mathlib Limits move radians/degrees to header (#9102)

Addressing review comments in PR #9096

.github_changelog_generator

@@ -0,0 +1,33 @@
+# How to install:
+#   gem install github_changelog_generator
+# How to run:
+#   github_changelog_generator -u PX4 -p Firmware
+# Description:
+#   The following params are sensible defaults for the PX4 project,
+#   if you want to do a changelog before a release you need to update since-tag and future-releases,
+
+# Params:
+#   github_changelog_generator --help for all options
+
+# max-issues
+#   max threshold for github api queries
+#   make sure you set your CHANGELOG_GITHUB_TOKEN before
+#   running
+max-issues=1500
+
+# exclude-tags-regex
+#   excludes release candidates
+exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
+
+# since-tag
+#   version of last stable release
+#   you need to change this depending on what you need
+#   if you want a changelog between versions this is the lowest version
+since-tag=1.6.5
+
+# future-release
+#   version you are about to release
+#   if you want a changelog between a version and all unreleased changes grouped as a release
+#     eg: v1.6.5 to v1.7.0
+future-release=v1.7.0
+

.gitmodules

@@ -1,7 +1,3 @@
-[submodule "mavlink/include/mavlink/v1.0"]
-	path = mavlink/include/mavlink/v1.0
-	url = https://github.com/mavlink/c_library_v1.git
-	branch = master
 [submodule "mavlink/include/mavlink/v2.0"]
 	path = mavlink/include/mavlink/v2.0
 	url = https://github.com/mavlink/c_library_v2.git

CMakeLists.txt

@@ -110,7 +110,7 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
 
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
 
 #=============================================================================
 # git
@@ -155,6 +155,9 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
 endif()
 
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)
+
+include(platforms/${OS}/cmake/px4_impl_os.cmake)
 set(config_module "configs/${CONFIG}")
 include(${config_module})
 
@@ -243,11 +246,11 @@ set(BUILD_SHARED_LIBS OFF)
 #=============================================================================
 # ccache
 #
-option(CCACHE "Use ccache if available" OFF)
+option(CCACHE "Use ccache if available" ON)
 find_program(CCACHE_PROGRAM ccache)
-if (CCACHE AND CCACHE_PROGRAM)
-	message(STATUS "Enabled ccache: ${CCACHE_PROGRAM}")
+if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
 	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
+else()
 endif()
 
 #=============================================================================
@@ -332,7 +335,7 @@ px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker
 px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${optimization_flags}" GLUE " ")
 px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimization_flags}" GLUE " ")
 
-include_directories(${include_dirs})
+include_directories(${include_dirs} ${CMAKE_CURRENT_BINARY_DIR}/src/modules/systemlib/param)
 link_directories(${link_dirs})
 add_definitions(${definitions})
 
@@ -394,11 +397,13 @@ endif()
 #=============================================================================
 # subdirectories
 #
+add_subdirectory(src/platforms/common)
+
 foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()
 
-add_subdirectory(src/firmware/${OS})
+add_subdirectory(platforms/${OS})
 
 #=============================================================================
 # generate custom target to print for all executable and module cmake targets

CONTRIBUTING.md

@@ -41,4 +41,4 @@ Since we care about safety, we will regularly ask you for test results. Best is
 
 Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
 
-Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Log Muncher](http://dash.oznet.ch) and link the resulting report.
+MuncherMake sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.

Jenkinsfile

@@ -15,10 +15,11 @@ pipeline {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  docker.image('px4io/px4-dev-nuttx:2017-12-30').inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
                     stage("${node_name}") {
                       checkout scm
-                      sh "make clean"
+                      sh "export"
+                      sh "make distclean"
                       sh "ccache -z"
                       sh "git fetch --tags"
                       sh "make nuttx_${node_name}_default"
@@ -26,6 +27,7 @@ pipeline {
                       sh "make sizes"
                       sh "ccache -s"
                       archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
+                      archiveArtifacts(artifacts: 'build/*/*.elf', fingerprint: true)
                     }
                   }
                 }
@@ -38,10 +40,11 @@ pipeline {
           builds["px4fmu-v2"] = {
             node {
               stage("Build Test ${node_name}") {
-                docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                docker.image('px4io/px4-dev-nuttx:2017-12-30').inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
                   stage("${node_name}") {
                     checkout scm
-                    sh "make clean"
+                    sh "export"
+                    sh "make distclean"
                     sh "ccache -z"
                     sh "git fetch --tags"
                     sh "make px4io-v2_default"
@@ -52,6 +55,7 @@ pipeline {
                     sh "make sizes"
                     sh "ccache -s"
                     archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
+                    archiveArtifacts(artifacts: 'build/*/*.elf', fingerprint: true)
                   }
                 }
               }
@@ -66,16 +70,18 @@ pipeline {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  docker.image('px4io/px4-dev-nuttx:2017-12-30').inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
                     stage("${node_name}") {
                       checkout scm
-                      sh "make clean"
+                      sh "export"
+                      sh "make distclean"
                       sh "ccache -z"
                       sh "git fetch --tags"
                       sh "make nuttx_${node_name}_default"
                       sh "make sizes"
                       sh "ccache -s"
                       archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
+                      archiveArtifacts(artifacts: 'build/*/*.elf', fingerprint: true)
                     }
                   }
                 }
@@ -91,10 +97,11 @@ pipeline {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  docker.image('px4io/px4-dev-nuttx:2017-12-30').inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
                     stage("${node_name}") {
                       checkout scm
-                      sh "make clean"
+                      sh "export"
+                      sh "make distclean"
                       sh "ccache -z"
                       sh "make nuttx_${node_name}_default"
                       sh "make sizes"
@@ -114,10 +121,11 @@ pipeline {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-base:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  docker.image('px4io/px4-dev-base:2017-12-30').inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
                     stage("${node_name}") {
                       checkout scm
-                      sh "make clean"
+                      sh "export"
+                      sh "make distclean"
                       sh "ccache -z"
                       sh "make posix_${node_name}"
                       sh "ccache -s"
@@ -136,10 +144,11 @@ pipeline {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-raspi:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  docker.image('px4io/px4-dev-raspi:2017-12-30').inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
                     stage("${node_name}") {
                       checkout scm
-                      sh "make clean"
+                      sh "export"
+                      sh "make distclean"
                       sh "ccache -z"
                       sh "make posix_${node_name}"
                       sh "ccache -s"
@@ -158,10 +167,11 @@ pipeline {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-armhf:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  docker.image('px4io/px4-dev-armhf:2017-12-30').inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
                     stage("${node_name}") {
                       checkout scm
-                      sh "make clean"
+                      sh "export"
+                      sh "make distclean"
                       sh "ccache -z"
                       sh "make posix_${node_name}"
                       sh "ccache -s"
@@ -181,10 +191,11 @@ pipeline {
               node {
                 stage("Build Test ${node_name}") {
                   docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
-                    docker.image("lorenzmeier/px4-dev-snapdragon:2017-10-23").inside {
+                    docker.image("lorenzmeier/px4-dev-snapdragon:2017-12-29").inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
                       stage("${node_name}") {
                         checkout scm
-                        sh "make clean"
+                        sh "export"
+                        sh "make distclean"
                         sh "ccache -z"
                         sh "make ${node_name}"
                         sh "ccache -s"
@@ -204,10 +215,11 @@ pipeline {
             builds["${node_name} (GCC7)"] = {
               node {
                 stage("Build Test ${node_name} (GCC7)") {
-                  docker.image('px4io/px4-dev-base-archlinux:2017-12-08').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  docker.image('px4io/px4-dev-base-archlinux:2017-12-30').inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
                     stage("${node_name}") {
                       checkout scm
-                      sh "make clean"
+                      sh "export"
+                      sh "make distclean"
                       sh "ccache -z"
                       sh "make posix_${node_name}"
                       sh "ccache -s"
@@ -218,27 +230,6 @@ pipeline {
             }
           }
 
-          // GCC7 nuttx
-          for (def option in ["px4fmu-v5_default"]) {
-            def node_name = "${option}"
-
-            builds["${node_name} (GCC7)"] = {
-              node {
-                stage("Build Test ${node_name} (GCC7)") {
-                  docker.image('px4io/px4-dev-base-archlinux:2017-12-08').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "make clean"
-                      sh "ccache -z"
-                      sh "make nuttx_${node_name}"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
-          }
-
           parallel builds
         }
       }
@@ -250,11 +241,12 @@ pipeline {
         stage('check style') {
           agent {
             docker {
-              image 'px4io/px4-dev-base:2017-10-23'
-              args '-e CI=true'
+              image 'px4io/px4-dev-base:2017-12-30'
             }
           }
           steps {
+            sh 'export'
+            sh 'make distclean'
             sh 'make check_format'
           }
         }
@@ -262,12 +254,13 @@ pipeline {
         stage('clang analyzer') {
           agent {
             docker {
-              image 'px4io/px4-dev-clang:2017-10-23'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+              image 'px4io/px4-dev-clang:2017-12-30'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
           steps {
-            sh 'make clean'
+            sh 'export'
+            sh 'make distclean'
             sh 'make scan-build'
             // publish html
             publishHTML target: [
@@ -280,17 +273,25 @@ pipeline {
               reportName: 'Clang Static Analyzer'
             ]
           }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'beta'
+              branch 'stable'
+            }
+          }
         }
 
         stage('clang tidy') {
           agent {
             docker {
-              image 'px4io/px4-dev-clang:2017-10-23'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+              image 'px4io/px4-dev-clang:2017-12-30'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
           steps {
-            sh 'make clean'
+            sh 'export'
+            sh 'make distclean'
             sh 'make clang-tidy-quiet'
           }
         }
@@ -299,11 +300,12 @@ pipeline {
           agent {
             docker {
               image 'px4io/px4-dev-base:ubuntu17.10'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
           steps {
-            sh 'make clean'
+            sh 'export'
+            sh 'make distclean'
             sh 'make cppcheck'
             // publish html
             publishHTML target: [
@@ -316,44 +318,253 @@ pipeline {
               reportName: 'Cppcheck'
             ]
           }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'beta'
+              branch 'stable'
+            }
+          }
         }
 
         stage('tests') {
           agent {
             docker {
-              image 'px4io/px4-dev-base:2017-10-23'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+              image 'px4io/px4-dev-base:2017-12-30'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
           steps {
-            sh 'make clean'
+            sh 'export'
+            sh 'make distclean'
             sh 'make posix_sitl_default test_results_junit'
             junit 'build/posix_sitl_default/JUnitTestResults.xml'
           }
         }
 
-        // temporarily disabled until stable
-        //stage('tests coverage') {
-        //  agent {
-        //    docker {
-        //      image 'px4io/px4-dev-base:2017-10-23'
-        //      args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
-        //    }
-        //  }
-        //  steps {
-        //    sh 'make clean'
-        //    sh 'make tests_coverage'
-        //    // publish html
-        //    publishHTML target: [
-        //      allowMissing: false,
-        //      alwaysLinkToLastBuild: false,
-        //      keepAll: true,
-        //      reportDir: 'build/posix_sitl_default/coverage-html',
-        //      reportFiles: '*',
-        //      reportName: 'Coverage Report'
-        //    ]
-        //  }
-        //}
+        stage('ROS vtol mission new 1') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_1: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_1: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '.ros/**/*.ulg'
+              archiveArtifacts '.ros/**/rosunit-*.xml'
+              archiveArtifacts '.ros/**/rostest-*.log'
+            }
+          }
+        }
+
+        stage('ROS vtol mission new 2') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2 vehicle:=standard_vtol'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_2: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_2: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '.ros/**/*.ulg'
+              archiveArtifacts '.ros/**/rosunit-*.xml'
+              archiveArtifacts '.ros/**/rostest-*.log'
+            }
+          }
+        }
+
+        stage('ROS vtol mission old 1') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1 vehicle:=standard_vtol'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_1: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_1: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '.ros/**/*.ulg'
+              archiveArtifacts '.ros/**/rosunit-*.xml'
+              archiveArtifacts '.ros/**/rostest-*.log'
+            }
+          }
+        }
+
+        stage('ROS vtol mission old 2') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2 vehicle:=standard_vtol'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_2: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_2: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '.ros/**/*.ulg'
+              archiveArtifacts '.ros/**/rosunit-*.xml'
+              archiveArtifacts '.ros/**/rostest-*.log'
+            }
+          }
+        }
+
+        stage('ROS vtol mission old 3') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'export'
+            //sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
+            //sh 'git fetch --tags'
+            //sh 'make posix_sitl_default'
+            //sh 'make posix_sitl_default sitl_gazebo'
+            //sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_3 vehicle:=standard_vtol'
+          }
+          post {
+            //success {
+            //  sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_3: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            //}
+            failure {
+              //sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_3: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '.ros/**/*.ulg'
+              archiveArtifacts '.ros/**/rosunit-*.xml'
+              archiveArtifacts '.ros/**/rostest-*.log'
+            }
+          }
+        }
+
+        stage('ROS MC mission box') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box vehicle:=iris'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS mission test multirotor_box: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS mission test multirotor_box: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '.ros/**/*.ulg'
+              archiveArtifacts '.ros/**/rosunit-*.xml'
+              archiveArtifacts '.ros/**/rostest-*.log'
+            }
+          }
+        }
+
+        stage('ROS offboard att') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS offboard attitude test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS offboard attitude test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '.ros/**/*.ulg'
+              archiveArtifacts '.ros/**/rosunit-*.xml'
+              archiveArtifacts '.ros/**/rostest-*.log'
+            }
+          }
+        }
+
+        stage('ROS offboard pos') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
+          }
+          post {
+            success {
+              sh './Tools/upload_log.py -q --description "ROS offboard position test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+            failure {
+              sh './Tools/upload_log.py -q --description "ROS offboard position test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '.ros/**/*.ulg'
+              archiveArtifacts '.ros/**/rosunit-*.xml'
+              archiveArtifacts '.ros/**/rostest-*.log'
+            }
+          }
+        }
 
       }
     }
@@ -364,9 +575,10 @@ pipeline {
 
         stage('airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base:2017-10-23' }
+            docker { image 'px4io/px4-dev-base:2017-12-30' }
           }
           steps {
+            sh 'make distclean'
             sh 'make airframe_metadata'
             archiveArtifacts(artifacts: 'airframes.md, airframes.xml', fingerprint: true)
           }
@@ -374,9 +586,10 @@ pipeline {
 
         stage('parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base:2017-10-23' }
+            docker { image 'px4io/px4-dev-base:2017-12-30' }
           }
           steps {
+            sh 'make distclean'
             sh 'make parameters_metadata'
             archiveArtifacts(artifacts: 'parameters.md, parameters.xml', fingerprint: true)
           }
@@ -384,19 +597,35 @@ pipeline {
 
         stage('module') {
           agent {
-            docker { image 'px4io/px4-dev-base:2017-10-23' }
+            docker { image 'px4io/px4-dev-base:2017-12-30' }
           }
           steps {
+            sh 'make distclean'
             sh 'make module_documentation'
             archiveArtifacts(artifacts: 'modules/*.md', fingerprint: true)
           }
         }
+
+        stage('uorb graphs') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-nuttx:2017-12-30'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'make uorb_graphs'
+            archiveArtifacts(artifacts: 'Tools/uorb_graph/graph_sitl.json')
+          }
+        }
       }
     }
 
     stage('S3 Upload') {
       agent {
-        docker { image 'px4io/px4-dev-base:2017-10-23' }
+        docker { image 'px4io/px4-dev-base:2017-12-30' }
       }
 
       when {
@@ -412,7 +641,10 @@ pipeline {
       }
     }
   }
-
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
   options {
     buildDiscarder(logRotator(numToKeepStr: '5'))
     timeout(time: 60, unit: 'MINUTES')

Makefile

@@ -252,8 +252,8 @@ coverity_scan: posix_sitl_default
 .PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata
 
 parameters_metadata:
-	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --markdown
-	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --xml
+	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --markdown
+	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --xml
 
 airframe_metadata:
 	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown
@@ -279,7 +279,7 @@ format:
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage
+.PHONY: tests tests_coverage tests_mission tests_offboard rostest
 
 tests:
 	@$(MAKE) --no-print-directory posix_sitl_default test_results \
@@ -287,9 +287,25 @@ tests:
 	UBSAN_OPTIONS="color=always"
 
 tests_coverage:
+	@$(MAKE) clean
+	@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
 	@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"
 
+rostest: posix_sitl_default
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo
+
+tests_mission: rostest
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
+
+tests_offboard: rostest
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
 .PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack
@@ -310,12 +326,12 @@ posix_sitl_default-clang:
 	@$(PX4_MAKE) -C $(SRC_DIR)/build/posix_sitl_default-clang
 
 clang-tidy: posix_sitl_default-clang
-	@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: posix_sitl_default-clang
-	@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
 
 # modified version of run-clang-tidy.py to return error codes and only output relevant results
 clang-tidy-quiet: posix_sitl_default-clang
@@ -358,7 +374,8 @@ submodulesupdate:
 gazeboclean:
 	@rm -rf ~/.gazebo/*
 
-distclean: submodulesclean gazeboclean
+distclean: gazeboclean
+	@git submodule deinit -f .
 	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
 
 # --------------------------------------------------------------------

README.md

@@ -25,7 +25,7 @@ See the [forum and chat](https://docs.px4.io/en/#support) if you need help!
 
 ## PX4 Developers
 
-This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, any anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
+This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
 Developers should read the [Guide for Contributions](https://dev.px4.io/en/contribute/).
 See the [forum and chat](https://dev.px4.io/en/#support) if you need help!
@@ -35,12 +35,12 @@ See the [forum and chat](https://dev.px4.io/en/#support) if you need help!
 
 The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/#dev_call).
 
-> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform.
+> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers.
 
 
 ## Maintenance Team
 
-  * Project / Founder - [Lorenz Meier](https://github.com/LorenzMeier)
+  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
     * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
   * Communication Architecture
     * [Beat Kueng](https://github.com/bkueng)
@@ -67,15 +67,13 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribut
   * Vision based navigation
     * [Christoph Tobler](https://github.com/ChristophTobler)
     * [Mohammed Kabir](https://github.com/mhkabir)
-  * Obstacle Avoidance - [Vilhjalmur Vilhjalmsson](https://github.com/vilhjalmur89)
+  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
   * [Snapdragon](https://github.com/PX4/Firmware/labels/snapdragon)
     * [Christoph Tobler](https://github.com/ChristophTobler)
-    * [Mark Charlebois](https://github.com/mcharleb)
   * [Intel Aero](https://github.com/PX4/Firmware/labels/intel%20aero)
     * [Sugnan Prabhu](https://github.com/sugnanprabhu)
     * [José Roberto de Souza](https://github.com/zehortigoza)
   * [Raspberry Pi / Navio](https://github.com/PX4/Firmware/labels/raspberry_pi) - [Beat Kueng](https://github.com/bkueng)
-  * [Parrot Bebop](https://github.com/PX4/Firmware/labels/bebop) - [Michael Schaeuble](https://github.com/eyeam3)
   * [Airmind MindPX / MindRacer](https://github.com/PX4/Firmware/labels/mindpx) - [Henry Zhang](https://github.com/iZhangHui)
   * RTPS/ROS2 Interface - [Vicente Monge](https://github.com/vicenteeprosima)
 

ROMFS/CMakeLists.txt

@@ -28,19 +28,29 @@ list(APPEND romfs_dependencies
 	${romfs_temp_dir}/init.d/rc.autostart
 	)
 	
-# create romfs.bin
+# copy px4io binary if configured
+if (config_io_board)
+	list(APPEND romfs_dependencies
+		copy_px4io_bin
+		${fw_io_bin}
+		)
+endif()
+
+# create romfs.img
 add_custom_command(OUTPUT romfs.img
+	COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt
 	COMMAND ${GENROMFS} -f romfs.img -d ${romfs_temp_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
 	DEPENDS ${romfs_dependencies}
 	)
 
-# create romfs.o
+# create nsh_romfsimg.c
 add_custom_command(OUTPUT nsh_romfsimg.c
+	COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
 	COMMAND xxd -i romfs.img nsh_romfsimg.c
 	COMMAND sed 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && mv nsh_romfsimg.c.tmp nsh_romfsimg.c
 	DEPENDS romfs.img
 	)
 
 add_library(romfs STATIC nsh_romfsimg.c)
-add_dependencies(romfs platforms__common)
+add_dependencies(romfs prebuild_targets)
 set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)

ROMFS/px4fmu_common/init.d/10016_3dr_iris

@@ -40,6 +40,6 @@ then
 	param set BAT_A_PER_V 15.39103
 fi
 
-set MIXER quad_dc
+set MIXER quad_w
 
 set PWM_OUT 1234

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

@@ -8,7 +8,6 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-sh /etc/init.d/rc.mc_defaults
+sh /etc/init.d/4001_quad_x
 
-set MIXER quad_x
 param set SYS_HITL 1

ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard

@@ -17,7 +17,6 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
-# @board px4fmu-v1 exclude
 
 sh /etc/init.d/rc.vtol_defaults
 

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

@@ -38,6 +38,7 @@ then
 	param set VT_IDLE_PWM_MC  1080
 	param set VT_TYPE 0
 	param set MAV_TYPE 19
+	param set VT_ELEV_MC_LOCK 0
 fi
 
 set MIXER caipirinha_vtol

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

@@ -16,6 +16,8 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
+# @board px4fmu-v2 exclude
+#
 
 sh /etc/init.d/rc.vtol_defaults
 

ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad

@@ -24,7 +24,7 @@ if [ $AUTOCNF == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-	param set VT_TRANS_THR 0.75
+	param set VT_F_TRANS_THR 0.75
 	param set VT_ARSP_TRANS 12
 	param set VT_ARSP_BLEND 6
 

ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta

@@ -22,7 +22,7 @@ if [ $AUTOCNF == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-	param set VT_TRANS_THR 0.75
+	param set VT_F_TRANS_THR 0.75
 
 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.15

ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad

@@ -14,7 +14,7 @@ if [ $AUTOCNF == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-	param set VT_TRANS_THR 0.75
+	param set VT_F_TRANS_THR 0.75
 
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.15

ROMFS/px4fmu_common/init.d/13008_QuadRanger

@@ -14,7 +14,7 @@ if [ $AUTOCNF == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-	param set VT_TRANS_THR 0.75
+	param set VT_F_TRANS_THR 0.75
 
 	param set PWM_AUX_REV1 1
 	param set PWM_AUX_REV2 1

ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger

@@ -19,7 +19,7 @@ then
     param set VT_ARSP_TRANS   15.0
     param set VT_B_TRANS_DUR  4.0
     param set VT_TRANS_MIN_TM 5.0
-    param set VT_TRANS_THR    0.6
+    param set VT_F_TRANS_THR    0.6
     param set VT_TRANS_TIMEOUT    30.0
 
     param set FW_AIRSPD_MAX   22.0

ROMFS/px4fmu_common/init.d/13010_claire

@@ -7,6 +7,8 @@
 #
 # @maintainer Samay Siga <samay_s@icloud.com>
 #
+# @board px4fmu-v2 exclude
+#
 
 sh /etc/init.d/rc.vtol_defaults
 

ROMFS/px4fmu_common/init.d/13012_convergence

@@ -23,7 +23,7 @@ if [ $AUTOCNF == yes ]
 then
     param set VT_MOT_COUNT 3
     param set VT_FW_MOT_OFFID 3
-    param set VT_IDLE_PWM_MC 1080
+    param set VT_IDLE_PWM_MC 1150
     param set VT_TYPE 1
 
     param set VT_B_TRANS_DUR  1.0

ROMFS/px4fmu_common/init.d/13013_deltaquad

@@ -23,7 +23,7 @@ if [ $AUTOCNF == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-	param set VT_TRANS_THR 1
+	param set VT_F_TRANS_THR 1
 	param set VT_DWN_PITCH_MAX 8
 	param set VT_FW_QC_P 55
 	param set VT_FW_QC_R 55

ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm

@@ -1,19 +0,0 @@
-#!nsh
-#
-# @name Passthrough mode for Snapdragon
-#
-# @type custom
-# @class Tool
-#
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
-# @board aerofc-v1 exclude
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-# This startup can be used on Pixhawk/Pixfalcon/Pixracer for the
-# passthrough of RC input and PWM output.
-
-set VEHICLE_TYPE passthrough

ROMFS/px4fmu_common/init.d/4070_aerofc

@@ -11,7 +11,7 @@
 # @type Quadrotor x
 # @class Copter
 #
-# @maintainer Lucas de Marchi
+# @maintainer Beat Kueng <beat@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/4080_zmr250

