Navigator: Fix RTL backtransition for VTOL

A recent change removed the command forwarding required for VTOL transitions. This change brings this back.

Partially reverts https://github.com/PX4/Firmware/pull/7249

.clang-tidy

@@ -1,76 +1,212 @@
-Checks:          '*
-		,-cert-dcl50-cpp
-		,-cert-err34-c
-		,-cert-err58-cpp
-		,-cert-msc30-c
-		,-cert-msc50-cpp
-		,-clang-analyzer-core.CallAndMessage
-		,-clang-analyzer-core.NullDereference
-		,-clang-analyzer-core.UndefinedBinaryOperatorResult
-		,-clang-analyzer-core.uninitialized.Assign
-		,-clang-analyzer-core.VLASize
-		,-clang-analyzer-cplusplus.NewDelete
-		,-clang-analyzer-cplusplus.NewDeleteLeaks
-		,-clang-analyzer-deadcode.DeadStores
-		,-clang-analyzer-optin.cplusplus.VirtualCall
-		,-clang-analyzer-optin.performance.Padding
-		,-clang-analyzer-security.insecureAPI.strcpy
-		,-clang-analyzer-unix.API
-		,-clang-analyzer-unix.cstring.BadSizeArg
-		,-clang-analyzer-unix.Malloc
-		,-clang-analyzer-unix.MallocSizeof
-		,-cppcoreguidelines-c-copy-assignment-signature
-		,-cppcoreguidelines-interfaces-global-init
-		,-cppcoreguidelines-no-malloc
-		,-cppcoreguidelines-pro-bounds-array-to-pointer-decay
-		,-cppcoreguidelines-pro-bounds-constant-array-index
-		,-cppcoreguidelines-pro-bounds-pointer-arithmetic
-		,-cppcoreguidelines-pro-type-const-cast
-		,-cppcoreguidelines-pro-type-cstyle-cast
-		,-cppcoreguidelines-pro-type-member-init
-		,-cppcoreguidelines-pro-type-reinterpret-cast
-		,-cppcoreguidelines-pro-type-union-access
-		,-cppcoreguidelines-pro-type-vararg
-		,-cppcoreguidelines-special-member-functions
-		,-google-build-using-namespace
-		,-google-explicit-constructor
-		,-google-global-names-in-headers
-		,-google-readability-casting
-		,-google-readability-namespace-comments
-		,-google-readability-todo
-		,-google-runtime-int
-		,-google-runtime-references
-		,-llvm-header-guard
-		,-llvm-include-order
-		,-llvm-namespace-comment
-		,-misc-incorrect-roundings
-		,-misc-macro-parentheses
-		,-misc-misplaced-widening-cast
-		,-misc-redundant-expression
-		,-misc-unconventional-assign-operator
-		,-misc-unused-parameters
-		,-modernize-deprecated-headers
-		,-modernize-loop-convert
-		,-modernize-use-auto
-		,-modernize-use-bool-literals
-		,-modernize-use-default-member-init
-		,-modernize-use-emplace
-		,-modernize-use-equals-default
-		,-modernize-use-equals-delete
-		,-modernize-use-override
-		,-modernize-use-using
-		,-performance-inefficient-string-concatenation
-		,-readability-avoid-const-params-in-decls
-		,-readability-else-after-return
-		,-readability-implicit-bool-cast
-		,-readability-inconsistent-declaration-parameter-name
-		,-readability-non-const-parameter
-		,-readability-redundant-declaration
-		,-readability-redundant-member-init
-		,-readability-simplify-boolean-expr
+---
+Checks:          'clang-diagnostic-*,clang-analyzer-*,-*,
+		cert-dcl03-c,
+		#cert-dcl50-cpp,
+		cert-dcl54-cpp,
+		cert-dcl59-cpp,
+		cert-env33-c,
+		cert-err09-cpp,
+		## TODO: fix code and enable # cert-err34-c,
+		cert-err52-cpp,
+		#cert-err58-cpp,
+		cert-err60-cpp,
+		cert-err61-cpp,
+		cert-fio38-c,
+		## TODO: fix code and enable # cert-flp30-c,
+		#cert-msc30-c,
+		#cert-msc50-cpp,
+		cert-oop11-cpp,
+		clang-analyzer-apiModeling.google.GTest,
+		clang-analyzer-core.builtin.BuiltinFunctions,
+		clang-analyzer-core.builtin.NoReturnFunctions,
+		## TODO: fix code and enable # clang-analyzer-core.CallAndMessage,
+		clang-analyzer-core.DivideZero,
+		clang-analyzer-core.DynamicTypePropagation,
+		clang-analyzer-core.NonNullParamChecker,
+		## TODO: fix code and enable # clang-analyzer-core.NullDereference,
+		clang-analyzer-core.StackAddressEscape,
+		#clang-analyzer-core.UndefinedBinaryOperatorResult,
+		clang-analyzer-core.uninitialized.ArraySubscript,
+		## TODO: fix code and enable # clang-analyzer-core.uninitialized.Assign,
+		clang-analyzer-core.uninitialized.Branch,
+		clang-analyzer-core.uninitialized.CapturedBlockVariable,
+		clang-analyzer-core.uninitialized.UndefReturn,
+		## TODO: fix code and enable # clang-analyzer-core.VLASize,
+		clang-analyzer-cplusplus.NewDelete,
+		## TODO: fix code and enable # clang-analyzer-cplusplus.NewDeleteLeaks,
+		clang-analyzer-cplusplus.SelfAssignment,
+		#clang-analyzer-deadcode.DeadStores,
+		clang-analyzer-llvm.Conventions,
+		clang-analyzer-nullability.NullableDereferenced,
+		clang-analyzer-nullability.NullablePassedToNonnull,
+		clang-analyzer-nullability.NullableReturnedFromNonnull,
+		clang-analyzer-nullability.NullPassedToNonnull,
+		clang-analyzer-nullability.NullReturnedFromNonnull,
+		## evaluate # clang-analyzer-optin.cplusplus.VirtualCall,
+		## TODO: fix code and enable #  clang-analyzer-optin.performance.Padding,
+		## TODO: fix code and enable # clang-analyzer-security.FloatLoopCounter,
+		clang-analyzer-security.insecureAPI.getpw,
+		clang-analyzer-security.insecureAPI.gets,
+		clang-analyzer-security.insecureAPI.mkstemp,
+		clang-analyzer-security.insecureAPI.mktemp,
+		clang-analyzer-security.insecureAPI.rand,
+		## evaluate # clang-analyzer-security.insecureAPI.strcpy,
+		clang-analyzer-security.insecureAPI.UncheckedReturn,
+		clang-analyzer-security.insecureAPI.vfork,
+		## TODO: fix code and enable # clang-analyzer-unix.API,
+		## TODO: fix code and enable # clang-analyzer-unix.Malloc,
+		## TODO: fix code and enable # clang-analyzer-unix.MallocSizeof,
+		clang-analyzer-unix.MismatchedDeallocator,
+		clang-analyzer-unix.StdCLibraryFunctions,
+		clang-analyzer-unix.Vfork,
+		## evaluate # clang-analyzer-unix.cstring.BadSizeArg,
+		## evaluate # clang-analyzer-unix.cstring.NullArg,
+		cppcoreguidelines-c-copy-assignment-signature,
+		#cppcoreguidelines-interfaces-global-init,
+		#cppcoreguidelines-no-malloc,
+		#cppcoreguidelines-pro-bounds-array-to-pointer-decay,
+		#cppcoreguidelines-pro-bounds-constant-array-index,
+		#cppcoreguidelines-pro-bounds-pointer-arithmetic,
+		## TODO: fix code and enable # cppcoreguidelines-pro-type-const-cast,
+		#cppcoreguidelines-pro-type-cstyle-cast,
+		## TODO: fix code and enable # cppcoreguidelines-pro-type-member-init,
+		#cppcoreguidelines-pro-type-reinterpret-cast,
+		cppcoreguidelines-pro-type-static-cast-downcast,
+		#cppcoreguidelines-pro-type-union-access,
+		#cppcoreguidelines-pro-type-vararg,
+		cppcoreguidelines-slicing,
+		## TODO: fix code and enable # cppcoreguidelines-special-member-functions,
+		google-build-explicit-make-pair,
+		google-build-namespaces,
+		# evaluate # google-build-using-namespace,
+		google-default-arguments,
+		## TODO: fix code and enable # google-explicit-constructor,
+		google-global-names-in-headers,
+		google-readability-braces-around-statements,
+		#google-readability-casting,
+		google-readability-function-size,
+		#google-readability-namespace-comments,
+		google-readability-redundant-smartptr-get,
+		#google-readability-todo,
+		#google-runtime-int,
+		google-runtime-member-string-references,
+		google-runtime-memset,
+		google-runtime-operator,
+		## evaluate # google-runtime-references,
+		llvm-header-guard,
+		## evaluate # llvm-include-order,
+		#llvm-namespace-comment,
+		misc-argument-comment,
+		misc-assert-side-effect,
+		misc-bool-pointer-implicit-conversion,
+		misc-dangling-handle,
+		misc-definitions-in-headers,
+		misc-fold-init-type,
+		misc-forward-declaration-namespace,
+		misc-inaccurate-erase,
+		#misc-incorrect-roundings,
+		misc-inefficient-algorithm,
+		#misc-macro-parentheses,
+		misc-macro-repeated-side-effects,
+		misc-misplaced-const,
+		#misc-misplaced-widening-cast,
+		misc-move-const-arg,
+		misc-move-constructor-init,
+		misc-move-forwarding-reference,
+		misc-multiple-statement-macro,
+		misc-new-delete-overloads,
+		misc-noexcept-move-constructor,
+		misc-non-copyable-objects,
+		misc-redundant-expression,
+		misc-sizeof-container,
+		misc-sizeof-expression,
+		misc-static-assert,
+		misc-string-compare,
+		misc-string-constructor,
+		misc-string-integer-assignment,
+		misc-string-literal-with-embedded-nul,
+		misc-suspicious-enum-usage,
+		misc-suspicious-missing-comma,
+		misc-suspicious-semicolon,
+		misc-suspicious-string-compare,
+		misc-swapped-arguments,
+		misc-throw-by-value-catch-by-reference,
+		misc-unconventional-assign-operator,
+		misc-undelegated-constructor,
+		misc-uniqueptr-reset-release,
+		misc-unused-alias-decls,
+		#misc-unused-parameters,
+		misc-unused-raii,
+		misc-unused-using-decls,
+		misc-use-after-move,
+		misc-virtual-near-miss,
+		modernize-avoid-bind,
+		## TODO: fix code and enable # modernize-deprecated-headers,
+		#modernize-loop-convert,
+		modernize-make-shared,
+		modernize-make-unique,
+		modernize-pass-by-value,
+		modernize-raw-string-literal,
+		modernize-redundant-void-arg,
+		modernize-replace-auto-ptr,
+		modernize-shrink-to-fit,
+		#modernize-use-auto,
+		#modernize-use-bool-literals,
+		## TODO: fix code and enable # modernize-use-default-member-init,
+		## TODO: fix code and enable # modernize-use-emplace,
+		## TODO: fix code and enable # modernize-use-equals-default,
+		## TODO: fix code and enable # modernize-use-equals-delete,
+		modernize-use-nullptr,
+		## evaluate # modernize-use-override,
+		modernize-use-transparent-functors,
+		## evaluate # modernize-use-using,
+		performance-faster-string-find,
+		performance-for-range-copy,
+		performance-implicit-cast-in-loop,
+		## TODO: fix code and enable # performance-inefficient-string-concatenation,
+		performance-type-promotion-in-math-fn,
+		performance-unnecessary-copy-initialization,
+		performance-unnecessary-value-param,
+		#readability-avoid-const-params-in-decls,
+		readability-braces-around-statements,
+		readability-container-size-empty,
+		readability-delete-null-pointer,
+		readability-deleted-default,
+		#readability-else-after-return,
+		readability-function-size,
+		readability-identifier-naming,
+		## evaluate # readability-implicit-bool-cast,
+		#readability-inconsistent-declaration-parameter-name,
+		readability-misplaced-array-index,
+		#readability-named-parameter,
+		#readability-non-const-parameter,
+		readability-redundant-control-flow,
+		#readability-redundant-declaration,
+		readability-redundant-function-ptr-dereference,
+		## TODO: fix code and enable # readability-redundant-member-init,
+		readability-redundant-smartptr-get,
+		readability-redundant-string-cstr,
+		readability-redundant-string-init,
+		## TODO: fix code and enable # readability-simplify-boolean-expr,
+		readability-static-definition-in-anonymous-namespace,
+		readability-uniqueptr-delete-release,
 		'
 WarningsAsErrors: '*'
-CheckOptions:    
+HeaderFilterRegex: '*.h, *.hpp, *.hh, *.hxx'
+AnalyzeTemporaryDtors: false
+CheckOptions:
+  - key:             cert-dcl59-cpp.HeaderFileExtensions
+    value:           h,hh,hpp,hxx
+  - key:             cert-err09-cpp.CheckThrowTemporaries
+    value:           '1'
+  - key:             cert-err61-cpp.CheckThrowTemporaries
+    value:           '1'
+  - key:             cert-oop11-cpp.IncludeStyle
+    value:           llvm
+  - key:             google-build-namespaces.HeaderFileExtensions
+    value:           h,hh,hpp,hxx
+  - key:             google-global-names-in-headers.HeaderFileExtensions
+    value:           h
   - key:             google-readability-braces-around-statements.ShortStatementLines
     value:           '1'
   - key:             google-readability-function-size.BranchThreshold
@@ -79,9 +215,344 @@ CheckOptions:
     value:           '4000'
   - key:             google-readability-function-size.StatementThreshold
     value:           '4000'
+  - key:             google-readability-namespace-comments.ShortNamespaceLines
+    value:           '10'
+  - key:             google-readability-namespace-comments.SpacesBeforeComments
+    value:           '2'
+  - key:             llvm-header-guard.HeaderFileExtensions
+    value:           ',h,hh,hpp,hxx'
+  - key:             misc-argument-comment.StrictMode
+    value:           '0'
+  - key:             misc-assert-side-effect.AssertMacros
+    value:           assert
+  - key:             misc-assert-side-effect.CheckFunctionCalls
+    value:           '0'
+  - key:             misc-dangling-handle.HandleClasses
+    value:           'std::basic_string_view;std::experimental::basic_string_view'
+  - key:             misc-definitions-in-headers.HeaderFileExtensions
+    value:           ',h,hh,hpp,hxx'
+  - key:             misc-definitions-in-headers.UseHeaderFileExtension
+    value:           '1'
+  - key:             misc-move-constructor-init.IncludeStyle
+    value:           llvm
+  - key:             misc-sizeof-expression.WarnOnSizeOfCompareToConstant
+    value:           '1'
+  - key:             misc-sizeof-expression.WarnOnSizeOfConstant
+    value:           '1'
+  - key:             misc-sizeof-expression.WarnOnSizeOfThis
+    value:           '1'
+  - key:             misc-string-constructor.LargeLengthThreshold
+    value:           '80'
+  - key:             misc-string-constructor.WarnOnLargeLength
+    value:           '1'
+  - key:             misc-suspicious-enum-usage.StrictMode
+    value:           '0'
+  - key:             misc-suspicious-missing-comma.MaxConcatenatedTokens
+    value:           '5'
+  - key:             misc-suspicious-missing-comma.RatioThreshold
+    value:           '0.200000'
+  - key:             misc-suspicious-missing-comma.SizeThreshold
+    value:           '5'
+  - key:             misc-suspicious-string-compare.StringCompareLikeFunctions
+    value:           ''
+  - key:             misc-suspicious-string-compare.WarnOnImplicitComparison
+    value:           '1'
+  - key:             misc-suspicious-string-compare.WarnOnLogicalNotComparison
+    value:           '0'
+  - key:             misc-throw-by-value-catch-by-reference.CheckThrowTemporaries
+    value:           '1'
+  - key:             modernize-loop-convert.MaxCopySize
+    value:           '16'
+  - key:             modernize-loop-convert.MinConfidence
+    value:           safe
+  - key:             modernize-loop-convert.NamingStyle
+    value:           CamelCase
+  - key:             modernize-pass-by-value.IncludeStyle
+    value:           llvm
+  - key:             modernize-pass-by-value.ValuesOnly
+    value:           '0'
+  - key:             modernize-replace-auto-ptr.IncludeStyle
+    value:           llvm
+  - key:             modernize-use-nullptr.NullMacros
+    value:           'NULL'
+  - key:             modernize-use-transparent-functors.SafeMode
+    value:           '0'
+  - key:             performance-faster-string-find.StringLikeClasses
+    value:           'std::basic_string'
+  - key:             performance-for-range-copy.WarnOnAllAutoCopies
+    value:           '0'
   - key:             readability-braces-around-statements.ShortStatementLines
     value:           '1'
+  - key:             readability-function-size.BranchThreshold
+    value:           '600'
   - key:             readability-function-size.LineThreshold
     value:           '4000'
   - key:             readability-function-size.StatementThreshold
     value:           '4000'
+  - key:             readability-identifier-naming.AbstractClassCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.AbstractClassPrefix
+    value:           ''
+  - key:             readability-identifier-naming.AbstractClassSuffix
+    value:           ''
+  - key:             readability-identifier-naming.ClassCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.ClassConstantCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.ClassConstantPrefix
+    value:           ''
+  - key:             readability-identifier-naming.ClassConstantSuffix
+    value:           ''
+  - key:             readability-identifier-naming.ClassMemberCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.ClassMemberPrefix
+    value:           ''
+  - key:             readability-identifier-naming.ClassMemberSuffix
+    value:           ''
+  - key:             readability-identifier-naming.ClassMethodCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.ClassMethodPrefix
+    value:           ''
+  - key:             readability-identifier-naming.ClassMethodSuffix
+    value:           ''
+  - key:             readability-identifier-naming.ClassPrefix
+    value:           ''
+  - key:             readability-identifier-naming.ClassSuffix
+    value:           ''
+  - key:             readability-identifier-naming.ConstantCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.ConstantMemberCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.ConstantMemberPrefix
+    value:           ''
+  - key:             readability-identifier-naming.ConstantMemberSuffix
+    value:           ''
+  - key:             readability-identifier-naming.ConstantParameterCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.ConstantParameterPrefix
+    value:           ''
+  - key:             readability-identifier-naming.ConstantParameterSuffix
+    value:           ''
+  - key:             readability-identifier-naming.ConstantPrefix
+    value:           ''
+  - key:             readability-identifier-naming.ConstantSuffix
+    value:           ''
+  - key:             readability-identifier-naming.ConstexprFunctionCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.ConstexprFunctionPrefix
+    value:           ''
+  - key:             readability-identifier-naming.ConstexprFunctionSuffix
+    value:           ''
+  - key:             readability-identifier-naming.ConstexprMethodCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.ConstexprMethodPrefix
+    value:           ''
+  - key:             readability-identifier-naming.ConstexprMethodSuffix
+    value:           ''
+  - key:             readability-identifier-naming.ConstexprVariableCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.ConstexprVariablePrefix
+    value:           ''
+  - key:             readability-identifier-naming.ConstexprVariableSuffix
+    value:           ''
+  - key:             readability-identifier-naming.EnumCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.EnumConstantCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.EnumConstantPrefix
+    value:           ''
+  - key:             readability-identifier-naming.EnumConstantSuffix
+    value:           ''
+  - key:             readability-identifier-naming.EnumPrefix
+    value:           ''
+  - key:             readability-identifier-naming.EnumSuffix
+    value:           ''
+  - key:             readability-identifier-naming.FunctionCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.FunctionPrefix
+    value:           ''
+  - key:             readability-identifier-naming.FunctionSuffix
+    value:           ''
+  - key:             readability-identifier-naming.GlobalConstantCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.GlobalConstantPrefix
+    value:           ''
+  - key:             readability-identifier-naming.GlobalConstantSuffix
+    value:           ''
+  - key:             readability-identifier-naming.GlobalFunctionCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.GlobalFunctionPrefix
+    value:           ''
+  - key:             readability-identifier-naming.GlobalFunctionSuffix
+    value:           ''
+  - key:             readability-identifier-naming.GlobalVariableCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.GlobalVariablePrefix
+    value:           ''
+  - key:             readability-identifier-naming.GlobalVariableSuffix
+    value:           ''
+  - key:             readability-identifier-naming.IgnoreFailedSplit
+    value:           '0'
+  - key:             readability-identifier-naming.InlineNamespaceCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.InlineNamespacePrefix
+    value:           ''
+  - key:             readability-identifier-naming.InlineNamespaceSuffix
+    value:           ''
+  - key:             readability-identifier-naming.LocalConstantCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.LocalConstantPrefix
+    value:           ''
+  - key:             readability-identifier-naming.LocalConstantSuffix
+    value:           ''
+  - key:             readability-identifier-naming.LocalVariableCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.LocalVariablePrefix
+    value:           ''
+  - key:             readability-identifier-naming.LocalVariableSuffix
+    value:           ''
+  - key:             readability-identifier-naming.MacroDefinitionCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.MacroDefinitionPrefix
+    value:           ''
+  - key:             readability-identifier-naming.MacroDefinitionSuffix
+    value:           ''
+  - key:             readability-identifier-naming.MemberCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.MemberPrefix
+    value:           ''
+  - key:             readability-identifier-naming.MemberSuffix
+    value:           ''
+  - key:             readability-identifier-naming.MethodCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.MethodPrefix
+    value:           ''
+  - key:             readability-identifier-naming.MethodSuffix
+    value:           ''
+  - key:             readability-identifier-naming.NamespaceCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.NamespacePrefix
+    value:           ''
+  - key:             readability-identifier-naming.NamespaceSuffix
+    value:           ''
+  - key:             readability-identifier-naming.ParameterCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.ParameterPackCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.ParameterPackPrefix
+    value:           ''
+  - key:             readability-identifier-naming.ParameterPackSuffix
+    value:           ''
+  - key:             readability-identifier-naming.ParameterPrefix
+    value:           ''
+  - key:             readability-identifier-naming.ParameterSuffix
+    value:           ''
+  - key:             readability-identifier-naming.PrivateMemberCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.PrivateMemberPrefix
+    value:           ''
+  - key:             readability-identifier-naming.PrivateMemberSuffix
+    value:           ''
+  - key:             readability-identifier-naming.PrivateMethodCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.PrivateMethodPrefix
+    value:           ''
+  - key:             readability-identifier-naming.PrivateMethodSuffix
+    value:           ''
+  - key:             readability-identifier-naming.ProtectedMemberCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.ProtectedMemberPrefix
+    value:           ''
+  - key:             readability-identifier-naming.ProtectedMemberSuffix
+    value:           ''
+  - key:             readability-identifier-naming.ProtectedMethodCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.ProtectedMethodPrefix
+    value:           ''
+  - key:             readability-identifier-naming.ProtectedMethodSuffix
+    value:           ''
+  - key:             readability-identifier-naming.PublicMemberCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.PublicMemberPrefix
+    value:           ''
+  - key:             readability-identifier-naming.PublicMemberSuffix
+    value:           ''
+  - key:             readability-identifier-naming.PublicMethodCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.PublicMethodPrefix
+    value:           ''
+  - key:             readability-identifier-naming.PublicMethodSuffix
+    value:           ''
+  - key:             readability-identifier-naming.StaticConstantCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.StaticConstantPrefix
+    value:           ''
+  - key:             readability-identifier-naming.StaticConstantSuffix
+    value:           ''
+  - key:             readability-identifier-naming.StaticVariableCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.StaticVariablePrefix
+    value:           ''
+  - key:             readability-identifier-naming.StaticVariableSuffix
+    value:           ''
+  - key:             readability-identifier-naming.StructCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.StructPrefix
+    value:           ''
+  - key:             readability-identifier-naming.StructSuffix
+    value:           ''
+  - key:             readability-identifier-naming.TemplateParameterCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.TemplateParameterPrefix
+    value:           ''
+  - key:             readability-identifier-naming.TemplateParameterSuffix
+    value:           ''
+  - key:             readability-identifier-naming.TemplateTemplateParameterCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.TemplateTemplateParameterPrefix
+    value:           ''
+  - key:             readability-identifier-naming.TemplateTemplateParameterSuffix
+    value:           ''
+  - key:             readability-identifier-naming.TypeAliasCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.TypeAliasPrefix
+    value:           ''
+  - key:             readability-identifier-naming.TypeAliasSuffix
+    value:           ''
+  - key:             readability-identifier-naming.TypeTemplateParameterCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.TypeTemplateParameterPrefix
+    value:           ''
+  - key:             readability-identifier-naming.TypeTemplateParameterSuffix
+    value:           ''
+  - key:             readability-identifier-naming.TypedefCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.TypedefPrefix
+    value:           ''
+  - key:             readability-identifier-naming.TypedefSuffix
+    value:           ''
+  - key:             readability-identifier-naming.UnionCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.UnionPrefix
+    value:           ''
+  - key:             readability-identifier-naming.UnionSuffix
+    value:           ''
+  - key:             readability-identifier-naming.ValueTemplateParameterCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.ValueTemplateParameterPrefix
+    value:           ''
+  - key:             readability-identifier-naming.ValueTemplateParameterSuffix
+    value:           ''
+  - key:             readability-identifier-naming.VariableCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.VariablePrefix
+    value:           ''
+  - key:             readability-identifier-naming.VariableSuffix
+    value:           ''
+  - key:             readability-identifier-naming.VirtualMethodCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.VirtualMethodPrefix
+    value:           ''
+  - key:             readability-identifier-naming.VirtualMethodSuffix
+    value:           ''
+...

.github/issue_template.md

@@ -1,9 +0,0 @@
-**Bug Report** or **Feature Request**
-
-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](slack.px4.io). Issue reports need to contain the items below:
-
- - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/en/flight-reporting.html))
- - Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/)
- - Expected behavior and actual behavior.
- - Steps to reproduce the problem.
- - Specifications like the version of the project, operating system, or hardware.

.github_changelog_generator

@@ -1,33 +0,0 @@
-# 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
-

.gitignore

@@ -1,3 +1,8 @@
+*.d
+!ROMFS/*/*.d
+!ROMFS/*/*/*.d
+!ROMFS/*/*/*/*.d
+*.px4log
 *.dSYM
 *.o
 *.gch
@@ -12,6 +17,8 @@
 .settings
 .swp
 .~lock.*
+Archives/*
+Build/*
 Testing/
 Packages/*
 s3deploy-branch/
@@ -24,6 +31,15 @@ cscope.in.out
 cscope.po.out
 Firmware.sublime-workspace
 user.sublime*
+Images/*.bin
+Images/*.px4
+mavlink/include/mavlink/v0.9/
+/nuttx-configs/px4io-v2/src/.depend
+/nuttx-configs/px4io-v2/src/Make.dep
+/nuttx-configs/px4io-v2/src/libboard.a
+/nuttx-configs/px4io-v1/src/.depend
+/nuttx-configs/px4io-v1/src/Make.dep
+/nuttx-configs/px4io-v1/src/libboard.a
 /Documentation/doxy.log
 /Documentation/html/
 /Documentation/doxygen*objdb*tmp
@@ -37,6 +53,7 @@ src/modules/uORB/topics/*
 src/platforms/nuttx/px4_messages/*
 src/platforms/ros/px4_messages/*
 Firmware.zip
+unittests/build
 *.generated.h
 .vagrant
 *.pretty
@@ -56,18 +73,21 @@ GTAGS
 *.files
 *.includes
 
+# uavcan firmware
+ROMFS/px4fmu_common/uavcan/
+vectorcontrol/
+
+
 # CLion ignores
 .idea
 cmake-build-*/
 
-.vscode
+# gcov code coverage
+coverage-html/
+coverage.info
 
 posix-configs/SITL/init/test/*_generated
 
-/airframes.md
-/airframes.xml
-/parameters.md
-/parameters.xml
-/modules
-
-*.gcov
+parameters.md
+airframes.md
+airframes.xml

.gitmodules

@@ -1,61 +1,43 @@
 [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
-	branch = master
+[submodule "NuttX"]
+	path = NuttX
+	url = https://github.com/PX4/PX4NuttX.git
 [submodule "src/modules/uavcan/libuavcan"]
 	path = src/modules/uavcan/libuavcan
 	url = https://github.com/UAVCAN/libuavcan.git
 [submodule "Tools/genmsg"]
-	path = msg/tools/genmsg
+	path = Tools/genmsg
 	url = https://github.com/ros/genmsg.git
 [submodule "Tools/gencpp"]
-	path = msg/tools/gencpp
+	path = Tools/gencpp
 	url = https://github.com/ros/gencpp.git
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
-	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
 	url = https://github.com/PX4/sitl_gazebo.git
-	branch = master
+[submodule "unittests/googletest"]
+	path = unittests/googletest
+	url = https://github.com/google/googletest.git
+	ignore = untracked
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
 	url = https://github.com/PX4/Matrix.git
-	branch = master
 [submodule "src/lib/DriverFramework"]
 	path = src/lib/DriverFramework
 	url = https://github.com/PX4/DriverFramework.git
-	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
 	url = https://github.com/PX4/ecl.git
-	branch = master
 [submodule "cmake/cmake_hexagon"]
 	path = cmake/cmake_hexagon
 	url = https://github.com/ATLFlight/cmake_hexagon
-	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/GpsDrivers.git
-	branch = master
-[submodule "src/lib/micro-CDR"]
-	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/eProsima/micro-CDR.git
-	branch = master
-[submodule "platforms/nuttx/NuttX/nuttx"]
-	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/PX4-NuttX/nuttx.git
-	branch = px4_firmware_nuttx-7.22+
-[submodule "platforms/nuttx/NuttX/apps"]
-	path = platforms/nuttx/NuttX/apps
-	url = https://github.com/PX4-NuttX/apps.git
-	branch = px4_firmware_nuttx-7.22+
-[submodule "cmake/configs/uavcan_board_ident"]
-	path = cmake/configs/uavcan_board_ident
-	url = https://github.com/PX4/uavcan_board_ident.git
-	branch = master

.travis.yml

@@ -1,62 +1,110 @@
 # Build and autotest script for PX4 Firmware
 # http://travis-ci.org
 
-sudo: required
-
-services:
-  - docker
-
 language: cpp
 
 git:
   depth: 2000
-  submodules: false
-
-env:
-  global:
-    # COVERITY_SCAN_TOKEN
-    - secure: "Q4IAcmo1r5cr/UvhcixQa6QN5e5eTcP7FeidzEbX2+BA38yo2BH5O9YQCvZe2AI1Na8ZCjVx3H2luGgDwOKgzAIAjXjZ2KbmXYc6Ns/j/BXScY05dCCzYEhXKD98NZxIKH9lLN9pYDGRA8pChGRJnVlFOr1JHHHnB801+osHy7M="
-    # AWS KEY: $PX4_AWS_KEY
-    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
-    # AWS SECRET: $PX4_AWS_SECRET
-    - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
 
 matrix:
   fast_finish: true
   include:
-    - env: BUILD_TARGET=coverity_scan
-      dist: trusty
-      if: branch = coverity_scan
-  allow_failures:
-    - env: BUILD_TARGET=tests_coverage
+    - os: linux
+      sudo: required
+      services:
+        - docker
+      env: BUILD_TARGET=qgc_firmware
+    - os: linux
+      sudo: required
+      services:
+        - docker
+      env: BUILD_TARGET=check_format
+    - os: linux
+      sudo: required
+      services:
+        - docker
+      env: BUILD_TARGET=tests_linux
+    - os: linux
+      sudo: required
+      services:
+        - docker
+      env: BUILD_TARGET=clang-tidy
+    - os: linux
+      sudo: required
+      services:
+        - docker
+      env: BUILD_TARGET=px4_metadata
 
 cache:
   ccache: true
 
 before_install:
-  # install dependencies for the coverity build (target and branch), otherwise exit early
-  - if [[ "${TRAVIS_BRANCH}" = "coverity_scan" ]]; then
-      sudo pip install empy jinja2 numpy toml;
-      echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-;
-    fi
-  # use git:// to fetch instead of https://
-  - git config --global url."git://".insteadOf https://
+  - if [[ "${TRAVIS_OS_NAME}" = "linux" && "${TRAVIS_BRANCH}" == "coverity" ]]; then sudo apt-get install genromfs && pip install empy jinja2; fi
+
+env:
+  global:
+# COVERITY KEY
+    - secure: "NyaJoCGjU0Xc90Y6bxVYWLgjrJX5HlZsm/SPxruZ6I7xkGo19fJIFzGegOHQFR32D4AiKjllfjTUNy+ncckWplind0QwxtF4/kxXrz9XBfiby6X8jLYXIekrB6Ay0mBLGbniDdh+lpWtcyop6Dmkt5bdJCJuKY2nv9ENnhhs07M="
+# AWS KEY: $PX4_AWS_KEY
+    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
+# AWS SECRET: $PX4_AWS_SECRET
+    - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
 
 script:
-  - ./Tools/docker_run.sh make ${BUILD_TARGET}
+  - if [[ "${TRAVIS_BRANCH}" == "coverity" ]]; then
+      echo "no script for coverity build";
+    elif [[ "${BUILD_TARGET}" = "qgc_firmware" ]]; then
+      ./Tools/docker_run.sh 'make qgc_firmware';
+    elif [[ "${BUILD_TARGET}" = "check_format" ]]; then
+      ./Tools/docker_run.sh 'make check_format';
+    elif [[ "${BUILD_TARGET}" = "tests_linux" ]]; then
+      ./Tools/docker_run.sh 'make tests';
+    elif [[ "${BUILD_TARGET}" = "px4_metadata" ]]; then
+      ./Tools/docker_run.sh 'make px4_metadata';
+    elif [[ "${BUILD_TARGET}" = "clang-tidy" ]]; then
+      ./Tools/docker_run.sh 'make clang-tidy-parallel';
+    fi
 
 after_success:
-  # upload code coverage
-  - if [ "${TRAVIS_PULL_REQUEST}" = "false" ]; then
-      [ "${BUILD_TARGET}" = "tests_coverage" ] && bash <(curl -s https://codecov.io/bash) -F unittests;
+# s3 deploy individual firmware files (.px4), Firmware.zip, airframe.xml, and param.xml
+  - if [[ "${BUILD_TARGET}" = "qgc_firmware" && "${TRAVIS_PULL_REQUEST}" == "false" && "${TRAVIS_BRANCH}" != "coverity" ]]; then
+         ./Tools/docker_run.sh 'make s3put_firmware AWS_S3_BUCKET="px4-travis/archives/Firmware/${TRAVIS_BRANCH}/${TRAVIS_BUILD_ID}"'
+      && ./Tools/docker_run.sh 'make s3put_qgc_firmware AWS_S3_BUCKET="px4-travis/Firmware/${TRAVIS_BRANCH}"';
     fi
+  - if [[ "${BUILD_TARGET}" = "px4_metadata" && "${TRAVIS_PULL_REQUEST}" == "false" && "${TRAVIS_BRANCH}" != "coverity" ]]; then
+         ./Tools/docker_run.sh 'make s3put_parameters_markdown AWS_S3_BUCKET="px4-travis/Firmware/${TRAVIS_BRANCH}"';
+    fi
+
+deploy:
+# on tags deploy Firmware.zip to Github releases
+  - provider: releases
+    api_key: 
+      secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
+    file: "Firmware.zip"
+    skip_cleanup: true
+    on:
+      tags: true
+      all_branches: true
+      repo: PX4/Firmware
+      condition: $BUILD_TARGET = qgc_firmware
 
 addons:
   coverity_scan:
     project:
-      name: "PX4/Firmware"
-      description: "Build submitted via Travis CI"
+      name: PX4/Firmware
     notification_email: ci@px4.io
-    build_command_prepend: "make distclean"
-    build_command: "make posix_sitl_default"
-    branch_pattern: coverity_scan
+    build_command: make posix_sitl_default
+    branch_pattern: coverity
+
+notifications:
+  webhooks:
+    urls:
+      - https://webhooks.gitter.im/e/2b9c4a4cb2211f8befba
+    on_success: always  # options: [always|never|change] default: always
+    on_failure: always  # options: [always|never|change] default: always
+  slack:
+    rooms:
+      - secure: "QKw73Zel/s3JAbe/7XyO9tPnJwiiGFpYzSjdR8lG3tYFjRdXZnhxG4c+G7bkgkaPTS4Hult33VXE3kcEqOI7+C+eRwRlZhDfL0knQbXVCxjcLjzmUFdoPOwurlgZDw66PFWCi5tZcLKSRo3u4U8ibT4WKi3jm9sDSyOcfBAucMU="
+    on_pull_requests: false
+    on_success: never  # options: [always|never|change] default: always
+    on_failure: never  # options: [always|never|change] default: always

.ycm_extra_conf.py

@@ -61,6 +61,7 @@ flags = [
 'c++',
 '-undef', # get rid of standard definitions to allow us to include arm math header
 '-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
+'-I', 'Build/px4io-v1_default.build/nuttx-export/include/',
 '-I', 'Build/px4io-v2_default.build/nuttx-export/include/',
 '-I', './NuttX/nuttx/arch/arm/include',
 '-include', './src/include/visibility.h',

CMakeLists.txt

@@ -55,6 +55,24 @@
 #
 # * For else, endif, endfunction, etc, never put the name of the statement
 #
+#	Instead of the very confusing:
+#		if (${var} STREQUAL "1") <-- condition now becomes if name
+#			# do somthing
+#		elseif (${var} STREQUAL "2") <-- another condition
+#			# do somthing
+#		else (${var} STREQUAL "1") <-- tag is referring to name of if
+#			# do somthing
+#		endif (${var} STREQUAL "1") <-- tag is referring to name of if
+#
+#	Do this:
+#		if (${var} STREQUAL "1") <-- condition now becomes if name
+#			# do somthing
+#		elseif (${var} STREQUAL "2") <-- another condition
+#			# do somthing
+#		else () <-- leave blank
+#			# do somthing
+#		endif () <-- leave blank
+#
 # Functions/Macros
 # ---------------------------------------------------------------------------
 #
@@ -83,7 +101,7 @@
 #
 # * Setting a global variable in a CMakeLists.txt file is ok, because
 #	each CMakeLists.txt file has scope in the current directory and all
-#	subdirectories, so it is not truly global.
+#	subdirecties, so it is not truly global.
 #
 # * All toolchain files should be included in the cmake
 #	directory and named Toolchain-"name".cmake.
@@ -99,51 +117,36 @@
 #
 #=============================================================================
 
+if("${CMAKE_VERSION}" VERSION_LESS 3.1.0)
+	message("Not a valid CMake version")
+	message("On Ubuntu >= 16.04, install or upgrade via:")
+	message("	sudo apt-get install cmake")
+	message("")
+	message("Official website: https://cmake.org/download/")
+	message(FATAL_ERROR "Update CMake and try again" )
+endif()
+
 # Warning: Changing this modifies CMake's internal workings
 # and leads to wrong toolchain detection
-cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.1 FATAL_ERROR)
 
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 
-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)
-
-#=============================================================================
-# git
-#
-include(common/px4_git)
-
 execute_process(
-	COMMAND git describe --always --tags
-	OUTPUT_VARIABLE git_tag
-	OUTPUT_STRIP_TRAILING_WHITESPACE
+	COMMAND Tools/check_submodules.sh
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
-px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
-px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
-
-define_property(GLOBAL PROPERTY PX4_LIBRARIES
-                 BRIEF_DOCS "PX4 libs"
-                 FULL_DOCS "List of all PX4 module libraries"
-                 )
-
 #=============================================================================
-# configuration
+# parameters
 #
 
+set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
+	STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
 set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
 
-string(REPLACE "_" ";" config_args ${CONFIG})
-list(GET config_args 0 OS)
-list(GET config_args 1 BOARD)
-list(GET config_args 2 LABEL)
-set(target_name "${OS}_${BOARD}_${LABEL}")
-
 file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
 set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
 
@@ -151,51 +154,35 @@ set(THREADS "4" CACHE STRING "number of threads to use for external build proces
 set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
 
-if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
+if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
 endif()
 
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)
-
-include(platforms/${OS}/cmake/px4_impl_os.cmake)
-set(config_module "configs/${CONFIG}")
-include(${config_module})
-
-include(common/coverage)
-include(common/sanitizers)
-
-# CMake build type
-# Debug Release RelWithDebInfo MinSizeRel Coverage
-if (NOT CMAKE_BUILD_TYPE)
-	if (${OS} STREQUAL "nuttx")
-		set(PX4_BUILD_TYPE "MinSizeRel")
-	elseif (${OS} STREQUAL "bebop")
-		set(PX4_BUILD_TYPE "MinSizeRel")
-	else()
-		set(PX4_BUILD_TYPE "RelWithDebInfo")
-	endif()
-
-	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
-endif()
-
-set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
-
-message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
-
 #=============================================================================
+# configuration
+#
+# must come before project to set toolchain
 
+string(REPLACE "_" ";" config_args ${CONFIG})
+list(GET config_args 0 OS)
+list(GET config_args 1 BOARD)
+list(GET config_args 2 LABEL)
+set(target_name "${OS}-${BOARD}-${LABEL}")
+
+# version info from git
+execute_process(
+	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
+	OUTPUT_VARIABLE version
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
+execute_process(
+	COMMAND git describe --always --tags
+	OUTPUT_VARIABLE git_tag
+	OUTPUT_STRIP_TRAILING_WHITESPACE
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
 message(STATUS "PX4 VERSION: ${git_tag}")
 message(STATUS "CONFIG: ${target_name}")
-message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
-
-#=============================================================================
-# project definition
-#
-project(px4 CXX C ASM)
-
-set(package-contact "px4users@googlegroups.com")
-
-#=============================================================================
 
 # The URL for the elf file for crash logging
 if (DEFINED ENV{BUILD_URI})
@@ -206,53 +193,74 @@ endif()
 
 add_definitions(-DBUILD_URI=${BUILD_URI})
 
+# Define GNU standard installation directories
+include(GNUInstallDirs)
+
+# Add support for external project building
+include(ExternalProject)
+
 # Setup install paths
-if (${OS} STREQUAL "posix")
-
-	# Define GNU standard installation directories
-	include(GNUInstallDirs)
-
-	if (NOT CMAKE_INSTALL_PREFIX)
+if(NOT CMAKE_INSTALL_PREFIX)
+	if (${OS} STREQUAL "posix")
 		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
 	endif()
-
-	# cmake testing only on posix
-	enable_testing()
-	include(CTest)
+endif()
+if (CMAKE_INSTALL_PREFIX)
+	message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
 endif()
 
-#=============================================================================
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
+message(STATUS "CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}")
+set(config_module "configs/${CONFIG}")
+include(${config_module})
+
+# cmake modules
+include(ExternalProject)
+
 # require px4 module interface
 set(px4_required_interface
 	px4_os_prebuild_targets
 	px4_os_add_flags
 	)
 foreach(cmd ${px4_required_interface})
-	if (NOT COMMAND ${cmd})
+	if(NOT COMMAND ${cmd})
 		message(FATAL_ERROR "${config_module} must implement ${cmd}")
 	endif()
 endforeach()
-
-set(px4_required_config config_module_list)
+set(px4_required_config
+	config_module_list
+	)
 foreach(conf ${px4_required_config})
-	if (NOT DEFINED ${conf})
+	if(NOT DEFINED ${conf})
 		message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
 	endif()
 endforeach()
 
+# List the DriverFramework drivers
+if(DEFINED config_df_driver_list)
+	message("DF Drivers: ${config_df_driver_list}")
+endif()
+
 # force static lib build
 set(BUILD_SHARED_LIBS OFF)
 
 #=============================================================================
 # ccache
 #
-option(CCACHE "Use ccache if available" ON)
+option(CCACHE "Use ccache if available" OFF)
 find_program(CCACHE_PROGRAM ccache)
-if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
+if(CCACHE AND CCACHE_PROGRAM)
+	message(STATUS "Enabled ccache: ${CCACHE_PROGRAM}")
 	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
-else()
 endif()
 
+#=============================================================================
+# project definition
+#
+project(px4 CXX C ASM)
+
+set(package-contact "px4users@googlegroups.com")
+
 #=============================================================================
 # find programs and packages
 #
@@ -271,6 +279,12 @@ endif()
 find_package(PythonInterp REQUIRED)
 px4_find_python_module(jinja2 REQUIRED)
 
+#=============================================================================
+# cmake testing
+#
+enable_testing()
+include(CTest)
+
 #=============================================================================
 # generate compile command database
 #
@@ -288,7 +302,9 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 99)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 
-set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
+set(required_variables
+	CMAKE_C_COMPILER_ID
+	)
 foreach(var ${required_variables})
 	if (NOT ${var})
 		message(FATAL_ERROR "Toolchain/config must define ${var}")
@@ -311,6 +327,43 @@ execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
 STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
 message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
 
+
+#=============================================================================
+# git
+#
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
+px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
+px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
+px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
+px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
+px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
+px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
+px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
+px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
+px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
+px4_add_git_submodule(TARGET git_mavlink2 PATH "mavlink/include/mavlink/v2.0")
+px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
+px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
+
+add_custom_target(submodule_clean
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	COMMAND git submodule deinit -f .
+	COMMAND rm -rf .git/modules/*
+	)
+
+#=============================================================================
+# misc targets
+#
+add_custom_target(check_format
+	COMMAND Tools/check_code_style.sh
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
+
+add_custom_target(config
+	COMMAND cmake-gui .
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	)
+
 #=============================================================================
 # external libraries
 #
@@ -331,41 +384,41 @@ px4_os_add_flags(
 	LINK_DIRS link_dirs
 	DEFINITIONS definitions)
 
-px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker_flags}" GLUE " ")
-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 " ")
+px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
+px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags};${optimization_flags}" GLUE " ")
+px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags};${optimization_flags}" GLUE " ")
 
 include_directories(${include_dirs})
+#message("INCLUDE_DIRS=${include_dirs}")
 link_directories(${link_dirs})
 add_definitions(${definitions})
 
 #=============================================================================
-# message, and airframe generation
+# source code generation
 #
-include(common/px4_metadata)
 
 add_subdirectory(msg)
+px4_generate_messages(TARGET msg_gen
+	MSG_FILES ${msg_files}
+	OS ${OS}
+	INCLUDES ${msg_include_paths}
+	DEPENDS git_genmsg git_gencpp prebuild_targets
+	)
+px4_generate_parameters_xml(OUT parameters.xml 
+	BOARD ${BOARD}
+	MODULES ${config_module_list}
+	OVERRIDES ${PARAM_DEFAULT_OVERRIDES})
+px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
+add_custom_target(xml_gen
+	DEPENDS parameters.xml airframes.xml)
 
-px4_generate_airframes_xml(BOARD ${BOARD})
-
-#=============================================================================
-# DriverFramework
-#
-
-px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
-
-# List the DriverFramework drivers
-if (DEFINED config_df_driver_list)
-	message("DF Drivers: ${config_df_driver_list}")
+if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
+install(FILES
+	${CMAKE_CURRENT_BINARY_DIR}/airframes.xml
+	${CMAKE_CURRENT_BINARY_DIR}/parameters.xml
+	DESTINATION .)
 endif()
 
-set(df_driver_libs)
-foreach(driver ${config_df_driver_list})
-	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
-	list(APPEND df_driver_libs df_${driver})
-	message("Adding DF driver: ${driver}")
-endforeach()
-
 #=============================================================================
 # external projects
 #
@@ -380,33 +433,69 @@ include_directories(${ep_base}/Install/include)
 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
 
+#=============================================================================
+# DriverFramework Drivers
+#
+set(df_driver_libs)
+foreach(driver ${config_df_driver_list})
+	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
+	list(APPEND df_driver_libs df_${driver})
+	message("Adding DF driver: ${driver}")
+endforeach()
+
 #=============================================================================
 # external modules
 #
-set(external_module_paths)
-if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
+if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")
-	add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules)
+	add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules_src)
 
+	set(config_module_list_external_expanded)
 	foreach(external_module ${config_module_list_external})
-		add_subdirectory(${EXTERNAL_MODULES_LOCATION}/src/${external_module} external_modules/${external_module})
-		list(APPEND external_module_paths ${EXTERNAL_MODULES_LOCATION}/src/${external_module})
+		list(APPEND config_module_list_external_expanded
+			${EXTERNAL_MODULES_LOCATION}/src/${external_module})
 	endforeach()
+	set(config_module_list
+		${config_module_list}
+		${config_module_list_external_expanded}
+		)
 endif()
 
 #=============================================================================
 # subdirectories
 #
+set(module_libraries)
 foreach(module ${config_module_list})
-	add_subdirectory(src/${module})
+	string(REGEX MATCH "^[./]" external_module ${module})
+	if(external_module)
+		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
+		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
+		add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
+	else()
+		add_subdirectory(src/${module})
+	endif()
+	px4_mangle_name(${module} mangled_name)
+	list(APPEND module_libraries ${mangled_name})
+	#message(STATUS "adding module: ${module}")
 endforeach()
 
-add_subdirectory(platforms/${OS})
+# Keep track of external shared libs required for modules
+set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "module_external_libraries")
+
+add_subdirectory(src/firmware/${OS})
+
+#add_dependencies(df_driver_framework nuttx_export_${CONFIG})
+if (NOT "${OS}" STREQUAL "nuttx")
+endif()
+
+if (config_io_board)
+	add_subdirectory(src/modules/px4iofirmware)
+endif()
 
 #=============================================================================
 # generate custom target to print for all executable and module cmake targets
 #
-if (all_posix_cmake_targets)
+if(all_posix_cmake_targets)
 	list(SORT all_posix_cmake_targets)
 	px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
 	add_custom_target(list_cmake_targets
@@ -416,26 +505,10 @@ if (all_posix_cmake_targets)
 		)
 endif()
 
-
 #=============================================================================
-# uORB graph generation: add a custom target 'uorb_graph'
+# generate git version
 #
-set(uorb_graph_config ${BOARD})
-
-set(graph_module_list "")
-foreach(module ${config_module_list})
-	set(graph_module_list "${graph_module_list}" "--src-path" "src/${module}")
-endforeach()
-
-add_custom_command(OUTPUT ${uorb_graph_config}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${module_list}
-		--exclude-path src/examples
-		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	COMMENT "Generating uORB graph"
-)
-add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
+px4_create_git_hash_header()
 
 #=============================================================================
 # packaging
@@ -443,7 +516,7 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 # Important to having packaging at end of cmake file.
 #
 set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
-set(CPACK_PACKAGE_VERSION ${git_version})
+set(CPACK_PACKAGE_VERSION ${version})
 set(CPACK_PACKAGE_CONTACT ${package-contact})
 set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
 set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
@@ -452,7 +525,7 @@ set(short-description "The px4 autopilot.")
 set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
 set(CPACK_GENERATOR "ZIP")
 set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
-set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}")
 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
 set(CPACK_PACKAGING_INSTALL_PREFIX "")
 set(CPACK_SET_DESTDIR "OFF")

CODE_OF_CONDUCT.md

@@ -1,46 +0,0 @@
-# Contributor Covenant Code of Conduct
-
-## Our Pledge
-
-In the interest of fostering an open and welcoming environment, we as contributors and maintainers pledge to making participation in our project and our community a harassment-free experience for everyone, regardless of age, body size, disability, ethnicity, gender identity and expression, level of experience, nationality, personal appearance, race, religion, or sexual identity and orientation.
-
-## Our Standards
-
-Examples of behavior that contributes to creating a positive environment include:
-
-* Using welcoming and inclusive language
-* Being respectful of differing viewpoints and experiences
-* Gracefully accepting constructive criticism
-* Focusing on what is best for the community
-* Showing empathy towards other community members
-
-Examples of unacceptable behavior by participants include:
-
-* The use of sexualized language or imagery and unwelcome sexual attention or advances
-* Trolling, insulting/derogatory comments, and personal or political attacks
-* Public or private harassment
-* Publishing others' private information, such as a physical or electronic address, without explicit permission
-* Other conduct which could reasonably be considered inappropriate in a professional setting
-
-## Our Responsibilities
-
-Project maintainers are responsible for clarifying the standards of acceptable behavior and are expected to take appropriate and fair corrective action in response to any instances of unacceptable behavior.
-
-Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, or to ban temporarily or permanently any contributor for other behaviors that they deem inappropriate, threatening, offensive, or harmful.
-
-## Scope
-
-This Code of Conduct applies both within project spaces and in public spaces when an individual is representing the project or its community. Examples of representing a project or community include using an official project e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. Representation of a project may be further defined and clarified by project maintainers.
-
-## Enforcement
-
-Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by contacting the project team at lorenz@px4.io. The project team will review and investigate all complaints, and will respond in a way that it deems appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. Further details of specific enforcement policies may be posted separately.
-
-Project maintainers who do not follow or enforce the Code of Conduct in good faith may face temporary or permanent repercussions as determined by other members of the project's leadership.
-
-## Attribution
-
-This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at [http://contributor-covenant.org/version/1/4][version]
-
-[homepage]: http://contributor-covenant.org
-[version]: http://contributor-covenant.org/version/1/4/

Debug/PX4

@@ -0,0 +1,55 @@
+#
+# Various PX4-specific macros
+#
+source Debug/NuttX
+source Debug/ARMv7M
+
+echo Loading PX4 GDB macros.  Use 'help px4' for more information.\n
+
+define px4
+	echo Use 'help px4' for more information.\n
+end
+
+document px4
+. Various macros for working with the PX4 firmware.
+.
+.    perf
+.        Prints the state of all performance counters.
+.
+. Use 'help <macro>' for more specific help.
+end
+
+
+define _perf_print
+	set $hdr = (struct perf_ctr_header *)$arg0
+	#printf "%p\n", $hdr
+	printf "%s: ", $hdr->name
+	# PC_COUNT
+	if $hdr->type == 0
+		set $count = (struct perf_ctr_count *)$hdr
+		printf "%llu events\n", $count->event_count
+	end
+	# PC_ELPASED
+	if $hdr->type == 1
+		set $elapsed = (struct perf_ctr_elapsed *)$hdr
+		printf "%llu events, %lluus elapsed, min %lluus, max %lluus\n", $elapsed->event_count, $elapsed->time_total, $elapsed->time_least, $elapsed->time_most
+	end
+	# PC_INTERVAL
+	if $hdr->type == 2
+		set $interval = (struct perf_ctr_interval *)$hdr
+		printf "%llu events, %llu avg, min %lluus max %lluus\n", $interval->event_count, ($interval->time_last - $interval->time_first) / $interval->event_count, $interval->time_least, $interval->time_most
+	end
+end
+
+define perf
+	set $ctr = (sq_entry_t *)(perf_counters.head)
+	while $ctr != 0
+		_perf_print $ctr
+		set $ctr = $ctr->flink
+	end
+end
+
+document perf
+.    perf
+.        Prints performance counters.
+end

Debug/dot.gdbinit

@@ -0,0 +1,13 @@
+# copy the file to .gdbinit in your Firmware tree, and adjust the path
+# below to match your system
+# For example:
+# target extended /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_DDE5A1C4-if00
+# target extended /dev/ttyACM4
+
+
+monitor swdp_scan
+attach 1
+monitor vector_catch disable hard
+set mem inaccessible-by-default off
+set print pretty
+source Debug/PX4

Debug/olimex-px4fmu-debug.cfg

@@ -0,0 +1,22 @@
+# program a bootable device load on a mavstation
+# To run type openocd -f mavprogram.cfg
+
+source [find interface/olimex-arm-usb-ocd-h.cfg]
+source [find px4fmu-v1-board.cfg]
+
+init
+halt
+
+# Find the flash inside this CPU
+flash probe 0
+
+# erase it (128 pages) then program and exit
+
+#flash erase_sector 0 0 127
+# stm32f1x mass_erase 0 
+
+# It seems that Pat's image has a start address offset of 0x1000 but the vectors need to be at zero, so fixbin.sh moves things around
+#flash write_bank 0 fixed.bin 0
+#flash write_image firmware.elf
+#shutdown
+

Debug/openocd.gdbinit

@@ -0,0 +1,21 @@
+target remote :3333
+
+# Don't let GDB get confused while stepping
+define hook-step
+  mon cortex_m maskisr on
+end
+define hookpost-step
+  mon cortex_m maskisr off
+end
+
+mon init
+mon stm32_init
+# mon reset halt
+mon poll
+mon cortex_m maskisr auto
+set mem inaccessible-by-default off
+set print pretty
+source Debug/PX4
+
+echo PX4 resumed, press ctrl-c to interrupt\n
+continue

Debug/poor-mans-profiler.sh

@@ -0,0 +1,270 @@
+#!/bin/bash
+#
+# Author: Pavel Kirienko <pavel.kirienko@zubax.com>
+#
+# Poor man's sampling profiler for NuttX.
+#
+# Usage: Install flamegraph.pl in your PATH, configure your .gdbinit, run the script with proper arguments and go
+#        have a coffee. When you're back, you'll see the flamegraph. Note that frequent calls to GDB significantly
+#        interfere with normal operation of the target, which means that you can't profile real-time tasks with it.
+#        For best results, ensure that the PC is not overloaded, the USB host controller to which the debugger is
+#        connected is not congested. You should also allow the current user to set negative nice values.
+#
+# The FlameGraph script can be downloaded from https://github.com/brendangregg/FlameGraph. Thanks Mr. Gregg.
+#
+# Requirements: ARM GDB with Python support. You can get one by downloading the sources from
+#               https://launchpad.net/gcc-arm-embedded and building them with correct flags.
+#               Note that Python support is not required if no per-task sampling is needed.
+#
+
+set -e
+root=$(dirname $0)/..
+
+function die()
+{
+    echo "$@"
+    exit 1
+}
+
+function usage()
+{
+    echo "Invalid usage. Supported options:"
+    cat $0 | sed -n 's/^\s*--\([^)\*]*\).*/\1/p' # Don't try this at home.
+    exit 1
+}
+
+which flamegraph.pl > /dev/null || die "Install flamegraph.pl first"
+
+#
+# Parsing the arguments. Read this section for usage info.
+#
+nsamples=0
+sleeptime=0.1    # Doctors recommend 7-8 hours a day
+taskname=
+elf=
+append=0
+fgfontsize=10
+fgwidth=1900
+
+for i in "$@"
+do
+    case $i in
+        --nsamples=*)
+            nsamples="${i#*=}"
+            ;;
+        --sleeptime=*)
+            sleeptime="${i#*=}"
+            ;;
+        --taskname=*)
+            taskname="${i#*=}"
+            ;;
+        --elf=*)
+            elf="${i#*=}"
+            ;;
+        --append)
+            append=1
+            ;;
+        --fgfontsize=*)
+            fgfontsize="${i#*=}"
+            ;;
+        --fgwidth=*)
+            fgwidth="${i#*=}"
+            ;;
+        *)
+            usage
+            ;;
+    esac
+    shift
+done
+
+[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build_px4fmu-v4_default/src/firmware/nuttx/firmware_nuttx"
+
+#
+# Temporary files
+#
+stacksfile=/tmp/pmpn-stacks.log
+foldfile=/tmp/pmpn-folded.txt
+graphfile=/tmp/pmpn-flamegraph.svg
+gdberrfile=/tmp/pmpn-gdberr.log
+
+#
+# Sampling if requested. Note that if $append is true, the stack file will not be rewritten.
+#
+cd $root
+
+if [[ $nsamples > 0 ]]
+then
+    [[ $append = 0 ]] && (rm -f $stacksfile; echo "Old stacks removed")
+
+    echo "Sampling the task '$taskname'..."
+
+    for x in $(seq 1 $nsamples)
+    do
+        if [[ "$taskname" = "" ]]
+        then
+            arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" -ex bt \
+                2> $gdberrfile \
+                | sed -n 's/\(#.*\)/\1/p' \
+                >> $stacksfile
+        else
+            arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" \
+                                           -ex "source $root/Debug/Nuttx.py" \
+                                           -ex "show mybt $taskname" \
+                2> $gdberrfile \
+                | sed -n 's/0\.0:\(#.*\)/\1/p' \
+                >> $stacksfile
+        fi
+        echo -e '\n\n' >> $stacksfile
+        echo -ne "\r$x/$nsamples"
+        sleep $sleeptime
+    done
+
+    echo
+    echo "Stacks saved to $stacksfile"
+else
+    echo "Sampling skipped - set 'nsamples' to re-sample."
+fi
+
+#
+# Folding the stacks.
+#
+[ -f $stacksfile ] || die "Where are the stack samples?"
+
+cat << 'EOF' > /tmp/pmpn-folder.py
+#
+# This stack folder correctly handles C++ types.
+#
+from __future__ import print_function, division
+import fileinput, collections, os, sys
+
+def enforce(x, msg='Invalid input'):
+    if not x:
+        raise Exception(msg)
+
+def split_first_part_with_parens(line):
+    LBRACES = {'(':'()', '<':'<>', '[':'[]', '{':'{}'}
+    RBRACES = {')':'()', '>':'<>', ']':'[]', '}':'{}'}
+    QUOTES = set(['"', "'"])
+    quotes = collections.defaultdict(bool)
+    braces = collections.defaultdict(int)
+    out = ''
+    for ch in line:
+        out += ch
+        # escape character cancels further processing
+        if ch == '\\':
+            continue
+        # special cases
+        if out.endswith('operator>') or out.endswith('operator>>') or out.endswith('operator->'):  # gotta love c++
+            braces['<>'] += 1
+        if out.endswith('operator<') or out.endswith('operator<<'):
+            braces['<>'] -= 1
+        # switching quotes
+        if ch in QUOTES:
+            quotes[ch] = not quotes[ch]
+        # counting parens only when outside quotes
+        if sum(quotes.values()) == 0:
+            if ch in LBRACES.keys():
+                braces[LBRACES[ch]] += 1
+            if ch in RBRACES.keys():
+                braces[RBRACES[ch]] -= 1
+        # sanity check
+        for v in braces.values():
+            enforce(v >= 0, 'Unaligned braces: ' + str(dict(braces)))
+        # termination condition
+        if ch == ' ' and sum(braces.values()) == 0:
+            break
+    out = out.strip()
+    return out, line[len(out):]
+
+def parse(line):
+    def take_path(line, output):
+        line = line.strip()
+        if line.startswith('at '):
+            line = line[3:].strip()
+        if line:
+            output['file_full_path'] = line.rsplit(':', 1)[0].strip()
+            output['file_base_name'] = os.path.basename(output['file_full_path'])
+            output['line'] = int(line.rsplit(':', 1)[1])
+        return output
+
+    def take_args(line, output):
+        line = line.lstrip()
+        if line[0] == '(':
+            output['args'], line = split_first_part_with_parens(line)
+        return take_path(line.lstrip(), output)
+
+    def take_function(line, output):
+        output['function'], line = split_first_part_with_parens(line.lstrip())
+        return take_args(line.lstrip(), output)
+
+    def take_mem_loc(line, output):
+        line = line.lstrip()
+        if line.startswith('0x'):
+            end = line.find(' ')
+            num = line[:end]
+            output['memloc'] = int(num, 16)
+            line = line[end:].lstrip()
+            end = line.find(' ')
+            enforce(line[:end] == 'in')
+            line = line[end:].lstrip()
+        return take_function(line, output)
+
+    def take_frame_num(line, output):
+        line = line.lstrip()
+        enforce(line[0] == '#')
+        end = line.find(' ')
+        num = line[1:end]
+        output['frame_num'] = int(num)
+        return take_mem_loc(line[end:], output)
+
+    return take_frame_num(line, {})
+
+stacks = collections.defaultdict(int)
+current = ''
+
+stack_tops = collections.defaultdict(int)
+num_stack_frames = 0
+
+for idx,line in enumerate(fileinput.input()):
+    try:
+        line = line.strip()
+        if line:
+            inf = parse(line)
+            fun = inf['function']
+            current = (fun + ';' + current) if current else fun
+
+            if inf['frame_num'] == 0:
+                num_stack_frames += 1
+                stack_tops[fun] += 1
+        elif current:
+            stacks[current] += 1
+            current = ''
+    except Exception, ex:
+        print('ERROR (line %d):' % (idx + 1), ex, file=sys.stderr)
+
+for s, f in sorted(stacks.items(), key=lambda (s, f): s):
+    print(s, f)
+
+print('Total stack frames:', num_stack_frames, file=sys.stderr)
+print('Top consumers (distribution of the stack tops):', file=sys.stderr)
+for name,num in sorted(stack_tops.items(), key=lambda (name, num): num, reverse=True)[:300]:
+    print('% 7.3f%%   ' % (100 * num / num_stack_frames), name, file=sys.stderr)
+EOF
+
+cat $stacksfile | python /tmp/pmpn-folder.py > $foldfile
+
+echo "Folded stacks saved to $foldfile"
+
+#
+# Graphing.
+#
+cat $foldfile | flamegraph.pl --fontsize=$fgfontsize --width=$fgwidth > $graphfile
+echo "FlameGraph saved to $graphfile"
+
+# On KDE, xdg-open prefers Gwenview by default, which doesn't handle interactive SVGs, so we need a browser.
+# The current implementation is hackish and stupid. Somebody, please do something about it.
+opener=xdg-open
+which firefox       > /dev/null && opener=firefox
+which google-chrome > /dev/null && opener=google-chrome
+
+$opener $graphfile

Debug/px4fmu-v1-board.cfg

@@ -0,0 +1,38 @@
+# The latest defaults in OpenOCD 0.7.0 are actually prettymuch correct for the px4fmu
+
+# increase working area to 32KB for faster flash programming
+set WORKAREASIZE 0x8000
+
+source [find target/stm32f4x.cfg]
+
+# needed for px4
+reset_config trst_only
+
+proc stm32_reset {} {
+  reset halt
+# FIXME - needed to init periphs on reset
+# 0x40023800 RCC base
+# 0x24 RCC_APB2 0x75933
+# RCC_APB2 0
+}
+
+# perform init that is required on each connection to the target
+proc stm32_init {} {
+
+  # force jtag to not shutdown during sleep
+  #uint32_t cr = getreg32(STM32_DBGMCU_CR);
+  #cr |= DBGMCU_CR_STANDBY | DBGMCU_CR_STOP | DBGMCU_CR_SLEEP;
+  #putreg32(cr, STM32_DBGMCU_CR);
+  mww 0xe0042004 00000007
+}
+
+# if srst is not fitted use SYSRESETREQ to
+# perform a soft reset
+cortex_m reset_config sysresetreq
+
+# Let GDB directly program elf binaries
+gdb_memory_map enable
+
+# doesn't work yet
+gdb_flash_program disable
+

Debug/runopenocd.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+openocd -f interface/olimex-arm-usb-ocd-h.cfg -f $DIR/px4fmu-v1-board.cfg

Documentation/px4_hil/UserGuide.md

@@ -0,0 +1,98 @@
+[TOC]
+
+# Introduction
+
+The HIL architecture allows you to test the flight stack replacing the real physical vehicle and sensors with a simulator of vehicle dynamics and sensor outputs.  The flight stack "is not aware" that it is not on a real vehicle.  This is a powerful tool for develping and testing code rapidly in a benchtop environment. 
+
+The flight stack can be run anywhere that supports a network connection to the simulator (with sufficient bandwidth and latency to transport the sensor and actuator messages).  This can be on a standard linux workstation, an on-target linux image, or the on-target DSP image.  These modes can be selected based on the goals of the testing.  Workstation is useful for rapid testing in a tool-rich environment.  DSP image testing is the closest to the final implementation, so is useful for testing actual HW operation, other than the physical sensing and actuation.
+
+## Px4 High-level HIL Architecture
+
+A diagram of the setup described is shown here.  Note that UDP port numbers are only displayed on the socket server and are left blank on the socket client. 
+
+(???NOTES:  This diagram needs to be updated to use control inputs over UDP, either from QGC or from other)
+
+![SITL Diagram](./SITL_Diagram_QGC.png "SITL Diagram")  
+
+## Requirements
+The simulator that is currently supported is jMAVSim.  The setup described here requires PX4 and jMAVSim installed and running.  qGroundControl (QGC) is also required because it is the supported method of providing manual control commands.  
+
+## Assumptions
+
+# Compiling Code
+
+## JMAVSim
+
+### Platform Requirements
+Linux with java-1.7.x or greater
+
+### Build Instructions
+In a clean directory
+```
+> git clone https://github.com/PX4/jMAVSim.git
+> cd jMAVSim
+> git submodule init
+> git submodule update
+> ant
+```
+
+## qGroundControl
+
+### Platform Requirements
+Windows 7
+Logitech Gamepad F310 joystick controller
+
+### Download/Install Instructions
+Download QGC from http://qgroundcontrol.org/downloads and install using the windows executable.
+
+
+## PX4
+
+### Platform Requirements
+Linux or Eagle with a working IP interface (?? does this need further instructions?)
+
+### Build Host Requirements
+(???Notes:  Windows?)
+
+### Download & Build Instructions
+
+### Installing binaries on the Qualcomm Target
+
+# Running PX4 in HIL Mode
+
+## Starting PX4 on Qualcomm Eagle
+
+```
+> adb shell
+# bash
+root@linaro-developer:/# cd ???
+root@linaro-developer:/# ./px4
+App name: px4
+Enter a command and its args:
+uorb start
+muorb start
+mavlink start -u 14556
+simulator start -p
+```
+
+## Starting jMAVSim
+In the directory where jMAVSim is installed
+```
+ java -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp <IPADDR>:14560 -n 100
+```
+replacing <IPADDR> with the IP address of the machine running PX4 (Eagle).  This can be found by running "ifconfig" on that machine.
+
+## Starting qGroundControl
+Launch the qGroundControl application
+1. Set up the communication to the flight stack.  In the menu File:Settings:CommLinks, select Add.  Enter a Link Name of your choice.  Select Link Type: UDP.  Set the listening port to an unused port (example: 14561).  Select Add.  Enter the IP address and port of the PX4 Mavlink app, which is <IPADDR>:14556 with <IPADDR> being the IP address of the Eagle board. Select OK.
+1. Set up the joystick.  Plug in the joystick to your Windows machine.  In the menu File:Settings:CommLinks, check Enable Controllers.  Select "Gamepad F310".  Select "Manual".  Set the axes/channel mapping to 0:Yaw, 1:Throttle, 2:unset, 3:Pitch, 4:Roll.  Seletct "Inverted" for the throttle axis.  Click "Calibrate range".  Move the right joystick through its full range of motion.  Move the left joystick full left then full right.  Move the left joystick full forward (but not full backward).  Click "end calibration."
+1. Connect to the flight stack.  Click Analyze.  Click the "Connect" button in the upper right, and select the connection that you created in the first step.
+
+You should now be connected to the flight stack.  You can see incoming Mavlink packets using the MAVLink Instpector (from Advanced:Tool Widgets)
+
+
+## Controlling PX4 flight in HIL Mode
+The joystick can now be used to fly the simulated vehicle.  The jMAVSim world visualization gives a FPV view, and QGC can be used to display instruments such as artificial horizon and maps (if GPS simulation is enabled).
+
+
+# Debugging/FAQ

Documentation/versionfilter.sh

@@ -0,0 +1,2 @@
+#!/bin/sh
+git log --pretty=format:"Last change: commit %h - %aN, %ar : %s" -1 $1 || echo no git

Firmware.sublime-project

@@ -40,12 +40,12 @@
 			"options_c":
 			{
 				"use_only_additional_options": true,
-				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
+				"additional_options_file": "${project_path}/Tools/astylerc"
 			},
 			"options_c++":
 			{
 				"use_only_additional_options": true,
-				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
+				"additional_options_file": "${project_path}/Tools/astylerc"
 			}
 		}
 	},

Images/aerocore.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 19,
+    "magic": "AeroCore",
+    "description": "Firmware for the Gumstix AeroCore board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AEROCORE",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/aerocore2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 98,
+    "magic": "AeroCore2",
+    "description": "Firmware for the Gumstix AeroCore2 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AEROCORE2",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/aerofc-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 65,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the Intel Aero FC board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AEROFCv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/auav-x21.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 33,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the AUAV X2.1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AUAV X2.1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/crazyflie.prototype

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

Images/esc35-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 27,
+    "magic": "ESC35v1",
+    "description": "Firmware for the ESC35V1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ESC35v1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/mindpx-v2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 88,
+    "magic": "MindPX",
+    "description": "Firmware for the MindPXFMUv2 board",
+    "image": "", 
+    "build_time": 0, 
+    "summary": "MindPXFMUv2",
+    "version": "2.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4-stm32f4discovery.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 99, 
+    "magic": "PX4FWv1", 
+    "description": "Firmware for the STM32F4Discovery board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4/STM32F4Discovery",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4cannode-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 22,
+    "magic": "CANNODEFWv1",
+    "description": "Firmware for the PX4CANNODE board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4CANNODEv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4esc-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 25,
+    "magic": "ESCv1",
+    "description": "Firmware for the PX4ESCV1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4ESCv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4flow-v2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 24,
+    "magic": "FLOWv1",
+    "description": "Firmware for the PX4FLowV1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FLOWv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 5, 
+    "magic": "PX4FWv1", 
+    "description": "Firmware for the PX4FMU board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4FMU",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 9, 
+    "magic": "PX4FWv1", 
+    "description": "Firmware for the PX4FMUv2 board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4FMUv2",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v3.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 9,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv3 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv3",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v4.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 11,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv4 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv4",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v4pro.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 13,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv4PRO board, based on STM32F469",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv4PRO",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4fmu-v5.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 50,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv5 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv5",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4io-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 7, 
+    "magic": "PX4FWv1", 
+    "description": "Firmware for the PX4IO board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4IO",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4io-v2.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 10, 
+    "magic": "PX4FWv2", 
+    "description": "Firmware for the PX4IOv2 board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4IOv2",
+    "version": "2.0",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4nucleoF767ZI-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 90,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ST nucleo-144 with STM32FF767ZI-v1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4NUCLEOF767ZIv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/s2740vc-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 23,
+    "magic": "S2740VCblv1",
+    "description": "Firmware for the S2740VC board",
+    "image": "",
+    "build_time": 0,
+    "summary": "S2740VCv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/tap-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 64,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the TAPv1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "TAPv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/zubaxgnss-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 26,
+    "magic": "ZUBAXGNSSFWv1",
+    "description": "Firmware for the ZUBAXGNSS board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ZUBAXGNSSv1",
+    "version": "0.0",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Jenkinsfile

@@ -1,663 +0,0 @@
-pipeline {
-  agent none
-  stages {
-
-    stage('Build') {
-      steps {
-        script {
-          def builds = [:]
-
-
-          // nuttx default targets that are archived and uploaded to s3
-          for (def option in ["px4fmu-v4", "px4fmu-v4pro", "px4fmu-v5", "aerofc-v1"]) {
-            def node_name = "${option}"
-
-            builds["${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') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "make clean"
-                      sh "ccache -z"
-                      sh "git fetch --tags"
-                      sh "make nuttx_${node_name}_default"
-                      sh "make nuttx_${node_name}_rtps"
-                      sh "make sizes"
-                      sh "ccache -s"
-                      archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-
-          // special case for fmu-v2/fmu-v3
-          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') {
-                  stage("${node_name}") {
-                    checkout scm
-                    sh "make clean"
-                    sh "ccache -z"
-                    sh "git fetch --tags"
-                    sh "make px4io-v2_default"
-                    sh "make nuttx_px4fmu-v2_default"
-                    sh "make nuttx_px4fmu-v2_lpe"
-                    sh "make nuttx_px4fmu-v3_default"
-                    sh "make nuttx_px4fmu-v3_rtps"
-                    sh "make sizes"
-                    sh "ccache -s"
-                    archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
-                  }
-                }
-              }
-            }
-          }
-
-
-          // nuttx default targets that are archived and uploaded to s3
-          for (def option in ["aerocore2", "auav-x21", "crazyflie", "mindpx-v2", "nxphlite-v3", "tap-v1"]) {
-            def node_name = "${option}"
-
-            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') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "make clean"
-                      sh "ccache -z"
-                      sh "git fetch --tags"
-                      sh "make nuttx_${node_name}_default"
-                      sh "make sizes"
-                      sh "ccache -s"
-                      archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-
-          // other nuttx default targets
-          for (def option in ["px4-same70xplained-v1", "px4-stm32f4discovery", "px4cannode-v1", "px4esc-v1", "px4nucleoF767ZI-v1", "s2740vc-v1"]) {
-            def node_name = "${option}"
-
-            builds["${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') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "make clean"
-                      sh "ccache -z"
-                      sh "make nuttx_${node_name}_default"
-                      sh "make sizes"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-
-          // posix_sitl
-          for (def option in ["sitl_default", "sitl_rtps"]) {
-            def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-base:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "make clean"
-                      sh "ccache -z"
-                      sh "make posix_${node_name}"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-
-          // raspberry pi and bebop (armhf)
-          for (def option in ["rpi_cross", "bebop_default"]) {
-            def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-raspi:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "make clean"
-                      sh "ccache -z"
-                      sh "make posix_${node_name}"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-
-          // other armhf (to be merged with raspi and bebop)
-          for (def option in ["ocpoc_ubuntu"]) {
-            def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-armhf:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "make clean"
-                      sh "ccache -z"
-                      sh "make posix_${node_name}"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-
-          // snapdragon eagle (posix + qurt)
-          for (def option in ["eagle_default"]) {
-            def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
-                    docker.image("lorenzmeier/px4-dev-snapdragon:2017-12-29").inside('-e CI=true -e CCACHE_BASEDIR=$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 ${node_name}"
-                        sh "ccache -s"
-                      }
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-
-          // GCC7 posix
-          for (def option in ["sitl_default"]) {
-            def node_name = "${option}"
-
-            builds["${node_name} (GCC7)"] = {
-              node {
-                stage("Build Test ${node_name} (GCC7)") {
-                  docker.image('px4io/px4-dev-base-archlinux:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "make clean"
-                      sh "ccache -z"
-                      sh "make posix_${node_name}"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-          // 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
-        }
-      }
-    }
-
-    stage('Test') {
-      parallel {
-
-        stage('check style') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base:2017-12-30'
-              args '-e CI=true'
-            }
-          }
-          steps {
-            sh 'make check_format'
-          }
-        }
-
-        stage('clang analyzer') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-clang:2017-12-30'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
-            }
-          }
-          steps {
-            sh 'make clean'
-            sh 'make scan-build'
-            // publish html
-            publishHTML target: [
-              reportTitles: 'clang static analyzer',
-              allowMissing: false,
-              alwaysLinkToLastBuild: true,
-              keepAll: true,
-              reportDir: 'build/scan-build/report_latest',
-              reportFiles: '*',
-              reportName: 'Clang Static Analyzer'
-            ]
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'beta'
-              branch 'stable'
-            }
-          }
-        }
-
-        stage('clang tidy') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-clang:2017-12-30'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
-            }
-          }
-          steps {
-            sh 'make clean'
-            sh 'make clang-tidy-quiet'
-          }
-        }
-
-        stage('cppcheck') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base:ubuntu17.10'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
-            }
-          }
-          steps {
-            sh 'make clean'
-            sh 'make cppcheck'
-            // publish html
-            publishHTML target: [
-              reportTitles: 'Cppcheck',
-              allowMissing: false,
-              alwaysLinkToLastBuild: true,
-              keepAll: true,
-              reportDir: 'build/cppcheck/',
-              reportFiles: '*',
-              reportName: 'Cppcheck'
-            ]
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'beta'
-              branch 'stable'
-            }
-          }
-        }
-
-        stage('tests') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base:2017-12-30'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
-            }
-          }
-          steps {
-            sh 'make clean'
-            sh 'make posix_sitl_default test_results_junit'
-            junit 'build/posix_sitl_default/JUnitTestResults.xml'
-          }
-        }
-
-        stage('ROS vtol mission new 1') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2017-12-31'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make clean; 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.txt vehicle:=vtol_standard'
-          }
-          post {
-            success {
-              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_1.txt: ${CHANGE_ID}" --feedback "${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.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '**/*.ulg'
-              archiveArtifacts '.ros/*/px4/**.xml'
-              archiveArtifacts '.ros/log/**.log'
-            }
-          }
-        }
-
-        stage('ROS vtol mission new 2') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2017-12-31'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make clean; 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.txt vehicle:=vtol_standard'
-          }
-          post {
-            success {
-              sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_2.txt: ${CHANGE_ID}" --feedback "${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.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '**/*.ulg'
-              archiveArtifacts '.ros/*/px4/**.xml'
-              archiveArtifacts '.ros/log/**.log'
-            }
-          }
-        }
-
-        stage('ROS vtol mission old 1') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2017-12-31'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make clean; 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.txt vehicle:=vtol_standard'
-          }
-          post {
-            success {
-              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_1.txt: ${CHANGE_ID}" --feedback "${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.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '**/*.ulg'
-              archiveArtifacts '.ros/*/px4/**.xml'
-              archiveArtifacts '.ros/log/**.log'
-            }
-          }
-        }
-
-        stage('ROS vtol mission old 2') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2017-12-31'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make clean; 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.txt vehicle:=vtol_standard'
-          }
-          post {
-            success {
-              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_2.txt: ${CHANGE_ID}" --feedback "${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.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '**/*.ulg'
-              archiveArtifacts '.ros/*/px4/**.xml'
-              archiveArtifacts '.ros/log/**.log'
-            }
-          }
-        }
-
-        stage('ROS vtol mission old 3') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2017-12-31'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make clean; 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.txt vehicle:=vtol_standard'
-          }
-          post {
-            success {
-              sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_3.txt: ${CHANGE_ID}" --feedback "${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.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '**/*.ulg'
-              archiveArtifacts '.ros/*/px4/**.xml'
-              archiveArtifacts '.ros/log/**.log'
-            }
-          }
-        }
-
-        stage('ROS MC mission box') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2017-12-31'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make clean; 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.mission vehicle:=iris'
-          }
-          post {
-            success {
-              sh './Tools/upload_log.py -q --description "ROS mission test multirotor_box.mission: ${CHANGE_ID}" --feedback "${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.mission: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
-              archiveArtifacts '**/*.ulg'
-              archiveArtifacts '.ros/*/px4/**.xml'
-              archiveArtifacts '.ros/log/**.log'
-            }
-          }
-        }
-
-        stage('ROS offboard att') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2017-12-31'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make clean; 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 '**/*.ulg'
-              archiveArtifacts '.ros/*/px4/**.xml'
-              archiveArtifacts '.ros/log/**.log'
-            }
-          }
-        }
-
-        stage('ROS offboard pos') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros:2017-12-31'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make clean; 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 '**/*.ulg'
-              archiveArtifacts '.ros/*/px4/**.xml'
-              archiveArtifacts '.ros/log/**.log'
-            }
-          }
-        }
-
-        // temporarily disabled until stable
-        //stage('tests coverage') {
-        //  agent {
-        //    docker {
-        //      image 'px4io/px4-dev-base:2017-12-30'
-        //      args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
-        //    }
-        //  }
-        //  steps {
-        //    sh 'make clean'
-        //    sh 'make tests_coverage'
-        //    // publish html
-        //    publishHTML target: [
-        //      allowMissing: false,
-        //      alwaysLinkToLastBuild: false,
-        //      keepAll: true,
-        //      reportDir: 'build/posix_sitl_default/coverage-html',
-        //      reportFiles: '*',
-        //      reportName: 'Coverage Report'
-        //    ]
-        //  }
-        //}
-
-      }
-    }
-
-    stage('Generate Metadata') {
-
-      parallel {
-
-        stage('airframe') {
-          agent {
-            docker { image 'px4io/px4-dev-base:2017-12-30' }
-          }
-          steps {
-            sh 'make airframe_metadata'
-            archiveArtifacts(artifacts: 'airframes.md, airframes.xml', fingerprint: true)
-          }
-        }
-
-        stage('parameter') {
-          agent {
-            docker { image 'px4io/px4-dev-base:2017-12-30' }
-          }
-          steps {
-            sh 'make parameters_metadata'
-            archiveArtifacts(artifacts: 'parameters.md, parameters.xml', fingerprint: true)
-          }
-        }
-
-        stage('module') {
-          agent {
-            docker { image 'px4io/px4-dev-base:2017-12-30' }
-          }
-          steps {
-            sh 'make module_documentation'
-            archiveArtifacts(artifacts: 'modules/*.md', fingerprint: true)
-          }
-        }
-
-        stage('uorb graphs') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2017-12-30'
-              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'make uorb_graphs'
-            archiveArtifacts(artifacts: 'Tools/uorb_graph/graph_sitl.json')
-          }
-        }
-      }
-    }
-
-    stage('S3 Upload') {
-      agent {
-        docker { image 'px4io/px4-dev-base:2017-12-30' }
-      }
-
-      when {
-        anyOf {
-          branch 'master'
-          branch 'beta'
-          branch 'stable'
-        }
-      }
-
-      steps {
-        sh 'echo "uploading to S3"'
-      }
-    }
-  }
-
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '5'))
-    timeout(time: 60, unit: 'MINUTES')
-  }
-}

LICENSE

@@ -1,29 +0,0 @@
-BSD 3-Clause License
-
-Copyright (c) 2012 - 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:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* 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.
-
-* Neither the name of the copyright holder 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 HOLDER 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.

LICENSE.md

@@ -0,0 +1,41 @@
+The PX4 firmware is licensed generally under a permissive 3-clause BSD license. Contributions are required
+to be made under the same license. Any exception to this general rule is listed below.
+
+	/****************************************************************************
+	 *
+	 *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+	 *
+	 * Redistribution and use in source and binary forms, with or without
+	 * modification, are permitted provided that the following conditions
+	 * 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.
+	 *
+	 ****************************************************************************/
+
+
+  - PX4 middleware: BSD 3-clause
+  - PX4 flight control stack: BSD 3-clause
+  - NuttX operating system: BSD 3-clause
+  - Exceptions: Currently only this [400 LOC file](https://github.com/PX4/Firmware/blob/master/src/lib/external_lgpl/tecs/tecs.cpp) remains LGPL, but will be replaced with a BSD implementation.

Makefile

@@ -53,7 +53,7 @@ endif
 # make px4fmu-v2_default test 		(builds and tests)
 #
 # This tells cmake to build the nuttx px4fmu-v2 default config in the
-# directory build/nuttx_px4fmu-v2_default and then call make
+# directory build_nuttx_px4fmu-v2_default and then call make
 # in that directory with the target upload.
 
 #  explicity set default build target
@@ -107,34 +107,42 @@ else
 	BUILD_DIR_SUFFIX :=
 endif
 
-# additional config parameters passed to cmake
-ifdef EXTERNAL_MODULES_LOCATION
-	CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
+# NuttX verbose output
+ifdef VN
+	export PX4_NUTTX_BUILD_VERBOSE=1
+	export V=1
 endif
 
-ifdef PX4_CMAKE_BUILD_TYPE
-	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
+# NuttX verbose patches output
+ifdef VNP
+	export PX4_NUTTX_PATCHES_VERBOSE=1
 endif
 
+# additional config parameters passed to cmake
+CMAKE_ARGS :=
+ifdef EXTERNAL_MODULES_LOCATION
+	CMAKE_ARGS := -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
+endif
+
+
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+@$(eval BUILD_DIR = $(SRC_DIR)/build/$@$(BUILD_DIR_SUFFIX))
++@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
 +@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(1) || (rm -rf $(BUILD_DIR)); fi
++@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=$(1) $(CMAKE_ARGS) || (rm -rf $(BUILD_DIR)); fi
 +@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef
 
-COLOR_BLUE = \033[0;34m
-NO_COLOR   = \033[m
-
 define colorecho
-+@echo "${COLOR_BLUE}${1} ${NO_COLOR}"
++@tput setaf 6
++@echo $1
++@tput sgr0
 endef
 
-# Get a list of all config targets cmake/configs/*.cmake
-ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" -maxdepth 1 ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed  -e 's:^.*/::' | sort))
+# Get a list of all config targets.
+ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed  -e 's:^.*/::' | sort))
 # Strip off leading nuttx_
 NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS)))
 
@@ -157,77 +165,73 @@ all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
 posix: posix_sitl_default
 broadcast: posix_sitl_broadcast
 
-# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: all posix broadcast all_nuttx_targets
-
 # Multi- config targets.
 eagle_default: posix_eagle_default qurt_eagle_default
-eagle_rtps: posix_eagle_rtps qurt_eagle_default
 eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
 excelsior_default: posix_excelsior_default qurt_excelsior_default
-excelsior_rtps: posix_excelsior_rtps qurt_excelsior_default
 excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
 
-.PHONY: eagle_default eagle_rtps eagle_legacy_default
-.PHONY: excelsior_default excelsior_rtps excelsior_legacy_default
+
+# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
+.PHONY: all posix broadcast eagle_default eagle_legacy_default excelsior_legacy_default excelsior_default all_nuttx_targets
 
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware check_rtps
+.PHONY: qgc_firmware alt_firmware checks_bootloaders uavcan_firmware sizes check quick_check
 
 # QGroundControl flashable NuttX firmware
-qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
-
-# px4fmu NuttX firmware
-px4fmu_firmware: \
-	check_px4io-v2_default \
-	check_px4fmu-v2_default \
-	check_px4fmu-v3_default \
-	check_px4fmu-v4_default \
-	check_px4fmu-v4pro_default \
-	check_px4fmu-v5_default \
-	sizes
-
-misc_qgc_extra_firmware: \
+qgc_firmware: \
 	check_aerocore2_default \
 	check_aerofc-v1_default \
 	check_auav-x21_default \
 	check_crazyflie_default \
 	check_mindpx-v2_default \
+	check_px4fmu-v1_default \
+	check_px4fmu-v2_default \
 	check_px4fmu-v2_lpe \
+	check_px4fmu-v3_default \
+	check_px4fmu-v4_default \
+	check_px4fmu-v4pro_default \
+	check_px4fmu-v5_default \
 	check_tap-v1_default \
-	sizes
+	check_sizes
 
 # Other NuttX firmware
 alt_firmware: \
-	check_nxphlite-v3_default \
-	check_px4-same70xplained-v1_default \
 	check_px4-stm32f4discovery_default \
 	check_px4cannode-v1_default \
 	check_px4esc-v1_default \
+	check_px4fmu-v4pro_default \
+	check_px4fmu-v5_default \
 	check_px4nucleoF767ZI-v1_default \
 	check_s2740vc-v1_default \
-	sizes
+	check_sizes
 
-# builds with RTPS
-check_rtps: \
-	check_px4fmu-v3_rtps \
-	check_px4fmu-v4_rtps \
-	check_px4fmu-v4pro_rtps \
-	check_posix_sitl_rtps \
-	sizes
+checks_bootloaders: \
+	check_esc35-v1_bootloader \
+	check_px4cannode-v1_bootloader \
+	check_px4esc-v1_bootloader \
+	check_px4flow-v2_bootloader \
+	check_s2740vc-v1_bootloader \
+# not fitting in flash	check_zubaxgnss-v1_bootloader \
+	check_sizes
 
-.PHONY: sizes check quick_check check_rtps uorb_graphs
+uavcan_firmware:
+	$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6")
+	@rm -rf vectorcontrol
+	@git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol
+	@BOARD=s2740vc_1_0 make --silent --no-print-directory
+	@BOARD=px4esc_1_6 make --silent --no-print-directory && $(SRC_DIR)/Tools/uavcan_copy.sh)
 
 sizes:
-	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
+	@-find build_* -name firmware_nuttx -type f | xargs size 2> /dev/null || :
 
 # All default targets that don't require a special build environment
-check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
+check: check_posix_sitl_default qgc_firmware alt_firmware checks_bootloaders tests check_format
 
 # quick_check builds a single nuttx and posix target, runs testing, and checks the style
-quick_check: check_posix_sitl_default check_px4fmu-v4pro_default tests check_format
+quick_check: check_posix_sitl_default check_px4fmu-v3_default tests check_format
 
 check_%:
 	@echo
@@ -235,34 +239,42 @@ check_%:
 	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo
 
-uorb_graphs:
-	@./Tools/uorb_graph/create_from_startupscript.sh
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
-	@$(MAKE) --no-print-directory px4fmu-v2_default uorb_graph
-	@$(MAKE) --no-print-directory px4fmu-v4_default uorb_graph
-	@$(MAKE) --no-print-directory posix_sitl_default uorb_graph
-
-
-.PHONY: coverity_scan
-
-coverity_scan: posix_sitl_default
-
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata
+.PHONY: parameters_metadata airframe_metadata 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
+parameters_metadata: posix_sitl_default
+	@python $(SRC_DIR)/Tools/px_process_params.py -s $(SRC_DIR)/src --markdown
 
 airframe_metadata:
-	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown
-	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --xml
+	@python ${SRC_DIR}/Tools/px_process_airframes.py -v -a ${SRC_DIR}/ROMFS/px4fmu_common/init.d --markdown
+	@python ${SRC_DIR}/Tools/px_process_airframes.py -v -a ${SRC_DIR}/ROMFS/px4fmu_common/init.d --xml
 
-module_documentation:
-	@python $(SRC_DIR)/Tools/px_process_module_doc.py -v --markdown $(SRC_DIR)/modules --src-path $(SRC_DIR)/src
+px4_metadata: parameters_metadata airframe_metadata
 
-px4_metadata: parameters_metadata airframe_metadata module_documentation
+# S3 upload helpers
+# --------------------------------------------------------------------
+# s3cmd uses these ENV variables
+#  AWS_ACCESS_KEY_ID
+#  AWS_SECRET_ACCESS_KEY
+#  AWS_S3_BUCKET
+.PHONY: s3put_firmware s3put_qgc_firmware
+
+Firmware.zip:
+	@rm -rf Firmware.zip
+	@zip --junk-paths Firmware.zip `find . -name \*.px4`
+
+s3put_firmware: Firmware.zip
+	$(SRC_DIR)/Tools/s3put.sh Firmware.zip
+
+s3put_qgc_firmware: qgc_firmware
+	@find $(SRC_DIR)/build_* -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
+
+s3put_metadata: px4_metadata
+	@$(SRC_DIR)/Tools/s3put.sh airframes.md
+	@$(SRC_DIR)/Tools/s3put.sh airframes.xml
+	@$(SRC_DIR)/Tools/s3put.sh build_posix_sitl_default/parameters.xml
+	@$(SRC_DIR)/Tools/s3put.sh parameters.md
 
 # Astyle
 # --------------------------------------------------------------------
@@ -270,95 +282,72 @@ px4_metadata: parameters_metadata airframe_metadata module_documentation
 
 check_format:
 	$(call colorecho,"Checking formatting with astyle")
-	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh
-	@cd $(SRC_DIR) && git diff --check
+	@$(SRC_DIR)/Tools/check_code_style_all.sh
+	@git diff --check
 
 format:
 	$(call colorecho,"Formatting with astyle")
-	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh --fix
+	@$(SRC_DIR)/Tools/check_code_style_all.sh --fix
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_offboard rostest
+.PHONY: unittest run_tests_posix tests tests_coverage
 
-tests:
-	@$(MAKE) --no-print-directory posix_sitl_default test_results \
-	ASAN_OPTIONS="color=always:check_initialization_order=1:detect_stack_use_after_return=1" \
-	UBSAN_OPTIONS="color=always"
+unittest: posix_sitl_default
+	$(call cmake-build,unittest,$(SRC_DIR)/unittests)
+	@(cd build_unittest && ctest -j2 --output-on-failure)
+
+run_tests_posix:
+	$(MAKE) --no-print-directory posix_sitl_default test_results
+
+tests: unittest run_tests_posix
 
 tests_coverage:
-	@$(MAKE) clean
-	@$(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"
+	@lcov --zerocounters --directory $(SRC_DIR) --quiet
+	@lcov --capture --initial --directory $(SRC_DIR) --quiet --output-file coverage.info
+	@$(MAKE) --no-print-directory unittest PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1
+	@$(MAKE) --no-print-directory posix_sitl_default test_results PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1
+	@lcov --no-checksum --directory $(SRC_DIR) --capture --quiet --output-file coverage.info
+	@lcov --remove coverage.info '/usr/*' 'unittests/googletest/*' --quiet --output-file coverage.info
+	@genhtml --legend --show-details --function-coverage --quiet --output-directory coverage-html coverage.info
+	@$(MAKE) --no-print-directory posix_sitl_default test_results_junit
 
-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)
+# Clang analyzers
 # --------------------------------------------------------------------
-.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack
+.PHONY: scan-build clang-check clang-tidy
 
 scan-build:
-	@export CCC_CC=clang
-	@export CCC_CXX=clang++
-	@rm -rf $(SRC_DIR)/build/posix_sitl_default-scan-build
-	@rm -rf $(SRC_DIR)/build/scan-build/report_latest
-	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-scan-build
-	@cd $(SRC_DIR)/build/posix_sitl_default-scan-build && scan-build cmake $(SRC_DIR) -GNinja -DCONFIG=posix_sitl_default
-	@scan-build -o $(SRC_DIR)/build/scan-build cmake --build $(SRC_DIR)/build/posix_sitl_default-scan-build
-	@find $(SRC_DIR)/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" $(SRC_DIR)/build/scan-build/report_latest \;
+	@export CCACHE_DISABLE=1
+	@mkdir -p $(SRC_DIR)/build_posix_sitl_default_scan-build
+	@cd $(SRC_DIR)/build_posix_sitl_default_scan-build && scan-build cmake .. -GNinja -DCONFIG=posix_sitl_default
+	@scan-build cmake --build $(SRC_DIR)/build_posix_sitl_default_scan-build
 
-posix_sitl_default-clang:
-	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-clang
-	@cd $(SRC_DIR)/build/posix_sitl_default-clang && cmake $(SRC_DIR) $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
-	@$(PX4_MAKE) -C $(SRC_DIR)/build/posix_sitl_default-clang
+clang-check:
+	@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default
+	@$(SRC_DIR)/Tools/clang-tool.sh -b build_posix_sitl_default -t clang-check
 
-clang-tidy: posix_sitl_default-clang
-	@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
+clang-tidy:
+	rm -rf $(SRC_DIR)/build_posix_sitl_default
+	@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default
+	@$(SRC_DIR)/Tools/clang-tool.sh -b build_posix_sitl_default -t clang-tidy
 
-# to automatically fix a single check at a time, eg modernize-redundant-void-arg
-#  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
-clang-tidy-fix: posix_sitl_default-clang
-	@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .
+clang-tidy-parallel:
+	rm -rf $(SRC_DIR)/build_posix_sitl_default
+	@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default
+	@$(SRC_DIR)/Tools/run-clang-tidy.py -j$(j) -p $(SRC_DIR)/build_posix_sitl_default
 
-# modified version of run-clang-tidy.py to return error codes and only output relevant results
-clang-tidy-quiet: posix_sitl_default-clang
-	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
-
-# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
-cppcheck: posix_sitl_default
-	@mkdir -p $(SRC_DIR)/build/cppcheck
-	@cppcheck -i$(SRC_DIR)/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project=$(SRC_DIR)/build/posix_sitl_default/compile_commands.json --xml-version=2 2> $(SRC_DIR)/build/cppcheck/cppcheck-result.xml > /dev/null
-	@cppcheck-htmlreport --source-encoding=ascii --file=$(SRC_DIR)/build/cppcheck/cppcheck-result.xml --report-dir=$(SRC_DIR)/build/cppcheck --source-dir=$(SRC_DIR)/src/
-
-check_stack: px4fmu-v4pro_default
-	@echo "Checking worst case stack usage with checkstack.pl ..."
-	@echo " "
-	@echo "Top 10:"
-	@cd $(SRC_DIR)/build/px4fmu-v4pro_default && mkdir -p stack_usage && arm-none-eabi-objdump -d nuttx_px4fmu-v4pro_default.elf | $(SRC_DIR)/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt
-	@head -n 10 $(SRC_DIR)/build/px4fmu-v4pro_default/stack_usage/checkstack_output.txt | c++filt
-	@echo " "
-	@echo "Symbols with 'main', 'thread' or 'task':"
-	@cat $(SRC_DIR)/build/px4fmu-v4pro_default/stack_usage/checkstack_output.txt | c++filt | grep -E 'thread|main|task'
+clang-tidy-fix:
+	rm -rf $(SRC_DIR)/build_posix_sitl_default
+	@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default
+	@run-clang-tidy.py -fix -j$(j) -p $(SRC_DIR)/build_posix_sitl_default
 
 # Cleanup
 # --------------------------------------------------------------------
-.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
+.PHONY: clean submodulesclean distclean
 
 clean:
-	@rm -rf $(SRC_DIR)/build
+	@rm -rf $(SRC_DIR)/build_*/
+	-@$(MAKE) --no-print-directory -C NuttX/nuttx clean
 
 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
@@ -375,7 +364,7 @@ gazeboclean:
 	@rm -rf ~/.gazebo/*
 
 distclean: submodulesclean gazeboclean
-	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
+	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea"
 
 # --------------------------------------------------------------------
 
@@ -384,6 +373,8 @@ distclean: submodulesclean gazeboclean
 	$(if $(filter $(FIRST_ARG),$@), \
 		$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
 
+CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
+
 #help:
 #	@echo
 #	@echo "Type 'make ' and hit the tab key twice to see a list of the available"

NuttX

@@ -0,0 +1 @@
+Subproject commit 44ad7e224c1ef17911ab8b4101fd624ad9ee4177

README.md

@@ -1,47 +1,39 @@
-# PX4 Pro Drone Autopilot
+## PX4 Pro Drone Autopilot ##
 
-[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)
+[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware) [![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)
 
-[![Build Status](http://ci.px4.io:8080/buildStatus/icon?job=Firmware/master)](http://ci.px4.io:8080/blue/organizations/jenkins/Firmware/activity) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)
-
-[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
+[![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
 
 This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
-* [Supported airframes](https://docs.px4.io/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/en/airframes/airframe_reference.html#copter)
-  * [Fixed wing](https://docs.px4.io/en/airframes/airframe_reference.html#plane)
-  * [VTOL](https://docs.px4.io/en/airframes/airframe_reference.html#vtol)
-  * many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
-* Releases: [Downloads](https://github.com/PX4/Firmware/releases)
-
-
-## PX4 Users
-
-The [PX4 User Guide](https://docs.px4.io/en/) explains how to assemble [supported vehicles](https://docs.px4.io/en/airframes/airframe_reference.html) and fly drones with PX4. 
-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, 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!
+  * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
+  * Supported airframes:
+    * [Multicopters](http://px4.io/portfolio_category/multicopter/)
+    * [Fixed wing](http://px4.io/portfolio_category/plane/)
+    * [VTOL](http://px4.io/portfolio_category/vtol/)
+    * many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
+  * Releases: [Downloads](https://github.com/PX4/Firmware/releases)
 
+Please refer to the [user documentation](https://docs.px4.io/en/) and [user forum](http://discuss.px4.io) for flying drones with the PX4 flight stack.
 
 ### Weekly Dev Call
 
-The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/#dev_call).
+The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/).
 
