Float value correction

Add missing `.py` extension to Tools/px4 to fix #7525

.clang-tidy

@@ -1,212 +1,74 @@
----
-Checks:          'clang-diagnostic-*,clang-analyzer-*,-*,
-		cert-dcl03-c,
-		#cert-dcl50-cpp,
-		cert-dcl54-cpp,
-		cert-dcl59-cpp,
-		cert-env33-c,
-		cert-err09-cpp,
-		## TODO: fix code and enable # cert-err34-c,
-		cert-err52-cpp,
-		#cert-err58-cpp,
-		cert-err60-cpp,
-		cert-err61-cpp,
-		cert-fio38-c,
-		## TODO: fix code and enable # cert-flp30-c,
-		#cert-msc30-c,
-		#cert-msc50-cpp,
-		cert-oop11-cpp,
-		clang-analyzer-apiModeling.google.GTest,
-		clang-analyzer-core.builtin.BuiltinFunctions,
-		clang-analyzer-core.builtin.NoReturnFunctions,
-		## TODO: fix code and enable # clang-analyzer-core.CallAndMessage,
-		clang-analyzer-core.DivideZero,
-		clang-analyzer-core.DynamicTypePropagation,
-		clang-analyzer-core.NonNullParamChecker,
-		## TODO: fix code and enable # clang-analyzer-core.NullDereference,
-		clang-analyzer-core.StackAddressEscape,
-		#clang-analyzer-core.UndefinedBinaryOperatorResult,
-		clang-analyzer-core.uninitialized.ArraySubscript,
-		## TODO: fix code and enable # clang-analyzer-core.uninitialized.Assign,
-		clang-analyzer-core.uninitialized.Branch,
-		clang-analyzer-core.uninitialized.CapturedBlockVariable,
-		clang-analyzer-core.uninitialized.UndefReturn,
-		## TODO: fix code and enable # clang-analyzer-core.VLASize,
-		clang-analyzer-cplusplus.NewDelete,
-		## TODO: fix code and enable # clang-analyzer-cplusplus.NewDeleteLeaks,
-		clang-analyzer-cplusplus.SelfAssignment,
-		#clang-analyzer-deadcode.DeadStores,
-		clang-analyzer-llvm.Conventions,
-		clang-analyzer-nullability.NullableDereferenced,
-		clang-analyzer-nullability.NullablePassedToNonnull,
-		clang-analyzer-nullability.NullableReturnedFromNonnull,
-		clang-analyzer-nullability.NullPassedToNonnull,
-		clang-analyzer-nullability.NullReturnedFromNonnull,
-		## evaluate # clang-analyzer-optin.cplusplus.VirtualCall,
-		## TODO: fix code and enable #  clang-analyzer-optin.performance.Padding,
-		## TODO: fix code and enable # clang-analyzer-security.FloatLoopCounter,
-		clang-analyzer-security.insecureAPI.getpw,
-		clang-analyzer-security.insecureAPI.gets,
-		clang-analyzer-security.insecureAPI.mkstemp,
-		clang-analyzer-security.insecureAPI.mktemp,
-		clang-analyzer-security.insecureAPI.rand,
-		## evaluate # clang-analyzer-security.insecureAPI.strcpy,
-		clang-analyzer-security.insecureAPI.UncheckedReturn,
-		clang-analyzer-security.insecureAPI.vfork,
-		## TODO: fix code and enable # clang-analyzer-unix.API,
-		## TODO: fix code and enable # clang-analyzer-unix.Malloc,
-		## TODO: fix code and enable # clang-analyzer-unix.MallocSizeof,
-		clang-analyzer-unix.MismatchedDeallocator,
-		clang-analyzer-unix.StdCLibraryFunctions,
-		clang-analyzer-unix.Vfork,
-		## evaluate # clang-analyzer-unix.cstring.BadSizeArg,
-		## evaluate # clang-analyzer-unix.cstring.NullArg,
-		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,
-		## TODO: fix code and enable # cppcoreguidelines-pro-type-const-cast,
-		#cppcoreguidelines-pro-type-cstyle-cast,
-		## TODO: fix code and enable # cppcoreguidelines-pro-type-member-init,
-		#cppcoreguidelines-pro-type-reinterpret-cast,
-		cppcoreguidelines-pro-type-static-cast-downcast,
-		#cppcoreguidelines-pro-type-union-access,
-		#cppcoreguidelines-pro-type-vararg,
-		cppcoreguidelines-slicing,
-		## TODO: fix code and enable # cppcoreguidelines-special-member-functions,
-		google-build-explicit-make-pair,
-		google-build-namespaces,
-		# evaluate # google-build-using-namespace,
-		google-default-arguments,
-		## TODO: fix code and enable # google-explicit-constructor,
-		google-global-names-in-headers,
-		google-readability-braces-around-statements,
-		#google-readability-casting,
-		google-readability-function-size,
-		#google-readability-namespace-comments,
-		google-readability-redundant-smartptr-get,
-		#google-readability-todo,
-		#google-runtime-int,
-		google-runtime-member-string-references,
-		google-runtime-memset,
-		google-runtime-operator,
-		## evaluate # google-runtime-references,
-		llvm-header-guard,
-		## evaluate # llvm-include-order,
-		#llvm-namespace-comment,
-		misc-argument-comment,
-		misc-assert-side-effect,
-		misc-bool-pointer-implicit-conversion,
-		misc-dangling-handle,
-		misc-definitions-in-headers,
-		misc-fold-init-type,
-		misc-forward-declaration-namespace,
-		misc-inaccurate-erase,
-		#misc-incorrect-roundings,
-		misc-inefficient-algorithm,
-		#misc-macro-parentheses,
-		misc-macro-repeated-side-effects,
-		misc-misplaced-const,
-		#misc-misplaced-widening-cast,
-		misc-move-const-arg,
-		misc-move-constructor-init,
-		misc-move-forwarding-reference,
-		misc-multiple-statement-macro,
-		misc-new-delete-overloads,
-		misc-noexcept-move-constructor,
-		misc-non-copyable-objects,
-		misc-redundant-expression,
-		misc-sizeof-container,
-		misc-sizeof-expression,
-		misc-static-assert,
-		misc-string-compare,
-		misc-string-constructor,
-		misc-string-integer-assignment,
-		misc-string-literal-with-embedded-nul,
-		misc-suspicious-enum-usage,
-		misc-suspicious-missing-comma,
-		misc-suspicious-semicolon,
-		misc-suspicious-string-compare,
-		misc-swapped-arguments,
-		misc-throw-by-value-catch-by-reference,
-		misc-unconventional-assign-operator,
-		misc-undelegated-constructor,
-		misc-uniqueptr-reset-release,
-		misc-unused-alias-decls,
-		#misc-unused-parameters,
-		misc-unused-raii,
-		misc-unused-using-decls,
-		misc-use-after-move,
-		misc-virtual-near-miss,
-		modernize-avoid-bind,
-		## TODO: fix code and enable # modernize-deprecated-headers,
-		#modernize-loop-convert,
-		modernize-make-shared,
-		modernize-make-unique,
-		modernize-pass-by-value,
-		modernize-raw-string-literal,
-		modernize-redundant-void-arg,
-		modernize-replace-auto-ptr,
-		modernize-shrink-to-fit,
-		#modernize-use-auto,
-		#modernize-use-bool-literals,
-		## TODO: fix code and enable # modernize-use-default-member-init,
-		## TODO: fix code and enable # modernize-use-emplace,
-		## TODO: fix code and enable # modernize-use-equals-default,
-		## TODO: fix code and enable # modernize-use-equals-delete,
-		modernize-use-nullptr,
-		## evaluate # modernize-use-override,
-		modernize-use-transparent-functors,
-		## evaluate # modernize-use-using,
-		performance-faster-string-find,
-		performance-for-range-copy,
-		performance-implicit-cast-in-loop,
-		## TODO: fix code and enable # performance-inefficient-string-concatenation,
-		performance-type-promotion-in-math-fn,
-		performance-unnecessary-copy-initialization,
-		performance-unnecessary-value-param,
-		#readability-avoid-const-params-in-decls,
-		readability-braces-around-statements,
-		readability-container-size-empty,
-		readability-delete-null-pointer,
-		readability-deleted-default,
-		#readability-else-after-return,
-		readability-function-size,
-		readability-identifier-naming,
-		## evaluate # readability-implicit-bool-cast,
-		#readability-inconsistent-declaration-parameter-name,
-		readability-misplaced-array-index,
-		#readability-named-parameter,
-		#readability-non-const-parameter,
-		readability-redundant-control-flow,
-		#readability-redundant-declaration,
-		readability-redundant-function-ptr-dereference,
-		## TODO: fix code and enable # readability-redundant-member-init,
-		readability-redundant-smartptr-get,
-		readability-redundant-string-cstr,
-		readability-redundant-string-init,
-		## TODO: fix code and enable # readability-simplify-boolean-expr,
-		readability-static-definition-in-anonymous-namespace,
-		readability-uniqueptr-delete-release,
+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: '*'
-HeaderFilterRegex: '*.h, *.hpp, *.hh, *.hxx'
-AnalyzeTemporaryDtors: false
-CheckOptions:
-  - key:             cert-dcl59-cpp.HeaderFileExtensions
-    value:           h,hh,hpp,hxx
-  - key:             cert-err09-cpp.CheckThrowTemporaries
-    value:           '1'
-  - key:             cert-err61-cpp.CheckThrowTemporaries
-    value:           '1'
-  - key:             cert-oop11-cpp.IncludeStyle
-    value:           llvm
-  - key:             google-build-namespaces.HeaderFileExtensions
-    value:           h,hh,hpp,hxx
-  - key:             google-global-names-in-headers.HeaderFileExtensions
-    value:           h
+CheckOptions:    
   - key:             google-readability-braces-around-statements.ShortStatementLines
     value:           '1'
   - key:             google-readability-function-size.BranchThreshold
@@ -215,344 +77,9 @@ CheckOptions:
     value:           '4000'
   - key:             google-readability-function-size.StatementThreshold