@@ -17,17 +17,15 @@ set PWM_OUT 1234
 
 if [ $AUTOCNF == yes ]
 then
-	param set MC_ROLL_P 2.0
-	param set MC_ROLLRATE_P 0.05
+	param set MC_ROLL_P 2.2
+	param set MC_ROLLRATE_P 0.06
 	param set MC_ROLLRATE_I 0.2
-	param set MC_ROLLRATE_D 0.0015
-	param set MC_ROLL_TC 0.18
+	param set MC_ROLLRATE_D 0.0017
 
-	param set MC_PITCH_P 2.0
-	param set MC_PITCHRATE_P 0.05
+	param set MC_PITCH_P 2.2
+	param set MC_PITCHRATE_P 0.06
 	param set MC_PITCHRATE_I 0.2
-	param set MC_PITCHRATE_D 0.0015
-	param set MC_PITCH_TC 0.18
+	param set MC_PITCHRATE_D 0.0017
 
 	param set MC_YAW_P 1.0
 	param set MC_YAWRATE_P 0.15

ROMFS/px4fmu_common/init.d/50000_generic_ground_vehicle

@@ -10,6 +10,8 @@
 #
 # @maintainer
 #
+# @board px4fmu-v2 exclude
+#
 
 sh /etc/init.d/rc.ugv_defaults
 

ROMFS/px4fmu_common/init.d/50001_axialracing_ax10

@@ -14,6 +14,8 @@
 # @output MAIN7 pass-through of control group 0, channel 6
 # @output MAIN8 pass-through of control group 0, channel 7
 #
+# @board px4fmu-v2 exclude
+#
 
 sh /etc/init.d/rc.axialracing_ax10_defaults
 

ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd

@@ -12,6 +12,8 @@
 #
 # @maintainer Marco Zorzi
 #
+# @board px4fmu-v2 exclude
+#
 
 sh /etc/init.d/rc.ugv_defaults
 

ROMFS/px4fmu_common/init.d/rc.interface

@@ -120,27 +120,7 @@ then
 	fi
 fi
 
-if ver hwcmp MINDPX_V2
-then
-	set MIXER_AUX none
-fi
-
-if ver hwcmp CRAZYFLIE
-then
-	set MIXER_AUX none
-fi
-
-if ver hwcmp AEROFC_V1
-then
-	set MIXER_AUX none
-fi
-
-if ver hwcmp PX4FMU_V4
-then
-	set MIXER_AUX none
-fi
-
-if ver hwcmp PX4FMU_V5
+if ver hwcmp MINDPX_V2 CRAZYFLIE AEROFC_V1 PX4FMU_V4 NXPHLITE_V3
 then
 	set MIXER_AUX none
 fi

ROMFS/px4fmu_common/init.d/rc.logging

@@ -0,0 +1,33 @@
+#!nsh
+# Logging
+#
+# Standard startup script for logging
+#
+
+if param compare SYS_LOGGER 0
+then
+	sdlog2 start -r 100 -a -b 9 -t
+else
+	set LOGGER_ARGS ""
+
+	if param compare SDLOG_MODE 1
+	then
+		set LOGGER_ARGS "-e"
+	fi
+
+	if param compare SDLOG_MODE 2
+	then
+		set LOGGER_ARGS "-f"
+	fi
+
+	if ver hwcmp AEROFC_V1
+	then
+		set LOGGER_ARGS "-m mavlink"
+	fi
+
+	logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
+
+	unset LOGGER_ARGS
+fi
+
+unset LOGGER_BUF

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -31,8 +31,8 @@ else
 	# External SPI
 	ms5611 -S start
 
-	# Internal SPI
-	ms5611 -s start
+	# Internal SPI (auto detect ms5611 or ms5607)
+	ms5611 -T 0 -s start
 
 	# Blacksheep telemetry
 	bst start
@@ -42,13 +42,13 @@ fi
 
 if ver hwcmp NXPHLITE_V3
 then
-	# Internal I2C
+	# Internal I2C (baro)
 	mpl3115a2 -I start
 
-	# Internal SPI
-	fxos8700cq start -a 8 -R 0
+	# Internal SPI (accel + mag)
+	fxos8701cq start -a 8 -R 0
 
-	# Internal SPI
+	# Internal SPI (gyro)
 	fxas21002c start -R 0
 fi
 
@@ -56,6 +56,7 @@ if ver hwcmp AUAV_X21
 then
 	# External I2C bus
 	hmc5883 -C -T -X start
+	lis3mdl -X start
 
 	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
 	mpu6000 -R 2 -T 20608 start
@@ -69,6 +70,9 @@ fi
 
 if ver hwcmp PX4FMU_V2
 then
+	# V2 build hwtypecmp is always false
+	set BOARD_FMUV3 0
+
 	# External I2C bus
 	hmc5883 -C -T -X start
 	lis3mdl -X start
@@ -79,8 +83,6 @@ then
 	# Internal SPI bus ICM-20608-G
 	mpu6000 -T 20608 start
 
-	# V2 build hwtypecmp is always false
-	set BOARD_FMUV3 0
 	# V3 build hwtypecmp supports V2|V2M|V30
 	if ver hwtypecmp V30
 	then
@@ -99,6 +101,26 @@ then
 		fi
 	fi
 
+	# Check if a Pixhack (which reports as V2M) is present
+	if ver hwtypecmp V2M
+	then
+		# Pixhawk Mini doesn't have these sensors,
+		# so if they are found we know its a Pixhack
+
+		# external MPU6K is rotated 180 degrees yaw
+		if mpu6000 -S -R 4 start
+		then
+			set BOARD_FMUV3 20
+		else
+			# Check for Pixhack 3.1
+			# external MPU9250 is rotated 180 degrees yaw
+			if mpu9250 -S -R 4 start
+			then
+				set BOARD_FMUV3 21
+			fi
+		fi
+	fi
+
 	if [ $BOARD_FMUV3 != 0 ]
 	then
 		# sensor heating is available, but we disable it for now
@@ -114,9 +136,9 @@ then
 		then
 			# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
 			mpu6000 -R 14 start
+
 			# v2.0 Has internal hmc5883 on SPI1
 			hmc5883 -C -T -S -R 8 start
-
 		fi
 
 		if [ $BOARD_FMUV3 == 21 ]
@@ -143,6 +165,8 @@ then
 		l3gd20 start
 		lsm303d start
 	fi
+
+	unset BOARD_FMUV3
 fi
 
 if ver hwcmp PX4_SAME70XPLAINED_V1
@@ -173,7 +197,7 @@ then
 			# lis3mdl internal SPI bus is rotated 90 deg yaw
 		else
 			# BMI055 gyro internal SPI bus
-			bmi055 -G start	
+			bmi055 -G start
 		fi
 	fi
 
@@ -372,6 +396,49 @@ then
 	teraranger start
 fi
 
+# Benewake TFMini
+if param greater SENS_EN_TFMINI 0
+then
+	if ver hwcmp PX4FMU_V2 PX4FMU_V4PRO
+	then
+		# start the driver on serial 4/5
+		tfmini start -d /dev/ttyS6
+	else
+		if ver hwcmp AEROFC_V1
+		then
+			# start the driver on telemetry
+			tfmini start -d /dev/ttyS3
+		else
+			if param compare SYS_COMPANION 0
+			then
+				# start on default mavlink companion device
+				tfmini start -d /dev/ttyS2
+			fi
+		fi
+	fi
+fi
+
+# LeddarOne
+if param greater SENS_EN_LEDDAR1 0
+then
+	if ver hwcmp PX4FMU_V2 PX4FMU_V4PRO
+	then
+		# start the driver on serial 4/5
+		leddar_one -d /dev/ttyS6 start
+	fi
+	if ver hwcmp AEROFC_V1
+	then
+		# start the driver on telemetry
+		leddar_one -d /dev/ttyS3 start
+	else
+		if param compare SYS_COMPANION 0
+		then
+			# start on default mavlink companion device
+			leddar_one -d /dev/ttyS2 start
+		fi
+	fi
+fi
+
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
 sensors start

ROMFS/px4fmu_common/init.d/rcS

@@ -15,7 +15,7 @@ set +e
 #
 # UART mapping on FMUv2/3/4:
 #
-# UART1			/dev/ttyS0		IO debug
+# UART1			/dev/ttyS0		IO debug (except v4, there ttyS0 is the wifi)
 # USART2		/dev/ttyS1		TELEM1 (flow control)
 # USART3		/dev/ttyS2		TELEM2 (flow control)
 # UART4
@@ -28,7 +28,7 @@ set +e
 # UART1			/dev/ttyS0		GPS
 # USART2		/dev/ttyS1		TELEM1 (flow control)
 # USART3		/dev/ttyS2		TELEM2 (flow control)
-# UART4			/dev/ttyS3		?
+# UART4			/dev/ttyS3		TELEM4
 # USART6		/dev/ttyS4		TELEM3 (flow control)
 # UART7			/dev/ttyS5		?
 # UART8			/dev/ttyS6		CONSOLE
@@ -51,7 +51,7 @@ ver all
 #
 set MODE autostart
 
-set TUNE_ERR ML<<CP4CP4CP4CP4CP4
+set TUNE_ERR "ML<<CP4CP4CP4CP4CP4"
 set LOG_FILE /fs/microsd/bootlog.txt
 
 #
@@ -60,7 +60,6 @@ set LOG_FILE /fs/microsd/bootlog.txt
 # REBOOTWORK this needs to start after the flight control loop
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
-	echo "[i] microSD mounted: /fs/microsd"
 	if hardfault_log check
 	then
 		tone_alarm error
@@ -69,9 +68,6 @@ then
 			hardfault_log reset
 			tone_alarm stop
 		fi
-	else
-		# Start playing the startup tune
-		tone_alarm start
 	fi
 else
 	tone_alarm MBAGP
@@ -79,9 +75,9 @@ else
 	then
 		if mount -t vfat /dev/mmcsd0 /fs/microsd
 		then
-			echo "INFO  [init] MicroSD card formatted"
+			echo "INFO  [init] card formatted"
 		else
-			echo "ERROR [init] Format failed"
+			echo "ERROR [init] format failed"
 			tone_alarm MNBG
 			set LOG_FILE /dev/null
 		fi
@@ -97,7 +93,6 @@ fi
 set FRC /fs/microsd/etc/rc.txt
 if [ -f $FRC ]
 then
-	echo "INFO  [init] Executing script: ${FRC}"
 	sh $FRC
 	set MODE custom
 fi
@@ -111,6 +106,12 @@ then
 	#
 	uorb start
 
+	# Start tone driver
+	tone_alarm start
+
+	# play startup tone
+	tune_control play -t 1
+
 	#
 	# Load parameters
 	#
@@ -194,25 +195,11 @@ then
 	set MAV_TYPE none
 	set FAILSAFE none
 	set USE_IO no
-	set LOGGER_BUF 16
-
-	if ver hwcmp PX4FMU_V4
-	then
-		param set SYS_FMU_TASK 1
-	fi
-
-	if ver hwcmp PX4FMU_V4PRO
-	then
-		param set SYS_FMU_TASK 1
-	fi
+	set LOGGER_BUF 14
 
 	if ver hwcmp PX4FMU_V5
 	then
-		param set SYS_FMU_TASK 1
-		set MAVLINK_COMPANION_DEVICE /dev/ttyS3
-
 		set LOGGER_BUF 64
-		param set SDLOG_MODE 2
 	fi
 
 	if ver hwcmp CRAZYFLIE
@@ -299,6 +286,13 @@ then
 		then
 			param set CBRK_IO_SAFETY 22027
 		fi
+
+		# Run FMU as task on Pixracer and on boards with enough RAM
+		if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5
+		then
+			param set SYS_FMU_TASK 1
+		fi
+
 		param set SYS_AUTOCONFIG 0
 	fi
 	unset AUTOCNF
@@ -316,8 +310,6 @@ then
 
 			if px4io checkcrc ${IO_FILE}
 			then
-				echo "[init] PX4IO CRC OK" >> $LOG_FILE
-
 				set IO_PRESENT yes
 			else
 				tone_alarm MLL32CP8MB
@@ -349,7 +341,7 @@ then
 					fi
 				else
 					echo "PX4IO update failed" >> $LOG_FILE
-					tone_alarm ${TUNE_ERR}
+					tune_control play -m ${TUNE_ERR}
 				fi
 			fi
 		fi
@@ -358,7 +350,7 @@ then
 		if [ $IO_PRESENT == no ]
 		then
 			echo "PX4IO not found" >> $LOG_FILE
-			tone_alarm ${TUNE_ERR}
+			tune_control play -m ${TUNE_ERR}
 		fi
 	fi
 
@@ -464,7 +456,6 @@ then
 		then
 			if param compare UAVCAN_ENABLE 0
 			then
-				echo "OVERRIDING UAVCAN_ENABLE = 3" >> $LOG_FILE
 				param set UAVCAN_ENABLE 3
 			fi
 		fi
@@ -476,7 +467,7 @@ then
 				sh /etc/init.d/rc.io
 			else
 				echo "PX4IO start failed" >> $LOG_FILE
-				tone_alarm $TUNE_ERR
+				tune_control play -m  ${TUNE_ERR}
 			fi
 		fi
 
@@ -486,7 +477,7 @@ then
 			then
 			else
 				echo "FMU start failed" >> $LOG_FILE
-				tone_alarm $TUNE_ERR
+				tune_control play -m ${TUNE_ERR}
 			fi
 		fi
 
@@ -505,8 +496,7 @@ then
 			if mkblctrl $MKBLCTRL_ARG
 			then
 			else
-				echo "MK start failed" >> $LOG_FILE
-				tone_alarm $TUNE_ERR
+				tune_control play -m ${TUNE_ERR}
 			fi
 			unset MKBLCTRL_ARG
 		fi
@@ -514,10 +504,10 @@ then
 
 		if [ $OUTPUT_MODE == hil ]
 		then
-			if pwm_out_sim mode_pwm16
+			if pwm_out_sim start
 			then
 			else
-				tone_alarm $TUNE_ERR
+				tune_control play -m ${TUNE_ERR}
 			fi
 		fi
 
@@ -533,7 +523,7 @@ then
 					sh /etc/init.d/rc.io
 				else
 					echo "PX4IO start failed" >> $LOG_FILE
-					tone_alarm $TUNE_ERR
+					tune_control play -m ${TUNE_ERR}
 				fi
 			fi
 		else
@@ -543,7 +533,7 @@ then
 				then
 				else
 					echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
-					tone_alarm $TUNE_ERR
+					tune_control play -m ${TUNE_ERR}
 				fi
 			fi
 		fi
@@ -554,7 +544,7 @@ then
 		# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
 		set MAVLINK_F "-r 1200 -f"
 
-		# Avoid using ttyS1 for MAVLink on FMUv4
+		# Use ttyS1 for MAVLink on FMUv4 in addition to ttyS0 (debug)
 		if ver hwcmp PX4FMU_V4
 		then
 			set MAVLINK_F "-r 1200 -d /dev/ttyS1"
@@ -565,6 +555,16 @@ then
 		if ver hwcmp AEROFC_V1
 		then
 			set MAVLINK_F "-r 1200 -d /dev/ttyS3"
+
+			# Only start mavlink if the Benewake TFMini or LeddarOne isn't being used
+			if param greater SENS_EN_TFMINI 0
+			then
+				set MAVLINK_F none
+			fi
+			if param greater SENS_EN_LEDDAR1 0
+			then
+				set MAVLINK_F none				
+			fi
 		fi
 
 		if ver hwcmp CRAZYFLIE
@@ -589,7 +589,14 @@ then
 	if param compare SYS_COMPANION 10
 	then
 		frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
+	else
+		if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2
+		then
+			# This is TELEM4 on Pixhawk 3 Pro
+			frsky_telemetry start -d /dev/ttyS6
+		fi
 	fi
+
 	if param compare SYS_COMPANION 20
 	then
 		syslink start
@@ -644,9 +651,25 @@ then
 	fi
 	if param compare SYS_COMPANION 419200
 	then
-		iridiumsbd start -d /dev/ttyS2
+		iridiumsbd start -d ${MAVLINK_COMPANION_DEVICE}
 		mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
 	fi
+	if param compare SYS_COMPANION 519200
+	then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -m minimal -r 1000
+	fi
+	if param compare SYS_COMPANION 538400
+	then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -m minimal -r 1000
+	fi
+	if param compare SYS_COMPANION 557600
+	then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m minimal -r 1000
+	fi
+	if param compare SYS_COMPANION 5115200
+	then
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -m minimal -r 1000
+	fi
 	if param compare SYS_COMPANION 1921600
 	then
 		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
@@ -663,48 +686,27 @@ then
 	#
 	if param greater UAVCAN_ENABLE 0
 	then
+		# Start core UAVCAN module
 		if uavcan start
 		then
-			set LOGGER_BUF 6
-			uavcan start fw
+			if param greater UAVCAN_ENABLE 1
+			then
+				# Reduce logger buffer to free up some RAM for UAVCAN servers
+				set LOGGER_BUF 6
+				# Start UAVCAN firmware update server and dynamic node ID allocation server
+				uavcan start fw
+			fi
 		else
 			tone_alarm ${TUNE_ERR}
 		fi
 	fi
 
-	if ver hwcmp PX4FMU_V4
-	then
-		frsky_telemetry start -d /dev/ttyS6
-	fi
-
-	if ver hwcmp MINDPX_V2
-	then
-		frsky_telemetry start -d /dev/ttyS6
-	fi
-
-	if ver hwcmp PX4FMU_V2
+	if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5
 	then
 		# Check for flow sensor - as it is a background task, launch it last
 		px4flow start &
 	fi
 
-	if ver hwcmp PX4FMU_V4
-	then
-		# Check for flow sensor - as it is a background task, launch it last
-		px4flow start &
-	fi
-
-	if ver hwcmp PX4FMU_V4PRO
-	then
-		# Check for flow sensor - as it is a background task, launch it last
-		px4flow start &
-	fi
-
-	if ver hwcmp MINDPX_V2
-	then
-		px4flow start &
-	fi
-
 	if ver hwcmp AEROFC_V1
 	then
 		# don't start mavlink ttyACM0 on aerofc_v1
@@ -713,36 +715,6 @@ then
 		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
 	fi
 
-	#
-	# Logging
-	#
-	if param compare SYS_LOGGER 0
-	then
-		sdlog2 start -r 100 -a -b 9 -t
-	else
-		set LOGGER_ARGS ""
-
-		if param compare SDLOG_MODE 1
-		then
-			set LOGGER_ARGS "-e"
-		fi
-
-		if param compare SDLOG_MODE 2
-		then
-			set LOGGER_ARGS "-f"
-		fi
-
-		if ver hwcmp AEROFC_V1
-		then
-			set LOGGER_ARGS "-m mavlink"
-		fi
-
-		logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
-
-		unset LOGGER_BUF
-		unset LOGGER_ARGS
-	fi
-
 	#
 	# Fixed wing setup
 	#
@@ -823,7 +795,6 @@ then
 		# Still no MAV_TYPE found
 		if [ $MAV_TYPE == none ]
 		then
-			echo "Unknown MAV_TYPE"
 			param set MAV_TYPE 2
 		else
 			param set MAV_TYPE ${MAV_TYPE}
@@ -905,46 +876,6 @@ then
 		sh /etc/init.d/rc.ugv_apps
 	fi
 
-	#
-	# For snapdragon, we need a passthrough mode
-	# Do not run any mavlink instances since we need the serial port for
-	# communication with Snapdragon.
-	#
-	if [ $VEHICLE_TYPE == passthrough ]
-	then
-		mavlink stop-all
-		commander stop
-
-		# Stop multicopter attitude controller if it is running, the controls come
-		# from Snapdragon.
-		if mc_att_control stop
-		then
-		fi
-
-		# Start snapdragon interface on serial port.
-		if ver hwcmp PX4FMU_V2
-		then
-			# On Pixfalcon use the standard telemetry port (Telem 1).
-			snapdragon_rc_pwm start -d /dev/ttyS1
-			px4io start
-		fi
-
-		if ver hwcmp PX4FMU_V4
-		then
-			# On Pixracer use Telem 2 port (TL2).
-			snapdragon_rc_pwm start -d /dev/ttyS2
-			fmu mode_pwm4 $FMU_ARGS
-		fi
-
-		pwm failsafe -c 1234 -p 900
-		pwm disarmed -c 1234 -p 900
-
-		# Arm straightaway.
-		pwm arm
-		# Use 400 Hz PWM on all channels.
-		pwm rate -a -r 400
-	fi
-
 	unset MIXER
 	unset MAV_TYPE
 	unset OUTPUT_MODE
@@ -1028,6 +959,8 @@ then
 		fi
 	fi
 
+	sh /etc/init.d/rc.logging
+
 # End of autostart
 fi
 

ROMFS/px4fmu_common/mixers/AERT.main.mix

@@ -0,0 +1,81 @@
+Aileron/rudder/elevator/throttle 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 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).
+
+CH1: 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
+
+CH2: 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
+
+CH3: 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
+
+CH4: 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
+
+CH5: Flaps mixer
+------------
+Flaps are controlled automatically in position control and auto
+but can also be controlled manually
+
+M: 1
+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/quad_x_vtol_sim.main.mix

@@ -0,0 +1,21 @@
+Mixer for the gazebo tailsitter model
+=====================================
+
+R: 4x 10000 10000 10000 0
+
+Z:
+
+# left elevon
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+
+# right elevon
+M: 1
+O:       10000   10000    0 -10000  10000
+S: 1 0   -10000   -10000    0 -10000  10000
+
+# mixer for the virtual elevator
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 1 1   -10000   -10000    0 -10000  10000

ROMFS/sitl/mixers/tiltrotor_sitl.main.mix

@@ -0,0 +1,41 @@
+Mixer for quad tiltrotor (x motor configuration)
+================================================
+
+This file defines a single mixer for a tiltrotor (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
+
+R: 4x 10000 10000 10000 0
+
+# tilt servo motor 1
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
+
+# tilt servo motor 2
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
+
+# tilt servo motor 3
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
+
+# tilt servo motor 4
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
+
+# mixer for the left aileron
+M: 1
+O:      10000  10000   0 -10000  10000
+S: 1 0  10000  10000    0 -10000  10000
+
+# mixer for the right aileron
+M: 1
+O:      10000  10000   0 -10000  10000
+S: 1 0  -10000  -10000    0 -10000  10000
+
+# mixer for the elevator
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 1 1   10000   10000    0 -10000  10000

Tools/astyle/files_to_check_code_style.sh

@@ -8,9 +8,9 @@ then
     PATTERN="$1"
 fi
 
-exec find src \
-    -path src/examples/attitude_estimator_ekf -prune -o \
-    -path src/examples/ekf_att_pos_estimator -prune -o \
+exec find src platforms \
+    -path platforms/nuttx/NuttX -prune -o \
+    -path platforms/nuttx/nuttx-configs -prune -o \
     -path src/lib/DriverFramework -prune -o \
     -path src/lib/ecl -prune -o \
     -path src/lib/matrix -prune -o \

Tools/docker_run.sh

@@ -4,25 +4,25 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2017-10-23"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2017-12-30"
 	elif [[ $@ =~ .*rpi.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-raspi:2017-10-23"
+		PX4_DOCKER_REPO="px4io/px4-dev-raspi:2017-12-30"
 	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
 		# eagle, excelsior
-		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2017-10-23"
+		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2017-12-29"
 	elif [[ $@ =~ .*ocpoc.* ]]; then
 		# posix_ocpoc_ubuntu
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2017-10-23"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2017-12-30"
 	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then	
 		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2017-10-23"
+		PX4_DOCKER_REPO="px4io/px4-dev-clang:2017-12-30"
 	elif [[ $@ =~ .*cppcheck.* ]]; then
 		# TODO: remove this once px4io/px4-dev-base updates
 		PX4_DOCKER_REPO="px4io/px4-dev-base:ubuntu17.10"
 	elif [[ $@ =~ .*tests* ]]; then
 		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation:2017-10-23"
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation:2017-12-30"
 	fi
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
@@ -30,7 +30,7 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2017-10-23"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2017-12-30"
 fi
 
 # docker hygiene

Tools/ecl_ekf/batch_process_logdata_ekf.py

@@ -1,14 +1,19 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
 import argparse
-import os
+import os, glob
 
