
-  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) / Industrial - [Pavel Kirienko](https://github.com/pavel-kirienko)
-  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [James Goppert](https://github.com/jgoppert), [Paul Riseborough](https://github.com/priseborough)
-  * Vision based navigation
-    * [Christoph Tobler](https://github.com/ChristophTobler)
-    * [Mohammed Kabir](https://github.com/mhkabir)
-  * Obstacle Avoidance - [Vilhjalmur Vilhjalmsson](https://github.com/vilhjalmur89)
-  * [Snapdragon](https://github.com/PX4/Firmware/labels/snapdragon)
-    * [Christoph Tobler](https://github.com/ChristophTobler)
-    * [Mark Charlebois](https://github.com/mcharleb) 
-  * [Intel Aero](https://github.com/PX4/Firmware/labels/intel%20aero)
-    * [Lucas De Marchi](https://github.com/lucasdemarchi)
-    * [José Roberto de Souza](https://github.com/zehortigoza)
-  * [Raspberry Pi / Navio](https://github.com/PX4/Firmware/labels/raspberry_pi) - [Beat Kueng](https://github.com/bkueng)
-  * [Parrot Bebop](https://github.com/PX4/Firmware/labels/bebop) - [Michael Schaeuble](https://github.com/eyeam3)
-  * [Airmind MindPX / MindRacer](https://github.com/PX4/Firmware/labels/mindpx) - [Henry Zhang](https://github.com/iZhangHui)
-
-## Supported Hardware

 This repository contains code supporting these boards:
-  * [Snapdragon Flight](https://dev.px4.io/en/flight_controller/snapdragon_flight.html)
-  * [Intel Aero](https://dev.px4.io/en/flight_controller/intel_aero.html)
-  * [Raspberry PI with Navio 2](https://dev.px4.io/en/flight_controller/raspberry_pi.html)
-  * [Parrot Bebop 2](https://dev.px4.io/en/advanced/parrot_bebop.html)
+  * [Snapdragon Flight](http://dev.px4.io/hardware-snapdragon.html)
  * FMUv1.x
-  * FMUv2.x
-    * [Pixhawk](https://dev.px4.io/en/flight_controller/pixhawk.html)
-    * Pixhawk Mini
-    * [Pixfalcon](https://dev.px4.io/en/flight_controller/pixfalcon.html)
-  * FMUv3.x [Pixhawk 2](https://pixhawk.org/modules/pixhawk2)
-  * FMUv4.x
-    * [Pixracer](https://dev.px4.io/en/flight_controller/pixracer.html)
-    * Pixhawk 3 Pro
-  * FMUv5.x (ARM Cortex M7, future Pixhawk)
+  * 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)
-  * Gumstix AeroCore (v1 and v2)
-  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
-  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://dev.px4.io/en/flight_controller/crazyflie2.html)
-
-## Project Milestones
-
-The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by [Lorenz Meier](https://github.com/LorenzMeier).
--- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
@ -4,18 +4,6 @@
 #
 # @type Quadrotor Wide
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
 # @maintainer Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
 #

--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@ -4,16 +4,6 @@
 #
 # @type Quadrotor Wide
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
 # @maintainer Anton Babushkin <anton@px4.io>
 #

@ -35,10 +25,10 @@ then
 	param set MC_YAWRATE_I 0.25
 	param set MC_YAWRATE_D 0.0

-	param set BAT_V_DIV 12.27559
-	param set BAT_A_PER_V 15.39103
+	param set BAT_V_SCALING 0.00989
+	param set BAT_C_SCALING 0.0124
 fi

-set MIXER quad_dc
+set MIXER quad_w

 set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
@ -4,18 +4,6 @@
 #
 # @type Quadrotor Wide
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
 # @maintainer Thomas Gubler <thomas@px4.io>
 #

--- a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
+++ b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
@ -4,18 +4,6 @@
 #
 # @type Quadrotor Wide
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
 # @maintainer Simon Wilks <simon@px4.io>
 #

@ -41,9 +29,9 @@ then

 	param set MPC_XY_FF 0.2
 	param set MPC_XY_VEL_MAX 2
-	param set PWM_MIN 1080
 fi

 set MIXER quad_w

 set PWM_OUT 1234
+set PWM_MIN 1080
--- a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/10020_3dr_quad
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/10021_H4_680mm
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/12001_octo_cox
+++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox
@ -4,15 +4,6 @@
 #
 # @type Octorotor Coaxial
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 motor 5
-# @output MAIN6 motor 6
-# @output MAIN7 motor 7
-# @output MAIN8 motor 8
-#
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

--- a/ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik
+++ b/ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik
@ -4,15 +4,6 @@
 #
 # @type Octo Coax Wide
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 motor 5
-# @output MAIN6 motor 6
-# @output MAIN7 motor 7
-# @output MAIN8 motor 8
-#
 # @maintainer Simon Wilks <simon@uaventure.com>
 #

@ -40,7 +31,7 @@ then

 	param set MPC_HOLD_MAX_XY 0.25
 	param set MPC_THR_MIN 0.15
-	param set MPC_Z_VEL_MAX_DN 2.0
+	param set MPC_Z_VEL_MAX 2.0

 	param set BAT_N_CELLS 4
 fi
--- a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
@ -4,10 +4,10 @@
 #
 # @type VTOL Duo Tailsitter
 #
-# @output MAIN1 motor right
-# @output MAIN2 motor left
-# @output MAIN5 elevon right
-# @output MAIN6 elevon left
+# @output MAIN1 motor left
+# @output MAIN2 motor right
+# @output MAIN5 elevon left
+# @output MAIN6 elevon right
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
--- a/ROMFS/px4fmu_common/init.d/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/13002_firefly6
@ -1,18 +1,10 @@
 #!nsh
 #
 # @name BirdsEyeView Aerobotics FireFly6
+#
 # @type VTOL Tiltrotor
-# @maintainer Roman Bapst <roman@uaventure.com>
-# @output MAIN1 Front right motor bottom
-# @output MAIN2 Front right motor top
-# @output MAIN3 Back motor bottom
-# @output MAIN4 Back motor top
-# @output MAIN5 Front left motor bottom
-# @output MAIN6 Front left motor top
-# @output AUX1 Tilt servo
-# @output AUX2 Elevon 1
-# @output AUX3 Elevon 2
-# @output AUX4 Gear
+#
+# @maintainer Roman Bapst <roman@px4.io>
 #

 sh /etc/init.d/rc.vtol_defaults
@ -20,16 +12,16 @@ sh /etc/init.d/rc.vtol_defaults
 if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.19
+	param set MC_ROLLRATE_P 0.17
 	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.005
+	param set MC_ROLLRATE_D 0.003
 	param set MC_ROLLRATE_FF 0.0
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.14
 	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_D 0.003
 	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 4.0
+	param set MC_YAW_P 3.8
 	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02
--- a/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
@ -4,15 +4,6 @@
 #
 # @type VTOL Quad Tailsitter
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 4
-# @output MAIN4 motor 5
-# @output MAIN5 elevon left
-# @output MAIN6 elevon right
-# @output MAIN7 canard surface
-# @output MAIN8 rudder
-#
 # @maintainer Roman Bapst <roman@px4.io>
 #