     value:           '4000'
-  - key:             google-readability-namespace-comments.ShortNamespaceLines
-    value:           '10'
-  - key:             google-readability-namespace-comments.SpacesBeforeComments
-    value:           '2'
-  - key:             llvm-header-guard.HeaderFileExtensions
-    value:           ',h,hh,hpp,hxx'
-  - key:             misc-argument-comment.StrictMode
-    value:           '0'
-  - key:             misc-assert-side-effect.AssertMacros
-    value:           assert
-  - key:             misc-assert-side-effect.CheckFunctionCalls
-    value:           '0'
-  - key:             misc-dangling-handle.HandleClasses
-    value:           'std::basic_string_view;std::experimental::basic_string_view'
-  - key:             misc-definitions-in-headers.HeaderFileExtensions
-    value:           ',h,hh,hpp,hxx'
-  - key:             misc-definitions-in-headers.UseHeaderFileExtension
-    value:           '1'
-  - key:             misc-move-constructor-init.IncludeStyle
-    value:           llvm
-  - key:             misc-sizeof-expression.WarnOnSizeOfCompareToConstant
-    value:           '1'
-  - key:             misc-sizeof-expression.WarnOnSizeOfConstant
-    value:           '1'
-  - key:             misc-sizeof-expression.WarnOnSizeOfThis
-    value:           '1'
-  - key:             misc-string-constructor.LargeLengthThreshold
-    value:           '80'
-  - key:             misc-string-constructor.WarnOnLargeLength
-    value:           '1'
-  - key:             misc-suspicious-enum-usage.StrictMode
-    value:           '0'
-  - key:             misc-suspicious-missing-comma.MaxConcatenatedTokens
-    value:           '5'
-  - key:             misc-suspicious-missing-comma.RatioThreshold
-    value:           '0.200000'
-  - key:             misc-suspicious-missing-comma.SizeThreshold
-    value:           '5'
-  - key:             misc-suspicious-string-compare.StringCompareLikeFunctions
-    value:           ''
-  - key:             misc-suspicious-string-compare.WarnOnImplicitComparison
-    value:           '1'
-  - key:             misc-suspicious-string-compare.WarnOnLogicalNotComparison
-    value:           '0'
-  - key:             misc-throw-by-value-catch-by-reference.CheckThrowTemporaries
-    value:           '1'
-  - key:             modernize-loop-convert.MaxCopySize
-    value:           '16'
-  - key:             modernize-loop-convert.MinConfidence
-    value:           safe
-  - key:             modernize-loop-convert.NamingStyle
-    value:           CamelCase
-  - key:             modernize-pass-by-value.IncludeStyle
-    value:           llvm
-  - key:             modernize-pass-by-value.ValuesOnly
-    value:           '0'
-  - key:             modernize-replace-auto-ptr.IncludeStyle
-    value:           llvm
-  - key:             modernize-use-nullptr.NullMacros
-    value:           'NULL'
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-    value:           '0'
-  - key:             performance-faster-string-find.StringLikeClasses
-    value:           'std::basic_string'
-  - key:             performance-for-range-copy.WarnOnAllAutoCopies
-    value:           '0'
   - key:             readability-braces-around-statements.ShortStatementLines
     value:           '1'
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-    value:           '600'
   - key:             readability-function-size.LineThreshold
     value:           '4000'
   - key:             readability-function-size.StatementThreshold
     value:           '4000'
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-    value:           aNy_CasE
-  - key:             readability-identifier-naming.PrivateMethodPrefix
-    value:           ''
-  - key:             readability-identifier-naming.PrivateMethodSuffix
-    value:           ''
-  - key:             readability-identifier-naming.ProtectedMemberCase
-    value:           aNy_CasE
-  - key:             readability-identifier-naming.ProtectedMemberPrefix
-    value:           ''
-  - key:             readability-identifier-naming.ProtectedMemberSuffix
-    value:           ''
-  - key:             readability-identifier-naming.ProtectedMethodCase
-    value:           aNy_CasE
-  - key:             readability-identifier-naming.ProtectedMethodPrefix
-    value:           ''
-  - key:             readability-identifier-naming.ProtectedMethodSuffix
-    value:           ''
-  - key:             readability-identifier-naming.PublicMemberCase
-    value:           aNy_CasE
-  - key:             readability-identifier-naming.PublicMemberPrefix
-    value:           ''
-  - key:             readability-identifier-naming.PublicMemberSuffix
-    value:           ''
-  - key:             readability-identifier-naming.PublicMethodCase
-    value:           aNy_CasE
-  - key:             readability-identifier-naming.PublicMethodPrefix
-    value:           ''
-  - key:             readability-identifier-naming.PublicMethodSuffix
-    value:           ''
-  - key:             readability-identifier-naming.StaticConstantCase
-    value:           aNy_CasE
-  - key:             readability-identifier-naming.StaticConstantPrefix
-    value:           ''
-  - key:             readability-identifier-naming.StaticConstantSuffix
-    value:           ''
-  - key:             readability-identifier-naming.StaticVariableCase
-    value:           aNy_CasE
-  - key:             readability-identifier-naming.StaticVariablePrefix
-    value:           ''
-  - key:             readability-identifier-naming.StaticVariableSuffix
-    value:           ''
-  - key:             readability-identifier-naming.StructCase
-    value:           aNy_CasE
-  - key:             readability-identifier-naming.StructPrefix
-    value:           ''
-  - key:             readability-identifier-naming.StructSuffix
-    value:           ''
-  - key:             readability-identifier-naming.TemplateParameterCase
-    value:           aNy_CasE
-  - key:             readability-identifier-naming.TemplateParameterPrefix
-    value:           ''
-  - key:             readability-identifier-naming.TemplateParameterSuffix
-    value:           ''
-  - key:             readability-identifier-naming.TemplateTemplateParameterCase
-    value:           aNy_CasE
-  - key:             readability-identifier-naming.TemplateTemplateParameterPrefix
-    value:           ''
-  - key:             readability-identifier-naming.TemplateTemplateParameterSuffix
-    value:           ''
-  - key:             readability-identifier-naming.TypeAliasCase
-    value:           aNy_CasE
-  - key:             readability-identifier-naming.TypeAliasPrefix
-    value:           ''
-  - key:             readability-identifier-naming.TypeAliasSuffix
-    value:           ''
-  - key:             readability-identifier-naming.TypeTemplateParameterCase
-    value:           aNy_CasE
-  - key:             readability-identifier-naming.TypeTemplateParameterPrefix
-    value:           ''
-  - key:             readability-identifier-naming.TypeTemplateParameterSuffix
-    value:           ''
-  - key:             readability-identifier-naming.TypedefCase
-    value:           aNy_CasE
-  - key:             readability-identifier-naming.TypedefPrefix
-    value:           ''
-  - key:             readability-identifier-naming.TypedefSuffix
-    value:           ''
-  - key:             readability-identifier-naming.UnionCase
-    value:           aNy_CasE
-  - key:             readability-identifier-naming.UnionPrefix
-    value:           ''
-  - key:             readability-identifier-naming.UnionSuffix
-    value:           ''
-  - key:             readability-identifier-naming.ValueTemplateParameterCase
-    value:           aNy_CasE
-  - key:             readability-identifier-naming.ValueTemplateParameterPrefix
-    value:           ''
-  - key:             readability-identifier-naming.ValueTemplateParameterSuffix
-    value:           ''
-  - key:             readability-identifier-naming.VariableCase
-    value:           aNy_CasE
-  - key:             readability-identifier-naming.VariablePrefix
-    value:           ''
-  - key:             readability-identifier-naming.VariableSuffix
-    value:           ''
-  - key:             readability-identifier-naming.VirtualMethodCase
-    value:           aNy_CasE
-  - key:             readability-identifier-naming.VirtualMethodPrefix
-    value:           ''
-  - key:             readability-identifier-naming.VirtualMethodSuffix
-    value:           ''
-...