 """
-Runs process_logdata_ekf.py on all the files in the suplied directory with a .ulg extension
+Runs process_logdata_ekf.py on the .ulg files in the supplied directory. ulog files are skipped from the analysis, if a 
+ corresponding .pdf file already exists (unless the overwrite flag was set). 
 """
 
-parser = argparse.ArgumentParser(description='Analyse the estimator_status and ekf2_innovation message data for all .ulg files in the specified directory')
+parser = argparse.ArgumentParser(description='Analyse the estimator_status and ekf2_innovation message data for the'
+                                             ' .ulg files in the specified directory')
 parser.add_argument("directory_path")
+parser.add_argument('-o', '--overwrite', action='store_true',
+                    help='Whether to overwrite an already analysed file. If a file with .pdf extension exists for a .ulg'
+                         'file, the log file will be skipped from analysis unless this flag has been set.')
 
 def is_valid_directory(parser, arg):
     if os.path.isdir(arg):
@@ -19,9 +24,18 @@ def is_valid_directory(parser, arg):
 
 args = parser.parse_args()
 ulog_directory = args.directory_path
-print("\n"+"analysing all .ulog files in "+ulog_directory)
-# Run the analysis script on all the log files found in the specified directory
-for file in os.listdir(ulog_directory):
-    if file.endswith(".ulg"):
-        print("\n"+"loading "+file+" for analysis")
-        os.system("python process_logdata_ekf.py '{}'".format(os.path.join(ulog_directory, file)))
+print("\n"+"analysing the .ulg files in "+ulog_directory)
+
+# get all the ulog files found in the specified directory
+ulog_files = glob.glob(os.path.join(ulog_directory, '*.ulg'))
+
+# remove the files already analysed unless the overwrite flag was specified. A ulog file is consired to be analysed if
+# a corresponding .pdf file exists.'
+if not args.overwrite:
+    print("skipping already analysed ulg files.")
+    ulog_files = [ulog_file for ulog_file in ulog_files if not os.path.exists('{}.pdf'.format(ulog_file))]
+
+# analyse all ulog files
+for ulog_file in ulog_files:
+    print("\n"+"loading "+ulog_file +" for analysis")
+    os.system("python process_logdata_ekf.py '{}'".format(ulog_file))

Tools/ecl_ekf/process_logdata_ekf.py

@@ -1146,7 +1146,7 @@ test_results = {
 'yaw_sensor_status':['Pass','Yaw sensor check summary. This sensor data can be sourced from the magnetometer or an external vision system. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required'],
 'vel_sensor_status':['Pass','Velocity sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required'],
 'pos_sensor_status':['Pass','Position sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required'],
-'hgt_sensor_status':['Pass','Height sensor check summary. This sensor data can be sourced from either Baro, GPS, range fidner or external vision system. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required'],
+'hgt_sensor_status':['Pass','Height sensor check summary. This sensor data can be sourced from either Baro or GPS or range finder or external vision system. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no anomalies were detected and no further investigation is required'],
 'hagl_sensor_status':['Pass','Height above ground sensor check summary. This sensor data is normally sourced from a rangefinder sensor. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required'],
 'tas_sensor_status':['Pass','Airspeed sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required'],
 'imu_sensor_status':['Pass','IMU sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required'],

Tools/jMAVSim

@@ -1 +1 @@
-Subproject commit d24a1e1a68a0fbf2d90c950f9d38d1f40680eb27
+Subproject commit b25ae5a729bb9c663cc8824cf7dac5bdd9585f4b

Tools/process_sensor_caldata.py

@@ -16,7 +16,7 @@ Data can be gathered using the following sequence:
 1) Power up the board and set the TC_A_ENABLE, TC_B_ENABLE and TC_G_ENABLE parameters to 1
 2) Set all CAL_GYR and CAL_ACC parameters to defaults
 3) Set the SYS_LOGGER parameter to 1 to use the new system logger
-4) Set the SDLOG_MODE parameter to 2, and SDLOG_PROFILE parameter to 2 to enable logging of sensor data for calibration and power off
+4) Set the SDLOG_MODE parameter to 2, and SDLOG_PROFILE parameter to 4 to enable logging of sensor data for calibration and power off
 5) Cold soak the board for 30 minutes
 6) Move to a warm dry, still air, constant pressure environment.
 7) Apply power for 45 minutes, keeping the board still.
@@ -24,7 +24,7 @@ Data can be gathered using the following sequence:
 9) Open a terminal window in the Firmware/Tools directory and run the python calibration script script file: 'python process_sensor_caldata.py <full path name to .ulog file>
 10) Power the board, connect QGC and load the parameter from the generated .params file onto the board using QGC. Due to the number of parameters, loading them may take some time.
 11) TODO - we need a way for user to reliably tell when parameters have all been changed and saved.
-12) After parameters have finished loading, set SDLOG_MODE to 1 to re-enable normal logging and remove power.
+12) After parameters have finished loading, set SDLOG_MODE and SDLOG_PROFILE to their respective values prior to step 4) and remove power.
 13) Power the board and perform a normal gyro and accelerometer sensor calibration using QGC. The board must be repowered after this step before flying due to large parameter changes and the thermal compensation parameters only being read on startup.
 
 Outputs thermal compensation parameters in a file named <inputfilename>.params which can be loaded onto the board using QGroundControl
@@ -56,16 +56,16 @@ for d in data:
         if sensor_instance == 0:
             sensor_gyro_0 = d.data
             print('found gyro 0 data')
-	    num_gyros = 1
+            num_gyros = 1
         if sensor_instance == 1:
             sensor_gyro_1 = d.data
             print('found gyro 1 data')
-	    num_gyros = 2
-	if sensor_instance == 2:
+            num_gyros = 2
+        if sensor_instance == 2:
             sensor_gyro_2 = d.data
             print('found gyro 2 data')
-	    num_gyros = 3
-	sensor_instance = sensor_instance +1
+            num_gyros = 3
+        sensor_instance = sensor_instance +1
 
 # extract accel data
 sensor_instance = 0
@@ -75,15 +75,15 @@ for d in data:
         if sensor_instance == 0:
             sensor_accel_0 = d.data
             print('found accel 0 data')
-	    num_accels = 1
+            num_accels = 1
         if sensor_instance == 1:
             sensor_accel_1 = d.data
             print('found accel 1 data')
-	    num_accels = 2
+            num_accels = 2
         if sensor_instance == 2:
             sensor_accel_2 = d.data
             print('found accel 2 data')
-	    num_accels = 3
+            num_accels = 3
         sensor_instance = sensor_instance +1
 
 # extract baro data
@@ -94,11 +94,11 @@ for d in data:
         if sensor_instance == 0:
             sensor_baro_0 = d.data
             print('found baro 0 data')
-        num_baros = 1
+            num_baros = 1
         if sensor_instance == 1:
             sensor_baro_1 = d.data
             print('found baro 1 data')
-        num_baros = 2
+            num_baros = 2
         sensor_instance = sensor_instance +1
 
 # open file to save plots to PDF
@@ -133,72 +133,72 @@ gyro_0_params = {
 
 # curve fit the data for gyro 0 corrections
 if num_gyros >= 1:
-	gyro_0_params['TC_G0_ID'] = int(np.median(sensor_gyro_0['device_id']))
+    gyro_0_params['TC_G0_ID'] = int(np.median(sensor_gyro_0['device_id']))
 
-	# find the min, max and reference temperature
-	gyro_0_params['TC_G0_TMIN'] = np.amin(sensor_gyro_0['temperature'])
-	gyro_0_params['TC_G0_TMAX'] = np.amax(sensor_gyro_0['temperature'])
-	gyro_0_params['TC_G0_TREF'] = 0.5 * (gyro_0_params['TC_G0_TMIN'] + gyro_0_params['TC_G0_TMAX'])
-	temp_rel = sensor_gyro_0['temperature'] - gyro_0_params['TC_G0_TREF']
-	temp_rel_resample = np.linspace(gyro_0_params['TC_G0_TMIN']-gyro_0_params['TC_G0_TREF'], gyro_0_params['TC_G0_TMAX']-gyro_0_params['TC_G0_TREF'], 100)
-	temp_resample = temp_rel_resample + gyro_0_params['TC_G0_TREF']
+    # find the min, max and reference temperature
+    gyro_0_params['TC_G0_TMIN'] = np.amin(sensor_gyro_0['temperature'])
+    gyro_0_params['TC_G0_TMAX'] = np.amax(sensor_gyro_0['temperature'])
+    gyro_0_params['TC_G0_TREF'] = 0.5 * (gyro_0_params['TC_G0_TMIN'] + gyro_0_params['TC_G0_TMAX'])
+    temp_rel = sensor_gyro_0['temperature'] - gyro_0_params['TC_G0_TREF']
+    temp_rel_resample = np.linspace(gyro_0_params['TC_G0_TMIN']-gyro_0_params['TC_G0_TREF'], gyro_0_params['TC_G0_TMAX']-gyro_0_params['TC_G0_TREF'], 100)
+    temp_resample = temp_rel_resample + gyro_0_params['TC_G0_TREF']
 
-	# fit X axis
-	coef_gyro_0_x = np.polyfit(temp_rel,sensor_gyro_0['x'],3)
-	gyro_0_params['TC_G0_X3_0'] = coef_gyro_0_x[0]
-	gyro_0_params['TC_G0_X2_0'] = coef_gyro_0_x[1]
-	gyro_0_params['TC_G0_X1_0'] = coef_gyro_0_x[2]
-	gyro_0_params['TC_G0_X0_0'] = coef_gyro_0_x[3]
-	fit_coef_gyro_0_x = np.poly1d(coef_gyro_0_x)
-	gyro_0_x_resample = fit_coef_gyro_0_x(temp_rel_resample)
+    # fit X axis
+    coef_gyro_0_x = np.polyfit(temp_rel,sensor_gyro_0['x'],3)
+    gyro_0_params['TC_G0_X3_0'] = coef_gyro_0_x[0]
+    gyro_0_params['TC_G0_X2_0'] = coef_gyro_0_x[1]
+    gyro_0_params['TC_G0_X1_0'] = coef_gyro_0_x[2]
+    gyro_0_params['TC_G0_X0_0'] = coef_gyro_0_x[3]
+    fit_coef_gyro_0_x = np.poly1d(coef_gyro_0_x)
+    gyro_0_x_resample = fit_coef_gyro_0_x(temp_rel_resample)
 
-	# fit Y axis
-	coef_gyro_0_y = np.polyfit(temp_rel,sensor_gyro_0['y'],3)
-	gyro_0_params['TC_G0_X3_1'] = coef_gyro_0_y[0]
-	gyro_0_params['TC_G0_X2_1'] = coef_gyro_0_y[1]
-	gyro_0_params['TC_G0_X1_1'] = coef_gyro_0_y[2]
-	gyro_0_params['TC_G0_X0_1'] = coef_gyro_0_y[3]
-	fit_coef_gyro_0_y = np.poly1d(coef_gyro_0_y)
-	gyro_0_y_resample = fit_coef_gyro_0_y(temp_rel_resample)
+    # fit Y axis
+    coef_gyro_0_y = np.polyfit(temp_rel,sensor_gyro_0['y'],3)
+    gyro_0_params['TC_G0_X3_1'] = coef_gyro_0_y[0]
+    gyro_0_params['TC_G0_X2_1'] = coef_gyro_0_y[1]
+    gyro_0_params['TC_G0_X1_1'] = coef_gyro_0_y[2]
+    gyro_0_params['TC_G0_X0_1'] = coef_gyro_0_y[3]
+    fit_coef_gyro_0_y = np.poly1d(coef_gyro_0_y)
+    gyro_0_y_resample = fit_coef_gyro_0_y(temp_rel_resample)
 
-	# fit Z axis
-	coef_gyro_0_z = np.polyfit(temp_rel,sensor_gyro_0['z'],3)
-	gyro_0_params['TC_G0_X3_2'] = coef_gyro_0_z[0]
-	gyro_0_params['TC_G0_X2_2'] = coef_gyro_0_z[1]
-	gyro_0_params['TC_G0_X1_2'] = coef_gyro_0_z[2]
-	gyro_0_params['TC_G0_X0_2'] = coef_gyro_0_z[3]
-	fit_coef_gyro_0_z = np.poly1d(coef_gyro_0_z)
-	gyro_0_z_resample = fit_coef_gyro_0_z(temp_rel_resample)
+    # fit Z axis
+    coef_gyro_0_z = np.polyfit(temp_rel,sensor_gyro_0['z'],3)
+    gyro_0_params['TC_G0_X3_2'] = coef_gyro_0_z[0]
+    gyro_0_params['TC_G0_X2_2'] = coef_gyro_0_z[1]
+    gyro_0_params['TC_G0_X1_2'] = coef_gyro_0_z[2]
+    gyro_0_params['TC_G0_X0_2'] = coef_gyro_0_z[3]
+    fit_coef_gyro_0_z = np.poly1d(coef_gyro_0_z)
+    gyro_0_z_resample = fit_coef_gyro_0_z(temp_rel_resample)
 
-	# gyro0 vs temperature
-	plt.figure(1,figsize=(20,13))
+    # gyro0 vs temperature
+    plt.figure(1,figsize=(20,13))
 
-	# draw plots
-	plt.subplot(3,1,1)
-	plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['x'],'b')
-	plt.plot(temp_resample,gyro_0_x_resample,'r')
-	plt.title('Gyro 0 Bias vs Temperature')
-	plt.ylabel('X bias (rad/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,1)
+    plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['x'],'b')
+    plt.plot(temp_resample,gyro_0_x_resample,'r')
+    plt.title('Gyro 0 Bias vs Temperature')
+    plt.ylabel('X bias (rad/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	# draw plots
-	plt.subplot(3,1,2)
-	plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['y'],'b')
-	plt.plot(temp_resample,gyro_0_y_resample,'r')
-	plt.ylabel('Y bias (rad/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,2)
+    plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['y'],'b')
+    plt.plot(temp_resample,gyro_0_y_resample,'r')
+    plt.ylabel('Y bias (rad/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	# draw plots
-	plt.subplot(3,1,3)
-	plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['z'],'b')
-	plt.plot(temp_resample,gyro_0_z_resample,'r')
-	plt.ylabel('Z bias (rad/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,3)
+    plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['z'],'b')
+    plt.plot(temp_resample,gyro_0_z_resample,'r')
+    plt.ylabel('Z bias (rad/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	pp.savefig()
+    pp.savefig()
 
 #################################################################################
 
@@ -229,72 +229,72 @@ gyro_1_params = {
 
 # curve fit the data for gyro 1 corrections
 if num_gyros >= 2:
-	gyro_1_params['TC_G1_ID'] = int(np.median(sensor_gyro_1['device_id']))
+    gyro_1_params['TC_G1_ID'] = int(np.median(sensor_gyro_1['device_id']))
 
-	# find the min, max and reference temperature
-	gyro_1_params['TC_G1_TMIN'] = np.amin(sensor_gyro_1['temperature'])
-	gyro_1_params['TC_G1_TMAX'] = np.amax(sensor_gyro_1['temperature'])
-	gyro_1_params['TC_G1_TREF'] = 0.5 * (gyro_1_params['TC_G1_TMIN'] + gyro_1_params['TC_G1_TMAX'])
-	temp_rel = sensor_gyro_1['temperature'] - gyro_1_params['TC_G1_TREF']
-	temp_rel_resample = np.linspace(gyro_1_params['TC_G1_TMIN']-gyro_1_params['TC_G1_TREF'], gyro_1_params['TC_G1_TMAX']-gyro_1_params['TC_G1_TREF'], 100)
-	temp_resample = temp_rel_resample + gyro_1_params['TC_G1_TREF']
+    # find the min, max and reference temperature
+    gyro_1_params['TC_G1_TMIN'] = np.amin(sensor_gyro_1['temperature'])
+    gyro_1_params['TC_G1_TMAX'] = np.amax(sensor_gyro_1['temperature'])
+    gyro_1_params['TC_G1_TREF'] = 0.5 * (gyro_1_params['TC_G1_TMIN'] + gyro_1_params['TC_G1_TMAX'])
+    temp_rel = sensor_gyro_1['temperature'] - gyro_1_params['TC_G1_TREF']
+    temp_rel_resample = np.linspace(gyro_1_params['TC_G1_TMIN']-gyro_1_params['TC_G1_TREF'], gyro_1_params['TC_G1_TMAX']-gyro_1_params['TC_G1_TREF'], 100)
+    temp_resample = temp_rel_resample + gyro_1_params['TC_G1_TREF']
 
-	# fit X axis
-	coef_gyro_1_x = np.polyfit(temp_rel,sensor_gyro_1['x'],3)
-	gyro_1_params['TC_G1_X3_0'] = coef_gyro_1_x[0]
-	gyro_1_params['TC_G1_X2_0'] = coef_gyro_1_x[1]
-	gyro_1_params['TC_G1_X1_0'] = coef_gyro_1_x[2]
-	gyro_1_params['TC_G1_X0_0'] = coef_gyro_1_x[3]
-	fit_coef_gyro_1_x = np.poly1d(coef_gyro_1_x)
-	gyro_1_x_resample = fit_coef_gyro_1_x(temp_rel_resample)
+    # fit X axis
+    coef_gyro_1_x = np.polyfit(temp_rel,sensor_gyro_1['x'],3)
+    gyro_1_params['TC_G1_X3_0'] = coef_gyro_1_x[0]
+    gyro_1_params['TC_G1_X2_0'] = coef_gyro_1_x[1]
+    gyro_1_params['TC_G1_X1_0'] = coef_gyro_1_x[2]
+    gyro_1_params['TC_G1_X0_0'] = coef_gyro_1_x[3]
+    fit_coef_gyro_1_x = np.poly1d(coef_gyro_1_x)
+    gyro_1_x_resample = fit_coef_gyro_1_x(temp_rel_resample)
 
-	# fit Y axis
-	coef_gyro_1_y = np.polyfit(temp_rel,sensor_gyro_1['y'],3)
-	gyro_1_params['TC_G1_X3_1'] = coef_gyro_1_y[0]
-	gyro_1_params['TC_G1_X2_1'] = coef_gyro_1_y[1]
-	gyro_1_params['TC_G1_X1_1'] = coef_gyro_1_y[2]
-	gyro_1_params['TC_G1_X0_1'] = coef_gyro_1_y[3]
-	fit_coef_gyro_1_y = np.poly1d(coef_gyro_1_y)
-	gyro_1_y_resample = fit_coef_gyro_1_y(temp_rel_resample)
+    # fit Y axis
+    coef_gyro_1_y = np.polyfit(temp_rel,sensor_gyro_1['y'],3)
+    gyro_1_params['TC_G1_X3_1'] = coef_gyro_1_y[0]
+    gyro_1_params['TC_G1_X2_1'] = coef_gyro_1_y[1]
+    gyro_1_params['TC_G1_X1_1'] = coef_gyro_1_y[2]
+    gyro_1_params['TC_G1_X0_1'] = coef_gyro_1_y[3]
+    fit_coef_gyro_1_y = np.poly1d(coef_gyro_1_y)
+    gyro_1_y_resample = fit_coef_gyro_1_y(temp_rel_resample)
 
-	# fit Z axis
-	coef_gyro_1_z = np.polyfit(temp_rel,sensor_gyro_1['z'],3)
-	gyro_1_params['TC_G1_X3_2'] = coef_gyro_1_z[0]
-	gyro_1_params['TC_G1_X2_2'] = coef_gyro_1_z[1]
-	gyro_1_params['TC_G1_X1_2'] = coef_gyro_1_z[2]
-	gyro_1_params['TC_G1_X0_2'] = coef_gyro_1_z[3]
-	fit_coef_gyro_1_z = np.poly1d(coef_gyro_1_z)
-	gyro_1_z_resample = fit_coef_gyro_1_z(temp_rel_resample)
+    # fit Z axis
+    coef_gyro_1_z = np.polyfit(temp_rel,sensor_gyro_1['z'],3)
+    gyro_1_params['TC_G1_X3_2'] = coef_gyro_1_z[0]
+    gyro_1_params['TC_G1_X2_2'] = coef_gyro_1_z[1]
+    gyro_1_params['TC_G1_X1_2'] = coef_gyro_1_z[2]
+    gyro_1_params['TC_G1_X0_2'] = coef_gyro_1_z[3]
+    fit_coef_gyro_1_z = np.poly1d(coef_gyro_1_z)
+    gyro_1_z_resample = fit_coef_gyro_1_z(temp_rel_resample)
 
-	# gyro1 vs temperature
-	plt.figure(2,figsize=(20,13))
+    # gyro1 vs temperature
+    plt.figure(2,figsize=(20,13))
 
-	# draw plots
-	plt.subplot(3,1,1)
-	plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['x'],'b')
-	plt.plot(temp_resample,gyro_1_x_resample,'r')
-	plt.title('Gyro 1 Bias vs Temperature')
-	plt.ylabel('X bias (rad/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,1)
+    plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['x'],'b')
+    plt.plot(temp_resample,gyro_1_x_resample,'r')
+    plt.title('Gyro 1 Bias vs Temperature')
+    plt.ylabel('X bias (rad/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	# draw plots
-	plt.subplot(3,1,2)
-	plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['y'],'b')
-	plt.plot(temp_resample,gyro_1_y_resample,'r')
-	plt.ylabel('Y bias (rad/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,2)
+    plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['y'],'b')
+    plt.plot(temp_resample,gyro_1_y_resample,'r')
+    plt.ylabel('Y bias (rad/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	# draw plots
-	plt.subplot(3,1,3)
-	plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['z'],'b')
-	plt.plot(temp_resample,gyro_1_z_resample,'r')
-	plt.ylabel('Z bias (rad/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,3)
+    plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['z'],'b')
+    plt.plot(temp_resample,gyro_1_z_resample,'r')
+    plt.ylabel('Z bias (rad/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	pp.savefig()
+    pp.savefig()
 
 #################################################################################
 
@@ -325,72 +325,72 @@ gyro_2_params = {
 
 # curve fit the data for gyro 2 corrections
 if num_gyros >= 3:
-	gyro_2_params['TC_G2_ID'] = int(np.median(sensor_gyro_2['device_id']))
+    gyro_2_params['TC_G2_ID'] = int(np.median(sensor_gyro_2['device_id']))
 
-	# find the min, max and reference temperature
-	gyro_2_params['TC_G2_TMIN'] = np.amin(sensor_gyro_2['temperature'])
-	gyro_2_params['TC_G2_TMAX'] = np.amax(sensor_gyro_2['temperature'])
-	gyro_2_params['TC_G2_TREF'] = 0.5 * (gyro_2_params['TC_G2_TMIN'] + gyro_2_params['TC_G2_TMAX'])
-	temp_rel = sensor_gyro_2['temperature'] - gyro_2_params['TC_G2_TREF']
-	temp_rel_resample = np.linspace(gyro_2_params['TC_G2_TMIN']-gyro_2_params['TC_G2_TREF'], gyro_2_params['TC_G2_TMAX']-gyro_2_params['TC_G2_TREF'], 100)
-	temp_resample = temp_rel_resample + gyro_2_params['TC_G2_TREF']
+    # find the min, max and reference temperature
+    gyro_2_params['TC_G2_TMIN'] = np.amin(sensor_gyro_2['temperature'])
+    gyro_2_params['TC_G2_TMAX'] = np.amax(sensor_gyro_2['temperature'])
+    gyro_2_params['TC_G2_TREF'] = 0.5 * (gyro_2_params['TC_G2_TMIN'] + gyro_2_params['TC_G2_TMAX'])
+    temp_rel = sensor_gyro_2['temperature'] - gyro_2_params['TC_G2_TREF']
+    temp_rel_resample = np.linspace(gyro_2_params['TC_G2_TMIN']-gyro_2_params['TC_G2_TREF'], gyro_2_params['TC_G2_TMAX']-gyro_2_params['TC_G2_TREF'], 100)
+    temp_resample = temp_rel_resample + gyro_2_params['TC_G2_TREF']
 
-	# fit X axis
-	coef_gyro_2_x = np.polyfit(temp_rel,sensor_gyro_2['x'],3)
-	gyro_2_params['TC_G2_X3_0'] = coef_gyro_2_x[0]
-	gyro_2_params['TC_G2_X2_0'] = coef_gyro_2_x[1]
-	gyro_2_params['TC_G2_X1_0'] = coef_gyro_2_x[2]
-	gyro_2_params['TC_G2_X0_0'] = coef_gyro_2_x[3]
-	fit_coef_gyro_2_x = np.poly1d(coef_gyro_2_x)
-	gyro_2_x_resample = fit_coef_gyro_2_x(temp_rel_resample)
+    # fit X axis
+    coef_gyro_2_x = np.polyfit(temp_rel,sensor_gyro_2['x'],3)
+    gyro_2_params['TC_G2_X3_0'] = coef_gyro_2_x[0]
+    gyro_2_params['TC_G2_X2_0'] = coef_gyro_2_x[1]
+    gyro_2_params['TC_G2_X1_0'] = coef_gyro_2_x[2]
+    gyro_2_params['TC_G2_X0_0'] = coef_gyro_2_x[3]
+    fit_coef_gyro_2_x = np.poly1d(coef_gyro_2_x)
+    gyro_2_x_resample = fit_coef_gyro_2_x(temp_rel_resample)
 
-	# fit Y axis
-	coef_gyro_2_y = np.polyfit(temp_rel,sensor_gyro_2['y'],3)
-	gyro_2_params['TC_G2_X3_1'] = coef_gyro_2_y[0]
-	gyro_2_params['TC_G2_X2_1'] = coef_gyro_2_y[1]
-	gyro_2_params['TC_G2_X1_1'] = coef_gyro_2_y[2]
-	gyro_2_params['TC_G2_X0_1'] = coef_gyro_2_y[3]
-	fit_coef_gyro_2_y = np.poly1d(coef_gyro_2_y)
-	gyro_2_y_resample = fit_coef_gyro_2_y(temp_rel_resample)
+    # fit Y axis
+    coef_gyro_2_y = np.polyfit(temp_rel,sensor_gyro_2['y'],3)
+    gyro_2_params['TC_G2_X3_1'] = coef_gyro_2_y[0]
+    gyro_2_params['TC_G2_X2_1'] = coef_gyro_2_y[1]
+    gyro_2_params['TC_G2_X1_1'] = coef_gyro_2_y[2]
+    gyro_2_params['TC_G2_X0_1'] = coef_gyro_2_y[3]
+    fit_coef_gyro_2_y = np.poly1d(coef_gyro_2_y)
+    gyro_2_y_resample = fit_coef_gyro_2_y(temp_rel_resample)
 
-	# fit Z axis
-	coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'],3)
-	gyro_2_params['TC_G2_X3_2'] = coef_gyro_2_z[0]
-	gyro_2_params['TC_G2_X2_2'] = coef_gyro_2_z[1]
-	gyro_2_params['TC_G2_X1_2'] = coef_gyro_2_z[2]
-	gyro_2_params['TC_G2_X0_2'] = coef_gyro_2_z[3]
-	fit_coef_gyro_2_z = np.poly1d(coef_gyro_2_z)
-	gyro_2_z_resample = fit_coef_gyro_2_z(temp_rel_resample)
+    # fit Z axis
+    coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'],3)
+    gyro_2_params['TC_G2_X3_2'] = coef_gyro_2_z[0]
+    gyro_2_params['TC_G2_X2_2'] = coef_gyro_2_z[1]
+    gyro_2_params['TC_G2_X1_2'] = coef_gyro_2_z[2]
+    gyro_2_params['TC_G2_X0_2'] = coef_gyro_2_z[3]
+    fit_coef_gyro_2_z = np.poly1d(coef_gyro_2_z)
+    gyro_2_z_resample = fit_coef_gyro_2_z(temp_rel_resample)
 
-	# gyro2 vs temperature
-	plt.figure(3,figsize=(20,13))
+    # gyro2 vs temperature
+    plt.figure(3,figsize=(20,13))
 
-	# draw plots
-	plt.subplot(3,1,1)
-	plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['x'],'b')
-	plt.plot(temp_resample,gyro_2_x_resample,'r')
-	plt.title('Gyro 2 Bias vs Temperature')
-	plt.ylabel('X bias (rad/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,1)
+    plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['x'],'b')
+    plt.plot(temp_resample,gyro_2_x_resample,'r')
+    plt.title('Gyro 2 Bias vs Temperature')
+    plt.ylabel('X bias (rad/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	# draw plots
-	plt.subplot(3,1,2)
-	plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['y'],'b')
-	plt.plot(temp_resample,gyro_2_y_resample,'r')
-	plt.ylabel('Y bias (rad/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,2)
+    plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['y'],'b')
+    plt.plot(temp_resample,gyro_2_y_resample,'r')
+    plt.ylabel('Y bias (rad/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	# draw plots
-	plt.subplot(3,1,3)
-	plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['z'],'b')
-	plt.plot(temp_resample,gyro_2_z_resample,'r')
-	plt.ylabel('Z bias (rad/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,3)
+    plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['z'],'b')
+    plt.plot(temp_resample,gyro_2_z_resample,'r')
+    plt.ylabel('Z bias (rad/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	pp.savefig()
+    pp.savefig()
 
 #################################################################################
 
@@ -421,75 +421,75 @@ accel_0_params = {
 
 # curve fit the data for accel 0 corrections
 if num_accels >= 1:
-	accel_0_params['TC_A0_ID'] = int(np.median(sensor_accel_0['device_id']))
+    accel_0_params['TC_A0_ID'] = int(np.median(sensor_accel_0['device_id']))
 
-	# find the min, max and reference temperature
-	accel_0_params['TC_A0_TMIN'] = np.amin(sensor_accel_0['temperature'])
-	accel_0_params['TC_A0_TMAX'] = np.amax(sensor_accel_0['temperature'])
-	accel_0_params['TC_A0_TREF'] = 0.5 * (accel_0_params['TC_A0_TMIN'] + accel_0_params['TC_A0_TMAX'])
-	temp_rel = sensor_accel_0['temperature'] - accel_0_params['TC_A0_TREF']
-	temp_rel_resample = np.linspace(accel_0_params['TC_A0_TMIN']-accel_0_params['TC_A0_TREF'], accel_0_params['TC_A0_TMAX']-accel_0_params['TC_A0_TREF'], 100)
-	temp_resample = temp_rel_resample + accel_0_params['TC_A0_TREF']
+    # find the min, max and reference temperature
+    accel_0_params['TC_A0_TMIN'] = np.amin(sensor_accel_0['temperature'])
+    accel_0_params['TC_A0_TMAX'] = np.amax(sensor_accel_0['temperature'])
+    accel_0_params['TC_A0_TREF'] = 0.5 * (accel_0_params['TC_A0_TMIN'] + accel_0_params['TC_A0_TMAX'])
+    temp_rel = sensor_accel_0['temperature'] - accel_0_params['TC_A0_TREF']
+    temp_rel_resample = np.linspace(accel_0_params['TC_A0_TMIN']-accel_0_params['TC_A0_TREF'], accel_0_params['TC_A0_TMAX']-accel_0_params['TC_A0_TREF'], 100)
+    temp_resample = temp_rel_resample + accel_0_params['TC_A0_TREF']
 
-	# fit X axis
-	correction_x = sensor_accel_0['x'] - np.median(sensor_accel_0['x'])
-	coef_accel_0_x = np.polyfit(temp_rel,correction_x,3)
-	accel_0_params['TC_A0_X3_0'] = coef_accel_0_x[0]
-	accel_0_params['TC_A0_X2_0'] = coef_accel_0_x[1]
-	accel_0_params['TC_A0_X1_0'] = coef_accel_0_x[2]
-	accel_0_params['TC_A0_X0_0'] = coef_accel_0_x[3]
-	fit_coef_accel_0_x = np.poly1d(coef_accel_0_x)
-	correction_x_resample = fit_coef_accel_0_x(temp_rel_resample)
+    # fit X axis
+    correction_x = sensor_accel_0['x'] - np.median(sensor_accel_0['x'])
+    coef_accel_0_x = np.polyfit(temp_rel,correction_x,3)
+    accel_0_params['TC_A0_X3_0'] = coef_accel_0_x[0]
+    accel_0_params['TC_A0_X2_0'] = coef_accel_0_x[1]
+    accel_0_params['TC_A0_X1_0'] = coef_accel_0_x[2]
+    accel_0_params['TC_A0_X0_0'] = coef_accel_0_x[3]
+    fit_coef_accel_0_x = np.poly1d(coef_accel_0_x)
+    correction_x_resample = fit_coef_accel_0_x(temp_rel_resample)
 
-	# fit Y axis
-	correction_y = sensor_accel_0['y']-np.median(sensor_accel_0['y'])
-	coef_accel_0_y = np.polyfit(temp_rel,correction_y,3)
-	accel_0_params['TC_A0_X3_1'] = coef_accel_0_y[0]
-	accel_0_params['TC_A0_X2_1'] = coef_accel_0_y[1]
-	accel_0_params['TC_A0_X1_1'] = coef_accel_0_y[2]
-	accel_0_params['TC_A0_X0_1'] = coef_accel_0_y[3]
-	fit_coef_accel_0_y = np.poly1d(coef_accel_0_y)
-	correction_y_resample = fit_coef_accel_0_y(temp_rel_resample)
+    # fit Y axis
+    correction_y = sensor_accel_0['y']-np.median(sensor_accel_0['y'])
+    coef_accel_0_y = np.polyfit(temp_rel,correction_y,3)
+    accel_0_params['TC_A0_X3_1'] = coef_accel_0_y[0]
+    accel_0_params['TC_A0_X2_1'] = coef_accel_0_y[1]
+    accel_0_params['TC_A0_X1_1'] = coef_accel_0_y[2]
+    accel_0_params['TC_A0_X0_1'] = coef_accel_0_y[3]
+    fit_coef_accel_0_y = np.poly1d(coef_accel_0_y)
+    correction_y_resample = fit_coef_accel_0_y(temp_rel_resample)
 
-	# fit Z axis
-	correction_z = sensor_accel_0['z']-np.median(sensor_accel_0['z'])
-	coef_accel_0_z = np.polyfit(temp_rel,correction_z,3)
-	accel_0_params['TC_A0_X3_2'] = coef_accel_0_z[0]
-	accel_0_params['TC_A0_X2_2'] = coef_accel_0_z[1]
-	accel_0_params['TC_A0_X1_2'] = coef_accel_0_z[2]
-	accel_0_params['TC_A0_X0_2'] = coef_accel_0_z[3]
-	fit_coef_accel_0_z = np.poly1d(coef_accel_0_z)
-	correction_z_resample = fit_coef_accel_0_z(temp_rel_resample)
+    # fit Z axis
+    correction_z = sensor_accel_0['z']-np.median(sensor_accel_0['z'])
+    coef_accel_0_z = np.polyfit(temp_rel,correction_z,3)
+    accel_0_params['TC_A0_X3_2'] = coef_accel_0_z[0]
+    accel_0_params['TC_A0_X2_2'] = coef_accel_0_z[1]
+    accel_0_params['TC_A0_X1_2'] = coef_accel_0_z[2]
+    accel_0_params['TC_A0_X0_2'] = coef_accel_0_z[3]
+    fit_coef_accel_0_z = np.poly1d(coef_accel_0_z)
+    correction_z_resample = fit_coef_accel_0_z(temp_rel_resample)
 
-	# accel 0 vs temperature
-	plt.figure(4,figsize=(20,13))
+    # accel 0 vs temperature
+    plt.figure(4,figsize=(20,13))
 
-	# draw plots
-	plt.subplot(3,1,1)
-	plt.plot(sensor_accel_0['temperature'],correction_x,'b')
-	plt.plot(temp_resample,correction_x_resample,'r')
-	plt.title('Accel 0 Bias vs Temperature')
-	plt.ylabel('X bias (m/s/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,1)
+    plt.plot(sensor_accel_0['temperature'],correction_x,'b')
+    plt.plot(temp_resample,correction_x_resample,'r')
+    plt.title('Accel 0 Bias vs Temperature')
+    plt.ylabel('X bias (m/s/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	# draw plots
-	plt.subplot(3,1,2)
-	plt.plot(sensor_accel_0['temperature'],correction_y,'b')
-	plt.plot(temp_resample,correction_y_resample,'r')
-	plt.ylabel('Y bias (m/s/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,2)
+    plt.plot(sensor_accel_0['temperature'],correction_y,'b')
+    plt.plot(temp_resample,correction_y_resample,'r')
+    plt.ylabel('Y bias (m/s/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	# draw plots
-	plt.subplot(3,1,3)
-	plt.plot(sensor_accel_0['temperature'],correction_z,'b')
-	plt.plot(temp_resample,correction_z_resample,'r')
-	plt.ylabel('Z bias (m/s/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,3)
+    plt.plot(sensor_accel_0['temperature'],correction_z,'b')
+    plt.plot(temp_resample,correction_z_resample,'r')
+    plt.ylabel('Z bias (m/s/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	pp.savefig()
+    pp.savefig()
 
 #################################################################################
 
@@ -520,75 +520,75 @@ accel_1_params = {
 
 # curve fit the data for accel 1 corrections
 if num_accels >= 2:
-	accel_1_params['TC_A1_ID'] = int(np.median(sensor_accel_1['device_id']))
+    accel_1_params['TC_A1_ID'] = int(np.median(sensor_accel_1['device_id']))
 
-	# find the min, max and reference temperature
-	accel_1_params['TC_A1_TMIN'] = np.amin(sensor_accel_1['temperature'])
-	accel_1_params['TC_A1_TMAX'] = np.amax(sensor_accel_1['temperature'])
-	accel_1_params['TC_A1_TREF'] = 0.5 * (accel_1_params['TC_A1_TMIN'] + accel_1_params['TC_A1_TMAX'])
-	temp_rel = sensor_accel_1['temperature'] - accel_1_params['TC_A1_TREF']
-	temp_rel_resample = np.linspace(accel_1_params['TC_A1_TMIN']-accel_1_params['TC_A1_TREF'], accel_1_params['TC_A1_TMAX']-accel_1_params['TC_A1_TREF'], 100)
-	temp_resample = temp_rel_resample + accel_1_params['TC_A1_TREF']
+    # find the min, max and reference temperature
+    accel_1_params['TC_A1_TMIN'] = np.amin(sensor_accel_1['temperature'])
+    accel_1_params['TC_A1_TMAX'] = np.amax(sensor_accel_1['temperature'])
+    accel_1_params['TC_A1_TREF'] = 0.5 * (accel_1_params['TC_A1_TMIN'] + accel_1_params['TC_A1_TMAX'])
+    temp_rel = sensor_accel_1['temperature'] - accel_1_params['TC_A1_TREF']
+    temp_rel_resample = np.linspace(accel_1_params['TC_A1_TMIN']-accel_1_params['TC_A1_TREF'], accel_1_params['TC_A1_TMAX']-accel_1_params['TC_A1_TREF'], 100)
+    temp_resample = temp_rel_resample + accel_1_params['TC_A1_TREF']
 
-	# fit X axis
-	correction_x = sensor_accel_1['x']-np.median(sensor_accel_1['x'])
-	coef_accel_1_x = np.polyfit(temp_rel,correction_x,3)
-	accel_1_params['TC_A1_X3_0'] = coef_accel_1_x[0]
-	accel_1_params['TC_A1_X2_0'] = coef_accel_1_x[1]
-	accel_1_params['TC_A1_X1_0'] = coef_accel_1_x[2]
-	accel_1_params['TC_A1_X0_0'] = coef_accel_1_x[3]
-	fit_coef_accel_1_x = np.poly1d(coef_accel_1_x)
-	correction_x_resample = fit_coef_accel_1_x(temp_rel_resample)
+    # fit X axis
+    correction_x = sensor_accel_1['x']-np.median(sensor_accel_1['x'])
+    coef_accel_1_x = np.polyfit(temp_rel,correction_x,3)
+    accel_1_params['TC_A1_X3_0'] = coef_accel_1_x[0]
+    accel_1_params['TC_A1_X2_0'] = coef_accel_1_x[1]
+    accel_1_params['TC_A1_X1_0'] = coef_accel_1_x[2]
+    accel_1_params['TC_A1_X0_0'] = coef_accel_1_x[3]
+    fit_coef_accel_1_x = np.poly1d(coef_accel_1_x)
+    correction_x_resample = fit_coef_accel_1_x(temp_rel_resample)
 
-	# fit Y axis
-	correction_y = sensor_accel_1['y']-np.median(sensor_accel_1['y'])
-	coef_accel_1_y = np.polyfit(temp_rel,correction_y,3)
-	accel_1_params['TC_A1_X3_1'] = coef_accel_1_y[0]
-	accel_1_params['TC_A1_X2_1'] = coef_accel_1_y[1]
-	accel_1_params['TC_A1_X1_1'] = coef_accel_1_y[2]
-	accel_1_params['TC_A1_X0_1'] = coef_accel_1_y[3]
-	fit_coef_accel_1_y = np.poly1d(coef_accel_1_y)
-	correction_y_resample = fit_coef_accel_1_y(temp_rel_resample)
+    # fit Y axis
+    correction_y = sensor_accel_1['y']-np.median(sensor_accel_1['y'])
+    coef_accel_1_y = np.polyfit(temp_rel,correction_y,3)
+    accel_1_params['TC_A1_X3_1'] = coef_accel_1_y[0]
+    accel_1_params['TC_A1_X2_1'] = coef_accel_1_y[1]
+    accel_1_params['TC_A1_X1_1'] = coef_accel_1_y[2]
+    accel_1_params['TC_A1_X0_1'] = coef_accel_1_y[3]
+    fit_coef_accel_1_y = np.poly1d(coef_accel_1_y)
+    correction_y_resample = fit_coef_accel_1_y(temp_rel_resample)
 
-	# fit Z axis
-	correction_z = (sensor_accel_1['z'])-np.median(sensor_accel_1['z'])
-	coef_accel_1_z = np.polyfit(temp_rel,correction_z,3)
-	accel_1_params['TC_A1_X3_2'] = coef_accel_1_z[0]
-	accel_1_params['TC_A1_X2_2'] = coef_accel_1_z[1]
-	accel_1_params['TC_A1_X1_2'] = coef_accel_1_z[2]
-	accel_1_params['TC_A1_X0_2'] = coef_accel_1_z[3]
-	fit_coef_accel_1_z = np.poly1d(coef_accel_1_z)
-	correction_z_resample = fit_coef_accel_1_z(temp_rel_resample)
+    # fit Z axis
+    correction_z = (sensor_accel_1['z'])-np.median(sensor_accel_1['z'])
+    coef_accel_1_z = np.polyfit(temp_rel,correction_z,3)
+    accel_1_params['TC_A1_X3_2'] = coef_accel_1_z[0]
+    accel_1_params['TC_A1_X2_2'] = coef_accel_1_z[1]
+    accel_1_params['TC_A1_X1_2'] = coef_accel_1_z[2]
+    accel_1_params['TC_A1_X0_2'] = coef_accel_1_z[3]
+    fit_coef_accel_1_z = np.poly1d(coef_accel_1_z)
+    correction_z_resample = fit_coef_accel_1_z(temp_rel_resample)
 
-	# accel 1 vs temperature
-	plt.figure(5,figsize=(20,13))
+    # accel 1 vs temperature
+    plt.figure(5,figsize=(20,13))
 
-	# draw plots
-	plt.subplot(3,1,1)
-	plt.plot(sensor_accel_1['temperature'],correction_x,'b')
-	plt.plot(temp_resample,correction_x_resample,'r')
-	plt.title('Accel 1 Bias vs Temperature')
-	plt.ylabel('X bias (m/s/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,1)
+    plt.plot(sensor_accel_1['temperature'],correction_x,'b')
+    plt.plot(temp_resample,correction_x_resample,'r')
+    plt.title('Accel 1 Bias vs Temperature')
+    plt.ylabel('X bias (m/s/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	# draw plots
-	plt.subplot(3,1,2)
-	plt.plot(sensor_accel_1['temperature'],correction_y,'b')
-	plt.plot(temp_resample,correction_y_resample,'r')
-	plt.ylabel('Y bias (m/s/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,2)
+    plt.plot(sensor_accel_1['temperature'],correction_y,'b')
+    plt.plot(temp_resample,correction_y_resample,'r')
+    plt.ylabel('Y bias (m/s/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	# draw plots
-	plt.subplot(3,1,3)
-	plt.plot(sensor_accel_1['temperature'],correction_z,'b')
-	plt.plot(temp_resample,correction_z_resample,'r')
-	plt.ylabel('Z bias (m/s/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,3)
+    plt.plot(sensor_accel_1['temperature'],correction_z,'b')
+    plt.plot(temp_resample,correction_z_resample,'r')
+    plt.ylabel('Z bias (m/s/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	pp.savefig()
+    pp.savefig()
 
 #################################################################################
 
@@ -619,75 +619,75 @@ accel_2_params = {
 
 # curve fit the data for accel 2 corrections
 if num_accels >= 3:
-	accel_2_params['TC_A2_ID'] = int(np.median(sensor_accel_2['device_id']))
+    accel_2_params['TC_A2_ID'] = int(np.median(sensor_accel_2['device_id']))
 
-	# find the min, max and reference temperature
-	accel_2_params['TC_A2_TMIN'] = np.amin(sensor_accel_2['temperature'])
-	accel_2_params['TC_A2_TMAX'] = np.amax(sensor_accel_2['temperature'])
-	accel_2_params['TC_A2_TREF'] = 0.5 * (accel_2_params['TC_A2_TMIN'] + accel_2_params['TC_A2_TMAX'])
-	temp_rel = sensor_accel_2['temperature'] - accel_2_params['TC_A2_TREF']
-	temp_rel_resample = np.linspace(accel_2_params['TC_A2_TMIN']-accel_2_params['TC_A2_TREF'], accel_2_params['TC_A2_TMAX']-accel_2_params['TC_A2_TREF'], 100)
-	temp_resample = temp_rel_resample + accel_2_params['TC_A2_TREF']
+    # find the min, max and reference temperature
+    accel_2_params['TC_A2_TMIN'] = np.amin(sensor_accel_2['temperature'])
+    accel_2_params['TC_A2_TMAX'] = np.amax(sensor_accel_2['temperature'])
+    accel_2_params['TC_A2_TREF'] = 0.5 * (accel_2_params['TC_A2_TMIN'] + accel_2_params['TC_A2_TMAX'])
+    temp_rel = sensor_accel_2['temperature'] - accel_2_params['TC_A2_TREF']
+    temp_rel_resample = np.linspace(accel_2_params['TC_A2_TMIN']-accel_2_params['TC_A2_TREF'], accel_2_params['TC_A2_TMAX']-accel_2_params['TC_A2_TREF'], 100)
+    temp_resample = temp_rel_resample + accel_2_params['TC_A2_TREF']
 
-	# fit X axis
-	correction_x = sensor_accel_2['x']-np.median(sensor_accel_2['x'])
-	coef_accel_2_x = np.polyfit(temp_rel,correction_x,3)
-	accel_2_params['TC_A2_X3_0'] = coef_accel_2_x[0]
-	accel_2_params['TC_A2_X2_0'] = coef_accel_2_x[1]
-	accel_2_params['TC_A2_X1_0'] = coef_accel_2_x[2]
-	accel_2_params['TC_A2_X0_0'] = coef_accel_2_x[3]
-	fit_coef_accel_2_x = np.poly1d(coef_accel_2_x)
-	correction_x_resample = fit_coef_accel_2_x(temp_rel_resample)
+    # fit X axis
+    correction_x = sensor_accel_2['x']-np.median(sensor_accel_2['x'])
+    coef_accel_2_x = np.polyfit(temp_rel,correction_x,3)
+    accel_2_params['TC_A2_X3_0'] = coef_accel_2_x[0]
+    accel_2_params['TC_A2_X2_0'] = coef_accel_2_x[1]
+    accel_2_params['TC_A2_X1_0'] = coef_accel_2_x[2]
+    accel_2_params['TC_A2_X0_0'] = coef_accel_2_x[3]
+    fit_coef_accel_2_x = np.poly1d(coef_accel_2_x)
+    correction_x_resample = fit_coef_accel_2_x(temp_rel_resample)
 
-	# fit Y axis
-	correction_y = sensor_accel_2['y']-np.median(sensor_accel_2['y'])
-	coef_accel_2_y = np.polyfit(temp_rel,correction_y,3)
-	accel_2_params['TC_A2_X3_1'] = coef_accel_2_y[0]
-	accel_2_params['TC_A2_X2_1'] = coef_accel_2_y[1]
-	accel_2_params['TC_A2_X1_1'] = coef_accel_2_y[2]
-	accel_2_params['TC_A2_X0_1'] = coef_accel_2_y[3]
-	fit_coef_accel_2_y = np.poly1d(coef_accel_2_y)
-	correction_y_resample = fit_coef_accel_2_y(temp_rel_resample)
+    # fit Y axis
+    correction_y = sensor_accel_2['y']-np.median(sensor_accel_2['y'])
+    coef_accel_2_y = np.polyfit(temp_rel,correction_y,3)
+    accel_2_params['TC_A2_X3_1'] = coef_accel_2_y[0]
+    accel_2_params['TC_A2_X2_1'] = coef_accel_2_y[1]
+    accel_2_params['TC_A2_X1_1'] = coef_accel_2_y[2]
+    accel_2_params['TC_A2_X0_1'] = coef_accel_2_y[3]
+    fit_coef_accel_2_y = np.poly1d(coef_accel_2_y)
+    correction_y_resample = fit_coef_accel_2_y(temp_rel_resample)
 