--- a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
+++ b/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 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output AUX1 Aileron 1
-# @output AUX2 Aileron 2
-# @output AUX3 Elevator
-# @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
--- a/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta
+++ b/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 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output AUX1 Right elevon
-# @output AUX2 Left elevon
-# @output AUX3 Motor
 #

 sh /etc/init.d/rc.vtol_defaults
@ -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 50
-	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
--- a/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/13008_QuadRanger
@ -34,11 +34,9 @@ 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_DN 1.5
+	param set MPC_Z_VEL_MAX 1.5
 	param set MPC_TKO_SPEED 1.5
 	param set MPC_LAND_SPEED 0.8

--- a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
+++ b/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
@ -67,6 +66,7 @@ then
    param set MPC_XY_VEL_P    0.05
    param set MPC_Z_FF    0.3
    param set MPC_Z_P 0.5
+    param set MPC_Z_VEL_MAX   1.0
    param set MPC_Z_VEL_P 0.1

    param set NAV_ACC_RAD 3.0
--- a/ROMFS/px4fmu_common/init.d/13010_claire
+++ b/ROMFS/px4fmu_common/init.d/13010_claire
@ -1,37 +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_FW_MOT_OFFID 13
-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
--- a/ROMFS/px4fmu_common/init.d/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/13012_convergence
@ -1,79 +0,0 @@
-#!nsh
-#
-# @name E-flite Convergence
-# @type VTOL Tiltrotor
-# @maintainer Andreas Antener <andreas@uaventure.com>
-# @output MAIN1 Motor right
-# @output MAIN2 Motor left
-# @output MAIN3 Motor back
-# @output MAIN4 empty
-# @output MAIN5 Tilt servo right
-# @output MAIN6 Tilt servo left
-# @output MAIN7 Elevon right
-# @output MAIN8 Elevon left
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    param set VT_MOT_COUNT 3
-    param set VT_FW_MOT_OFFID 3
-    param set VT_IDLE_PWM_MC 1080
-    param set VT_TYPE 1
-
-    param set VT_B_TRANS_DUR  1.0
-    param set VT_FW_DIFTHR_EN 1
-    param set VT_FW_DIFTHR_SC 0.17
-    param set VT_FW_PERM_STAB 0
-    param set VT_F_TRANS_DUR  1.2
-    param set VT_F_TR_OL_TM   4.0
-    param set VT_TILT_FW  1.0
-    param set VT_TILT_MC  0.0
-    param set VT_TILT_TRANS   0.45
-    param set VT_TRANS_MIN_TM 1.2
-    param set VT_TRANS_P2_DUR 1.3
-
-    param set FW_L1_PERIOD 17
-    param set FW_MAN_R_MAX 50.0
-    param set FW_ACRO_X_MAX   270
-    param set FW_ACRO_Y_MAX   270
-    param set FW_ACRO_Z_MAX   180
-    param set FW_PR_FF    0.5
-    param set FW_PR_P 0.08
-    param set FW_PSP_OFF  5.0
-    param set FW_P_LIM_MAX    30
-    param set FW_P_LIM_MIN    -30
-    param set FW_P_RMAX_NEG   60
-    param set FW_P_RMAX_POS   60
-    param set FW_RR_FF    0.33
-    param set FW_RR_P 0.11
-    param set FW_YR_FF    0.3
-    param set FW_YR_P 0.05
-    param set MC_PITCHRATE_D  0.003
-    param set MC_PITCHRATE_P  0.15
-    param set MC_PITCH_P  6.0
-    param set MC_ROLLRATE_D   0.003
-    param set MC_ROLLRATE_P   0.15
-    param set MC_ROLL_P   6.0
-    param set MC_YAWRATE_MAX  120
-    param set MC_YAWRATE_P    0.27
-    param set MC_YAW_FF   0.35
-    param set MC_YAW_P    2.5
-
-    param set MC_YAWRATE_P 0.3
-    param set MPC_LAND_SPEED 1.2
-    param set MPC_TKO_SPEED 2.5
-    param set MPC_Z_VEL_MAX_UP 3.0
-
-    param set CBRK_AIRSPD_CHK 162128
-    param set FW_ARSP_MODE 2
-
-    param set SENS_BOARD_ROT 8
-fi
-
-set MIXER vtol_convergence
-set PWM_OUT 1234
-set PWM_RATE 400
-
-set MAV_TYPE 21
--- a/ROMFS/px4fmu_common/init.d/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/13013_deltaquad
@ -1,114 +0,0 @@
-#!nsh
-#
-# @name DeltaQuad
-# @type Standard VTOL
-# @maintainer Sander Smeets <sander@droneslab.com>
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output AUX1 Right elevon
-# @output AUX2 Left elevon
-# @output AUX3 Motor
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-	param set VT_TRANS_THR 1
-	param set VT_DWN_PITCH_MAX 8
-	param set VT_FW_QC_P 55
-	param set VT_FW_QC_R 55
-	param set VT_TRANS_MIN_TM 8
-	param set VT_B_TRANS_DUR 5
-	param set VT_WV_LND_EN 1
-	param set VT_WV_LTR_EN 1
-	param set VT_FWD_THRUST_SC 2
-	param set VT_F_TRANS_DUR 1
-	param set VT_IDLE_PWM_MC 1025
-
-	param set FW_ARSP_MODE 2
-	param set FW_L1_PERIOD 25
-	param set FW_PR_FF 0.7
-	param set FW_PR_I 0.18
-	param set FW_PR_P 0.15
-	param set FW_P_TC 0.5
-	param set FW_PSP_OFF 5
-	param set FW_R_LIM 35
-	param set FW_RR_FF 0.9
-	param set FW_RR_I 0.08
-	param set FW_RR_P 0.18
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_CLMB_MAX 3
-	param set FW_T_SINK_MAX 3
-	param set FW_T_SINK_MIN 1
-	param set FW_T_VERT_ACC 6
-	param set FW_THR_CRUISE 0.68
-	param set FW_THR_SLEW_MAX 1
-	param set FW_MAN_P_MAX 30
-	param set FW_P_LIM_MAX 20
-	param set FW_P_LIM_MIN -25
-	param set FW_P_RMAX_NEG 45
-	param set FW_P_RMAX_POS 45
-	param set FW_R_RMAX 50
-
-	param set LNDMC_ALT_MAX 9999
-	param set LNDMC_XY_VEL_MAX 1
-	param set LNDMC_Z_VEL_MAX 0.7
-
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.16
-	param set MC_ROLLRATE_I 0.01
-	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0.0
-	param set MC_ROLLRATE_MAX 80
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0.0
-	param set MC_PITCHRATE_MAX 80
-	param set MC_YAW_P 3.5
-	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAWRATE_FF 0.0
-	param set MC_YAWRATE_MAX 20
-	param set MC_YAWRAUTO_MAX 20
-
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P 0.1
-	param set MPC_XY_VEL_MAX 4
-	param set MPC_ACC_HOR_MAX 2.0
-	param set MPC_LAND_SPEED 1.5
-	param set MPC_MAN_R_MAX 30
-	param set MPC_TILTMAX_LND 35
-	param set MPC_Z_VEL_MAX 1.5
-	param set MPC_Z_VEL_MAX_UP 1.5
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_HOLD_MAX_XY 0.5
-	param set MPC_HOLD_MAX_Z 0.5
-
-	param set CBRK_AIRSPD_CHK 162128
-	param set CBRK_IO_SAFETY 22027
-
-	param set EKF2_GPS_POS_X -0.12
-	param set EKF2_IMU_POS_X -0.12
-	param set EKF2_TAU_VEL 0.5
-
-	param set SYS_COMPANION 57600
-fi
-
-set MIXER vtol_quad_x
-set PWM_OUT 1234
-set PWM_RATE 400
-
-set MIXER_AUX vtol_delta
-set PWM_ACHDIS 3
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22
--- a/ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+
+++ b/ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+
@ -4,11 +4,6 @@
 #
 # @type Tricopter Y+
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 yaw servo
-#
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #

--- a/ROMFS/px4fmu_common/init.d/14002_tri_y_yaw-
+++ b/ROMFS/px4fmu_common/init.d/14002_tri_y_yaw-
@ -4,11 +4,6 @@
 #
 # @type Tricopter Y-
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 yaw servo
-#
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #

--- a/ROMFS/px4fmu_common/init.d/15001_coax_heli
+++ b/ROMFS/px4fmu_common/init.d/15001_coax_heli
@ -1,6 +1,6 @@
 #!nsh
 #
-# @name Esky (Big) Lama v4
+# @name Coaxial Helicopter (such as Esky Lama v4 or Esky Big Lama)
 #
 # @type Coaxial Helicopter
 # 
@ -12,11 +12,15 @@
 # @maintainer Emmanuel Roussel
 #

-sh /etc/init.d/rc.mc_defaults
-set MIXER coax
+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
@ -43,11 +47,19 @@ then
 	param set MC_YAWRATE_FF 0
 fi

+set MIXER coax
 # use PWM parameters for throttle channel
 set PWM_OUT 34
 set PWM_RATE 400
+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
+
--- a/ROMFS/px4fmu_common/init.d/16001_helicopter
+++ b/ROMFS/px4fmu_common/init.d/16001_helicopter
@ -1,57 +0,0 @@
-#!nsh
-#
-# @name Blade 130X
-#
-# @type Helicopter
-#
-# @maintainer Bart Slinger <bartslinger@gmail.com>
-# @output MAIN1 main motor
-# @output MAIN2 front swashplate servo
-# @output MAIN3 right swashplate servo
-# @output MAIN4 left swashplate servo
-# @output MAIN5 tail-rotor servo
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-# Configure as helicopter (number 4 defined in commander_helper.cpp)
-set MAV_TYPE 4
-
-set MIXER blade130
-
-#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
-
-set HIL no
--- a/ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm
+++ b/ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm
@ -4,13 +4,6 @@
 #
 # @type custom
 #
-# @board px4fmu-v1 exclude
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
-# @board aerofc-v1 exclude
-#
 # @maintainer Julian Oes <julian@oes.ch>
 #
 # This startup can be used on Pixhawk/Pixfalcon/Pixracer for the
--- a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
+++ b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
@ -4,11 +4,6 @@
 #
 # @type Standard Plane
 #
-# @output MAIN1 aileron
-# @output MAIN2 elevator
-# @output MAIN3 rudder
-# @output MAIN4 throttle
-#
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

--- a/ROMFS/px4fmu_common/init.d/2101_fw_AERT
+++ b/ROMFS/px4fmu_common/init.d/2101_fw_AERT
@ -23,3 +23,6 @@ set MIXER AERT

 # use PWM parameters for throttle channel
 set PWM_OUT 4
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
--- a/ROMFS/px4fmu_common/init.d/2105_maja
+++ b/ROMFS/px4fmu_common/init.d/2105_maja
@ -45,3 +45,6 @@ set MIXER AAERTWF

 # use PWM parameters for throttle channel
 set PWM_OUT 5
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
--- a/ROMFS/px4fmu_common/init.d/2106_albatross
+++ b/ROMFS/px4fmu_common/init.d/2106_albatross
@ -46,3 +46,6 @@ set MIXER AAVVTWFF

 # use PWM parameters for throttle channel
 set PWM_OUT 5
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
--- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
@ -11,45 +11,36 @@ 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
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
+
 set MIXER caipi
 set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/4001_quad_x
+++ b/ROMFS/px4fmu_common/init.d/4001_quad_x
@ -4,17 +4,9 @@
 #
 # @type Quadrotor x
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
--- a/ROMFS/px4fmu_common/init.d/4002_quad_x_mount
+++ b/ROMFS/px4fmu_common/init.d/4002_quad_x_mount
@ -1,31 +0,0 @@
-#!nsh
-#
-# @name Generic Quadrotor X config with mount (e.g. gimbal)
-#
-# @type Quadrotor x
-#
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 Mount pitch
-# @output AUX2 Mount roll
-# @output AUX3 Mount yaw
-# @output AUX4 Mount retract
-#
-# @maintainer Leon Mueller <thedevleon>
-#
-
-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
-
--- a/ROMFS/px4fmu_common/init.d/4003_qavr5
+++ b/ROMFS/px4fmu_common/init.d/4003_qavr5
@ -1,35 +0,0 @@
-#!nsh
-#
-# @name Lumenier QAV-R (raceblade) 5" arms
-#
-# @type Quadrotor x
-#
-# @board px4fmu-v1 exclude
-# @board px4fmu-v2 exclude
-#
-# @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_P 0.7
-	param set MC_TPA_RATE_P 0.3
-	param set PWM_MIN 1075
-	param set MPC_THR_MIN 0.06
-	param set MPC_MANTHR_MIN 0.06
-fi
--- a/ROMFS/px4fmu_common/init.d/4008_ardrone
+++ b/ROMFS/px4fmu_common/init.d/4008_ardrone
@ -4,13 +4,6 @@
 #
 # @type Quadrotor x
 #
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
-# @board aerofc-v1 exclude
-#
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

@ -36,7 +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
--- a/ROMFS/px4fmu_common/init.d/4009_qav250
+++ b/ROMFS/px4fmu_common/init.d/4009_qav250
@ -4,6 +4,10 @@
 #
 # @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 Mark Whitehorn <kd0aij@gmail.com>
 #