.gitignore

@@ -31,15 +31,6 @@ 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
@@ -53,7 +44,6 @@ src/modules/uORB/topics/*
 src/platforms/nuttx/px4_messages/*
 src/platforms/ros/px4_messages/*
 Firmware.zip
-unittests/build
 *.generated.h
 .vagrant
 *.pretty
@@ -82,12 +72,13 @@ vectorcontrol/
 .idea
 cmake-build-*/
 
-# gcov code coverage
-coverage-html/
-coverage.info
-
 posix-configs/SITL/init/test/*_generated
 
 parameters.md
 airframes.md
 airframes.xml
+
+cppcheck-result.xml
+cppcheck
+
+scan-build

.gitmodules

@@ -22,10 +22,6 @@
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
 	url = https://github.com/PX4/sitl_gazebo.git
-[submodule "unittests/googletest"]
-	path = unittests/googletest
-	url = https://github.com/google/googletest.git
-	ignore = untracked
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
 	url = https://github.com/PX4/Matrix.git

.travis.yml

@@ -5,15 +5,11 @@ language: cpp
 
 git:
   depth: 2000
+  submodules: false
 
 matrix:
   fast_finish: true
   include:
-    - os: linux
-      sudo: required
-      services:
-        - docker
-      env: BUILD_TARGET=qgc_firmware
     - os: linux
       sudo: required
       services:
@@ -23,70 +19,78 @@ matrix:
       sudo: required
       services:
         - docker
-      env: BUILD_TARGET=tests_linux
+      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
 
 cache:
   ccache: true
 
 before_install:
-  - if [[ "${TRAVIS_OS_NAME}" = "linux" && "${TRAVIS_BRANCH}" == "coverity" ]]; then sudo apt-get install genromfs && pip install empy jinja2; fi
+  # 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;
+    fi
 
 env:
   global:
-# COVERITY KEY
+    # 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="
 
 script:
-  - if [[ "${TRAVIS_BRANCH}" == "coverity" ]]; then
+  - if [[ "${BUILD_TARGET}" = "coverity_scan" ]]; then
       echo "no script for coverity build";
-    elif [[ "${BUILD_TARGET}" = "qgc_firmware" ]]; then
-      ./Tools/docker_run.sh 'make qgc_firmware';
+    elif [[ "${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_linux" ]]; then
+    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-parallel';
+      ./Tools/docker_run.sh 'make clang-tidy-quiet';
     fi
 
 after_success:
-# s3 deploy individual firmware files (.px4), Firmware.zip, airframe.xml, and param.xml
-  - if [[ "${BUILD_TARGET}" = "qgc_firmware" && "${TRAVIS_PULL_REQUEST}" == "false" && "${TRAVIS_BRANCH}" != "coverity" ]]; then
-         ./Tools/docker_run.sh 'make s3put_firmware AWS_S3_BUCKET="px4-travis/archives/Firmware/${TRAVIS_BRANCH}/${TRAVIS_BUILD_ID}"'
-      && ./Tools/docker_run.sh 'make s3put_qgc_firmware AWS_S3_BUCKET="px4-travis/Firmware/${TRAVIS_BRANCH}"';
+  # s3 upload airframe and parameter metadata
+  - if [[ "${BUILD_TARGET}" = "px4_metadata" && "${TRAVIS_PULL_REQUEST}" = "false" ]]; then
+         ./Tools/docker_run.sh 'make s3put_metadata AWS_S3_BUCKET="px4-travis/Firmware/${TRAVIS_BRANCH}"';
     fi
-  - if [[ "${BUILD_TARGET}" = "px4_metadata" && "${TRAVIS_PULL_REQUEST}" == "false" && "${TRAVIS_BRANCH}" != "coverity" ]]; then
-         ./Tools/docker_run.sh 'make s3put_parameters_markdown AWS_S3_BUCKET="px4-travis/Firmware/${TRAVIS_BRANCH}"';
+  # s3 upload clang scan-build output for master branch
+  - if [[ "${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"';
     fi
-
-deploy:
-# 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: $BUILD_TARGET = qgc_firmware
 
 addons:
   coverity_scan:

CMakeLists.txt

@@ -55,24 +55,6 @@
 #
 # * 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
 # ---------------------------------------------------------------------------
 #
@@ -101,7 +83,7 @@
 #
 # * Setting a global variable in a CMakeLists.txt file is ok, because
 #	each CMakeLists.txt file has scope in the current directory and all
-#	subdirecties, so it is not truly global.
+#	subdirectories, so it is not truly global.
 #
 # * All toolchain files should be included in the cmake
 #	directory and named Toolchain-"name".cmake.
@@ -117,7 +99,7 @@
 #
 #=============================================================================
 
-if("${CMAKE_VERSION}" VERSION_LESS 3.1.0)
+if (${CMAKE_VERSION} VERSION_LESS 3.1.0)
 	message("Not a valid CMake version")
 	message("On Ubuntu >= 16.04, install or upgrade via:")
 	message("	sudo apt-get install cmake")
@@ -139,14 +121,18 @@ execute_process(
 	)
 
 #=============================================================================
-# parameters
+# configuration
 #
+# must come before project to set toolchain
 
-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")
 
+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})
 
@@ -154,33 +140,75 @@ set(THREADS "4" CACHE STRING "number of threads to use for external build proces
 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 "")
+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 "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}")
+
+
 #=============================================================================
-# configuration
+# git
 #
-# must come before project to set toolchain
+include(common/px4_git)
 
-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}")
-
-# version info from git
-execute_process(
-	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
-	OUTPUT_VARIABLE version
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
 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_gazebo_flow PATH "Tools/sitl_gazebo/external/OpticalFlow")
+px4_add_git_submodule(TARGET git_gazebo_klt PATH "Tools/sitl_gazebo/external/OpticalFlow/external/klt_feature_tracker")
+px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
+px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
+px4_add_git_submodule(TARGET git_gps_devices PATH "src/drivers/gps/devices")
+px4_add_git_submodule(TARGET git_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}")
 
@@ -200,7 +228,7 @@ 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()
@@ -209,38 +237,25 @@ if (CMAKE_INSTALL_PREFIX)
 	message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
 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})
-
-# 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)
 
@@ -249,7 +264,7 @@ set(BUILD_SHARED_LIBS OFF)
 #
 option(CCACHE "Use ccache if available" OFF)
 find_program(CCACHE_PROGRAM ccache)
-if(CCACHE AND CCACHE_PROGRAM)
+if (CCACHE AND CCACHE_PROGRAM)
 	message(STATUS "Enabled ccache: ${CCACHE_PROGRAM}")
 	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
 endif()
@@ -302,9 +317,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 99)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 
-set(required_variables
-	CMAKE_C_COMPILER_ID
-	)
+set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
 foreach(var ${required_variables})
 	if (NOT ${var})
 		message(FATAL_ERROR "Toolchain/config must define ${var}")
@@ -327,43 +340,6 @@ execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
 STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
 message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
 
-
-#=============================================================================
-# git
-#
-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_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")
-
-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 ${PX4_BINARY_DIR}
-	)
-
 #=============================================================================
 # external libraries
 #
@@ -394,9 +370,11 @@ link_directories(${link_dirs})
 add_definitions(${definitions})
 
 #=============================================================================
-# source code generation
+# message, and airframe generation
 #
 
+include(common/px4_metadata)
+
 add_subdirectory(msg)
 px4_generate_messages(TARGET msg_gen
 	MSG_FILES ${msg_files}
@@ -404,21 +382,25 @@ px4_generate_messages(TARGET msg_gen
 	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_airframes_xml(OUT airframes.xml BOARD ${BOARD})
-add_custom_target(xml_gen
-	DEPENDS parameters.xml airframes.xml)
 
-if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
-install(FILES
-	${CMAKE_CURRENT_BINARY_DIR}/airframes.xml
-	${CMAKE_CURRENT_BINARY_DIR}/parameters.xml
-	DESTINATION .)
+px4_generate_airframes_xml(BOARD ${BOARD})
+
+#=============================================================================
+# 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: ${driver}")
+endforeach()
+
 #=============================================================================
 # external projects
 #
@@ -433,20 +415,10 @@ include_directories(${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)
 
@@ -467,7 +439,7 @@ 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})
@@ -476,7 +448,6 @@ 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
@@ -484,10 +455,6 @@ set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "mod
 
 add_subdirectory(src/firmware/${OS})
 
