.ci/Jenkinsfile-SITL_tests

@@ -1,160 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-
-  stages {
-
-    stage('Build') {
-      agent {
-        docker {
-          image 'px4io/px4-dev-ros-kinetic:2019-03-08'
-          args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-        }
-      }
-      steps {
-        sh 'export'
-        sh 'make distclean'
-        sh 'ccache -z'
-        sh 'git fetch --tags'
-        sh 'make px4_sitl_default'
-        sh 'make px4_sitl_default sitl_gazebo'
-        sh 'make px4_sitl_default package'
-        sh 'ccache -s'
-        stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
-        archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
-      }
-      post {
-        always {
-            sh 'make distclean'
-        }
-      }
-    } // stage Build
-
-    stage('ROS Tests') {
-      steps {
-        script {
-          def missions = [
-            [
-              name: "FW",
-              test: "mavros_posix_test_mission.test",
-              mission: "FW_mission_1",
-              vehicle: "plane"
-            ],
-
-            [
-              name: "MC_box",
-              test: "mavros_posix_test_mission.test",
-              mission: "MC_mission_box",
-              vehicle: "iris"
-            ],
-            [
-              name: "MC_offboard_att",
-              test: "mavros_posix_tests_offboard_attctl.test",
-              mission: "",
-              vehicle: "iris"
-            ],
-            [
-              name: "MC_offboard_pos",
-              test: "mavros_posix_tests_offboard_posctl.test",
-              mission: "",
-              vehicle: "iris"
-            ],
-
-            [
-              name: "VTOL_standard",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "standard_vtol"
-            ],
-            [
-              name: "VTOL_tailsitter",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "tailsitter"
-            ],
-            [
-              name: "VTOL_tiltrotor",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "tiltrotor"
-            ],
-            [
-              name: "MC_avoidance",
-              test: "mavros_posix_test_avoidance.test",
-              mission: "avoidance",
-              vehicle: "iris_obs_avoid",
-              run_script: "rostest_avoidance_run.sh"
-            ],
-
-          ]
-
-          def test_nodes = [:]
-          for (def i = 0; i < missions.size(); i++) {
-            test_nodes.put(missions[i].name, createTestNode(missions[i]))
-          }
-
-          parallel test_nodes
-        } // script
-      } // steps
-    } // stage ROS Tests
-
-  } //stages
-
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-  }
-
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
-    timeout(time: 60, unit: 'MINUTES')
-  }
-} // pipeline
-
-def createTestNode(Map test_def) {
-  return {
-    node {
-      cleanWs()
-      docker.image("px4io/px4-dev-ros-kinetic:2019-03-08").inside('-e HOME=${WORKSPACE}') {
-        stage(test_def.name) {
-          def run_script = test_def.get('run_script', 'rostest_px4_run.sh')
-          def test_ok = true
-          sh('export')
-
-          unstash('px4_sitl_package')
-          sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
-
-          // run test
-          try {
-            sh('px4-px4_sitl_default*/px4/test/' + run_script + ' ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
-
-          } catch (exc) {
-            // save all test artifacts for debugging
-            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
-            test_ok = false
-          }
-
-          // log analysis
-          // process ekf log data
-          try {
-            sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
-          } catch (exc) {
-            // save log analysis artifacts for debugging
-            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
-            // FIXME: don't let the script to fail the build
-            // test_ok = false
-          }
-
-          // upload log to flight review (https://logs.px4.io/)
-          sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
-
-          if (!test_ok) {
-            error('ROS Test failed')
-          }
-        } // stage
-        cleanWs()
-      } // docker.image
-    } // node
-  } // return
-} // createTestNode

.ci/Jenkinsfile-SITL_tests_ASan

@@ -1,153 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-
-  stages {
-
-    stage('Build') {
-      agent {
-        docker {
-          image 'px4io/px4-dev-ros-kinetic:2019-03-08'
-          args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-        }
-      }
-      steps {
-        sh 'export'
-        sh 'make distclean'
-        sh 'ccache -z'
-        sh 'git fetch --tags'
-        sh 'make px4_sitl_default'
-        sh 'make px4_sitl_default sitl_gazebo'
-        sh 'make px4_sitl_default package'
-        sh 'ccache -s'
-        stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
-        //archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
-      }
-      post {
-        always {
-            sh 'make distclean'
-        }
-      }
-    } // stage Build
-
-    stage('ROS Tests') {
-      steps {
-        script {
-          def missions = [
-            [
-              name: "FW",
-              test: "mavros_posix_test_mission.test",
-              mission: "FW_mission_1",
-              vehicle: "plane"
-            ],
-
-            [
-              name: "MC_box",
-              test: "mavros_posix_test_mission.test",
-              mission: "MC_mission_box",
-              vehicle: "iris"
-            ],
-            [
-              name: "MC_offboard_att",
-              test: "mavros_posix_tests_offboard_attctl.test",
-              mission: "",
-              vehicle: "iris"
-            ],
-            [
-              name: "MC_offboard_pos",
-              test: "mavros_posix_tests_offboard_posctl.test",
-              mission: "",
-              vehicle: "iris"
-            ],
-
-            [
-              name: "VTOL_standard",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "standard_vtol"
-            ],
-            [
-              name: "VTOL_tailsitter",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "tailsitter"
-            ],
-            [
-              name: "VTOL_tiltrotor",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "tiltrotor"
-            ],
-
-          ]
-
-          def test_nodes = [:]
-          for (def i = 0; i < missions.size(); i++) {
-            test_nodes.put(missions[i].name, createTestNode(missions[i]))
-          }
-
-          parallel test_nodes
-        } // script
-      } // steps
-    } // stage ROS Tests
-
-  } //stages
-
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-    PX4_CMAKE_BUILD_TYPE = 'AddressSanitizer'
-  }
-
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
-    timeout(time: 60, unit: 'MINUTES')
-  }
-} // pipeline
-
-def createTestNode(Map test_def) {
-  return {
-    node {
-      cleanWs()
-      docker.image("px4io/px4-dev-ros-kinetic:2019-03-08").inside('-e HOME=${WORKSPACE}') {
-        stage(test_def.name) {
-          def test_ok = true
-          sh('export')
-
-          unstash('px4_sitl_package')
-          sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
-
-          // run test
-          try {
-            sh('px4-px4_sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
-
-          } catch (exc) {
-            // save all test artifacts for debugging
-            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
-            test_ok = false
-          }
-
-          // log analysis
-          // process ekf log data
-          try {
-            sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
-          } catch (exc) {
-            // save log analysis artifacts for debugging
-            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
-            // FIXME: don't let the script to fail the build
-            // test_ok = false
-          }
-
-          // upload log to flight review (https://logs.px4.io/)
-          sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
-
-          if (!test_ok) {
-            error('ROS Test failed')
-          }
-        } // stage
-        cleanWs()
-      } // docker.image
-    } // node
-  } // return
-} // createTestNode

.ci/Jenkinsfile-SITL_tests_coverage

@@ -1,182 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-
-  stages {
-
-    stage('ROS Tests') {
-      steps {
-        script {
-          def missions = [
-            [
-              name: "FW",
-              test: "mavros_posix_test_mission.test",
-              mission: "FW_mission_1",
-              vehicle: "plane"
-            ],
-
-            [
-              name: "MC_box",
-              test: "mavros_posix_test_mission.test",
-              mission: "MC_mission_box",
-              vehicle: "iris"
-            ],
-            [
-              name: "MC_offboard_att",
-              test: "mavros_posix_tests_offboard_attctl.test",
-              mission: "",
-              vehicle: "iris"
-            ],
-            [
-              name: "MC_offboard_pos",
-              test: "mavros_posix_tests_offboard_posctl.test",
-              mission: "",
-              vehicle: "iris"
-            ],
-
-            [
-              name: "VTOL_standard",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "standard_vtol"
-            ],
-            [
-              name: "VTOL_tailsitter",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "tailsitter"
-            ],
-            [
-              name: "VTOL_tiltrotor",
-              test: "mavros_posix_test_mission.test",
-              mission: "VTOL_mission_1",
-              vehicle: "tiltrotor"
-            ],
-
-          ]
-
-          def test_nodes = [:]
-          for (def i = 0; i < missions.size(); i++) {
-            test_nodes.put(missions[i].name, createTestNode(missions[i]))
-          }
-
-          parallel test_nodes
-        } // script
-      } // steps
-    } // stage ROS Tests
-
-    stage('Coverage') {
-      parallel {
-
-        stage('code coverage (python)') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base-bionic:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make python_coverage'
-            withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
-              sh 'curl -s https://codecov.io/bash | bash -s - -F python'
-            }
-
-            sh 'make distclean'
-          }
-        }
-
-        stage('unit tests') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base-bionic:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make px4_sitl_test test_results_junit'
-            withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
-              sh 'curl -s https://codecov.io/bash | bash -s - -F unittest'
-            }
-            sh 'make distclean'
-          }
-        }
-
-      } // parallel
-    } // stage Coverage
-
-  } //stages
-
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-    CTEST_OUTPUT_ON_FAILURE = 1
-    PX4_CMAKE_BUILD_TYPE = 'Coverage'
-  }
-
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
-    timeout(time: 60, unit: 'MINUTES')
-  }
-} // pipeline
-
-def createTestNode(Map test_def) {
-  return {
-    node {
-      cleanWs()
-      docker.image("px4io/px4-dev-ros-kinetic:2019-03-08").inside('-e HOME=${WORKSPACE}') {
-        stage(test_def.name) {
-          def test_ok = true
-          sh('export')
-
-          checkout(scm)
-
-          // run test
-          try {
-            sh('make distclean')
-            sh('ccache -z')
-            sh('make px4_sitl_default')
-            sh('make px4_sitl_default sitl_gazebo')
-            sh('ccache -s')
-            sh('make rostest_run TEST_FILE=' + test_def.test + ' TEST_MISSION=' + test_def.mission + ' TEST_VEHICLE=' + test_def.vehicle)
-          } catch (exc) {
-            // save all test artifacts for debugging
-            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
-            test_ok = false
-          }
-
-          // log analysis
-          withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
-            sh 'curl -s https://codecov.io/bash | bash -s - -F sitl_mission_${STAGE_NAME}'
-
-            // process log data (with python code coverage)
-            try {
-              //sh('coverage run -p Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
-              sh('Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
-            } catch (exc) {
-              // save log analysis artifacts for debugging
-              archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
-              // FIXME: don't let the script to fail the build
-              // test_ok = false
-            }
-
-            // upload log to flight review (https://logs.px4.io/) with python code coverage
-            sh('coverage run -p Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
-
-            // upload python code coverage to codecov.io
-            sh 'curl -s https://codecov.io/bash | bash -s - -X gcov -F sitl_python_${STAGE_NAME}'
-          }
-
-          if (!test_ok) {
-            error('ROS Test failed')
-          }
-        } // stage
-        cleanWs()
-      } // docker.image
-    } // node
-  } // return
-} // createTestNode

.ci/Jenkinsfile-compile

@@ -1,153 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-  stages {
-
-    stage('Build') {
-      steps {
-        script {
-          def build_nodes = [:]
-          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2019-03-08",
-            base: "px4io/px4-dev-base-bionic:2019-03-08",
-            nuttx: "px4io/px4-dev-nuttx:2019-03-08",
-            ros: "px4io/px4-dev-ros-kinetic:2019-03-08",
-            rpi: "px4io/px4-dev-raspi:2019-03-08",
-            snapdragon: "lorenzmeier/px4-dev-snapdragon:2018-09-12"
-          ]
-
-          def armhf_builds = [
-            target: ["aerotenna_ocpoc_ubuntu"],
-            image: docker_images.armhf,
-            archive: false
-          ]
-
-          def base_builds = [
-            target: ["px4_sitl_rtps"],
-            image: docker_images.base,
-            archive: false
-          ]
-
-          def nuttx_builds_archive = [
-            target: [
-                     "px4_fmu-v2_default", "px4_fmu-v2_fixedwing", "px4_fmu-v2_lpe", "px4_fmu-v2_multicopter", "px4_fmu-v2_rover", "px4_fmu-v2_test",
-                     "px4_fmu-v3_default",
-                     "px4_fmu-v4_default",
-                     "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
-                     "intel_aerofc-v1_default", "auav_x21_default", "av_x-v1_default", "bitcraze_crazyflie_default", "airmind_mindpx-v2_default",
-                     "nxp_fmuk66-v3_default", "omnibus_f4sd_default"],
-            image: docker_images.nuttx,
-            archive: true
-          ]
-
-          def nuttx_builds_other = [
-            target: ["px4_cannode-v1_default", "px4_esc-v1_default", "thiemar_s2740vc-v1_default"],
-            image: docker_images.nuttx,
-            archive: false
-          ]
-
-          def rpi_builds = [
-            target: ["emlid_navio2_cross", "parrot_bebop_default"],
-            image: docker_images.rpi,
-            archive: false
-          ]
-
-          def snapdragon_builds = [
-            target: ["atlflight_eagle_qurt-default", "atlflight_eagle_default"],
-            image: docker_images.snapdragon,
-            archive: false
-          ]
-
-          def docker_builds = [
-            armhf_builds, base_builds, nuttx_builds_archive, nuttx_builds_other, rpi_builds, snapdragon_builds
-          ]
-
-          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
-            for (def build_target = 0; build_target < docker_builds[build_type].target.size(); build_target++) {
-              build_nodes.put(docker_builds[build_type].target[build_target],
-                createBuildNode(docker_builds[build_type].archive, docker_builds[build_type].image, docker_builds[build_type].target[build_target])
-                )
-            }
-          }
-
-        parallel build_nodes
-
-        } // script
-      } // steps
-    } // stage Build
-
-    // TODO: actually upload artifacts to S3
-    // stage('S3 Upload') {
-    //   agent {
-    //     docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
-    //   }
-    //   options {
-    //         skipDefaultCheckout()
-    //   }
-    //   when {
-    //     anyOf {
-    //       branch 'master'
-    //       branch 'beta'
-    //       branch 'stable'
-    //       branch 'pr-jenkins' // for testing
-    //     }
-    //   }
-    //   steps {
-    //     sh 'echo "uploading to S3"'
-    //   }
-    // }
-
-  } // stages
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-  }
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '2', artifactDaysToKeepStr: '14'))
-    timeout(time: 60, unit: 'MINUTES')
-  }
-}
-
-def createBuildNode(Boolean archive, String docker_image, String target) {
-  return {
-
-    // TODO: fix the snapdragon image
-    bypass_entrypoint = ''
-    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2018-09-12') {
-      bypass_entrypoint = ' --entrypoint=""'
-    }
-
-    node {
-      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
-        docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
-          stage(target) {
-            try {
-              sh('export')
-              checkout(scm)
-              sh('make distclean')
-              sh('git fetch --tags')
-              sh('ccache -z')
-              sh('make ' + target)
-              sh('ccache -s')
-              sh('make sizes')
-              if (archive) {
-                archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/*/*.px4, build/*/*.elf, build/*/*.bin', fingerprint: true, onlyIfSuccessful: true)
-              }
-              sh('make ' + target + ' package')
-              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.tar.bz2', fingerprint: true, onlyIfSuccessful: true)
-              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.deb', fingerprint: true, onlyIfSuccessful: true)
-            }
-            catch (exc) {
-              throw (exc)
-            }
-            finally {
-              sh('make distclean')
-            }
-          }
-        }
-      }
-    }
-  }
-}