@ -29,6 +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_P 0.5
-	param set MC_TPA_RATE_P 0.5
 fi
--- a/ROMFS/px4fmu_common/init.d/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330
@ -4,6 +4,10 @@
 #
 # @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>
 #

--- a/ROMFS/px4fmu_common/init.d/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450
@ -4,6 +4,10 @@
 #
 # @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>
 #

--- a/ROMFS/px4fmu_common/init.d/4012_quad_x_can
+++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
@ -25,5 +25,4 @@ then
 	param set MC_YAWRATE_D 0.0
 fi

-set MIXER quad_x_can
 set OUTPUT_MODE uavcan_esc
--- a/ROMFS/px4fmu_common/init.d/4013_bebop
+++ b/ROMFS/px4fmu_common/init.d/4013_bebop
@ -1,43 +0,0 @@
-#!nsh
-#
-# @name Parrot Bebop Frame
-#
-# @type Quadrotor x
-#
-# @board px4fmu-v1 exclude
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
-# @board aerofc-v1 exclude
-#
-# @maintainer Michael Schaeuble
-#
-
-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
--- a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
+++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
@ -4,13 +4,6 @@
 #
 # @type Quadrotor x
 #
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
-# @board aerofc-v1 exclude
-#
 # @maintainer Thomas Gubler <thomas@px4.io>
 #

@ -30,5 +23,6 @@ then
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
-	param set PWM_MIN 1200
 fi
+
+set PWM_MIN 1200
--- a/ROMFS/px4fmu_common/init.d/4030_solo
+++ b/ROMFS/px4fmu_common/init.d/4030_solo
@ -4,13 +4,6 @@
 #
 # @type Quadrotor x
 #
-# @board px4fmu-v1 exclude
-# @board px4fmu-v2 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
-# @board aerofc-v1 exclude
-#
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #

@ -23,7 +16,7 @@ then
    param set MC_ROLLRATE_P     0.11
    param set MPC_MANTHR_MIN    0.08
    param set MPC_XY_VEL_MAX    3.0
-    param set MPC_Z_VEL_MAX_DN     2.0
+    param set MPC_Z_VEL_MAX     2.0

    # INAV: higher GPS weights for better altitude control
    param set INAV_W_Z_BARO     0.3
@ -86,7 +79,7 @@ then
    param set RC5_TRIM          1500
 fi

-set MIXER quad_x
+set MIXER solo

 set PWM_OUT 1234
 set MIXER_AUX none
--- a/ROMFS/px4fmu_common/init.d/4040_reaper
+++ b/ROMFS/px4fmu_common/init.d/4040_reaper
@ -24,17 +24,19 @@ then
    param set NAV_ACC_RAD 2.0
    param set RTL_RETURN_ALT 30.0
    param set RTL_DESCEND_ALT 10.0
-
-    param set PWM_MIN 1100
-    param set PWM_MAX 1900
-    param set PWM_AUX_DISARMED 950
 fi

 set MIXER quad_h

 set PWM_RATE 50
 set PWM_OUT 1234
+set PWM_MIN 1100
+set PWM_MAX 1900
+set PWM_DISARMED 1500

 set MIXER_AUX pass
 set PWM_AUX_RATE 50
 set PWM_AUX_OUT 1234
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+set PWM_AUX_DISARMED 950
--- a/ROMFS/px4fmu_common/init.d/4050_generic_250
+++ b/ROMFS/px4fmu_common/init.d/4050_generic_250
@ -4,6 +4,10 @@
 #
 # @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 Mark Whitehorn <kd0aij@gmail.com>
 #

@ -16,9 +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
@ -29,8 +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_P 0.5
-	param set MC_TPA_RATE_P 0.5

 	param set PWM_MIN 1075

--- a/ROMFS/px4fmu_common/init.d/4051_s250aq
+++ b/ROMFS/px4fmu_common/init.d/4051_s250aq
@ -1,64 +0,0 @@
-#!nsh
-#
-# @name Spedix S250AQ
-#
-# @board px4fmu-v1 exclude
-# @board px4fmu-v2 exclude
-#
-# @type Quadrotor asymmetric
-#
-# @output MAIN1 motor1 (front right: CCW)
-# @output MAIN2 motor2 (back left: CCW)
-# @output MAIN3 motor3 (front left: CW)
-# @output MAIN4 motor4 (back right: CW)
-#
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @maintainer Mark Whitehorn <kd0aij@gmail.com>
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-set MIXER quad_s250aq
-set MAV_TYPE 2
-
-set PWM_OUT 1234
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLL_P 8.0
-	param set MC_ROLLRATE_P 0.19
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_D 0.0055
-	param set MC_PITCH_P 8.0
-	param set MC_PITCHRATE_P 0.19
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.0055
-	param set MC_YAW_P 4.0
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
-	param set MC_ROLLRATE_MAX 720.0
-	param set MC_PITCHRATE_MAX 720.0
-	param set MC_YAWRATE_MAX 400.0
-	param set MC_ACRO_R_MAX 360.0
-	param set MC_ACRO_P_MAX 360.0
-	param set MC_TPA_BREAK_D 0.3
-	param set MC_TPA_BREAK_I 1.0
-	param set MC_TPA_BREAK_P 0.3
-	param set MC_TPA_RATE_D 1.0
-	param set MC_TPA_RATE_I 0.0
-	param set MC_TPA_RATE_P 1.0
-
-
-	param set PWM_MIN 1075
-
-	param set MPC_THR_MIN 0.06
-	param set MPC_MANTHR_MIN 0.06
-
-	param set ATT_BIAS_MAX 0.0
-
-	param set CBRK_IO_SAFETY 22027
-fi
--- a/ROMFS/px4fmu_common/init.d/4060_dji_matrice_100
+++ b/ROMFS/px4fmu_common/init.d/4060_dji_matrice_100
@ -4,6 +4,10 @@
 #
 # @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>
 #