-#add_dependencies(df_driver_framework nuttx_export_${CONFIG})
-if (NOT "${OS}" STREQUAL "nuttx")
-endif()
-
 if (config_io_board)
 	add_subdirectory(src/modules/px4iofirmware)
 endif()
@@ -495,7 +462,7 @@ 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
@@ -505,18 +472,13 @@ if(all_posix_cmake_targets)
 		)
 endif()
 
-#=============================================================================
-# generate git version
-#
-px4_create_git_hash_header()
-
 #=============================================================================
 # packaging
 #
 # Important to having packaging at end of cmake file.
 #
 set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
-set(CPACK_PACKAGE_VERSION ${version})
+set(CPACK_PACKAGE_VERSION ${git_version})
 set(CPACK_PACKAGE_CONTACT ${package-contact})
 set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
 set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
@@ -525,7 +487,7 @@ 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 "${PROJECT_NAME}-${version}")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
 set(CPACK_PACKAGING_INSTALL_PREFIX "")
 set(CPACK_SET_DESTDIR "OFF")

Makefile

@@ -124,6 +124,9 @@ 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
 
 # Functions
 # --------------------------------------------------------------------
@@ -131,7 +134,7 @@ 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
++@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))
 endef
 
@@ -178,35 +181,39 @@ excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: qgc_firmware alt_firmware checks_bootloaders uavcan_firmware sizes check quick_check
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware checks_bootloaders sizes check quick_check
 
 # QGroundControl flashable NuttX firmware
-qgc_firmware: \
+qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes
+
+# px4fmu NuttX firmware
+px4fmu_firmware: \
+	check_px4fmu-v1_default \
+	check_px4fmu-v2_default \
+	check_px4fmu-v3_default \
+	check_px4fmu-v4_default \
+	check_px4fmu-v4pro_default \
+	check_px4fmu-v5_default \
+	sizes
+
+misc_qgc_extra_firmware: \
 	check_aerocore2_default \
 	check_aerofc-v1_default \
 	check_auav-x21_default \
 	check_crazyflie_default \
 	check_mindpx-v2_default \
-	check_px4fmu-v1_default \
-	check_px4fmu-v2_default \
 	check_px4fmu-v2_lpe \
-	check_px4fmu-v3_default \
-	check_px4fmu-v4_default \
-	check_px4fmu-v4pro_default \
-	check_px4fmu-v5_default \
 	check_tap-v1_default \
-	check_sizes
+	sizes
 
 # Other NuttX firmware
 alt_firmware: \
 	check_px4-stm32f4discovery_default \
 	check_px4cannode-v1_default \
 	check_px4esc-v1_default \
-	check_px4fmu-v4pro_default \
-	check_px4fmu-v5_default \
 	check_px4nucleoF767ZI-v1_default \
 	check_s2740vc-v1_default \
-	check_sizes
+	sizes
 
 checks_bootloaders: \
 	check_esc35-v1_bootloader \
@@ -215,20 +222,13 @@ checks_bootloaders: \
 	check_px4flow-v2_bootloader \
 	check_s2740vc-v1_bootloader \
 # not fitting in flash	check_zubaxgnss-v1_bootloader \
-	check_sizes
-
-uavcan_firmware:
-	$(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 && $(SRC_DIR)/Tools/uavcan_copy.sh)
+	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 qgc_firmware alt_firmware checks_bootloaders tests check_format
+check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware checks_bootloaders tests check_format
 
 # quick_check builds a single nuttx and posix target, runs testing, and checks the style
 quick_check: check_posix_sitl_default check_px4fmu-v3_default tests check_format
@@ -258,7 +258,7 @@ px4_metadata: parameters_metadata airframe_metadata
 #  AWS_ACCESS_KEY_ID
 #  AWS_SECRET_ACCESS_KEY
 #  AWS_S3_BUCKET
-.PHONY: s3put_firmware s3put_qgc_firmware
+.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
@@ -267,7 +267,12 @@ Firmware.zip:
 s3put_firmware: Firmware.zip
 	$(SRC_DIR)/Tools/s3put.sh Firmware.zip
 
-s3put_qgc_firmware: qgc_firmware
+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
@@ -276,6 +281,15 @@ s3put_metadata: px4_metadata
 	@$(SRC_DIR)/Tools/s3put.sh build_posix_sitl_default/parameters.xml
 	@$(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
@@ -291,55 +305,59 @@ format:
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: unittest run_tests_posix tests tests_coverage
-
-unittest: posix_sitl_default
-	$(call cmake-build,unittest,$(SRC_DIR)/unittests)
-	@(cd build_unittest && ctest -j2 --output-on-failure)
+.PHONY: run_tests_posix tests tests_coverage
 
 run_tests_posix:
 	$(MAKE) --no-print-directory posix_sitl_default test_results
 
-tests: unittest run_tests_posix
+tests: run_tests_posix
 
 tests_coverage:
-	@lcov --zerocounters --directory $(SRC_DIR) --quiet
-	@lcov --capture --initial --directory $(SRC_DIR) --quiet --output-file coverage.info
-	@$(MAKE) --no-print-directory unittest PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1
-	@$(MAKE) --no-print-directory posix_sitl_default test_results PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1
-	@lcov --no-checksum --directory $(SRC_DIR) --capture --quiet --output-file coverage.info
-	@lcov --remove coverage.info '/usr/*' 'unittests/googletest/*' --quiet --output-file coverage.info
-	@genhtml --legend --show-details --function-coverage --quiet --output-directory coverage-html coverage.info
-	@$(MAKE) --no-print-directory posix_sitl_default test_results_junit
+	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
 
-# Clang analyzers
+coveralls_upload:
+	@cpp-coveralls --include src/ \
+		--exclude=src/lib/DriverFramework \
+		--exclude=src/lib/ecl \
+		--exclude=src/lib/Matrix \
+		--exclude=src/modules/uavcan/libuavcan \
+		--root . --build-root build_posix_sitl_default/ --follow-symlinks
+
+codecov_upload:
+	@/bin/bash -c "bash <(curl -s https://codecov.io/bash)"
+
+# static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build clang-check clang-tidy
+.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 CCACHE_DISABLE=1
-	@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 cmake --build $(SRC_DIR)/build_posix_sitl_default_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-check:
-	@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default
-	@$(SRC_DIR)/Tools/clang-tool.sh -b build_posix_sitl_default -t clang-check
+clang-tidy: posix_sitl_default-clang
+	@cd build_posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
 
-clang-tidy:
-	rm -rf $(SRC_DIR)/build_posix_sitl_default
-	@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default
-	@$(SRC_DIR)/Tools/clang-tool.sh -b build_posix_sitl_default -t clang-tidy
+# 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 .
 
-clang-tidy-parallel:
-	rm -rf $(SRC_DIR)/build_posix_sitl_default
-	@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default
-	@$(SRC_DIR)/Tools/run-clang-tidy.py -j$(j) -p $(SRC_DIR)/build_posix_sitl_default
+# 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 .
 
-clang-tidy-fix:
-	rm -rf $(SRC_DIR)/build_posix_sitl_default
-	@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default
-	@run-clang-tidy.py -fix -j$(j) -p $(SRC_DIR)/build_posix_sitl_default
+# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
+cppcheck: posix_sitl_default
+	@cppcheck -i$(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
 # --------------------------------------------------------------------

ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil

@@ -3,11 +3,14 @@
 # @name HILStar (XPlane)
 #
 # @type Simulation
+# @class Plane
 #
 # @output MAIN1 aileron
 # @output MAIN2 elevator
 # @output MAIN3 rudder
 # @output MAIN4 throttle
+# @output MAIN5 flaps
+# @output MAIN6 gear
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

ROMFS/px4fmu_common/init.d/10015_tbs_discovery

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

ROMFS/px4fmu_common/init.d/10016_3dr_iris

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

ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d

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

ROMFS/px4fmu_common/init.d/10018_tbs_endurance

@@ -3,6 +3,7 @@
 # @name Team Blacksheep Discovery Endurance
 #
 # @type Quadrotor Wide
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -16,7 +17,7 @@
 # @output AUX3 feed-through of RC AUX3 channel
 # @output AUX4 feed-through of RC FLAPS channel
 #
-# @maintainer Simon Wilks <simon@px4.io>
+# @maintainer Simon Wilks <simon@uaventure.com>
 #
 
 sh /etc/init.d/rc.mc_defaults
@@ -39,7 +40,6 @@ then
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 
-	param set MPC_XY_FF 0.2
 	param set MPC_XY_VEL_MAX 2
 	param set PWM_MIN 1080
 fi

ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil

@@ -3,8 +3,9 @@
 # @name HIL Quadcopter X
 #
 # @type Simulation
+# @class Copter
 #
-# @maintainer Anton Babushkin <anton@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/10020_3dr_quad

