Update Matrix.hpp (#4966 )

This was horribly wrong. Matrix is first cast into a matrix of size NxM (which is supposed to be the size of the result - NOT the starting point) so the transpose result becomes garbage. Instead make "Me" an MxN matrix as the original. Took me a whole evening to figure out this problem. Now my Kalman filter finally returns good results.
px4io: set safety on before going into bootloader (#4860 )
2026-06-16 11:31:28 +08:00 · 2016-07-03 12:30:24 +02:00 · 2016-06-21 09:18:45 +02:00 · 2016-06-01 17:16:29 +02:00 · 2016-05-26 20:00:46 +02:00 · 2016-05-21 15:55:32 +02:00
2108 changed files with 65155 additions and 239550 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
Martin K. Schröder	cb1528008f	Update Matrix.hpp (#4966 ) This was horribly wrong. Matrix is first cast into a matrix of size NxM (which is supposed to be the size of the result - NOT the starting point) so the transpose result becomes garbage. Instead make "Me" an MxN matrix as the original. Took me a whole evening to figure out this problem. Now my Kalman filter finally returns good results.	2016-07-03 12:30:24 +02:00
Julian Oes	403d76c7a7	px4io: set safety on before going into bootloader (#4860 ) Sometimes when flashing new firmware, the IO update fails because safety is off. In this case, we should set safety on first before putting the IO board into bootloader mode.	2016-06-21 09:18:45 +02:00
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