.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'

.gitignore

@@ -20,9 +20,6 @@
 Archives/*
 Build/*
 Testing/
-Packages/*
-s3deploy-branch/
-s3deploy-archive/
 build/*
 build_*/
 core
@@ -31,6 +28,15 @@ 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
@@ -71,15 +77,7 @@ vectorcontrol/
 
 # CLion ignores
 .idea
-cmake-build-*/
 
-posix-configs/SITL/init/test/*_generated
-
-parameters.md
-airframes.md
-airframes.xml
-
-cppcheck-result.xml
-cppcheck
-
-scan-build
+# gcov code coverage
+coverage-html/
+coverage.info

.gitmodules

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

.travis.yml

@@ -4,101 +4,123 @@
 language: cpp
 
 git:
-  depth: 2000
-  submodules: false
+  depth: 1000
 
 matrix:
   fast_finish: true
   include:
     - os: linux
       sudo: required
+      env: GCC_VER=4.9 DOCKER_REPO="px4io/px4-dev-base:2016-10-20"
       services:
         - docker
-      env: BUILD_TARGET=check_format
-    - os: linux
-      sudo: required
-      services:
-        - docker
-      env: BUILD_TARGET=tests
-    - os: linux
-      sudo: required
-      services:
-        - docker
-      env: BUILD_TARGET=clang-tidy
-    - os: linux
-      sudo: required
-      services:
-        - docker
-      env: BUILD_TARGET=scan-build
-    - os: linux
-      sudo: required
-      services:
-        - docker
-      env: BUILD_TARGET=cppcheck
-    - os: linux
-      sudo: required
-      services:
-        - docker
-      env: BUILD_TARGET=px4_metadata
-    - os: linux
-      dist: trusty
-      sudo: required
-      env: BUILD_TARGET=coverity_scan
+    - os: osx
+      sudo: true
+      osx_image: xcode8
+      env: CCACHE_CPP2=1
 
 cache:
   ccache: true
+  pip: true
+  directories:
+    - $HOME/.pip/cache/
+    - $HOME/Library/Caches/pip
 
 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
+         cd ${TRAVIS_BUILD_DIR}
+      && git fetch --unshallow && git fetch --all --tags
+      && docker pull ${DOCKER_REPO}
+      ;
+    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
+         sudo -H easy_install pip
+      && sudo -H pip install empy
+      && wget https://s3.amazonaws.com/px4-travis/toolchain/macos/ccache
+      && sudo mv ccache /usr/local/bin
+      && chmod +x /usr/local/bin/ccache
+      && mkdir -p ~/bin
+      && sudo ln -s /usr/local/bin/ccache ~/bin/c++
+      && sudo ln -s /usr/local/bin/ccache ~/bin/cc
+      && sudo ln -s /usr/local/bin/ccache ~/bin/clang
+      && sudo ln -s /usr/local/bin/ccache ~/bin/clang++
+      && sudo ln -s /usr/local/bin/ccache ~/bin/g++
+      && sudo ln -s /usr/local/bin/ccache ~/bin/gcc
+      && export PATH=~/bin:$PATH
+      && wget https://s3.amazonaws.com/px4-travis/toolchain/macos/ninja
+      && sudo mv ninja /usr/local/bin
+      && chmod +x /usr/local/bin/ninja
+      ;
     fi
 
 env:
   global:
-    # COVERITY KEY
-    - secure: "NyaJoCGjU0Xc90Y6bxVYWLgjrJX5HlZsm/SPxruZ6I7xkGo19fJIFzGegOHQFR32D4AiKjllfjTUNy+ncckWplind0QwxtF4/kxXrz9XBfiby6X8jLYXIekrB6Ay0mBLGbniDdh+lpWtcyop6Dmkt5bdJCJuKY2nv9ENnhhs07M="
-    # AWS KEY: $PX4_AWS_KEY
+# AWS KEY: $PX4_AWS_KEY
     - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
-    # AWS SECRET: $PX4_AWS_SECRET
+# AWS SECRET: $PX4_AWS_SECRET
     - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
+    - PX4_AWS_BUCKET=px4-travis
+    - GIT_SUBMODULES_ARE_EVIL=1
 
 script:
-  - 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';
+  - ccache -M 1GB; ccache -z
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+      docker run --rm -v `pwd`:`pwd`:rw -v $HOME/.ccache:$HOME/.ccache:rw -e CCACHE_DIR=$HOME/.ccache -e CI=true -e GIT_SUBMODULES_ARE_EVIL=1 -w=`pwd` --user=$UID -it ${DOCKER_REPO} /bin/bash -c "make check_qgc_firmware VECTORCONTROL=0";
+    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
+      make tests;
     fi
+  - ccache -s
 
 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/${TRAVIS_BRANCH}"';
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+         make package_firmware && mkdir s3deploy-archive && cp Firmware.zip s3deploy-archive/
+      && find . -type f -name 'nuttx-*-default.px4' -exec cp "{}" . \;
+      && find . -maxdepth 1 -mindepth 1 -type f -name 'nuttx-*-default.px4' | sed 's/.\/nuttx-//' | sed 's/-default.px4//' | xargs -I{} mv nuttx-{}-default.px4 {}_default.px4
+      && mkdir s3deploy-branch && mv *_default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml s3deploy-branch/;
     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" == "4.9" ]]; then
+      export PX4_S3_DEPLOY=1;
     fi
 
-addons:
-  coverity_scan:
-    project:
-      name: PX4/Firmware
-    notification_email: ci@px4.io
-    build_command: make posix_sitl_default
-    branch_pattern: coverity
+deploy:
+# deploy *.px4 to S3 px4-travis/Firmware/$TRAVIS_BRANCH
+  - provider: s3
+    access_key_id: $PX4_AWS_KEY
+    secret_access_key:
+      secure: $PX4_AWS_SECRET
+    bucket: px4-travis
+    local_dir: s3deploy-branch
+    upload-dir: Firmware/$TRAVIS_BRANCH
+    acl: public_read
+    skip_cleanup: true
+    on:
+      all_branches: true
+      condition: $PX4_S3_DEPLOY = 1
+
+# deploy Firmware.zip to S3 px4-travis/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID
+  - provider: s3
+    access_key_id: $PX4_AWS_KEY
+    secret_access_key:
+      secure: $PX4_AWS_SECRET
+    bucket: px4-travis
+    local_dir: s3deploy-archive
+    upload-dir: archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID
+    acl: public_read
+    skip_cleanup: true
+    on:
+      all_branches: true
+      condition: $PX4_S3_DEPLOY = 1
+
+# on tags deploy Firmware.zip to Github releases
+  - provider: releases
+    api_key: 
+      secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
+    file: "Firmware.zip"
+    skip_cleanup: true
+    on:
+      tags: true
+      all_branches: true
+      repo: PX4/Firmware
+      condition: $GCC_VER = 4.9
 
 notifications:
   webhooks:

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.
@@ -99,18 +117,9 @@
 #
 #=============================================================================
 
-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}")
@@ -120,107 +129,37 @@ execute_process(
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
+# Use clang
+#SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
+#SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
+
+#=============================================================================
+# parameters
+#
+
+set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
+	STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
+set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
+file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
+set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
+set(THREADS "4" CACHE STRING
+	"number of threads to use for external build processes")
+set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
+set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
+
 #=============================================================================
 # configuration
 #
 # must come before project to set toolchain
 
-set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
-
 string(REPLACE "_" ";" config_args ${CONFIG})
 list(GET config_args 0 OS)
 list(GET config_args 1 BOARD)
 list(GET config_args 2 LABEL)
 set(target_name "${OS}-${BOARD}-${LABEL}")
 