@ -11,17 +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
--- a/ROMFS/px4fmu_common/init.d/4070_aerofc
+++ b/ROMFS/px4fmu_common/init.d/4070_aerofc
@ -1,78 +0,0 @@
-#!nsh
-#
-# @name Intel Aero RTF
-#
-# @board px4fmu-v1 exclude
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
-#
-# @type Quadrotor x
-
-sh /etc/init.d/rc.mc_defaults
-
-#
-# Load default params for this platform
-#
-if [ $AUTOCNF == yes ]
-then
-	# Set all params here, then disable autoconfig
-
-	param set COM_DISARM_LAND 3
-
-	param set LNDMC_MAN_DWNTHR 0.2500
-	param set LNDMC_POS_UPTHR 0.5500
-	param set LNDMC_Z_VEL_MAX 2.0000
-
-	param set MC_ROLL_P 8.0000
-	param set MC_ROLLRATE_P 0.1300
-	param set MC_ROLLRATE_I 0.07
-	param set MC_ROLLRATE_D 0.0012
-	param set MC_ROLLRATE_MAX 360
-	param set MC_PITCH_P 8.0000
-	param set MC_PITCHRATE_P 0.1300
-	param set MC_PITCHRATE_I 0.07
-	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_LAND_SPEED 0.7000
-	param set MPC_MANTHR_MIN 0.0400
-	param set MPC_THR_HOVER 0.5000
-	param set MPC_THR_MAX 0.9400
-	param set MPC_THR_MIN 0.1000
-	param set MPC_XY_CRUISE 8.0000
-	param set MPC_XY_P 1.5000
-	param set MPC_XY_VEL_P 0.1500
-	param set MPC_Z_P 1.5000
-	param set MPC_Z_VEL_I 0.1500
-	param set MPC_Z_VEL_MAX_DN 4.0000
-	param set MPC_Z_VEL_MAX_UP 5.0000
-	param set MPC_Z_VEL_P 0.8000
-
-	param set EKF2_GPS_POS_X -0.0600
-	param set EKF2_GPS_POS_Z -0.1000
-	param set EKF2_MIN_OBS_DT 50
-
-	param set EKF2_BARO_GATE 10.0
-	param set EKF2_BARO_NOISE 5.0
-	param set EKF2_ACC_NOISE 0.7
-
-	param set SYS_LOGGER 1
-fi
-
-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 460800
-set MAVLINK_COMPANION_DEVICE /dev/ttyS1
--- a/ROMFS/px4fmu_common/init.d/4080_zmr250
+++ b/ROMFS/px4fmu_common/init.d/4080_zmr250
@ -1,55 +0,0 @@
-#!nsh
-#
-# @name ZMR250 Racer
-#
-# @type Quadrotor x
-#
-# @board px4fmu-v1 exclude
-# @board px4fmu-v2 exclude
-#
-# @maintainer Anton Matosov <anton.matosov@gmail.com>
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-set MIXER zmr250
-set PWM_OUT 1234
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLL_P 2.0
-	param set MC_ROLLRATE_P 0.05
-	param set MC_ROLLRATE_I 0.2
-	param set MC_ROLLRATE_D 0.0015
-	param set MC_ROLL_TC 0.18
-
-	param set MC_PITCH_P 2.0
-	param set MC_PITCHRATE_P 0.05
-	param set MC_PITCHRATE_I 0.2
-	param set MC_PITCHRATE_D 0.0015
-	param set MC_PITCH_TC 0.18
-
-	param set MC_YAW_P 1.0
-	param set MC_YAWRATE_P 0.15
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
-
-	param set MC_ACRO_R_MAX 1000.0
-	param set MC_ACRO_P_MAX 1000.0
-	param set MC_ACRO_Y_MAX 1000.0
-
-	param set MC_TPA_BREAK_P 0.5
-	param set MC_TPA_BREAK_D 0.7
-	param set MC_TPA_RATE_P 0.5
-	param set MC_TPA_RATE_D 0.5
-
-	param set PWM_MIN 1075
-	param set PWM_RATE 400
-	param set PWM_DISARMED 900
-	param set FAILSAFE 100
-
-	# param set NAV_RCL_ACT 6 # Lockdown
-
-	param set CBRK_IO_SAFETY 22027
-fi
--- a/ROMFS/px4fmu_common/init.d/4090_nanomind
+++ b/ROMFS/px4fmu_common/init.d/4090_nanomind
@ -1,41 +0,0 @@
-#!nsh
-#
-# @name NanoMind 110 Quad
-#
-# @type Quadrotor x
-#
-# @board px4fmu-v1 exclude
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
-# @board aerofc-v1 exclude
-#
-# @maintainer Henry Zhang <zhanghui629@gmail.com>
-#
-
-sh /etc/init.d/4001_quad_x
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLL_P 8.0
-	param set MC_ROLLRATE_P 0.19
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_D 0.0055
-	param set MC_PITCH_P 8.0
-	param set MC_PITCHRATE_P 0.19
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.0055
-	param set MC_YAW_P 4.0
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
-
-	param set BAT_N_CELLS 1
-
-	param set PWM_DISARMED 0
-	param set PWM_MIN 500
-	param set PWM_MAX 2200
-fi
--- a/ROMFS/px4fmu_common/init.d/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/4900_crazyflie
@ -1,50 +0,0 @@
-#!nsh
-#
-# @name Crazyflie 2.0
-#
-# @board px4fmu-v1 exclude
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
-# @board aerofc-v1 exclude
-#
-# @type Quadrotor x
-#
-
-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
--- a/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10
+++ b/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10
@ -4,15 +4,6 @@
 #
 # @type Rover
 #
-# @output MAIN1 pass-through of control group 0, channel 0
-# @output MAIN2 pass-through of control group 0, channel 1
-# @output MAIN3 pass-through of control group 0, channel 2
-# @output MAIN4 pass-through of control group 0, channel 3
-# @output MAIN5 pass-through of control group 0, channel 4
-# @output MAIN6 pass-through of control group 0, channel 5
-# @output MAIN7 pass-through of control group 0, channel 6
-# @output MAIN8 pass-through of control group 0, channel 7
-#

 sh /etc/init.d/rc.axialracing_ax10_defaults

--- a/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd
+++ b/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd
@ -1,61 +0,0 @@
-#!nsh
-#
-# @name Traxxas stampede vxl 2wd
-#
-# @url https://traxxas.com/products/models/electric/stampede-vxl-tsm
-#
-# @type Rover
-# 
-# @output MAIN2 steering
-# @output MAIN4 throttle
-#
-# @maintainer Marco Zorzi
-#
-
-sh /etc/init.d/rc.gnd_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set BAT_N_CELLS 7
-	
-	param set FW_AIRSPD_MIN 0
-	param set FW_AIRSPD_TRIM 1
-	param set FW_AIRSPD_MAX 3
-	
-	param set NAV_ACC_RAD 0.5
-
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	
-	param set EKF2_GBIAS_INIT 0.01
-	param set EKF2_ANGERR_INIT 0.01
-	param set EKF2_MAG_TYPE 1
-
-	param set GND_WR_P 2
-	param set GND_WR_I 0.9674
-	param set GND_WR_IMAX 0.1
-	param set GND_WR_D 1.2
-	param set GND_SP_CTRL_MODE 1
-	param set GND_L1_DIST 10
-	param set GND_THR_IDLE 0
-	param set GND_THR_CRUISE 0
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_I 0.001
-	param set GND_SPEED_D 3
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_THR_SC 1
-
-fi
-
-# Configure this as ugv
-set MAV_TYPE 10
-# Set mixer
-set MIXER stampede
-
-# Provide ESC a constant 1500 us pulse
-set PWM_DISARMED 1500
-set PWM_MAIN_REV2 1
-set PWM_MAX 2000
-set PWM_MIN 1000
--- a/ROMFS/px4fmu_common/init.d/5001_quad_+
+++ b/ROMFS/px4fmu_common/init.d/5001_quad_+
@ -4,18 +4,6 @@
 #
 # @type Quadrotor +
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
 # @maintainer Anton Babushkin <anton@px4.io>
 #