@@ -3,6 +3,7 @@
 # @name 3DR DIY Quad
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

ROMFS/px4fmu_common/init.d/10021_H4_680mm

@@ -3,6 +3,7 @@
 # @name H4 680mm with Z1 Tiny2 Gimbal
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @maintainer Leon Mueller <thedevleon>
 #

ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil

@@ -3,8 +3,9 @@
 # @name HIL Quadcopter +
 #
 # @type Simulation
+# @class Copter
 #
-# @maintainer Anton Babushkin <anton@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/11001_hexa_cox

@@ -3,13 +3,14 @@
 # @name Generic Hexa coaxial geometry
 #
 # @type Hexarotor Coaxial
+# @class Copter
 #
 # @output MAIN1 front right top, CW; angle:60; direction:CW
 # @output MAIN2 front right bottom, CCW; angle:60; direction:CCW
 # @output MAIN3 back top, CW; angle:180; direction:CW
 # @output MAIN4 back bottom, CCW; angle:180; direction:CCW
 # @output MAIN5 front left top, CW; angle:-60; direction:CW
-# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW 
+# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW
 #
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel

ROMFS/px4fmu_common/init.d/12001_octo_cox

@@ -3,6 +3,7 @@
 # @name Generic 10" Octo coaxial geometry
 #
 # @type Octorotor Coaxial
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2

ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik

@@ -3,6 +3,7 @@
 # @name Steadidrone MAVRIK
 #
 # @type Octo Coax Wide
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

@@ -3,6 +3,7 @@
 # @name Caipiroshka Duo Tailsitter
 #
 # @type VTOL Duo Tailsitter
+# @class VTOL
 #
 # @output MAIN1 motor right
 # @output MAIN2 motor left

ROMFS/px4fmu_common/init.d/13002_firefly6

@@ -2,7 +2,10 @@
 #
 # @name BirdsEyeView Aerobotics FireFly6
 # @type VTOL Tiltrotor
+# @class VTOL
+#
 # @maintainer Roman Bapst <roman@uaventure.com>
+#
 # @output MAIN1 Front right motor bottom
 # @output MAIN2 Front right motor top
 # @output MAIN3 Back motor bottom

ROMFS/px4fmu_common/init.d/13003_quad_tailsitter

@@ -3,6 +3,7 @@
 # @name Quadrotor X Tailsitter
 #
 # @type VTOL Quad Tailsitter
+# @class VTOL
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #

ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter

@@ -3,6 +3,7 @@
 # @name Quadrotor + Tailsitter
 #
 # @type VTOL Quad Tailsitter
+# @class VTOL
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2

ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad

@@ -1,8 +1,12 @@
 #!nsh
 #
 # @name Fun Cub Quad VTOL
+#
 # @type Standard VTOL
+# @class VTOL
+#
 # @maintainer Simon Wilks <simon@uaventure.com>
+#
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
 # @output MAIN3 motor 3

ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta

@@ -1,8 +1,12 @@
 #!nsh
 #
 # @name Generic quad delta VTOL
+#
 # @type Standard VTOL
+# @class VTOL
+#
 # @maintainer Simon Wilks <simon@uaventure.com>
+#
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
 # @output MAIN3 motor 3

ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad

@@ -3,6 +3,7 @@
 # @name Generic AAVVT v-tail plane airframe with Quad VTOL.
 #
 # @type Standard VTOL
+# @class VTOL
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #

ROMFS/px4fmu_common/init.d/13008_QuadRanger

@@ -3,6 +3,7 @@
 # @name QuadRanger
 #
 # @type Standard VTOL
+# @class VTOL
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #

ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger

@@ -3,6 +3,7 @@
 # @name Sparkle Tech Ranger VTOL
 #
 # @type Standard VTOL
+# @class VTOL
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
@@ -61,11 +62,9 @@ then
     param set MPC_TILTMAX_AIR 35.0
     param set MPC_TILTMAX_LND 20.0
     param set MPC_TKO_SPEED   1.0
-    param set MPC_XY_FF   0.1
     param set MPC_XY_P    0.3
     param set MPC_XY_VEL_MAX  3.0
     param set MPC_XY_VEL_P    0.05
-    param set MPC_Z_FF    0.3
     param set MPC_Z_P 0.5
     param set MPC_Z_VEL_P 0.1
 

ROMFS/px4fmu_common/init.d/13010_claire

@@ -3,6 +3,7 @@
 # @name CruiseAder Claire
 #
 # @type VTOL Tiltrotor
+# @class VTOL
 #
 # @maintainer Samay Siga <samay_s@icloud.com>
 #

ROMFS/px4fmu_common/init.d/13012_convergence

@@ -1,8 +1,12 @@
 #!nsh
 #
 # @name E-flite Convergence
+#
 # @type VTOL Tiltrotor
+# @class VTOL
+#
 # @maintainer Andreas Antener <andreas@uaventure.com>
+#
 # @output MAIN1 Motor right
 # @output MAIN2 Motor left
 # @output MAIN3 Motor back

ROMFS/px4fmu_common/init.d/13013_deltaquad

@@ -1,8 +1,12 @@
 #!nsh
 #
 # @name DeltaQuad
+#
 # @type Standard VTOL
+# @class VTOL
+#
 # @maintainer Sander Smeets <sander@droneslab.com>
+#
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
 # @output MAIN3 motor 3

ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+

@@ -3,6 +3,7 @@
 # @name Generic Tricopter Y+ Geometry
 #
 # @type Tricopter Y+
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2

ROMFS/px4fmu_common/init.d/14002_tri_y_yaw-

@@ -3,6 +3,7 @@
 # @name Generic Tricopter Y- Geometry
 #
 # @type Tricopter Y-
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -16,6 +17,4 @@ sh /etc/init.d/rc.mc_defaults
 
 set MIXER tri_y_yaw-
 
-set PWM_OUT 1234 
-
-
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/15001_coax_heli

@@ -3,7 +3,8 @@
 # @name Esky (Big) Lama v4
 #
 # @type Coaxial Helicopter
-# 
+# @class Copter
+#
 # @output MAIN1 Left swashplate servomotor, pitch axis
 # @output MAIN2 Right swashplate servomotor, roll axis
 # @output MAIN3 Upper rotor (CCW)

ROMFS/px4fmu_common/init.d/16001_helicopter

@@ -3,8 +3,10 @@
 # @name Blade 130X
 #
 # @type Helicopter
+# @class Copter
 #
 # @maintainer Bart Slinger <bartslinger@gmail.com>
+#
 # @output MAIN1 main motor
 # @output MAIN2 front swashplate servo
 # @output MAIN3 right swashplate servo

ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm

@@ -3,6 +3,7 @@
 # @name Passthrough mode for Snapdragon
 #
 # @type custom
+# @class Tool
 #
 # @board px4fmu-v1 exclude
 # @board px4fmu-v2 exclude

ROMFS/px4fmu_common/init.d/2100_mpx_easystar

@@ -1,17 +0,0 @@
-#!nsh
-#
-# @name Multiplex Easystar
-#
-# @type Standard Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 elevator
-# @output MAIN3 rudder
-# @output MAIN4 throttle
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-sh /etc/init.d/rc.fw_defaults
- 
-set MIXER easystar

ROMFS/px4fmu_common/init.d/2100_standard_plane

@@ -1,14 +1,16 @@
 #!nsh
 #
-# @name Standard AETR Plane
+# @name Standard Plane
 #
 # @type Standard Plane
+# @class Plane
 #
 # @output MAIN1 aileron
 # @output MAIN2 elevator
 # @output MAIN3 throttle
 # @output MAIN4 rudder
 # @output MAIN5 flaps
+# @output MAIN6 gear
 #
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
@@ -19,10 +21,10 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER AETR
+set MIXER AETRFG
 
-# use PWM parameters for throttle channel
-set PWM_OUT 3
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MIN p:PWM_MIN
-set PWM_MAX p:PWM_MAX
+set PWM_RATE 50
+set PWM_AUX_RATE 50
+
+# rate must be set by group (see pwm info)
+# throttle is in the same group as servos

ROMFS/px4fmu_common/init.d/2101_fw_AERT

@@ -1,25 +0,0 @@
-#!nsh
-#
-# @name Standard AERT Plane
-#
-# @type Standard Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 elevator
-# @output MAIN3 rudder
-# @output MAIN4 throttle
-# @output MAIN5 flaps
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-set MIXER AERT
-
-# use PWM parameters for throttle channel
-set PWM_OUT 4

ROMFS/px4fmu_common/init.d/2102_3dr_skywalker

@@ -1,22 +0,0 @@
-#!nsh
-#
-# @name Skywalker (3DR Aero)
-#
-# @type Standard Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 elevator
-# @output MAIN4 rudder
-# @output MAIN3 throttle
-# @output MAIN5 flaps
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-set MIXER skywalker