-file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
-set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
-
-set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
-set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
-set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
-
-if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
-	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
-endif()
-
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
-message(STATUS "CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}")
-set(config_module "configs/${CONFIG}")
-include(${config_module})
-
-include(common/coverage)
-include(common/sanitizers)
-
-# CMake build type
-# Debug Release RelWithDebInfo MinSizeRel Coverage
-if (NOT CMAKE_BUILD_TYPE)
-	if (${OS} STREQUAL "nuttx")
-		set(PX4_BUILD_TYPE "MinSizeRel")
-	elseif (${OS} STREQUAL "qurt")
-		set(PX4_BUILD_TYPE "MinSizeRel")
-	elseif (${OS} STREQUAL "bebop")
-		set(PX4_BUILD_TYPE "MinSizeRel")
-	else()
-		set(PX4_BUILD_TYPE "RelWithDebInfo")
-	endif()
-
-	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
-endif()
-
-set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
-
-message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
-
-
-#=============================================================================
-# git
-#
-include(common/px4_git)
-
-execute_process(
-	COMMAND git describe --always --tags
-	OUTPUT_VARIABLE git_tag
-	OUTPUT_STRIP_TRAILING_WHITESPACE
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
-
-execute_process(
-	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
-	OUTPUT_VARIABLE git_version
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
-
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
-px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
-px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
-px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
-px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
-px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
-px4_add_git_submodule(TARGET git_gps_devices PATH "src/drivers/gps/devices")
-px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
-px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
-px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
-px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
-px4_add_git_submodule(TARGET git_mavlink2 PATH "mavlink/include/mavlink/v2.0")
-px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
-px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
-
-px4_create_git_hash_header()
-
-#=============================================================================
-
-message(STATUS "PX4 VERSION: ${git_tag}")
-message(STATUS "CONFIG: ${target_name}")
-
-# The URL for the elf file for crash logging
-if (DEFINED ENV{BUILD_URI})
-	set(BUILD_URI $ENV{BUILD_URI})
-else()
-	set(BUILD_URI "localhost")
-endif()
-
-add_definitions(-DBUILD_URI=${BUILD_URI})
+message(STATUS "${target_name}")
 
 # Define GNU standard installation directories
 include(GNUInstallDirs)
@@ -229,52 +168,65 @@ include(GNUInstallDirs)
 include(ExternalProject)
 
 # Setup install paths
-if (NOT CMAKE_INSTALL_PREFIX)
+if(NOT CMAKE_INSTALL_PREFIX)
 	if (${OS} STREQUAL "posix")
 		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
 	endif()
 endif()
-if (CMAKE_INSTALL_PREFIX)
-	message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
-endif()
+message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
+
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
+message(STATUS "cmake module path: ${CMAKE_MODULE_PATH}")
+set(config_module "configs/${CONFIG}")
+include(${config_module})
+
+# cmake modules
+include(ExternalProject)
 
-#=============================================================================
 # require px4 module interface
 set(px4_required_interface
 	px4_os_prebuild_targets
 	px4_os_add_flags
 	)
 foreach(cmd ${px4_required_interface})
-	if (NOT COMMAND ${cmd})
+	if(NOT COMMAND ${cmd})
 		message(FATAL_ERROR "${config_module} must implement ${cmd}")
 	endif()
 endforeach()
-
-set(px4_required_config config_module_list)
+set(px4_required_config
+	config_module_list
+	)
 foreach(conf ${px4_required_config})
-	if (NOT DEFINED ${conf})
+	if(NOT DEFINED ${conf})
 		message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
 	endif()
 endforeach()
 
+# List the DriverFramework drivers
+if(DEFINED config_df_driver_list)
+	message("DF Drivers: ${config_df_driver_list}")
+endif()
+
 # force static lib build
 set(BUILD_SHARED_LIBS OFF)
 
-#=============================================================================
-# ccache
-#
-option(CCACHE "Use ccache if available" OFF)
-find_program(CCACHE_PROGRAM ccache)
-if (CCACHE AND CCACHE_PROGRAM)
-	message(STATUS "Enabled ccache: ${CCACHE_PROGRAM}")
-	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
-endif()
-
 #=============================================================================
 # project definition
 #
 project(px4 CXX C ASM)
+if (NOT ${CMAKE_VERSION} VERSION_LESS 3.0.0)
+	cmake_policy(SET CMP0045 NEW) # error on non-existent target in get prop
+	cmake_policy(SET CMP0046 NEW) # no non-existent targets as dependencies
+	cmake_policy(SET CMP0025 OLD) # still report AppleClang as Clang
+endif()
+if (NOT ${CMAKE_VERSION} VERSION_LESS 3.1.0)
+	cmake_policy(SET CMP0054 NEW) # don't dereference quoted variables
+endif()
 
+set(version_major 1)
+set(version_minor 5)
+set(version_patch 0)
+set(version "${version_major}.${version_minor}.${version_patch}")
 set(package-contact "px4users@googlegroups.com")
 
 #=============================================================================
@@ -290,16 +242,16 @@ if (CATKIN_DEVEL_PREFIX)
 	else()
 		message(FATAL_ERROR "catkin not found")
 	endif()
+else()
+	message(STATUS "catkin DISABLED")
 endif()
 
 find_package(PythonInterp REQUIRED)
-px4_find_python_module(jinja2 REQUIRED)
 
 #=============================================================================
-# cmake testing
+# cmake modules
 #
 enable_testing()
-include(CTest)
 
 #=============================================================================
 # generate compile command database
@@ -309,37 +261,49 @@ 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 "unittests/gtest")
+px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
+px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
+px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
+px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
+px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
+px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
+px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
-# print full c++ compiler version
-execute_process(COMMAND ${CMAKE_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 ${PX4_SOURCE_DIR}
+	COMMAND git submodule deinit -f .
+	COMMAND rm -rf .git/modules/*
+	)
+
+#=============================================================================
+# misc targets
+#
+add_custom_target(check_format
+	COMMAND Tools/check_code_style.sh
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
+
+add_custom_target(config
+	COMMAND cmake-gui .
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	)
 
 #=============================================================================
 # external libraries
@@ -371,42 +335,18 @@ link_directories(${link_dirs})
 add_definitions(${definitions})
 
 #=============================================================================
-# message, parameter, and airframe generation
+# source code generation
 #
-
-include(common/px4_metadata)
-
 add_subdirectory(msg)
 px4_generate_messages(TARGET msg_gen
 	MSG_FILES ${msg_files}
 	OS ${OS}
-	INCLUDES ${msg_include_paths}
 	DEPENDS git_genmsg git_gencpp prebuild_targets
 	)
-
-px4_generate_parameters_xml(OUT parameters.xml 
-	BOARD ${BOARD}
-	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
@@ -422,10 +362,20 @@ include_directories(${ep_base}/Install/include)
 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
 
+#=============================================================================
+# DriverFramework Drivers
+#
+set(df_driver_libs)
+foreach(driver ${config_df_driver_list})
+	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
+	list(APPEND df_driver_libs df_${driver})
+	message("Adding DF driver: ${driver}")
+endforeach()
+
 #=============================================================================
 # external modules
 #
-if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
+if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")
 	add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules_src)
 
@@ -446,7 +396,7 @@ endif()
 set(module_libraries)
 foreach(module ${config_module_list})
 	string(REGEX MATCH "^[./]" external_module ${module})
-	if (external_module)
+	if(external_module)
 		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
 		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
 		add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
@@ -455,6 +405,7 @@ foreach(module ${config_module_list})
 	endif()
 	px4_mangle_name(${module} mangled_name)
 	list(APPEND module_libraries ${mangled_name})
+	#message(STATUS "adding module: ${module}")
 endforeach()
 
 # Keep track of external shared libs required for modules
@@ -462,6 +413,10 @@ set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "mod
 
 add_subdirectory(src/firmware/${OS})
 
+#add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
+if (NOT "${OS}" STREQUAL "nuttx")
+endif()
+
 if (config_io_board)
 	add_subdirectory(src/modules/px4iofirmware)
 endif()
@@ -469,7 +424,7 @@ endif()
 #=============================================================================
 # generate custom target to print for all executable and module cmake targets
 #
-if (all_posix_cmake_targets)
+if(all_posix_cmake_targets)
 	list(SORT all_posix_cmake_targets)
 	px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
 	add_custom_target(list_cmake_targets
@@ -479,13 +434,24 @@ if (all_posix_cmake_targets)
 		)
 endif()
 
+#=============================================================================
+# generate git version
+#
+px4_create_git_hash_header(HEADER ${PX4_BINARY_DIR}/build_git_version.h)
+
 #=============================================================================
 # packaging
 #
 # Important to having packaging at end of cmake file.
 #
+execute_process(
+	COMMAND git describe --always --tags
+	OUTPUT_VARIABLE git_tag
+	OUTPUT_STRIP_TRAILING_WHITESPACE
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
 set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
-set(CPACK_PACKAGE_VERSION ${git_version})
+set(CPACK_PACKAGE_VERSION ${version})
 set(CPACK_PACKAGE_CONTACT ${package-contact})
 set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
 set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
@@ -494,9 +460,9 @@ set(short-description "The px4 autopilot.")
 set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
 set(CPACK_GENERATOR "ZIP")
 set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
-set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}")
 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
-set(CPACK_PACKAGING_INSTALL_PREFIX "")
+set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
 set(CPACK_SET_DESTDIR "OFF")
 if ("${CMAKE_SYSTEM}" MATCHES "Linux")
 	find_program(DPKG_PROGRAM dpkg)