-	# fit Z axis
-	correction_z = sensor_accel_2['z']-np.median(sensor_accel_2['z'])
-	coef_accel_2_z = np.polyfit(temp_rel,correction_z,3)
-	accel_2_params['TC_A2_X3_2'] = coef_accel_2_z[0]
-	accel_2_params['TC_A2_X2_2'] = coef_accel_2_z[1]
-	accel_2_params['TC_A2_X1_2'] = coef_accel_2_z[2]
-	accel_2_params['TC_A2_X0_2'] = coef_accel_2_z[3]
-	fit_coef_accel_2_z = np.poly1d(coef_accel_2_z)
-	correction_z_resample = fit_coef_accel_2_z(temp_rel_resample)
+    # fit Z axis
+    correction_z = sensor_accel_2['z']-np.median(sensor_accel_2['z'])
+    coef_accel_2_z = np.polyfit(temp_rel,correction_z,3)
+    accel_2_params['TC_A2_X3_2'] = coef_accel_2_z[0]
+    accel_2_params['TC_A2_X2_2'] = coef_accel_2_z[1]
+    accel_2_params['TC_A2_X1_2'] = coef_accel_2_z[2]
+    accel_2_params['TC_A2_X0_2'] = coef_accel_2_z[3]
+    fit_coef_accel_2_z = np.poly1d(coef_accel_2_z)
+    correction_z_resample = fit_coef_accel_2_z(temp_rel_resample)
 
-	# accel 2 vs temperature
-	plt.figure(6,figsize=(20,13))
+    # accel 2 vs temperature
+    plt.figure(6,figsize=(20,13))
 
-	# draw plots
-	plt.subplot(3,1,1)
-	plt.plot(sensor_accel_2['temperature'],correction_x,'b')
-	plt.plot(temp_resample,correction_x_resample,'r')
-	plt.title('Accel 2 Bias vs Temperature')
-	plt.ylabel('X bias (m/s/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,1)
+    plt.plot(sensor_accel_2['temperature'],correction_x,'b')
+    plt.plot(temp_resample,correction_x_resample,'r')
+    plt.title('Accel 2 Bias vs Temperature')
+    plt.ylabel('X bias (m/s/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	# draw plots
-	plt.subplot(3,1,2)
-	plt.plot(sensor_accel_2['temperature'],correction_y,'b')
-	plt.plot(temp_resample,correction_y_resample,'r')
-	plt.ylabel('Y bias (m/s/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,2)
+    plt.plot(sensor_accel_2['temperature'],correction_y,'b')
+    plt.plot(temp_resample,correction_y_resample,'r')
+    plt.ylabel('Y bias (m/s/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	# draw plots
-	plt.subplot(3,1,3)
-	plt.plot(sensor_accel_2['temperature'],correction_z,'b')
-	plt.plot(temp_resample,correction_z_resample,'r')
-	plt.ylabel('Z bias (m/s/s)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.subplot(3,1,3)
+    plt.plot(sensor_accel_2['temperature'],correction_z,'b')
+    plt.plot(temp_resample,correction_z_resample,'r')
+    plt.ylabel('Z bias (m/s/s)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	pp.savefig()
+    pp.savefig()
 
 #################################################################################
 
@@ -761,41 +761,41 @@ baro_1_params = {
 
 if num_baros >= 2:
 
-	# curve fit the data for baro 0 corrections
-	baro_1_params['TC_B1_ID'] = int(np.median(sensor_baro_1['device_id']))
+    # curve fit the data for baro 0 corrections
+    baro_1_params['TC_B1_ID'] = int(np.median(sensor_baro_1['device_id']))
 
-	# find the min, max and reference temperature
-	baro_1_params['TC_B1_TMIN'] = np.amin(sensor_baro_1['temperature'])
-	baro_1_params['TC_B1_TMAX'] = np.amax(sensor_baro_1['temperature'])
-	baro_1_params['TC_B1_TREF'] = 0.5 * (baro_1_params['TC_B1_TMIN'] + baro_1_params['TC_B1_TMAX'])
-	temp_rel = sensor_baro_1['temperature'] - baro_1_params['TC_B1_TREF']
-	temp_rel_resample = np.linspace(baro_1_params['TC_B1_TMIN']-baro_1_params['TC_B1_TREF'], baro_1_params['TC_B1_TMAX']-baro_1_params['TC_B1_TREF'], 100)
-	temp_resample = temp_rel_resample + baro_1_params['TC_B1_TREF']
+    # find the min, max and reference temperature
+    baro_1_params['TC_B1_TMIN'] = np.amin(sensor_baro_1['temperature'])
+    baro_1_params['TC_B1_TMAX'] = np.amax(sensor_baro_1['temperature'])
+    baro_1_params['TC_B1_TREF'] = 0.5 * (baro_1_params['TC_B1_TMIN'] + baro_1_params['TC_B1_TMAX'])
+    temp_rel = sensor_baro_1['temperature'] - baro_1_params['TC_B1_TREF']
+    temp_rel_resample = np.linspace(baro_1_params['TC_B1_TMIN']-baro_1_params['TC_B1_TREF'], baro_1_params['TC_B1_TMAX']-baro_1_params['TC_B1_TREF'], 100)
+    temp_resample = temp_rel_resample + baro_1_params['TC_B1_TREF']
 
-	# fit data
-	median_pressure = np.median(sensor_baro_1['pressure']);
-	coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
-	baro_1_params['TC_B1_X5'] = coef_baro_1_x[0]
-	baro_1_params['TC_B1_X4'] = coef_baro_1_x[1]
-	baro_1_params['TC_B1_X3'] = coef_baro_1_x[2]
-	baro_1_params['TC_B1_X2'] = coef_baro_1_x[3]
-	baro_1_params['TC_B1_X1'] = coef_baro_1_x[4]
-	baro_1_params['TC_B1_X0'] = coef_baro_1_x[5]
-	fit_coef_baro_1_x = np.poly1d(coef_baro_1_x)
-	baro_1_x_resample = fit_coef_baro_1_x(temp_rel_resample)
+    # fit data
+    median_pressure = np.median(sensor_baro_1['pressure']);
+    coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
+    baro_1_params['TC_B1_X5'] = coef_baro_1_x[0]
+    baro_1_params['TC_B1_X4'] = coef_baro_1_x[1]
+    baro_1_params['TC_B1_X3'] = coef_baro_1_x[2]
+    baro_1_params['TC_B1_X2'] = coef_baro_1_x[3]
+    baro_1_params['TC_B1_X1'] = coef_baro_1_x[4]
+    baro_1_params['TC_B1_X0'] = coef_baro_1_x[5]
+    fit_coef_baro_1_x = np.poly1d(coef_baro_1_x)
+    baro_1_x_resample = fit_coef_baro_1_x(temp_rel_resample)
 
-	# baro 1 vs temperature
-	plt.figure(8,figsize=(20,13))
+    # baro 1 vs temperature
+    plt.figure(8,figsize=(20,13))
 
-	# draw plots
-	plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
-	plt.plot(temp_resample,baro_1_x_resample,'r')
-	plt.title('Baro 1 Bias vs Temperature')
-	plt.ylabel('Z bias (Pa)')
-	plt.xlabel('temperature (degC)')
-	plt.grid()
+    # draw plots
+    plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
+    plt.plot(temp_resample,baro_1_x_resample,'r')
+    plt.title('Baro 1 Bias vs Temperature')
+    plt.ylabel('Z bias (Pa)')
+    plt.xlabel('temperature (degC)')
+    plt.grid()
 
-	pp.savefig()
+    pp.savefig()
 
 #################################################################################
 

Tools/px4moduledoc/markdownout.py

@@ -52,7 +52,7 @@ The generated files will be written to the `modules` directory.
                     result += "%s\n" % doc
                 usage_string = module.usage_string()
                 if len(usage_string) > 0:
-                    result += "### Usage\n```\n%s\n```\n" % usage_string
+                    result += "### Usage {#%s_usage}\n```\n%s\n```\n" % (module.name(), usage_string)
 
             self._outputs[category] = result
 

Tools/px4moduledoc/srcparser.py

@@ -247,12 +247,19 @@ class SourceParser(object):
         self._modules = {} # all found modules: key is the module name
         self._consistency_checks_failure = False # one or more checks failed
 
+        self._comment_remove_pattern = re.compile(
+            r'//.*?$|/\*.*?\*/|\'(?:\\.|[^\\\'])*\'|"(?:\\.|[^\\"])*"',
+            re.DOTALL | re.MULTILINE)
+
     def Parse(self, scope, contents):
         """
         Incrementally parse program contents and append all found documentations
         to the list.
         """
 
+        # remove comments from source
+        contents = self._comment_remover(contents)
+
         extracted_function_calls = [] # list of tuples: (FUNC_NAME, list(ARGS))
 
         start_index = 0
@@ -302,6 +309,16 @@ class SourceParser(object):
 
         return True
 
+    def _comment_remover(self, text):
+        """ remove C++ & C style comments.
+            Source: https://stackoverflow.com/a/241506 """
+        def replacer(match):
+            s = match.group(0)
+            if s.startswith('/'):
+                return " " # note: a space and not an empty string
+            else:
+                return s
+        return re.sub(self._comment_remove_pattern, replacer, text)
 
     def _do_consistency_check(self, contents, scope, module_doc):
         """

Tools/px_uploader.py

@@ -125,7 +125,7 @@ class firmware(object):
 
         # pad image to 4-byte length
         while ((len(self.image) % 4) != 0):
-            self.image.append('\xff')
+            self.image.extend(b'\xff')
 
     def property(self, propname):
         return self.desc[propname]
@@ -488,11 +488,13 @@ class uploader(object):
                 print("FORCED WRITE, FLASHING ANYWAY!")
             else:
                 raise IOError(msg)
+
+        # Prevent uploads where the image would overflow the flash
         if self.fw_maxsize < fw.property('image_size'):
             raise RuntimeError("Firmware image is too large for this board")
 
         # OTP added in v4:
-        if self.bl_rev > 3:
+        if self.bl_rev >= 4:
             for byte in range(0, 32*6, 4):
                 x = self.__getOTP(byte)
                 self.otp = self.otp + x
@@ -518,16 +520,43 @@ class uploader(object):
                     print(binascii.hexlify(x).decode('Latin-1'), end='')  # show user
                 print('')
                 print("chip: %08x" % self.__getCHIP())
-                if (self.bl_rev >= 5):
-                    des = self.__getCHIPDes()
-                    if (len(des) == 2):
-                        print("family: %s" % des[0])
-                        print("revision: %s" % des[1])
-                        print("flash %d" % self.fw_maxsize)
             except Exception:
                 # ignore bad character encodings
                 pass
 
+        # Silicon errata check was added in v5
+        if (self.bl_rev >= 5):
+            des = self.__getCHIPDes()
+            if (len(des) == 2):
+                print("family: %s" % des[0])
+                print("revision: %s" % des[1])
+                print("flash %d" % self.fw_maxsize)
+
+                # Prevent uploads where the maximum image size of the board config is smaller than the flash
+                # of the board. This is a hint the user chose the wrong config and will lack features
+                # for this particular board.
+
+                # This check should also check if the revision is an unaffected revision
+                # and thus can support the full flash, see
+                # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144
+
+                if self.fw_maxsize > fw.property('image_maxsize') and not force:
+                    raise RuntimeError("Board can accept larger flash images (%u bytes) than board config (%u bytes). Please use the correct board configuration to avoid lacking critical functionality."
+                        % (self.fw_maxsize, fw.property('image_maxsize')))
+        else:
+            # If we're still on bootloader v4 on a Pixhawk, we don't know if we
+            # have the silicon errata and therefore need to flash px4fmu-v2
+            # with 1MB flash or if it supports px4fmu-v3 with 2MB flash.
+            if fw.property('board_id') == 9 \
+                    and fw.property('image_size') > 1032192 \
+                    and not force:
+                raise RuntimeError("\nThe Board uses bootloader revision 4 and can therefore not determine\n"
+                                   "if flashing more than 1 MB (px4fmu-v3_default) is safe, chances are\n"
+                                   "high that it is not safe! If unsure, use px4fmu-v2_default.\n"
+                                   "\n"
+                                   "If you know you that the board does not have the silicon errata, use\n"
+                                   "this script with --force, or update the bootloader.\n")
+
         self.__erase("Erase  ")
         self.__program("Program", fw)
 
@@ -560,7 +589,10 @@ class uploader(object):
             return False
 
         print("Attempting reboot on %s with baudrate=%d..." % (self.port.port, self.port.baudrate), file=sys.stderr)
-        print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
+        if "ttyS" in self.port.port:
+            print("If the board does not respond, check the connection to the Flight Controller")
+        else:
+            print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
 
         try:
             # try MAVLINK command first
@@ -591,7 +623,7 @@ def main():
     parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
     parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
     parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
-    parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading')
+    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
     parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
     parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
     args = parser.parse_args()
@@ -605,7 +637,6 @@ def main():
     # Load the firmware file
     fw = firmware(args.firmware)
     print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size')))
-    print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.")
 
     # tell any GCS that might be connected to the autopilot to give up
     # control of the serial port

Tools/qgc_meta_sync.sh

@@ -1,5 +1,6 @@
 #!/usr/bin/env bash
 
-make px4fmu-v4_default
-cp build/px4fmu-v4_default/parameters.xml ../qgroundcontrol/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
-cp build/px4fmu-v4_default/airframes.xml ../qgroundcontrol/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
+make parameters_metadata
+cp parameters.xml ../qgroundcontrol/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+make airframe_metadata
+cp airframes.xml ../qgroundcontrol/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml

Tools/scp_upload.sh

@@ -1,32 +0,0 @@
-#!/bin/bash
-# upload script for network-connected devices via scp (eg Raspberry Pi)
-
-if [[ "$#" < 2 ]]; then
-	echo "usage: scp_upload.sh SRC1 [SRC2 ...] DEST"
-	exit
-fi
-
-if [ -z ${AUTOPILOT_HOST+x} ]; then
-	host=px4autopilot
-	echo "\$AUTOPILOT_HOST is not set (use default: $host)"
-else
-	host=$AUTOPILOT_HOST
-	echo "\$AUTOPILOT_HOST is set to $host"
-fi
-
-user=pi
-if [ -n "${AUTOPILOT_USER}" ]; then
-	user=${AUTOPILOT_USER}
-fi
-
-# Get last argument
-for last; do true; done
-
-# All except last argument
-length=$(($#-1))
-src_files=${@:1:$length}
-
-echo "Uploading $src_files..."
-
-# Upload files
-scp -r $src_files ${user}@${host}:$last

Tools/sitl_gazebo

@@ -1 +1 @@
-Subproject commit b052c97f7c3a2c39ab8ec06ae79c66431f16c659
+Subproject commit 90c9e5db3f53b0d963a4f240cc712f2ecf246bc4

Tools/uorb_graph/create.py

@@ -249,9 +249,9 @@ class Graph:
     ('mc_att_control', r'mc_att_control_main\.cpp$', r'\b_rates_sp_id=([^,)]+)', r'^_rates_sp_id$'),
     ('mc_att_control', r'mc_att_control_main\.cpp$', r'\b_actuators_id=([^,)]+)', r'^_actuators_id$'),
 
-    ('fw_att_control', r'fw_att_control_main\.cpp$', r'\b_rates_sp_id=([^,)]+)', r'^_rates_sp_id$'),
-    ('fw_att_control', r'fw_att_control_main\.cpp$', r'\b_actuators_id=([^,)]+)', r'^_actuators_id$'),
-    ('fw_att_control', r'fw_att_control_main\.cpp$', r'\b_attitude_setpoint_id=([^,)]+)', r'^_attitude_setpoint_id$'),
+    ('fw_att_control', r'FixedwingAttitudeControl\.cpp$', r'\b_rates_sp_id=([^,)]+)', r'^_rates_sp_id$'),
+    ('fw_att_control', r'FixedwingAttitudeControl\.cpp$', r'\b_actuators_id=([^,)]+)', r'^_actuators_id$'),
+    ('fw_att_control', r'FixedwingAttitudeControl\.cpp$', r'\b_attitude_setpoint_id=([^,)]+)', r'^_attitude_setpoint_id$'),
 
     ('uavcan', r'sensors/.*\.cpp$', r'\bUavcanCDevSensorBridgeBase\([^{]*DEVICE_PATH,([^,)]+)', r'^_orb_topic$'),
     ('batt_smbus', r'batt_smbus\.cpp$', r'\b_batt_orb_id=([^,)]+)', r'^_batt_orb_id$'),

Vagrantfile

@@ -1,131 +0,0 @@
-# -*- mode: ruby -*-
-# vi: set ft=ruby :
-
-# All Vagrant configuration is done below. The "2" in Vagrant.configure
-# configures the configuration version (we support older styles for
-# backwards compatibility). Please don't change it unless you know what
-# you're doing.
-Vagrant.configure(2) do |config|
-
-  # Every Vagrant development environment requires a box. You can search for
-  # boxes at https://atlas.hashicorp.com/search.
-  config.vm.box = "ubuntu/trusty64"
-
-  # Disable automatic box update checking. If you disable this, then
-  # boxes will only be checked for updates when the user runs
-  # `vagrant box outdated`. This is not recommended.
-  # config.vm.box_check_update = false
-
-  # Create a forwarded port mapping which allows access to a specific port
-  # within the machine from a port on the host machine. In the example below,
-  # accessing "localhost:8080" will access port 80 on the guest machine.
-  # MAVLink telemetry via UDP in SITL mode
-  config.vm.network "forwarded_port", guest: 14556, host: 14556, protocol: "udp"
-  # SITL simulation data
-  config.vm.network "forwarded_port", guest: 14560, host: 14560, protocol: "udp"
-
-  # Create a private network, which allows host-only access to the machine
-  # using a specific IP.
-  config.vm.network "private_network", ip: "192.168.33.10"
-
-  # Create a public network, which generally matched to bridged network.
-  # Bridged networks make the machine appear as another physical device on
-  # your network.
-  # config.vm.network "public_network"
-
-  # Share an additional folder to the guest VM. The first argument is
-  # the path on the host to the actual folder. The second argument is
-  # the path on the guest to mount the folder. And the optional third
-  # argument is a set of non-required options.
-  # NFS should be faster: https://stefanwrobel.com/how-to-make-vagrant-performance-not-suck
-  config.vm.synced_folder ".", "/Firmware", type: "nfs"
-
-  # Provider-specific configuration so you can fine-tune various
-  # backing providers for Vagrant. These expose provider-specific options.
-  # Example for VirtualBox:
-  #
-
-  # This is to configure the machine to be as fast as possible
-  # Alternative: https://github.com/rdsubhas/vagrant-faster
-  config.vm.provider "virtualbox" do |vb|
-    # Display the VirtualBox GUI when booting the machine
-    vb.gui = false
-    vb.customize ["modifyvm", :id, "--ioapic", "on"]
-    #vb.customize ["modifyvm", :id, "--cpus", "2"]
-
-    config.vm.provider "virtualbox" do |v|
-      host = RbConfig::CONFIG['host_os']
-
-      # Give VM 1/4 system memory & access to all cpu cores on the host
-      if host =~ /darwin/
-        cpus = `sysctl -n hw.ncpu`.to_i
-        # sysctl returns Bytes and we need to convert to MB
-        mem = `sysctl -n hw.memsize`.to_i / 1024 / 1024 / 4
-      elsif host =~ /linux/
-        cpus = `nproc`.to_i
-        # meminfo shows KB and we need to convert to MB
-        mem = `grep 'MemTotal' /proc/meminfo | sed -e 's/MemTotal://' -e 's/ kB//'`.to_i / 1024 / 4
-      else # sorry Windows folks, I can't help you
-        cpus = 2
-        mem = 1024
-      end
-
-      v.customize ["modifyvm", :id, "--memory", mem]
-      v.customize ["modifyvm", :id, "--cpus", cpus]
-    end
-
-    # Since make and other tools freak out if they see timestamps
-    # from the future and we share directories, tightly lock the host and guest clocks together (clock sync if more than 2 seconds off)
-    vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-threshold", 2000]
-    # Do this on start and restore
-    vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-start"]
-    vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-on-restore", "1"]
-
-    # Customize the amount of memory on the VM:
-    #vb.memory = "2048"
-  end
-  #
-  # View the documentation for the provider you are using for more
-  # information on available options.
-
-  # Define a Vagrant Push strategy for pushing to Atlas. Other push strategies
-  # such as FTP and Heroku are also available. See the documentation at
-  # https://docs.vagrantup.com/v2/push/atlas.html for more information.
-  # config.push.define "atlas" do |push|
-  #   push.app = "YOUR_ATLAS_USERNAME/YOUR_APPLICATION_NAME"
-  # end
-
-  # Enable provisioning with a shell script. Additional provisioners such as
-  # Puppet, Chef, Ansible, Salt, and Docker are also available. Please see the
-  # documentation for more information about their specific syntax and use.
-  config.vm.provision "shell", privileged: false, inline: <<-SHELL
-    # Ensure we start in the Firmware folder
-    echo "cd /Firmware" >> ~/.bashrc
-    # Install software
-    sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded -y
-    sudo add-apt-repository ppa:george-edison55/cmake-3.x -y
-    sudo apt-get update
-    sudo apt-get install -y build-essential ccache cmake clang-3.5 lldb-3.5 g++-4.8 gcc-4.8 genromfs libc6-i386 libncurses5-dev python-argparse python-empy python-serial s3cmd texinfo zlib1g-dev git-core zip gdb gcc-arm-linux-gnueabihf g++-arm-linux-gnueabihf
-    pushd .
-    cd ~
-    wget -q https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
-    tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
-    exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
-    if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
-    exportline2="export HEXAGON_TOOLS_ROOT=$HOME/Qualcomm/HEXAGON_Tools/7.2.10/Tools"
-    if grep -Fxq "$exportline2" ~/.profile; then echo nothing to do ; else echo $exportline2 >> ~/.profile; fi
-    . ~/.profile
-    popd
-    # setup ccache
-    mkdir -p ~/bin
-    ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
-    ln -s /usr/bin/ccache ~/bin/arm-none-eabi-gcc
-    ln -s /usr/bin/ccache ~/bin/g++-4.8
-    ln -s /usr/bin/ccache ~/bin/gcc-4.8
-    export PATH=~/bin:$PATH
-
-    # Configure hardware related bits
-    sudo apt-get -y remove modemmanager
-    sudo usermod -a -G dialout $USER
-  SHELL
-end

circle.yml

@@ -27,4 +27,7 @@ dependencies:
 
 test:
   override:
-    - NO_NINJA_BUILD=1 make -j2 quick_check
+    #- NO_NINJA_BUILD=1 make -j2 quick_check
+    - make posix_sitl_default
+    - make px4fmu-v4pro_default
+    - make tests

cmake/common/px4_base.cmake

@@ -332,6 +332,8 @@ function(px4_add_common_flags)
 		-Wunknown-pragmas
 		-Wunused-variable
 