ROMFS/px4fmu_common/init.d/2103_skyhunter_1800

@@ -1,20 +0,0 @@
-#!nsh
-#
-# @name Skyhunter 1800
-#
-# @type Standard Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 elevator
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-sh /etc/init.d/rc.fw_defaults
-
-set MIXER AET

ROMFS/px4fmu_common/init.d/2105_maja

@@ -3,6 +3,7 @@
 # @name Bormatec Maja
 #
 # @type Standard Plane
+# @class Plane
 #
 # @output MAIN1 aileron
 # @output MAIN2 aileron

ROMFS/px4fmu_common/init.d/2106_albatross

@@ -3,6 +3,7 @@
 # @name Applied Aeronautics Albatross
 #
 # @type Plane A-Tail
+# @class Plane
 #
 # @output MAIN1 aileron right
 # @output MAIN2 aileron left

ROMFS/px4fmu_common/init.d/24001_dodeca_cox

@@ -0,0 +1,51 @@
+#!nsh
+#
+# @name Generic Dodecarotor cox geometry
+#
+# @type Dodecarotor cox
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+#
+# @output AUX1 motor 7
+# @output AUX2 motor 8
+# @output AUX3 motor 9
+# @output AUX4 motor 10
+# @output AUX5 motor 11
+# @output AUX6 motor 12
+#
+# @maintainer Ian McNanie <ianmcnanie@gmail.com>
+# @maintainer William Peale <develop707@gmail.com>
+#
+
+set VEHICLE_TYPE mc
+
+if [ $AUTOCNF == yes ]
+then
+	param set NAV_ACC_RAD 2.0
+	param set RTL_RETURN_ALT 30.0
+	param set RTL_DESCEND_ALT 10.0
+	param set PWM_MIN 1075
+	param set PWM_MAX 1950
+	param set PWM_RATE 400
+
+	param set RTL_LAND_DELAY 0
+fi
+
+set PWM_AUX_RATE 400
+# Note: May Have to set these parameters manually. They don't appear to save.
+set PWM_AUX_DISARMED 900
+param set PWM_AUX_MIN 1075
+param set PWM_AUX_MAX 1950
+
+set MIXER dodeca_top_cox
+set MIXER_AUX dodeca_bottom_cox
+
+# Need to set all 8 channels
+set PWM_OUT 12345678
+set PWM_AUX_OUT 123456

ROMFS/px4fmu_common/init.d/3030_io_camflyer

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

ROMFS/px4fmu_common/init.d/3031_phantom

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

ROMFS/px4fmu_common/init.d/3032_skywalker_x5

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

ROMFS/px4fmu_common/init.d/3033_wingwing

@@ -2,9 +2,10 @@
 #
 # @name Wing Wing (aka Z-84) Flying Wing
 #
-# @url https://pixhawk.org/platforms/planes/z-84_wing_wing
+# @url https://docs.px4.io/en/framebuild_plane/wing_wing_z84.html
 #
 # @type Flying Wing
+# @class Plane
 #
 # @output MAIN1 left aileron
 # @output MAIN2 right aileron

ROMFS/px4fmu_common/init.d/3034_fx79

@@ -3,8 +3,9 @@
 # @name FX-79 Buffalo Flying Wing
 #
 # @type Flying Wing
+# @class Plane
 #
-# @maintainer Simon Wilks <simon@px4.io>
+# @maintainer Simon Wilks <simon@uaventure.com>
 #
 
 sh /etc/init.d/rc.fw_defaults

ROMFS/px4fmu_common/init.d/3035_viper

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

ROMFS/px4fmu_common/init.d/3036_pigeon

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

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

@@ -3,6 +3,7 @@
 # @name TBS Caipirinha
 #
 # @type Flying Wing
+# @class Plane
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

ROMFS/px4fmu_common/init.d/4001_quad_x

@@ -3,6 +3,7 @@
 # @name Generic Quadrotor X config
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2

ROMFS/px4fmu_common/init.d/4002_quad_x_mount

@@ -3,7 +3,7 @@
 # @name Generic Quadrotor X config with mount (e.g. gimbal)
 #
 # @type Quadrotor x
-#
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2

ROMFS/px4fmu_common/init.d/4003_qavr5

@@ -3,6 +3,7 @@
 # @name Lumenier QAV-R (raceblade) 5" arms
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @board px4fmu-v1 exclude
 # @board px4fmu-v2 exclude

ROMFS/px4fmu_common/init.d/4008_ardrone

@@ -3,6 +3,7 @@
 # @name AR.Drone Frame
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @board px4fmu-v2 exclude
 # @board px4fmu-v3 exclude

ROMFS/px4fmu_common/init.d/4009_qav250

@@ -3,8 +3,9 @@
 # @name Lumenier QAV250
 #
 # @type Quadrotor x
+# @class Copter
 #
-# @maintainer Mark Whitehorn <kd0aij@gmail.com>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/4001_quad_x

ROMFS/px4fmu_common/init.d/4010_dji_f330

@@ -3,6 +3,7 @@
 # @name DJI Flame Wheel F330
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

ROMFS/px4fmu_common/init.d/4011_dji_f450

@@ -3,6 +3,7 @@
 # @name DJI Flame Wheel F450
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

ROMFS/px4fmu_common/init.d/4012_quad_x_can

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

ROMFS/px4fmu_common/init.d/4013_bebop

@@ -3,6 +3,7 @@
 # @name Parrot Bebop Frame
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @board px4fmu-v1 exclude
 # @board px4fmu-v2 exclude

ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb

@@ -3,6 +3,7 @@
 # @name Hobbyking Micro PCB
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @board px4fmu-v2 exclude
 # @board px4fmu-v3 exclude

ROMFS/px4fmu_common/init.d/4030_solo

@@ -3,6 +3,7 @@
 # @name 3DR Solo
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @board px4fmu-v1 exclude
 # @board px4fmu-v2 exclude

ROMFS/px4fmu_common/init.d/4040_reaper

@@ -3,6 +3,7 @@
 # @name Reaper 500 Quad
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @maintainer Blankered
 #

ROMFS/px4fmu_common/init.d/4050_generic_250

@@ -3,8 +3,9 @@
 # @name Generic 250 Racer
 #
 # @type Quadrotor x
+# @class Copter
 #
-# @maintainer Mark Whitehorn <kd0aij@gmail.com>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/4001_quad_x

ROMFS/px4fmu_common/init.d/4051_s250aq

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

ROMFS/px4fmu_common/init.d/4060_dji_matrice_100

@@ -3,6 +3,7 @@
 # @name DJI Matrice 100
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @maintainer James Goppert <james.goppert@gmail.com>
 #

ROMFS/px4fmu_common/init.d/4070_aerofc

@@ -10,6 +10,8 @@
 # @board px4fmu-v5 exclude
 #
 # @type Quadrotor x
+# @class Copter
+#
 
 sh /etc/init.d/rc.mc_defaults
 

ROMFS/px4fmu_common/init.d/4080_zmr250

@@ -3,6 +3,7 @@
 # @name ZMR250 Racer
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @board px4fmu-v1 exclude
 # @board px4fmu-v2 exclude
@@ -20,7 +21,7 @@ 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_ROLLRATE_D 0.0015
 	param set MC_ROLL_TC 0.18
 
 	param set MC_PITCH_P 2.0
@@ -35,9 +36,9 @@ then
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAW_FF 0.5
 
-	param set MC_ACRO_R_MAX 1080.0
-	param set MC_ACRO_P_MAX 1080.0
-	param set MC_ACRO_Y_MAX 1080.0
+	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

ROMFS/px4fmu_common/init.d/4090_nanomind

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

ROMFS/px4fmu_common/init.d/4900_crazyflie

@@ -11,6 +11,7 @@
 # @board aerofc-v1 exclude
 #
 # @type Quadrotor x
+# @class Copter
 #
 
 sh /etc/init.d/4001_quad_x

ROMFS/px4fmu_common/init.d/50001_axialracing_ax10

@@ -3,6 +3,7 @@
 # @name Axial Racing AX10
 #
 # @type Rover
+# @class Rover
 #
 # @output MAIN1 pass-through of control group 0, channel 0
 # @output MAIN2 pass-through of control group 0, channel 1

ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd

@@ -0,0 +1,62 @@
+#!nsh
+#
+# @name Traxxas stampede vxl 2wd
+#
+# @url https://traxxas.com/products/models/electric/stampede-vxl-tsm
+#
+# @type Rover
+# @class 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_+

@@ -3,6 +3,7 @@
 # @name Generic 10" Quad + geometry
 #
 # @type Quadrotor +
+# @class Copter
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -16,7 +17,7 @@
 # @output AUX3 feed-through of RC AUX3 channel
 # @output AUX4 feed-through of RC FLAPS channel
 #
-# @maintainer Anton Babushkin <anton@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/6001_hexa_x

