2026-06-17 14:11:29 +08:00
1727 changed files with 113588 additions and 126090 deletions
--- a/.clang-tidy
+++ b/.clang-tidy
@ -59,7 +59,6 @@ Checks:          '*
 		,-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
--- a/.github/ISSUE_TEMPLATE/bug_report.md
+++ b/.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.
--- a/.github/ISSUE_TEMPLATE/feature_request.md
+++ b/.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.
--- a/.github/issue_template.md
+++ b/.github/issue_template.md
@ -0,0 +1,9 @@
+**Bug Report** or **Feature Request**
+
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](slack.px4.io). Issue reports need to contain the items below:
+
+ - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/en/flight-reporting.html))
+ - Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/)
+ - Expected behavior and actual behavior.
+ - Steps to reproduce the problem.
+ - Specifications like the version of the project, operating system, or hardware.
--- a/.github/stale.yml
+++ b/.github/stale.yml
@ -1,55 +0,0 @@
-# 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
-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
-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
--- a/.gitmodules
+++ b/.gitmodules
@ -1,3 +1,7 @@
+[submodule "mavlink/include/mavlink/v1.0"]
+	path = mavlink/include/mavlink/v1.0
+	url = https://github.com/mavlink/c_library_v1.git
+	branch = master
 [submodule "mavlink/include/mavlink/v2.0"]
 	path = mavlink/include/mavlink/v2.0
 	url = https://github.com/mavlink/c_library_v2.git
@ -5,15 +9,12 @@
 [submodule "src/modules/uavcan/libuavcan"]
 	path = src/modules/uavcan/libuavcan
 	url = https://github.com/UAVCAN/libuavcan.git
-	branch = master
-[submodule "msg/tools/genmsg"]
+[submodule "Tools/genmsg"]
 	path = msg/tools/genmsg
 	url = https://github.com/ros/genmsg.git
-	branch = indigo-devel
-[submodule "msg/tools/gencpp"]
+[submodule "Tools/gencpp"]
 	path = msg/tools/gencpp
 	url = https://github.com/ros/gencpp.git
-	branch = indigo-devel
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@ -36,13 +37,13 @@
 	branch = master
 [submodule "cmake/cmake_hexagon"]
 	path = cmake/cmake_hexagon
-	url = https://github.com/ATLFlight/cmake_hexagon.git
+	url = https://github.com/ATLFlight/cmake_hexagon
 	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/GpsDrivers.git
 	branch = master
-[submodule "src/modules/micrortps_bridge/micro-CDR"]
+[submodule "src/lib/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/eProsima/micro-CDR.git
 	branch = master
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -69,7 +69,7 @@
 #
 # * Avoid use of global variables in functions. Functions in a nested
 #	scope may use global variables, but this makes it difficult to
-#	reuse functions.
+#	resuse functions.
 #
 # Included CMake Files
 # ---------------------------------------------------------------------------
@ -99,12 +99,18 @@
 #
 #=============================================================================

+# Warning: Changing this modifies CMake's internal workings
+# and leads to wrong toolchain detection
 cmake_minimum_required(VERSION 3.2 FATAL_ERROR)

 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")

-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
+
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)

 #=============================================================================
 # git
@ -118,14 +124,12 @@ execute_process(
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)

-define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
-                 BRIEF_DOCS "PX4 module libs"
-                 FULL_DOCS "List of all PX4 module libraries"
-                 )
+px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
+px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")

-define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
-                 BRIEF_DOCS "PX4 module paths"
-                 FULL_DOCS "List of paths to all PX4 modules"
+define_property(GLOBAL PROPERTY PX4_LIBRARIES
+                 BRIEF_DOCS "PX4 libs"
+                 FULL_DOCS "List of all PX4 module libraries"
                 )

 #=============================================================================
@ -138,6 +142,10 @@ string(REPLACE "_" ";" config_args ${CONFIG})
 list(GET config_args 0 OS)
 list(GET config_args 1 BOARD)
 list(GET config_args 2 LABEL)
+set(target_name "${OS}_${BOARD}_${LABEL}")
+
+file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
+set_property(CACHE CONFIG PROPERTY STRINGS ${configs})

 set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
 set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
@ -147,14 +155,22 @@ 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)

-# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
+include(platforms/${OS}/cmake/px4_impl_os.cmake)
+set(config_module "configs/${CONFIG}")
+include(${config_module})
+
+include(common/coverage)
+include(common/sanitizers)
+
+# CMake build type
+# Debug Release RelWithDebInfo MinSizeRel Coverage
 if (NOT CMAKE_BUILD_TYPE)
 	if (${OS} STREQUAL "nuttx")
 		set(PX4_BUILD_TYPE "MinSizeRel")
+	elseif (${OS} STREQUAL "bebop")
+		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
 		set(PX4_BUILD_TYPE "RelWithDebInfo")
 	endif()
@ -164,10 +180,12 @@ endif()

 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")

+message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
+
 #=============================================================================

 message(STATUS "PX4 VERSION: ${git_tag}")
-message(STATUS "CONFIG: ${CONFIG}")
+message(STATUS "CONFIG: ${target_name}")
 message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")

 #=============================================================================
@ -177,23 +195,20 @@ project(px4 CXX C ASM)

 set(package-contact "px4users@googlegroups.com")

-set(CMAKE_CXX_STANDARD 11)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_C_STANDARD 99)
-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})
-
 #=============================================================================

+# The URL for the elf file for crash logging
+if (DEFINED ENV{BUILD_URI})
+	set(BUILD_URI $ENV{BUILD_URI})
+else()
+	set(BUILD_URI "localhost")
+endif()
+
+add_definitions(-DBUILD_URI=${BUILD_URI})
+
 # Setup install paths
 if (${OS} STREQUAL "posix")

-	include(common/coverage)
-	include(common/sanitizers)
-
 	# Define GNU standard installation directories
 	include(GNUInstallDirs)

@ -214,17 +229,20 @@ set(px4_required_interface
 	)
 foreach(cmd ${px4_required_interface})
 	if (NOT COMMAND ${cmd})
-		message(FATAL_ERROR "${CONFIG} must implement ${cmd}")
+		message(FATAL_ERROR "${config_module} 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 ${conf}")
+		message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
 	endif()
 endforeach()

+# force static lib build
+set(BUILD_SHARED_LIBS OFF)
+
 #=============================================================================
 # ccache
 #
@ -232,6 +250,7 @@ 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}")
+else()
 endif()

 #=============================================================================
@ -252,10 +271,23 @@ endif()
 find_package(PythonInterp REQUIRED)
 px4_find_python_module(jinja2 REQUIRED)

+#=============================================================================
+# generate compile command database
+#
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 #=============================================================================
 # check required toolchain variables
 #

+# PX4 requires c++11
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# PX4 requires c99
+set(CMAKE_C_STANDARD 99)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+
 set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
 foreach(var ${required_variables})
 	if (NOT ${var})
@ -303,20 +335,24 @@ px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker
 px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${optimization_flags}" GLUE " ")
 px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimization_flags}" GLUE " ")

+include_directories(${include_dirs})
+link_directories(${link_dirs})
+add_definitions(${definitions})
+
 #=============================================================================
 # message, and airframe generation
 #
 include(common/px4_metadata)

-add_subdirectory(msg EXCLUDE_FROM_ALL)
+add_subdirectory(msg)

 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)
@ -333,6 +369,7 @@ endforeach()
 #=============================================================================
 # external projects
 #
+
 set(ep_base ${PX4_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})

@ -360,22 +397,10 @@ endif()
 #=============================================================================
 # subdirectories
 #
-add_library(parameters_interface INTERFACE)
-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)
-
 foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()

-# 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})

 #=============================================================================
@ -412,36 +437,6 @@ add_custom_command(OUTPUT ${uorb_graph_config}
 )
 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 ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
-
-	    # request to configure the file
-	    configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
-
-	    # 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
 #
@ -453,21 +448,20 @@ 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(short-description "The px4 autopilot.")
+set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
+set(CPACK_GENERATOR "ZIP")
 set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
 set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
 set(CPACK_SOURCE_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)

-include(CPack)
+# vim: set noet fenc=utf-8 ff=unix ft=cmake :
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@ -41,4 +41,4 @@ Since we care about safety, we will regularly ask you for test results. Best is

 Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).

-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 [Log Muncher](http://dash.oznet.ch) and link the resulting report.
--- a/Documentation/Doxyfile
+++ b/Documentation/Doxyfile
--- a/Documentation/Doxyfile.in
+++ b/Documentation/Doxyfile.in
@ -1,121 +0,0 @@
-# Use: `doxygen -g test.txt` to generate all possible settings for this file
-
-# For modern doxygen style uncomment these three lines:
- #HTML_EXTRA_STYLESHEET = @CMAKE_CURRENT_SOURCE_DIR@/doxygen/customdoxygen.css
- #HTML_HEADER = @CMAKE_SOURCE_DIR@/Documentation/header.html
- #HTML_FOOTER = @CMAKE_SOURCE_DIR@/Documentation/footer.html
-
-# not interested build output
-QUIET                  = YES
-
-# Basic settings:
-PROJECT_NAME           = "@CMAKE_PROJECT_NAME@"
-PROJECT_NUMBER         = @PROJECT_VERSION_MAJOR@.@PROJECT_VERSION_MINOR@.@PROJECT_VERSION_PATCH@@VERSION_TYPE@
-STRIP_FROM_PATH        = @CMAKE_SOURCE_DIR@
-
-INPUT                  = @CMAKE_SOURCE_DIR@/README.md \
-                         @CMAKE_SOURCE_DIR@ \ 
-                         @CMAKE_SOURCE_DIR@/src \
-                         @CMAKE_BINARY_DIR@/ \
-                         @CMAKE_BINARY_DIR@/uORB
-                         
-FILE_PATTERNS          = *.h \
-                         *.hpp \
-                         *.hh \
-                         *.c \
-                         *.cc \
-                         *.cpp.in \
-                         *.cpp \
-                         *.md
-
-RECURSIVE              = YES
-USE_MDFILE_AS_MAINPAGE = "@CMAKE_SOURCE_DIR@/README.md"
-# output location
-HTML_OUTPUT            = "@CMAKE_BINARY_DIR@/Documentation"
-
-IMAGE_PATH = "@CMAKE_SOURCE_DIR@"
-
-# The OUTPUT_LANGUAGE tag is used to specify the language in which all
-# documentation generated by doxygen is written. Doxygen will use this
-# information to generate all constant output in the proper language.
-# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese,
-# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States),
-# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian,
-# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages),
-# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian,
-# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian,
-# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish,
-# Ukrainian and Vietnamese.
-# The default value is: English.
-OUTPUT_LANGUAGE        = English
-
-# Color style
-HTML_COLORSTYLE_HUE    = 220
-HTML_COLORSTYLE_SAT    = 40
-HTML_COLORSTYLE_GAMMA  = 80
-
-# max size 200x55px
-PROJECT_LOGO           =
-
-
-# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
-# function all documented functions referencing it will be listed.
-# The default value is: NO.
-REFERENCED_BY_RELATION = YES
-
-# If the REFERENCES_RELATION tag is set to YES then for each documented function
-# all documented entities called/used by that function will be listed.
-# The default value is: NO.
-REFERENCES_RELATION    = YES
-
-# This is nice to have - callgraphs of functions
-HAVE_DOT               = YES
-CALL_GRAPH             = YES
-CALLER_GRAPH           = YES
-
-GRAPHICAL_HIERARCHY    = YES
-DIRECTORY_GRAPH        = YES
-GENERATE_LEGEND        = YES
-INCLUDED_BY_GRAPH      = YES
-INCLUDE_GRAPH          = YES
-DOT_IMAGE_FORMAT       = svg
-INTERACTIVE_SVG        = YES
-
-# More insight to templates, generaly not needed
-TEMPLATE_RELATIONS     = NO
-
-# in class diagrams, you will have members and such
-# Also they will be bigger
-UML_LOOK               = YES
-UML_LIMIT_NUM_FIELDS   = 6
-
-# should all pictures be collapsed?
-HTML_DYNAMIC_SECTIONS = NO
-
-
-# use with: /// @todo Do more stuff.
-GENERATE_TODOLIST      = YES
-
-# we want all we can get
-EXTRACT_ALL            = YES
-EXTRACT_STATIC         = YES
-EXTRACT_PRIVATE        = YES
-
-# We do not need latex output
-GENERATE_LATEX         = NO
-USE_PDFLATEX           = NO
-
-# this makes first sentence from comment block a brief description.
-# It is VERY useful
-JAVADOC_AUTOBRIEF      = YES
-
-# Why not...
-BUILTIN_STL_SUPPORT = YES
-
-# Do we want source code browser? YES! Do we want strip comments? NO
-SOURCE_BROWSER         = YES
-STRIP_CODE_COMMENTS    = NO
-
-# Side panel
-# If you enable this, change .container max-width: 960px; to 1240px
-GENERATE_TREEVIEW      = YES
--- a/Documentation/doxygen.README
+++ b/Documentation/doxygen.README
@ -0,0 +1,37 @@
+Linux/Mac OS X
+==============
+To install doxygen: 
+$sudo apt-get install doxygen
+
+If the above does not work go to:
+http://www.stack.nl/~dimitri/doxygen/download.html for the correct download.
+
+Then go to the following website for inforamtion on the install:
+http://www.stack.nl/~dimitri/doxygen/install.html
+
+Then to generate the html, run the following code while you are in this directory:
+$doxygen Doxyfile
+
+The html file index.html should be in doc/html unless you changed the output directory. 
+
+The other option for generating the documentation is to use the wizard:
+$doxywizard &
+
+doxywizard information:
+http://www.stack.nl/~dimitri/doxygen/doxywizard_usage.html
+
+Or go to the Doxygen Manual for information at the website noted below.
+
+Windows
+=======
+Go to the following website for the correct download and follow the wizard to install:
+http://www.stack.nl/~dimitri/doxygen/download.html
+
+Run the wizard to generate the documentation. 
+Go to the website below or the Doxygen Manual for information on running doxywizard.
+http://www.stack.nl/~dimitri/doxygen/doxywizard_usage.html
+
+Doxygen Manual
+==============
+http://www.stack.nl/~dimitri/doxygen/
+
--- a/Documentation/doxygen.sh
+++ b/Documentation/doxygen.sh
@ -0,0 +1,3 @@
+#!/bin/sh
+rm -rf html
+doxygen
--- a/842
+++ b/842
--- a/2
+++ b/2
@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2018, PX4 Development Team
+Copyright (c) 2012 - 2017, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/58
+++ b/58
@ -120,18 +120,17 @@ endif
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+@$(eval PX4_CONFIG = $(1))
-+@$(eval BUILD_DIR = $(SRC_DIR)/build/$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
+@$(eval BUILD_DIR = $(SRC_DIR)/build/$@$(BUILD_DIR_SUFFIX))
 +@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(SRC_DIR) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(PX4_CONFIG) || (rm -rf $(BUILD_DIR)); fi
-+@$(PX4_MAKE) -C $(BUILD_DIR) $(PX4_MAKE_ARGS) $(ARGS)
+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(1) || (rm -rf $(BUILD_DIR)); fi
+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef

-COLOR_BLUE = \033[0;94m
+COLOR_BLUE = \033[0;34m
 NO_COLOR   = \033[m

 define colorecho
-+@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
+@echo "${COLOR_BLUE}${1} ${NO_COLOR}"
 endef

 # Get a list of all config targets cmake/configs/*.cmake
@ -145,13 +144,13 @@ NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGE

 # All targets.
 $(ALL_CONFIG_TARGETS):
-	$(call cmake-build,$@)
+	$(call cmake-build,$@,$(SRC_DIR))

 # Abbreviated config targets.

 # nuttx_ is left off by default; provide a rule to allow that.
 $(NUTTX_CONFIG_TARGETS):
-	$(call cmake-build,nuttx_$@)
+	$(call cmake-build,nuttx_$@,$(SRC_DIR))

 all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)

@ -232,7 +231,7 @@ quick_check: check_posix_sitl_default check_px4fmu-v4pro_default tests check_for

 check_%:
 	@echo
-	$(call colorecho,'Building' $(subst check_,,$@))
+	$(call colorecho,"Building" $(subst check_,,$@))
 	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo

@ -253,8 +252,8 @@ coverity_scan: posix_sitl_default
 .PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata

 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
+	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --markdown
+	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --xml

 airframe_metadata:
 	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown
@ -270,17 +269,17 @@ px4_metadata: parameters_metadata airframe_metadata module_documentation
 .PHONY: check_format format

 check_format:
-	$(call colorecho,'Checking formatting with astyle')
+	$(call colorecho,"Checking formatting with astyle")
 	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh
 	@cd $(SRC_DIR) && git diff --check

 format:
-	$(call colorecho,'Formatting with astyle')
+	$(call colorecho,"Formatting with astyle")
 	@$(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_offboard rostest

 tests:
 	@$(MAKE) --no-print-directory posix_sitl_default test_results \
@ -289,6 +288,11 @@ tests:

 tests_coverage:
 	@$(MAKE) clean
+	@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
 	@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"

@ -298,20 +302,13 @@ rostest: posix_sitl_default
 tests_mission: rostest
 	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test

-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
-	@$(MAKE) --no-print-directory posix_sitl_default generate_coverage
-
 tests_offboard: rostest
 	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
 	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test

 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck
+.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack

 scan-build:
 	@export CCC_CC=clang
@ -329,12 +326,12 @@ posix_sitl_default-clang:
 	@$(PX4_MAKE) -C $(SRC_DIR)/build/posix_sitl_default-clang

 clang-tidy: posix_sitl_default-clang
-	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .

 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: posix_sitl_default-clang
-	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .

 # modified version of run-clang-tidy.py to return error codes and only output relevant results
 clang-tidy-quiet: posix_sitl_default-clang
@ -346,6 +343,16 @@ cppcheck: posix_sitl_default
 	@cppcheck -i$(SRC_DIR)/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project=$(SRC_DIR)/build/posix_sitl_default/compile_commands.json --xml-version=2 2> $(SRC_DIR)/build/cppcheck/cppcheck-result.xml > /dev/null
 	@cppcheck-htmlreport --source-encoding=ascii --file=$(SRC_DIR)/build/cppcheck/cppcheck-result.xml --report-dir=$(SRC_DIR)/build/cppcheck --source-dir=$(SRC_DIR)/src/

+check_stack: px4fmu-v4pro_default
+	@echo "Checking worst case stack usage with checkstack.pl ..."
+	@echo " "
+	@echo "Top 10:"
+	@cd $(SRC_DIR)/build/px4fmu-v4pro_default && mkdir -p stack_usage && arm-none-eabi-objdump -d nuttx_px4fmu-v4pro_default.elf | $(SRC_DIR)/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt
+	@head -n 10 $(SRC_DIR)/build/px4fmu-v4pro_default/stack_usage/checkstack_output.txt | c++filt
+	@echo " "
+	@echo "Symbols with 'main', 'thread' or 'task':"
+	@cat $(SRC_DIR)/build/px4fmu-v4pro_default/stack_usage/checkstack_output.txt | c++filt | grep -E 'thread|main|task'
+
 # Cleanup
 # --------------------------------------------------------------------
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
@ -367,8 +374,7 @@ submodulesupdate:
 gazeboclean:
 	@rm -rf ~/.gazebo/*

-distclean: gazeboclean
-	@git submodule deinit -f .
+distclean: submodulesclean gazeboclean
 	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"

 # --------------------------------------------------------------------
--- a/README.md
+++ b/README.md
@ -35,12 +35,12 @@ See the [forum and chat](https://dev.px4.io/en/#support) if you need help!

 The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/#dev_call).

-> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
+> **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.


 ## Maintenance Team

-  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
+  * Project / Founder - [Lorenz Meier](https://github.com/LorenzMeier)
    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
  * Communication Architecture
    * [Beat Kueng](https://github.com/bkueng)
@ -67,13 +67,15 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribut
  * Vision based navigation
    * [Christoph Tobler](https://github.com/ChristophTobler)
    * [Mohammed Kabir](https://github.com/mhkabir)
-  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
+  * Obstacle Avoidance - [Vilhjalmur Vilhjalmsson](https://github.com/vilhjalmur89)
  * [Snapdragon](https://github.com/PX4/Firmware/labels/snapdragon)
    * [Christoph Tobler](https://github.com/ChristophTobler)
+    * [Mark Charlebois](https://github.com/mcharleb)
  * [Intel Aero](https://github.com/PX4/Firmware/labels/intel%20aero)
    * [Sugnan Prabhu](https://github.com/sugnanprabhu)
    * [José Roberto de Souza](https://github.com/zehortigoza)
  * [Raspberry Pi / Navio](https://github.com/PX4/Firmware/labels/raspberry_pi) - [Beat Kueng](https://github.com/bkueng)
+  * [Parrot Bebop](https://github.com/PX4/Firmware/labels/bebop) - [Michael Schaeuble](https://github.com/eyeam3)
  * [Airmind MindPX / MindRacer](https://github.com/PX4/Firmware/labels/mindpx) - [Henry Zhang](https://github.com/iZhangHui)
  * RTPS/ROS2 Interface - [Vicente Monge](https://github.com/vicenteeprosima)

--- a/ROMFS/CMakeLists.txt
+++ b/ROMFS/CMakeLists.txt
@ -1,76 +1,12 @@
-############################################################################
-#
-#   Copyright (c) 2018 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.
-#
-############################################################################

 message(STATUS "ROMFS: ${config_romfs_root}")

-set(config_romfs_files_list)
+set(romfs_temp_dir ${PX4_BINARY_DIR}/ROMFS/${config_romfs_root})
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
-set(romfs_temp_dir ${PX4_BINARY_DIR}/genromfs/${config_romfs_root})
-
-#=============================================================================
-#
-#	px4_add_romfs_files
-#
-#	This function builds a list of files to be included in the ROMFS.
-#
-#	Usage:
-#		px4_add_romfs_files(<list of files in current directory to be added to the project>)
-#
-#	Output:
-#		list config_romfs_files_list populated with a list of ROMFS src files including their full file path.
-#
-#	Example:
-#		px4_add_module(
-#			<ROMFS_file_1>
-#			<ROMFS_file_2>
-#			<ROMFS_file_3>
-#			)
-#
-function(px4_add_romfs_files)
-	foreach(arg IN LISTS ARGN)
-		list(APPEND config_romfs_files_list
-			${CMAKE_CURRENT_SOURCE_DIR}/${arg}
-			)
-	endforeach()
-
-	set(config_romfs_files_list ${config_romfs_files_list} CACHE INTERNAL "ROMFS file list")
-endfunction()
-
-# get list of all ROMFS files
-add_subdirectory(${romfs_src_dir})

 # directory setup
 # copy all romfs files, process airframes, prune comments
+file(GLOB_RECURSE init_airframes ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/*/[1-9]*)
 add_custom_command(OUTPUT ${romfs_temp_dir}/init.d/rcS ${romfs_temp_dir}/init.d/rc.autostart
 	COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
@ -80,8 +16,8 @@ add_custom_command(OUTPUT ${romfs_temp_dir}/init.d/rcS ${romfs_temp_dir}/init.d/
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
 		--folder ${romfs_temp_dir} --board ${BOARD}
 	DEPENDS
-		${config_romfs_files_list}
-		${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
+		${romfs_src_files}
+		${init_airframes}
 		${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d/rcS
 		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 	)
@ -92,29 +28,19 @@ list(APPEND romfs_dependencies
 	${romfs_temp_dir}/init.d/rc.autostart
 	)
 	
-# copy px4io binary if configured
-if (config_io_board)
-	list(APPEND romfs_dependencies
-		copy_px4io_bin
-		${fw_io_bin}
-		)
-endif()
-
-# create romfs.img
+# create romfs.bin
 add_custom_command(OUTPUT romfs.img
-	COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt
 	COMMAND ${GENROMFS} -f romfs.img -d ${romfs_temp_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
 	DEPENDS ${romfs_dependencies}
 	)

-# create nsh_romfsimg.c
+# create romfs.o
 add_custom_command(OUTPUT nsh_romfsimg.c
-	COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
 	COMMAND xxd -i romfs.img nsh_romfsimg.c
 	COMMAND sed 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && mv nsh_romfsimg.c.tmp nsh_romfsimg.c
 	DEPENDS romfs.img
 	)

 add_library(romfs STATIC nsh_romfsimg.c)
-add_dependencies(romfs prebuild_targets)
+add_dependencies(romfs platforms__common)
 set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
--- a/ROMFS/px4fmu_common/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/CMakeLists.txt
@ -1,35 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 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)
-add_subdirectory(mixers)
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@ -40,6 +40,6 @@ then
 	param set BAT_A_PER_V 15.39103
 fi