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)

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

Firmware.sublime-project

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

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
-}

Images/crazyflie.prototype

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

Images/esc35-v1.prototype

@@ -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
-}

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
-}

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
-}

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
-}

Images/px4fmu-v3.prototype

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

Images/px4fmu-v4pro.prototype

@@ -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
-}

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
-}

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
+}

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
-}

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
-}

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
-}

Makefile

@@ -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 $$?)
+ifneq ($(CMAKE_VER),0)
+    $(warning Not a valid CMake version or CMake not installed.)
+    $(warning On Ubuntu 16.04, install or upgrade via:)
+    $(warning )
+    $(warning 3rd party PPA:)
+    $(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
+    $(warning sudo apt-get update)
+    $(warning sudo apt-get install cmake)
+    $(warning )
+    $(warning Official website:)
+    $(warning wget https://cmake.org/files/v3.4/cmake-3.4.3-Linux-x86_64.sh)
+    $(warning chmod +x cmake-3.4.3-Linux-x86_64.sh)
+    $(warning sudo mkdir /opt/cmake-3.4.3)
+    $(warning sudo ./cmake-3.4.3-Linux-x86_64.sh --prefix=/opt/cmake-3.4.3 --exclude-subdir)
+    $(warning export PATH=/opt/cmake-3.4.3/bin:$$PATH)
+    $(warning )
+    $(error Fatal)
+endif
+
 # Help
 # --------------------------------------------------------------------
 # Don't be afraid of this makefile, it is just passing
@@ -68,37 +88,24 @@ 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
+NINJA_BUILD := $(shell ninja --version 2>/dev/null)
 endif
-
 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))))
+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
 
 # check if replay env variable is set & set build dir accordingly
 ifdef replay
@@ -107,26 +114,13 @@ else
 	BUILD_DIR_SUFFIX :=
 endif
 
-# NuttX verbose output
-ifdef VN
-	export PX4_NUTTX_BUILD_VERBOSE=1
-	export V=1
-endif
-
-# NuttX verbose patches output
-ifdef VNP
-	export PX4_NUTTX_PATCHES_VERBOSE=1
-endif
-
 # additional config parameters passed to cmake
 CMAKE_ARGS :=
 ifdef EXTERNAL_MODULES_LOCATION
 	CMAKE_ARGS := -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
 endif
 
-ifdef PX4_CMAKE_BUILD_TYPE
-	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
-endif
+SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
 
 # Functions
 # --------------------------------------------------------------------
@@ -134,14 +128,22 @@ endif
 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 [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) $(CMAKE_ARGS) || (cd .. && rm -rf $(BUILD_DIR)); fi
++@echo "PX4 CONFIG: $(BUILD_DIR)"
++@$(PX4_MAKE) -C "$(BUILD_DIR)" $(PX4_MAKE_ARGS) $(ARGS)
+endef
+
+define cmake-build-other
++@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
++@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
++@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
++@$(PX4_MAKE) -C "$(BUILD_DIR)" $(PX4_MAKE_ARGS) $(ARGS)
 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.
@@ -155,13 +157,13 @@ NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGE
 
 # All targets.
 $(ALL_CONFIG_TARGETS):
-	$(call cmake-build,$@,$(SRC_DIR))
+	$(call cmake-build,$@)
 
 # Abbreviated config targets.
 
 # nuttx_ is left off by default; provide a rule to allow that.
 $(NUTTX_CONFIG_TARGETS):
-	$(call cmake-build,nuttx_$@,$(SRC_DIR))
+	$(call cmake-build,nuttx_$@)
 
 all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
 
@@ -169,69 +171,76 @@ 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
 
+eagle_default: posix_eagle_default qurt_eagle_default
+eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default
+excelsior_default: posix_excelsior_default qurt_excelsior_default
+
+# Deprecated config targets.
+
+ros_sitl_default:
+	@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
+
+_sitl_deprecation:
+	@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
+	@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
+
+run_sitl_quad: _sitl_deprecation
+run_sitl_plane: _sitl_deprecation
+run_sitl_ros: _sitl_deprecation
 
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: all posix broadcast eagle_default eagle_legacy_default excelsior_legacy_default excelsior_default all_nuttx_targets
+.PHONY: all posix broadcast eagle_default eagle_legacy_default excelsior_default run_sitl_quad run_sitl_plane run_sitl_ros all_nuttx_targets
 
 # 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 format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+.NOTPARALLEL:
 
-# QGroundControl flashable NuttX firmware
-qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes
+# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
+.PHONY: checks_defaults checks_bootloaders checks_tests checks_alts checks_uavcan checks_sitls checks_last quick_check tests extra_firmware
 
-# px4fmu NuttX firmware
-px4fmu_firmware: \
-	check_px4fmu-v1_default \
+uavcan_firmware:
+ifeq ($(VECTORCONTROL),1)
+	$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6")
+	@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
+endif
+
+check_px4fmu-v4_default: uavcan_firmware
+check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
+	@echo
+ifeq ($(VECTORCONTROL),1)
+	@echo "Cleaning up vectorcontrol firmware"
+	@rm -rf vectorcontrol
+	@rm -rf ROMFS/px4fmu_common/uavcan
+endif
+
+# All default targets that don't require a special build environment (currently built on semaphore-ci)
+check: 	check_px4fmu-v1_default \
 	check_px4fmu-v2_default \
-	check_px4fmu-v3_default \
-	check_px4fmu-v4_default \
-	check_px4fmu-v4pro_default \
-	check_px4fmu-v5_default \
-	sizes
-
-misc_qgc_extra_firmware: \
-	check_aerocore2_default \
-	check_aerofc-v1_default \
-	check_auav-x21_default \
-	check_crazyflie_default \
+	check_px4fmu-v2_test \
+	check_px4fmu-v4_default_and_uavcan \
 	check_mindpx-v2_default \
-	check_px4fmu-v2_lpe \
+	check_posix_sitl_default \
 	check_tap-v1_default \
-	sizes
-
-# Other NuttX firmware
-alt_firmware: \
+	check_aerofc-v1_default \
 	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
+	check_crazyflie_default \
+	check_tests \
+	check_format
 
 # quick_check builds a single nuttx and posix target, runs testing, and checks the style
-quick_check: check_posix_sitl_default check_px4fmu-v3_default tests check_format
+quick_check: check_posix_sitl_default check_px4fmu-v4_default check_tests check_format
+
+check_format:
+	$(call colorecho,"Checking formatting with astyle")
+	@./Tools/check_code_style_all.sh
+	@git diff --check
+
+format:
+	$(call colorecho,"Formatting with astyle")
+	@./Tools/check_code_style_all.sh --fix
 
 check_%:
 	@echo
@@ -239,163 +248,54 @@ 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
-
 unittest: posix_sitl_default
-	$(call cmake-build,unittest,$(SRC_DIR)/unittests)
+	$(call cmake-build-other,unittest, ../unittests)
 	@(cd build_unittest && ctest -j2 --output-on-failure)
 
-run_tests_posix:
-	$(MAKE) --no-print-directory posix_sitl_default test_results
+run_tests_posix: posix_sitl_default
+	@(cd build_posix_sitl_default/ && ctest -V)
 
-tests: unittest run_tests_posix
+tests: check_unittest run_tests_posix
 
 tests_coverage:
-	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
+	@(PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1 ${MAKE} tests)
+	@(lcov --directory . --capture --quiet --output-file coverage.info)
+	@(lcov --remove coverage.info '/usr/*' --quiet --output-file coverage.info)
+	#@(lcov --list coverage.info)
+	@(genhtml coverage.info --quiet --output-directory coverage-html)
 
-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
+# QGroundControl flashable firmware (currently built by travis-ci)
+qgc_firmware: \
+	check_px4fmu-v1_default \
+	check_px4fmu-v2_default \
+	check_px4fmu-v3_default \
+	check_px4fmu-v4_default_and_uavcan \
+	check_mindpx-v2_default \
+	check_tap-v1_default \
+	check_format
 
-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_*/
+	-@$(MAKE) -C NuttX/nuttx clean
 
 submodulesclean:
-	@git submodule foreach --quiet --recursive git clean -ff -x -d
-	@git submodule update --quiet --init --recursive --force || true
 	@git submodule sync --recursive
+	@git submodule deinit -f .
 	@git submodule update --init --recursive --force
 
-submodulesupdate:
-	@git submodule update --quiet --init --recursive || true
-	@git submodule sync --recursive
-	@git submodule update --init --recursive
-
-gazeboclean:
-	@rm -rf ~/.gazebo/*
-
-distclean: submodulesclean gazeboclean
+distclean: submodulesclean clean
 	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea"
 
-# --------------------------------------------------------------------
-
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
 %:
 	$(if $(filter $(FIRST_ARG),$@), \
 		$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
 
+.PHONY: clean
+
 CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
 
 #help:
@@ -421,3 +321,4 @@ help:
 # Print a list of all config targets.
 list_config_targets:
 	@for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done
+

NuttX

@@ -1 +1 @@
-Subproject commit 44ad7e224c1ef17911ab8b4101fd624ad9ee4177
+Subproject commit af5d2b058c55431607aa5aa29fc1d1bbc7e51089

README.md

@@ -4,95 +4,62 @@
 
 [![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, [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
+*   Supported airframes (more experimental types than listed here are supported):
+  * [Multicopters](http://px4.io/portfolio_category/multicopter/)
+  * [Fixed wing](http://px4.io/portfolio_category/plane/)
+  * [VTOL](http://px4.io/portfolio_category/vtol/)
+*   Releases: [Downloads](https://github.com/PX4/Firmware/releases)
 
-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/user-guide/) 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/)
+
+  * [Developer Forum](http://discuss.px4.io)
+  * [Guide for Contributions](https://github.com/PX4/Firmware/blob/master/CONTRIBUTING.md)
+  * [Developer guide](http://dev.px4.io)
 
 ## Maintenance Team
 
-  * 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)
+  * Project / Founder - [Lorenz Meier](http://github.com/LorenzMeier)
+  * Dev Call - [Mark Whitehorn](http://github.com/kd0aij), [Ramon Roche](http://github.com/mrpollo)
+  * Communication Architecture - [Beat Kueng](http://github.com/bkueng), [Julian Oes](http://github.com/JulianOes)
+  * UI / UX - [Gus Grubba](http://github.com/dogmaphobic)
+  * Multicopter Flight Control - [Dennis Mannhart](http://github.com/Stifael), [Matthias Grob](http://github.com/MaEtUgR)
+  * VTOL Flight Control - [Roman Bapst](http://github.com/tumbili), [Andreas Antener](http://github.com/AndreasAntener), [Sander Smeets](http://github.com/sanderux)
+  * Fixed Wing Flight Control - [Daniel Agar](http://github.com/dagar), [Paul Riseborough](http://github.com/priseborough)
+  * Racers - [Mark Whitehorn](http://github.com/kd0aij)
+  * OS / drivers - [David Sidrane](http://github.com/david_s5)
+  * UAVCAN / Industrial - [Pavel Kirienko](http://github.com/pavel-kirienko)
+  * State Estimation - [James Goppert](http://github.com/jgoppert), [Paul Riseborough](http://github.com/priseborough)
+  * VIO - Christoph Tobler
+  * Obstacle Avoidance - [Vilhjalmur Vilhjalmsson](http://github.com/vilhjalmur89)
+  * Snapdragon - [Mark Charlebois](http://github.com/mcharleb)
+  * Intel Aero - [Lucas de Marchi](http://github.com/lucasdemarchi), [Simone Guscetti](http://github.com/simonegu)
+  * Raspberry Pi / Navio - [Beat Kueng](http://github.com/bkueng)
+  * Parrot Bebop - [Michael Schaeuble](http://github.com/eyeam3)
 
 ## Supported Hardware
 
 This repository contains code supporting these boards:
-  * [Snapdragon Flight](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)
+  * Intel Aero
+  * Raspberry PI with Navio 2
+  * [Parrot Bebop](http://dev.px4.io/starting-building.html#parrot-bebop)
   * 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
+  * FMUv2.x ([Pixhawk](http://dev.px4.io/hardware-pixhawk.html) and [Pixfalcon](http://dev.px4.io/hardware-pixfalcon.html))
+  * FMUv3.x ([Pixhawk 2](http://dev.px4.io/hardware-pixhawk.html))
+  * FMUv4.x (Pixhawk 3 Pro and [Pixracer](http://dev.px4.io/hardware-pixracer.html))
   * FMUv5.x (ARM Cortex M7, future Pixhawk)
+  * 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)
-
+  * MindPX V2.8 [Tutorial] (http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
+  * MindRacer V1.2 [Tutorial] (http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
+  
 ## Project Milestones
 
-The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by [Lorenz Meier](https://github.com/LorenzMeier).
+The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by Lorenz Meier.

ROMFS/px4fmu_common/init.d/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>
 #
 

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>
 #
 
@@ -39,6 +29,6 @@ then
 	param set BAT_A_PER_V 15.39103
 fi
 
-set MIXER quad_dc
+set MIXER quad_w
 
 set PWM_OUT 1234

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>
 #
 

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

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>
 #
 

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

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>
 #

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

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>
 #
 

ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad

@@ -3,10 +3,10 @@
 # @name Fun Cub Quad VTOL
 # @type Standard VTOL
 # @maintainer Simon Wilks <simon@uaventure.com>
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
+# @output MAIN1 Front right motor: CCW
+# @output MAIN2 Back left motor: CCW
+# @output MAIN3 Front left motor: CW
+# @output MAIN4 Back right motor: CW
 # @output AUX1 Aileron 1
 # @output AUX2 Aileron 2
 # @output AUX3 Elevator

ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta

@@ -3,10 +3,10 @@
 # @name Generic quad delta VTOL
 # @type Standard VTOL
 # @maintainer Simon Wilks <simon@uaventure.com>
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
+# @output MAIN1 Front right motor: CCW
+# @output MAIN2 Back left motor: CCW
+# @output MAIN3 Front left motor: CW
+# @output MAIN4 Back right motor: CW
 # @output AUX1 Right elevon
 # @output AUX2 Left elevon
 # @output AUX3 Motor
@@ -36,7 +36,7 @@ then
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
-	param set MC_YAWRATE_MAX 50
+	param set MC_YAWRATE_MAX 20
 	param set MC_YAWRAUTO_MAX 20
 
 	param set MPC_XY_P 0.8

ROMFS/px4fmu_common/init.d/13008_QuadRanger

@@ -38,7 +38,7 @@ then
 	param set MC_YAWRAUTO_MAX 40.0
 
 	param set MPC_ACC_HOR_MAX 2.0
-	param set MPC_Z_VEL_MAX_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
 

ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger

@@ -67,6 +67,7 @@ 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

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

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

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>
 #
 

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>
 #
 

ROMFS/px4fmu_common/init.d/15001_coax_heli

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

ROMFS/px4fmu_common/init.d/16001_helicopter

@@ -5,11 +5,6 @@
 # @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
@@ -17,9 +12,9 @@ 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 MIXER heli_120deg
 
-#set PWM_OUT 1234
+set PWM_OUT 1234
 
 if [ $AUTOCNF == yes ]
 then
@@ -53,5 +48,3 @@ then
 
 	param set CBRK_IO_SAFETY 22027
 fi
-
-set HIL no

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

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>
 #
 

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

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

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

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

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

ROMFS/px4fmu_common/init.d/4001_quad_x

@@ -4,17 +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>
 #

ROMFS/px4fmu_common/init.d/4002_qavr5

@@ -4,8 +4,9 @@
 #
 # @type Quadrotor x
 #
-# @board px4fmu-v1 exclude
-# @board px4fmu-v2 exclude
+# @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>
 #
@@ -27,8 +28,8 @@ then
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAW_FF 0.5
-	param set MC_TPA_BREAK_P 0.7
-	param set MC_TPA_RATE_P 0.3
+	param set MC_TPA_BREAK 0.7
+	param set MC_TPA_SLOPE 1.0
 	param set PWM_MIN 1075
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06

ROMFS/px4fmu_common/init.d/4002_quad_x_mount

@@ -5,18 +5,6 @@
 # @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>
 #
 
@@ -29,3 +17,5 @@ set MIXER_AUX mount
 set PWM_AUX_OUT 123456
 set PWM_AUX_RATE 50
 
+# Start mount driver
+vmount start

ROMFS/px4fmu_common/init.d/4008_ardrone

@@ -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>
 #
 

ROMFS/px4fmu_common/init.d/4009_qav250

@@ -4,6 +4,16 @@
 #
 # @type Quadrotor x
 #
+# @output MAIN1 motor1 (front right: CCW)
+# @output MAIN2 motor2 (back left: CCW)
+# @output MAIN3 motor3 (front left: CW)
+# @output MAIN4 motor4 (back right: CW)
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
 # @maintainer Mark Whitehorn <kd0aij@gmail.com>
 #
 
@@ -29,6 +39,6 @@ then
 	param set MPC_MANTHR_MIN 0.06
 	param set CBRK_IO_SAFETY 22027
 	param set ATT_BIAS_MAX 0.0
-	param set MC_TPA_BREAK_P 0.5
-	param set MC_TPA_RATE_P 0.5
+	param set MC_TPA_BREAK 0.5
+ 	param set MC_TPA_SLOPE 1.0
 fi

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>
 #
 

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>
 #
 

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

ROMFS/px4fmu_common/init.d/4013_bebop

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

ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb

@@ -4,13 +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

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

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

ROMFS/px4fmu_common/init.d/4050_generic_250

@@ -4,6 +4,16 @@
 #
 # @type Quadrotor x
 #
+# @output MAIN1 motor1 (front right: CCW)
+# @output MAIN2 motor2 (back left: CCW)
+# @output MAIN3 motor3 (front left: CW)
+# @output MAIN4 motor4 (back right: CW)
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
 # @maintainer Mark Whitehorn <kd0aij@gmail.com>
 #
 
@@ -29,8 +39,9 @@ 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 MC_TPA_BREAK 0.5
+	param set MC_TPA_SLOPE 1.0
+	
 
 	param set PWM_MIN 1075
 

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

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>
 #
 

ROMFS/px4fmu_common/init.d/4070_aerofc

@@ -2,13 +2,6 @@
 #
 # @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
@@ -19,21 +12,14 @@ sh /etc/init.d/rc.mc_defaults
 if [ $AUTOCNF == yes ]
 then
 	# Set all params here, then disable autoconfig
-
-	param set COM_DISARM_LAND 3
-
-	param set LNDMC_MAN_DWNTHR 0.2500
-	param set LNDMC_POS_UPTHR 0.5500
-	param set LNDMC_Z_VEL_MAX 2.0000
-
 	param set MC_ROLL_P 8.0000
 	param set MC_ROLLRATE_P 0.1300
-	param set MC_ROLLRATE_I 0.07
+	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.0012
 	param set MC_ROLLRATE_MAX 360
 	param set MC_PITCH_P 8.0000
 	param set MC_PITCHRATE_P 0.1300
-	param set MC_PITCHRATE_I 0.07
+	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.0012
 	param set MC_PITCHRATE_MAX 360
 	param set MC_YAW_P 4.0
@@ -41,28 +27,7 @@ then
 	param set MC_YAWRATE_I 0.050000000745058060
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAW_FF 0.5
-
-	param set MPC_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 MPC_XY_CRUISE 8
 
 	param set SYS_LOGGER 1
 fi
@@ -74,5 +39,5 @@ set OUTPUT_MODE tap_esc
 set MIXER quad_x
 set USE_IO no
 
-param set SYS_COMPANION 460800
+param set SYS_COMPANION 1500000
 set MAVLINK_COMPANION_DEVICE /dev/ttyS1

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

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

ROMFS/px4fmu_common/init.d/4900_crazyflie

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

ROMFS/px4fmu_common/init.d/50001_axialracing_ax10

@@ -4,15 +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
 

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

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>
 #
 

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

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

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

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

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.

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -3,14 +3,6 @@
 # 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
 #
@@ -26,3 +18,7 @@ fw_pos_control_l1 start
 # Start Land Detector
 #
 land_detector start fixedwing
+
+#
+# Misc apps
+#

ROMFS/px4fmu_common/init.d/rc.fw_defaults

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

ROMFS/px4fmu_common/init.d/rc.gnd_apps

@@ -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

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

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
 
@@ -54,22 +48,22 @@ then
 		set OUTPUT_DEV /dev/tap_esc
 	fi
 
-	if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
+	if mixer load $OUTPUT_DEV $MIXER_FILE
 	then
-		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
+		echo "INFO  [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
 	else
-		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}"
-		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}" >> $LOG_FILE
-		tone_alarm ${TUNE_ERR}
+		echo "ERROR [init] Error loading mixer: $MIXER_FILE"
+		echo "ERROR:[init] Could not load mixer: $MIXER_FILE" >> $LOG_FILE
+		tone_alarm $TUNE_ERR
 	fi
 
 	unset MIXER_FILE
 else
 	if [ $MIXER != skip ]
 	then
-		echo "ERROR  [init] Mixer undefined"
-		echo "ERROR  [init] Mixer undefined" >> $LOG_FILE
-		tone_alarm ${TUNE_ERR}
+		echo "ERROR [init] Mixer not defined"
+		echo "ERROR [init] Mixer not defined" >> $LOG_FILE
+		tone_alarm $TUNE_ERR
 	fi
 fi
 
@@ -82,7 +76,7 @@ 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 +84,21 @@ 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
 
@@ -117,7 +111,7 @@ fi
 #MindPX has not aux mixer
 if ver hwcmp MINDPX_V2
 then
-	set MIXER_AUX none
+        set MIXER_AUX none
 fi
 
 if ver hwcmp CRAZYFLIE
@@ -130,11 +124,6 @@ then
 	set MIXER_AUX none
 fi
 
-if ver hwcmp PX4FMU_V5
-then
-	set MIXER_AUX none
-fi
-
 if [ $MIXER_AUX != none -a $AUX_MODE != none ]
 then
 	#
@@ -144,40 +133,40 @@ then
 	set MIXER_AUX_FILE none
 	set OUTPUT_AUX_DEV /dev/pwm_output1
 
-	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
+	if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.aux.mix ]
 	then
-		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
+		set MIXER_AUX_FILE $SDCARD_MIXERS_PATH/$MIXER_AUX.aux.mix
 	else
 
-		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
+		if [ -f /etc/mixers/$MIXER_AUX.aux.mix ]
 		then
-			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
+			set MIXER_AUX_FILE /etc/mixers/$MIXER_AUX.aux.mix
 		fi
 	fi
 
 	if [ $MIXER_AUX_FILE != none ]
 	then
-		if fmu mode_${AUX_MODE}
+		if fmu mode_$AUX_MODE
 		then
 			# Append aux mixer to main device
 			if [ $OUTPUT_MODE == hil ]
 			then
-				if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
+				if mixer append $OUTPUT_DEV $MIXER_AUX_FILE
 				then
-					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
+					echo "INFO  [init] Mixer: $MIXER_AUX_FILE appended to $OUTPUT_DEV"
 				else
-					echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
-					echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}" >> $LOG_FILE
+					echo "ERROR [init] Error appending mixer: $MIXER_AUX_FILE"
+					echo "ERROR [init] Could not append mixer: $MIXER_AUX_FILE" >> $LOG_FILE
 				fi
 			fi
 			if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
 			then
-				if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
+				if mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
 				then
-					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
+					echo "INFO  [init] Mixer: $MIXER_AUX_FILE on $OUTPUT_AUX_DEV"
 				else
-					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
-					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}" >> $LOG_FILE
+					echo "ERROR [init] Error loading mixer: $MIXER_AUX_FILE"
+					echo "ERROR [init] Could not load mixer: $MIXER_AUX_FILE" >> $LOG_FILE
 				fi
 			else
 				set PWM_AUX_OUT none
@@ -185,7 +174,7 @@ 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 +187,16 @@ 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 +214,12 @@ 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

ROMFS/px4fmu_common/init.d/rc.io

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

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -11,8 +11,8 @@
 # INAV (deprecated)
 if param compare SYS_MC_EST_GROUP 0
 then
-	echo "ERROR [init] Estimator INAV deprecated. Using EKF2"
-	param set SYS_MC_EST_GROUP 2
+	echo "ERROR [init] Estimator INAV deprecated. Using LPE"
+	param set SYS_MC_EST_GROUP 1
 	param save
 fi
 
@@ -20,14 +20,12 @@ fi
 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.
+	# Unfortunately we do not build it on px4fmu-v2 duo to a limited flash.
 	if attitude_estimator_q start
 	then
 		local_position_estimator start
 	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
-		param set SYS_MC_EST_GROUP 2
-		param save
+		ekf2 start
 	fi
 fi
 

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -7,6 +7,7 @@ then
 	param set NAV_ACC_RAD 2.0
 	param set RTL_RETURN_ALT 30.0
 	param set RTL_DESCEND_ALT 10.0
+	param set PWM_DISARMED 900
 	param set PWM_MIN 1075
 	param set PWM_MAX 1950
 	param set PWM_RATE 400
@@ -14,7 +15,21 @@ then
 	param set RTL_LAND_DELAY 0
 fi
 
+# tell the mixer to use parameters for these instead
+set PWM_RATE p:PWM_RATE
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
+
 # This is the gimbal pass mixer
 set MIXER_AUX pass
 set PWM_AUX_RATE 50
 set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1500
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+
+if param compare PWM_DISARMED 0
+then
+	param set PWM_DISARMED 900
+fi

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -52,13 +52,8 @@ else
 	fi
 fi
 
-if ver hwcmp AEROFC_V1
+if adc start
 then
-	# Aero FC uses separate driver
-else
-	if adc start
-	then
-	fi
 fi
 
 if ver hwcmp AUAV_X21
@@ -73,11 +68,6 @@ then
 	then
 	fi
 
-	# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
-	if mpu6000 -R 2 -T 20602 start
-	then
-	fi
-
 	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
 	if mpu6000 -R 2 -T 20608 start
 	then
@@ -198,11 +188,6 @@ 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.
@@ -216,30 +201,6 @@ then
 	if bmi160 start
 	then
 	fi
-
-	# Start either ICM2060X or BMI055. They are both connected to the same SPI bus and use the same
-	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
-	# will prevent the incorrect driver from a successful initialization.
-
-	# Internal SPI bus BMI055_ACC
-	if bmi055 -A start
-	then
-	fi
-
-	# Internal SPI bus BMI055_GYR
-	if bmi055 -G start
-	then
-	fi
-
-	# expansion i2c used for BMM150 rotated by 90deg
-	if bmm150 -R 2 start
-	then
-	fi
-
-	# expansion i2c used for BMP280
-	if bmp280 -I start
-	then
-	fi
 fi
 
 if ver hwcmp PX4FMU_V1
@@ -283,11 +244,11 @@ then
 	fi
 
 	# Internal I2C bus
-	if hmc5883 -C -T -I -R 12 start
+	if hmc5883 -C -T -I -R 8 start
 	then
 	fi
 
-	if mpu9250 -s -R 8 start
+	if mpu6500 -R 8 start
 	then
 	fi
 
@@ -307,7 +268,7 @@ then
 	then
 	fi
 
-	# I2C bypass of mpu
+	# I2C bypass of mpu 
 	if lps25h start
 	then
 	fi
@@ -315,11 +276,16 @@ fi
 
 if ver hwcmp AEROFC_V1
 then
-	if ms5611 -T 0 start
+	if ms5611 start
 	then
 	fi
 
-	if mpu9250 -s -R 14 start
+	if mpu6500 -R 14 start
+	then
+	fi
+
+	# Internal compass
+	if hmc5883 -I -R 4 start
 	then
 	fi
 
@@ -328,88 +294,9 @@ then
 	then
 	fi
 
-	if ist8310 -C -b 1 -R 4 start
+	if ist8310 -C -b 1 -R 8 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 +311,10 @@ else
 	fi
 fi
 
+if sf1xx start
+then
+fi
+
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
 if sensors start

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -12,8 +12,8 @@
 # INAV (deprecated)
 if param compare SYS_MC_EST_GROUP 0
 then
-	echo "ERROR [init] Estimator INAV deprecated. Using EKF2"
-	param set SYS_MC_EST_GROUP 2
+	echo "ERROR [init] Estimator INAV deprecated. Using LPE"
+	param set SYS_MC_EST_GROUP 1
 	param save
 fi
 
@@ -21,14 +21,12 @@ fi
 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.
+	# Unfortunately we do not build it on px4fmu-v2 duo to a limited flash.
 	if attitude_estimator_q start
 	then
 		local_position_estimator start
 	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
-		param set SYS_MC_EST_GROUP 2
-		param save
+		ekf2 start
 	fi
 fi
 

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

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

ROMFS/px4fmu_common/init.d/rcS

@@ -1,49 +1,14 @@
 #!nsh
-# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
-#set +e
-# Un comment the line below to help debug scripts by printing a trace of the script commands
-#set -x
+#
 # PX4FMU startup script.
 #
-# NOTE: environment variable references:
-#    If the dollar sign ('$') is followed by a left bracket ('{') then the
-#    variable name is terminated with the right bracket character ('}').
-#    Otherwise, the variable name goes to the end of the argument.
+#  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
-#
-# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
-#
-# UART mapping on FMUv1/2/3/4:
-#
-# UART1			/dev/ttyS0		IO debug
-# USART2		/dev/ttyS1		TELEM1 (flow control)
-# USART3		/dev/ttyS2		TELEM2 (flow control)
-# UART4
-# UART7							CONSOLE
-# UART8							SERIAL4
-#
-#
-# UART mapping on FMUv5:
-#
-# UART1			/dev/ttyS0		GPS
-# USART2		/dev/ttyS1		TELEM1 (flow control)
-# USART3		/dev/ttyS2		TELEM2 (flow control)
-# UART4			/dev/ttyS3		?
-# USART6		/dev/ttyS4		TELEM3 (flow control)
-# UART7			/dev/ttyS5		?
-# UART8			/dev/ttyS6		CONSOLE
-
-#
-# Mount the procfs.
-#
-mount -t procfs /proc
 
 #
 # Start CDC/ACM serial driver
 #
-if sercon
-then
-fi
+sercon
 
 #
 # Default to auto-start mode.
@@ -59,19 +24,8 @@ set LOG_FILE /fs/microsd/bootlog.txt
 # REBOOTWORK this needs to start after the flight control loop
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
-	echo "[i] microSD mounted: /fs/microsd"
-	if hardfault_log check
-	then
-		tone_alarm error
-		if hardfault_log commit
-		then
-			hardfault_log reset
-			tone_alarm stop
-		fi
-  else
-    # Start playing the startup tune
-    tone_alarm start
- fi
+	# Start playing the startup tune
+	tone_alarm start
 else
 	tone_alarm MBAGP
 	if mkfatfs /dev/mmcsd0
@@ -96,7 +50,7 @@ fi
 set FRC /fs/microsd/etc/rc.txt
 if [ -f $FRC ]
 then
-	echo "INFO  [init] Executing script: ${FRC}"
+	echo "INFO  [init] Executing script: $FRC"
 	sh $FRC
 	set MODE custom
 fi
@@ -150,8 +104,8 @@ then
 	#
 	if param compare SYS_AUTOCONFIG 1
 	then
-		# Wipe out params except RC* and total flight time
-		param reset_nostart RC* LND_FLIGHT_T_*
+		# Wipe out params except RC*
+		param reset_nostart RC*
 		set AUTOCNF yes
 	else
 		set AUTOCNF no
@@ -176,16 +130,16 @@ then
 	set MIXER_AUX none
 	set OUTPUT_MODE none
 	set PWM_OUT none
-	set PWM_RATE p:PWM_RATE
-	set PWM_DISARMED p:PWM_DISARMED
-	set PWM_MIN p:PWM_MIN
-	set PWM_MAX p:PWM_MAX
+	set PWM_RATE none
+	set PWM_DISARMED none
+	set PWM_MIN none
+	set PWM_MAX none
 	set PWM_AUX_OUT none
 	set PWM_AUX_RATE none
 	set PWM_ACHDIS none
-	set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
-	set PWM_AUX_MIN p:PWM_AUX_MIN
-	set PWM_AUX_MAX p:PWM_AUX_MAX
+	set PWM_AUX_DISARMED none
+	set PWM_AUX_MIN none
+	set PWM_AUX_MAX none
 	set FAILSAFE_AUX none
 	set MK_MODE none
 	set FMU_MODE pwm
@@ -196,7 +150,6 @@ then
 	set MAV_TYPE none
 	set FAILSAFE none
 	set USE_IO yes
-	set LOGGER_BUF 16
 
 	#
 	# Set USE_IO flag
@@ -208,12 +161,6 @@ then
 			set USE_IO no
 		fi
 
-		if ver hwcmp PX4FMU_V5
-		then
-			set USE_IO no
-			set MAVLINK_COMPANION_DEVICE /dev/ttyS3
-		fi
-
 		if ver hwcmp MINDPX_V2
 		then
 			set USE_IO no
@@ -234,11 +181,6 @@ then
 		then
 			set USE_IO no
 		fi
-
-		if ver hwcmp AEROCORE2
-		then
-			set USE_IO no
-		fi
 	else
 		set USE_IO no
 	fi
@@ -260,25 +202,11 @@ then
 	#
 	if param compare SYS_AUTOSTART 0
 	then
-		ekf2 start
 	else
 		sh /etc/init.d/rc.autostart
 	fi
 	unset MODE
 
-	#
-	# If mount (gimbal) control is enabled and output mode is AUX, set the aux
-	# mixer to mount (override the airframe-specific MIXER_AUX setting)
-	#
-	if param compare MNT_MODE_IN -1
-	then
-	else
-		if param compare MNT_MODE_OUT 0
-		then
-			set MIXER_AUX mount
-		fi
-	fi
-
 	#
 	# Wipe incompatible settings for boards not having two outputs
 	if ver hwcmp PX4FMU_V4
@@ -286,11 +214,6 @@ then
 		set MIXER_AUX none
 	fi
 
-	if ver hwcmp PX4FMU_V5
-	then
-		set MIXER_AUX none
-	fi
-
 	if ver hwcmp AEROFC_V1
 	then
 		set MIXER_AUX none
@@ -302,7 +225,7 @@ then
 	set FCONFIG /fs/microsd/etc/config.txt
 	if [ -f $FCONFIG ]
 	then
-		echo "Custom: ${FCONFIG}"
+		echo "Custom: $FCONFIG"
 		sh $FCONFIG
 	fi
 	unset FCONFIG
@@ -312,11 +235,6 @@ then
 	#
 	if [ $AUTOCNF == yes ]
 	then
-		# Disable safety switch by default on Pixracer
-		if ver hwcmp PX4FMU_V4
-		then
-			param set CBRK_IO_SAFETY 22027
-		fi
 		param set SYS_AUTOCONFIG 0
 	fi
 	unset AUTOCNF
@@ -357,8 +275,8 @@ then
 
 			if px4io forceupdate 14662 ${IO_FILE}
 			then
-				usleep 10000
-				if px4io checkcrc ${IO_FILE}
+				usleep 500000
+				if px4io checkcrc $IO_FILE
 				then
 					echo "PX4IO CRC OK after updating" >> $LOG_FILE
 					tone_alarm MLL8CDE
@@ -366,11 +284,11 @@ then
 					set IO_PRESENT yes
 				else
 					echo "PX4IO update failed" >> $LOG_FILE
-					tone_alarm ${TUNE_ERR}
+					tone_alarm $TUNE_ERR
 				fi
 			else
 				echo "PX4IO update failed" >> $LOG_FILE
-				tone_alarm ${TUNE_ERR}
+				tone_alarm $TUNE_ERR
 			fi
 		fi
 		unset IO_FILE
@@ -378,7 +296,7 @@ then
 		if [ $IO_PRESENT == no ]
 		then
 			echo "PX4IO not found" >> $LOG_FILE
-			tone_alarm ${TUNE_ERR}
+			tone_alarm $TUNE_ERR
 		fi
 	fi
 
@@ -424,36 +342,22 @@ then
 		then
 			set FMU_MODE serial
 		fi
+		unset HIL
 	else
+		unset HIL
 		gps start
 	fi
 
-	set DATAMAN_OPT ""
-	if ver hwcmp AEROFC_V1
-	then
-		set DATAMAN_OPT -i
-	fi
-	if ver hwcmp AEROCORE2
-	then
-		set DATAMAN_OPT "-f /fs/mtd_dataman"
-	fi
 	# waypoint storage
 	# REBOOTWORK this needs to start in parallel
-	if dataman start $DATAMAN_OPT
+	if dataman start
 	then
 	fi
-	unset DATAMAN_OPT
 
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run)
 	#
-	if [ $HIL == yes ]
-	then
-		sensors start -hil
-	else
-		sh /etc/init.d/rc.sensors
-	fi
-	unset HIL
+	sh /etc/init.d/rc.sensors
 
 	# Needs to be this early for in-air-restarts
 	if [ $OUTPUT_MODE == hil ]
@@ -463,10 +367,6 @@ then
 	    commander start
 	fi
 
-	if send_event start_listening
-	then
-	fi
-
 	#
 	# Start CPU load monitor
 	#
@@ -486,28 +386,17 @@ then
 	fi
 
 	# Sensors on the PWM interface bank
+	# clear pins 5 and 6
 	if param compare SENS_EN_LL40LS 1
 	then
-		# clear pins 5 and 6
 		set FMU_MODE pwm4
 		set AUX_MODE pwm4
 	fi
 	if param greater TRIG_MODE 0
 	then
-		# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output
-		if param compare TRIG_PINS 56
-		then
-			# clear pins 5 and 6
-			set FMU_MODE pwm4
-			set AUX_MODE pwm4
-		else
-			set FMU_MODE none
-			set AUX_MODE none
-		fi
+		set FMU_MODE pwm4
+		set AUX_MODE pwm4
 		camera_trigger start
-
-		param set CAM_FBACK_MODE 1
-		camera_feedback start
 	fi
 
 	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
@@ -604,10 +493,10 @@ then
 		else
 			if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
 			then
-				if fmu mode_${FMU_MODE}
+				if fmu mode_$FMU_MODE
 				then
 				else
-					echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
+					echo "FMU mode_$FMU_MODE start failed" >> $LOG_FILE
 					tone_alarm $TUNE_ERR
 				fi
 
@@ -662,7 +551,7 @@ then
 	if [ "x$MAVLINK_F" == xnone ]
 	then
 	else
-		mavlink start ${MAVLINK_F}
+		mavlink start $MAVLINK_F
 	fi
 	unset MAVLINK_F
 
@@ -676,7 +565,7 @@ then
 		# but this works for now
 		if param compare SYS_COMPANION 10
 		then
-			frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
+			frsky_telemetry start -d $MAVLINK_COMPANION_DEVICE
 		fi
 		if param compare SYS_COMPANION 20
 		then
@@ -685,52 +574,39 @@ then
 		fi
 		if param compare SYS_COMPANION 921600
 		then
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -m onboard -r 80000 -x
 		fi
 		if param compare SYS_COMPANION 57600
 		then
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x
-		fi
-		if param compare SYS_COMPANION 460800
-		then
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 460800 -m onboard -r 5000 -x
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m onboard -r 5000 -x
 		fi
 		if param compare SYS_COMPANION 157600
 		then
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m osd -r 1000
 		fi
 		if param compare SYS_COMPANION 257600
 		then
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m magic -r 5000 -x
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m magic -r 5000 -x
 		fi
 		if param compare SYS_COMPANION 319200
 		then
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 19200 -r 1000
 		fi
 		if param compare SYS_COMPANION 338400
 		then
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 38400 -r 1000
 		fi
 		if param compare SYS_COMPANION 357600
 		then
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000
-		fi
-		if param compare SYS_COMPANION 3115200
-		then
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -r 1000
-		fi
-		if param compare SYS_COMPANION 419200
-		then
-			iridiumsbd start -d /dev/ttyS2
-			mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -r 1000
 		fi
 		if param compare SYS_COMPANION 1921600
 		then
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -r 20000
 		fi
 		if param compare SYS_COMPANION 1500000
 		then
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 1500000 -m onboard -r 100000 -x
 		fi
 	fi
 
@@ -741,12 +617,10 @@ then
 	#
 	if param greater UAVCAN_ENABLE 0
 	then
-		if uavcan start
+		if uavcan start fw
 		then
-			set LOGGER_BUF 7
-			uavcan start fw
 		else
-			tone_alarm ${TUNE_ERR}
+			tone_alarm $TUNE_ERR
 		fi
 	fi
 
@@ -765,46 +639,30 @@ then
 		fi
 	fi
 
-	# Lidar-Lite on I2C
-	if param compare SENS_EN_LL40LS 2
-	then
-		if ll40ls start i2c
-		then
-		fi
-	fi
-
 	# lightware serial lidar sensor
 	if param compare SENS_EN_SF0X 0
 	then
 	else
-		if sf0x start
-		then
-		fi
+		sf0x start
 	fi
 
 	# lightware i2c lidar sensor
 	if param compare SENS_EN_SF1XX 0
 	then
 	else
-		if sf1xx start
-		then
-		fi
+		sf1xx start
 	fi
 
 	# mb12xx sonar sensor
 	if param compare SENS_EN_MB12XX 1
 	then
-		if mb12xx start
-		then
-		fi
+		mb12xx start
 	fi
 
 	# teraranger one tof sensor
 	if param compare SENS_EN_TRONE 1
 	then
-		if trone start
-		then
-		fi
+		trone start
 	fi
 
 	if ver hwcmp PX4FMU_V4
@@ -834,12 +692,8 @@ then
 		px4flow start &
 	fi
 
-	if ver hwcmp AEROFC_V1
-	then
-	else
-		# Start MAVLink
-		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
-	fi
+	# Start MAVLink
+	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
 
 	#
 	# Logging
@@ -865,14 +719,6 @@ then
 			fi
 		else
 			set LOGGER_ARGS ""
-			#
-			# Adjust FMUv5 logging settings
-			#
-			if ver hwcmp PX4FMU_V5
-			then
-				set LOGGER_BUF 64
-				param set SDLOG_MODE 3
-			fi
 			if param compare SDLOG_MODE 1
 			then
 				set LOGGER_ARGS "-e"
@@ -881,18 +727,10 @@ then
 			then
 				set LOGGER_ARGS "-f"
 			fi
-			if param compare SDLOG_MODE 3
-			then
-				set LOGGER_ARGS "-f"
-			fi
-			if ver hwcmp AEROFC_V1
-			then
-				set LOGGER_ARGS "-m mavlink"
-			fi
-			if logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
+
+			if logger start -b 12 -t $LOGGER_ARGS
 			then
 			fi
-			unset LOGGER_BUF
 			unset LOGGER_ARGS
 		fi
 	fi
@@ -922,7 +760,7 @@ then
 			set MAV_TYPE 1
 		fi
 
-		param set MAV_TYPE ${MAV_TYPE}
+		param set MAV_TYPE $MAV_TYPE
 
 		# Load mixer and configure outputs
 		sh /etc/init.d/rc.interface
@@ -948,7 +786,7 @@ then
 			then
 				set MAV_TYPE 2
 			fi
-			if [ $MIXER == quad_w -o $MIXER == quad_dc ]
+			if [ $MIXER == quad_w -o $MIXER == sk450_deadcat ]
 			then
 				set MAV_TYPE 2
 			fi
@@ -988,7 +826,7 @@ then
 			echo "Unknown MAV_TYPE"
 			param set MAV_TYPE 2
 		else
-			param set MAV_TYPE ${MAV_TYPE}
+			param set MAV_TYPE $MAV_TYPE
 		fi
 
 		# Load mixer and configure outputs
@@ -1031,7 +869,7 @@ then
 			echo "Unknown MAV_TYPE"
 			param set MAV_TYPE 19
 		else
-			param set MAV_TYPE ${MAV_TYPE}
+			param set MAV_TYPE $MAV_TYPE
 		fi
 
 		# Load mixer and configure outputs
@@ -1042,29 +880,20 @@ then
 	fi
 
 	#
-	# UGV setup
+	# Rover setup
 	#
-	if [ $VEHICLE_TYPE == ugv ]
+	if [ $VEHICLE_TYPE == rover ]
 	then
-		if [ $MIXER == none ]
-		then
-			# Set default mixer for UGV if not defined
-			set MIXER stampede
-		fi
-
-		if [ $MAV_TYPE == none ]
-		then
-			# Use MAV_TYPE = 10 (UGV) if not defined
-			set MAV_TYPE 10
-		fi
-
-		param set MAV_TYPE ${MAV_TYPE}
+		# 10 is MAV_TYPE_GROUND_ROVER
+		set MAV_TYPE 10
 
 		# Load mixer and configure outputs
 		sh /etc/init.d/rc.interface
 
-		# Start standard UGV apps
-		sh /etc/init.d/rc.gnd_apps
+		# Start standard rover apps
+		sh /etc/init.d/rc.axialracing_ax10_apps
+
+		param set MAV_TYPE 10
 	fi
 
 	#
@@ -1128,7 +957,7 @@ then
 	set FEXTRAS /fs/microsd/etc/extras.txt
 	if [ -f $FEXTRAS ]
 	then
-		echo "Addons script: ${FEXTRAS}"
+		echo "Addons script: $FEXTRAS"
 		sh $FEXTRAS
 	fi
 	unset FEXTRAS
@@ -1138,57 +967,15 @@ then
 		# CF2 shouldn't have an sd card
 	else
 
-		if ver hwcmp AEROCORE2
+		# Run no SD alarm
+		if [ $LOG_FILE == /dev/null ]
 		then
-			# AEROCORE2 shouldn't have an sd card
-		else
-
-			# Run no SD alarm
-			if [ $LOG_FILE == /dev/null ]
-			then
-				# Play SOS
-				tone_alarm error
-			fi
-
+			# Play SOS
+			tone_alarm error
 		fi
 
 	fi
 
-	#
-	# Check if we should start a thermal calibration
-	# TODO move further up and don't start unnecessary services if we are calibrating
-	#
-	set TEMP_CALIB_ARGS ""
-	if param compare SYS_CAL_GYRO 1
-	then
-		set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -g"
-		param set SYS_CAL_GYRO 0
-	fi
-	if param compare SYS_CAL_ACCEL 1
-	then
-		set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -a"
-		param set SYS_CAL_ACCEL 0
-	fi
-	if param compare SYS_CAL_BARO 1
-	then
-		set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -b"
-		param set SYS_CAL_BARO 0
-	fi
-	if [ "x$TEMP_CALIB_ARGS" != "x" ]
-	then
-		send_event temperature_calibration ${TEMP_CALIB_ARGS}
-	fi
-	unset TEMP_CALIB_ARGS
-
-	# vmount to control mounts such as gimbals, disabled by default.
-	if param compare MNT_MODE_IN -1
-	then
-	else
-		if vmount start
-		then
-		fi
-	fi
-
 # End of autostart
 fi
 

ROMFS/px4fmu_common/mixers/bebop.main.mix

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

ROMFS/px4fmu_common/mixers/blade130.main.mix

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

ROMFS/px4fmu_common/mixers/caipi.main.mix

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

ROMFS/px4fmu_common/mixers/coax.main.mix

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

ROMFS/px4fmu_common/mixers/heli_120deg.main.mix

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

ROMFS/px4fmu_common/mixers/mount.aux.mix

@@ -4,20 +4,24 @@
 # pitch
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 2 1  10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
 
 # roll
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 2 0  10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
 
 # yaw
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 2 2  10000  10000      0 -10000  10000
 
-# Shutter/retract
+# mode
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 2 3  10000  10000      0 -10000  10000
 
+# retracts
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 4  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/ocpoc_quad_x.main.mix

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

ROMFS/px4fmu_common/mixers/quad_dc.main.mix

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

ROMFS/px4fmu_common/mixers/quad_s250aq.main.mix

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

ROMFS/px4fmu_common/mixers/quad_x_can.main.mix

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

ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix

@@ -0,0 +1,38 @@
+Gimbal / payload mixer for PX4FMU
+===========================
+
+Configuration with 2 gimbals:
+ - 2 axes inline GoPro gimbal (pitch, roll)
+ - 2 axes FPV gimbal (pitch, yaw), physically attached GoPro gimbal's roll stabilization
+-----------------------------------------------------
+
+# gimbal roll
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 0  -11500  -10000  900 -10000  10000
+
+# gimbal pitch
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 1  12000  12000   2000 -10000  10000
+
+# FPV gimbal yaw (not implemented, yet)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000
+
+# FPV gimbal pitch
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 1  -12000  -12000 -3000 -10000  10000
+
+# reserved, not used
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 4  10000  10000      0 -10000  10000
+
+# parachute
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 7  10000  10000      0 -10000  10000
+

ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix

@@ -0,0 +1,21 @@
+Multirotor mixer for PX4IO
+===========================
+
+This file defines a single mixer for a quadrotor in SK450 DeadCat configuration.  All controls are mixed 100%.
+
+R: 4dc 10000 10000 10000 0
+
+Gimbal / payload mixer for last three channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 3 7  10000  10000      0 -10000  10000