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

ROMFS/px4fmu_common/init.d/7001_hexa_+

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

ROMFS/px4fmu_common/init.d/8001_octo_x

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

ROMFS/px4fmu_common/init.d/9001_octo_+

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

ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults

@@ -1,6 +1,6 @@
 #!nsh
 
-set VEHICLE_TYPE rover
+set VEHICLE_TYPE ugv
 
 # This section can be enabled once tuning parameters for this particular
 # rover model are known. It allows to configure default gains via the GUI

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -3,6 +3,14 @@
 # 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
 #

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -4,9 +4,15 @@ set VEHICLE_TYPE fw
 
 if [ $AUTOCNF == yes ]
 then
-#
-# Default parameters for FW
-#
+	#
+	# Default parameters for FW
+	#
+
+	param set EKF2_ARSP_THR 8.0
+	param set EKF2_FUSE_BETA 0
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
+
 	param set RTL_RETURN_ALT 100
 	param set RTL_DESCEND_ALT 100
 	param set RTL_LAND_DELAY -1
@@ -17,6 +23,11 @@ then
 
 	param set MIS_LTRMIN_ALT 25
 	param set MIS_TAKEOFF_ALT 25
+
+	param set PWM_RATE 50
+
+	# FW takeoff acceleration can easily exceed ublox GPS 2G default
+	param set GPS_UBX_DYNMODEL 8
 fi
 
 # This is the gimbal pass mixer

ROMFS/px4fmu_common/init.d/rc.gnd_apps

@@ -0,0 +1,24 @@
+#!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

@@ -0,0 +1,32 @@
+#!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.mc_apps

@@ -11,8 +11,8 @@
 # INAV (deprecated)
 if param compare SYS_MC_EST_GROUP 0
 then
-	echo "ERROR [init] Estimator INAV deprecated. Using LPE"
-	param set SYS_MC_EST_GROUP 1
+	echo "ERROR [init] Estimator INAV deprecated. Using EKF2"
+	param set SYS_MC_EST_GROUP 2
 	param save
 fi
 
@@ -25,7 +25,9 @@ then
 	then
 		local_position_estimator start
 	else
-		ekf2 start
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		param set SYS_MC_EST_GROUP 2
+		param save
 	fi
 fi
 

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -8,7 +8,6 @@ then
 	if ms5611 start
 	then
 	fi
-
 else
 	if ver hwcmp AEROFC_V1
 	then
@@ -63,18 +62,8 @@ fi
 
 if ver hwcmp AUAV_X21
 then
-	# I2C bus
-	if hmc5883 -C -T start
-	then
-	fi
-
-	# I2C bus
-	if lis3mdl start
-	then
-	fi
-
-	# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
-	if mpu6000 -R 2 -T 20602 start
+	# External I2C bus
+	if hmc5883 -C -T -X start
 	then
 	fi
 
@@ -152,11 +141,6 @@ then
 		if hmc5883 -C -T -S -R 8 start
 		then
 		fi
-
-		if meas_airspeed start -b 2
-		then
-		fi
-
 	else
 		# FMUv2
 		if mpu6000 start
@@ -343,16 +327,15 @@ fi
 
 if ver hwcmp PX4FMU_V4PRO
 then
-
 	# Internal SPI bus ICM-20608-G
 	if mpu6000 -R 2 -T 20608 start
 	then
 	fi
-	
+
 	# Internal SPI bus ICM-20602
 	if mpu6000 -R 2 -T 20602 start
 	then
-	fi	
+	fi
 
 	# Internal SPI bus mpu9250
 	if mpu9250 -R 2 start
@@ -368,7 +351,6 @@ then
 	if hmc5883 -C -T -X start
 	then
 	fi
-
 fi
 
 if ver hwcmp PX4FMU_V5
@@ -398,12 +380,6 @@ then
 	if hmc5883 -C -T -X start
 	then
 	fi
-
-	# Possible external airspeed sensor
-	if meas_airspeed start -b 2
-	then
-	fi
-
 fi
 
 if ver hwcmp AEROCORE2
@@ -412,18 +388,91 @@ then
 	lsm303d start
 fi
 
-if meas_airspeed start
+#
+# Optional drivers
+#
+
+if sdp3x_airspeed start
 then
-else
-	if ets_airspeed start
+fi
+
+if ms5525_airspeed start
+then
+fi
+
+if ms5525_airspeed start -b 2
+then
+fi
+
+if ms4525_airspeed start
+then
+fi
+
+if ms4525_airspeed start -b 2
+then
+fi
+
+if ets_airspeed start
+then
+fi
+
+if ets_airspeed start -b 1
+then
+fi
+
+# Sensors on the PWM interface bank
+if param compare SENS_EN_LL40LS 1
+then
+	if pwm_input start
 	then
-	else
-		if ets_airspeed start -b 1
+		if ll40ls start pwm
 		then
 		fi
 	fi
 fi
 
+# Lidar-Lite on I2C
+if param compare SENS_EN_LL40LS 2
+then
+	if ll40ls start i2c
+	then
+	fi
+fi
+
+# lightware serial lidar sensor
+if param compare SENS_EN_SF0X 0
+then
+else
+	if sf0x start
+	then
+	fi
+fi
+
+# lightware i2c lidar sensor
+if param compare SENS_EN_SF1XX 0
+then
+else
+	if sf1xx start
+	then
+	fi
+fi
+
+# mb12xx sonar sensor
+if param compare SENS_EN_MB12XX 1
+then
+	if mb12xx start
+	then
+	fi
+fi
+
+# teraranger one tof sensor
+if param compare SENS_EN_TRONE 1
+then
+	if trone start
+	then
+	fi
+fi
+
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
 if sensors start

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

ROMFS/px4fmu_common/init.d/rcS

@@ -1,6 +1,6 @@
 #!nsh
 # Un comment and use set +e to ignore and set -e to enable 'exit on error control'
-#set +e
+set +e
 # Un comment the line below to help debug scripts by printing a trace of the script commands
 #set -x
 # PX4FMU startup script.
@@ -750,63 +750,6 @@ then
 		fi
 	fi
 
-	#
-	# Optional drivers
-	#
-
-	# Sensors on the PWM interface bank
-	if param compare SENS_EN_LL40LS 1
-	then
-		if pwm_input start
-		then
-			if ll40ls start pwm
-			then
-			fi
-		fi
-	fi
-
-	# Lidar-Lite on I2C
-	if param compare SENS_EN_LL40LS 2
-	then
-		if ll40ls start i2c
-		then
-		fi
-	fi
-
-	# lightware serial lidar sensor
-	if param compare SENS_EN_SF0X 0
-	then
-	else
-		if sf0x start
-		then
-		fi
-	fi
-
-	# lightware i2c lidar sensor
-	if param compare SENS_EN_SF1XX 0
-	then
-	else
-		if sf1xx start
-		then
-		fi
-	fi
-
-	# mb12xx sonar sensor
-	if param compare SENS_EN_MB12XX 1
-	then
-		if mb12xx start
-		then
-		fi
-	fi
-
-	# teraranger one tof sensor
-	if param compare SENS_EN_TRONE 1
-	then
-		if trone start
-		then
-		fi
-	fi
-
 	if ver hwcmp PX4FMU_V4
 	then
 		frsky_telemetry start -d /dev/ttyS6
@@ -871,7 +814,7 @@ then
 			if ver hwcmp PX4FMU_V5
 			then
 				set LOGGER_BUF 64
-				param set SDLOG_MODE 3
+				param set SDLOG_MODE 2
 			fi
 			if param compare SDLOG_MODE 1
 			then
@@ -881,10 +824,6 @@ then
 			then
 				set LOGGER_ARGS "-f"
 			fi
-			if param compare SDLOG_MODE 3
-			then
-				set LOGGER_ARGS "-f"
-			fi
 			if ver hwcmp AEROFC_V1
 			then
 				set LOGGER_ARGS "-m mavlink"
@@ -1042,20 +981,29 @@ then
 	fi
 
 	#
-	# Rover setup
+	# UGV setup
 	#
-	if [ $VEHICLE_TYPE == rover ]
+	if [ $VEHICLE_TYPE == ugv ]
 	then
-		# 10 is MAV_TYPE_GROUND_ROVER
-		set MAV_TYPE 10
+		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}
 
 		# Load mixer and configure outputs
 		sh /etc/init.d/rc.interface
 
-		# Start standard rover apps
-		sh /etc/init.d/rc.axialracing_ax10_apps
-
-		param set MAV_TYPE 10
+		# Start standard UGV apps
+		sh /etc/init.d/rc.gnd_apps
 	fi
 