-set MIXER quad_w
+set MIXER quad_dc

 set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
@ -38,7 +38,6 @@ then
 	param set VT_IDLE_PWM_MC  1080
 	param set VT_TYPE 0
 	param set MAV_TYPE 19
-	param set VT_ELEV_MC_LOCK 0
 fi

 set MIXER caipirinha_vtol
--- a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
@ -24,7 +24,7 @@ if [ $AUTOCNF == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-	param set VT_F_TRANS_THR 0.75
+	param set VT_TRANS_THR 0.75
 	param set VT_ARSP_TRANS 12
 	param set VT_ARSP_BLEND 6

--- a/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta
+++ b/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta
@ -22,7 +22,7 @@ if [ $AUTOCNF == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-	param set VT_F_TRANS_THR 0.75
+	param set VT_TRANS_THR 0.75

 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.15
--- a/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad
+++ b/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad
@ -14,7 +14,7 @@ if [ $AUTOCNF == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-	param set VT_F_TRANS_THR 0.75
+	param set VT_TRANS_THR 0.75

 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.15
--- a/ROMFS/px4fmu_common/init.d/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/13008_QuadRanger
@ -14,7 +14,7 @@ if [ $AUTOCNF == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-	param set VT_F_TRANS_THR 0.75
+	param set VT_TRANS_THR 0.75

 	param set PWM_AUX_REV1 1
 	param set PWM_AUX_REV2 1
--- a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
@ -19,7 +19,7 @@ then
    param set VT_ARSP_TRANS   15.0
    param set VT_B_TRANS_DUR  4.0
    param set VT_TRANS_MIN_TM 5.0
-    param set VT_F_TRANS_THR    0.6
+    param set VT_TRANS_THR    0.6
    param set VT_TRANS_TIMEOUT    30.0

    param set FW_AIRSPD_MAX   22.0
--- a/ROMFS/px4fmu_common/init.d/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/13012_convergence
@ -23,7 +23,7 @@ if [ $AUTOCNF == yes ]
 then
    param set VT_MOT_COUNT 3
    param set VT_FW_MOT_OFFID 3
-    param set VT_IDLE_PWM_MC 1200
+    param set VT_IDLE_PWM_MC 1080
    param set VT_TYPE 1

    param set VT_B_TRANS_DUR  1.0
--- a/ROMFS/px4fmu_common/init.d/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/13013_deltaquad
@ -23,7 +23,7 @@ if [ $AUTOCNF == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
-	param set VT_F_TRANS_THR 1
+	param set VT_TRANS_THR 1
 	param set VT_DWN_PITCH_MAX 8
 	param set VT_FW_QC_P 55
 	param set VT_FW_QC_R 55
--- a/ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm
+++ b/ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm
@ -0,0 +1,19 @@
+#!nsh
+#
+# @name Passthrough mode for Snapdragon
+#
+# @type custom
+# @class Tool
+#
+# @board px4fmu-v2 exclude
+# @board px4fmu-v3 exclude
+# @board px4fmu-v4pro exclude
+# @board px4fmu-v5 exclude
+# @board aerofc-v1 exclude
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+# This startup can be used on Pixhawk/Pixfalcon/Pixracer for the
+# passthrough of RC input and PWM output.
+
+set VEHICLE_TYPE passthrough
--- a/ROMFS/px4fmu_common/init.d/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/3031_phantom
@ -39,7 +39,7 @@ then
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.08
 	param set FW_R_LIM 50
-	param set FW_R_RMAX 50
+	param set FW_R_RMAX 0
 	# Bottom of bay and nominal zero-pitch attitude differ
 	# the payload bay is pitched up about 7 degrees
 	param set SENS_BOARD_Y_OFF 7.0
--- a/ROMFS/px4fmu_common/init.d/4014_s500
+++ b/ROMFS/px4fmu_common/init.d/4014_s500
@ -1,23 +0,0 @@
-#!nsh
-#
-# @name S500
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-sh /etc/init.d/4001_quad_x
-
-if [ $AUTOCNF == yes ]
-then
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.18
-	param set MC_ROLLRATE_I 0.15
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.18
-	param set MC_PITCHRATE_I 0.15
-	param set MC_PITCHRATE_D 0.003
-fi
--- a/ROMFS/px4fmu_common/init.d/4050_generic_250
+++ b/ROMFS/px4fmu_common/init.d/4050_generic_250
@ -13,38 +13,32 @@ sh /etc/init.d/4001_quad_x
 if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 8.0
-	param set MC_ROLLRATE_P 0.08
-	param set MC_ROLLRATE_I 0.25
-	param set MC_ROLLRATE_D 0.001
+	param set MC_ROLLRATE_P 0.19
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.0055
 	param set MC_PITCH_P 8.0
-	param set MC_PITCHRATE_P 0.08
-	param set MC_PITCHRATE_I 0.25
-	param set MC_PITCHRATE_D 0.001
+	param set MC_PITCHRATE_P 0.19
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.0055
 	param set MC_YAW_P 4.0
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAW_FF 0.5
-
-	param set MC_ROLLRATE_MAX 1600.0
-	param set MC_PITCHRATE_MAX 1600.0
-	param set MC_YAWRATE_MAX 1000.0
-
-	param set MPC_MANTHR_MIN 0.0
-	param set MPC_MAN_TILT_MAX 60
-
-	# use thrust curve factor (instead of TPA)
-	param set THR_MDL_FAC 0.3
+	param set MC_ROLLRATE_MAX 720.0
+	param set MC_PITCHRATE_MAX 720.0
+	param set MC_YAWRATE_MAX 400.0
+	param set MC_ACRO_R_MAX 360.0
+	param set MC_ACRO_P_MAX 360.0
+	param set MC_TPA_BREAK_P 0.5
+	param set MC_TPA_RATE_P 0.5

 	param set PWM_MIN 1075
-	# enable one-shot
-	param set PWM_RATE 0

-	# enable high-rate logging profile (helps with tuning)
-	param set SDLOG_PROFILE 19
+	param set MPC_THR_MIN 0.06
+	param set MPC_MANTHR_MIN 0.06

-	# disable RC filtering
-	param set RC_FLT_CUTOFF 0.00000
+	param set ATT_BIAS_MAX 0.0

 	param set CBRK_IO_SAFETY 22027
 fi
--- a/ROMFS/px4fmu_common/init.d/4070_aerofc
+++ b/ROMFS/px4fmu_common/init.d/4070_aerofc
@ -68,14 +68,10 @@ then
 	param set SYS_LOGGER 1
 fi

-if param compare SYS_HITL 0
-then
-  tap_esc start -d /dev/ttyS0 -n 4
-  usleep 300000
-
-  set OUTPUT_MODE tap_esc
-fi
+tap_esc start -d /dev/ttyS0 -n 4
+usleep 300000

+set OUTPUT_MODE tap_esc
 set MIXER quad_x
 set USE_IO no

--- a/ROMFS/px4fmu_common/init.d/4080_zmr250
+++ b/ROMFS/px4fmu_common/init.d/4080_zmr250
@ -17,15 +17,17 @@ set PWM_OUT 1234

 if [ $AUTOCNF == yes ]
 then
-	param set MC_ROLL_P 2.2
-	param set MC_ROLLRATE_P 0.06
+	param set MC_ROLL_P 2.0
+	param set MC_ROLLRATE_P 0.05
 	param set MC_ROLLRATE_I 0.2
-	param set MC_ROLLRATE_D 0.0017
+	param set MC_ROLLRATE_D 0.0015
+	param set MC_ROLL_TC 0.18

-	param set MC_PITCH_P 2.2
-	param set MC_PITCHRATE_P 0.06
+	param set MC_PITCH_P 2.0
+	param set MC_PITCHRATE_P 0.05
 	param set MC_PITCHRATE_I 0.2
-	param set MC_PITCHRATE_D 0.0017
+	param set MC_PITCHRATE_D 0.0015
+	param set MC_PITCH_TC 0.18

 	param set MC_YAW_P 1.0
 	param set MC_YAWRATE_P 0.15
--- a/ROMFS/px4fmu_common/init.d/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/4900_crazyflie
@ -14,52 +14,39 @@
 #
 # @maintainer Dennis Shtatov <densht@gmail.com>
 #
+
 sh /etc/init.d/4001_quad_x
+
+
 if [ $AUTOCNF == yes ]
 then
-    param set COM_RC_IN_MODE 1
-    param set BAT_N_CELLS 1
-    param set BAT_CAPACITY 240
-    param set BAT_SOURCE 1
-    param set PWM_DISARMED 0
-    param set PWM_MIN 0
-    param set PWM_MAX 255
-    param set SYS_COMPANION 20
-    param set MC_PITCHRATE_D 0.002
-    param set MC_PITCHRATE_I 0.2
-    param set MC_PITCHRATE_P 0.07
-    param set MC_PITCH_P 6.5
-    param set MC_ROLLRATE_D 0.002
-    param set MC_ROLLRATE_I 0.2
-    param set MC_ROLLRATE_P 0.07
-    param set MC_ROLL_P 6.5
-    param set MC_YAW_P 3.0
-    param set EKF2_HGT_MODE 2
-    param set EKF2_AID_MASK 3
-    param set EKF2_OF_DELAY 10
-    param set MPC_THR_HOVER 0.7
-    param set MPC_MANTHR_MAX 1.0
-    param set MPC_THR_MAX 1.0
-    param set MPC_Z_P 1.5
-    param set MPC_Z_VEL_I 0.3
-    param set MPC_Z_VEL_P 0.4
-    param set MPC_HOLD_MAX_XY 0.1
-    param set MPC_MAX_FLOW_HGT 3
-    param set IMU_GYRO_CUTOFF 100
-    param set IMU_ACCEL_CUTOFF 30
-    param set MC_DTERM_CUTOFF 70
-    param set SYS_FMU_TASK 1
-    param set CBRK_SUPPLY_CHK 894281
-    param set CBRK_USB_CHK 197848
-    param set SDLOG_PROFILE 1
-    param set EKF2_MAG_TYPE 1
-    param set EKF2_ABL_LIM 2.0
-    param set MC_AIRMODE 1
-    param set NAV_RCL_ACT 3
-    param set SENS_FLOW_MINRNG 0.05
+	param set COM_RC_IN_MODE 2
+	param set BAT_N_CELLS 1
+	param set BAT_CAPACITY 240
+	param set BAT_SOURCE 1
+
+	param set PWM_DISARMED 0
+	param set PWM_MIN 0
+	param set PWM_MAX 255
+
+	param set SYS_COMPANION 20
+
+	param set MC_PITCHRATE_D 0.0015
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_P 0.045
+	param set MC_PITCH_P 6.5
+	param set MC_ROLLRATE_D 0.0015
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_P 0.045
+	param set MC_ROLL_P 6.5
+	param set MC_YAW_P 3.0
+
+	param set CBRK_SUPPLY_CHK 894281
+	param set CBRK_USB_CHK 197848
 fi
+
 set PWM_MIN none
 set PWM_MAX none
 set PWM_DISARMED none
 # Will run the motors at 328.125 kHz (recommended)
-set PWM_RATE 3921
+set PWM_RATE 3921
--- a/ROMFS/px4fmu_common/init.d/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
@ -1,118 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 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(
-	1000_rc_fw_easystar.hil
-	1001_rc_quad_x.hil
-	2100_standard_plane
-	2105_maja
-	2106_albatross
-	24001_dodeca_cox
-	3000_generic_wing
-	3030_io_camflyer
-	3031_phantom
-	3032_skywalker_x5
-	3033_wingwing
-	3034_fx79
-	3035_viper
-	3036_pigeon
-	3037_parrot_disco_mod
-	3100_tbs_caipirinha
-	4001_quad_x
-	4002_quad_x_mount
-	4003_qavr5
-	4004_H4_680mm
-	4009_qav250
-	4010_dji_f330
-	4011_dji_f450
-	4012_quad_x_can
-	4013_bebop
-	4020_hk_micro_pcb
-	4030_3dr_solo
-	4031_3dr_quad
-	4040_reaper
-	4050_generic_250
-	4051_s250aq
-	4060_dji_matrice_100
-	4070_aerofc
-	4080_zmr250
-	4090_nanomind
-	4900_crazyflie
-	5001_quad_+
-	6001_hexa_x
-	7001_hexa_+
-	8001_octo_x
-	9001_octo_+
-	10015_tbs_discovery
-	10016_3dr_iris
-	10017_steadidrone_qu4d
-	10018_tbs_endurance
-	11001_hexa_cox
-	12001_octo_cox
-	12002_steadidrone_mavrik
-	13000_generic_vtol_standard
-	13001_caipirinha_vtol
-	13002_firefly6
-	13003_quad_tailsitter
-	13004_quad+_tailsitter
-	13005_vtol_AAERT_quad
-	13006_vtol_standard_delta
-	13007_vtol_AAVVT_quad
-	13008_QuadRanger
-	13009_vtol_spt_ranger
-	13010_claire
-	13012_convergence
-	13013_deltaquad
-	14001_tri_y_yaw+
-	14002_tri_y_yaw-
-	15001_coax_heli
-	16001_helicopter
-	50000_generic_ground_vehicle
-	50001_axialracing_ax10
-	50002_traxxas_stampede_2wd
-	rc.axialracing_ax10_apps
-	rc.axialracing_ax10_defaults
-	rc.fw_apps
-	rc.fw_defaults
-	rc.interface
-	rc.io
-	rc.logging
-	rc.mc_apps
-	rc.mc_defaults
-	rcS
-	rc.sensors
-	rc.ugv_apps
-	rc.ugv_defaults
-	rc.vtol_apps
-	rc.vtol_defaults
-)
--- a/ROMFS/px4fmu_common/init.d/rc.fw_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps
@ -26,8 +26,3 @@ fw_pos_control_l1 start
 # Start Land Detector
 #
 land_detector start fixedwing
-
-#
-# Start Wind and Airspeed Scale Estimator
-#
-#wind_estimator start
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@ -8,11 +8,8 @@ then
 	# Default parameters for FW
 	#
 	param set COM_POS_FS_DELAY 5
-	param set COM_POS_FS_EPH 25
-	param set COM_POS_FS_EPV 50
-	param set COM_POS_FS_GAIN 0
 	param set COM_POS_FS_PROB 1
-	param set COM_VEL_FS_EVH 5
+	param set COM_POS_FS_GAIN 0

 	param set EKF2_ARSP_THR 8.0
 	param set EKF2_FUSE_BETA 1
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@ -120,12 +120,27 @@ then
 	fi
 fi

-if ver hwcmp MINDPX_V2 CRAZYFLIE AEROFC_V1 PX4FMU_V4 NXPHLITE_V3 OMNIBUS_F4SD
+if ver hwcmp MINDPX_V2
 then
 	set MIXER_AUX none
 fi

-if [ $USE_IO == no ]
+if ver hwcmp CRAZYFLIE
+then
+	set MIXER_AUX none
+fi
+
+if ver hwcmp AEROFC_V1
+then
+	set MIXER_AUX none
+fi
+
+if ver hwcmp PX4FMU_V4
+then
+	set MIXER_AUX none
+fi
+
+if ver hwcmp PX4FMU_V5
 then
 	set MIXER_AUX none
 fi
--- a/ROMFS/px4fmu_common/init.d/rc.logging
+++ b/ROMFS/px4fmu_common/init.d/rc.logging
@ -1,33 +0,0 @@
-#!nsh
-# Logging
-#
-# Standard startup script for logging
-#
-
-if param compare SYS_LOGGER 0
-then
-	sdlog2 start -r 100 -a -b 9 -t
-else
-	set LOGGER_ARGS ""
-
-	if param compare SDLOG_MODE 1
-	then
-		set LOGGER_ARGS "-e"
-	fi
-
-	if param compare SDLOG_MODE 2
-	then
-		set LOGGER_ARGS "-f"
-	fi
-
-	if ver hwcmp AEROFC_V1
-	then
-		set LOGGER_ARGS "-m mavlink"
-	fi
-
-	logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
-
-	unset LOGGER_ARGS
-fi
-
-unset LOGGER_BUF
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@ -3,7 +3,7 @@
 # Standard startup script for sensor drivers.
 #

-if ver hwcmp AEROFC_V1 OMNIBUS_F4SD
+if ver hwcmp AEROFC_V1
 then
 	# Aero FC uses separate driver
 else
@ -31,8 +31,8 @@ else
 	# External SPI
 	ms5611 -S start

-	# Internal SPI (auto detect ms5611 or ms5607)
-	ms5611 -T 0 -s start
+	# Internal SPI
+	ms5611 -s start

 	# Blacksheep telemetry
 	bst start
@ -42,13 +42,13 @@ fi

 if ver hwcmp NXPHLITE_V3
 then
-	# Internal I2C (baro)
+	# Internal I2C
 	mpl3115a2 -I start

-	# Internal SPI (accel + mag)
-	fxos8701cq start -a 8 -R 0
+	# Internal SPI
+	fxos8700cq start -a 8 -R 0

-	# Internal SPI (gyro)
+	# Internal SPI
 	fxas21002c start -R 0
 fi

@ -56,7 +56,6 @@ if ver hwcmp AUAV_X21
 then
 	# External I2C bus
 	hmc5883 -C -T -X start
-	lis3mdl -X start

 	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
 	mpu6000 -R 2 -T 20608 start
@ -136,9 +135,9 @@ then
 		then
 			# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
 			mpu6000 -R 14 start
-
 			# v2.0 Has internal hmc5883 on SPI1
 			hmc5883 -C -T -S -R 8 start
+
 		fi

 		if [ $BOARD_FMUV3 == 21 ]
@ -165,8 +164,6 @@ then
 		l3gd20 start
 		lsm303d start
 	fi
-
-	unset BOARD_FMUV3
 fi

 if ver hwcmp PX4_SAME70XPLAINED_V1
@ -192,12 +189,12 @@ then
 	then
 		# hmc5883 internal SPI bus is rotated 90 deg yaw
 	else
-		if lis3mdl start
+		if lis3mdl -R 2 start
 		then
 			# lis3mdl internal SPI bus is rotated 90 deg yaw
 		else
 			# BMI055 gyro internal SPI bus
-			bmi055 -G start
+			bmi055 -G start	
 		fi
 	fi

@ -252,11 +249,6 @@ then

 	# I2C bypass of mpu
 	lps25h start
-
-	# Optical flow deck
-	vl53lxx start
-	pmw3901 start
-
 fi

 if ver hwcmp AEROFC_V1
@ -272,18 +264,6 @@ then
 	ll40ls start i2c
 fi

-if ver hwcmp OMNIBUS_F4SD
-then
-	mpu6000 -R 12 -s start
-
-	# Possible external compasses
-	hmc5883 -X start
-
-	bmp280 start
-
-	adc start
-fi
-
 if ver hwcmp PX4FMU_V4PRO
 then
 	# Internal SPI bus ICM-20608-G
@ -343,7 +323,11 @@ if [ ${VEHICLE_TYPE} == fw -o ${VEHICLE_TYPE} == vtol ]
 then
 	if param compare CBRK_AIRSPD_CHK 0
 	then
-		sdp3x_airspeed start -a
+		if sdp3x_airspeed start
+		then
+		else
+			sdp3x_airspeed start -b 2
+		fi

 		# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
 		# detected as MS5525 because the chip manufacturer was so
@ -353,13 +337,20 @@ then
 		then
 			ms5525_airspeed start -b 2
 		else
-			ms5525_airspeed start -a
+			ms5525_airspeed start
 		fi

-		ms4525_airspeed start -a
-
-		ets_airspeed start -a
+		if ms4525_airspeed start
+		then
+		else
+			ms4525_airspeed start -b 2
+		fi

+		if ets_airspeed start
+		then
+		else
+			ets_airspeed start -b 1
+		fi
 	fi
 fi

@ -405,44 +396,7 @@ fi
 # Benewake TFMini
 if param greater SENS_EN_TFMINI 0
 then
-	if ver hwcmp PX4FMU_V2 PX4FMU_V4PRO
-	then
-		# start the driver on serial 4/5
-		tfmini start -d /dev/ttyS6
-	else
-		if ver hwcmp AEROFC_V1
-		then
-			# start the driver on telemetry
-			tfmini start -d /dev/ttyS3
-		else
-			if param compare SYS_COMPANION 0
-			then
-				# start on default mavlink companion device
-				tfmini start -d /dev/ttyS2
-			fi
-		fi
-	fi
-fi
-
-# LeddarOne
-if param greater SENS_EN_LEDDAR1 0
-then
-	if ver hwcmp PX4FMU_V2 PX4FMU_V4PRO
-	then
-		# start the driver on serial 4/5
-		leddar_one -d /dev/ttyS6 start
-	fi
-	if ver hwcmp AEROFC_V1
-	then
-		# start the driver on telemetry
-		leddar_one -d /dev/ttyS3 start
-	else
-		if param compare SYS_COMPANION 0
-		then
-			# start on default mavlink companion device
-			leddar_one -d /dev/ttyS2 start
-		fi
-	fi
+	tfmini start
 fi

 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
@ -51,8 +51,3 @@ fw_pos_control_l1 start
 # Multicopter for now until we have something for VTOL
 #
 land_detector start vtol
-
-#
-# Start Wind and Airspeed Scale Estimator
-#
-#wind_estimator start
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@ -13,15 +13,9 @@ set +e
 #
 # NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
-# UART mapping on OMNIBUSF4SD:
-#
-# USART1		/dev/ttyS0		SerialRX
-# USART4		/dev/ttyS1		TELEM1
-# USART6		/dev/ttyS2		GPS
-#
 # UART mapping on FMUv2/3/4:
 #
-# UART1			/dev/ttyS0		IO debug (except v4, there ttyS0 is the wifi)
+# UART1			/dev/ttyS0		IO debug
 # USART2		/dev/ttyS1		TELEM1 (flow control)
 # USART3		/dev/ttyS2		TELEM2 (flow control)
 # UART4
@ -34,7 +28,7 @@ set +e
 # UART1			/dev/ttyS0		GPS
 # USART2		/dev/ttyS1		TELEM1 (flow control)
 # USART3		/dev/ttyS2		TELEM2 (flow control)
-# UART4			/dev/ttyS3		TELEM4
+# UART4			/dev/ttyS3		?
 # USART6		/dev/ttyS4		TELEM3 (flow control)
 # UART7			/dev/ttyS5		?
 # UART8			/dev/ttyS6		CONSOLE
@ -57,7 +51,7 @@ ver all
 #
 set MODE autostart

-set TUNE_ERR "ML<<CP4CP4CP4CP4CP4"
+set TUNE_ERR ML<<CP4CP4CP4CP4CP4
 set LOG_FILE /fs/microsd/bootlog.txt

 #
@ -74,6 +68,9 @@ then
 			hardfault_log reset
 			tone_alarm stop
 		fi
+	else
+		# Start playing the startup tune
+		tone_alarm start
 	fi
 else
 	tone_alarm MBAGP
@ -112,12 +109,6 @@ then
 	#
 	uorb start

-	# Start tone driver
-	tone_alarm start
-
-	# play startup tone
-	tune_control play -t 1
-
 	#
 	# Load parameters
 	#
@ -156,8 +147,8 @@ then
 	#
 	if param compare SYS_AUTOCONFIG 1
 	then
-		# Wipe out params except RC*, flight modes and total flight time
-		param reset_nostart RC* COM_FLTMODE* LND_FLIGHT_T_*
+		# Wipe out params except RC* and total flight time
+		param reset_nostart RC* LND_FLIGHT_T_*
 		set AUTOCNF yes
 	else
 		set AUTOCNF no
@ -203,9 +194,23 @@ then
 	set USE_IO no
 	set LOGGER_BUF 14

+	if ver hwcmp PX4FMU_V4
+	then
+		param set SYS_FMU_TASK 1
+	fi
+
+	if ver hwcmp PX4FMU_V4PRO
+	then
+		param set SYS_FMU_TASK 1
+	fi
+
 	if ver hwcmp PX4FMU_V5
 	then
+		param set SYS_FMU_TASK 1
+		set MAVLINK_COMPANION_DEVICE /dev/ttyS3
+
 		set LOGGER_BUF 64
+		param set SDLOG_MODE 2
 	fi

 	if ver hwcmp CRAZYFLIE
@ -235,11 +240,6 @@ then
 		set MAVLINK_COMPANION_DEVICE /dev/ttyS4
 	fi

-	if ver hwcmp OMNIBUS_F4SD
-	then
-		set MAVLINK_COMPANION_DEVICE /dev/ttyS1
-	fi
-
 	#
 	# Set USE_IO flag
 	#
@ -292,85 +292,70 @@ then
 	#
 	if [ $AUTOCNF == yes ]
 	then
-		# Disable safety switch by default on Pixracer and OmnibusF4SD
-		if ver hwcmp PX4FMU_V4 OMNIBUS_F4SD
+		# Disable safety switch by default on Pixracer
+		if ver hwcmp PX4FMU_V4
 		then
 			param set CBRK_IO_SAFETY 22027
 		fi
-
-		# Run FMU as task on Pixracer and on boards with enough RAM
-		if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5
-		then
-			param set SYS_FMU_TASK 1
-		fi
-
-		if ver hwcmp OMNIBUS_F4SD
-		then
-			param set SYS_FMU_TASK 1
-			param set SYS_HAS_MAG 0
-			# use the Q attitude estimator, it works w/o mag or GPS
-			param set SYS_MC_EST_GROUP 1
-			param set ATT_ACC_COMP 0
-			param set ATT_W_ACC 0.4000
-			param set ATT_W_GYRO_BIAS 0.0000
-		fi
-
 		param set SYS_AUTOCONFIG 0
 	fi
 	unset AUTOCNF

 	set IO_PRESENT no

-	#
-	# Check if PX4IO present and update firmware if needed
-	#
-	if [ -f /etc/extras/px4io-v2.bin ]
+	if [ $USE_IO == yes ]
 	then
-		set IO_FILE /etc/extras/px4io-v2.bin
-
-		if px4io checkcrc ${IO_FILE}
+		#
+		# Check if PX4IO present and update firmware if needed
+		#
+		if [ -f /etc/extras/px4io-v2.bin ]
 		then
-			set IO_PRESENT yes
-		else
-			tone_alarm MLL32CP8MB
+			set IO_FILE /etc/extras/px4io-v2.bin

-			if px4io start
+			if px4io checkcrc ${IO_FILE}
 			then
-				# try to safe px4 io so motor outputs dont go crazy
-				if px4io safety_on
+				set IO_PRESENT yes
+			else
+				tone_alarm MLL32CP8MB
+
+				if px4io start
 				then
-					# success! no-op
-				else
-					# px4io did not respond to the safety command
-					px4io stop
+					# try to safe px4 io so motor outputs dont go crazy
+					if px4io safety_on
+					then
+						# success! no-op
+					else
+						# px4io did not respond to the safety command
+						px4io stop
+					fi
 				fi
-			fi

-			if px4io forceupdate 14662 ${IO_FILE}
-			then
-				usleep 10000
-				if px4io checkcrc ${IO_FILE}
+				if px4io forceupdate 14662 ${IO_FILE}
 				then
-					echo "PX4IO CRC OK after updating" >> $LOG_FILE
-					tone_alarm MLL8CDE
+					usleep 10000
+					if px4io checkcrc ${IO_FILE}
+					then
+						echo "PX4IO CRC OK after updating" >> $LOG_FILE
+						tone_alarm MLL8CDE

-					set IO_PRESENT yes
+						set IO_PRESENT yes
+					else
+						echo "PX4IO update failed" >> $LOG_FILE
+						tone_alarm ${TUNE_ERR}
+					fi
 				else
 					echo "PX4IO update failed" >> $LOG_FILE
 					tone_alarm ${TUNE_ERR}
 				fi
-			else
-				echo "PX4IO update failed" >> $LOG_FILE
-				tune_control play -m ${TUNE_ERR}
 			fi
 		fi
-	fi
-	unset IO_FILE
+		unset IO_FILE

-	if [ $USE_IO == yes -a $IO_PRESENT == no ]
-	then
-		echo "PX4IO not found" >> $LOG_FILE
-		tune_control play -m ${TUNE_ERR}
+		if [ $IO_PRESENT == no ]
+		then
+			echo "PX4IO not found" >> $LOG_FILE
+			tone_alarm ${TUNE_ERR}
+		fi
 	fi

 	#
@ -431,6 +416,7 @@ then
 		sh /etc/init.d/rc.sensors
 		commander start
 	fi
+
 	send_event start
 	load_mon start

@ -485,7 +471,7 @@ then
 				sh /etc/init.d/rc.io
 			else
 				echo "PX4IO start failed" >> $LOG_FILE
-				tune_control play -m  ${TUNE_ERR}
+				tone_alarm $TUNE_ERR
 			fi
 		fi

@ -495,7 +481,7 @@ then
 			then
 			else
 				echo "FMU start failed" >> $LOG_FILE
-				tune_control play -m ${TUNE_ERR}
+				tone_alarm $TUNE_ERR
 			fi
 		fi

@ -514,7 +500,7 @@ then
 			if mkblctrl $MKBLCTRL_ARG
 			then
 			else
-				tune_control play -m ${TUNE_ERR}
+				tone_alarm $TUNE_ERR
 			fi
 			unset MKBLCTRL_ARG
 		fi
@ -522,10 +508,10 @@ then

 		if [ $OUTPUT_MODE == hil ]
 		then
-			if pwm_out_sim start
+			if pwm_out_sim mode_pwm16
 			then
 			else
-				tune_control play -m ${TUNE_ERR}
+				tone_alarm $TUNE_ERR
 			fi
 		fi

@ -541,7 +527,7 @@ then
 					sh /etc/init.d/rc.io
 				else
 					echo "PX4IO start failed" >> $LOG_FILE
-					tune_control play -m ${TUNE_ERR}
+					tone_alarm $TUNE_ERR
 				fi
 			fi
 		else
@ -551,7 +537,7 @@ then
 				then
 				else
 					echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
-					tune_control play -m ${TUNE_ERR}
+					tone_alarm $TUNE_ERR
 				fi
 			fi
 		fi
@ -562,7 +548,7 @@ then
 		# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
 		set MAVLINK_F "-r 1200 -f"

-		# Use ttyS1 for MAVLink on FMUv4 in addition to ttyS0 (debug)
+		# Avoid using ttyS1 for MAVLink on FMUv4
 		if ver hwcmp PX4FMU_V4
 		then
 			set MAVLINK_F "-r 1200 -d /dev/ttyS1"
@ -570,33 +556,17 @@ then
 			mavlink start -r 20000 -b 921600 -d /dev/ttyS0
 		fi

-		# Use ttyS3 (TELEM4) for MAVLink on FMUv5 in addition to ttyS1 (TELEM1) and ttyS2 (TELEM2)
-		if ver hwcmp PX4FMU_V5
-		then
-			mavlink start -r 2000 -b 57600 -d /dev/ttyS3
-		fi
-
 		if ver hwcmp AEROFC_V1
 		then
 			set MAVLINK_F "-r 1200 -d /dev/ttyS3"
-
-			# Only start mavlink if the Benewake TFMini or LeddarOne isn't being used
-			if param greater SENS_EN_TFMINI 0
-			then
-				set MAVLINK_F none
-			fi
-			if param greater SENS_EN_LEDDAR1 0
-			then
-				set MAVLINK_F none				
-			fi
 		fi

-		if ver hwcmp CRAZYFLIE OMNIBUS_F4SD
+		if ver hwcmp CRAZYFLIE
 		then
 			# Avoid using either of the two available serials
 			set MAVLINK_F none
 		fi
-fi
+	fi

 	if [ "x$MAVLINK_F" == xnone ]
 	then
@ -613,14 +583,7 @@ fi
 	if param compare SYS_COMPANION 10
 	then
 		frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
-	else
-		if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2
-		then
-			# This is TELEM4 on Pixhawk 3 Pro
-			frsky_telemetry start -d /dev/ttyS6
-		fi
 	fi
-
 	if param compare SYS_COMPANION 20
 	then
 		syslink start
@ -675,29 +638,9 @@ fi
 	fi
 	if param compare SYS_COMPANION 419200
 	then
-		iridiumsbd start -d ${MAVLINK_COMPANION_DEVICE}
+		iridiumsbd start -d /dev/ttyS2
 		mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
 	fi
-	if param compare SYS_COMPANION 519200
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -m minimal -r 1000
-	fi
-	if param compare SYS_COMPANION 538400
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -m minimal -r 1000
-	fi
-	if param compare SYS_COMPANION 557600
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m minimal -r 1000
-	fi
-	if param compare SYS_COMPANION 5115200
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -m minimal -r 1000
-	fi
-	if param compare SYS_COMPANION 6460800
-	then
-		micrortps_client start -t UART -d /dev/ttyS2 -b 460800
-	fi
 	if param compare SYS_COMPANION 1921600
 	then
 		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
@ -714,27 +657,48 @@ fi
 	#
 	if param greater UAVCAN_ENABLE 0
 	then
-		# Start core UAVCAN module
 		if uavcan start
 		then
-			if param greater UAVCAN_ENABLE 1
-			then
-				# Reduce logger buffer to free up some RAM for UAVCAN servers
-				set LOGGER_BUF 6
-				# Start UAVCAN firmware update server and dynamic node ID allocation server
-				uavcan start fw
-			fi
+			set LOGGER_BUF 6
+			uavcan start fw
 		else
 			tone_alarm ${TUNE_ERR}
 		fi
 	fi

-	if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5 OMNIBUS_F4SD
+	if ver hwcmp PX4FMU_V4
+	then
+		frsky_telemetry start -d /dev/ttyS6
+	fi
+
+	if ver hwcmp MINDPX_V2
+	then
+		frsky_telemetry start -d /dev/ttyS6
+	fi
+
+	if ver hwcmp PX4FMU_V2
 	then
 		# Check for flow sensor - as it is a background task, launch it last
 		px4flow start &
 	fi

+	if ver hwcmp PX4FMU_V4
+	then
+		# Check for flow sensor - as it is a background task, launch it last
+		px4flow start &
+	fi
+
+	if ver hwcmp PX4FMU_V4PRO
+	then
+		# Check for flow sensor - as it is a background task, launch it last
+		px4flow start &
+	fi
+
+	if ver hwcmp MINDPX_V2
+	then
+		px4flow start &
+	fi
+
 	if ver hwcmp AEROFC_V1
 	then
 		# don't start mavlink ttyACM0 on aerofc_v1
@ -743,6 +707,36 @@ fi
 		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
 	fi

+	#
+	# Logging
+	#
+	if param compare SYS_LOGGER 0
+	then
+		sdlog2 start -r 100 -a -b 9 -t
+	else
+		set LOGGER_ARGS ""
+
+		if param compare SDLOG_MODE 1
+		then
+			set LOGGER_ARGS "-e"
+		fi
+
+		if param compare SDLOG_MODE 2
+		then
+			set LOGGER_ARGS "-f"
+		fi
+
+		if ver hwcmp AEROFC_V1
+		then
+			set LOGGER_ARGS "-m mavlink"
+		fi
+
+		logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
+
+		unset LOGGER_BUF
+		unset LOGGER_ARGS
+	fi
+
 	#
 	# Fixed wing setup
 	#
@ -904,6 +898,46 @@ fi
 		sh /etc/init.d/rc.ugv_apps
 	fi

+	#
+	# For snapdragon, we need a passthrough mode
+	# Do not run any mavlink instances since we need the serial port for
+	# communication with Snapdragon.
+	#
+	if [ $VEHICLE_TYPE == passthrough ]
+	then
+		mavlink stop-all
+		commander stop
+
+		# Stop multicopter attitude controller if it is running, the controls come
+		# from Snapdragon.
+		if mc_att_control stop
+		then
+		fi
+
+		# Start snapdragon interface on serial port.
+		if ver hwcmp PX4FMU_V2
+		then
+			# On Pixfalcon use the standard telemetry port (Telem 1).
+			snapdragon_rc_pwm start -d /dev/ttyS1
+			px4io start
+		fi
+
+		if ver hwcmp PX4FMU_V4
+		then
+			# On Pixracer use Telem 2 port (TL2).
+			snapdragon_rc_pwm start -d /dev/ttyS2
+			fmu mode_pwm4 $FMU_ARGS
+		fi
+
+		pwm failsafe -c 1234 -p 900
+		pwm disarmed -c 1234 -p 900
+
+		# Arm straightaway.
+		pwm arm
+		# Use 400 Hz PWM on all channels.
+		pwm rate -a -r 400
+	fi
+
 	unset MIXER
 	unset MAV_TYPE
 	unset OUTPUT_MODE
@ -987,8 +1021,6 @@ fi
 		fi
 	fi

-	sh /etc/init.d/rc.logging
-
 # End of autostart
 fi

--- a/ROMFS/px4fmu_common/mixers/AAERTWF.main.mix
+++ b/ROMFS/px4fmu_common/mixers/AAERTWF.main.mix
@ -19,10 +19,12 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
 S: 0 6  10000  10000      0 -10000  10000

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
 S: 0 6 -10000 -10000      0 -10000  10000

@ -36,6 +38,7 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.