+		-Wno-implicit-fallthrough # set appropriate level and update
+
 		-Wno-unused-parameter
 		)
 

cmake/common/px4_upload.cmake

@@ -1,182 +0,0 @@
-############################################################################
-#
-# Copyright (c) 2017 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#=============================================================================
-#
-#	Defined functions in this file
-#
-# 	utility functions
-#
-#		* px4_add_upload
-#		* px4_add_adb_push
-#		* px4_add_adb_push_to_bebop
-#		* px4_add_scp_push
-#		* px4_add_upload_aero
-#
-
-
-#=============================================================================
-#
-#	px4_add_upload
-#
-#	This function generates source code from ROS msg definitions.
-#
-#	Usage:
-#		px4_add_upload(OUT <target> BUNDLE <file.px4>)
-#
-#	Input:
-#		BUNDLE		: the firmware.px4 file
-#		OS			: the operating system
-#		BOARD		: the board
-#
-#	Output:
-#		OUT			: the firmware target
-#
-#	Example:
-#		px4_add_upload(OUT upload
-#			BUNDLE main.px4
-#			)
-#
-function(px4_add_upload)
-	px4_parse_function_args(
-		NAME px4_add_upload
-		ONE_VALUE OS BOARD OUT BUNDLE
-		REQUIRED OS BOARD OUT BUNDLE
-		ARGN ${ARGN})
-	set(serial_ports)
-	if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
-		list(APPEND serial_ports
-			/dev/serial/by-id/*_PX4_*
-			/dev/serial/by-id/usb-3D_Robotics*
-			/dev/serial/by-id/usb-The_Autopilot*
-			/dev/serial/by-id/usb-Bitcraze*
-			/dev/serial/by-id/pci-3D_Robotics*
-			/dev/serial/by-id/pci-Bitcraze*
-			/dev/serial/by-id/usb-Gumstix*
-			)
-	elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
-		list(APPEND serial_ports
-			/dev/tty.usbmodemPX*,/dev/tty.usbmodem*
-			)
-	elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Windows")
-		foreach(port RANGE 32 0)
-			list(APPEND serial_ports
-				"COM${port}")
-		endforeach()
-	endif()
-	px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
-	add_custom_target(${OUT}
-		COMMAND ${PYTHON_EXECUTABLE}
-			${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
-		DEPENDS ${BUNDLE}
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
-		COMMENT "uploading ${BUNDLE}"
-		VERBATIM
-		USES_TERMINAL
-		)
-endfunction()
-
-
-function(px4_add_adb_push)
-	px4_parse_function_args(
-		NAME px4_add_upload
-		ONE_VALUE OS BOARD OUT DEST
-		MULTI_VALUE FILES DEPENDS
-		REQUIRED OS BOARD OUT FILES DEPENDS DEST
-		ARGN ${ARGN})
-
-	add_custom_target(${OUT}
-		COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
-		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
-		COMMENT "uploading ${BUNDLE}"
-		VERBATIM
-		USES_TERMINAL
-		)
-endfunction()
-
-
-function(px4_add_adb_push_to_bebop)
-	px4_parse_function_args(
-		NAME px4_add_upload_to_bebop
-		ONE_VALUE OS BOARD OUT DEST
-		MULTI_VALUE FILES DEPENDS
-		REQUIRED OS BOARD OUT FILES DEPENDS DEST
-		ARGN ${ARGN})
-
-	add_custom_target(${OUT}
-		COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
-		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
-		COMMENT "uploading ${BUNDLE}"
-		VERBATIM
-		USES_TERMINAL
-		)
-endfunction()
-
-
-function(px4_add_scp_push)
-	px4_parse_function_args(
-		NAME px4_add_upload
-		ONE_VALUE OS BOARD OUT DEST
-		MULTI_VALUE FILES DEPENDS
-		REQUIRED OS BOARD OUT FILES DEPENDS DEST
-		ARGN ${ARGN})
-
-	add_custom_target(${OUT}
-		COMMAND ${PX4_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
-		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
-		COMMENT "uploading ${BUNDLE}"
-		VERBATIM
-		USES_TERMINAL
-		)
-endfunction()
-
-
-function(px4_add_upload_aero)
-	px4_parse_function_args(
-		NAME px4_add_upload_aero
-		ONE_VALUE OS BOARD OUT BUNDLE
-		REQUIRED OS BOARD OUT BUNDLE
-		ARGN ${ARGN})
-
-	add_custom_target(${OUT}
-		COMMAND ${PX4_SOURCE_DIR}/Tools/aero_upload.sh ${BUNDLE}
-		DEPENDS ${BUNDLE}
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
-		COMMENT "uploading ${BUNDLE}"
-		VERBATIM
-		USES_TERMINAL
-		)
-endfunction()

cmake/configs/nuttx_aerocore2_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
@@ -8,6 +7,12 @@ set(config_module_list
 	#
 	# Board support modules
 	#
+	drivers/barometer
+	drivers/differential_pressure
+	drivers/distance_sensor
+	#drivers/magnetometer
+	drivers/telemetry
+
 	drivers/device
 	drivers/stm32
 	drivers/stm32/adc
@@ -15,22 +20,14 @@ set(config_module_list
 	drivers/led
 	drivers/px4fmu
 	drivers/boards
-	drivers/lsm303d
-	drivers/l3gd20
-	drivers/ms5611
-	drivers/teraranger
+	drivers/imu/lsm303d
+	drivers/imu/l3gd20
 	drivers/gps
 	drivers/pwm_out_sim
 	drivers/airspeed
-	drivers/ets_airspeed
-	drivers/ms4525_airspeed
-	drivers/ms5525_airspeed
-	drivers/sdp3x_airspeed
-	#drivers/frsky_telemetry
 	modules/sensors
 	#drivers/pwm_input
 	#drivers/camera_trigger
-	drivers/bst
 
 	#
 	# System commands
@@ -55,7 +52,7 @@ set(config_module_list
 	#
 	# Testing
 	#
-	#drivers/sf0x/sf0x_tests
+	#drivers/distance_sensor/sf0x/sf0x_tests
 	#drivers/test_ppm
 	#lib/rc/rc_tests
 	#modules/commander/commander_tests
@@ -117,21 +114,13 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
 	lib/rc
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
+	lib/tunes
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 
 	#
 	# OBC challenge
@@ -151,10 +140,6 @@ set(config_module_list
 	# https://px4.io/dev/px4_simple_app
 	#examples/px4_simple_app
 
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
-
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
 	#examples/px4_mavlink_debug

cmake/configs/nuttx_aerofc-v1_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
@@ -8,19 +7,19 @@ set(config_module_list
 	#
 	# Board support modules
 	#
-	drivers/device
-	drivers/stm32
-	drivers/led
-	drivers/px4fmu
-	drivers/boards
-	drivers/tap_esc
-	drivers/mpu9250
-	drivers/ms5611
-	drivers/hmc5883
-	drivers/gps
-	drivers/ist8310
-	drivers/ll40ls
 	drivers/aerofc_adc
+	drivers/boards
+	drivers/device
+	drivers/distance_sensor
+	drivers/gps
+	drivers/led
+	drivers/barometer/ms5611
+	drivers/magnetometer/hmc5883
+	drivers/magnetometer/ist8310
+	drivers/imu/mpu9250
+	drivers/px4fmu
+	drivers/stm32
+	drivers/tap_esc
 	modules/sensors
 
 	#
@@ -52,6 +51,7 @@ set(config_module_list
 	#
 	modules/attitude_estimator_q
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/ekf2
 
 	#
@@ -59,6 +59,7 @@ set(config_module_list
 	#
 	modules/mc_att_control
 	modules/mc_pos_control
+	modules/vtol_att_control # FIXME: only required for params needed by Navigator
 
 	#
 	# Logging
@@ -83,12 +84,7 @@ set(config_module_list
 	lib/geo
 	lib/geo_lookup
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
 	lib/rc
-	lib/tailsitter_recovery
 	lib/version
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
 )

cmake/configs/nuttx_auav-x21_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
@@ -8,47 +7,35 @@ set(config_module_list
 	#
 	# Board support modules
 	#
+	drivers/barometer
+	drivers/differential_pressure
+	drivers/distance_sensor
+	drivers/magnetometer
+	drivers/telemetry
+
+	drivers/airspeed
+	drivers/batt_smbus
+	drivers/blinkm
+	drivers/boards
+	drivers/camera_trigger
 	drivers/device
+	drivers/gps
+	drivers/led
+	drivers/mkblctrl
+	drivers/imu/mpu6000
+	drivers/imu/mpu9250
+	drivers/oreoled
+	drivers/pwm_input
+	drivers/pwm_out_sim
+	drivers/px4flow
+	drivers/px4fmu
+	drivers/px4io
+	drivers/rgbled
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
-	drivers/led
-	drivers/px4fmu
-	drivers/px4io
-	drivers/boards
-	drivers/rgbled
-	drivers/mpu6000
-	drivers/mpu9250
-	drivers/hmc5883
-	drivers/ms5611
-	drivers/mb12xx
-	drivers/srf02
-	drivers/sf0x
-	drivers/sf1xx
-	drivers/ll40ls
-	drivers/teraranger
-	drivers/gps
-	drivers/pwm_out_sim
-	drivers/hott
-	drivers/hott/hott_telemetry
-	drivers/hott/hott_sensors
-	drivers/blinkm
-	drivers/airspeed
-	drivers/ets_airspeed
-	drivers/ms4525_airspeed
-	drivers/ms5525_airspeed
-	drivers/sdp3x_airspeed
-	drivers/frsky_telemetry
-	modules/sensors
-	drivers/mkblctrl
-	drivers/px4flow
-	drivers/oreoled
 	drivers/vmount
-	drivers/pwm_input
-	drivers/camera_trigger
-	drivers/bst
-	drivers/snapdragon_rc_pwm
-	drivers/lis3mdl
+	modules/sensors
 
 	#
 	# System commands
@@ -70,12 +57,13 @@ set(config_module_list
 	systemcmds/sd_bench
 	systemcmds/top
 	systemcmds/topic_listener
+	systemcmds/tune_control
 	systemcmds/ver
 
 	#
 	# Testing
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests
@@ -102,6 +90,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/ekf2
 
 	#
@@ -138,20 +127,12 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
+	lib/tunes
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 
 	#
 	# OBC challenge
@@ -171,10 +152,6 @@ set(config_module_list
 	# https://px4.io/dev/px4_simple_app
 	#examples/px4_simple_app
 
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
-
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
 	#examples/px4_mavlink_debug

cmake/configs/nuttx_crazyflie_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
@@ -11,8 +10,8 @@ set(config_module_list
 	drivers/led
 	drivers/px4fmu
 	drivers/boards
-	drivers/mpu9250
-	drivers/lps25h
+	drivers/imu/mpu9250
+	drivers/barometer/lps25h
 	drivers/gps
 	modules/sensors
 
@@ -51,6 +50,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/ekf2
 
 	#
@@ -61,7 +61,7 @@ set(config_module_list
 	# modules/fw_att_control
 	modules/mc_att_control
 	modules/mc_pos_control
-	# modules/vtol_att_control
+	modules/vtol_att_control # FIXME: only required for params needed by Navigator
 
 	#
 	# Logging
@@ -85,20 +85,11 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
 	lib/rc
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 
 	#
 	# OBC challenge
@@ -118,10 +109,6 @@ set(config_module_list
 	# https://px4.io/dev/px4_simple_app
 	#examples/px4_simple_app
 
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
-
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
 	#examples/px4_mavlink_debug

cmake/configs/nuttx_esc35-v1_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 add_definitions(
 	-DFLASH_BASED_PARAMS
@@ -28,7 +27,7 @@ add_definitions(
 )
 
 px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
-	BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/esc35-v1.bin
+	BIN ${PX4_BINARY_DIR}/platforms/nuttx/esc35-v1.bin
 	HWNAME ${uavcanblid_name}
 	HW_MAJOR ${uavcanblid_hw_version_major}
 	HW_MINOR ${uavcanblid_hw_version_minor}
@@ -72,7 +71,4 @@ set(config_module_list
 	modules/systemlib
 	modules/systemlib/param
 	modules/uORB
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
 )

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
@@ -8,50 +7,38 @@ set(config_module_list
 	#
 	# Board support modules
 	#
+	drivers/barometer
+	drivers/differential_pressure
+	drivers/distance_sensor
+	drivers/magnetometer
+	drivers/telemetry
+
+	drivers/airspeed
+	drivers/batt_smbus
+	drivers/blinkm
+	drivers/boards
+	drivers/camera_trigger
 	drivers/device
+	drivers/gps
+	#drivers/hott
+	drivers/imu/l3gd20
+	drivers/led
+	drivers/imu/lsm303d
+	#drivers/mkblctrl
+	drivers/imu/mpu6000
+	drivers/imu/mpu9250
+	#drivers/oreoled
+	drivers/pwm_input
+	drivers/pwm_out_sim
+	drivers/px4flow
+	drivers/px4fmu
+	drivers/rgbled
+	#drivers/rgbled_pwm
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
-	drivers/led
-	drivers/px4fmu
-	drivers/boards
-	drivers/rgbled
-	#drivers/rgbled_pwm
-	drivers/mpu6000
-	drivers/mpu9250
-	drivers/lsm303d
-	drivers/l3gd20
-	drivers/hmc5883
-	drivers/ms5611
-	drivers/mb12xx
-	drivers/srf02
-	drivers/srf02_i2c
-	#drivers/hc_sr04
-	drivers/sf0x
-	drivers/sf1xx
-	drivers/ll40ls
-	drivers/teraranger
-	drivers/gps
-	drivers/pwm_out_sim
-	#drivers/hott
-	#drivers/hott/hott_telemetry
-	#drivers/hott/hott_sensors
-	drivers/blinkm
-	drivers/airspeed
-	drivers/ets_airspeed
-	drivers/ms4525_airspeed
-	drivers/ms5525_airspeed
-	drivers/sdp3x_airspeed
-	drivers/frsky_telemetry
-	modules/sensors
-	#drivers/mkblctrl
-	drivers/px4flow
-	#drivers/oreoled
 	drivers/vmount
-	drivers/pwm_input
-	drivers/camera_trigger
-	drivers/bst
-	drivers/snapdragon_rc_pwm
+	modules/sensors
 
 	#
 	# System commands
@@ -66,6 +53,7 @@ set(config_module_list
 	systemcmds/hardfault_log
 	systemcmds/reboot
 	systemcmds/topic_listener
+	systemcmds/tune_control
 	systemcmds/top
 	systemcmds/config
 	systemcmds/nshterm
@@ -78,7 +66,7 @@ set(config_module_list
 	#
 	# Tests
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 	drivers/test_ppm
 	modules/commander/commander_tests
 	modules/mc_pos_control/mc_pos_control_tests
@@ -106,6 +94,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/ekf2
 
 	#
@@ -142,21 +131,13 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
 	lib/rc
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
+	lib/tunes
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 
 	#
 	# OBC challenge
@@ -176,10 +157,6 @@ set(config_module_list
 	# https://px4.io/dev/px4_simple_app
 	#examples/px4_simple_app
 
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
-
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
 	#examples/px4_mavlink_debug
@@ -190,4 +167,4 @@ set(config_module_list
 
 	# Hardware test
 	#examples/hwtest
-)
+)

cmake/configs/nuttx_nxphlite-v3_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
@@ -8,41 +7,30 @@ set(config_module_list
 	#
 	# Board support modules
 	#
+	drivers/barometer
+	drivers/differential_pressure
+	drivers/distance_sensor
+	drivers/magnetometer
+	drivers/telemetry
+
 	drivers/airspeed
+	drivers/barometer/mpl3115a2
+	drivers/batt_smbus
 	drivers/blinkm
-#NOT Supported	drivers/bma180
-#NOT Supported	drivers/bmi160
-	drivers/bmp280
 	drivers/boards
-	drivers/bst
 	drivers/camera_trigger
 	drivers/device
-	drivers/ets_airspeed
-	drivers/frsky_telemetry
-	drivers/fxos8701cq
-	drivers/fxas21002c
+	drivers/imu/fxas21002c
+	drivers/imu/fxos8701cq
 	drivers/gps
-	drivers/hmc5883
-	drivers/hott
-	drivers/hott/hott_sensors
-	drivers/hott/hott_telemetry
-	drivers/iridiumsbd
 	drivers/kinetis
 	drivers/kinetis/adc
 	drivers/kinetis/tone_alarm
-	drivers/l3gd20
+	drivers/imu/l3gd20
 	drivers/led
-	drivers/lis3mdl
-	drivers/ll40ls
-	drivers/lsm303d
-	drivers/mb12xx
 	drivers/mkblctrl
-	drivers/mpl3115a2
-	drivers/mpu6000
-	drivers/mpu9250
-	drivers/ms4525_airspeed
-	drivers/ms5525_airspeed
-	drivers/ms5611
+	drivers/imu/mpu6000
+	drivers/imu/mpu9250
 	drivers/oreoled
 # NOT Portable YET drivers/pwm_input
 	drivers/pwm_out_sim
@@ -50,13 +38,7 @@ set(config_module_list
 	drivers/px4fmu
 	drivers/rgbled
 	drivers/rgbled_pwm
-	drivers/sdp3x_airspeed
-	drivers/sf0x
-	drivers/sf1xx
-	drivers/snapdragon_rc_pwm
-	drivers/srf02
 	drivers/tap_esc
-	drivers/teraranger
 	drivers/vmount
 	modules/sensors
 
@@ -80,13 +62,14 @@ set(config_module_list
 	systemcmds/sd_bench
 	systemcmds/top
 	systemcmds/topic_listener
+	systemcmds/tune_control
 	systemcmds/usb_connected
 	systemcmds/ver
 
 	#
 	# Testing
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 ### NOT Portable YET 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests
@@ -115,6 +98,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/ekf2
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/position_estimator_inav
 
 	#
@@ -150,25 +134,15 @@ set(config_module_list
 	lib/geo
 	lib/geo_lookup
 	lib/conversion
-	lib/launchdetection
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
 	lib/rc
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
+	lib/tunes
 	lib/version
 	lib/DriverFramework/framework
 
-	#
-	# Platform
-	#
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
-
 	#
 	# OBC challenge
 	#
@@ -192,10 +166,6 @@ set(config_module_list
 	# https://px4.io/dev/px4_simple_app
 	examples/px4_simple_app
 
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	examples/px4_daemon_app
-
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
 	examples/px4_mavlink_debug
@@ -206,4 +176,4 @@ set(config_module_list
 
 	# Hardware test
 	examples/hwtest
-)
+)

cmake/configs/nuttx_px4-same70xplained-v1_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
@@ -8,6 +7,12 @@ set(config_module_list
 	#
 	# Board support modules
 	#
+	drivers/barometer
+	drivers/differential_pressure
+	drivers/distance_sensor
+	drivers/magnetometer
+	drivers/telemetry
+
 	drivers/device
 	drivers/samv7
 #WIP 	drivers/samv7/adc
@@ -16,28 +21,14 @@ set(config_module_list
 	drivers/px4fmu
 	drivers/boards
 	drivers/rgbled
-	drivers/mpu6000
-	drivers/mpu9250
-	drivers/ms4525_airspeed
-	drivers/ms5525_airspeed
-	drivers/lsm303d
-	drivers/l3gd20
-	drivers/hmc5883
-	drivers/ms5611
-	drivers/mb12xx
-	drivers/srf02
-	drivers/sf0x
-	drivers/ll40ls
-	drivers/teraranger
+	drivers/imu/mpu6000
+	drivers/imu/mpu9250
+	drivers/imu/lsm303d
+	drivers/imu/l3gd20
 	drivers/gps
 #WIP 	drivers/pwm_out_sim
-	drivers/hott
-	drivers/hott/hott_telemetry
-	drivers/hott/hott_sensors
 	drivers/blinkm
 	drivers/airspeed
-	drivers/ets_airspeed
-	drivers/frsky_telemetry
 	modules/sensors
 	#drivers/mkblctrl
 	drivers/px4flow
@@ -45,9 +36,6 @@ set(config_module_list
 ##	drivers/gimbal
 #WIP  	drivers/pwm_input
 #WIP  	drivers/camera_trigger
-	drivers/bst
-	drivers/snapdragon_rc_pwm
-	drivers/lis3mdl
 
 	#
 	# System commands
@@ -84,6 +72,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/ekf2
 
 	#
@@ -119,21 +108,12 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
 	lib/rc
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 
 	#
 	# OBC challenge
@@ -153,10 +133,6 @@ set(config_module_list
 	# https://px4.io/dev/px4_simple_app
 	#examples/px4_simple_app
 
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
-
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
 	#examples/px4_mavlink_debug
@@ -167,4 +143,4 @@ set(config_module_list
 
 	# Hardware test
 	#examples/hwtest
-)
+)

cmake/configs/nuttx_px4-stm32f4discovery_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
@@ -41,14 +40,8 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 
 	#
 	# Demo apps
@@ -58,10 +51,6 @@ set(config_module_list
 	# https://px4.io/dev/px4_simple_app
 	examples/px4_simple_app
 
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
-
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
 	#examples/px4_mavlink_debug
@@ -72,4 +61,4 @@ set(config_module_list
 
 	# Hardware test
 	#examples/hwtest
-)
+)

cmake/configs/nuttx_px4cannode-v1_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 add_definitions(
 	-DPARAM_NO_ORB
@@ -26,7 +25,7 @@ add_definitions(
 )
 
 px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
-	BIN ${PX4_BINARY_DIR}/src/firmware/nuttx/px4cannode-v1.bin
+	BIN ${PX4_BINARY_DIR}/platforms/nuttx/px4cannode-v1.bin
 	HWNAME ${uavcanblid_name}
 	HW_MAJOR ${uavcanblid_hw_version_major}
 	HW_MINOR ${uavcanblid_hw_version_minor}
@@ -64,7 +63,5 @@ set(config_module_list
 	modules/systemlib
 	modules/systemlib/param
 	modules/uORB
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
+
 )

cmake/configs/nuttx_px4esc-v1_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 add_definitions(
 	-DFLASH_BASED_PARAMS
@@ -28,7 +27,7 @@ add_definitions(
 )
 
 px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
-	BIN ${PX4_BINARY_DIR}/src/firmware/nuttx/px4esc-v1.bin
+	BIN ${PX4_BINARY_DIR}/platforms/nuttx/px4esc-v1.bin
 	HWNAME ${uavcanblid_name}
 	HW_MAJOR ${uavcanblid_hw_version_major}
 	HW_MINOR ${uavcanblid_hw_version_minor}
@@ -73,7 +72,5 @@ set(config_module_list
 	modules/systemlib
 	modules/systemlib/param
 	modules/uORB
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
+
 )

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
 #set(config_uavcan_num_ifaces 2)
@@ -7,63 +6,65 @@ set(config_module_list
 	#
 	# Board support modules
 	#
-	#drivers/adis16448
+	#drivers/barometer
+	drivers/differential_pressure
+	#drivers/magnetometer
+	#drivers/telemetry
+
+	#drivers/imu/adis16448
 	drivers/airspeed
+	drivers/barometer/ms5611
 	#drivers/blinkm
-	#drivers/bmi160
-	#drivers/bmp280
+	#drivers/imu/bmi160
+	#drivers/barometer/bmp280
 	drivers/boards
 	#drivers/bst
 	drivers/camera_trigger
 	drivers/device
-	#drivers/ets_airspeed
-	drivers/frsky_telemetry
+	#drivers/frsky_telemetry
 	drivers/gps
-	drivers/hmc5883
 	#drivers/hott
-	#drivers/hott/hott_sensors
-	#drivers/hott/hott_telemetry
 	#drivers/iridiumsbd
 	#drivers/irlock
-	#drivers/ist8310
-	drivers/l3gd20
+	drivers/imu/l3gd20
 	drivers/led
-	drivers/lis3mdl
-	drivers/ll40ls
-	drivers/lsm303d
+	drivers/imu/lsm303d
+	drivers/magnetometer/hmc5883
+	drivers/magnetometer/lis3mdl
 	#drivers/mb12xx
 	#drivers/mkblctrl
-	drivers/mpu6000
-	drivers/mpu9250
-	drivers/ms4525_airspeed
-	drivers/ms5525_airspeed
-	drivers/ms5611
+	drivers/imu/mpu6000
+	drivers/imu/mpu9250
 	#drivers/oreoled
 	#drivers/protocol_splitter
 	drivers/pwm_input
-	drivers/pwm_out_sim
+	#drivers/pwm_out_sim
 	drivers/px4flow
 	drivers/px4fmu
 	drivers/px4io
 	drivers/rgbled
-	drivers/sdp3x_airspeed
-	drivers/sf0x
-	drivers/sf1xx
-	#drivers/snapdragon_rc_pwm
-	#drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
 	#drivers/tap_esc
-	drivers/teraranger
-	#drivers/ulanding
 	drivers/vmount
+
+	# distance sensors
+	drivers/distance_sensor/ll40ls
+	drivers/distance_sensor/mb12xx
+	drivers/distance_sensor/sf0x
+	drivers/distance_sensor/sf1xx
+	drivers/distance_sensor/srf02
+	drivers/distance_sensor/srf02_i2c
+	drivers/distance_sensor/teraranger
+	drivers/distance_sensor/tfmini
+	#drivers/distance_sensor/ulanding
 	modules/sensors
 