 	#

ROMFS/px4fmu_common/mixers/AET.main.mix

@@ -1,60 +0,0 @@
-Aileron/elevator/throttle mixer for PX4FMU
-==================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, elevator and throttle controls using PX4FMU. The configuration  assumes
-the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to
-output 1 and the throttle to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-Aileron mixer
--------------
-Two scalers total (output, roll).
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-As there is only one output, if using two servos adjustments to compensate for
-differences between the servos must be made mechanically.  To obtain the correct
-motion using a Y  cable, the servos can be positioned reversed from one another.
-
-Alternatively, output 2 could be used as a second aileron servo output with
-separate mixing.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-
-Elevator mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Output 2
---------
-This mixer is empty.
-
-Z:
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/AETR.main.mix

@@ -1,64 +0,0 @@
-Aileron/Elevator/Throttle/Rudder mixer for PX4FMU
-==================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
-assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
-elevator to output 1, the throttle to output 2 and the rudder to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-Aileron mixer
--------------
-Two scalers total (output, roll).
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-As there is only one output, if using two servos adjustments to compensate for
-differences between the servos must be made mechanically.  To obtain the correct
-motion using a Y  cable, the servos can be positioned reversed from one another.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-
-Elevator mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-Rudder mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/AETRFG.main.mix

@@ -1,15 +1,15 @@
-Aileron/rudder/elevator/throttle mixer for PX4FMU
+Aileron/Elevator/Throttle/Rudder/Gear/Flaps mixer
 ==================================================
 
 This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
-assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
-elevator to output 1, the rudder to output 2 and the throttle to output 3.
+aileron, rudder, elevator, throttle, gear, flaps controls. The configuration
+assumes the aileron servo(s) are connected to output 0, the elevator to
+output 1, the throttle to output 2 and the rudder to output 3.
 
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
+(roll), 1 (pitch), 2 (thrust), 3 (yaw), 4 (flaps), 7 (landing gear)
 
-Aileron mixer
+CH1: Aileron mixer
 -------------
 Two scalers total (output, roll).
 
@@ -23,10 +23,10 @@ differences between the servos must be made mechanically.  To obtain the correct
 motion using a Y  cable, the servos can be positioned reversed from one another.
 
 M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
+O:       10000   10000      0  -10000  10000
+S: 0 0   10000   10000      0  -10000  10000
 
-Elevator mixer
+CH2: Elevator mixer
 ------------
 Two scalers total (output, roll).
 
@@ -36,10 +36,21 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1  -10000  -10000      0 -10000  10000
+O:       10000   10000      0  -10000  10000
+S: 0 1  -10000  -10000      0  -10000  10000
 
-Rudder mixer
+CH3: Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:       10000  10000       0  -10000  10000
+S: 0 3       0  20000  -10000  -10000  10000
+
+CH4: Rudder mixer
 ------------
 Two scalers total (output, yaw).
 
@@ -49,16 +60,22 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
+O:       10000  10000       0  -10000  10000
+S: 0 2   10000  10000       0  -10000  10000
 
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
+CH5: Flaps mixer
+------------
+Flaps are controlled automatically in position control and auto
+but can also be controlled manually
 
 M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
+O:        5000  10000       0  -10000  10000
+S: 0 4   10000  10000       0  -10000  10000
+
+CH6: Landing gear mixer
+------------
+By default pass-through of gear switch
+
+M: 1
+O:        10000 10000       0  -10000  10000
+S: 3 5    10000 10000       0  -10000  10000

ROMFS/px4fmu_common/mixers/IO_pass.mix

@@ -1,38 +0,0 @@
-Passthrough mixer for PX4IO
-============================
-
-This file defines passthrough mixers suitable for testing.
-
-Channel group 0, channels 0-7 are passed directly through to the outputs.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 1  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/RET.main.mix

@@ -1,53 +0,0 @@
-Rudder/elevator/throttle mixer for PX4FMU
-=========================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-rudder, elevator and throttle controls using PX4FMU. The configuration assumes
-the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1
-and the throttle to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-Rudder mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-
-Elevator mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Output 2
---------
-This mixer is empty.
-
-Z:
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/dodeca_bottom_cox.aux.mix

@@ -0,0 +1,3 @@
+# Dodeca Cox
+
+R: 6a 10000 10000 10000 0

ROMFS/px4fmu_common/mixers/dodeca_top_cox.main.mix

@@ -0,0 +1,3 @@
+# Dodeca Cox
+
+R: 6m 10000 10000 10000 0

ROMFS/px4fmu_common/mixers/easystar.main.mix

@@ -1,31 +0,0 @@
-EASYSTAR / EASYSTAR II MIXER
-============================
-
-Aileron mixer
--------------
-One output - would be easy to add support for 2 servos
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-
-Elevator mixer
-------------
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Rudder mixer
-------------
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 2  -10000  -10000      0 -10000  10000
-
-Motor speed mixer
------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/ocpoc_quad_x.main.mix

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

ROMFS/px4fmu_common/mixers/skywalker.main.mix

@@ -1,64 +0,0 @@
-Mixer for Skywalker Airframe
-==================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
-assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
-elevator to output 1, the rudder to output 2 and the throttle to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-Aileron mixer
--------------
-Two scalers total (output, roll).
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-As there is only one output, if using two servos adjustments to compensate for
-differences between the servos must be made mechanically.  To obtain the correct
-motion using a Y  cable, the servos can be positioned reversed from one another.
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 0  -10000  -10000      0 -10000  10000
-
-Elevator mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1   10000   10000      0 -10000  10000
-
-Rudder mixer
-------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000

ROMFS/px4fmu_common/mixers/stampede.main.mix

@@ -0,0 +1,37 @@
+Traxxas Stampede Rc Car mixer for PX4FMU
+===========================
+
+Designed for Traxxas Stampede
+
+This file defines mixers suitable for controlling a Traxxas Stampede rover using
+PX4FMU. The configuration assumes the steering is connected to PX4FMU
+servo outputs  1 and the motor speed control to output 3. Output 0 and 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+
+Output 0
+---------------------------------------
+Z:
+
+Steering mixer using roll on output 1
+---------------------------------------
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 2   10000   10000      0 -10000  10000
+
+
+Output 2
+---------------------------------------
+This mixer is empty.
+Z:
+
+
+Output 3
+---------------------------------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3  10000  10000      0 -10000  10000

ROMFS/px4fmu_test/init.d/rc.sensors

@@ -73,11 +73,6 @@ then
 		if hmc5883 -C -T -S -R 8 start
 		then
 		fi
-
-		if meas_airspeed start -b 2
-		then
-		fi
-
 	else
 		# FMUv2
 		if mpu6000 start
@@ -179,16 +174,32 @@ then
 	fi
 fi
 
-if meas_airspeed start
+if sdp3x_airspeed start
+then
+fi
+
+if ms5525_airspeed start
+then
+fi
+
+if ms5525_airspeed start -b 2
+then
+fi
+
+if ms4525_airspeed start
+then
+fi
+
+if ms4525_airspeed start -b 2
+then
+fi
+
+if ets_airspeed start
+then
+fi
+
+if ets_airspeed start -b 1
 then
-else
-	if ets_airspeed start
-	then
-	else
-		if ets_airspeed start -b 1
-		then
-		fi
-	fi
 fi
 
 if sf1xx start

ROMFS/sitl/mixers/rover_sitl.main.mix

@@ -1,37 +1,46 @@
 Mixer for SITL rover
 =========================================================
 
-# mixer for the rudder
+Output 0
+---------------------------------------
 M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 0   10000   10000    0 -10000  10000
+O:       10000   10000      0 -10000  10000
+S: 0 2   10000   10000      0 -10000  10000
 
-# mixer for the rudder
+Output 1
+---------------------------------------
 M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 0   10000   10000    0 -10000  10000
+O:       10000   10000      0 -10000  10000
+S: 0 2   10000   10000      0 -10000  10000
 
-# mixer for the elevator
-M: 1
-O:       10000   10000   0 -10000  10000
-S: 0 1   10000   10000    0 -10000  10000
+Output 2
+---------------------------------------
+Z:
 
-# mixer for throttle
+Output 3
+---------------------------------------
+Z:
+
+Output 4
+---------------------------------------
+Z:
+
+Output 5
+---------------------------------------
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
+S: 0 3  10000  10000      0 -10000  10000
 
-# mixer for throttle
+Output 6
+---------------------------------------
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
+S: 0 3  10000  10000      0 -10000  10000
 
-# mixer for throttle
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
+Output 7
+---------------------------------------
+Z:
 
-# mixer for throttle
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
+Output 8
+---------------------------------------
+Z:

ROMFS/tap_common/init.d/4001_quad_x

@@ -3,6 +3,7 @@
 # @name Generic Quadrotor X config
 #
 # @type Quadrotor x
+# @class Copter
 #
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel