drivers/rc_input: cleanup and simplify data processing per type

- don't store data in class

.ci/Jenkinsfile-compile

@@ -0,0 +1,199 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+
+    stage('Build') {
+      steps {
+        script {
+          def build_nodes = [:]
+          def docker_images = [
+            armhf: "px4io/px4-dev-armhf:2021-09-08",
+            arm64: "px4io/px4-dev-aarch64:2021-09-08",
+            base: "px4io/px4-dev-base-bionic:2021-09-08",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
+          ]
+
+          def armhf_builds = [
+            target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
+            image: docker_images.armhf,
+            archive: false
+          ]
+
+          def arm64_builds = [
+            target: ["scumaker_pilotpi_arm64"],
+            image: docker_images.arm64,
+            archive: false
+          ]
+
+          def base_builds = [
+            target: ["px4_sitl_rtps"],
+            image: docker_images.base,
+            archive: false
+          ]
+
+          def nuttx_builds_archive = [
+            target: [
+                     "airmind_mindpx-v2_default",
+                     "ark_can-flow_canbootloader",
+                     "ark_can-flow_default",
+                     "ark_can-gps_canbootloader",
+                     "ark_can-gps_default",
+                     "ark_can-rtk-gps_canbootloader",
+                     "ark_can-rtk-gps_default",
+                     "atl_mantis-edu_default",
+                     "av_x-v1_default",
+                     "bitcraze_crazyflie_default",
+                     "bitcraze_crazyflie21_default",
+                     "cuav_can-gps-v1_canbootloader",
+                     "cuav_can-gps-v1_default",
+                     "cuav_nora_default",
+                     "cuav_x7pro_default",
+                     "cubepilot_cubeorange_default",
+                     "cubepilot_cubeyellow_default",
+                     "freefly_can-rtk-gps_canbootloader",
+                     "freefly_can-rtk-gps_default",
+                     "holybro_can-gps-v1_canbootloader",
+                     "holybro_can-gps-v1_default",
+                     "holybro_durandal-v1_default",
+                     "holybro_kakutef7_default",
+                     "holybro_pix32v5_default",
+                     "matek_h743-slim",
+                     "matek_gnss-m9n-f4_canbootloader",
+                     "matek_gnss-m9n-f4_default",
+                     "modalai_fc-v1_default",
+                     "modalai_fc-v1_rtps",
+                     "modalai_fc-v2_default",
+                     "mro_ctrl-zero-f7_default",
+                     "mro_ctrl-zero-f7-oem_default",
+                     "mro_ctrl-zero-h7_default",
+                     "mro_ctrl-zero-h7_rtps",
+                     "mro_ctrl-zero-h7-oem_default",
+                     "mro_ctrl-zero-h7-oem_rtps",
+                     "mro_pixracerpro_default",
+                     "mro_pixracerpro_rtps",
+                     "mro_x21-777_default",
+                     "mro_x21_default",
+                     "nxp_fmuk66-e_default",
+                     "nxp_fmuk66-e_rtps",
+                     "nxp_fmuk66-e_socketcan",
+                     "nxp_fmuk66-v3_default",
+                     "nxp_fmuk66-v3_rtps",
+                     "nxp_fmuk66-v3_socketcan",
+                     "nxp_fmurt1062-v1_default",
+                     "nxp_ucans32k146_canbootloader",
+                     "nxp_ucans32k146_default",
+                     "omnibus_f4sd_default",
+                     "raspberrypi_pico_default",
+                     "px4_fmu-v2_default",
+                     "px4_fmu-v2_fixedwing",
+                     "px4_fmu-v2_multicopter",
+                     "px4_fmu-v2_rover",
+                     "px4_fmu-v3_default",
+                     "px4_fmu-v4_default",
+                     "px4_fmu-v4pro_default",
+                     "px4_fmu-v5_debug",
+                     "px4_fmu-v5_default",
+                     "px4_fmu-v5_rtps",
+                     "px4_fmu-v5_stackcheck",
+                     "px4_fmu-v5_uavcanv0periph",
+                     "px4_fmu-v5_uavcanv1",
+                     "px4_fmu-v5x_default",
+                     "px4_fmu-v6u_default",
+                     "px4_fmu-v6x_default",
+                     "px4_io-v2_default",
+                     "spracing_h7extreme_default",
+                     "uvify_core_default"
+            ],
+            image: docker_images.nuttx,
+            archive: true
+          ]
+
+          def docker_builds = [
+            armhf_builds, base_builds, nuttx_builds_archive
+          ]
+
+          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
+            for (def build_target = 0; build_target < docker_builds[build_type].target.size(); build_target++) {
+              build_nodes.put(docker_builds[build_type].target[build_target],
+                createBuildNode(docker_builds[build_type].archive, docker_builds[build_type].image, docker_builds[build_type].target[build_target])
+                )
+            }
+          }
+
+        parallel build_nodes
+
+        } // script
+      } // steps
+    } // stage Build
+
+    // TODO: actually upload artifacts to S3
+    // stage('S3 Upload') {
+    //   agent {
+    //     docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
+    //   }
+    //   options {
+    //         skipDefaultCheckout()
+    //   }
+    //   when {
+    //     anyOf {
+    //       branch 'master'
+    //       branch 'beta'
+    //       branch 'stable'
+    //       branch 'pr-jenkins' // for testing
+    //     }
+    //   }
+    //   steps {
+    //     sh 'echo "uploading to S3"'
+    //   }
+    // }
+
+  } // stages
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
+    timeout(time: 90, unit: 'MINUTES')
+  }
+}
+
+def createBuildNode(Boolean archive, String docker_image, String target) {
+  return {
+
+    bypass_entrypoint = ''
+
+    node {
+      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
+        docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
+          stage(target) {
+            try {
+              sh('export')
+              checkout(scm)
+              sh('make distclean; git clean -ff -x -d .')
+              sh('git fetch --tags')
+              sh('ccache -s')
+              sh('make ' + target)
+              sh('ccache -s')
+              sh('make sizes')
+              if (archive) {
+                archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/*/*.px4, build/*/*.elf, build/*/*.bin', fingerprint: true, onlyIfSuccessful: true)
+              }
+              sh('make ' + target + ' package')
+              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.tar.bz2', fingerprint: true, onlyIfSuccessful: true)
+              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.deb', fingerprint: true, onlyIfSuccessful: true)
+            }
+            catch (exc) {
+              throw (exc)
+            }
+            finally {
+              sh('make distclean; git clean -ff -x -d .')
+            }
+          }
+        }
+      }
+    }
+  }
+}

.ci/Jenkinsfile-hardware

@@ -0,0 +1,950 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+    stage('Hardware Test') {
+
+      parallel {
+
+        stage("cubepilot_cubeorange_test") {
+          stages {
+            stage("build cubepilot_cubeorange_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make cubepilot_cubeorange_bootloader'
+                sh 'make cubepilot_cubeorange_test'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'cubepilot_cubeorange'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'cubepilot_cubeorange_test'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    // run tests
+                    runTests()
+
+                    // load all airframes
+                    // sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("cuav_x7pro_test") {
+          stages {
+            stage("build cuav_x7pro_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make cuav_x7pro_bootloader'
+                sh 'make cuav_x7pro_test'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'cuav_x7pro'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'cuav_x7pro_test'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    runTests()
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("px4_fmu-v3_test") {
+          stages {
+            stage("build px4_fmu-v3_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v3_test'
+                sh 'make px4_fmu-v3_test bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v3'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v3_test'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    runTests()
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("px4_fmu-v4_test") {
+          stages {
+            stage("build px4_fmu-v4_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v4_test'
+                sh 'make px4_fmu-v4_test bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v4'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v4_test'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    runTests()
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("px4_fmu-v4pro_test") {
+          stages {
+            stage("build px4_fmu-v4pro_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v4pro_test'
+                sh 'make px4_fmu-v4pro_test bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v4pro'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v4pro_test'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    runTests()
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("px4_fmu-v5_debug") {
+          stages {
+            stage("build px4_fmu-v5_debug") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v5_debug'
+                sh 'make px4_fmu-v5_debug bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v5'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v5_debug'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
+
+                    // test dataman
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'   // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    checkStatus()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("px4_fmu-v5_stackcheck") {
+          stages {
+            stage("build px4_fmu-v5_stackcheck") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v5_stackcheck'
+                sh 'make px4_fmu-v5_stackcheck bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v5'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v5_stackcheck'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
+
+                    // test dataman
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'   // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    checkStatus()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("px4_fmu-v5_test") {
+          stages {
+            stage("build px4_fmu-v5_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v5_test'
+                sh 'make px4_fmu-v5_test bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v5'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v5_test'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    runTests()
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+        stage("nxp_fmuk66-v3_test") {
+          stages {
+            stage("build nxp_fmuk66-v3_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make nxp_fmuk66-v3_test'
+                //sh 'make nxp_fmuk66-v3_test bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'nxp_fmuk66-v3'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'nxp_fmuk66-v3_test'
+                    //sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    runTests()
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
+      } // parallel
+    } // stage Hardware Test
+  } // stages
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CCACHE_NOHASHDIR = 1
+    CI = true
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
+    timeout(time: 180, unit: 'MINUTES')
+    skipDefaultCheckout()
+  }
+}
+
+void checkoutSCM() {
+  retry(3) {
+    checkout scm
+    sh 'export'
+    sh 'make distclean; git clean -ff -x -d .'
+    sh 'git fetch --tags'
+    sh 'ccache -z'
+  }
+}
+
+void quickCalibrate() {
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters before
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
+}
+
+void checkStatus() {
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+
+  // run logger
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
+  // status commands
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+  // stop logger
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
+}
+
+void resetParameters() {
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param reset_all"'
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"'
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SDLOG_DIRS_MAX" --value "1"'
+}
+
+void runTests() {
+
+  // test loading a range of airframes
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
+
+  resetParameters()
+
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
+  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink_tests" || true' // TODO
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
+
+  // tests (stop modules first)
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
+  sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
+
+  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
+}
+
+void printTopics() {
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
+
+  // these are for casually inspecting the system, output failure doesn't matter
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener heater_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
+}
+
+void resetBoard() {
+  resetParameters()
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+}

.clang-tidy

@@ -1,88 +1,109 @@
-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
-		,-modernize-pass-by-value
-		,-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:          '*,
+                  -android*,
+                  -bugprone-integer-division,
+                  -cert-dcl50-cpp,
+                  -cert-env33-c,
+                  -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-owning-memory,
+                  -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,
+                  -fuchsia-default-arguments,
+                  -fuchsia-overloaded-operator,
+                  -google-build-using-namespace,
+                  -google-explicit-constructor,
+                  -google-global-names-in-headers,
+                  -google-readability-casting,
+                  -google-readability-function-size,
+                  -google-readability-namespace-comments,
+                  -google-readability-todo,
+                  -google-runtime-int,
+                  -google-runtime-references,
+                  -hicpp-deprecated-headers,
+                  -hicpp-explicit-conversions,
+                  -hicpp-function-size,
+                  -hicpp-member-init,
+                  -hicpp-no-array-decay,
+                  -hicpp-no-assembler,
+                  -hicpp-no-malloc,
+                  -hicpp-signed-bitwise,
+                  -hicpp-special-member-functions,
+                  -hicpp-use-auto,
+                  -hicpp-use-equals-default,
+                  -hicpp-use-equals-delete,
+                  -hicpp-use-override,
+                  -hicpp-vararg,
+                  -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-pass-by-value,
+                  -modernize-raw-string-literal,
+                  -modernize-return-braced-init-list,
+                  -modernize-use-auto,
+                  -modernize-use-bool-literals,
+                  -modernize-use-default-member-init,
+                  -modernize-use-equals-default,
+                  -modernize-use-equals-delete,
+                  -modernize-use-override,
+                  -modernize-use-trailing-return-type,
+                  -modernize-use-using,
+                  -performance-inefficient-string-concatenation,
+                  -readability-avoid-const-params-in-decls,
+                  -readability-container-size-empty,
+                  -readability-else-after-return,
+                  -readability-function-size,
+                  -readability-implicit-bool-cast,
+                  -readability-implicit-bool-conversion,
+                  -readability-inconsistent-declaration-parameter-name,
+                  -readability-named-parameter,
+                  -readability-non-const-parameter,
+                  -readability-redundant-declaration,
+                  -readability-static-accessed-through-instance,
+                  -readability-static-definition-in-anonymous-namespace,
+                 '
 WarningsAsErrors: '*'
-CheckOptions:    
-  - key:             google-readability-braces-around-statements.ShortStatementLines
-    value:           '1'
+CheckOptions:
   - key:             google-readability-function-size.BranchThreshold
     value:           '600'
   - key:             google-readability-function-size.LineThreshold
     value:           '4000'
   - key:             google-readability-function-size.StatementThreshold
     value:           '4000'
-  - key:             readability-braces-around-statements.ShortStatementLines
-    value:           '1'
-  - key:             readability-function-size.LineThreshold
-    value:           '4000'
-  - key:             readability-function-size.StatementThreshold
-    value:           '4000'
+...

.clusterfuzzlite/Dockerfile

@@ -0,0 +1,7 @@
+FROM gcr.io/oss-fuzz-base/base-builder:v1
+COPY . $SRC/PX4-Autopilot
+RUN apt-get install -y libjpeg8-dev zlib1g-dev
+RUN pip3 install --upgrade pip
+RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
+WORKDIR $SRC/PX4-Autopilot
+COPY ./.clusterfuzzlite/build.sh $SRC/

.clusterfuzzlite/build.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash -eu
+
+PX4_FUZZ=1 make px4_sitl
+cp build/px4_sitl_default/bin/px4 $OUT/px4

.clusterfuzzlite/project.yaml

@@ -0,0 +1 @@
+language: c++

.devcontainer/devcontainer.json

@@ -0,0 +1,42 @@
+// For format details, see https://aka.ms/vscode-remote/devcontainer.json or this file's README at:
+// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
+{
+	"name": "px4-dev-nuttx",
+	"image": "px4io/px4-dev-nuttx-focal:2021-09-08",
+
+	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
+
+	// Set *default* container specific settings.json values on container create.
+	"settings": {
+		"terminal.integrated.shell.linux": "/bin/bash"
+	},
+
+	// Add the IDs of extensions you want installed when the container is created.
+	"extensions": [
+		"chiehyu.vscode-astyle",
+		"dan-c-underwood.arm",
+		"fredericbonnet.cmake-test-adapter",
+		"github.vscode-pull-request-github",
+		"marus25.cortex-debug",
+		"ms-azuretools.vscode-docker",
+		"ms-iot.vscode-ros",
+		"ms-python.python",
+		"ms-vscode.cmake-tools",
+		"ms-vscode.cpptools",
+		"ms-vscode.cpptools-extension-pack",
+		"redhat.vscode-yaml",
+		"streetsidesoftware.code-spell-checker",
+		"twxs.cmake",
+		"uavcan.dsdl",
+		"wholroyd.jinja",
+		"zixuanwang.linkerscript"
+	],
+
+	"containerUser": "user",
+	"containerEnv": {
+		"LOCAL_USER_ID": "${localEnv:UID}"
+	},
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	"forwardPorts": [14556],
+}

.gitattributes

@@ -0,0 +1,80 @@
+* text=auto eol=lf
+
+*.cmake  text eol=lf
+*.c      text eol=lf
+*.cc     text eol=lf
+*.cpp    text eol=lf
+*.h      text eol=lf
+*.hh     text eol=lf
+*.hpp    text eol=lf
+*.hxx    text eol=lf
+*.S      text eol=lf
+
+*.ipynb  text eol=lf
+*.m      text eol=lf
+*.mat    binary
+*.py     text eol=lf
+
+*.java   text eol=lf
+*.jar    binary
+*.xml    text eol=lf
+
+# PX4 mixers, msgs, etc
+*.bin    binary
+*.mix    text eol=lf
+*.msg    text eol=lf
+*.config text eol=lf
+*.sdf    text eol=lf
+*.uavcan text eol=lf
+
+# NuttX
+Makefile.* text eol=lf
+*.defs   text eol=lf
+*.ld     text eol=lf
+
+*.csv    text eol=lf
+*.md     text eol=lf
+*.txt    text eol=lf
+
+# Scripts
+*.bash   text eol=lf
+*.sh     text eol=lf
+*.zsh    text eol=lf
+# These are explicitly windows files and should use crlf
+*.ps1    text eol=crlf
+*.{cmd,[cC][mM][dD]} text eol=crlf
+*.{bat,[bB][aA][tT]} text eol=crlf
+
+# Serialisation
+*.json   text eol=lf
+*.toml   text eol=lf
+*.xml    text eol=lf
+*.yaml   text eol=lf
+*.yml    text eol=lf
+
+# Graphics
+*.png    binary
+*.jpg    binary
+*.jpeg   binary
+*.gif    binary
+*.tif    binary
+*.tiff   binary
+*.ico    binary
+*.pdf    binary
+# SVG treated as an asset (binary) by default.
+*.svg    text eol=lf
+
+# Text files where line endings should be preserved
+*.patch  -text
+
+# Archives
+*.7z     binary
+*.gz     binary
+*.tar    binary
+*.tgz    binary
+*.zip    binary
+
+# everything else
+.gitattributes text eol=lf
+.gitignore     text eol=lf
+Makefile       text eol=lf

.github/ISSUE_TEMPLATE/1_Bug_report.md

@@ -0,0 +1,32 @@
+---
+name: Bug report
+about: Create a report to help us improve
+
+---
+
+**Describe the bug**
+A clear and concise description of the bug.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Drone switched on '...'
+2. Uploaded mission '....' (attach QGC mission file)
+3. Took off '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Log Files and Screenshots**
+*Always* provide a link to the flight log file:
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
+- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
+
+Add screenshots to help explain your problem.
+
+**Drone (please complete the following information):**
+- Describe the type of drone.
+- Photo of the IMU / autopilot setup if possible.
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/2_Feature_request.md

@@ -0,0 +1,19 @@
+---
+name: 🚀 Feature Request
+about: Suggest an idea for this project
+
+---
+
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
+
+**Describe problem solved by the proposed feature**
+A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
+
+**Describe your preferred solution**
+A clear and concise description of what you want to happen.
+
+**Describe possible alternatives**
+A clear and concise description of alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots for the feature request here.

.github/ISSUE_TEMPLATE/3_Support_question.md

@@ -0,0 +1,10 @@
+---
+name: ⛔ Support Question
+about: See [PX4 Discuss](http://discuss.px4.io/) for questions about using PX4.
+
+---
+
+We use GitHub issues only to discuss PX4 bugs and new features. For
+questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).
+
+Thanks!

.github/ISSUE_TEMPLATE/4_Documentation_issue.md

@@ -0,0 +1,9 @@
+---
+name: ⛔ Documentation Issue
+about: See https://github.com/PX4/Devguide for documentation issues
+
+---
+
+PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).
+
+Thanks!

.github/ISSUE_TEMPLATE/bug_report.md

@@ -1,32 +0,0 @@
----
-name: Bug report
-about: Create a report to help us improve
-
----
-
-**Describe the bug**
-A clear and concise description of the bug.
-
-**To Reproduce**
-Steps to reproduce the behavior:
-1. Drone switched on '...'
-2. Uploaded mission '....' (attach QGC mission file)
-3. Took off '....'
-4. See error
-
-**Expected behavior**
-A clear and concise description of what you expected to happen.
-
-**Log Files and Screenshots**
-*Always* provide a link to the flight log file:
-- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/en/getting_started/flight_reporting.html)).
-- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
-
-Add screenshots to help explain your problem.
-
-**Drone (please complete the following information):**
-- Describe the type of drone.
-- Photo of the IMU / autopilot setup if possible.
-
-**Additional context**
-Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -1,19 +0,0 @@
----
-name: Feature request
-about: Suggest an idea for this project
-
----
-
-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/).
-
-**Describe problem solved by the proposed feature**
-A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
-
-**Describe your preferred solution**
-A clear and concise description of what you want to happen.
-
-**Describe possible alternatives**
-A clear and concise description of alternative solutions or features you've considered.
-
-**Additional context**
-Add any other context or screenshots for the feature request here.

.github/slack.svg

@@ -0,0 +1,24 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
+  <linearGradient id="smooth" x2="0" y2="100%">
+    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
+    <stop offset="1" stop-opacity=".1"/>
+  </linearGradient>
+
+  <mask id="round">
+    <rect width="90" height="20" rx="3" fill="#fff"/>
+  </mask>
+
+  <g mask="url(#round)">
+    <rect width="42" height="20" fill="#555"/>
+    <rect x="42" width="48" height="20" fill="#E01563"/>
+    <rect width="90" height="20" fill="url(#smooth)"/>
+  </g>
+
+  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
+    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
+    <text x="22" y="14">slack</text>
+    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
+    <text x="65" y="14">Join us!</text>
+  </g>
+</svg>
+

.github/stale.yml

@@ -1,55 +1,15 @@
-# Configuration for probot-stale - https://github.com/probot/stale
-
-# Number of days of inactivity before an Issue or Pull Request becomes stale
-daysUntilStale: 60
-
-# Number of days of inactivity before a stale Issue or Pull Request is closed.
-# Set to false to disable. If disabled, issues still need to be closed manually, but will remain marked as stale.
-daysUntilClose: 14
-
-# Issues or Pull Requests with these labels will never be considered stale. Set to `[]` to disable
+# Number of days of inactivity before an issue becomes stale
+daysUntilStale: 90
+# Number of days of inactivity before a stale issue is closed, or `false` to disable
+daysUntilClose: false
+# Issues with these labels will never be considered stale
 exemptLabels:
-  - priority-crtical
-  - security
-  - "[Status] Maybe Later"
-
-# Set to true to ignore issues in a project (defaults to false)
-exemptProjects: true
-
-# Set to true to ignore issues in a milestone (defaults to false)
-exemptMilestones: true
-
-# Label to use when marking as stale
-staleLabel: status/STALE
-
-# Comment to post when marking as stale. Set to `false` to disable
+  - pinned
+# Label to use when marking an issue as stale
+staleLabel: stale
+# Comment to post when marking an issue as stale. Set to `false` to disable
 markComment: >
   This issue has been automatically marked as stale because it has not had
-  recent activity. It will be closed in 2 weeks if no further activity occurs. Thank you
-  for your contributions.
-
-# Comment to post when removing the stale label.
-# unmarkComment: >
-#   Your comment here.
-
-# Comment to post when closing a stale Issue or Pull Request.
- closeComment: >
-   Closing as stale.
-
-# Limit the number of actions per hour, from 1-30. Default is 30
-limitPerRun: 10
-
-# Limit to only `issues` or `pulls`
-# only: issues
-
-# Optionally, specify configuration settings that are specific to just 'issues' or 'pulls':
-# pulls:
-#   daysUntilStale: 30
-#   markComment: >
-#     This pull request has been automatically marked as stale because it has not had
-#     recent activity. It will be closed if no further activity occurs. Thank you
-#     for your contributions.
-
-# issues:
-#   exemptLabels:
-#     - confirmed
+  recent activity. Thank you for your contributions.
+# Comment to post when closing a stale issue. Set to `false` to disable
+closeComment: false

.github/workflows/cflite_batch.yml

@@ -0,0 +1,34 @@
+name: ClusterFuzzLite batch fuzzing
+on:
+  schedule:
+    - cron: '0 6 * * *'  # UTC 6am every day.
+permissions: read-all
+jobs:
+  BatchFuzzing:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        sanitizer:
+        - address
+        - undefined
+        - memory
+    steps:
+    - name: Build Fuzzers (${{ matrix.sanitizer }})
+      id: build
+      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
+      with:
+        sanitizer: ${{ matrix.sanitizer }}
+    - name: Run Fuzzers (${{ matrix.sanitizer }})
+      id: run
+      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
+      with:
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        fuzz-seconds: 1800 # 30 mins
+        mode: 'batch'
+        sanitizer: ${{ matrix.sanitizer }}
+        # Optional but recommended: For storing certain artifacts from fuzzing.
+        # See later section on "Git repo for storage".
+        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
+        # storage-repo-branch: main   # Optional. Defaults to "main"
+        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".

.github/workflows/checks.yml

@@ -0,0 +1,51 @@
+name: Checks
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        check: [
+          "check_format",
+          "tests",
+          "tests_coverage",
+          "px4_fmu-v2_default stack_check",
+          "validate_module_configs",
+          "shellcheck_all",
+          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
+          "NO_NINJA_BUILD=1 px4_sitl_default",
+          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
+          "airframe_metadata",
+          "module_documentation",
+          "parameters_metadata",
+        ]
+    container:
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: ${{matrix.check}}
+      run: make ${{matrix.check}}
+    - name: upload coverage
+      if: contains(matrix.check, 'coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: unittests
+        file: coverage/lcov.info

.github/workflows/clang-tidy.yml

@@ -0,0 +1,21 @@
+name: Clang Tidy
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-clang:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: make clang-tidy-quiet
+      run: make clang-tidy-quiet

.github/workflows/compile_linux.yml

@@ -0,0 +1,54 @@
+name: Linux Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-armhf:2021-09-08
+    strategy:
+      matrix:
+        config: [
+          beaglebone_blue_default,
+          emlid_navio2_default,
+          px4_raspberrypi_default,
+          scumaker_pilotpi_default,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s

.github/workflows/compile_linux_arm64.yml

@@ -0,0 +1,51 @@
+name: Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:2021-09-08
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s

.github/workflows/compile_macos.yml

@@ -0,0 +1,56 @@
+name: MacOS build
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: macos-10.15
+    strategy:
+      matrix:
+        config: [
+          px4_fmu-v5_default,
+          px4_sitl
+          #tests, # includes px4_sitl
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: setup
+      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: macos_${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 40M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: |
+          ccache -z
+          make ${{matrix.config}}
+          ccache -s

.github/workflows/compile_nuttx.yml

@@ -0,0 +1,120 @@
+name: Nuttx Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
+    strategy:
+      fail-fast: false
+      matrix:
+        config: [
+          airmind_mindpx-v2,
+          ark_can-flow,
+          ark_can-gps,
+          ark_can-rtk-gps,
+          atl_mantis-edu,
+          av_x-v1,
+          bitcraze_crazyflie,
+          bitcraze_crazyflie21,
+          cuav_can-gps-v1,
+          cuav_nora,
+          cuav_x7pro,
+          cubepilot_cubeorange,
+          cubepilot_cubeyellow,
+          freefly_can-rtk-gps,
+          holybro_can-gps-v1,
+          holybro_durandal-v1,
+          holybro_kakutef7,
+          holybro_kakuteh7,
+          holybro_pix32v5,
+          matek_h743-slim,
+          matek_gnss-m9n-f4,
+          modalai_fc-v1,
+          modalai_fc-v2,
+          mro_ctrl-zero-f7,
+          mro_ctrl-zero-f7-oem,
+          mro_ctrl-zero-h7,
+          mro_ctrl-zero-h7-oem,
+          mro_pixracerpro,
+          mro_x21,
+          mro_x21-777,
+          nxp_fmuk66-e,
+          nxp_fmuk66-v3,
+          nxp_fmurt1062-v1,
+          nxp_ucans32k146,
+          omnibus_f4sd,
+          raspberrypi_pico,
+          px4_fmu-v2,
+          px4_fmu-v3,
+          px4_fmu-v4,
+          px4_fmu-v4pro,
+          px4_fmu-v5,
+          px4_fmu-v5x,
+          px4_fmu-v6u,
+          px4_fmu-v6x,
+          spracing_h7extreme,
+          uvify_core
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 120M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make all_variants_${{matrix.config}}
+      run: make all_variants_${{matrix.config}}
+      timeout-minutes: 45
+    - name: make ${{matrix.config}} bloaty_compileunits
+      run: make ${{matrix.config}} bloaty_compileunits || true
+    - name: make ${{matrix.config}} bloaty_inlines
+      run: make ${{matrix.config}} bloaty_inlines || true
+    - name: make ${{matrix.config}} bloaty_segments
+      run: make ${{matrix.config}} bloaty_segments || true
+    - name: make ${{matrix.config}} bloaty_symbols
+      run: make ${{matrix.config}} bloaty_symbols || true
+    - name: make ${{matrix.config}} bloaty_templates
+      run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_ram
+      run: make ${{matrix.config}} bloaty_ram || true
+    - name: make ${{matrix.config}} bloaty_compare_master
+      run: make ${{matrix.config}} bloaty_compare_master || true
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_package_${{matrix.config}}
+        path: |
+          build/**/*.px4
+          build/**/*.bin

.github/workflows/deploy_all.yml

@@ -0,0 +1,54 @@
+name: Deploy metadata for all targets
+
+on:
+  push:
+    branches:
+    - 'master'
+    - 'release/*'
+    - 'pr-metadata-test'
+
+jobs:
+  enumerate_targets:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - id: set-matrix
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
+  build:
+    runs-on: ubuntu-latest
+    needs: enumerate_targets
+    strategy:
+      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
+    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: make ${{matrix.target}}
+      run: make ${{matrix.target}}
+
+    - name: parameter & events metadata
+      run: |
+        make ${{matrix.target}} ver_gen events_json actuators_json
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
+        cd build/${{ matrix.target }}
+        mkdir _metadata || true
+        cp parameters.* events/*.xz actuators.json* _metadata
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
+        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
+

.github/workflows/ekf_functional_change_indicator.yml

@@ -0,0 +1,21 @@
+name: EKF Change Indicator
+
+on: pull_request
+
+jobs:
+  unit_tests:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v2.3.1
+      with:
+        fetch-depth: 0
+    - name: checkout newest version of branch
+      run: |
+        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
+        git checkout ${GITHUB_HEAD_REF}
+    - name: main test
+      run: make tests TESTFILTER=EKF
+    - name: Check if there is a functional change
+      run: git diff --exit-code
+      working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -0,0 +1,29 @@
+name: EKF Update Change Indicator
+
+on: push
+
+jobs:
+  unit_tests:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    env:
+      GIT_COMMITTER_EMAIL: bot@px4.io
+      GIT_COMMITTER_NAME: PX4BuildBot
+    steps:
+    - uses: actions/checkout@v2.3.1
+      with:
+        fetch-depth: 0
+    - name: main test updates change indication files
+      run: make tests TESTFILTER=EKF
+    - name: Check if there exists diff and save result in variable
+      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
+      working-directory: src/modules/ekf2/test/change_indication
+    - name: auto-commit any changes to change indication
+      uses: stefanzweifel/git-auto-commit-action@v4
+      with:
+        commit_message: '[AUTO COMMIT] update change indication'
+        commit_user_name: ${GIT_COMMITTER_NAME}
+        commit_user_email: ${GIT_COMMITTER_EMAIL}
+    - if: ${{env.CHANGE_INDICATED}}
+      name: if there is a functional change, fail check
+      run: exit 1

.github/workflows/mavros_mission_tests.yml

@@ -0,0 +1,139 @@
+name: MAVROS Mission Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
+          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
+          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
+          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
+          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+
+    container:
+      image: px4io/px4-dev-ros-melodic:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
+      timeout-minutes: 45
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    - name: ecl EKF analysis
+      if: always()
+      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_mission
+        file: coverage/lcov.info

.github/workflows/mavros_offboard_tests.yml

@@ -0,0 +1,134 @@
+name: MAVROS Offboard Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
+          #- {test_file: "mavros_posix_tests_offboard_attctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
+          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
+
+    container:
+      image: px4io/px4-dev-ros-melodic:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
+      timeout-minutes: 45
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    - name: ecl EKF analysis
+      if: always()
+      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_offboard
+        file: coverage/lcov.info

.github/workflows/metadata.yml

@@ -0,0 +1,157 @@
+name: Metadata
+
+on:
+  push:
+    branches:
+    - 'master'
+    - 'release/*'
+    - 'pr-metadata-test'
+
+jobs:
+
+  airframe:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: airframe metadata
+      run: |
+        make airframe_metadata
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+        cd build/px4_sitl_default/docs
+      # TODO: deploy to userguide gitbook
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
+  module:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: module documentation
+      run: |
+        make module_documentation
+        cd build/px4_sitl_default/docs
+        ls -ls *
+      # TODO: deploy to userguide gitbook and s3
+
+  parameter:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: parameter metadata
+      run: |
+        make parameters_metadata
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
+  events:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: events metadata
+      run: |
+        make extract_events
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+        cd build/px4_sitl_default
+        mkdir _events_full || true
+        cp events/all_events_full.json.xz _events_full/all_events.json.xz
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
+  uorb_graph:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: uORB graph
+      run: |
+        make uorb_graphs
+        cd Tools/uorb_graph
+        ls -ls *
+      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
+
+  micrortps_agent:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: microRTPS agent
+      run: |
+        make px4_sitl_rtps
+        git clone https://github.com/PX4/micrortps_agent.git
+        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
+
+  ROS_msgs:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS msgs
+      run: |
+        git clone https://github.com/PX4/px4_msgs.git
+        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
+
+  ROS2_bridge:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS2 bridge
+      run: |
+        git clone https://github.com/PX4/px4_ros_com.git
+        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml

.github/workflows/python_checks.yml

@@ -0,0 +1,25 @@
+name: Python CI Checks
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+    - name: Install Python3
+      run: sudo apt-get install python3 python3-setuptools python3-pip -y
+    - name: Install tools
+      run: pip3 install --user mypy types-requests flake8
+    - name: Check MAVSDK test scripts with mypy
+      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
+    - name: Check MAVSDK test scripts with flake8
+      run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py

.github/workflows/sitl_tests.yml

@@ -0,0 +1,135 @@
+name: SITL Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
+          - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
+          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+
+    container:
+      image: px4io/px4-dev-simulation-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Download MAVSDK
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+    - name: Install MAVSDK
+      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+          export
+          ulimit -a
+    - name: Build PX4
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default
+    - name: ccache post-run px4/firmware
+      run: ccache -s
+    - name: Build SITL Gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default sitl_gazebo
+    - name: ccache post-run sitl_gazebo
+      run: ccache -s
+    - name: Build MAVSDK tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        DONT_RUN: 1
+      run: make px4_sitl_default gazebo mavsdk_tests
+    - name: ccache post-run mavsdk_tests
+      run: ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
+      timeout-minutes: 45
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavsdk
+        file: coverage/lcov.info

.gitignore

@@ -8,17 +8,15 @@
 .cproject
 .DS_Store
 .gdbinit
+.gdb_history
 .project
 .settings
 .swp
 .~lock.*
 Testing/
 Packages/*
-s3deploy-branch/
-s3deploy-archive/
 build/*
 build_*/
-core
 cscope.out
 cscope.in.out
 cscope.po.out
@@ -33,18 +31,11 @@ tags
 .pydevproject
 .ropeproject
 *.orig
-src/modules/uORB/topics/*
-src/platforms/nuttx/px4_messages/*
-src/platforms/ros/px4_messages/*
 Firmware.zip
 *.generated.h
 .vagrant
 *.pretty
 xcode
-src/platforms/posix/px4_messages/
-src/platforms/posix-arm/px4_messages/
-src/platforms/qurt/px4_messages/
-ROMFS/*/*/rc.autostart
 rootfs/
 *.autosave
 CMakeLists.txt.user
@@ -60,8 +51,6 @@ GTAGS
 .idea
 cmake-build-*/
 
-.vscode
-
 posix-configs/SITL/init/test/*_generated
 
 /airframes.md
@@ -69,5 +58,51 @@ posix-configs/SITL/init/test/*_generated
 /parameters.md
 /parameters.xml
 /modules
+/msg/ros/*.msg
 
 *.gcov
+.coverage
+.coverage.*
+
+# KDevelop ignores
+.kdev4/*
+*.kdev4
+
+# cmake in tree (ninja)
+.ninja_deps
+.ninja_log
+bin/
+build.ninja
+cmake_install.cmake
+CMakeCache.txt
+CMakeFiles
+compile_commands.json
+CPackConfig.cmake
+CPackSourceConfig.cmake
+CTestTestfile.cmake
+external/
+rules.ninja
+
+# in tree build
+**/*.a
+**/*.px4mod
+**/*.stamp
+/coverage*
+/functional-*
+/generated_params/
+/googletest-*/
+/logs
+/mavsdk_tests
+/test_mixer_multirotor
+/unit-*
+/uORB/
+DartConfiguration.tcl
+msg/tmp/
+msg/topics_sources/
+platforms/posix/apps.cpp
+platforms/posix/apps.h
+src/lib/version/build_git_version.h
+src/modules/simulator/simulator_config.h
+src/systemcmds/topic_listener/listener_generated.cpp
+
+!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*

.gitmodules

@@ -1,60 +1,66 @@
-[submodule "mavlink/include/mavlink/v2.0"]
-	path = mavlink/include/mavlink/v2.0
-	url = https://github.com/mavlink/c_library_v2.git
+[submodule "src/modules/mavlink/mavlink"]
+	path = src/modules/mavlink/mavlink
+	url = https://github.com/mavlink/mavlink.git
 	branch = master
-[submodule "src/modules/uavcan/libuavcan"]
-	path = src/modules/uavcan/libuavcan
-	url = https://github.com/UAVCAN/libuavcan.git
-	branch = master
-[submodule "msg/tools/genmsg"]
-	path = msg/tools/genmsg
-	url = https://github.com/ros/genmsg.git
-	branch = indigo-devel
-[submodule "msg/tools/gencpp"]
-	path = msg/tools/gencpp
-	url = https://github.com/ros/gencpp.git
-	branch = indigo-devel
+[submodule "src/drivers/uavcan/libuavcan"]
+	path = src/drivers/uavcan/libuavcan
+	url = https://github.com/dronecan/libuavcan.git
+	branch = main
 [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 "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.git
+	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/GpsDrivers.git
+	url = https://github.com/PX4/PX4-GPSDrivers.git
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/eProsima/micro-CDR.git
+	url = https://github.com/PX4/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+
+	url = https://github.com/PX4/NuttX.git
+	branch = px4_firmware_nuttx-10.1.0+
 [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
+	url = https://github.com/PX4/NuttX-apps.git
+	branch = px4_firmware_nuttx-10.1.0+
+[submodule "Tools/flightgear_bridge"]
+	path = Tools/flightgear_bridge
+	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
+[submodule "Tools/jsbsim_bridge"]
+	path = Tools/jsbsim_bridge
+	url = https://github.com/PX4/px4-jsbsim-bridge.git
+[submodule "src/drivers/uavcan_v1/libcanard"]
+	path = src/drivers/uavcan_v1/libcanard
+	url = https://github.com/UAVCAN/libcanard.git
+[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
+	path = src/drivers/uavcan_v1/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types.git
+[submodule "src/drivers/uavcan_v1/legacy_data_types"]
+	path = src/drivers/uavcan_v1/legacy_data_types
+	url = https://github.com/PX4/public_regulated_data_types.git
+	branch = legacy
+[submodule "src/lib/crypto/monocypher"]
+	path = src/lib/crypto/monocypher
+	url = https://github.com/PX4/Monocypher.git
+	branch = px4
+[submodule "src/lib/events/libevents"]
+	path = src/lib/events/libevents
+	url = https://github.com/mavlink/libevents.git
+[submodule "Tools/simulation-ignition"]
+	path = Tools/simulation-ignition
+	url = https://github.com/PX4/px4-simulation-ignition.git
+[submodule "src/lib/crypto/libtomcrypt"]
+	path = src/lib/crypto/libtomcrypt
+	url = https://github.com/PX4/libtomcrypt.git
+	branch = px4
+[submodule "src/lib/crypto/libtommath"]
+	path = src/lib/crypto/libtommath
+	url = https://github.com/PX4/libtommath.git
+	branch = px4

.travis.yml

@@ -1,55 +1,28 @@
-# Build and autotest script for PX4 Firmware
-# http://travis-ci.org
-
-sudo: required
-
-services:
-  - docker
-
 language: cpp
 
 git:
-  depth: 2000
+  depth: 100
   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
-
-cache:
-  ccache: true
+    - os: linux
+      dist: xenial
+      # In order to stay under the coverity rate limit, we only run this weekly
+      # and not on push which is configured in travis-ci settings.
+      if: branch = master
 
 before_install:
-  # install dependencies for the coverity build (target and branch), otherwise exit early
-  - if [[ "${TRAVIS_BRANCH}" = "coverity_scan" ]]; then
-      sudo pip install empy jinja2 numpy toml;
-      echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-;
-    fi
-  # use git:// to fetch instead of https://
-  - git config --global url."git://".insteadOf https://
+    - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
+
+install:
+    - export PATH=$HOME/.local/bin:$PATH
+    - pip install --user --upgrade pip
+    - pip install --user -r Tools/setup/requirements.txt
 
 script:
-  - ./Tools/docker_run.sh make ${BUILD_TARGET}
-
-after_success:
-  # upload code coverage
-  - if [ "${TRAVIS_PULL_REQUEST}" = "false" ]; then
-      [ "${BUILD_TARGET}" = "tests_coverage" ] && bash <(curl -s https://codecov.io/bash) -F unittests;
-    fi
+    - make
 
 addons:
   coverity_scan:
@@ -58,5 +31,5 @@ addons:
       description: "Build submitted via Travis CI"
     notification_email: ci@px4.io
     build_command_prepend: "make distclean"
-    build_command: "make posix_sitl_default"
+    build_command: "make px4_sitl_default"
     branch_pattern: coverity_scan

.vscode/.gitignore

@@ -0,0 +1,11 @@
+.cortex-debug.peripherals.state.json
+.cortex-debug.registers.state.json
+compile_commands.json
+
+# generated by cmake
+launch.json
+
+# C/C++ extension does some local caching in this folder
+ipch/
+
+browse.vc.db*

.vscode/c_cpp_properties.json

@@ -0,0 +1,16 @@
+{
+    "configurations": [
+        {
+            "name": "PX4",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [],
+            "macFrameworkPath": [],
+            "configurationProvider": "ms-vscode.cmake-tools",
+            "cppStandard": "c++14",
+            "cStandard": "c11"
+        }
+    ],
+    "version": 4
+}

.vscode/cmake-kits.json

@@ -0,0 +1,5 @@
+[
+	{
+		"name": "PX4 detect"
+	}
+]

.vscode/cmake-variants.yaml

@@ -0,0 +1,248 @@
+CONFIG:
+  default: px4_sitl_default
+  choices:
+    px4_sitl_default:
+      short: px4_sitl
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_default
+    px4_sitl_rtps:
+      short: px4_sitl_rtps
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_rtps
+    px4_sitl_asan:
+      short: px4_sitl (AddressSanitizer)
+      buildType: AddressSanitizer
+      settings:
+        CONFIG: px4_sitl_default
+    px4_sitl_ubsan:
+      short: px4_sitl (UndefinedBehaviorSanitizer)
+      buildType: UndefinedBehaviorSanitizer
+      settings:
+        CONFIG: px4_sitl_default
+    px4_sitl_replay:
+      short: px4_sitl_replay
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_replay
+    px4_sitl_test:
+      short: px4_sitl_test
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_test
+    px4_io-v2_default:
+      short: px4_io-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_io-v2_default
+    px4_fmu-v2_default:
+      short: px4_fmu-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v2_default
+    px4_fmu-v3_default:
+      short: px4_fmu-v3
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v3_default
+    px4_fmu-v4_default:
+      short: px4_fmu-v4
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v4_default
+    px4_fmu-v4pro_default:
+      short: px4_fmu-v4pro
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v4pro_default
+    px4_fmu-v5_default:
+      short: px4_fmu-v5
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v5_default
+    px4_fmu-v5_debug:
+      short: px4_fmu-v5_debug
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v5_debug
+    px4_fmu-v5x_default:
+      short: px4_fmu-v5x
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v5x_default
+    px4_fmu-v6x_default:
+      short: px4_fmu-v6x
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6x_default
+    px4_fmu-v6x_bootloader:
+      short: px4_fmu-v6x_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6x_bootloader
+    airmind_mindpx-v2_default:
+      short: airmind_mindpx-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: airmind_mindpx-v2_default
+    ark_can-flow_default:
+      short: ark_can-flow_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-flow_default
+    ark_can-flow_canbootloader:
+      short: ark_can-flow_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-flow_canbootloader
+    ark_can-gps_default:
+      short: ark_can-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-gps_default
+    ark_can-gps_canbootloader:
+      short: ark_can-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-gps_canbootloader
+    ark_can-rtk-gps_default:
+      short: ark_can-rtk-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-rtk-gps_default
+    ark_can-rtk-gps_debug:
+      short: ark_can-rtk-gps_debug
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-rtk-gps_debug
+    ark_can-rtk-gps_canbootloader:
+      short: ark_can-rtk-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-rtk-gps_canbootloader
+    atl_mantis-edu_default:
+      short: atl_mantis-edu
+      buildType: MinSizeRel
+      settings:
+        CONFIG: atl_mantis-edu_default
+    av_x-v1_default:
+      short: av_x-v1
+      buildType: MinSizeRel
+      settings:
+        CONFIG: av_x-v1_default
+    bitcraze_crazyflie_default:
+      short: bitcraze_crazyflie
+      buildType: MinSizeRel
+      settings:
+        CONFIG: bitcraze_crazyflie_default
+    cuav_can-gps-v1_default:
+      short: cuav_can-gps-v1_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_can-gps-v1_default
+    cuav_can-gps-v1_canbootloader:
+      short: cuav_can-gps-v1_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_can-gps-v1_canbootloader
+    cuav_nora_default:
+      short: cuav_nora
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_nora_default
+    cuav_x7pro_default:
+      short: cuav_x7pro
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_x7pro_default
+    cubepilot_cubeorange_test:
+      short: cubepilot_cubeorange
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cubepilot_orange_test
+    emlid_navio2_default:
+      short: emlid_navio2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: emlid_navio2_default
+    freefly_can-rtk-gps_default:
+      short: freefly_can-rtk-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: freefly_can-rtk-gps_default
+    freefly_can-rtk-gps_canbootloader:
+      short: freefly_can-rtk-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: freefly_can-rtk-gps_canbootloader
+    holybro_can-gps-v1_canbootloader:
+      short: holybro_can-gps-v1_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_can-gps-v1_canbootloader
+    holybro_can-gps-v1_default:
+      short: holybro_can-gps-v1_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_can-gps-v1_default
+    holybro_durandal-v1_default:
+      short: holybro_durandal-v1
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_durandal-v1_default
+    matek_h743-slim_default:
+      short: matek_h743-slim
+      buildType: MinSizeRel
+      settings:
+        CONFIG: matek_h743-slim_default
+    matek_gnss-m9n-f4_canbootloader:
+      short: matek_gnss-m9n-f4_canbootloader
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: matek_m9nf4can_canbootloader
+    matek_gnss-m9n-f4_default:
+      short: matek_gnss-m9n-f4_default
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: matek_gnss-m9n-f4_default
+    modalai_fc-v1_default:
+      short: modalai_fc-v1
+      buildType: MinSizeRel
+      settings:
+        CONFIG: modalai_fc-v1_default
+    modalai_fc-v2_default:
+      short: modalai_fc-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: modalai_fc-v2_default
+    mro_ctrl-zero-f7_default:
+      short: mro_ctrl-zero-f7
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_ctrl-zero-f7_default
+    mro_pixracerpro_bootloader:
+      short: mro_pixracerpro_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_pixracerpro_bootloader
+    mro_pixracerpro_default:
+      short: mro_pixracerpro_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_pixracerpro_default
+    mro_x21-777_default:
+      short: mro_x2.1-777
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_x21-777_default
+    nxp_fmuk66-v3_default:
+      short: nxp_fmuk66-v3
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_fmuk66-v3_default
+    raspberrypi_pico_default:
+      short: raspberrypi_pico
+      buildType: MinSizeRel
+      settings:
+        CONFIG: raspberrypi_pico_default

.vscode/extensions.json

@@ -0,0 +1,23 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "chiehyu.vscode-astyle",
+        "dan-c-underwood.arm",
+        "fredericbonnet.cmake-test-adapter",
+        "github.vscode-pull-request-github",
+        "marus25.cortex-debug",
+        "ms-azuretools.vscode-docker",
+        "ms-iot.vscode-ros",
+        "ms-python.python",
+        "ms-vscode.cmake-tools",
+        "ms-vscode.cpptools",
+        "ms-vscode.cpptools-extension-pack",
+        "redhat.vscode-yaml",
+        "streetsidesoftware.code-spell-checker",
+        "twxs.cmake",
+        "uavcan.dsdl",
+        "wholroyd.jinja",
+        "zixuanwang.linkerscript"
+    ]
+}

.vscode/settings.json

@@ -0,0 +1,140 @@
+{
+        "astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
+        "astyle.c.enable": true,
+        "astyle.cpp.enable": true,
+        "breadcrumbs.enabled": true,
+        "C_Cpp.autoAddFileAssociations": false,
+        "C_Cpp.clang_format_fallbackStyle": "none",
+        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
+        "C_Cpp.default.cppStandard": "c++14",
+        "C_Cpp.default.cStandard": "c11",
+        "C_Cpp.formatting": "Disabled",
+        "C_Cpp.intelliSenseEngine": "Default",
+        "C_Cpp.vcpkg.enabled": false,
+        "C_Cpp.workspaceParsingPriority": "low",
+        "cmake.buildBeforeRun": true,
+        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
+        "cmake.configureOnOpen": true,
+        "cmake.ctest.parallelJobs": 1,
+        "cmake.skipConfigureIfCachePresent": true,
+        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
+        "cmakeExplorer.parallelJobs": 1,
+        "cmakeExplorer.suiteDelimiter": "-",
+        "cortex-debug.enableTelemetry": false,
+        "cSpell.allowCompoundWords": true,
+        "cSpell.diagnosticLevel": "Hint",
+        "cSpell.showStatus": false,
+        "cSpell.words": [
+                "acro",
+                "nuttx",
+                "esc"
+        ],
+        "debug.toolBarLocation": "docked",
+        "editor.defaultFormatter": "chiehyu.vscode-astyle",
+        "editor.dragAndDrop": false,
+        "editor.insertSpaces": false,
+        "editor.minimap.maxColumn": 120,
+        "editor.minimap.renderCharacters": false,
+        "editor.minimap.showSlider": "always",
+        "editor.suggest.localityBonus": true,
+        "editor.tabSize": 8,
+        "editor.wordWrapColumn": 120,
+        "explorer.openEditors.visible": 0,
+        "files.insertFinalNewline": true,
+        "files.trimTrailingWhitespace": true,
+        "files.watcherExclude": {
+                "**/build/**": true
+        },
+        "git.detectSubmodulesLimit": 20,
+        "git.ignoreLimitWarning": true,
+        "githubPullRequests.defaultMergeMethod": "squash",
+        "githubPullRequests.telemetry.enabled": false,
+        "files.associations": {
+                "*.jinja": "jinja",
+                "algorithm": "cpp",
+                "array": "cpp",
+                "atomic": "cpp",
+                "bitset": "cpp",
+                "cctype": "cpp",
+                "cfenv": "cpp",
+                "chrono": "cpp",
+                "cinttypes": "cpp",
+                "clocale": "cpp",
+                "cmath": "cpp",
+                "codecvt": "cpp",
+                "complex": "cpp",
+                "condition_variable": "cpp",
+                "csignal": "cpp",
+                "cstdarg": "cpp",
+                "cstddef": "cpp",
+                "cstdint": "cpp",
+                "cstdio": "cpp",
+                "cstdlib": "cpp",
+                "cstring": "cpp",
+                "ctime": "cpp",
+                "cwchar": "cpp",
+                "cwctype": "cpp",
+                "deque": "cpp",
+                "exception": "cpp",
+                "forward_list": "cpp",
+                "fstream": "cpp",
+                "functional": "cpp",
+                "future": "cpp",
+                "hash_map": "cpp",
+                "hash_set": "cpp",
+                "initializer_list": "cpp",
+                "iomanip": "cpp",
+                "iosfwd": "cpp",
+                "iostream": "cpp",
+                "istream": "cpp",
+                "iterator": "cpp",
+                "limits": "cpp",
+                "list": "cpp",
+                "map": "cpp",
+                "memory": "cpp",
+                "memory_resource": "cpp",
+                "mutex": "cpp",
+                "new": "cpp",
+                "numeric": "cpp",
+                "optional": "cpp",
+                "ostream": "cpp",
+                "random": "cpp",
+                "ratio": "cpp",
+                "regex": "cpp",
+                "set": "cpp",
+                "sstream": "cpp",
+                "stdexcept": "cpp",
+                "streambuf": "cpp",
+                "string": "cpp",
+                "string_view": "cpp",
+                "strstream": "cpp",
+                "system_error": "cpp",
+                "thread": "cpp",
+                "tuple": "cpp",
+                "type_traits": "cpp",
+                "typeindex": "cpp",
+                "typeinfo": "cpp",
+                "unordered_map": "cpp",
+                "unordered_set": "cpp",
+                "utility": "cpp",
+                "valarray": "cpp",
+                "variant": "cpp",
+                "vector": "cpp"
+        },
+        "search.exclude": {
+                "${workspaceFolder}/build": true
+        },
+        "search.showLineNumbers": true,
+        "telemetry.enableTelemetry": false,
+        "terminal.integrated.copyOnSelection": true,
+        "terminal.integrated.rightClickBehavior": "paste",
+        "terminal.integrated.scrollback": 5000,
+        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
+        "workbench.editor.highlightModifiedTabs": true,
+        "workbench.enableExperiments": false,
+        "workbench.settings.enableNaturalLanguageSearch": false,
+        "yaml.schemas": {
+                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
+        },
+        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
+}

.vscode/tasks.json

@@ -0,0 +1,373 @@
+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "build",
+            "type": "shell",
+            "command": "/bin/bash",
+            "args": [
+                "-c",
+                "${command:cmake.tasksBuildCommand}"
+            ],
+            "options": {
+                "cwd": "${command:cmake.buildDirectory}"
+            },
+            "group": {
+                "kind": "build",
+                "isDefault": true,
+            },
+            "problemMatcher": {
+                "base": "$gcc",
+                "fileLocation": ["relative", "${command:cmake.buildDirectory}"]
+            },
+            "presentation":{
+                "echo": false,
+                "showReuseMessage": false,
+                "clear": true,
+                "panel": "shared",
+                "group": "build"
+            }
+        },
+        {
+            "label": "test",
+            "type": "shell",
+            "command": "make tests",
+            "options": {
+                "cwd": "${workspaceFolder}"
+            },
+            "group": {
+                "kind": "test",
+                "isDefault": true,
+            },
+            "presentation":{
+                "echo": true,
+                "showReuseMessage": false,
+                "clear": false,
+                "panel": "shared",
+                "group": "test"
+            }
+        },
+        {
+            "label": "jmavsim build",
+            "type": "shell",
+            "command": "ant create_run_jar copy_res",
+            "options": {
+                "cwd": "${workspaceFolder}/Tools/jMAVSim"
+            },
+            "problemMatcher": [],
+            "presentation":{
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false,
+            }
+        },
+        {
+            "label": "jmavsim",
+            "type": "shell",
+            "dependsOn": "jmavsim build",
+            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
+            "options": {
+                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
+                "env": {
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "isBackground": true,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "jmavsim kill",
+            "type": "shell",
+            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
+            "presentation": {
+                "echo": false,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": []
+        },
+        {
+            "label": "gazebo build",
+            "type": "shell",
+            "command": "make px4_sitl_default sitl_gazebo",
+            "options": {
+                "cwd": "${workspaceFolder}"
+            },
+            "problemMatcher": [],
+            "presentation":{
+                "echo": true,
+                "reveal": "always",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false,
+            }
+        },
+        {
+            "label": "gazebo start",
+            "type": "shell",
+            "dependsOn": "gazebo build",
+            "options": {
+                "cwd": "${workspaceFolder}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
+            "isBackground": true,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "gazebo",
+            "type": "shell",
+            "dependsOn": "gazebo start",
+            "options": {
+                "cwd": "${workspaceFolder}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
+            "isBackground": false,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "gazebo client",
+            "type": "shell",
+            "dependsOn": "gazebo build",
+            "options": {
+                "cwd": "${workspaceFolder}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gzclient --verbose",
+            "isBackground": true,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
+        {
+            "label": "gazebo kill",
+            "type": "shell",
+            "command": "killall gzserver",
+            "presentation": {
+                "echo": true,
+                "reveal": "silent",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": [],
+            "dependsOn":["px4_sitl_cleanup"]
+        },
+        {
+            "label": "px4_sitl_cleanup",
+            "type": "shell",
+            "command": "rm -rfv /tmp/px4*",
+            "presentation": {
+                "echo": true,
+                "reveal": "silent",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": [],
+            "dependsOn":["px4_kill"]
+        },
+        {
+            "label": "px4_kill",
+            "type": "shell",
+            "command": "killall px4 || true",
+            "presentation": {
+                "echo": true,
+                "reveal": "silent",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": []
+        },
+        {
+            "label": "mavlink shell",
+            "type": "shell",
+            "command": "./Tools/mavlink_shell.py",
+            "options": {
+                "cwd": "${workspaceFolder}"
+            },
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "new",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": []
+        },
+        {
+            "label": "miniterm.py",
+            "type": "shell",
+            "command": "miniterm.py --raw - 57600",
+            "options": {
+                "cwd": "${workspaceFolder}"
+            },
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "new",
+                "showReuseMessage": false,
+                "clear": false
+            },
+            "problemMatcher": []
+        }
+    ],
+    "inputs": [
+        {
+            "type": "pickString",
+            "id": "vehicleModel",
+            "description": "gazebo model",
+            "options": [
+              "iris",
+              "typhoon_h480",
+              "plane",
+              "plane_catapult",
+              "plane_lidar",
+              "standard_vtol",
+              "tailsitter",
+              "tiltrotor",
+              "r1_rover",
+              "boat"
+            ],
+            "default": "iris"
+        },
+        {
+            "type": "pickString",
+            "id": "gazeboWorld",
+            "description": "gazebo world",
+            "options": [
+                "baylands",
+                "empty",
+                "ksql_airport",
+                "mcmillan_airfield",
+                "sonoma_raceway",
+                "warehouse",
+                "windy",
+                "yosemite"
+            ],
+            "default": "empty"
+        }
+    ]
+}

.ycm_extra_conf.py

@@ -51,8 +51,8 @@ flags = [
 # headers will be compiled as C headers. You don't want that so ALWAYS specify
 # a "-std=<something>".
 # For a C project, you would set this to something like 'c99' instead of
-# 'c++11'.
-'-std=c++11',
+# 'c++14'.
+'-std=c++14',
 # ...and the same thing goes for the magic -x option which specifies the
 # language that the files to be compiled are written in. This is mostly
 # relevant for c++ headers.
@@ -61,7 +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-v2_default.build/nuttx-export/include/',
+'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
 '-I', './NuttX/nuttx/arch/arm/include',
 '-include', './src/include/visibility.h',
 '-I', './src',

CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2019 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
@@ -40,7 +40,7 @@
 # * Common functions should be included in px_base.cmake.
 #
 # * OS/ board specific fucntions should be include in
-#	px_impl_${OS}.cmake or px4_impl_${OS}_${BOARD}.cmake.
+#	px_impl_${PX4_PLATFORM}.cmake
 #
 # Formatting
 # ---------------------------------------------------------------------------
@@ -92,68 +92,118 @@
 # ---------------------------------------------------------------------------
 #
 # * If referencing a string variable, don't put it in quotes.
-#	Don't do "${OS}" STREQUAL "posix",
-#	instead type ${OS} STREQUAL "posix". This will throw an
-#	error when ${OS} is not defined instead of silently
+#	Don't do "${PX4_PLATFORM}" STREQUAL "posix",
+#	instead type ${PX4_PLATFORM} STREQUAL "posix". This will throw an
+#	error when ${PX4_PLATFORM} is not defined instead of silently
 #	evaluating to false.
 #
 #=============================================================================
 
 cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
 
-set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
-set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
+set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
+set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
 
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
+include(px4_parse_function_args)
 
 #=============================================================================
 # git
 #
-include(common/px4_git)
+include(px4_git)
 
 execute_process(
-	COMMAND git describe --always --tags
-	OUTPUT_VARIABLE git_tag
+	COMMAND git describe --exclude ext/* --always --tags
+	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
+message(STATUS "PX4 version: ${PX4_GIT_TAG}")
 
 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  BRIEF_DOCS "PX4 module libs"
                  FULL_DOCS "List of all PX4 module libraries"
                  )
 
+define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
+                 BRIEF_DOCS "PX4 kernel side module libs"
+                 FULL_DOCS "List of all PX4 kernel module libraries"
+                 )
+
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                  BRIEF_DOCS "PX4 module paths"
                  FULL_DOCS "List of paths to all PX4 modules"
                  )
+define_property(GLOBAL PROPERTY PX4_SRC_FILES
+                 BRIEF_DOCS "src files from all PX4 modules & libs"
+                 FULL_DOCS "SRC files from px4_add_{module,library}"
+                 )
 
 #=============================================================================
 # configuration
 #
 
-set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
+set(CONFIG "px4_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)
+include(px4_add_module)
+set(config_module_list)
+set(config_kernel_list)
 
-set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
-set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
+# Find Python
+# If using catkin, Python 2 is found since it points
+# to the Python libs installed with the ROS distro
+if (NOT CATKIN_DEVEL_PREFIX)
+	find_package(PythonInterp 3)
+	# We have a custom error message to tell users how to install python3.
+	if (NOT PYTHONINTERP_FOUND)
+		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
+			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
+			"    macOS: brew install python")
+	endif()
+else()
+	find_package(PythonInterp REQUIRED)
+endif()
+
+option(PYTHON_COVERAGE "Python code coverage" OFF)
+if(PYTHON_COVERAGE)
+	message(STATUS "python coverage enabled")
+	set(PYTHON_EXECUTABLE coverage run -p)
+endif()
+
+include(px4_config)
+include(kconfig)
+message(STATUS "PX4 config: ${PX4_CONFIG}")
+message(STATUS "PX4 platform: ${PX4_PLATFORM}")
+
+
+if(${PX4_PLATFORM} STREQUAL "posix")
+	if(ENABLE_LOCKSTEP_SCHEDULER)
+		add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
+		message(STATUS "PX4 lockstep: enabled")
+	else()
+		message(STATUS "PX4 lockstep: disabled")
+	endif()
+endif()
+
+# external modules
 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()
 
-include(platforms/${OS}/cmake/px4_impl_os.cmake)
-include(configs/${CONFIG})
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)
+set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
+
+include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
+
+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
+	include(init)
+endif()
 
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
-if (NOT CMAKE_BUILD_TYPE)
-	if (${OS} STREQUAL "nuttx")
+if(NOT CMAKE_BUILD_TYPE)
+	if(${PX4_PLATFORM} STREQUAL "nuttx")
 		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
 		set(PX4_BUILD_TYPE "RelWithDebInfo")
@@ -162,13 +212,22 @@ if (NOT CMAKE_BUILD_TYPE)
 	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")
+if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
+	set(MAX_CUSTOM_OPT_LEVEL -O0)
+elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
+	set(MAX_CUSTOM_OPT_LEVEL -O1)
+elseif(CMAKE_BUILD_TYPE MATCHES "Release")
+	set(MAX_CUSTOM_OPT_LEVEL -O3)
+else()
+	if(px4_constrained_flash_build)
+		set(MAX_CUSTOM_OPT_LEVEL -Os)
+	else()
+		set(MAX_CUSTOM_OPT_LEVEL -O2)
+	endif()
+endif()
 
-#=============================================================================
-
-message(STATUS "PX4 VERSION: ${git_tag}")
-message(STATUS "CONFIG: ${CONFIG}")
-message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
+message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 
 #=============================================================================
 # project definition
@@ -177,22 +236,54 @@ project(px4 CXX C ASM)
 
 set(package-contact "px4users@googlegroups.com")
 
-set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_C_STANDARD 99)
+set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-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})
+
+# For the catkin build process, unset build of dynamically-linked binaries
+# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
+if (NOT CATKIN_DEVEL_PREFIX)
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+else()
+	SET(BUILD_SHARED_LIBS OFF)
+endif()
+
+#=============================================================================
+
+# gold linker - use if available (posix only for now)
+if(${PX4_PLATFORM} STREQUAL "posix")
+	include(CMakeDependentOption)
+	CMAKE_DEPENDENT_OPTION(USE_LD_GOLD
+			"Use GNU gold linker" ON
+			"NOT WIN32;NOT APPLE" OFF
+	)
+
+	if(USE_LD_GOLD)
+		execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE LD_VERSION)
+		if("${LD_VERSION}" MATCHES "GNU gold")
+			set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold")
+			set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold")
+		else()
+			set(USE_LD_GOLD OFF)
+		endif()
+	endif()
+endif()
 
 #=============================================================================
 
 # Setup install paths
-if (${OS} STREQUAL "posix")
+if(${PX4_PLATFORM} STREQUAL "posix")
+	# This makes it possible to dynamically load code which depends on symbols
+	# inside the px4 executable.
+	set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+	set(CMAKE_ENABLE_EXPORTS ON)
 
-	include(common/coverage)
-	include(common/sanitizers)
+	include(coverage)
+	include(sanitizers)
 
 	# Define GNU standard installation directories
 	include(GNUInstallDirs)
@@ -200,39 +291,9 @@ if (${OS} STREQUAL "posix")
 	if (NOT CMAKE_INSTALL_PREFIX)
 		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
 	endif()
-
-	# cmake testing only on posix
-	enable_testing()
-	include(CTest)
 endif()
 
-#=============================================================================
-# require px4 module interface
-set(px4_required_interface
-	px4_os_prebuild_targets
-	px4_os_add_flags
-	)
-foreach(cmd ${px4_required_interface})
-	if (NOT COMMAND ${cmd})
-		message(FATAL_ERROR "${CONFIG} must implement ${cmd}")
-	endif()
-endforeach()
-
-set(px4_required_config config_module_list)
-foreach(conf ${px4_required_config})
-	if (NOT DEFINED ${conf})
-		message(FATAL_ERROR "cmake/${CONFIG} must define ${conf}")
-	endif()
-endforeach()
-
-#=============================================================================
-# ccache
-#
-option(CCACHE "Use ccache if available" ON)
-find_program(CCACHE_PROGRAM ccache)
-if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
-	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
-endif()
+include(ccache)
 
 #=============================================================================
 # find programs and packages
@@ -249,86 +310,39 @@ if (CATKIN_DEVEL_PREFIX)
 	endif()
 endif()
 
-find_package(PythonInterp REQUIRED)
-px4_find_python_module(jinja2 REQUIRED)
-
 #=============================================================================
-# check required toolchain variables
+# get chip and chip manufacturer
 #
-
-set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
-foreach(var ${required_variables})
-	if (NOT ${var})
-		message(FATAL_ERROR "Toolchain/config must define ${var}")
-	endif()
-endforeach()
-
-# print full c compiler version
-execute_process(COMMAND ${CMAKE_C_COMPILER} --version
-		OUTPUT_VARIABLE c_compiler_version
-		OUTPUT_STRIP_TRAILING_WHITESPACE
-		)
-STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version})
-message(STATUS "C compiler: ${c_compiler_version_short}")
-
-# print full c++ compiler version
-execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
-		OUTPUT_VARIABLE cxx_compiler_version
-		OUTPUT_STRIP_TRAILING_WHITESPACE
-		)
-STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
-message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
-
-#=============================================================================
-# external libraries
-#
-px4_os_prebuild_targets(OUT prebuild_targets
-	BOARD ${BOARD}
-	THREADS ${THREADS})
+px4_os_determine_build_chip()
+if(NOT PX4_CHIP_MANUFACTURER)
+	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP_MANUFACTURER")
+endif()
+if(NOT PX4_CHIP)
+	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
+endif()
 
 #=============================================================================
 # build flags
 #
-px4_os_add_flags(
-	BOARD ${BOARD}
-	C_FLAGS c_flags
-	CXX_FLAGS cxx_flags
-	OPTIMIZATION_FLAGS optimization_flags
-	EXE_LINKER_FLAGS exe_linker_flags
-	INCLUDE_DIRS include_dirs
-	LINK_DIRS link_dirs
-	DEFINITIONS definitions)
+include(px4_add_common_flags)
+px4_add_common_flags()
+px4_os_add_flags()
 
-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 " ")
+#=============================================================================
+# board cmake init (optional)
+#
+if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
+	include(${PX4_BOARD_DIR}/cmake/init.cmake)
+endif()
 
 #=============================================================================
 # message, and airframe generation
 #
-include(common/px4_metadata)
+include(px4_metadata)
 
 add_subdirectory(msg EXCLUDE_FROM_ALL)
 
-px4_generate_airframes_xml(BOARD ${BOARD})
-
-#=============================================================================
-# DriverFramework
-#
-px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
-add_subdirectory(src/lib/DriverFramework/framework)
-
-# List the DriverFramework drivers
-if (DEFINED config_df_driver_list)
-	message("DF Drivers: ${config_df_driver_list}")
-endif()
-
-set(df_driver_libs)
-foreach(driver ${config_df_driver_list})
-	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
-	list(APPEND df_driver_libs df_${driver})
-	message("Adding DF driver: ${driver}")
-endforeach()
+px4_generate_airframes_xml(BOARD ${PX4_BOARD})
 
 #=============================================================================
 # external projects
@@ -337,11 +351,13 @@ set(ep_base ${PX4_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
 
 # add external project install folders to build
-link_directories(${ep_base}/Install/lib)
-include_directories(${ep_base}/Install/include)
 # add the directories so cmake won't warn
-execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
-execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base})
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install)
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/lib)
+link_directories(${ep_base}/Install/lib)
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/include)
+include_directories(${ep_base}/Install/include)
 
 #=============================================================================
 # external modules
@@ -357,45 +373,76 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endforeach()
 endif()
 
+#=============================================================================
+# Testing - Automatic unit and integration testing with CTest
+#
+
+# optionally enable cmake testing (supported only on posix)
+option(CMAKE_TESTING "Configure test targets" OFF)
+if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
+	set(CMAKE_TESTING ON)
+endif()
+if(CMAKE_TESTING)
+	include(CTest) # sets BUILD_TESTING variable
+endif()
+
+# enable test filtering to run only specific tests with the ctest -R regex functionality
+set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
+
+# if testing is enabled download and configure gtest
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
+include(px4_add_gtest)
+if(BUILD_TESTING)
+	include(gtest)
+
+	add_custom_target(test_results
+			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
+			DEPENDS
+				px4
+				examples__dyn_hello
+				test_mixer_multirotor
+			USES_TERMINAL
+			COMMENT "Running tests"
+			WORKING_DIRECTORY ${PX4_BINARY_DIR})
+	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
+endif()
+
+
 #=============================================================================
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
+
+include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
-add_subdirectory(src/platforms/common EXCLUDE_FROM_ALL)
-add_subdirectory(src/modules/systemlib EXCLUDE_FROM_ALL) # TODO: split into libraries in platform layer
-add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
-add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
+
+add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
+add_subdirectory(platforms EXCLUDE_FROM_ALL)
+
+if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
+	add_subdirectory(${PX4_BOARD_DIR})
+endif()
 
 foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()
 
+# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
+add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
+# metadata needs PX4_MODULE_CONFIG_FILES
+add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
+
 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 target_link_libraries(parameters_interface INTERFACE parameters)
 
 # firmware added last to generate the builtin for included modules
-add_subdirectory(platforms/${OS})
-
-#=============================================================================
-# generate custom target to print for all executable and module cmake targets
-#
-if (all_posix_cmake_targets)
-	list(SORT all_posix_cmake_targets)
-	px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
-	add_custom_target(list_cmake_targets
-		COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\""
-		COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:"
-		VERBATIM
-		)
-endif()
-
+add_subdirectory(platforms/${PX4_PLATFORM})
 
 #=============================================================================
 # uORB graph generation: add a custom target 'uorb_graph'
 #
-set(uorb_graph_config ${BOARD})
+set(uorb_graph_config ${PX4_BOARD})
 
 set(graph_module_list "")
 foreach(module ${config_module_list})
@@ -404,70 +451,32 @@ endforeach()
 
 add_custom_command(OUTPUT ${uorb_graph_config}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${module_list}
+		${graph_module_list} --src-path src/lib
+		--merge-depends
 		--exclude-path src/examples
+		--exclude-path src/lib/parameters # FIXME: enable & fix
 		--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})
 
-#=============================================================================
-# Doxygen
-#
-option(BUILD_DOXYGEN "Build doxygen documentation" OFF)
 
-if (BUILD_DOXYGEN)
-	find_package(Doxygen)
-	if (DOXYGEN_FOUND)
-	    # set input and output files
-	    set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/Documentation/Doxyfile.in)
-	    set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+include(doxygen)
+include(metadata)
+include(package)
 
-	    # request to configure the file
-	    configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
+# print size
+add_custom_target(size
+	COMMAND size $<TARGET_FILE:px4>
+	DEPENDS px4
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	USES_TERMINAL
+	)
 
-	    # note the option ALL which allows to build the docs together with the application
-	    add_custom_target(doxygen ALL
-	        COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
-	        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-			COMMENT "Generating documentation with Doxygen"
-			DEPENDS uorb_msgs parameters
-			VERBATIM
-			USES_TERMINAL
-			)
-
-	else()
-		message("Doxygen needs to be installed to generate documentation")
-	endif()
-endif()
-
-#=============================================================================
-# packaging
-#
-# Important to having packaging at end of cmake file.
-#
-set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
-set(CPACK_PACKAGE_VERSION ${git_version})
-set(CPACK_PACKAGE_CONTACT ${package-contact})
-set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
-set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
-set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
-set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
-set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
-set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
-set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
-set(CPACK_PACKAGING_INSTALL_PREFIX "")
-set(CPACK_SET_DESTDIR "OFF")
-
-if ("${CMAKE_SYSTEM}" MATCHES "Linux")
-	set(CPACK_GENERATOR "TBZ2")
-	find_program(DPKG_PROGRAM dpkg)
-	if (EXISTS ${DPKG_PROGRAM})
-		list (APPEND CPACK_GENERATOR "DEB")
-	endif()
-else()
-	set(CPACK_GENERATOR "ZIP")
-endif()
-
-include(CPack)
+# install python requirements using configured python
+add_custom_target(install_python_requirements
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	USES_TERMINAL
+)

CONTRIBUTING.md

@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname
 
 ### Edit and build the code
 
-The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://px4.io/dev/code_style) when editing files.
+The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
 
 ### Commit your changes
 
@@ -41,4 +41,4 @@ Since we care about safety, we will regularly ask you for test results. Best is
 
 Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
 
-MuncherMake sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.
+Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.

Firmware.sublime-project

@@ -62,7 +62,7 @@
 			"name": "PX4: make and upload",
 			"working_dir": "${project_path}",
 			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make upload px4fmu-v2_default -j8"],
+			"cmd": ["make upload px4_fmu-v2_default -j8"],
 			"shell": true
 		},
 		{

Kconfig

@@ -0,0 +1,185 @@
+# PX4 Firmware Configuration
+
+
+mainmenu "PX4 Firmware Configuration"
+
+comment "Vendor: $(VENDOR)"
+comment "Model: $(MODEL)"
+comment "Label: $(LABEL)"
+
+menu "Toolchain"
+    choice
+        prompt "Platform"
+        default PLATFORM_NUTTX
+        config PLATFORM_NUTTX
+            bool "nuttx"
+        config PLATFORM_POSIX
+            bool "posix"
+        config PLATFORM_QURT
+            bool "qurt"
+    endchoice
+
+    config BOARD_PLATFORM
+        string
+        default "nuttx" if PLATFORM_NUTTX
+        default "posix" if PLATFORM_POSIX
+        default "qurt" if PLATFORM_QURT
+
+    config BOARD_LOCKSTEP
+        bool "Force enable lockstep"
+        depends on PLATFORM_POSIX
+        help
+            forces lockstep behaviour, despite REPLAY env variable
+
+    config BOARD_NOLOCKSTEP
+        bool "Force disable lockstep"
+        depends on PLATFORM_POSIX
+        help
+            forces nolockstep behaviour, despite REPLAY env variable
+
+    config BOARD_LINUX
+        bool "Linux OS"
+        depends on PLATFORM_POSIX
+        help
+            Board Platform is running the Linux operating system
+
+    config BOARD_TOOLCHAIN
+        string "Toolchain"
+        default ""
+
+    config BOARD_ARCHITECTURE
+        string "Architecture"
+        default ""
+
+    config BOARD_FULL_OPTIMIZATION
+        bool "Full optmization (O3)"
+        default n
+        help
+            Enables Cmake Release for -O3 optimization
+
+    config BOARD_ROMFSROOT
+        string "ROMFSROOT"
+        default "px4fmu_common"
+        help
+            relative path to the ROMFS root directory
+
+    config BOARD_IO
+        string "IO board name"
+        default "px4_io-v2_default"
+        depends on DRIVERS_PX4IO
+        help
+            name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
+
+    config BOARD_CONSTRAINED_FLASH
+        bool "Contrained flash"
+        help
+            flag to enable constrained flash options (eg limit init script status text)
+
+    config BOARD_NO_HELP
+        bool "No help"
+        help
+            optional condition flag to disable help text on constrained flash systems
+
+    config BOARD_CONSTRAINED_MEMORY
+        bool "Contrained memory"
+        help
+            flag to enable constrained memory options (eg limit maximum number of uORB publications)
+
+    config BOARD_EXTERNAL_METADATA
+        bool "External metadata"
+        help
+            flag to exclude metadata to reduce flash
+
+    config BOARD_LINKER_PREFIX
+        string "linker prefix"
+        help
+            optional to prefix on the Linker script.
+
+    config BOARD_COMPILE_DEFINITIONS
+        string "add custom compile definitions"
+        help
+            add custom compile defitions to this specific target
+endmenu #Toolchain
+
+config BOARD_TESTING
+    bool "Testing"
+    select SYSTEMCMDS_TESTS
+    help
+        flag to enable automatic inclusion of PX4 testing modules
+
+
+config BOARD_ETHERNET
+    bool "Ethernet"
+    help
+        flag to indicate that ethernet is enabled
+
+config BOARD_CRYPTO
+    bool "Crypto support"
+    help
+        Enable PX4 Crypto Support. Select the implementation under drivers
+
+config BOARD_PROTECTED
+    bool "Memory protection"
+    help
+        Enable memory protection via MPU/MMU
+
+menu "Serial ports"
+
+    config BOARD_SERIAL_URT6
+        string "URT6 tty port"
+
+    config BOARD_SERIAL_GPS1
+        string "GPS1 tty port"
+
+    config BOARD_SERIAL_GPS2
+        string "GPS2 tty port"
+
+    config BOARD_SERIAL_GPS3
+        string "GPS3 tty port"
+
+    config BOARD_SERIAL_GPS4
+        string "GPS4 tty port"
+
+    config BOARD_SERIAL_GPS5
+        string "GPS5 tty port"
+
+    config BOARD_SERIAL_TEL1
+        string "TEL1 tty port"
+
+    config BOARD_SERIAL_TEL2
+        string "TEL2 tty port"
+
+    config BOARD_SERIAL_TEL3
+        string "TEL3 tty port"
+
+    config BOARD_SERIAL_TEL4
+        string "TEL4 tty port"
+
+    config BOARD_SERIAL_TEL5
+        string "TEL5 tty port"
+
+    config BOARD_SERIAL_RC
+        string "RC tty port"
+
+    config BOARD_SERIAL_WIFI
+        string "WIFI tty port"
+
+    config BOARD_SERIAL_PPB
+        string "PPB (Pixhawk Payload Bus) tty port"
+endmenu
+
+menu "drivers"
+source "src/drivers/Kconfig"
+endmenu
+
+menu "modules"
+source "src/modules/Kconfig"
+endmenu
+
+menu "systemcmds"
+source "src/systemcmds/Kconfig"
+endmenu
+
+menu "examples"
+source "src/examples/Kconfig"
+endmenu

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2018, PX4 Development Team
+Copyright (c) 2012 - 2022, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2017 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2020 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
@@ -48,16 +48,23 @@ endif
 #
 # Example usage:
 #
-# make px4fmu-v2_default 			(builds)
-# make px4fmu-v2_default upload 	(builds and uploads)
-# make px4fmu-v2_default test 		(builds and tests)
+# make px4_fmu-v2_default 			(builds)
+# make px4_fmu-v2_default upload 	(builds and uploads)
+# make px4_fmu-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
+# This tells cmake to build the nuttx px4_fmu-v2 default config in the
+# directory build/px4_fmu-v2_default and then call make
 # in that directory with the target upload.
 
-#  explicity set default build target
-all: posix_sitl_default
+# explicity set default build target
+all: px4_sitl_default
+
+# define a space character to be able to explicitly find it in strings
+space := $(subst ,, )
+
+define make_list
+     $(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
+endef
 
 # Parsing
 # --------------------------------------------------------------------
@@ -66,7 +73,14 @@ all: posix_sitl_default
 # by cmake in the subdirectory
 FIRST_ARG := $(firstword $(MAKECMDGOALS))
 ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
-j ?= 4
+
+# Get -j or --jobs argument as suggested in:
+# https://stackoverflow.com/a/33616144/8548472
+MAKE_PID := $(shell echo $$PPID)
+j := $(shell ps T | sed -n 's|.*$(MAKE_PID).*$(MAKE).* \(-j\|--jobs\) *\([0-9][0-9]*\).*|\2|p')
+
+# Default j for clang-tidy
+j_clang_tidy := $(or $(j),4)
 
 NINJA_BIN := ninja
 ifndef NO_NINJA_BUILD
@@ -87,6 +101,11 @@ ifdef NINJA_BUILD
 	else
 		PX4_MAKE_ARGS :=
 	endif
+
+	# Only override ninja default if -j is set.
+	ifneq ($(j),)
+		PX4_MAKE_ARGS := $(PX4_MAKE_ARGS) -j$(j)
+	endif
 else
 	ifdef SYSTEMROOT
 		# Windows
@@ -94,11 +113,14 @@ else
 	else
 		PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
 	endif
+
+	# For non-ninja builds we default to -j4
+	j := $(or $(j),4)
 	PX4_MAKE = $(MAKE)
 	PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif
 
-SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
+SRC_DIR := $(shell dirname "$(realpath $(lastword $(MAKEFILE_LIST)))")
 
 # check if replay env variable is set & set build dir accordingly
 ifdef replay
@@ -114,17 +136,79 @@ endif
 
 ifdef PX4_CMAKE_BUILD_TYPE
 	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
+else
+
+	# Address Sanitizer
+	ifdef PX4_ASAN
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
+	endif
+
+	# Memory Sanitizer
+	ifdef PX4_MSAN
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
+	endif
+
+	# Thread Sanitizer
+	ifdef PX4_TSAN
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
+	endif
+
+	# Undefined Behavior Sanitizer
+	ifdef PX4_UBSAN
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
+	endif
+
+	# Fuzz Testing
+	ifdef PX4_FUZZ
+		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
+	endif
+
+endif
+
+# Pick up specific Python path if set
+ifdef PYTHON_EXECUTABLE
+	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+endif
+
+# Check if the microRTPS agent is to be built
+ifdef BUILD_MICRORTPS_AGENT
+  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
 endif
 
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+@$(eval PX4_CONFIG = $(1))
-+@$(eval BUILD_DIR = $(SRC_DIR)/build/$(PX4_CONFIG)$(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 $(SRC_DIR) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(PX4_CONFIG) || (rm -rf $(BUILD_DIR)); fi
-+@$(PX4_MAKE) -C $(BUILD_DIR) $(PX4_MAKE_ARGS) $(ARGS)
+	$(eval CMAKE_ARGS += -DCONFIG=$(1))
+	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
+	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
+	@$(call cmake-cache-check)
+	@# make sure to start from scratch when switching from GNU Make to Ninja
+	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
+	@# make sure to start from scratch if ninja build file is missing
+	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi
+	@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
+	@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
+		mkdir -p $(BUILD_DIR) \
+		&& cd $(BUILD_DIR) \
+		&& cmake "$(SRC_DIR)" -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) \
+		|| (rm -rf $(BUILD_DIR)); \
+	fi
+	@# run the build for the specified target
+	@cmake --build $(BUILD_DIR) -- $(PX4_MAKE_ARGS) $(ARGS)
+endef
+
+# check if the options we want to build with in CMAKE_ARGS match the ones which are already configured in the cache inside BUILD_DIR
+define cmake-cache-check
+	@# change to build folder which fails if it doesn't exist and CACHED_CMAKE_OPTIONS stays empty
+	@# fetch all previously configured and cached options from the build folder and transform them into the OPTION=VALUE format without type (e.g. :BOOL)
+	@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's|\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)|\1\2|gp' ))
+	@# transform the options in CMAKE_ARGS into the OPTION=VALUE format without -D
+	@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's|-D\([^[:blank:]]*=[^[:blank:]]*\)|\1|gp' ))
+	@# find each currently desired option in the already cached ones making sure the complete configured string value is the same
+	@$(eval VERIFIED_CMAKE_OPTIONS = $(foreach option,$(DESIRED_CMAKE_OPTIONS),$(strip $(findstring $(option)$(space),$(CACHED_CMAKE_OPTIONS)))))
+	@# if the complete list of desired options is found in the list of verified options we don't need to reconfigure and CMAKE_CACHE_CHECK stays empty
+	@$(eval CMAKE_CACHE_CHECK = $(if $(findstring $(DESIRED_CMAKE_OPTIONS),$(VERIFIED_CMAKE_OPTIONS)),,y))
 endef
 
 COLOR_BLUE = \033[0;94m
@@ -134,10 +218,8 @@ define colorecho
 +@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
 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))
-# Strip off leading nuttx_
-NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS)))
+# Get a list of all config targets boards/*/*.px4board
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.px4board' -print | sed -e 's|boards\/||' | sed -e 's|\.px4board||' | sed -e 's|\/|_|g' | sort)
 
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -145,78 +227,61 @@ NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGE
 
 # All targets.
 $(ALL_CONFIG_TARGETS):
-	$(call cmake-build,$@)
+	@$(call cmake-build,$@$(BUILD_DIR_SUFFIX))
 
-# Abbreviated config targets.
+# Filter for only default targets to allow omiting the "_default" postfix
+CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
+$(CONFIG_TARGETS_DEFAULT):
+	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
 
-# nuttx_ is left off by default; provide a rule to allow that.
-$(NUTTX_CONFIG_TARGETS):
-	$(call cmake-build,nuttx_$@)
+all_config_targets: $(ALL_CONFIG_TARGETS)
+all_default_targets: $(CONFIG_TARGETS_DEFAULT)
 
-all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
+updateconfig:
+	@./Tools/kconfig/updateconfig.py
 
-posix: posix_sitl_default
-broadcast: posix_sitl_broadcast
+# board reorganization deprecation warnings (2018-11-22)
+define deprecation_warning
+	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
+endef
 
 # 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
+.PHONY: all px4_sitl_default all_config_targets all_default_targets
 
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware check_rtps
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
 
 # 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 \
+	check_px4_io-v2_default \
+	check_px4_fmu-v2_default \
+	check_px4_fmu-v3_default \
+	check_px4_fmu-v4_default \
+	check_px4_fmu-v4pro_default \
+	check_px4_fmu-v5_default \
+	check_px4_fmu-v5x_default \
 	sizes
 
 misc_qgc_extra_firmware: \
-	check_aerocore2_default \
-	check_aerofc-v1_default \
-	check_auav-x21_default \
-	check_crazyflie_default \
-	check_mindpx-v2_default \
-	check_px4fmu-v2_lpe \
-	check_tap-v1_default \
-	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_px4nucleoF767ZI-v1_default \
-	check_s2740vc-v1_default \
+	check_nxp_fmuk66-v3_default \
+	check_nxp_fmurt1062-v1_default \
+	check_mro_x21_default \
+	check_bitcraze_crazyflie_default \
+	check_bitcraze_crazyflie21_default \
+	check_airmind_mindpx-v2_default \
 	sizes
 
 # builds with RTPS
 check_rtps: \
-	check_px4fmu-v3_rtps \
-	check_px4fmu-v4_rtps \
-	check_px4fmu-v4pro_rtps \
-	check_posix_sitl_rtps \
+	check_px4_fmu-v3_rtps \
+	check_px4_fmu-v4_rtps \
+	check_px4_fmu-v4pro_rtps \
+	check_px4_sitl_rtps \
 	sizes
 
 .PHONY: sizes check quick_check check_rtps uorb_graphs
@@ -225,10 +290,10 @@ sizes:
 	@-find build -name *.elf -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_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware 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 builds a single nuttx and SITL target, runs testing, and checks the style
+quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format
 
 check_%:
 	@echo
@@ -236,34 +301,65 @@ 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
+all_variants_%:
+	@echo 'Building all $(subst all_variants_,,$@) variants:'  $(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS))
+	@echo
+	$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
 
+uorb_graphs:
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
+	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
+	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
+
+px4io_update: px4_io-v2_default cubepilot_io-v2_default
+	# px4_io-v2_default
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
+	# cubepilot_io-v2_default
+	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
+	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
+	git status
+
+bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+	git status
 
 .PHONY: coverity_scan
 
-coverity_scan: posix_sitl_default
+coverity_scan: px4_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata
+.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
 
 parameters_metadata:
-	@python $(SRC_DIR)/src/lib/parameters/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/lib/parameters/parameters_injected.xml --markdown
-	@python $(SRC_DIR)/src/lib/parameters/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/lib/parameters/parameters_injected.xml --xml
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
 
 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 $(SRC_DIR)/ROMFS/px4fmu_common/init.d --xml
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes ver_gen
 
 module_documentation:
-	@python $(SRC_DIR)/Tools/px_process_module_doc.py -v --markdown $(SRC_DIR)/modules --src-path $(SRC_DIR)/src
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
 
-px4_metadata: parameters_metadata airframe_metadata module_documentation
+extract_events:
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
+
+px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
+
+doxygen:
+	@mkdir -p "$(SRC_DIR)"/build/doxygen
+	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
+	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
 
 # Astyle
 # --------------------------------------------------------------------
@@ -271,121 +367,165 @@ 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/astyle/check_code_style_all.sh
+	@cd "$(SRC_DIR)" && git diff --check
 
 format:
 	$(call colorecho,'Formatting with astyle')
-	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh --fix
+	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard rostest
+.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
+.PHONY: rostest python_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"
+	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
+	$(eval ARGS += test_results)
+	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
+	$(eval UBSAN_OPTIONS += color=always)
+	$(call cmake-build,px4_sitl_test)
 
 tests_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
-	@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"
+	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
+	@mkdir -p coverage
+	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
 
-rostest: posix_sitl_default
-	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo
+
+rostest: px4_sitl_default
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+
+tests_integration: px4_sitl_default
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
+	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
+
+tests_integration_coverage:
+	@$(MAKE) clean
+	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
+	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
+	@mkdir -p coverage
+	@lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
 
 tests_mission: rostest
-	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
+
+rostest_run: px4_sitl_default
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
 
 tests_mission_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_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol
-	@$(MAKE) --no-print-directory posix_sitl_default generate_coverage
+	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
+	@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
 
 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
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
+
+tests_avoidance: rostest
+	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
+	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
+
+python_coverage:
+	@mkdir -p "$(SRC_DIR)"/build/python_coverage
+	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_airframes
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_parameters
+	#@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage module_documentation # TODO: fix within coverage.py
+	@coverage combine `find . -name .coverage\*`
+	@coverage report -m
+
 
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck
+.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
+.PHONY: cppcheck shellcheck_all validate_module_configs
 
 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 "{}" $(SRC_DIR)/build/scan-build/report_latest \;
+	@rm -rf "$(SRC_DIR)"/build/px4_sitl_default-scan-build
+	@rm -rf "$(SRC_DIR)"/build/scan-build/report_latest
+	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-scan-build
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-scan-build && scan-build cmake "$(SRC_DIR)" -GNinja -DCONFIG=px4_sitl_default
+	@scan-build -o "$(SRC_DIR)"/build/scan-build cmake --build "$(SRC_DIR)"/build/px4_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 \;
 
-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 $(SRC_DIR)/build/posix_sitl_default-clang
+px4_sitl_default-clang:
+	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
 
-clang-tidy: 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 .
+clang-tidy: px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
 
 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
-clang-tidy-fix: posix_sitl_default-clang
-	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
+clang-tidy-fix: px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
 
 # modified version of run-clang-tidy.py to return error codes and only output relevant results
-clang-tidy-quiet: posix_sitl_default-clang
-	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+clang-tidy-quiet: px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -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/
+cppcheck: px4_sitl_default
+	@mkdir -p "$(SRC_DIR)"/build/cppcheck
+	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++14 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(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="$(SRC_DIR)"/src/
+
+shellcheck_all:
+	@"$(SRC_DIR)"/Tools/run-shellcheck.sh "$(SRC_DIR)"/ROMFS/px4fmu_common/
+	@make px4_fmu-v5_default shellcheck
+
+validate_module_configs:
+	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
+	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 
 # Cleanup
 # --------------------------------------------------------------------
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
 
 clean:
-	@rm -rf $(SRC_DIR)/build
+	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
+	@git submodule foreach git clean -dX --force # some submodules generate build artifacts in source
 
 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
 	@git submodule update --quiet --init --recursive --force || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --force
+	@git submodule update --init --recursive --force --jobs 4
 
 submodulesupdate:
-	@git submodule update --quiet --init --recursive || true
+	@git submodule update --quiet --init --recursive --jobs 4 || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive
+	@git submodule update --init --recursive --jobs 4
+	@git fetch --all --tags --recurse-submodules=yes --jobs=4
 
 gazeboclean:
 	@rm -rf ~/.gazebo/*
 
 distclean: gazeboclean
-	@git submodule deinit -f .
-	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
+	@git submodule deinit --force $(SRC_DIR)
+	@rm -rf "$(SRC_DIR)/build"
+	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
 
+# Help / Error / Misc
 # --------------------------------------------------------------------
 
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
 %:
 	$(if $(filter $(FIRST_ARG),$@), \
-		$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
-
-#help:
-#	@echo
-#	@echo "Type 'make ' and hit the tab key twice to see a list of the available"
-#	@echo "build configurations."
-#	@echo
-
-empty :=
-space := $(empty) $(empty)
+		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
 
 # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
 help:
@@ -393,11 +533,38 @@ help:
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
 		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
 	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
 
 # Print a list of all config targets.
 list_config_targets:
-	@for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done
+	@for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done
+
+check_nuttx : $(call make_list,nuttx) \
+	sizes
+
+check_linux : $(call make_list,linux) \
+	sizes
+
+check_px4: $(call make_list,nuttx,"px4") \
+	sizes
+
+check_nxp: $(call make_list,nuttx,"nxp") \
+	sizes
+
+ifneq ($(ROS2_WS_DIR),)
+  ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
+else
+  ROS2_WS_DIR := ~/colcon_ws
+endif
+
+update_ros2_bridge:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
+
+update_px4_ros_com:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
+
+update_px4_msgs:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs

PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,17 @@
+Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
+
+**Describe problem solved by this pull request**
+A clear and concise description of the problem this proposed change will solve.
+E.g. For this use case I ran into...
+
+**Describe your solution**
+A clear and concise description of what you have implemented.
+
+**Describe possible alternatives**
+A clear and concise description of alternative solutions or features you've considered.
+
+**Test data / coverage**
+How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
+
+**Additional context**
+Add any other related context or media.

README.md

@@ -1,108 +1,122 @@
-# PX4 Pro Drone Autopilot
+# PX4 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/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
 
-[![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)
+[![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
 
-[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
+[![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)
 
-This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/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 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
+
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
+* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
+  * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/master/en/frames_rover/)
+  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
+* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
 
-## PX4 Users
+## Building a PX4 based drone, rover, boat or robot
 
-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!
+The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
+See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
 
 
-## PX4 Developers
+## Changing code and contributing
 
-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.
+This [Developer Guide](https://docs.px4.io/master/en/development/development.html) 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!
+Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
+See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
 
 
 ### 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/master/en/contribute/#dev_call).
 
 > **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
 
 
 ## Maintenance Team
 
-  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
-    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
+  * Project: Founder
+    * [Lorenz Meier](https://github.com/LorenzMeier)
+  * Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
+    * [Ramon Roche](https://github.com/mrpollo)
   * Communication Architecture
     * [Beat Kueng](https://github.com/bkueng)
     * [Julian Oes](https://github.com/JulianOes)
-  * UI / UX
-    * [Donald Gagne](https://github.com/DonLakeFlyer)
+  * UI in QGroundControl
     * [Gus Grubba](https://github.com/dogmaphobic)
-  * [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
-    * [Dennis Mannhart](https://github.com/Stifael)
-    * [Matthias Grob](https://github.com/MaEtUgR)
-  * [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
-    * [Daniel Agar](https://github.com/dagar)
+  * [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
     * [Mathieu Bresciani](https://github.com/bresch)
-    * [Sander Smeets](https://github.com/sanderux)
-    * [Roman Bapst](https://github.com/tumbili)
-    * [Andreas Antener](https://github.com/AndreasAntener)
-  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
+  * [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
+    * [Matthias Grob](https://github.com/MaEtUgR)
+  * [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
+    * [Roman Bapst](https://github.com/RomanBapst)
+  * [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
+    * [Roman Bapst](https://github.com/RomanBapst)
+  * OS / NuttX
+    * [David Sidrane](https://github.com/davids5)
+  * Driver Architecture
     * [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture
+    * [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
+    * [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
     * [Paul Riseborough](https://github.com/priseborough)
-  * Racers - [Matthias Grob](https://github.com/MaEtUgR)
-  * OS / drivers - [David Sidrane](https://github.com/davids5)
-  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) / Industrial - [Pavel Kirienko](https://github.com/pavel-kirienko)
-  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [James Goppert](https://github.com/jgoppert), [Paul Riseborough](https://github.com/priseborough)
-  * Vision based navigation
-    * [Christoph Tobler](https://github.com/ChristophTobler)
-    * [Mohammed Kabir](https://github.com/mhkabir)
-  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
-  * [Snapdragon](https://github.com/PX4/Firmware/labels/snapdragon)
-    * [Christoph Tobler](https://github.com/ChristophTobler)
-  * [Intel Aero](https://github.com/PX4/Firmware/labels/intel%20aero)
-    * [Sugnan Prabhu](https://github.com/sugnanprabhu)
-    * [José Roberto de Souza](https://github.com/zehortigoza)
-  * [Raspberry Pi / Navio](https://github.com/PX4/Firmware/labels/raspberry_pi) - [Beat Kueng](https://github.com/bkueng)
-  * [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)
+  * Vision based navigation and Obstacle Avoidance
+    * [Markus Achtelik](https://github.com/markusachtelik)
+  * RTPS/ROS2 Interface
+    * [Nuno Marques](https://github.com/TSC21)
 
-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).
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/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)
-  * [Parrot Bebop 2](https://dev.px4.io/en/advanced/parrot_bebop.html)
-  * 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)
-  * 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)
-  * 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)
+This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
+
+### Pixhawk Standard Boards
+  * FMUv6X and FMUv6U (STM32H7, 2021)
+    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
+  * FMUv5 and FMUv5X (STM32F7, 2019/20)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
+  * FMUv4 (STM32F4, 2015)
+    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
+  * FMUv3 (STM32F4, 2014)
+    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
+    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
+    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
+  * FMUv2 (STM32F4, 2013)
+    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
+
+### Manufacturer and Community supported
+  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
   * [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://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
+  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
+  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
 
-Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/en/flight_controller/).
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).
 
 ## Project Roadmap
 
-A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).
+A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).

ROMFS/CMakeLists.txt

@@ -31,11 +31,14 @@
 #
 ############################################################################
 
-message(STATUS "ROMFS: ${config_romfs_root}")
-
-set(config_romfs_files_list)
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
-set(romfs_temp_dir ${PX4_BINARY_DIR}/genromfs/${config_romfs_root})
+set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
+
+file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir})
+message(STATUS "ROMFS: ${romfs_path_relative}")
+
+set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
+set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
 
 #=============================================================================
 #
@@ -57,64 +60,360 @@ set(romfs_temp_dir ${PX4_BINARY_DIR}/genromfs/${config_romfs_root})
 #			)
 #
 function(px4_add_romfs_files)
-	foreach(arg IN LISTS ARGN)
-		list(APPEND config_romfs_files_list
-			${CMAKE_CURRENT_SOURCE_DIR}/${arg}
-			)
-	endforeach()
+	set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_CMAKE_FILES ${CMAKE_CURRENT_LIST_FILE})
 
-	set(config_romfs_files_list ${config_romfs_files_list} CACHE INTERNAL "ROMFS file list")
+	foreach(arg IN LISTS ARGN)
+		if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/${arg})
+			message(FATAL_ERROR "${CMAKE_CURRENT_LIST_DIR}/${arg} doesn't exist")
+		endif()
+		set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_FILES ${CMAKE_CURRENT_LIST_DIR}/${arg})
+	endforeach()
 endfunction()
 
 # get list of all ROMFS files
 add_subdirectory(${romfs_src_dir})
 
 # directory setup
-# copy all romfs files, process airframes, prune comments
-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}
+# copy all romfs files, process airframes
+get_property(romfs_cmake_files GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
+get_property(romfs_copy_files GLOBAL PROPERTY PX4_ROMFS_FILES)
+get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
+file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
+if (px4_constrained_flash_build)
+	set(added_arguments --constrained-flash)
+endif()
+if(PX4_ETHERNET)
+	set(added_arguments ${added_arguments} --ethernet)
+endif()
+# create list of relative romfs file names
+set(romfs_copy_files_relative)
+foreach(romfs_file IN LISTS romfs_copy_files)
+	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
+	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
+endforeach()
+# copy the ROMFS files by creating a tar and extracting it to the build
+# directory (which preserves the directory structure)
+file(MAKE_DIRECTORY ${romfs_gen_root_dir})
+set(romfs_tar_file ${PX4_BINARY_DIR}/romfs_files.tar)
+add_custom_command(
+	OUTPUT ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E tar cf ${romfs_tar_file} ${romfs_copy_files_relative}
+	WORKING_DIRECTORY ${romfs_src_dir}
 	DEPENDS
-		${config_romfs_files_list}
-		${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
-		${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d/rcS
+		${romfs_copy_files}
+		${jinja_templates}
+		${module_config_files}
+		${romfs_cmake_files}
 		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py
+		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
+		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	)
+set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
+add_custom_command(
+	OUTPUT ${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
+	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
+	WORKING_DIRECTORY ${romfs_gen_root_dir}
+	DEPENDS ${romfs_tar_file}
+	VERBATIM
 	)
 
-set(romfs_dependencies)
-list(APPEND romfs_dependencies
-	${romfs_temp_dir}/init.d/rcS
-	${romfs_temp_dir}/init.d/rc.autostart
+add_custom_command(
+	OUTPUT
+		${romfs_gen_root_dir}/init.d/rc.serial
+		${romfs_gen_root_dir}/init.d/rc.autostart
+		${romfs_gen_root_dir}/init.d/rc.autostart.post
+		romfs_copy.stamp
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		--airframes-path ${romfs_gen_root_dir}/init.d
+		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
+		--board ${PX4_BOARD}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+		--rc-dir ${romfs_gen_root_dir}/init.d
+		--serial-ports ${board_serial_ports} ${added_arguments}
+		--config-files ${module_config_files} #--verbose
+	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
+	DEPENDS
+		${romfs_extract_stamp}
+	COMMENT "ROMFS: copying, generating airframes"
 	)
-	
-# copy px4io binary if configured
-if (config_io_board)
-	list(APPEND romfs_dependencies
-		copy_px4io_bin
-		${fw_io_bin}
-		)
+
+if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
+	set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
+	configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
 endif()
 
-# create romfs.img
-add_custom_command(OUTPUT romfs.img
-	COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt
-	COMMAND ${GENROMFS} -f romfs.img -d ${romfs_temp_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
-	DEPENDS ${romfs_dependencies}
+# copy extras into ROMFS
+set(extras_dependencies)
+
+# optional board architecture defaults
+set(board_arch_rc_file "rc.board_arch_defaults")
+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
+	file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file})
+	message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}")
+
+	add_custom_command(
+		OUTPUT
+			${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
+			${board_arch_rc_file}.stamp
+		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
+		COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp
+		DEPENDS
+			${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}
+			romfs_copy.stamp
+		COMMENT "ROMFS: copying ${board_arch_rc_file}"
 	)
 
-# create nsh_romfsimg.c
-add_custom_command(OUTPUT nsh_romfsimg.c
-	COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
-	COMMAND xxd -i romfs.img nsh_romfsimg.c
-	COMMAND sed 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && mv nsh_romfsimg.c.tmp nsh_romfsimg.c
-	DEPENDS romfs.img
+	list(APPEND extras_dependencies
+		${board_arch_rc_file}.stamp
+	)
+endif()
+
+
+# board custom init files
+set(OPTIONAL_BOARD_RC)
+list(APPEND OPTIONAL_BOARD_RC
+	rc.board_defaults
+	rc.board_sensors
+	rc.board_extras
+	rc.board_mavlink
+)
+
+foreach(board_rc_file ${OPTIONAL_BOARD_RC})
+
+	if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
+		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file})
+		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}")
+
+		add_custom_command(
+			OUTPUT
+				${romfs_gen_root_dir}/init.d/${board_rc_file}
+				${board_rc_file}.stamp
+			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${board_rc_file} ${romfs_gen_root_dir}/init.d/${board_rc_file}
+			COMMAND ${CMAKE_COMMAND} -E touch ${board_rc_file}.stamp
+			DEPENDS
+				${PX4_BOARD_DIR}/init/${board_rc_file}
+				romfs_copy.stamp
+			COMMENT "ROMFS: copying ${board_rc_file}"
+		)
+
+		list(APPEND extras_dependencies
+			${board_rc_file}.stamp
+			)
+	endif()
+
+endforeach()
+
+
+# board extras
+set(OPTIONAL_BOARD_EXTRAS)
+file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
+
+foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
+
+	if(EXISTS "${board_extra_file}")
+		file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
+		file(RELATIVE_PATH extra_file_relative_source ${PX4_SOURCE_DIR} ${board_extra_file})
+		message(STATUS "ROMFS:  Adding ${extra_file_relative_source} -> /etc/extras/${extra_file_base_name}")
+
+		add_custom_command(
+			OUTPUT
+				${romfs_gen_root_dir}/extras/${extra_file_base_name}
+				${extra_file_base_name}.stamp
+			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${extra_file_base_name} ${romfs_gen_root_dir}/extras/${extra_file_base_name}
+			COMMAND ${CMAKE_COMMAND} -E touch ${extra_file_base_name}.stamp
+			DEPENDS
+				${board_extra_file}
+				romfs_copy.stamp
+			COMMENT "ROMFS: copying ${board_extra_file}"
+		)
+
+		list(APPEND extras_dependencies
+			${extra_file_base_name}.stamp
+		)
+	endif()
+
+endforeach()
+
+
+
+if(config_uavcan_peripheral_firmware)
+
+	include(ExternalProject)
+
+	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
+		# include the UAVCAN peripheral binaries in ROMFS
+		message(STATUS "ROMFS:  Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
+
+		# ExternalProject_Add() with GIT_SUBMODULES "" initializes no submodules.
+		cmake_policy(SET CMP0097 NEW)
+
+		include(ExternalProject)
+
+		ExternalProject_Add(build_${uavcan_peripheral_config}
+			GIT_REPOSITORY ${CMAKE_SOURCE_DIR}
+			GIT_TAG ${PX4_GIT_TAG}
+			GIT_SUBMODULES ""
+			DOWNLOAD_NO_PROGRESS true
+			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
+			INSTALL_COMMAND ""
+			USES_TERMINAL_BUILD true
+			BUILD_ALWAYS 1
+		)
+
+		ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
+
+		add_custom_command(
+			OUTPUT
+				${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
+				${uavcan_peripheral_config}.stamp
+			COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
+			DEPENDS
+				build_${uavcan_peripheral_config}
+			COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
+		)
+
+		list(APPEND extras_dependencies
+			${uavcan_peripheral_config}.stamp
+		)
+	endforeach()
+endif()
+
+list(APPEND extras_dependencies
+	${config_romfs_extra_dependencies}
 	)
 
-add_library(romfs STATIC nsh_romfsimg.c)
-add_dependencies(romfs prebuild_targets)
-set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
+if (config_romfs_extra_files)
+	set(extras_copy_cmd COMMAND ${CMAKE_COMMAND} -E copy_if_different ${config_romfs_extra_files} ${romfs_gen_root_dir}/extras/)
+else()
+	set(extras_copy_cmd "")
+endif()
+add_custom_command(OUTPUT romfs_extras.stamp
+	COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/
+	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras/
+	COMMAND ${CMAKE_COMMAND} -E copy_directory ${PX4_BINARY_DIR}/romfs_extras/ ${romfs_gen_root_dir}/extras/
+	${extras_copy_cmd}
+	COMMAND ${CMAKE_COMMAND} -E touch romfs_extras.stamp
+	DEPENDS
+		romfs_copy.stamp
+		${config_romfs_extra_files}
+		${extras_dependencies}
+	COMMENT "ROMFS: copying extras"
+	)
+
+add_custom_target(romfs_gen_files_target
+	DEPENDS
+		${romfs_extract_stamp}
+		${romfs_gen_root_dir}/init.d/rc.serial
+		romfs_extras.stamp
+	)
+
+add_custom_command(
+	OUTPUT romfs_pruned.stamp
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
+	COMMAND ${CMAKE_COMMAND} -E touch romfs_pruned.stamp
+	DEPENDS
+		romfs_copy.stamp
+		romfs_extras.stamp
+		${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
+	COMMENT "ROMFS: pruning"
+	)
+
+if("${CONFIG_FS_CROMFS}" STREQUAL "y")
+	add_custom_command(
+		OUTPUT ${CMAKE_BINARY_DIR}/gencromfs
+		COMMAND make --no-print-directory --silent -f Makefile.host gencromfs
+		COMMAND ${CMAKE_COMMAND} -E copy_if_different gencromfs ${CMAKE_BINARY_DIR}/gencromfs
+		DEPENDS ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/tools/gencromfs.c
+		WORKING_DIRECTORY ${NUTTX_DIR}/tools
+	)
+
+	# create nsh_romfsimg.c
+	add_custom_command(OUTPUT nsh_romfsimg.c
+		COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
+		COMMAND ${CMAKE_BINARY_DIR}/gencromfs ${romfs_gen_root_dir} nsh_romfsimg.c
+		DEPENDS
+			${CMAKE_BINARY_DIR}/gencromfs
+			romfs_pruned.stamp
+		COMMENT "ROMFS: generating image"
+	)
+
+	add_library(romfs STATIC nsh_romfsimg.c)
+	add_dependencies(romfs prebuild_targets)
+	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
+
+elseif("${CONFIG_FS_ROMFS}" STREQUAL "y")
+	# create romfs.img
+	find_program(GENROMFS genromfs)
+	if(NOT GENROMFS)
+		message(FATAL_ERROR "genromfs not found")
+	endif()
+
+	add_custom_command(
+		OUTPUT
+			romfs.img
+			romfs.txt
+		COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt
+		COMMAND ${GENROMFS} -f romfs.img -d ${romfs_gen_root_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
+		DEPENDS romfs_pruned.stamp
+		COMMENT "ROMFS: generating image"
+	)
+
+
+	# create nsh_romfsimg.c
+	find_program(XXD xxd)
+	if(NOT XXD)
+		message(FATAL_ERROR "xxd not found")
+	endif()
+
+	find_program(SED sed)
+	if(NOT SED)
+		message(FATAL_ERROR "sed not found")
+	endif()
+
+	add_custom_command(OUTPUT nsh_romfsimg.c
+		COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
+		COMMAND ${XXD} -i romfs.img nsh_romfsimg.c
+		COMMAND ${SED} 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c
+		DEPENDS romfs.img
+	)
+
+	add_library(romfs STATIC nsh_romfsimg.c)
+	add_dependencies(romfs prebuild_targets)
+	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
+endif()
+
+
+
+# shellcheck
+find_program(SHELLCHECK_PATH shellcheck)
+
+if(SHELLCHECK_PATH)
+
+	# TODO: fix SC2086, SC2166
+	add_custom_target(shellcheck
+		COMMAND ${SHELLCHECK_PATH} --shell=sh
+			--exclude=SC1090 # SC1090: use of source (.) - Can't follow non-constant source. Use a directive to specify location.
+			--exclude=SC1091 # SC1091: use of source (.) - Not following: xxxx openBinaryFile: does not exist (No such file or directory)
+			--exclude=SC2121 # SC2121: To assign a variable, use just 'var=value'
+			--exclude=SC2086 # SC2086: Double quote to prevent globbing and word splitting.
+			--exclude=SC2166 # SC2166: Prefer [ p ] || [ q ] as [ p -o q ] is not well defined.
+			--exclude=SC2154 # SC2154: <var> is referenced but not assigned (NuttX uses different asssignment)
+			--exclude=SC2164 # SC2164: Use 'cd ... || exit' or 'cd ... || return' in case cd fails.
+			--exclude=SC2169 # SC2169: In dash, 'source' in place of '.' is not supported. (we alias it)
+			--exclude=SC2039 # SC2039: In POSIX sh, 'source' in place of '.' is undefined. (we alias it)
+			--exclude=SC2181 # SC2181: Check exit code directly with e.g. 'if mycmd;', not indirectly with $?.
+			`find ${romfs_gen_root_dir}/init.d -type f`
+		DEPENDS ${romfs_gen_root_dir}/init.d/rc.autostart
+		WORKING_DIRECTORY ${romfs_gen_root_dir}
+		USES_TERMINAL
+	)
+endif()