 	#
 	# System commands
 	#
-	systemcmds/bl_update
+	#systemcmds/bl_update
 	#systemcmds/config
 	#systemcmds/dumpfile
 	#systemcmds/esc_calib
@@ -81,12 +82,13 @@ set(config_module_list
 	#systemcmds/sd_bench
 	systemcmds/top
 	#systemcmds/topic_listener
+	systemcmds/tune_control
 	systemcmds/ver
 
 	#
 	# Testing
 	#
-	#drivers/sf0x/sf0x_tests
+	#drivers/distance_sensor/sf0x/sf0x_tests
 	#drivers/test_ppm
 	#lib/controllib/controllib_test
 	#lib/rc/rc_tests
@@ -116,14 +118,15 @@ set(config_module_list
 	modules/ekf2
 	#modules/local_position_estimator
 	#modules/position_estimator_inav
+	#modules/landing_target_estimator
 
 	#
 	# Vehicle Control
 	#
 	modules/fw_att_control
 	modules/fw_pos_control_l1
-	modules/gnd_att_control
-	modules/gnd_pos_control
+	#modules/gnd_att_control
+	#modules/gnd_pos_control
 	modules/mc_att_control
 	modules/mc_pos_control
 	modules/vtol_att_control
@@ -151,23 +154,13 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	#lib/terrain_estimation
+	lib/tunes
 	lib/version
 
-	#
-	# Platform
-	#
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
-
 	#
 	# OBC challenge
 	#
@@ -191,10 +184,6 @@ set(config_module_list
 	# https://px4.io/dev/px4_simple_app
 	#examples/px4_simple_app
 
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
-
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
 	#examples/px4_mavlink_debug

cmake/configs/nuttx_px4fmu-v2_lpe.cmake

@@ -7,6 +7,10 @@ list(REMOVE_ITEM config_module_list
 	)
 
 list(APPEND config_module_list
+
+	drivers/irlock
+
 	modules/attitude_estimator_q
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	)

cmake/configs/nuttx_px4fmu-v2_test.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_test)
 
@@ -15,12 +14,11 @@ set(config_module_list
 	drivers/px4io
 	drivers/boards
 	drivers/rgbled
-	drivers/mpu6000
-#TO FIT	drivers/mpu9250
-	drivers/lsm303d
-	drivers/l3gd20
+	drivers/imu/mpu6000
+#TO FIT	drivers/imu/mpu9250
+	drivers/imu/lsm303d
+	drivers/imu/l3gd20
 	drivers/hmc5883
-	drivers/ms5611
 	#drivers/mb12xx
 	#drivers/srf02
 	#drivers/sf0x
@@ -29,15 +27,10 @@ set(config_module_list
 	drivers/gps
 	#drivers/pwm_out_sim
 	#drivers/hott
-	#drivers/hott/hott_telemetry
-	#drivers/hott/hott_sensors
 	drivers/blinkm
 	drivers/airspeed
-	drivers/ets_airspeed
-	drivers/ms4525_airspeed
-	drivers/ms5525_airspeed
-	drivers/sdp3x_airspeed
-	drivers/frsky_telemetry
+	drivers/barometer
+	drivers/differential_pressure
 	modules/sensors
 	#drivers/mkblctrl
 	drivers/px4flow
@@ -46,8 +39,8 @@ set(config_module_list
 	drivers/pwm_input
 	drivers/camera_trigger
 	#drivers/bst
-	#drivers/snapdragon_rc_pwm
 	#drivers/lis3mdl
+	drivers/tfmini
 
 	#
 	# System commands
@@ -73,7 +66,7 @@ set(config_module_list
 	#
 	# Testing
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests
@@ -134,20 +127,12 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
+	lib/tunes
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 
 	#
 	# OBC challenge
@@ -167,10 +152,6 @@ set(config_module_list
 	# https://px4.io/dev/px4_simple_app
 	#examples/px4_simple_app
 
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
-
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
 	#examples/px4_mavlink_debug

cmake/configs/nuttx_px4fmu-v3_default.cmake

@@ -2,9 +2,9 @@
 # FMUv3 is FMUv2 with access to the full 2MB flash
 set(BOARD px4fmu-v2 CACHE string "" FORCE)
 set(FW_NAME nuttx_px4fmu-v3_default.elf CACHE string "" FORCE)
+set(FW_PROTOTYPE px4fmu-v3 CACHE string "" FORCE)
 set(LD_SCRIPT ld_full.script CACHE string "" FORCE)
 
-include(nuttx/px4_impl_nuttx)
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
 set(config_uavcan_num_ifaces 2)
@@ -13,36 +13,28 @@ set(config_module_list
 	#
 	# Board support modules
 	#
-	drivers/adis16448
+	drivers/barometer
+	drivers/differential_pressure
+	drivers/distance_sensor
+	drivers/magnetometer
+	drivers/telemetry
+
 	drivers/airspeed
+	drivers/batt_smbus
 	drivers/blinkm
-	drivers/bmi160
-	drivers/bmp280
 	drivers/boards
-	drivers/bst
 	drivers/camera_trigger
 	drivers/device
-	drivers/ets_airspeed
-	drivers/frsky_telemetry
 	drivers/gps
-	drivers/hmc5883
-	drivers/hott
-	drivers/hott/hott_sensors
-	drivers/hott/hott_telemetry
-	drivers/iridiumsbd
+	drivers/imu/adis16448
+	drivers/imu/bmi160
+	drivers/imu/l3gd20
+	drivers/imu/lsm303d
+	drivers/imu/mpu6000
+	drivers/imu/mpu9250
 	drivers/irlock
-	drivers/l3gd20
 	drivers/led
-	drivers/lis3mdl
-	drivers/ll40ls
-	drivers/lsm303d
-	drivers/mb12xx
 	drivers/mkblctrl
-	drivers/mpu6000
-	drivers/mpu9250
-	drivers/ms4525_airspeed
-	drivers/ms5525_airspeed
-	drivers/ms5611
 	drivers/oreoled
 	drivers/protocol_splitter
 	drivers/pwm_input
@@ -51,17 +43,10 @@ set(config_module_list
 	drivers/px4fmu
 	drivers/px4io
 	drivers/rgbled
-	drivers/sdp3x_airspeed
-	drivers/sf0x
-	drivers/sf1xx
-	drivers/snapdragon_rc_pwm
-	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
 	drivers/tap_esc
-	drivers/teraranger
-	drivers/ulanding
 	drivers/vmount
 	modules/sensors
 
@@ -86,12 +71,13 @@ set(config_module_list
 	systemcmds/sd_bench
 	systemcmds/top
 	systemcmds/topic_listener
+	systemcmds/tune_control
 	systemcmds/ver
 
 	#
 	# Testing
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 	drivers/test_ppm
 	lib/controllib/controllib_test
 	#lib/rc/rc_tests
@@ -119,6 +105,7 @@ set(config_module_list
 	#
 	modules/attitude_estimator_q
 	modules/ekf2
+	modules/landing_target_estimator
 	modules/local_position_estimator
 	modules/position_estimator_inav
 
@@ -156,23 +143,13 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
+	lib/tunes
 	lib/version
 
-	#
-	# Platform
-	#
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
-
 	#
 	# OBC challenge
 	#
@@ -196,10 +173,6 @@ set(config_module_list
 	# https://px4.io/dev/px4_simple_app
 	examples/px4_simple_app
 
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	examples/px4_daemon_app
-
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
 	examples/px4_mavlink_debug

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
@@ -8,35 +7,23 @@ set(config_module_list
 	#
 	# Board support modules
 	#
+	drivers/barometer
+	drivers/differential_pressure
+	drivers/distance_sensor
+	drivers/magnetometer
+	drivers/telemetry
+	drivers/imu
+
 	drivers/airspeed
+	drivers/batt_smbus
 	drivers/blinkm
-	drivers/bma180
-	drivers/bmi055
-	drivers/bmi160
-	drivers/bmm150
-	drivers/bmp280
 	drivers/boards
-	drivers/bst
 	drivers/camera_trigger
 	drivers/device
-	drivers/ets_airspeed
-	drivers/frsky_telemetry
 	drivers/gps
-	drivers/hmc5883
-	drivers/hott
-	drivers/hott/hott_sensors
-	drivers/hott/hott_telemetry
-	drivers/iridiumsbd
+	drivers/irlock
 	drivers/led
-	drivers/lis3mdl
-	drivers/ll40ls
-	drivers/mb12xx
 	drivers/mkblctrl
-	drivers/mpu6000
-	drivers/mpu9250
-	drivers/ms4525_airspeed
-	drivers/ms5525_airspeed
-	drivers/ms5611
 	drivers/oreoled
 	drivers/pca9685
 	drivers/pwm_input
@@ -44,16 +31,10 @@ set(config_module_list
 	drivers/px4flow
 	drivers/px4fmu
 	drivers/rgbled
-	drivers/sdp3x_airspeed
-	drivers/sf0x
-	drivers/sf1xx
-	drivers/snapdragon_rc_pwm
-	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
 	drivers/tap_esc
-	drivers/teraranger
 	drivers/vmount
 	modules/sensors
 
@@ -77,12 +58,13 @@ set(config_module_list
 	systemcmds/sd_bench
 	systemcmds/top
 	systemcmds/topic_listener
+	systemcmds/tune_control
 	systemcmds/ver
 
 	#
 	# Testing
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests
@@ -110,6 +92,7 @@ set(config_module_list
 	#
 	modules/attitude_estimator_q
 	modules/ekf2
+	modules/landing_target_estimator
 	modules/local_position_estimator
 	modules/position_estimator_inav
 
@@ -147,24 +130,14 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
 	lib/rc
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
+	lib/tunes
 	lib/version
 
-	#
-	# Platform
-	#
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
-
 	#
 	# OBC challenge
 	#
@@ -188,10 +161,6 @@ set(config_module_list
 	# https://px4.io/dev/px4_simple_app
 	examples/px4_simple_app
 
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	examples/px4_daemon_app
-
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
 	examples/px4_mavlink_debug
@@ -202,4 +171,4 @@ set(config_module_list
 
 	# Hardware test
 	examples/hwtest
-)
+)

cmake/configs/nuttx_px4fmu-v4pro_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
@@ -8,35 +7,27 @@ set(config_module_list
 	#
 	# Board support modules
 	#
+	drivers/distance_sensor
+	drivers/barometer
+	drivers/differential_pressure
+	drivers/magnetometer
+	drivers/telemetry
+
 	drivers/airspeed
+	drivers/batt_smbus
 	drivers/blinkm
-	drivers/bma180
-	drivers/bmi160
-	drivers/bmp280
+	drivers/imu/bma180
+	drivers/imu/bmi160
 	drivers/boards
-	drivers/bst
 	drivers/camera_trigger
 	drivers/device
-	drivers/ets_airspeed
-	drivers/frsky_telemetry
 	drivers/gps
-	drivers/hmc5883
-	drivers/hott
-	drivers/hott/hott_sensors
-	drivers/hott/hott_telemetry
-	drivers/iridiumsbd
-	drivers/l3gd20
+	drivers/irlock
+	drivers/imu/l3gd20
 	drivers/led
-	drivers/lis3mdl
-	drivers/ll40ls
-	drivers/lsm303d
-	drivers/mb12xx
 	drivers/mkblctrl
-	drivers/mpu6000
-	drivers/mpu9250
-	drivers/ms4525_airspeed
-	drivers/ms5525_airspeed
-	drivers/ms5611
+	drivers/imu/mpu6000
+	drivers/imu/mpu9250
 	drivers/oreoled
 	drivers/pwm_input
 	drivers/pwm_out_sim
@@ -44,16 +35,10 @@ set(config_module_list
 	drivers/px4fmu
 	drivers/px4io
 	drivers/rgbled
-	drivers/sdp3x_airspeed
-	drivers/sf0x
-	drivers/sf1xx
-	drivers/snapdragon_rc_pwm
-	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
 	drivers/tap_esc
-	drivers/teraranger
 	drivers/vmount
 	modules/sensors
 
@@ -77,12 +62,13 @@ set(config_module_list
 	systemcmds/sd_bench
 	systemcmds/top
 	systemcmds/topic_listener
+	systemcmds/tune_control
 	systemcmds/ver
 
 	#
 	# Testing
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests
@@ -110,6 +96,7 @@ set(config_module_list
 	#
 	modules/attitude_estimator_q
 	modules/ekf2
+	modules/landing_target_estimator
 	modules/local_position_estimator
 	modules/position_estimator_inav
 
@@ -147,23 +134,13 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
+	lib/tunes
 	lib/version
 
-	#
-	# Platform
-	#
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
-
 	#
 	# OBC challenge
 	#
@@ -187,10 +164,6 @@ set(config_module_list
 	# https://px4.io/dev/px4_simple_app
 	#examples/px4_simple_app
 
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
-
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
 	#examples/px4_mavlink_debug
@@ -201,4 +174,4 @@ set(config_module_list
 
 	# Hardware test
 	#examples/hwtest
-)
+)

cmake/configs/nuttx_px4fmu-v5_default.cmake

@@ -1,6 +1,5 @@
-include(nuttx/px4_impl_nuttx)
 
-px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
+px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
 set(config_uavcan_num_ifaces 2)
 
@@ -8,52 +7,39 @@ set(config_module_list
 	#
 	# Board support modules
 	#
+	drivers/barometer
+	drivers/differential_pressure
+	drivers/distance_sensor
+	drivers/magnetometer
+	drivers/telemetry
+
 	drivers/airspeed
+	drivers/batt_smbus
 	drivers/blinkm
-	drivers/bma180
-	drivers/bmi055
-	drivers/bmi160
-	drivers/bmp280
+	drivers/imu/bma180
+	drivers/imu/bmi055
+	drivers/imu/bmi160
 	drivers/boards
-	drivers/bst
 	drivers/camera_trigger
 	drivers/device
-	drivers/ets_airspeed
-	drivers/frsky_telemetry
 	drivers/gps
-	drivers/hmc5883
-	drivers/hott
-	drivers/hott/hott_sensors
-	drivers/hott/hott_telemetry
-	drivers/iridiumsbd
-	drivers/ist8310
+	drivers/irlock
 	drivers/led
-	drivers/lis3mdl
-	drivers/ll40ls
-	drivers/mb12xx
 	drivers/mkblctrl
-	drivers/mpu6000
-	drivers/mpu9250
-	drivers/ms4525_airspeed
-	drivers/ms5525_airspeed
-	drivers/ms5611
+	drivers/imu/mpu6000
+	drivers/imu/mpu9250
 	drivers/oreoled
 	drivers/pwm_input
 	drivers/pwm_out_sim
 	drivers/px4flow
 	drivers/px4fmu
+	drivers/px4io
 	drivers/rgbled
 	drivers/rgbled_pwm
-	drivers/sdp3x_airspeed
-	drivers/sf0x
-	drivers/sf1xx
-	drivers/snapdragon_rc_pwm
-	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
 	drivers/tap_esc
-	drivers/teraranger
 	drivers/vmount
 	modules/sensors
 
@@ -77,12 +63,13 @@ set(config_module_list
 	systemcmds/sd_bench
 	systemcmds/top
 	systemcmds/topic_listener
+	systemcmds/tune_control
 	systemcmds/ver
 
 	#
 	# Testing
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 	drivers/test_ppm
 	#lib/rc/rc_tests
 	modules/commander/commander_tests
@@ -110,6 +97,7 @@ set(config_module_list
 	#
 	modules/attitude_estimator_q
 	modules/ekf2
+	modules/landing_target_estimator
 	modules/local_position_estimator
 	modules/position_estimator_inav
 
@@ -147,24 +135,14 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
 	lib/rc
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
+	lib/tunes
 	lib/version
 
-	#
-	# Platform
-	#
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
-
 	#
 	# OBC challenge
 	#
@@ -188,10 +166,6 @@ set(config_module_list
 	# https://px4.io/dev/px4_simple_app
 	#examples/px4_simple_app
 
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
-
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
 	#examples/px4_mavlink_debug
@@ -202,4 +176,4 @@ set(config_module_list
 
 	# Hardware test
 	#examples/hwtest
-)
+)

cmake/configs/nuttx_px4io-v2_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m3 CONFIG nsh)
 
@@ -8,5 +7,4 @@ set(config_module_list
 	lib/mixer
 	lib/rc
 	modules/px4iofirmware
-	platforms/common
 )

cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
@@ -8,47 +7,35 @@ set(config_module_list
 	#
 	# Board support modules
 	#
+	drivers/barometer
+	drivers/differential_pressure
+	drivers/distance_sensor
+	drivers/magnetometer
+	drivers/telemetry
+
+	drivers/imu/adis16448
 	drivers/airspeed
 	drivers/blinkm
-	drivers/bma180
-	drivers/bmi160
-	drivers/bmp280
+	drivers/imu/bma180
+	drivers/imu/bmi160
 	drivers/boards
-	drivers/bst
 	drivers/camera_trigger
 	drivers/device
-	drivers/ets_airspeed
-	drivers/frsky_telemetry
 	drivers/gps
-	drivers/hmc5883
-	drivers/hott
-	drivers/hott/hott_sensors
-	drivers/hott/hott_telemetry
 	drivers/led
-	drivers/lis3mdl
-	drivers/ll40ls
-	drivers/mb12xx
 	drivers/mkblctrl
-	drivers/mpu6000
-	drivers/mpu9250
-	drivers/ms4525_airspeed
-	drivers/ms5525_airspeed
-	drivers/ms5611
+	drivers/imu/mpu6000
+	drivers/imu/mpu9250
 	drivers/oreoled
 	drivers/pwm_input
 	drivers/pwm_out_sim
 	drivers/px4flow
 	drivers/px4fmu
 	drivers/rgbled
-	drivers/sdp3x_airspeed
-	drivers/sf0x
-	drivers/snapdragon_rc_pwm
-	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
 	drivers/tap_esc
-	drivers/teraranger
 	modules/sensors
 
 	#
@@ -71,6 +58,7 @@ set(config_module_list
 	systemcmds/sd_bench
 	systemcmds/top
 	systemcmds/topic_listener
+	systemcmds/tune_control
 	systemcmds/ver
 
 	#
@@ -90,6 +78,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/ekf2
 
 	#
@@ -125,21 +114,13 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
 	lib/rc
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
+	lib/tunes
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 
 	#
 	# OBC challenge
@@ -159,10 +140,6 @@ set(config_module_list
 	# https://px4.io/dev/px4_simple_app
 	examples/px4_simple_app
 
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	#examples/px4_daemon_app
-
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
 	#examples/px4_mavlink_debug

cmake/configs/nuttx_s2740vc-v1_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 add_definitions(
 	-DPARAM_NO_ORB
@@ -26,7 +25,7 @@ include(configs/uavcan_board_ident/s2740vc-v1)
 
 # N.B. this would be uncommented when there is an APP
 #px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
-# BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/s2740vc-v1.bin
+# BIN ${PX4_BINARY_DIR}/platforms/nuttx/s2740vc-v1.bin
 # HWNAME ${uavcanblid_name}
 # HW_MAJOR ${uavcanblid_hw_version_major}
 # HW_MINOR ${uavcanblid_hw_version_minor}
@@ -61,12 +60,4 @@ set(config_module_list
 	modules/systemlib/param
 	modules/systemlib
 	lib/version
-
-	#
-	# Libraries
-	#
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/nuttx
-	platforms/common
-	platforms/nuttx/px4_layer
 )

cmake/configs/nuttx_tap-v1_default.cmake

@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT tap_common)
 
@@ -8,24 +7,23 @@ set(config_module_list
 	#
 	# Board support modules
 	#
+	drivers/airspeed
+	drivers/boards
 	drivers/device
+	drivers/barometer
+	drivers/differential_pressure
+	drivers/gps
+	drivers/led
+	drivers/magnetometer/hmc5883
+	drivers/imu/mpu6000
+	drivers/px4fmu
+	drivers/rgbled_pwm
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
-	drivers/led
-	drivers/px4fmu
-	drivers/boards
-	drivers/rgbled_pwm
 	drivers/tap_esc
-	drivers/mpu6000
-	drivers/ms5611
-	drivers/hmc5883
-	drivers/gps
-	drivers/airspeed
-	drivers/ms4525_airspeed
-	drivers/ms5525_airspeed
-	modules/sensors
 	drivers/vmount
+	modules/sensors
 
 	#
 	# System commands
@@ -46,6 +44,7 @@ set(config_module_list
 	systemcmds/dumpfile
 	systemcmds/ver
 	systemcmds/topic_listener
+	systemcmds/tune_control
 
 	#
 	# General system control
@@ -92,19 +91,11 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
 	lib/rc
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
+	lib/tunes
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
-)
+)

cmake/configs/posix_bebop_default.cmake

@@ -1,4 +1,3 @@
-include(posix/px4_impl_posix)
 
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
 
@@ -39,6 +38,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/ekf2
 
 	#
@@ -78,21 +78,10 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
 	lib/version
-
-	#
-	# POSIX
-	#
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
 )
 
 set(config_df_driver_list

cmake/configs/posix_eagle_hil.cmake

@@ -1,4 +1,3 @@
-include(posix/px4_impl_posix)
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
@@ -41,7 +40,6 @@ set(config_module_list
 
 	lib/controllib
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
@@ -49,9 +47,6 @@ set(config_module_list
 	lib/version
 	lib/DriverFramework/framework
 
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
 	modules/muorb/krait
 	)
 

cmake/configs/posix_eagle_muorb.cmake

@@ -1,4 +1,3 @@
-include(posix/px4_impl_posix)
 
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
 
@@ -20,9 +19,6 @@ set(config_module_list
 
 	lib/DriverFramework/framework
 
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-
 	modules/muorb/krait
 	)
 

cmake/configs/posix_ocpoc_cross.cmake

@@ -6,7 +6,6 @@ set(CMAKE_PROGRAM_PATH
 	${CMAKE_PROGRAM_PATH}
 )
 
-include(posix/px4_impl_posix)
 
 add_definitions(
   -D__PX4_POSIX_OCPOC
@@ -42,6 +41,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/ekf2
 
 	#
@@ -86,23 +86,12 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
 	lib/rc
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
 	lib/version
-
-	#
-	# POSIX
-	#
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
 	
 	examples/px4_simple_app
 )

cmake/configs/posix_ocpoc_ubuntu.cmake

@@ -5,7 +5,6 @@ set(CMAKE_PROGRAM_PATH
 	${CMAKE_PROGRAM_PATH}
 )
 
-include(posix/px4_impl_posix)
 
 add_definitions(
   -D__PX4_POSIX_OCPOC
@@ -19,6 +18,7 @@ set(config_module_list
 	# Board support modules
 	#
 	drivers/device
+	drivers/distance_sensor
 	modules/sensors
 	platforms/posix/drivers/df_mpu9250_wrapper
 	platforms/posix/drivers/df_ms5611_wrapper
@@ -41,6 +41,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/ekf2
 
 	#
@@ -74,7 +75,6 @@ set(config_module_list
 	drivers/linux_sbus
 	drivers/linux_pwm_out
 	drivers/rgbled
-	drivers/ulanding
 
 	#
 	# Libraries
@@ -85,23 +85,12 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
 	lib/rc
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
 	lib/version
-
-	#
-	# POSIX
-	#
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
 	
 	examples/px4_simple_app
 )

cmake/configs/posix_rpi_common.cmake

@@ -1,7 +1,6 @@
 # This file is shared between posix_rpi_native.cmake
 # and posix_rpi_cross.cmake.
 