 M: 1
+O:       10000   10000      0 -10000  10000
 S: 0 1  -10000  -10000      0 -10000  10000

 Rudder mixer
@ -48,6 +51,7 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000

 Motor speed mixer
@ -58,6 +62,7 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

 Wheel mixer
@ -70,6 +75,7 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000


@ -78,10 +84,13 @@ using the payload control group
 -----------------------------------------------------

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 4  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 2 0  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 2 2  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix
+++ b/ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix
@ -20,10 +20,12 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
 S: 0 6  10000  10000      0 -10000  10000

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
 S: 0 6 -10000 -10000      0 -10000  10000

@ -35,10 +37,12 @@ On the assumption that the two tail servos are physically reversed, the pitch
 input is inverted between the two servos.

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 2  -7000  -7000      0 -10000  10000
 S: 0 1  -8000  -8000      0 -10000  10000

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 2  -7000  -7000      0 -10000  10000
 S: 0 1   8000   8000      0 -10000  10000

@ -50,6 +54,7 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

 Wheel mixer
@ -62,6 +67,7 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 2 -10000 -10000      0 -10000  10000

 Flaps mixer
@ -69,8 +75,10 @@ Flaps mixer
 Flap servos are physically reversed.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 4      0   5000 -10000 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 4      0  -5000  10000 -10000  10000

--- a/ROMFS/px4fmu_common/mixers/AERT.main.mix
+++ b/ROMFS/px4fmu_common/mixers/AERT.main.mix
@ -1,76 +0,0 @@
-Aileron/rudder/elevator/throttle mixer for PX4FMU
-==================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
-assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
-elevator to output 1, the rudder to output 2 and the throttle to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-CH1: Aileron mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-As there is only one output, if using two servos adjustments to compensate for
-differences between the servos must be made mechanically.  To obtain the correct
-motion using a Y  cable, the servos can be positioned reversed from one another.
-
-M: 1
-S: 0 0  10000  10000      0 -10000  10000
-
-CH2: Elevator mixer
------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 1  -10000  -10000      0 -10000  10000
-
-CH3: Rudder mixer
------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-CH4: Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-CH5: Flaps mixer
------------
-Flaps are controlled automatically in position control and auto
-but can also be controlled manually
-
-M: 1
-O: 5000 10000 0 -10000 10000
-S: 0 4 10000 10000 0 -10000 10000
-
-Ch6: Landing gear mixer
------------
-By default pass-through of gear switch
-
-M: 1
-S: 3 5 10000 10000 0 -10000 10000
--- a/ROMFS/px4fmu_common/mixers/AETRFG.main.mix
+++ b/ROMFS/px4fmu_common/mixers/AETRFG.main.mix
@ -23,6 +23,7 @@ differences between the servos must be made mechanically.  To obtain the correct
 motion using a Y  cable, the servos can be positioned reversed from one another.

 M: 1
+O:       10000   10000      0  -10000  10000
 S: 0 0   10000   10000      0  -10000  10000

 CH2: Elevator mixer
@ -35,6 +36,7 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.

 M: 1
+O:       10000   10000      0  -10000  10000
 S: 0 1  -10000  -10000      0  -10000  10000

 CH3: Motor speed mixer
@ -45,6 +47,7 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.

 M: 1
+O:       10000  10000       0  -10000  10000
 S: 0 3       0  20000  -10000  -10000  10000

 CH4: Rudder mixer
@ -57,6 +60,7 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.

 M: 1
+O:       10000  10000       0  -10000  10000
 S: 0 2   10000  10000       0  -10000  10000

 CH5: Flaps mixer
@ -73,4 +77,5 @@ CH6: Landing gear mixer
 By default pass-through of gear switch

 M: 1
+O:        10000 10000       0  -10000  10000
 S: 3 5    10000 10000       0  -10000  10000
--- a/ROMFS/px4fmu_common/mixers/CCPM.main.mix
+++ b/ROMFS/px4fmu_common/mixers/CCPM.main.mix
@ -8,6 +8,7 @@ Output 0 - Rear Servo Mixer
 Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 3  10000  10000      0 -10000  10000
 S: 0 1  10000  10000      0 -10000  10000

@ -17,6 +18,7 @@ Output 1 - Left Servo Mixer
 Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0)

 M: 3
+O:       10000   10000      0 -10000  10000
 S: 0 3  -10000  -10000      0 -10000  10000
 S: 0 1   -5000   -5000      0 -10000  10000
 S: 0 0    8660    8660      0 -10000  10000
@ -28,6 +30,7 @@ Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Ail


 M: 3
+O:       10000   10000      0 -10000  10000
 S: 0 3  -10000  -10000      0 -10000  10000
 S: 0 1   -5000   -5000      0 -10000  10000
 S: 0 0   -8660   -8660      0 -10000  10000
@ -37,6 +40,7 @@ Output 3 - Tail Servo Mixer
 Tail Servo = Yaw (control index = 2)

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000


@ -45,4 +49,5 @@ Output 4 - Motor speed mixer
 This would be the motor speed control output from governor power demand- not sure what index to use here?

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 4      0  20000 -10000 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/mixers/CMakeLists.txt
@ -1,90 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 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(
-	AAERTWF.main.mix
-	AAVVTWFF.main.mix
-	AERT.main.mix
-	AETRFG.main.mix
-	bebop.main.mix
-	blade130.main.mix
-	caipi.main.mix
-	caipirinha_vtol.main.mix
-	CCPM.main.mix
-	claire.aux.mix
-	claire.main.mix
-	coax.main.mix
-	delta.main.mix
-	deltaquad.main.mix
-	dodeca_bottom_cox.aux.mix
-	dodeca_top_cox.main.mix
-	firefly6.aux.mix
-	firefly6.main.mix
-	FMU_pass.mix
-	fw_generic_wing.main.mix
-	FX79.main.mix
-	hexa_cox.main.mix
-	hexa_+.main.mix
-	hexa_x.main.mix
-	IO_pass.main.mix
-	mount.aux.mix
-	mount_legs.aux.mix
-	ocpoc_quad_x.main.mix
-	octo_cox.main.mix
-	octo_cox_w.main.mix
-	octo_+.main.mix
-	octo_x.main.mix
-	pass.aux.mix
-	phantom.main.mix
-	quad_dc.main.mix
-	quad_h.main.mix
-	quad_+.main.mix
-	quad_s250aq.main.mix
-	quad_+_vtol.main.mix
-	quad_w.main.mix
-	quad_x_can.main.mix
-	quad_x.main.mix
-	quad_x_vtol.main.mix
-	quad_x_vtol_sim.main.mix
-	stampede.main.mix
-	tri_y_yaw-.main.mix
-	tri_y_yaw+.main.mix
-	ugv_generic.main.mix
-	Viper.main.mix
-	vtol_AAERT.aux.mix
-	vtol_AAVVT.aux.mix
-	vtol_convergence.main.mix
-	vtol_delta.aux.mix
-	wingwing.main.mix
-	zmr250.main.mix
-)
--- a/ROMFS/px4fmu_common/mixers/FMU_pass.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_pass.mix
@ -6,14 +6,18 @@ This file defines passthrough mixers suitable for testing.
 Channel group 0, channels 0-3 are passed directly through to the outputs.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 1  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 3  10000  10000      0 -10000  10000

--- a/ROMFS/px4fmu_common/mixers/FX79.main.mix
+++ b/ROMFS/px4fmu_common/mixers/FX79.main.mix
@ -26,10 +26,12 @@ The scaling factor for roll inputs is adjusted to implement differential travel
 for the elevons.

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0   8500   8500      0 -10000  10000
 S: 0 1   9500   9500      0 -10000  10000

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0   8500   8500      0 -10000  10000
 S: 0 1  -9500  -9500      0 -10000  10000

@ -47,4 +49,5 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/IO_pass.main.mix
+++ b/ROMFS/px4fmu_common/mixers/IO_pass.main.mix
@ -6,25 +6,33 @@ This file defines passthrough mixers suitable for testing.
 Channel group 0, channels 0-7 are passed directly through to the outputs.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 1  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 3  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 4  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 5  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 6  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 7  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/Viper.main.mix
+++ b/ROMFS/px4fmu_common/mixers/Viper.main.mix
@ -26,10 +26,12 @@ The scaling factor for roll inputs is adjusted to implement differential travel
 for the elevons.

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0   7500   7500      0 -10000  10000
 S: 0 1   8000   8000      0 -10000  10000

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0   7500   7500      0 -10000  10000
 S: 0 1  -8000  -8000      0 -10000  10000

@ -47,6 +49,7 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

 Inputs to the mixer come from channel group 2 (payload), channels 0
@ -54,12 +57,15 @@ Inputs to the mixer come from channel group 2 (payload), channels 0
 -----------------------------------------------------

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 2 0  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 2 1  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 2 2  -8000  -8000      0 -10000  10000


--- a/ROMFS/px4fmu_common/mixers/blade130.main.mix
+++ b/ROMFS/px4fmu_common/mixers/blade130.main.mix
@ -12,4 +12,5 @@ S:    220  13054  10000      0  -8000   8000

 # Tail servo:
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/caipi.main.mix
+++ b/ROMFS/px4fmu_common/mixers/caipi.main.mix
@ -24,10 +24,12 @@ The scaling factor for roll inputs is adjusted to implement differential travel
 for the elevons.

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0   8000   8000      0 -10000  10000
 S: 0 1   9000   9000      0 -10000  10000

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0   8000   8000      0 -10000  10000
 S: 0 1  -9000  -9000      0 -10000  10000

@ -45,4 +47,5 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/claire.aux.mix
+++ b/ROMFS/px4fmu_common/mixers/claire.aux.mix
@ -9,6 +9,7 @@ Tilt mechanism servo mixer

 M: 1

+O:      10000  10000      0 -10000  10000

 S: 1 4  10000  10000      0 -10000  10000

@ -20,9 +21,11 @@ Elevon mixers

 M: 2

+O:      10000  10000      0 -10000  10000
 S: 1 0  -7500  -7500      0 -10000  10000
 S: 1 1   7500   7500      0 -10000  10000

 M: 2
+O:       10000   10000    0 -10000  10000
 S: 1 0   -7500   -7500    0 -10000  10000
 S: 1 1   -7500   -7500    0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/coax.main.mix
+++ b/ROMFS/px4fmu_common/mixers/coax.main.mix
@ -7,17 +7,20 @@ Coaxial helicopter mixer
 Left swashplate servomotor, pitch axis
 -------------
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 1  -10000  -10000      0 -10000  10000

 Right swashplate servomotor, roll axis
 -------------
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000

 Upper rotor (CCW)
 Mixing between yaw and thrust
 -------------
 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

@ -25,5 +28,6 @@ Lower rotor (CW)
 Mixing between yaw and thrust
 -------------
 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 2  -10000  -10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/delta.main.mix
+++ b/ROMFS/px4fmu_common/mixers/delta.main.mix
@ -22,10 +22,12 @@ The scaling factor for roll inputs is adjusted to implement differential travel
 for the elevons.

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0   3000   5000      0 -10000  10000
 S: 0 1   5000   5000      0 -10000  10000

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0   5000   3000      0 -10000  10000
 S: 0 1  -5000  -5000      0 -10000  10000

@ -43,4 +45,5 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/deltaquad.main.mix
+++ b/ROMFS/px4fmu_common/mixers/deltaquad.main.mix
@ -18,6 +18,7 @@ input is inverted between the two servos.
 -------------

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 1 0  -8000  -8000      0 -10000  10000
 S: 1 1   8000   8000      0 -10000  10000

@ -25,6 +26,7 @@ S: 1 1   8000   8000      0 -10000  10000
 -------------

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 1 0  -8000  -8000      0 -10000  10000
 S: 1 1  -8000  -8000      0 -10000  10000

@ -37,10 +39,12 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 1 3      0  20000 -10000 -10000  10000

 8: Reverse thrust (brake) mixer
 -----------------

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 1 6      0  20000 -9000 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/firefly6.aux.mix
+++ b/ROMFS/px4fmu_common/mixers/firefly6.aux.mix
@ -4,19 +4,23 @@
 Tilt mechanism servo mixer
 ---------------------------
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 1 4      0  20000 -10000 -10000  10000

 Elevon mixers
 -------------
 M: 2
+O:      10000  10000      0 -10000  10000
 S: 1 0  -7500  -7500      0 -10000  10000
 S: 1 1   8000   8000      0 -10000  10000

 M: 2
+O:       10000   10000    0 -10000  10000
 S: 1 0   -7500   -7500    0 -10000  10000
 S: 1 1   -8000   -8000    0 -10000  10000

 Landing gear mixer
 ------------------
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 3 6  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/fw_generic_wing.main.mix
+++ b/ROMFS/px4fmu_common/mixers/fw_generic_wing.main.mix
@ -22,10 +22,12 @@ The scaling factor for roll inputs is adjusted to implement differential travel
 for the elevons.