--- a/ROMFS/px4fmu_common/init.d/6001_hexa_x
+++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x
@ -4,13 +4,6 @@
 #
 # @type Hexarotor x
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 motor 5
-# @output MAIN6 motor 6
-#
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
--- a/ROMFS/px4fmu_common/init.d/7001_hexa_+
+++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
@ -4,13 +4,6 @@
 #
 # @type Hexarotor +
 #
-# @output MAIN1 motor1
-# @output MAIN2 motor2
-# @output MAIN3 motor3
-# @output MAIN4 motor4
-# @output MAIN5 motor5
-# @output MAIN6 motor6
-#
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
--- a/ROMFS/px4fmu_common/init.d/8001_octo_x
+++ b/ROMFS/px4fmu_common/init.d/8001_octo_x
@ -4,15 +4,6 @@
 #
 # @type Octorotor x
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 motor 5
-# @output MAIN6 motor 6
-# @output MAIN7 motor 7
-# @output MAIN8 motor 8
-#
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
--- a/ROMFS/px4fmu_common/init.d/9001_octo_+
+++ b/ROMFS/px4fmu_common/init.d/9001_octo_+
@ -4,15 +4,6 @@
 #
 # @type Octorotor +
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 motor 5
-# @output MAIN6 motor 6
-# @output MAIN7 motor 7
-# @output MAIN8 motor 8
-#
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
 # @output AUX3 feed-through of RC AUX3 channel
--- a/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults
@ -1,25 +1,27 @@
 #!nsh

-set VEHICLE_TYPE ugv
+set VEHICLE_TYPE rover

 # This section can be enabled once tuning parameters for this particular
 # rover model are known. It allows to configure default gains via the GUI
-if [ $AUTOCNF == yes ]
-then
-	# PWM default value for "disarmed" mode
-	# this centers the steering and throttle, which means no motion
-	# for a rover
-	param set PWM_DISARMED 1500
-
-	# PWM range
-	param set PWM_MIN 1200
-	param set PWM_MAX 1800
-fi
+#if [ $AUTOCNF == yes ]
+#then
+#	# param set MC_ROLL_P 7.0
+#fi

 # PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
 # may damage analog servos.
 set PWM_RATE 50

+# PWM default value for "disarmed" mode
+# this centers the steering and throttle, which means no motion
+# for a rover
+set PWM_DISARMED 1500
+
+# PWM range
+set PWM_MIN 1200
+set PWM_MAX 1800
+
 # Enable servo output on pins 3 and 4 (steering and thrust)
 # but also include 1+2 as they form together one output group
 # and need to be set together.
--- a/ROMFS/px4fmu_common/init.d/rc.fw_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps
@ -3,18 +3,10 @@
 # Standard apps for fixed wing
 #

-# LPE
-if param compare SYS_MC_EST_GROUP 1
-then
-	echo "ERROR [init] Estimator LPE not supported on fixed wing. Using EKF2"
-	param set SYS_MC_EST_GROUP 2
-	param save
-fi
-
 #
 # Start the attitude and position estimator
 #
-ekf2 start
+ekf_att_pos_estimator start

 #
 # Start attitude controller
@ -26,3 +18,7 @@ fw_pos_control_l1 start
 # Start Land Detector
 #
 land_detector start fixedwing
+
+#
+# Misc apps
+#
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@ -11,15 +11,18 @@ 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 NAV_ACC_RAD 50

-	param set MIS_LTRMIN_ALT 25
-	param set MIS_TAKEOFF_ALT 25
+	param set PE_VELNE_NOISE 0.3
+	param set PE_VELD_NOISE 0.35
+	param set PE_POSNE_NOISE 0.5
+	param set PE_POSD_NOISE 1.0
 fi

 # This is the gimbal pass mixer
 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
--- a/ROMFS/px4fmu_common/init.d/rc.gnd_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.gnd_apps
@ -1,24 +0,0 @@
-#!nsh
-#
-# Standard apps for unmanned ground vehicles (UGV)
-#
-
-#
-# Start the attitude and position estimator
-#
-ekf2 start
-#attitude_estimator_q start
-#local_position_estimator start
-
-
-#
-# Start attitude controllers
-#
-gnd_att_control start
-gnd_pos_control start
-
-
-#
-# Start Land Detector
-#
-land_detector start ugv
--- a/ROMFS/px4fmu_common/init.d/rc.gnd_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.gnd_defaults
@ -1,32 +0,0 @@
-#!nsh
-
-set VEHICLE_TYPE ugv
-
-if [ $AUTOCNF == yes ]
-then
-#
-# Default parameters for UGVs
-#
-	param set NAV_DLL_ACT 0
-	param set NAV_ACC_RAD 2.0
-	
-	# temporary
-	param set NAV_FW_ALT_RAD 1000
-
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-fi
-
-# Enable servo output on pins 3 and 4 (steering and thrust)
-# but also include 1+2 as they form together one output group
-# and need to be set together.
-set PWM_OUT 1234
-
-# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
-# may damage analog servos.
-set PWM_RATE 50
-
-# This is the gimbal pass mixer
-set MIXER_AUX pass
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@ -2,12 +2,6 @@
 #
 # Script to configure control interface
 #
-#
-# NOTE: environment variable references:
-#  If the dollar sign ('$') is followed by a left bracket ('{') then the
-#  variable name is terminated with the right bracket character ('}').
-#  Otherwise, the variable name goes to the end of the argument.
-#

 set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers

@ -19,21 +13,21 @@ then

 	if [ $MIXER_AUX == none -a $USE_IO == yes ]
 	then
-		set MIXER_AUX ${MIXER}
+		set MIXER_AUX $MIXER.aux
 	fi

 	# Use the mixer file from the SD-card if it exists
-	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix ]
+	if [ -f $SDCARD_MIXERS_PATH/$MIXER.main.mix ]
 	then
-		set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix
+		set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.main.mix
 	# Try out the old convention, for backward compatibility
 	else

-		if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.mix ]
+		if [ -f $SDCARD_MIXERS_PATH/$MIXER.mix ]
 		then
-			set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.mix
+			set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.mix
 		else
-			set MIXER_FILE /etc/mixers/${MIXER}.main.mix
+			set MIXER_FILE /etc/mixers/$MIXER.main.mix
 		fi
 	fi