-include(posix/px4_impl_posix)
 
 # This definition allows to differentiate if this just the usual POSIX build
 # or if it is for the RPi.
@@ -16,20 +15,22 @@ set(config_module_list
 	#
 	# Board support modules
 	#
-	drivers/device
 	drivers/airspeed
-	drivers/ets_airspeed
-	drivers/ms4525_airspeed
-	drivers/ms5525_airspeed
-	drivers/sdp3x_airspeed
+	#drivers/barometer
+	drivers/batt_smbus
+	drivers/device
+	drivers/differential_pressure
+	drivers/distance_sensor
+	#drivers/telemetry
 
 	modules/sensors
-	platforms/posix/drivers/df_mpu9250_wrapper
-	platforms/posix/drivers/df_lsm9ds1_wrapper
-	platforms/posix/drivers/df_ms5611_wrapper
+
 	platforms/posix/drivers/df_hmc5883_wrapper
-	platforms/posix/drivers/df_trone_wrapper
 	platforms/posix/drivers/df_isl29501_wrapper
+	platforms/posix/drivers/df_lsm9ds1_wrapper
+	platforms/posix/drivers/df_mpu9250_wrapper
+	platforms/posix/drivers/df_ms5611_wrapper
+	platforms/posix/drivers/df_trone_wrapper
 
 	#
 	# System commands
@@ -41,6 +42,7 @@ set(config_module_list
 	systemcmds/esc_calib
 	systemcmds/reboot
 	systemcmds/topic_listener
+	systemcmds/tune_control
 	systemcmds/perf
 
 	#
@@ -49,6 +51,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/ekf2
 
 	#
@@ -98,22 +101,12 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
+	lib/tunes
 	lib/version
-
-	#
-	# POSIX
-	#
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
 )
 
 #

cmake/configs/posix_sdflight_default.cmake

@@ -1,7 +1,6 @@
 include(common/px4_git)
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
-include(posix/px4_impl_posix)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})
@@ -45,12 +44,14 @@ set(config_module_list
 	systemcmds/mixer
 	systemcmds/ver
 	systemcmds/topic_listener
+	systemcmds/tune_control
 
 	modules/mavlink
 
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/ekf2
 
 	modules/mc_pos_control
@@ -76,14 +77,8 @@ set(config_module_list
 	lib/geo_lookup
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
+	lib/tunes
 	lib/version
-
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-	)
+)

cmake/configs/posix_sdflight_legacy.cmake

@@ -1,7 +1,6 @@
 include(common/px4_git)
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
-include(posix/px4_impl_posix)
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
@@ -37,12 +36,14 @@ set(config_module_list
 	systemcmds/mixer
 	systemcmds/ver
 	systemcmds/topic_listener
+	systemcmds/tune_control
 
 	modules/mavlink
 
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/ekf2
 
 	modules/mc_pos_control
@@ -68,14 +69,8 @@ set(config_module_list
 	lib/geo_lookup
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
+	lib/tunes
 	lib/version
-
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-	)
+	)

cmake/configs/posix_sitl_default.cmake

@@ -1,20 +1,21 @@
-include(posix/px4_impl_posix)
 
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
 
 set(config_module_list
+	#drivers/barometer
+	drivers/differential_pressure
+	drivers/distance_sensor
+	#drivers/telemetry
+
+	drivers/airspeed
+	drivers/batt_smbus
 	drivers/boards
 	drivers/camera_trigger
 	drivers/device
 	drivers/gps
+	drivers/linux_gpio
 	drivers/pwm_out_sim
 	drivers/vmount
-	drivers/linux_gpio
-	drivers/airspeed
-	drivers/ets_airspeed
-	drivers/ms4525_airspeed
-	drivers/ms5525_airspeed
-	drivers/sdp3x_airspeed
 
 	modules/sensors
 	platforms/posix/drivers/accelsim
@@ -45,12 +46,13 @@ set(config_module_list
 	systemcmds/sd_bench
 	systemcmds/top
 	systemcmds/topic_listener
+	systemcmds/tune_control
 	systemcmds/ver
 
 	#
 	# Testing
 	#
-	drivers/sf0x/sf0x_tests
+	drivers/distance_sensor/sf0x/sf0x_tests
 	#drivers/test_ppm
 	lib/rc/rc_tests
 	modules/commander/commander_tests
@@ -64,7 +66,6 @@ set(config_module_list
 	platforms/posix/tests/hrt_test
 	platforms/posix/tests/muorb
 	platforms/posix/tests/vcdev_test
-	platforms/posix/tests/wqueue
 
 	#
 	# General system control
@@ -112,6 +113,7 @@ set(config_module_list
 	modules/systemlib/param
 	modules/systemlib
 	modules/uORB
+	modules/landing_target_estimator
 
 	#
 	# Libraries
@@ -122,24 +124,14 @@ set(config_module_list
 	lib/ecl
 	lib/geo
 	lib/geo_lookup
-	lib/launchdetection
 	lib/led
 	lib/mixer
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/rc
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
+	lib/tunes
 	lib/version
 
-	#
-	# Platform
-	#
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-
 	#
 	# OBC challenge
 	#
@@ -168,10 +160,6 @@ set(config_module_list
 	# https://px4.io/dev/px4_simple_app
 	examples/px4_simple_app
 
-	# Tutorial code from
-	# https://px4.io/dev/daemon
-	examples/px4_daemon_app
-
 	# Tutorial code from
 	# https://px4.io/dev/debug_values
 	examples/px4_mavlink_debug
@@ -180,6 +168,9 @@ set(config_module_list
 	# https://px4.io/dev/example_fixedwing_control
 	examples/fixedwing_control
 
+	# Template Module
+	templates/module
+
 	# Hardware test
 	#examples/hwtest
 )

cmake/configs/posix_sitl_replay.cmake

@@ -1,13 +1,9 @@
-include(posix/px4_impl_posix)
 
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
 
 set(config_module_list
 	drivers/device
 	drivers/boards/sitl
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
 	systemcmds/param
 	systemcmds/ver
 	systemcmds/perf
@@ -20,7 +16,6 @@ set(config_module_list
 	modules/logger
 	lib/controllib
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/conversion
 	lib/ecl
 	lib/geo

cmake/configs/qurt_eagle_hello.cmake

@@ -1,4 +1,3 @@
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
@@ -34,13 +33,5 @@ set(config_module_list
 	modules/systemlib/param
 	modules/systemlib
 	modules/uORB
-
-	#
-	# QuRT port
-	#
-	platforms/common
-	platforms/qurt/px4_layer
-	platforms/posix/work_queue
-	platforms/qurt/tests/hello
 	)
 

cmake/configs/qurt_eagle_hil.cmake

@@ -1,4 +1,3 @@
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
@@ -41,6 +40,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/ekf2
 
 	#
@@ -67,20 +67,10 @@ set(config_module_list
 	lib/geo_lookup
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
 	lib/version
 
-	#
-	# QuRT port
-	#
-	platforms/common
-	platforms/qurt/px4_layer
-	platforms/posix/work_queue
-
 	#
 	# sources for muorb over fastrpc
 	#

cmake/configs/qurt_eagle_muorb.cmake

@@ -1,4 +1,3 @@
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
@@ -39,21 +38,12 @@ set(config_module_list
 	# Libraries
 	#
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/geo
 	lib/geo_lookup
 	lib/conversion
 	lib/version
 	lib/DriverFramework/framework
 
-	#
-	# QuRT port
-	#
-	platforms/common
-	platforms/qurt/px4_layer
-	platforms/posix/work_queue
-	platforms/qurt/tests/muorb
-
 	#
 	# sources for muorb over fastrpc
 	#

cmake/configs/qurt_eagle_test.cmake

@@ -1,4 +1,3 @@
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
@@ -41,18 +40,6 @@ set(config_module_list
 	lib/conversion
 	lib/DriverFramework/framework
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
-
-	#
-	# QuRT port
-	#
-	platforms/common
-	platforms/qurt/px4_layer
-	platforms/posix/work_queue
-	platforms/qurt/tests/hello
-	platforms/posix/tests/vcdev_test
-	platforms/posix/tests/hrt_test
-	platforms/posix/tests/wqueue
 	)
 

cmake/configs/qurt_eagle_travis.cmake

@@ -1,4 +1,3 @@
-include(qurt/px4_impl_qurt)
 
 set(CONFIG_SHMEM "1")
 
@@ -46,6 +45,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/ekf2
 
 	#
@@ -73,20 +73,10 @@ set(config_module_list
 	lib/geo_lookup
 	lib/led
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
 	lib/version
 
-	#
-	# QuRT port
-	#
-	platforms/common
-	platforms/qurt/px4_layer
-	platforms/posix/work_queue
-
 	#
 	# sources for muorb over fastrpc
 	#

cmake/configs/qurt_sdflight_default.cmake

@@ -1,7 +1,6 @@
 include(common/px4_git)
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
@@ -21,7 +20,7 @@ endif()
 # Disable the creation of the parameters.xml file by scanning individual
 # source files, and scan all source files.  This will create a parameters.xml
 # file that contains all possible parameters, even if the associated module
-# is not used.  This is necessary for parameter synchronization between the 
+# is not used.  This is necessary for parameter synchronization between the
 # ARM and DSP processors.
 set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
 
@@ -42,6 +41,7 @@ set(config_module_list
 	platforms/posix/drivers/df_hmc5883_wrapper
 	platforms/posix/drivers/df_trone_wrapper
 	platforms/posix/drivers/df_isl29501_wrapper
+	platforms/posix/drivers/df_ltc2946_wrapper
 
 	#
 	# System commands
@@ -54,6 +54,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/ekf2
 
 	#
@@ -75,7 +76,6 @@ set(config_module_list
 	# PX4 drivers
 	#
 	drivers/gps
-	drivers/pwm_out_rc_in
 	drivers/spektrum_rc
 	drivers/qshell/qurt
 	drivers/snapdragon_pwm_out
@@ -90,21 +90,11 @@ set(config_module_list
 	lib/geo
 	lib/geo_lookup
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
 	lib/rc
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
 	lib/version
 
-	#
-	# QuRT port
-	#
-	platforms/common
-	platforms/qurt/px4_layer
-	platforms/posix/work_queue
-
 	#
 	# sources for muorb over fastrpc
 	#
@@ -117,4 +107,5 @@ set(config_df_driver_list
 	hmc5883
 	trone
 	isl29501
+	ltc2946
 	)

cmake/configs/qurt_sdflight_legacy.cmake

@@ -1,7 +1,6 @@
 include(common/px4_git)
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
@@ -50,6 +49,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
 	modules/local_position_estimator
+	modules/landing_target_estimator
 	modules/ekf2
 
 	#
@@ -71,7 +71,6 @@ set(config_module_list
 	# PX4 drivers
 	#
 	drivers/gps
-	drivers/pwm_out_rc_in
 	drivers/spektrum_rc
 	drivers/qshell/qurt
 
@@ -90,21 +89,11 @@ set(config_module_list
 	lib/geo
 	lib/geo_lookup
 	lib/mathlib
-	lib/mathlib/math/filter
 	lib/mixer
 	lib/rc
-	lib/runway_takeoff
-	lib/tailsitter_recovery
 	lib/terrain_estimation
 	lib/version
 
-	#
-	# QuRT port
-	#
-	platforms/common
-	platforms/qurt/px4_layer
-	platforms/posix/work_queue
-
 	#
 	# sources for muorb over fastrpc
 	#

cmake/cygwin_cygpath.cmake

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,16 +32,19 @@
 ############################################################################
 
 #=============================================================================
-# FILE: posix/px4_target_impl.cmake
 #
-# Each PX4 target OS must implement the cmake/${OS}/px4_target_impl.cmake
-# rules for their target that implement the following macros:
+#	Converts a cygwin path (/cygdrive/c/...) to a mixed windows path (C:/...)
 #
-#	px4_target_set_flags
-#	px4_target_validate_config
-#	px4_target_firmware
-#	px4_target_rules
-#	px4_target_testing
-#
-# The macros are called from the top level CMakeLists.txt
+#	It is called on every platform but only adjusts the output when
+#	called inside the cygwin environment.
 #
+
+macro (CYGPATH _path _cygpath)
+	if (CMAKE_HOST_SYSTEM_NAME STREQUAL CYGWIN)
+		EXECUTE_PROCESS(COMMAND cygpath.exe -m ${${_path}}
+		OUTPUT_VARIABLE ${_cygpath})
+		string (STRIP ${${_cygpath}} ${_cygpath})
+	else()
+		set(${_cygpath} ${${_path}})
+	endif ()
+endmacro (CYGPATH)

cmake/posix/ld.script

@@ -1,47 +0,0 @@
-/****************************************************************************
- * ld.script
- *
- * Copyright (C) 2015 Mark Charlebois. All rights reserved.
- * Author: Mark Charlebois <charlebm@gmail.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-SECTIONS
-{
-	/*
-	 * Construction data for parameters.
-	 */
-	__param : ALIGN(8) {
-		__param_start = .;
-		KEEP(*(__param*))
-		__param_end = .;
-	}
-}
-INSERT AFTER .rodata;

cmake/qurt/qurt_eigen.patch

@@ -1,37 +0,0 @@
-diff --git a/Eigen/src/Core/util/Macros.h b/Eigen/src/Core/util/Macros.h
-index 1ca1d66..9bc928b 100644
---- a/Eigen/src/Core/util/Macros.h
-+++ b/Eigen/src/Core/util/Macros.h
-@@ -194,6 +194,12 @@
-   #define EIGEN_ARCH_PPC 0
- #endif
- 
-+/// \internal EIGEN_ARCH_HEXAGON set to 1 if the architecture is Hexagon
-+#ifdef __HEXAGON_ARCH__
-+  #define EIGEN_ARCH_HEXAGON 1
-+#else
-+  #define EIGEN_ARCH_HEXAGON 0
-+#endif
- 
- 
- // Operating system identification, EIGEN_OS_*
-@@ -334,15 +340,16 @@
- #endif
- 
- // Do we support r-value references?
--#if (__has_feature(cxx_rvalue_references) || \
-+#if ((__has_feature(cxx_rvalue_references) || \
-     (defined(__cplusplus) && __cplusplus >= 201103L) || \
-      defined(__GXX_EXPERIMENTAL_CXX0X__) || \
--    (EIGEN_COMP_MSVC >= 1600))
-+    (EIGEN_COMP_MSVC >= 1600)) && (!defined(EIGEN_ARCH_HEXAGON)))
-   #define EIGEN_HAVE_RVALUE_REFERENCES
- #endif
- 
- // Does the compiler support result_of?
--#if (__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L))
-+#if ((__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L)) && \
-+    (!defined(EIGEN_ARCH_HEXAGON)))
- #define EIGEN_HAS_STD_RESULT_OF 1
- #endif
- 

cmake/test/cmake_tester.py

@@ -1,52 +0,0 @@
-#!/usr/bin/env python
-"""
-The module facilitates testing in cmake.
-It  takes a command and a regex for failure ok passing.
-It passes if:
-    * No stderr output.
-    * Stdout doesn't match failure regex.
-    * Stdout matches ok regex if given.
-"""
-from __future__ import print_function
-import argparse
-import subprocess
-import re
-import sys
-
-#pylint: disable=invalid-name
-
-parser = argparse.ArgumentParser()
-
-parser.add_argument('cmd')
-parser.add_argument('--re-fail')
-parser.add_argument('--re-ok')
-parser.add_argument('--verbose', '-v', dest='verbose', action='store_true')
-
-parser.set_defaults(verbose=False)
-args = parser.parse_args()
-
-proc = subprocess.Popen(args.cmd.split(), stdout=subprocess.PIPE, stderr=subprocess.PIPE)
-stdout, stderr = proc.communicate()
-
-if stderr != "":
-    print(stderr)
-    sys.exit(1)
-
-if args.re_fail is not None:
-    fail_match = re.search(args.re_fail, stdout)
-    if fail_match is not None:
-        print(stdout)
-        sys.exit(1)
-
-if args.re_ok is not None:
-    ok_match = re.search(args.re_ok, stdout)
-    if re.match(args.re_ok, stdout) is None:
-        print(stdout)
-        sys.exit(1)
-
-if args.verbose:
-    print(stdout)
-
-sys.exit(0)
-
-# vim: set et ft=python fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :

cmake/test/px4_simple_app_correct.txt

@@ -1,27 +0,0 @@
-INFO  Shell id is 47996278451456
-WARN  1          starting task wkr_high (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
-WARN  54         starting task wkr_low (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
-WARN  100        starting task wkr_hrt (file /home/jgoppert/git/px4/cmake-Firmware/src/platforms/posix/px4_layer/px4_posix_tasks.cpp line 146)
-App name: px4
-Enter a command and its args:
-----------------------------------
-Running: uorb
-Returning: uorb
-Enter a command and its args:
-----------------------------------
-Running: accelsim
-Returning: accelsim
-Enter a command and its args:
-----------------------------------
-Running: px4_simple_app
-Hello Sky!
-[px4_simple_app] Got no data within a second
-[px4_simple_app] Got no data within a second
-[px4_simple_app] Got no data within a second
-[px4_simple_app] Got no data within a second
-[px4_simple_app] Got no data within a second
-Returning: px4_simple_app
-Enter a command and its args:
-----------------------------------
-Running: shutdown
-Shutting down

cmake/test/px4_simple_app_input.txt

@@ -1,4 +0,0 @@
-uorb start
-accelsim start
-px4_simple_app
-shutdown

cmake/toolchains/Toolchain-arm-none-eabi.cmake

@@ -20,7 +20,7 @@ include(CMakeForceCompiler)
 # this one is important
 set(CMAKE_SYSTEM_NAME Generic)
 
-#this one not so much
+# this one not so much
 set(CMAKE_SYSTEM_VERSION 1)
 
 # specify the cross compiler

eclipse.cproject

@@ -29,12 +29,13 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/systemlib}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/posix_sitl_default/&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/posix_sitl_default/src/modules/systemlib/param&quot;"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.preprocessor.def.1050909243" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="__PX4_POSIX=1"/>
@@ -48,14 +49,14 @@
 								<option id="gnu.c.compiler.option.include.paths.1309473256" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl/attitude_fw}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/systemlib}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/posix_sitl_default/&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/posix_sitl_default/src/modules/systemlib/param&quot;"/>
 								</option>
 								<option id="gnu.c.compiler.option.preprocessor.def.symbols.734675451" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="__PX4_POSIX=1"/>
@@ -75,15 +76,15 @@
 							<tool id="cdt.managedbuild.tool.gnu.assembler.base.900091175" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.base">
 								<option id="gnu.both.asm.option.include.paths.2025449581" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl/attitude_fw}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/systemlib}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/posix_sitl_default/&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/posix_sitl_default/src/modules/systemlib/param&quot;"/>
 								</option>
 								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.674673703" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
 							</tool>

integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py

@@ -37,23 +37,21 @@
 #
 # The shebang of this file is currently Python2 because some
 # dependencies such as pymavlink don't play well with Python3 yet.
+from __future__ import division
 
 PKG = 'px4'
 
-import unittest
 import rospy
-import rosbag
-import time
-
+from geometry_msgs.msg import Quaternion, Vector3
+from mavros_msgs.msg import AttitudeTarget
+from mavros_test_common import MavrosTestCommon
+from pymavlink import mavutil
 from std_msgs.msg import Header
-from std_msgs.msg import Float64
-from geometry_msgs.msg import PoseStamped, Quaternion
+from threading import Thread
 from tf.transformations import quaternion_from_euler
-from mavros_msgs.srv import CommandLong
-from sensor_msgs.msg import NavSatFix
-#from px4_test_helper import PX4TestHelper
 
-class MavrosOffboardAttctlTest(unittest.TestCase):
+
+class MavrosOffboardAttctlTest(MavrosTestCommon):
     """
     Tests flying in offboard control by sending attitude and thrust setpoints
     via MAVROS.
@@ -62,90 +60,95 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
     """
 
     def setUp(self):
-        rospy.init_node('test_node', anonymous=True)
-        rospy.wait_for_service('mavros/cmd/arming', 30)
-        #self.helper = PX4TestHelper("mavros_offboard_attctl_test")
-        #self.helper.setUp()
+        super(MavrosOffboardAttctlTest, self).setUp()
 
-        rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
-        rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
-        self.pub_att = rospy.Publisher('mavros/setpoint_attitude/attitude', PoseStamped, queue_size=10)
-        self.pub_thr = rospy.Publisher('mavros/setpoint_attitude/att_throttle', Float64, queue_size=10)
-        rospy.wait_for_service('mavros/cmd/command', 30)
-        self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
-        self.rate = rospy.Rate(10) # 10hz
-        self.has_global_pos = False
-        self.local_position = PoseStamped()
+        self.att = AttitudeTarget()
+
+        self.att_setpoint_pub = rospy.Publisher(
+            'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1)
+
+        # send setpoints in seperate thread to better prevent failsafe
+        self.att_thread = Thread(target=self.send_att, args=())
+        self.att_thread.daemon = True
+        self.att_thread.start()
 
     def tearDown(self):
-        #self.helper.tearDown()
-        pass
+        super(MavrosOffboardAttctlTest, self).tearDown()
 
     #
-    # General callback functions used in tests
+    # Helper methods
     #
-    def position_callback(self, data):
-        self.local_position = data
+    def send_att(self):
+        rate = rospy.Rate(10)  # Hz
+        self.att.body_rate = Vector3()
+        self.att.header = Header()
+        self.att.header.frame_id = "base_footprint"
+        self.att.orientation = Quaternion(*quaternion_from_euler(0.25, 0.25,
+                                                                 0))
+        self.att.thrust = 0.7
+        self.att.type_mask = 7  # ignore body rate
 
-    def global_position_callback(self, data):
-        self.has_global_pos = True
+        while not rospy.is_shutdown():
+            self.att.header.stamp = rospy.Time.now()
+            self.att_setpoint_pub.publish(self.att)
+            try:  # prevent garbage in console output when thread is killed
+                rate.sleep()
+            except rospy.ROSInterruptException:
+                pass
 
+    #
+    # Test method
+    #
     def test_attctl(self):
         """Test offboard attitude control"""
+        # boundary to cross
+        boundary_x = 5
+        boundary_y = 5
+        boundary_z = -5
 
-        # FIXME: hack to wait for simulation to be ready
-        while not self.has_global_pos:
-            self.rate.sleep()
+        # make sure the simulation is ready to start the mission
+        self.wait_for_topics(60)
+        self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
+                                   10, -1)
 
-        # set some attitude and thrust
-        att = PoseStamped()
-        att.header = Header()
-        att.header.frame_id = "base_footprint"
-        att.header.stamp = rospy.Time.now()
-        quaternion = quaternion_from_euler(0.25, 0.25, 0)
-        att.pose.orientation = Quaternion(*quaternion)
+        self.log_topic_vars()
+        self.set_mode("OFFBOARD", 5)
+        self.set_arm(True, 5)
 
-        throttle = Float64()
-        throttle.data = 0.7
-        armed = False
-
-        # does it cross expected boundaries in X seconds?
-        count = 0
-        timeout = 120
-        while count < timeout:
-            # update timestamp for each published SP
-            att.header.stamp = rospy.Time.now()
-
-            self.pub_att.publish(att)
-            #self.helper.bag_write('mavros/setpoint_attitude/attitude', att)
-            self.pub_thr.publish(throttle)
-            #self.helper.bag_write('mavros/setpoint_attitude/att_throttle', throttle)
-            self.rate.sleep()
-
-            # FIXME: arm and switch to offboard
-            # (need to wait the first few rounds until PX4 has the offboard stream)
-            if not armed and count > 5:
-                self._srv_cmd_long(False, 176, False,
-                                   1, 6, 0, 0, 0, 0, 0)
-                # make sure the first command doesn't get lost
-                time.sleep(1)
-
-                self._srv_cmd_long(False, 400, False,
-                                   # arm
-                                   1, 0, 0, 0, 0, 0, 0)
-
-                armed = True
-
-            if (self.local_position.pose.position.x > 5
-                    and self.local_position.pose.position.z > 5
-                    and self.local_position.pose.position.y < -5):
+        rospy.loginfo("run mission")
+        rospy.loginfo("attempting to cross boundary | x: {0}, y: {1}, z: {2}".
+                      format(boundary_x, boundary_y, boundary_z))
+        # does it cross expected boundaries in 'timeout' seconds?
+        timeout = 12  # (int) seconds
+        loop_freq = 2  # Hz
+        rate = rospy.Rate(loop_freq)
+        crossed = False
+        for i in xrange(timeout * loop_freq):
+            if (self.local_position.pose.position.x > boundary_x and
+                    self.local_position.pose.position.z > boundary_y and
+                    self.local_position.pose.position.y < boundary_z):
+                rospy.loginfo("boundary crossed | seconds: {0} of {1}".format(
+                    i / loop_freq, timeout))
+                crossed = True
                 break
-            count = count + 1
 
-        self.assertTrue(count < timeout, "took too long to cross boundaries")
+            try:
+                rate.sleep()
+            except rospy.ROSException as e:
+                self.fail(e)
+
+        self.assertTrue(crossed, (
+            "took too long to cross boundaries | current position x: {0:.2f}, y: {1:.2f}, z: {2:.2f} | timeout(seconds): {3}".
+            format(self.local_position.pose.position.x,
+                   self.local_position.pose.position.y,
+                   self.local_position.pose.position.z, timeout)))
+
+        self.set_arm(False, 5)
 
 
 if __name__ == '__main__':
     import rostest
-    rostest.rosrun(PKG, 'mavros_offboard_attctl_test', MavrosOffboardAttctlTest)
-    #unittest.main()
+    rospy.init_node('test_node', anonymous=True)
+
+    rostest.rosrun(PKG, 'mavros_offboard_attctl_test',
+                   MavrosOffboardAttctlTest)