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0  -8000  -8000      0 -10000  10000
 S: 0 1   6000   6000      0 -10000  10000

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0  -8000  -8000      0 -10000  10000
 S: 0 1  -6000  -6000      0 -10000  10000

@ -43,4 +45,5 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/mount.aux.mix
+++ b/ROMFS/px4fmu_common/mixers/mount.aux.mix
@ -3,17 +3,21 @@

 # pitch
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 2 1  10000  10000      0 -10000  10000

 # roll
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 2 0  10000  10000      0 -10000  10000

 # yaw
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 2 2  10000  10000      0 -10000  10000

 # Shutter/retract
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 2 3  10000  10000      0 -10000  10000

--- a/ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
+++ b/ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
@ -1,22 +1,27 @@

 # Roll channel for mount
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 2 0  10000  10000      0 -10000  10000

 # Pitch channel for mount
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 2 1  10000  10000      0 -10000  10000

 # Yaw channel for mount
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 2 2  10000  10000      0 -10000  10000


 # mixer for left leg
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 7      0  20000 -10000 -10000  10000

 # mixer for right leg
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 7      0  20000 -10000 -10000  10000

--- a/ROMFS/px4fmu_common/mixers/pass.aux.mix
+++ b/ROMFS/px4fmu_common/mixers/pass.aux.mix
@ -2,16 +2,20 @@

 # AUX1 channel (select RC channel with RC_MAP_AUX1 param)
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 3 5  10000  10000      0 -10000  10000

 # AUX2 channel (select RC channel with RC_MAP_AUX2 param)
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 3 6  10000  10000      0 -10000  10000

 # AUX3 channel (select RC channel with RC_MAP_AUX3 param)
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 3 7  10000  10000      0 -10000  10000

 # FLAPS channel (select RC channel with RC_MAP_FLAPS param)
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 3 4  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/phantom.main.mix
+++ b/ROMFS/px4fmu_common/mixers/phantom.main.mix
@ -21,10 +21,12 @@ input is inverted between the two servos.
 The scaling factor are set so that pitch will have more travel than roll.

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0  -6000  -6000      0 -10000  10000
 S: 0 1   6500   6500      0 -10000  10000

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0  -6000  -6000      0 -10000  10000
 S: 0 1  -6500  -6500      0 -10000  10000

@ -42,4 +44,5 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/quad_+.main.mix
+++ b/ROMFS/px4fmu_common/mixers/quad_+.main.mix
@ -10,7 +10,9 @@ Gimbal / payload mixer for last two channels
 -----------------------------------------------------

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 3 5  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 3 6  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/quad_+_vtol.main.mix
+++ b/ROMFS/px4fmu_common/mixers/quad_+_vtol.main.mix
@ -8,17 +8,21 @@ R: 4+ 10000 10000 10000 0

 # mixer for the elevons
 M: 2
+O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000
 S: 1 1  10000  10000      0 -10000  10000

 M: 2
+O:       10000   10000    0 -10000  10000
 S: 1 0   10000   10000    0 -10000  10000
 S: 1 1  -10000  -10000    0 -10000  10000

 # mixer for canard surface
 M: 1
+O:       10000   10000    0 -10000  10000
 S: 1 1  -10000  -10000    0 -10000  10000

 # mixer for rudder
 M: 1
+O:       10000   10000    0 -10000  10000
 S: 1 2  -10000  -10000    0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/quad_h.main.mix
+++ b/ROMFS/px4fmu_common/mixers/quad_h.main.mix
@ -10,7 +10,9 @@ Gimbal / payload mixer for last two channels
 -----------------------------------------------------

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 3 5  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 3 6  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/quad_s250aq.main.mix
+++ b/ROMFS/px4fmu_common/mixers/quad_s250aq.main.mix
@ -1,5 +1,7 @@
 R: 4s 10000 10000 10000 0
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 3 5  10000  10000      0 -10000  10000
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 3 6  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/quad_w.main.mix
+++ b/ROMFS/px4fmu_common/mixers/quad_w.main.mix
@ -9,7 +9,9 @@ Gimbal / payload mixer for last two channels
 -----------------------------------------------------

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 3 5  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 3 6  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/quad_x.main.mix
+++ b/ROMFS/px4fmu_common/mixers/quad_x.main.mix
@ -1,5 +1,7 @@
 R: 4x 10000 10000 10000 0
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 3 5  10000  10000      0 -10000  10000
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 3 6  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
+++ b/ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
@ -10,14 +10,17 @@ Z:

 # left elevon
 M: 2
+O:      10000  10000      0 -10000  10000
 S: 1 0  5000  5000      0 -10000  10000
 S: 1 1  5000  5000      0 -10000  10000

 # right elevon
 M: 2
+O:       10000   10000    0 -10000  10000
 S: 1 0   5000   5000    0 -10000  10000
 S: 1 1  -5000  -5000    0 -10000  10000

 # mixer for the virtual elevator
 M: 1
+O:       10000   10000   0 -10000  10000
 S: 1 1   10000   10000    0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/quad_x_vtol_sim.main.mix
+++ b/ROMFS/px4fmu_common/mixers/quad_x_vtol_sim.main.mix
@ -1,18 +0,0 @@
-Mixer for the gazebo tailsitter model
-=====================================
-
-R: 4x 10000 10000 10000 0
-
-Z:
-
-# left elevon
-M: 1
-S: 1 0  10000  10000      0 -10000  10000
-
-# right elevon
-M: 1
-S: 1 0   -10000   -10000    0 -10000  10000
-
-# mixer for the virtual elevator
-M: 1
-S: 1 1   -10000   -10000    0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/stampede.main.mix
+++ b/ROMFS/px4fmu_common/mixers/stampede.main.mix
@ -20,6 +20,7 @@ Z:
 Steering mixer using roll on output 1
 ---------------------------------------
 M: 1
+O:       10000   10000      0 -10000  10000
 S: 0 2   10000   10000      0 -10000  10000


@ -32,4 +33,5 @@ Z:
 Output 3
 ---------------------------------------
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 3  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/tri_y_yaw+.main.mix
+++ b/ROMFS/px4fmu_common/mixers/tri_y_yaw+.main.mix
@ -8,4 +8,5 @@ R: 3y 10000 10000 10000 0

 # Yaw Servo
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 2  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/tri_y_yaw-.main.mix
+++ b/ROMFS/px4fmu_common/mixers/tri_y_yaw-.main.mix
@ -8,5 +8,6 @@ R: 3y 10000 10000 10000 0

 # Yaw Servo
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 2 -10000 -10000      0 -10000  10000

--- a/ROMFS/px4fmu_common/mixers/ugv_generic.main.mix
+++ b/ROMFS/px4fmu_common/mixers/ugv_generic.main.mix
@ -20,6 +20,7 @@ Z:
 Steering mixer using roll on output 1
 ---------------------------------------
 M: 1
+O:       10000   10000      0 -10000  10000
 S: 0 2   10000   10000      0 -10000  10000


@ -32,4 +33,5 @@ Z:
 Output 3
 ---------------------------------------
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 3  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/vtol_AAERT.aux.mix
+++ b/ROMFS/px4fmu_common/mixers/vtol_AAERT.aux.mix
@ -4,24 +4,29 @@ Mixer for an AAERT VTOL
 Aileron 1 mixer
 ---------------
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 1 0  -7500  -7500      0 -10000  10000

 Aileron 2 mixer
 ---------------
 M: 1
+O:       10000   10000    0 -10000  10000
 S: 1 0   -7500   -7500    0 -10000  10000

 Elevator mixer
 --------------
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 1 1  10000  10000      0 -10000  10000

 Rudder mixer
 ------------
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 1 2 -10000 -10000      0 -10000  10000

 Throttle mixer
 --------------
 M: 1
+O:      10000  10000      0 -10000  10000
 S: 1 3      0  20000 -10000 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix
+++ b/ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix
@ -19,10 +19,12 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000
 S: 1 6  10000  10000      0 -10000  10000

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000
 S: 1 6 -10000 -10000      0 -10000  10000

@ -35,10 +37,12 @@ On the assumption that the two tail servos are physically reversed, the pitch
 input is inverted between the two servos.

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 1 2  -7000  -7000      0 -10000  10000
 S: 1 1  -8000  -8000      0 -10000  10000

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 1 2  -7000  -7000      0 -10000  10000
 S: 1 1   8000   8000      0 -10000  10000

@ -50,5 +54,6 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 1 3      0  20000 -10000 -10000  10000

--- a/ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix
+++ b/ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix
@ -9,20 +9,24 @@ Tilt mechanism servo mixer
 ---------------------------
 #RIGHT up:2000 down:1000
 M: 2
+O:      10000  10000      0 -10000  10000
 S: 1 4      0 -20000  10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000

 #LEFT up:1000 down:2000
 M: 2
+O:      10000  10000      0 -10000  10000
 S: 1 4      0  20000 -10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000

 Elevon mixers
 -------------
 M: 2
+O:      10000  10000      0 -10000  10000
 S: 1 0  -7500  -7500      0 -10000  10000
 S: 1 1   8000   8000      0 -10000  10000

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 1 0  -7500  -7500      0 -10000  10000
 S: 1 1  -8000  -8000      0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix
+++ b/ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix
@ -18,10 +18,12 @@ On the assumption that the two elevon servos are physically reversed, the pitch
 input is inverted between the two servos.

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 1 0  -8000  -8000      0 -10000  10000
 S: 1 1   8000   8000      0 -10000  10000

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 1 0  -8000  -8000      0 -10000  10000
 S: 1 1  -8000  -8000      0 -10000  10000

@ -33,6 +35,7 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 1 3      0  20000 -10000 -10000  10000


@ -40,6 +43,7 @@ Reverse thrust (brake) mixer
 -----------------

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 1 6      0  20000 -10000 -10000  10000


@ -48,4 +52,5 @@ Aux1 mixer
 This is actuated on the AUX5 port

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 3 5  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/wingwing.main.mix
+++ b/ROMFS/px4fmu_common/mixers/wingwing.main.mix
@ -24,10 +24,12 @@ The scaling factor for roll inputs is adjusted to implement differential travel
 for the elevons.

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0  -6000  -6000      0 -10000  10000
 S: 0 1   6500   6500      0 -10000  10000

 M: 2
+O:      10000  10000      0 -10000  10000
 S: 0 0  -6000  -6000      0 -10000  10000
 S: 0 1  -6500  -6500      0 -10000  10000

@ -45,4 +47,5 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
 range.  Inputs below zero are treated as zero.