ROMFS/cannode/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2020 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.
+#
+############################################################################
+
+add_subdirectory(init.d)

ROMFS/cannode/init.d/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2020 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_add_romfs_files(
+	rcS
+)

ROMFS/cannode/init.d/rcS

@@ -0,0 +1,95 @@
+#!/bin/sh
+# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
+set +e
+# Un comment the line below to help debug scripts by printing a trace of the script commands
+#set -x
+# PX4FMU startup script.
+#
+# NOTE: environment variable references:
+#    If the dollar sign ('$') is followed by a left bracket ('{') then the
+#    variable name is terminated with the right bracket character ('}').
+#    Otherwise, the variable name goes to the end of the argument.
+#
+#
+# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+#------------------------------------------------------------------------------
+set R /
+
+#
+# Print full system version.
+#
+ver all
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+then
+	set PARAM_FILE /fs/mtd_params
+fi
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
+then
+	set PARAM_FILE /dev/eeeprom0
+fi
+
+#
+# Load parameters.
+#
+param select $PARAM_FILE
+if ! param load
+then
+	param reset_all
+fi
+
+#
+# Optional board architecture defaults: rc.board_arch_defaults
+#
+set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
+if [ -f $BOARD_ARCH_RC_DEFAULTS ]
+then
+	echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
+	. $BOARD_ARCH_RC_DEFAULTS
+fi
+unset BOARD_ARCH_RC_DEFAULTS
+
+#
+# Optional board defaults: rc.board_defaults
+#
+set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
+if [ -f $BOARD_RC_DEFAULTS ]
+then
+	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
+	. $BOARD_RC_DEFAULTS
+fi
+unset BOARD_RC_DEFAULTS
+
+#
+# Start system state indicator.
+#
+rgbled start -X -q
+rgbled_ncp5623c start -X -q
+
+#
+# board sensors: rc.sensors
+#
+set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
+if [ -f $BOARD_RC_SENSORS ]
+then
+	echo "Board sensors: ${BOARD_RC_SENSORS}"
+	. $BOARD_RC_SENSORS
+fi
+unset BOARD_RC_SENSORS
+
+#
+# Start UART/Serial device drivers.
+# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
+#
+. ${R}etc/init.d/rc.serial
+
+# Check for flow sensor
+if param compare SENS_EN_PX4FLOW 1
+then
+	px4flow start -X
+fi
+
+uavcannode start
+unset R

ROMFS/px4fmu_common/CMakeLists.txt

@@ -33,3 +33,8 @@
 
 add_subdirectory(init.d)
 add_subdirectory(mixers)
+# TODO: make this configurable from the board config, or better combine
+if("${PX4_BOARD}" MATCHES "sitl")
+	add_subdirectory(mixers-sitl)
+	add_subdirectory(init.d-posix)
+endif()

ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2020 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.
+#
+############################################################################
+
+add_subdirectory(airframes)
+
+px4_add_romfs_files(
+	px4-rc.mavlink
+	px4-rc.params
+	px4-rc.rtps
+	px4-rc.simulator
+	rc.replay
+	rcS
+)

ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_w

ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc

@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+set MIXER skip
+set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar

@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (foggy_lidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+param set-default EKF2_RNG_A_HMAX 10
+

ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a

@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# @name IF750A SITL
+# InspiredFlight 750 Auterion edition. Gazebo Only.
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+# EKF2: Multi GPS blending (as the model has 2 GPS's)
+param set-default SENS_GPS_MASK 7
+param set-default TRIG_INTERFACE 3
+param set-default TRIG_MODE 4
+param set-default MNT_MODE_IN 4
+param set-default MNT_MODE_OUT 2
+param set-default MNT_DO_STAB 2
+
+set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision

@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name PX4Vision SITL
+# Holybro px4vision. Gazebo Only.
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/airframes/4016_holybro_px4vision
+
+set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow

@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_EVP_NOISE 0.05
+param set-default EKF2_EVA_NOISE 0.05
+
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2
+

ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow.post

@@ -0,0 +1,3 @@
+
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s DISTANCE_SENSOR -u $udp_gcs_port_local

ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock

@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (irlock)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# enable fusion of landing target velocity
+param set-default LTEST_MODE 1
+param set-default PLD_HACC_RAD 0.1
+
+# Start up Landing Target Estimator module
+landing_target_estimator start

ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar

@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (rplidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+param set-default LPE_FUSION 242
+

ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision

@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Vision)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2: Vision position and heading
+param set-default EKF2_AID_MASK 24
+param set-default EKF2_EV_DELAY 5
+
+# LPE: Vision + baro
+param set-default LPE_FUSION 132
+
+# AEQ: External heading set to use vision input
+param set-default ATT_EXT_HDG_M 1
+

ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision.post

@@ -0,0 +1,3 @@
+
+# shellcheck disable=SC2154
+mavlink stream -r 30 -s ODOMETRY -u $udp_gcs_port_local

ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo

@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# @name Solo
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_ROLLRATE_P 0.05
+
+set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+param set-default COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
+

ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post

@@ -0,0 +1,2 @@
+# shellcheck disable=SC2154
+mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK

ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup

@@ -0,0 +1,18 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default SENS_FLOW_ROT 0
+
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2

ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Vision Velocity)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2: Vision velocity and heading
+param set-default EKF2_AID_MASK 272
+param set-default EKF2_EV_DELAY 5

ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps

@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Dual GPS)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+# EKF2: Multi GPS blending
+param set-default SENS_GPS_MASK 7

ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic

@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# @name UUV
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
+set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus

@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# @name Hippocampus UUV
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
+set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy

@@ -0,0 +1,70 @@
+#!/bin/sh
+#
+# @name BlueROV2 Heavy Configuration
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 7
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 255
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AY -1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PX 0.5000
+param set-default CA_ROTOR0_PY 0.3000
+param set-default CA_ROTOR0_PZ 0.2000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AY 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PX 0.5000
+param set-default CA_ROTOR1_PY -0.3000
+param set-default CA_ROTOR1_PZ 0.2000
+param set-default CA_ROTOR2_AX 1.0000
+param set-default CA_ROTOR2_AY 1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -0.5000
+param set-default CA_ROTOR2_PY 0.3000
+param set-default CA_ROTOR2_PZ 0.2000
+param set-default CA_ROTOR3_AX 1.0000
+param set-default CA_ROTOR3_AY -1.0000
+param set-default CA_ROTOR3_AZ 0.0000
+param set-default CA_ROTOR3_KM 0.0000
+param set-default CA_ROTOR3_PX -0.5000
+param set-default CA_ROTOR3_PY -0.3000
+param set-default CA_ROTOR3_PZ 0.2000
+param set-default CA_ROTOR4_AZ -1.0000
+param set-default CA_ROTOR4_KM 0.0000
+param set-default CA_ROTOR4_PX 0.5000
+param set-default CA_ROTOR4_PY 0.5000
+param set-default CA_ROTOR5_AZ 1.0000
+param set-default CA_ROTOR5_KM 0.0000
+param set-default CA_ROTOR5_PX 0.5000
+param set-default CA_ROTOR5_PY -0.5000
+param set-default CA_ROTOR6_AZ 1.0000
+param set-default CA_ROTOR6_KM 0.0000
+param set-default CA_ROTOR6_PX -0.5000
+param set-default CA_ROTOR6_PY 0.5000
+param set-default CA_ROTOR7_KM 0.0000
+param set-default CA_ROTOR7_PX -0.5000
+param set-default CA_ROTOR7_PY -0.5000
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+param set-default PWM_MAIN_FUNC7 107
+param set-default PWM_MAIN_FUNC8 108
+
+set MIXER skip
+

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -0,0 +1,74 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_MAN_P_MAX 30
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.2
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_CRUISE 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+#param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Plane SITL with camera
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+# Camera trigger interface is MAVLink
+param set-default TRIG_INTERFACE 3
+
+# Distance trigger mode enabled
+param set-default TRIG_MODE 4

ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult

@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+param set-default RWTO_TKOFF 0
+

ROMFS/px4fmu_common/init.d-posix/airframes/1033_plane_lidar

@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# @name Plane SITL with downward facing LIDAR.
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+param set-default FW_LND_USETER 1
+

ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal

@@ -0,0 +1,48 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15
+
+param set-default FW_L1_PERIOD 25
+
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05
+
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
+
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8
+
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric

@@ -0,0 +1,47 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15
+
+param set-default FW_L1_PERIOD 25
+
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05
+
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
+
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod

@@ -0,0 +1,40 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0
+
+param set-default FW_L1_PERIOD 15
+
+param set-default FW_P_TC 0.5
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05
+
+param set-default FW_R_TC 0.7
+param set-default FW_RR_FF 0.20
+param set-default FW_RR_I 0.02
+param set-default FW_RR_P 0.22
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo

@@ -0,0 +1,45 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_LND_HHDIST 30
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_TLALT 15
+
+param set-default FW_L1_PERIOD 25
+
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05
+
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+param set-default RWTO_MAX_PITCH 20
+param set-default RWTO_MAX_ROLL 10
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_MAN_P_MAX 30
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.2
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_CRUISE 0.25
+
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default FW_USE_NPFG 1
+
+param set-default RWTO_TKOFF 1
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider

@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+param set-default FW_THR_CRUISE 0.0
+param set-default RWTO_TKOFF 0

ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol

@@ -0,0 +1,83 @@
+#!/bin/sh
+#
+# @name Standard VTOL
+#
+# @type Standard VTOL
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 2
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_YAW_P 1.6
+
+param set-default MIS_TAKEOFF_ALT 10
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80
+
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_TYPE 2
+
+set MAV_TYPE 22
+
+set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter

@@ -0,0 +1,84 @@
+#!/bin/sh
+#
+# @name Quadrotor + Tailsitter
+#
+# @type VTOL Quad Tailsitter
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 4
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_Y -0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_Y 0.5
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 0
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_REV 96 # invert both elevons
+
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_I 0.2
+param set-default FW_PR_P 0.2
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_P 0.2
+param set-default FW_THR_CRUISE 0.33
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2
+
+param set-default MC_ROLLRATE_P 0.3
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80
+
+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.5
+param set-default VT_F_TRANS_DUR 1.5
+param set-default VT_F_TRANS_THR 0.7
+param set-default VT_TYPE 0
+
+param set-default WV_EN 0
+
+set MAV_TYPE 20
+
+set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor

@@ -0,0 +1,94 @@
+#!/bin/sh
+#
+# @name VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 3
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR1_TILT 2
+param set-default CA_ROTOR2_TILT 3
+param set-default CA_ROTOR3_TILT 4
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_TL0_CT 0
+param set-default CA_SV_TL1_CT 0
+param set-default CA_SV_TL2_CT 0
+param set-default CA_SV_TL3_CT 0
+param set-default CA_SV_TL_COUNT 4
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 204
+param set-default PWM_MAIN_FUNC6 205
+param set-default PWM_MAIN_FUNC7 206
+param set-default PWM_MAIN_FUNC8 207
+param set-default PWM_MAIN_FUNC9 201
+param set-default PWM_MAIN_FUNC10 202
+param set-default PWM_MAIN_FUNC11 203
+
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_CRUISE 0.38
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default MC_YAW_P 1.6
+
+param set-default MIS_TAKEOFF_ALT 10
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80
+
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_MOT_ID 1234
+param set-default VT_TILT_TRANS 0.6
+param set-default VT_TYPE 1
+
+set MAV_TYPE 21
+
+set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop

@@ -0,0 +1,57 @@
+#!/bin/sh
+#
+# @name Standard VTOL
+#
+# @type Standard VTOL
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default FW_L1_PERIOD 12
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2
+
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_YAW_P 1.6
+
+param set-default MIS_TAKEOFF_ALT 10
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default NAV_ACC_RAD 5
+param set-default NAV_LOITER_RAD 80
+
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_TYPE 2
+
+param set-default RC_MAP_AUX1 8
+param set-default RC_MAP_AUX2 9
+param set-default RC_MAP_AUX3 10
+
+set MAV_TYPE 22
+
+set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post

@@ -0,0 +1 @@
+mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix

ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover

@@ -0,0 +1,42 @@
+#!/bin/sh
+#
+# @name Rover
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 10
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 4
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0
+
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2
+
+param set-default CBRK_AIRSPD_CHK 162128
+
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
+
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 5
+
+param set-default CA_R_REV 1
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 201
+param set-default PWM_MAIN_FUNC6 101
+param set-default PWM_MAIN_FUNC7 101
+
+set MAV_TYPE 10
+
+set MIXER_FILE skip

ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover

@@ -0,0 +1,42 @@
+#!/bin/sh
+#
+# @name Aion Robotics R1 Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_defaults
+
+param set-default GND_L1_DIST 5
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 3
+param set-default GND_SPEED_I 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 4
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0
+
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2
+
+param set-default CBRK_AIRSPD_CHK 162128
+
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
+
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 6
+
+param set-default CA_R_REV 3
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC6 102
+param set-default PWM_MAIN_FUNC7 102
+
+set MAV_TYPE 10
+
+set MIXER_FILE skip

ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1

@@ -0,0 +1,38 @@
+#!/bin/sh
+#
+# @name ThunderFly TF-R1 UAV Rover
+# @type Rover
+# @class Rover
+#
+# @url https://github.com/ThunderFly-aerospace/TF-R1/
+# @maintainer ThunderFly s.r.o.
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+param set-default GND_L1_DIST 5
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 3
+param set-default GND_SPEED_I 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 15
+param set-default GND_SPEED_MAX 25
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0
+
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2
+
+param set-default CBRK_AIRSPD_CHK 162128
+
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 3.0
+
+set MAV_TYPE 10
+
+set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat

@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name Boat
+#
+
+. ${R}etc/init.d/rc.boat_defaults
+
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 100
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_I 8
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_P 2
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_TRIM 1
+param set-default GND_THR_CRUISE 0.85
+param set-default GND_THR_MAX 1
+param set-default GND_THR_MIN 0
+
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2
+
+param set-default CBRK_AIRSPD_CHK 162128
+
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
+
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 9
+
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX -2
+param set-default CA_ROTOR0_PY -1
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX -2
+param set-default CA_ROTOR1_PY 1
+param set-default CA_R_REV 3
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+
+set MAV_TYPE 11
+
+set MIXER skip

ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1

@@ -0,0 +1,49 @@
+#!/bin/sh
+#
+# @name ThunderFly TF-G1
+# ThunderFly TF-G1 autogyro airframe. Only for FlightGear simulator
+#
+# @type Autogyro
+# @class Autogyro
+#
+# @url https://github.com/ThunderFly-aerospace/TF-G1/
+#
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_STALL 8
+
+param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_W_RMAX 10
+param set-default FW_W_EN 1
+
+param set-default FW_RR_P 0.08
+
+param set-default MIS_LTRMIN_ALT 50
+param set-default MIS_TAKEOFF_ALT 3
+
+param set-default NAV_ACC_RAD 20
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 100
+
+param set-default RWTO_TKOFF 1
+
+param set-default FW_ARSP_SCALE_EN 0
+
+param set-default FW_AIRSPD_MAX 35
+param set-default FW_AIRSPD_MIN 7
+
+param set-default FW_P_LIM_MAX 25
+param set-default FW_P_LIM_MIN -5
+param set-default FW_R_LIM 30
+
+param set-default FW_MAN_P_MAX 30.0
+param set-default FW_MAN_R_MAX 30.0
+
+param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_IDLE 0
+param set-default COM_DISARM_PRFLT 0
+
+set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship

@@ -0,0 +1,41 @@
+#!/bin/sh
+#
+# @name Cloudship
+# @type Airship
+# @class Airship
+#
+# @output MAIN1 thrust tilt
+# @output MAIN2 starboard thruster
+# @output MAIN3 port thruster
+# @output MAIN4 tail thruster
+
+. ${R}etc/init.d/rc.airship_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 9
+
+param set-default CA_ROTOR_COUNT 3
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PY 2.0000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PY -2.0000
+param set-default CA_ROTOR2_AY -1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -10.0000
+
+param set-default CA_SV_CS_COUNT 1
+param set-default CA_SV_CS0_TRQ_P 1.0000
+
+param set-default CA_R_REV 7
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 201
+param set-default PWM_MAIN_FUNC4 103
+
+set MIXER skip

ROMFS/px4fmu_common/init.d-posix/airframes/3010_quadrotor_x

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Quadrotor SITL model for JSBSim
+#
+# @type Quadrotor Wide
+#
+# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_w