@ -49,27 +43,22 @@ then
 		set OUTPUT_DEV /dev/uavcan/esc
 	fi

-	if [ $OUTPUT_MODE == tap_esc ]
+	if mixer load $OUTPUT_DEV $MIXER_FILE
 	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}"
+		echo "[i] Mixer: $MIXER_FILE on $OUTPUT_DEV"
 	else
-		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}"
-		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}" >> $LOG_FILE
-		tone_alarm ${TUNE_ERR}
+		echo "[i] Error loading mixer: $MIXER_FILE"
+		echo "ERROR: 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 undefined"
-		echo "ERROR  [init] Mixer undefined" >> $LOG_FILE
-		tone_alarm ${TUNE_ERR}
+		echo "[i] Mixer not defined"
+		echo "ERROR: Mixer not defined" >> $LOG_FILE
+		tone_alarm $TUNE_ERR
 	fi
 fi

@ -82,7 +71,7 @@ then
 		#
 		if [ $PWM_RATE != none ]
 		then
-			pwm rate -c ${PWM_OUT} -r ${PWM_RATE}
+			pwm rate -c $PWM_OUT -r $PWM_RATE
 		fi

 		#
@ -90,21 +79,21 @@ then
 		#
 		if [ $PWM_DISARMED != none ]
 		then
-			pwm disarmed -c ${PWM_OUT} -p ${PWM_DISARMED}
+			pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
 		fi
 		if [ $PWM_MIN != none ]
 		then
-			pwm min -c ${PWM_OUT} -p ${PWM_MIN}
+			pwm min -c $PWM_OUT -p $PWM_MIN
 		fi
 		if [ $PWM_MAX != none ]
 		then
-			pwm max -c ${PWM_OUT} -p ${PWM_MAX}
+			pwm max -c $PWM_OUT -p $PWM_MAX
 		fi
 	fi

 	if [ $FAILSAFE != none ]
 	then
-		pwm failsafe -d ${OUTPUT_DEV} ${FAILSAFE}
+		pwm failsafe -d $OUTPUT_DEV $FAILSAFE
 	fi
 fi

@ -117,22 +106,7 @@ fi
 #MindPX has not aux mixer
 if ver hwcmp MINDPX_V2
 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 ver hwcmp PX4FMU_V5
-then
-	set MIXER_AUX none
+        set MIXER_AUX none
 fi

 if [ $MIXER_AUX != none -a $AUX_MODE != none ]
@ -144,40 +118,29 @@ then
 	set MIXER_AUX_FILE none
 	set OUTPUT_AUX_DEV /dev/pwm_output1

-	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
+	if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.aux.mix ]
 	then
-		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
+		set MIXER_AUX_FILE $SDCARD_MIXERS_PATH/$MIXER_AUX.aux.mix
 	else

-		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
+		if [ -f /etc/mixers/$MIXER_AUX.aux.mix ]
 		then
-			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
+			set MIXER_AUX_FILE /etc/mixers/$MIXER_AUX.aux.mix
 		fi
 	fi

 	if [ $MIXER_AUX_FILE != none ]
 	then
-		if fmu mode_${AUX_MODE}
+		if fmu mode_$AUX_MODE
 		then
-			# Append aux mixer to main device
-			if [ $OUTPUT_MODE == hil ]
+			if [ -e $OUTPUT_AUX_DEV ]
 			then
-				if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
+				if mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
 				then
-					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
+					echo "[i] Mixer: $MIXER_AUX_FILE on $OUTPUT_AUX_DEV"
 				else
-					echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
-					echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}" >> $LOG_FILE
-				fi
-			fi
-			if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
-			then
-				if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
-				then
-					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
-				else
-					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
-					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}" >> $LOG_FILE
+					echo "[i] Error loading mixer: $MIXER_AUX_FILE"
+					echo "ERROR: Could not load mixer: $MIXER_AUX_FILE" >> $LOG_FILE
 				fi
 			else
 				set PWM_AUX_OUT none
@ -185,7 +148,7 @@ then
 			fi
 		else
 			echo "ERROR: Could not start: fmu mode_pwm" >> $LOG_FILE
-			tone_alarm ${TUNE_ERR}
+			tone_alarm $TUNE_ERR
 			set PWM_AUX_OUT none
 			set FAILSAFE_AUX none
 		fi
@ -198,16 +161,16 @@ then
 			#
 			if [ $PWM_AUX_RATE != none ]
 			then
-				pwm rate -e -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
+				pwm rate -c $PWM_AUX_OUT -r $PWM_AUX_RATE -d $OUTPUT_AUX_DEV
 			fi

 			if [ $PWM_AUX_MIN != none ]
 			then
-				pwm min -e -c ${PWM_AUX_OUT} -p ${PWM_AUX_MIN} -d ${OUTPUT_AUX_DEV}
+				pwm min -c $PWM_AUX_OUT -p $PWM_AUX_MIN -d $OUTPUT_AUX_DEV
 			fi
 			if [ $PWM_AUX_MAX != none ]
 			then
-				pwm max -e -c ${PWM_AUX_OUT} -p ${PWM_AUX_MAX} -d ${OUTPUT_AUX_DEV}
+				pwm max -c $PWM_AUX_OUT -p $PWM_AUX_MAX -d $OUTPUT_AUX_DEV
 			fi
 		fi

@ -225,12 +188,12 @@ then
 		#
 		if [ $PWM_AUX_DISARMED != none -a $PWM_ACHDIS != none ]
 		then
-			pwm disarmed -e -c ${PWM_ACHDIS} -p ${PWM_AUX_DISARMED} -d ${OUTPUT_AUX_DEV}
+			pwm disarmed -c $PWM_ACHDIS -p $PWM_AUX_DISARMED -d $OUTPUT_AUX_DEV
 		fi

 		if [ $FAILSAFE_AUX != none ]
 		then
-			pwm failsafe -e -d ${OUTPUT_AUX_DEV} ${FAILSAFE}
+			pwm failsafe -d $OUTPUT_AUX_DEV $FAILSAFE
 		fi

 	fi
--- a/ROMFS/px4fmu_common/init.d/rc.io
+++ b/ROMFS/px4fmu_common/init.d/rc.io
@ -16,6 +16,6 @@ then
 	set PX4IO_LIMIT 200
 fi

-if px4io limit ${PX4IO_LIMIT}
+if px4io limit $PX4IO_LIMIT
 then
 fi
--- a/ROMFS/px4fmu_common/init.d/rc.mc_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps
@ -8,27 +8,18 @@
 #---------------------------------------
 # Estimator group selction
 #
-# INAV (deprecated)
+# INAV
 if param compare SYS_MC_EST_GROUP 0
 then
-	echo "ERROR [init] Estimator INAV deprecated. Using EKF2"
-	param set SYS_MC_EST_GROUP 2
-	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 due to a limited flash.
-	if attitude_estimator_q start
-	then
-		local_position_estimator start
-	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
-		param set SYS_MC_EST_GROUP 2
-		param save
-	fi
+	attitude_estimator_q start
+	local_position_estimator start
 fi