-> **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.
+  * [Wednesday 17:00 Central European Time, 11:00 Eastern Time, 08:00 Pacific Standard Time](https://www.google.com/calendar/embed?src=bGludXhmb3VuZGF0aW9uLm9yZ19nMjF0dmFtMjRtN3BtN2poZXYwMWJ2bHFoOEBncm91cC5jYWxlbmRhci5nb29nbGUuY29t)
+  * [Uber conference (dial-in or web client)](https://www.uberconference.com/lf-dronecode)
+  * The agenda is announced in advance on the [PX4 Discuss](http://discuss.px4.io/c/weekly-dev-call)
+  * Issues and PRs may be labelled [devcall](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3Adevcall) to flag them for discussion
 
+### Developers ###
+  * [Developer Guide](https://dev.px4.io/)
+    * [Build instructions](https://dev.px4.io/en/setup/building_px4.html)
+    * [Guide for Contributions](https://dev.px4.io/en/contribute/)
 
 ## Maintenance Team
 
   * Project / Founder - [Lorenz Meier](https://github.com/LorenzMeier)
-    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
+  * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
   * Communication Architecture
     * [Beat Kueng](https://github.com/bkueng)
     * [Julian Oes](https://github.com/JulianOes)
@@ -70,41 +62,37 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribut
   * Obstacle Avoidance - [Vilhjalmur Vilhjalmsson](https://github.com/vilhjalmur89)
   * [Snapdragon](https://github.com/PX4/Firmware/labels/snapdragon)
     * [Christoph Tobler](https://github.com/ChristophTobler)
-    * [Mark Charlebois](https://github.com/mcharleb)
+    * [Mark Charlebois](https://github.com/mcharleb) 
   * [Intel Aero](https://github.com/PX4/Firmware/labels/intel%20aero)
-    * [Sugnan Prabhu](https://github.com/sugnanprabhu)
+    * [Lucas De Marchi](https://github.com/lucasdemarchi)
     * [José Roberto de Souza](https://github.com/zehortigoza)
   * [Raspberry Pi / Navio](https://github.com/PX4/Firmware/labels/raspberry_pi) - [Beat Kueng](https://github.com/bkueng)
   * [Parrot Bebop](https://github.com/PX4/Firmware/labels/bebop) - [Michael Schaeuble](https://github.com/eyeam3)
   * [Airmind MindPX / MindRacer](https://github.com/PX4/Firmware/labels/mindpx) - [Henry Zhang](https://github.com/iZhangHui)
-  * RTPS/ROS2 Interface - [Vicente Monge](https://github.com/vicenteeprosima)
-
-See also [About Us](http://px4.io/about-us/#development_team) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
 
 ## Supported Hardware
 
 This repository contains code supporting these boards:
-  * [Snapdragon Flight](https://docs.px4.io/en/flight_controller/snapdragon_flight.html)
-  * [Intel Aero](https://docs.px4.io/en/flight_controller/intel_aero.html)
-  * [Raspberry PI with Navio 2](https://docs.px4.io/en/flight_controller/raspberry_pi_navio2.html)
+  * [Snapdragon Flight](https://dev.px4.io/en/flight_controller/snapdragon_flight.html)
+  * [Intel Aero](https://dev.px4.io/en/flight_controller/intel_aero.html)
+  * [Raspberry PI with Navio 2](https://dev.px4.io/en/flight_controller/raspberry_pi.html)
   * [Parrot Bebop 2](https://dev.px4.io/en/advanced/parrot_bebop.html)
+  * FMUv1.x
   * FMUv2.x
-    * [Pixhawk](https://docs.px4.io/en/flight_controller/pixhawk.html)
-    * [Pixhawk Mini](https://docs.px4.io/en/flight_controller/pixhawk_mini.html)
-    * [Pixfalcon](https://docs.px4.io/en/flight_controller/pixfalcon.html)
+    * [Pixhawk](https://dev.px4.io/en/flight_controller/pixhawk.html)
+    * Pixhawk Mini
+    * [Pixfalcon](https://dev.px4.io/en/flight_controller/pixfalcon.html)
   * FMUv3.x [Pixhawk 2](https://pixhawk.org/modules/pixhawk2)
   * FMUv4.x
-    * [Pixracer](https://docs.px4.io/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/en/flight_controller/pixhawk3_pro.html)
+    * [Pixracer](https://dev.px4.io/en/flight_controller/pixracer.html)
+    * Pixhawk 3 Pro
   * FMUv5.x (ARM Cortex M7, future Pixhawk)
-  * [STM32F4Discovery](http://www.st.com/en/evaluation-tools/stm32f4discovery.html) (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
-  * [Gumstix AeroCore](https://www.gumstix.com/aerocore-2/) (only v2)
+  * STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
+  * Gumstix AeroCore (v1 and v2)
   * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/en/flight_controller/crazyflie2.html)
+  * [Bitcraze Crazyflie 2.0](https://dev.px4.io/en/flight_controller/crazyflie2.html)
 
-Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/en/flight_controller/).
+## Project Milestones
 
-## Project Roadmap
-
-A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).
+The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by [Lorenz Meier](https://github.com/LorenzMeier).

ROMFS/CMakeLists.txt

@@ -1,46 +0,0 @@
-
-message(STATUS "ROMFS: ${config_romfs_root}")
-
-set(romfs_temp_dir ${PX4_BINARY_DIR}/ROMFS/${config_romfs_root})
-set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
-
-# directory setup
-# copy all romfs files, process airframes, prune comments
-file(GLOB_RECURSE init_airframes ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/*/[1-9]*)
-add_custom_command(OUTPUT ${romfs_temp_dir}/init.d/rcS ${romfs_temp_dir}/init.d/rc.autostart
-	COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		-a ${romfs_temp_dir}/init.d
-		-s ${romfs_temp_dir}/init.d/rc.autostart
-		--board ${BOARD}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
-		--folder ${romfs_temp_dir} --board ${BOARD}
-	DEPENDS
-		${romfs_src_files}
-		${init_airframes}
-		${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d/rcS
-		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-	)
-
-set(romfs_dependencies)
-list(APPEND romfs_dependencies
-	${romfs_temp_dir}/init.d/rcS
-	${romfs_temp_dir}/init.d/rc.autostart
-	)
-	
-# create romfs.bin
-add_custom_command(OUTPUT romfs.img
-	COMMAND ${GENROMFS} -f romfs.img -d ${romfs_temp_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
-	DEPENDS ${romfs_dependencies}
-	)
-
-# create romfs.o
-add_custom_command(OUTPUT 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)
-set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)

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

@@ -3,14 +3,11 @@
 # @name HILStar (XPlane)
 #
 # @type Simulation
-# @class Plane
 #
 # @output MAIN1 aileron
 # @output MAIN2 elevator
 # @output MAIN3 rudder
 # @output MAIN4 throttle
-# @output MAIN5 flaps
-# @output MAIN6 gear
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -44,5 +41,5 @@ then
 	param set RWTO_TKOFF 1
 fi
 
-param set SYS_HITL 1
+set HIL yes
 set MIXER AERT

ROMFS/px4fmu_common/init.d/10015_tbs_discovery

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

ROMFS/px4fmu_common/init.d/10016_3dr_iris

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

ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d

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

ROMFS/px4fmu_common/init.d/10018_tbs_endurance

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

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

@@ -3,11 +3,12 @@
 # @name HIL Quadcopter X
 #
 # @type Simulation
-# @class Copter
 #
-# @maintainer Lorenz Meier <lorenz@px4.io>
+# @maintainer Anton Babushkin <anton@px4.io>
 #
 
-sh /etc/init.d/4001_quad_x
+sh /etc/init.d/rc.mc_defaults
 
-param set SYS_HITL 1
+set MIXER quad_x
+
+set HIL yes

ROMFS/px4fmu_common/init.d/10020_3dr_quad

@@ -0,0 +1,23 @@
+#!nsh
+#
+# @name 3DR DIY Quad
+#
+# @type Quadrotor x
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+
+sh /etc/init.d/4001_quad_x
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 6.5
+	param set MC_ROLLRATE_P 0.14
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 6.0
+	param set MC_PITCHRATE_P 0.14
+	param set MC_PITCHRATE_I 0.09
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 4
+fi

ROMFS/px4fmu_common/init.d/10021_H4_680mm

@@ -0,0 +1,26 @@
+#!nsh
+#
+# @name H4 680mm with Z1 Tiny2 Gimbal
+#
+# @type Quadrotor x
+#
+# @maintainer Leon Mueller <thedevleon>
+#
+
+sh /etc/init.d/4002_quad_x_mount
+
+# The Z1 Tiny2 can handle up to 400Hz
+# and works with min 1020us, middle 1520us, max 2020us
+# see http://www.zhiyun-tech.com/uploadfile/datedown/instruction/Tiny2_English_instructionV1.03.pdf
+# under Gimbal Connection Instruction
+
+set PWM_AUX_RATE 400
+set PWM_AUX_DISARMED 1520
+set PWM_AUX_MIN 1020
+set PWM_AUX_MAX 2020
+
+# Start FrSky telemetry on SERIAL4 (ttyS6, designated "SERIAL4/5" on the case)
+frsky_telemetry start -d /dev/ttyS6
+
+# GPIO LED
+gpio_led start -p 6

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

@@ -0,0 +1,14 @@
+#!nsh
+#
+# @name HIL Quadcopter +
+#
+# @type Simulation
+#
+# @maintainer Anton Babushkin <anton@px4.io>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_+
+
+set HIL yes

ROMFS/px4fmu_common/init.d/11001_hexa_cox

@@ -1,16 +1,15 @@
 #!nsh
 #
-# @name Generic Hexarotor coaxial geometry
+# @name Generic Hexa coaxial geometry
 #
 # @type Hexarotor Coaxial
-# @class Copter
 #
 # @output MAIN1 front right top, CW; angle:60; direction:CW
 # @output MAIN2 front right bottom, CCW; angle:60; direction:CCW
 # @output MAIN3 back top, CW; angle:180; direction:CW
 # @output MAIN4 back bottom, CCW; angle:180; direction:CCW
 # @output MAIN5 front left top, CW; angle:-60; direction:CW
-# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW
+# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW 
 #
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel

ROMFS/px4fmu_common/init.d/12001_octo_cox

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

ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik

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

ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard

@@ -1,37 +0,0 @@
-#!nsh
-#
-# @name Generic Quadplane VTOL
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output AUX1 Aileron 1
-# @output AUX2 Aileron 2
-# @output AUX3 Elevator
-# @output AUX4 Rudder
-# @output AUX5 Throttle
-#
-
-sh /etc/init.d/rc.vtol_defaults
-
-if [ $AUTOCNF == yes ]
-then
-	param set VT_TYPE 2
-	param set VT_MOT_COUNT 4
-fi
-
-set MIXER quad_x
-set PWM_OUT 1234
-set PWM_RATE 400
-
-set MIXER_AUX vtol_AAERT
-set PWM_ACHDIS 5
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

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

ROMFS/px4fmu_common/init.d/13002_firefly6

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

ROMFS/px4fmu_common/init.d/13003_quad_tailsitter

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

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

@@ -3,7 +3,6 @@
 # @name Quadrotor + Tailsitter
 #
 # @type VTOL Quad Tailsitter
-# @class VTOL
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
@@ -16,8 +15,6 @@
 #
 # @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

@@ -1,12 +1,8 @@
 #!nsh
 #
 # @name Fun Cub Quad VTOL
-#
 # @type Standard VTOL
-# @class VTOL
-#
 # @maintainer Simon Wilks <simon@uaventure.com>
-#
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
 # @output MAIN3 motor 3
@@ -62,7 +58,7 @@ then
 	param set VT_TYPE 2
 fi
 
-set MIXER quad_x
+set MIXER vtol_quad_x
 set PWM_OUT 1234
 set PWM_RATE 400
 

ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta

@@ -1,12 +1,8 @@
 #!nsh
 #
 # @name Generic quad delta VTOL
-#
 # @type Standard VTOL
-# @class VTOL
-#
 # @maintainer Simon Wilks <simon@uaventure.com>
-#
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
 # @output MAIN3 motor 3
@@ -52,7 +48,7 @@ then
 	param set VT_TYPE 2
 fi
 
-set MIXER quad_x
+set MIXER vtol_quad_x
 set PWM_OUT 1234
 set PWM_RATE 400
 

ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad

@@ -3,7 +3,6 @@
 # @name Generic AAVVT v-tail plane airframe with Quad VTOL.
 #
 # @type Standard VTOL
-# @class VTOL
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
@@ -40,7 +39,7 @@ then
 	param set VT_TYPE 2
 fi
 
-set MIXER quad_x
+set MIXER vtol_quad_x
 set PWM_OUT 1234
 set PWM_RATE 400
 

ROMFS/px4fmu_common/init.d/13008_QuadRanger

@@ -3,7 +3,6 @@
 # @name QuadRanger
 #
 # @type Standard VTOL
-# @class VTOL
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
@@ -60,7 +59,7 @@ then
 	param set VT_TYPE 2
 fi
 
-set MIXER quad_x
+set MIXER vtol_quad_x
 set PWM_OUT 1234
 set PWM_RATE 400
 

ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger

@@ -3,7 +3,6 @@
 # @name Sparkle Tech Ranger VTOL
 #
 # @type Standard VTOL
-# @class VTOL
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
@@ -62,9 +61,11 @@ then
     param set MPC_TILTMAX_AIR 35.0
     param set MPC_TILTMAX_LND 20.0
     param set MPC_TKO_SPEED   1.0
+    param set MPC_XY_FF   0.1
     param set MPC_XY_P    0.3
     param set MPC_XY_VEL_MAX  3.0
     param set MPC_XY_VEL_P    0.05
+    param set MPC_Z_FF    0.3
     param set MPC_Z_P 0.5
     param set MPC_Z_VEL_P 0.1
 
@@ -76,7 +77,7 @@ then
     param set PWM_AUX_REV4    1
 fi
 
-set MIXER quad_x
+set MIXER vtol_quad_x
 set PWM_OUT 1234
 set PWM_RATE 400
 

ROMFS/px4fmu_common/init.d/13010_claire

@@ -3,12 +3,9 @@
 # @name CruiseAder Claire
 #
 # @type VTOL Tiltrotor
-# @class VTOL
 #
 # @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

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

ROMFS/px4fmu_common/init.d/13013_deltaquad

@@ -1,20 +1,15 @@
 #!nsh
 #
 # @name DeltaQuad
-#
 # @type Standard VTOL
-# @class VTOL
-#
 # @maintainer Sander Smeets <sander@droneslab.com>
-#
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
 # @output MAIN3 motor 3
 # @output MAIN4 motor 4
-# @output MAIN5 Right elevon
-# @output MAIN6 Left elevon
-# @output MAIN7 Pusher motor
-# @output MAIN8 Pusher reverse channel
+# @output AUX1 Right elevon
+# @output AUX2 Left elevon
+# @output AUX3 Motor
 #
 
 sh /etc/init.d/rc.vtol_defaults
@@ -108,17 +103,12 @@ then
 	param set SYS_COMPANION 57600
 fi
 
-set MIXER deltaquad
+set MIXER vtol_quad_x
 set PWM_OUT 1234
 set PWM_RATE 400
 
-param set PWM_MAIN_DIS5 1500
-param set PWM_MAIN_DIS6 1500
-param set PWM_MAIN_DIS7 900
-param set PWM_MAIN_DIS8 900
-
-set MIXER_AUX pass
-set PWM_AUX_OUT 12345
+set MIXER_AUX vtol_delta
+set PWM_ACHDIS 3
 set PWM_AUX_DISARMED 950
 
 set MAV_TYPE 22