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
--- a/ROMFS/px4fmu_common/mixers/zmr250.main.mix
+++ b/ROMFS/px4fmu_common/mixers/zmr250.main.mix
@ -5,7 +5,9 @@
 R: 4x 7654 10000 10000 0

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 4  10000  10000      0 -10000  10000

 M: 1
+O:      10000  10000      0 -10000  10000
 S: 0 5  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_test/CMakeLists.txt
+++ b/ROMFS/px4fmu_test/CMakeLists.txt
@ -1,36 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 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)
-add_subdirectory(mixers)
-add_subdirectory(unit_test_data)
--- a/ROMFS/px4fmu_test/init.d/CMakeLists.txt
+++ b/ROMFS/px4fmu_test/init.d/CMakeLists.txt
@ -1,38 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 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
-	rc.sensors
-	rc.standalone
-	)
--- a/ROMFS/px4fmu_test/init.d/rcS
+++ b/ROMFS/px4fmu_test/init.d/rcS
@ -2,7 +2,6 @@
 #
 # PX4FMU startup script for test hackery.
 #
-set +e
 set unit_test_failure 0

 uorb start
--- a/ROMFS/px4fmu_test/mixers/AAERTWF.main.mix
+++ b/ROMFS/px4fmu_test/mixers/AAERTWF.main.mix
@ -1,96 +0,0 @@
-Aileron/rudder/elevator/throttle/wheel/flaps mixer for PX4FMU
-=======================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU.
-The configuration assumes the aileron servo(s) are connected to PX4FMU servo
-output 0 and 1, the elevator to output 2, the rudder to output 3, the throttle
-to output 4 and the wheel to output 5.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
-
-Aileron mixer (roll + flaperon)
---------------------------------
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
-
-Elevator mixer
------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Rudder mixer
------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
-
-Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-Wheel mixer
------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the wheel servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
-
-
-Flaps / gimbal / payload mixer for last three channels,
-using the payload control group
-----------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 0  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 2  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_test/mixers/AAVVTWFF.main.mix
+++ b/ROMFS/px4fmu_test/mixers/AAVVTWFF.main.mix
@ -1,84 +0,0 @@
-Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
-=======================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
-using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU servo
-output 0 and 1, the tail servos to output 2 and 3, the throttle
-to output 4, the wheel to output 5 and the flaps to output 6 and 7.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
-
-Aileron mixer (roll + flaperon)
---------------------------------
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
-
-V-tail mixers
-------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two tail servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 2  -7000  -7000      0 -10000  10000
-S: 0 1  -8000  -8000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 2  -7000  -7000      0 -10000  10000
-S: 0 1   8000   8000      0 -10000  10000
-
-Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-Wheel mixer
------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the wheel servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2 -10000 -10000      0 -10000  10000
-
-Flaps mixer
------------
-Flap servos are physically reversed.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4      0   5000 -10000 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4      0  -5000  10000 -10000  10000
-
--- a/ROMFS/px4fmu_test/mixers/AERT.main.mix
+++ b/ROMFS/px4fmu_test/mixers/AERT.main.mix
@ -1,81 +0,0 @@
-Aileron/rudder/elevator/throttle mixer for PX4FMU
-==================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
-assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
-elevator to output 1, the rudder to output 2 and the throttle to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-CH1: Aileron mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-As there is only one output, if using two servos adjustments to compensate for
-differences between the servos must be made mechanically.  To obtain the correct
-motion using a Y  cable, the servos can be positioned reversed from one another.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0  10000  10000      0 -10000  10000
-
-CH2: Elevator mixer
------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1  -10000  -10000      0 -10000  10000
-
-CH3: Rudder mixer
------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
-
-CH4: Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-CH5: Flaps mixer
------------
-Flaps are controlled automatically in position control and auto
-but can also be controlled manually
-
-M: 1
-O: 5000 10000 0 -10000 10000
-S: 0 4 10000 10000 0 -10000 10000
-
-Ch6: Landing gear mixer
------------
-By default pass-through of gear switch
-
-M: 1
-O: 10000 10000 0 -10000 10000
-S: 3 5 10000 10000 0 -10000 10000
--- a/ROMFS/px4fmu_test/mixers/AETRFG.main.mix
+++ b/ROMFS/px4fmu_test/mixers/AETRFG.main.mix
@ -1,81 +0,0 @@
-Aileron/Elevator/Throttle/Rudder/Gear/Flaps mixer
-==================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, rudder, elevator, throttle, gear, flaps controls. The configuration
-assumes the aileron servo(s) are connected to output 0, the elevator to
-output 1, the throttle to output 2 and the rudder to output 3.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (thrust), 3 (yaw), 4 (flaps), 7 (landing gear)
-
-CH1: Aileron mixer
-------------
-Two scalers total (output, roll).
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-As there is only one output, if using two servos adjustments to compensate for
-differences between the servos must be made mechanically.  To obtain the correct
-motion using a Y  cable, the servos can be positioned reversed from one another.
-
-M: 1
-O:       10000   10000      0  -10000  10000
-S: 0 0   10000   10000      0  -10000  10000
-
-CH2: Elevator mixer
------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000   10000      0  -10000  10000
-S: 0 1  -10000  -10000      0  -10000  10000
-
-CH3: Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:       10000  10000       0  -10000  10000
-S: 0 3       0  20000  -10000  -10000  10000
-
-CH4: Rudder mixer
------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000  10000       0  -10000  10000
-S: 0 2   10000  10000       0  -10000  10000
-
-CH5: Flaps mixer
------------
-Flaps are controlled automatically in position control and auto
-but can also be controlled manually
-
-M: 1
-O:        5000  10000       0  -10000  10000
-S: 0 4   10000  10000       0  -10000  10000
-
-CH6: Landing gear mixer
------------
-By default pass-through of gear switch
-
-M: 1
-O:        10000 10000       0  -10000  10000
-S: 3 5    10000 10000       0  -10000  10000
--- a/ROMFS/px4fmu_test/mixers/CMakeLists.txt
+++ b/ROMFS/px4fmu_test/mixers/CMakeLists.txt
@ -1,53 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 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(
-	AAERTWF.main.mix
-	AAVVTWFF.main.mix
-	AERT.main.mix
-	AETRFG.main.mix
-	complex_test.mix
-	hexa_x.main.mix
-	IO_pass.mix
-	octo_x.main.mix
-	pass.aux.mix
-	quad_+.main.mix
-	quad_test.mix
-	quad_+_vtol.main.mix
-	ugv_generic.main.mix
-	vtol1_test.mix
-	vtol2_test.mix
-	vtol_AAERT.aux.mix
-	vtol_AAVVT.aux.mix
-	vtol_convergence.main.mix
-	)
--- a/ROMFS/px4fmu_test/mixers/hexa_x.main.mix
+++ b/ROMFS/px4fmu_test/mixers/hexa_x.main.mix
@ -1,4 +0,0 @@
-# Hexa X
-
-R: 6x 10000 10000 10000 0
-
--- a/ROMFS/px4fmu_test/mixers/octo_x.main.mix
+++ b/ROMFS/px4fmu_test/mixers/octo_x.main.mix
@ -1,3 +0,0 @@
-# Octo X
-
-R: 8x 10000 10000 10000 0
--- a/ROMFS/px4fmu_test/mixers/pass.aux.mix
+++ b/ROMFS/px4fmu_test/mixers/pass.aux.mix
@ -1,21 +0,0 @@
-# Manual pass through mixer for servo outputs 1-4
-
-# AUX1 channel (select RC channel with RC_MAP_AUX1 param)
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
-
-# AUX2 channel (select RC channel with RC_MAP_AUX2 param)
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
-
-# AUX3 channel (select RC channel with RC_MAP_AUX3 param)
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 7  10000  10000      0 -10000  10000
-
-# FLAPS channel (select RC channel with RC_MAP_FLAPS param)
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 4  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_test/mixers/quad_+.main.mix
+++ b/ROMFS/px4fmu_test/mixers/quad_+.main.mix
@ -1,18 +0,0 @@
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a quadrotor in the + configuration. All controls
-are mixed 100%.
-
-R: 4+ 10000 10000 10000 0
-
-Gimbal / payload mixer for last two channels
-----------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_test/mixers/quad_+_vtol.main.mix
+++ b/ROMFS/px4fmu_test/mixers/quad_+_vtol.main.mix
@ -1,28 +0,0 @@
-Mixer for Tailsitter with + motor configuration and elevons
-===========================================================
-
-This file defines a single mixer for tailsitter with motors in X configuration.  All controls
-are mixed 100%.
-
-R: 4+ 10000 10000 10000 0
-
-# mixer for the elevons
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  10000  10000      0 -10000  10000
-S: 1 1  10000  10000      0 -10000  10000
-
-M: 2
-O:       10000   10000    0 -10000  10000
-S: 1 0   10000   10000    0 -10000  10000
-S: 1 1  -10000  -10000    0 -10000  10000
-
-# mixer for canard surface
-M: 1
-O:       10000   10000    0 -10000  10000
-S: 1 1  -10000  -10000    0 -10000  10000
-
-# mixer for rudder
-M: 1
-O:       10000   10000    0 -10000  10000
-S: 1 2  -10000  -10000    0 -10000  10000
--- a/ROMFS/px4fmu_test/mixers/ugv_generic.main.mix
+++ b/ROMFS/px4fmu_test/mixers/ugv_generic.main.mix
@ -1,37 +0,0 @@
-Generic car mixer (eg Traxxas Stampede RC Car)
-===========================
-
-Designed for Traxxas Stampede
-
-This file defines mixers suitable for controlling a Traxxas Stampede rover using
-PX4FMU. The configuration assumes the steering is connected to PX4FMU
-servo outputs  1 and the motor speed control to output 3. Output 0 and 2 is
-assumed to be unused.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-
-Output 0
---------------------------------------
-Z:
-
-Steering mixer using roll on output 1
---------------------------------------
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 2   10000   10000      0 -10000  10000
-
-
-Output 2
---------------------------------------
-This mixer is empty.
-Z:
-
-
-Output 3
---------------------------------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
--- a/ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
+++ b/ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
@ -0,0 +1,24 @@
+M: 4
+O:       10000   10000     0 -10000  10000
+S: 0 0  -10000  -10000     0 -10000  10000
+S: 0 1  -10000  -10000     0 -10000  10000
+S: 0 2  +10000  +10000     0 -10000  10000
+S: 0 3  +10000  +10000     0 -10000  10000
+M: 4
+O:       10000   10000     0 -10000  10000
+S: 0 0  +10000  +10000     0 -10000  10000
+S: 0 1  -10000  -10000     0 -10000  10000
+S: 0 2  -10000  -10000     0 -10000  10000
+S: 0 3  +10000  +10000     0 -10000  10000
+M: 4
+O:       10000   10000     0 -10000  10000
+S: 0 0  -10000  -10000     0 -10000  10000
+S: 0 1  +10000  +10000     0 -10000  10000
+S: 0 2  -10000  -10000     0 -10000  10000
+S: 0 3  +10000  +10000     0 -10000  10000
+M: 4
+O:       10000   10000     0 -10000  10000
+S: 0 0  +10000  +10000     0 -10000  10000
+S: 0 1  +10000  +10000     0 -10000  10000
+S: 0 2  +10000  +10000     0 -10000  10000
+S: 0 3  +10000  +10000     0 -10000  10000
--- a/ROMFS/px4fmu_test/mixers/vtol_AAERT.aux.mix
+++ b/ROMFS/px4fmu_test/mixers/vtol_AAERT.aux.mix
@ -1,32 +0,0 @@
-Mixer for an AAERT VTOL
-=======================
-
-Aileron 1 mixer
---------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 0  -7500  -7500      0 -10000  10000
-
-Aileron 2 mixer
---------------
-M: 1
-O:       10000   10000    0 -10000  10000
-S: 1 0   -7500   -7500    0 -10000  10000
-
-Elevator mixer
--------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 1  10000  10000      0 -10000  10000
-
-Rudder mixer
------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 2 -10000 -10000      0 -10000  10000
-
-Throttle mixer
--------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 3      0  20000 -10000 -10000  10000
--- a/ROMFS/px4fmu_test/mixers/vtol_AAVVT.aux.mix
+++ b/ROMFS/px4fmu_test/mixers/vtol_AAVVT.aux.mix
@ -1,59 +0,0 @@
-Aileron/v-tail/throttle VTOL mixer for PX4FMU
-=======================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU 
-AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
-to output 4.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
-
-Aileron mixer (roll + flaperon)
---------------------------------
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  10000  10000      0 -10000  10000
-S: 1 6  10000  10000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  10000  10000      0 -10000  10000
-S: 1 6 -10000 -10000      0 -10000  10000
-
-
-V-tail mixers
-------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two tail servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 2  -7000  -7000      0 -10000  10000
-S: 1 1  -8000  -8000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 2  -7000  -7000      0 -10000  10000
-S: 1 1   8000   8000      0 -10000  10000
-
-Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 1 3      0  20000 -10000 -10000  10000
-
--- a/ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix
+++ b/ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix
@ -1,32 +0,0 @@
-# E-flite Convergence Tricopter Y-Configuration Mixer
-
-# Motors
-R: 3y 10000 10000 10000 0
-
-Z:
-
-Tilt mechanism servo mixer
---------------------------
-#RIGHT up:2000 down:1000
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 4      0 -20000  10000 -10000  10000
-S: 0 2   8000   8000      0 -10000  10000
-
-#LEFT up:1000 down:2000
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
-S: 0 2   8000   8000      0 -10000  10000
-
-Elevon mixers
-------------
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  -7500  -7500      0 -10000  10000
-S: 1 1   8000   8000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0  -7500  -7500      0 -10000  10000
-S: 1 1  -8000  -8000      0 -10000  10000
--- a/Show More
+++ b/Show More