 # EKF
@ -38,9 +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
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@ -4,17 +4,46 @@ 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_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
+
+# 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
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@ -8,85 +8,24 @@ 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
-
-		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
 	fi
-fi

-if ver hwcmp AEROFC_V1
-then
-	# Aero FC uses separate driver
-else
-	if adc start
+	# Blacksheep telemetry
+	if bst start
 	then
 	fi
 fi

-if ver hwcmp AUAV_X21
+if adc start
 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
-	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
@ -106,30 +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
@ -143,10 +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
@ -163,10 +84,6 @@ then
 		then
 		fi

-		if mpu9250 start
-		then
-		fi
-
 		if l3gd20 start
 		then
 		fi
@ -198,48 +115,10 @@ then
 	then
 	fi

-	# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
-	if mpu6000 -R 2 -T 20602 start
-	then
-	fi
-
-	# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
-	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
-	# will prevent the incorrect driver from a successful initialization.
-
 	# 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
-
-	# Start either ICM2060X or BMI055. They are both connected to the same SPI bus and use the same
-	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
-	# will prevent the incorrect driver from a successful initialization.
-
-	# Internal SPI bus BMI055_ACC
-	if bmi055 -A start
-	then
-	fi
-
-	# Internal SPI bus BMI055_GYR
-	if bmi055 -G start
-	then
-	fi
-
-	# expansion i2c used for BMM150 rotated by 90deg
-	if bmm150 -R 2 start
-	then
-	fi
-
-	# expansion i2c used for BMP280
-	if bmp280 -I start
-	then
-	fi
 fi

 if ver hwcmp PX4FMU_V1
@ -277,139 +156,26 @@ 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 12 start
+	if lis3mdl -R 2 start
 	then
 	fi
-
-	if mpu9250 -s -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 -T 0 start
-	then
-	fi
-
-	if mpu9250 -s -R 14 start
-	then
-	fi
-
-	# Possible external compasses
-	if hmc5883 -X start
-	then
-	fi
-
-	if ist8310 -C -b 1 -R 4 start
-	then
-	fi
-
-	if aerofc_adc start
-	then
-	fi
-
-	if ll40ls start i2c
-	then
-	fi
-fi
-
-if ver hwcmp PX4FMU_V4PRO
-then
-
-	# Internal SPI bus ICM-20608-G
-	if mpu6000 -R 2 -T 20608 start
-	then
-	fi
-	
-	# Internal SPI bus ICM-20602
-	if mpu6000 -R 2 -T 20602 start
-	then
-	fi	
-
-	# Internal SPI bus mpu9250
-	if mpu9250 -R 2 start
-	then
-	fi
-
-	# Internal SPI bus
-	if lis3mdl -R 0 start
-	then
-	fi
-
-	# Possible external compasses
-	if hmc5883 -C -T -X start
-	then
-	fi
-
-fi
-
-if ver hwcmp PX4FMU_V5
-then
-
-	# Internal SPI bus ICM-20602
-	if mpu6000 -R 8 -s -T 20602 start
-	then
-	fi
-
-	# Internal SPI bus ICM-20689
-	if mpu6000 -R 8 -z -T 20689 start
-	then
-	fi
-
-	# Internal SPI bus BMI055 accel
-	if bmi055 -A -R 10 start
-	then
-	fi
-
-	# Internal SPI bus BMI055 gyro
-	if bmi055 -G -R 10 start
-	then
-	fi
-
-	# Possible external compasses
-	if hmc5883 -C -T -X start
-	then
-	fi
-
-	# Possible external airspeed sensor
-	if meas_airspeed start -b 2
-	then
-	fi
-
-fi
-
-if ver hwcmp AEROCORE2
-then
-	l3gd20 -R 12 start
-	lsm303d start
 fi

 if meas_airspeed start
@ -424,6 +190,10 @@ else
 	fi
 fi

+if sf10a start
+then
+fi
+
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
 if sensors start
--- a/ROMFS/px4fmu_common/init.d/rc.uavcan
+++ b/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
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/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
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Julian Oes	a031f6eec8	land_detector: fix timestamp type (#4710 ) The overflow of the uint32_t lead to the land_detector start getting aborted.	2016-06-01 17:16:29 +02:00
Pavel Kirienko	0749b04c9f	Fixed stack overflow in UAVCAN process (#4643 ) * Increased uavcan stack size; the old value of 1800 was insufficient * Removed a misleading warning message from uavcan servers initialization	2016-05-26 20:00:46 +02:00
Lorenz Meier	0902401115	SBUS decoding: Fix channel 18 return value	2016-05-21 15:55:32 +02:00
Lorenz Meier	87a6d36341	EKF2: Remove unused header	2016-05-21 14:13:30 +02:00
Lorenz Meier	bdf01061d0	Bottle drop: Fix uninitialized member	2016-05-21 14:13:22 +02:00
Lorenz Meier	62c76d62cd	LPE: Fix stack smashing	2016-05-21 14:13:15 +02:00
Lorenz Meier	65c4a9190c	EKF1: Simplify output	2016-05-21 14:13:08 +02:00
Lorenz Meier	5070238504	EKF1: Fix stack smashing resulting from uninitialized publication	2016-05-21 14:13:00 +02:00
Lorenz Meier	2f52c90885	Fix compile error in MAVLink app	2016-05-19 15:34:25 +02:00
Roman Bapst	9b4b67644d	WIP: Manual attitude setpoint for large heading errors (#4564 ) * mc pos control: in manual mode calculate attitude setpoint such that it reflects the users intuition of roll and pitch for any given heading error * added some comments on the new manual attitude setpoint generation * make calculation shorter	2016-05-19 15:32:08 +02:00
Lorenz Meier	556c33cf8c	Battery lib: Set valid flag	2016-05-19 15:32:08 +02:00
Lorenz Meier	ac256eb64d	MAVLink: Use valid flag to initialize fields Conflicts: src/modules/mavlink/mavlink_messages.cpp	2016-05-19 15:32:08 +02:00
Lorenz Meier	fd3efe168a	Battery status: Add valid flag	2016-05-19 15:32:08 +02:00
Lorenz Meier	d091af4fc0	EKF: Be less verbose, avoid floating ng point printing stack smashing	2016-05-14 18:22:58 +02:00
Lorenz Meier	3ebea78d91	IO driver: Fix PWM load	2016-05-14 18:06:32 +02:00
Lorenz Meier	8361b8b3c6	PWM cmd: better reporting	2016-05-14 18:06:24 +02:00
Lorenz Meier	2807e53838	Navigator: Do not publish an empty triplet	2016-05-13 11:05:18 +02:00
Lorenz Meier	2cc613cf64	Commander: Better status feedback	2016-05-13 11:05:12 +02:00