.ci/Jenkinsfile-compile_mac

@@ -1,87 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-  stages {
-
-    stage('Build') {
-
-      parallel {
-
-        stage('px4_sitl_default (OSX)') {
-          agent {
-            label 'mac'
-          }
-          environment {
-            CCACHE_BASEDIR = "${env.WORKSPACE}"
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'make px4_sitl_default'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        } // stage px4_sitl_default
-
-        stage('px4_fmu-v5_default (OSX)') {
-          agent {
-            label 'mac'
-          }
-          environment {
-            CCACHE_BASEDIR = "${env.WORKSPACE}"
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'make px4_fmu-v5_default'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        } // stage px4_fmu-v5_default
-
-        stage('sitl tests (OSX)') {
-          agent {
-            label 'mac'
-          }
-          environment {
-            CCACHE_BASEDIR = "${env.WORKSPACE}"
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'make tests'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        } // stage sitl tests
-
-      } // parallel
-    } // stage Build
-
-  } // stages
-  environment {
-    CCACHE_CPP2 = '1'
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-  }
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
-    timeout(time: 120, unit: 'MINUTES')
-  }
-}

.ci/Jenkinsfile-hardware

@@ -1,366 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-  stages {
-
-    stage('Build') {
-
-      parallel {
-
-        stage('px4_fmu-v2_test') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v2_default'
-            sh 'make sizes'
-            sh 'ccache -s'
-            stash includes: 'build/px4_fmu-v2_default/px4_fmu-v2_default.elf', name: 'px4_fmu-v2_test'
-          }
-          post {
-            always {
-                sh 'make distclean'
-            }
-          }
-        }
-
-        stage('px4_fmu-v3_default') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v3_default'
-            sh 'make sizes'
-            sh 'ccache -s'
-            stash includes: 'build/px4_fmu-v3_default/px4_fmu-v3_default.elf', name: 'px4_fmu-v3_default'
-          }
-          post {
-            always {
-                sh 'make distclean'
-            }
-          }
-        }
-
-        stage('px4_fmu-v4_default') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v4_default'
-            sh 'make sizes'
-            sh 'ccache -s'
-            stash includes: 'build/px4_fmu-v4_default/px4_fmu-v4_default.elf', name: 'px4_fmu-v4_default'
-          }
-          post {
-            always {
-                sh 'make distclean'
-            }
-          }
-        }
-
-        stage('px4_fmu-v4pro_default') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v4pro_default'
-            sh 'make sizes'
-            sh 'ccache -s'
-            stash includes: 'build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf', name: 'px4_fmu-v4pro_default'
-          }
-          post {
-            always {
-                sh 'make distclean'
-            }
-          }
-        }
-
-        stage('px4_fmu-v5_default') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v5_default'
-            sh 'make sizes'
-            sh 'ccache -s'
-            stash includes: 'build/px4_fmu-v5_default/px4_fmu-v5_default.elf', name: 'px4_fmu-v5_default'
-          }
-          post {
-            always {
-                sh 'make distclean'
-            }
-          }
-        }
-
-        stage('px4_fmu-v5_stackcheck') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v5_stackcheck'
-            sh 'make sizes'
-            sh 'ccache -s'
-            stash includes: 'build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf', name: 'px4_fmu-v5_stackcheck'
-          }
-          post {
-            always {
-                sh 'make distclean'
-            }
-          }
-        }
-
-        stage('nxp_fmuk66-v3_default') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make nxp_fmuk66-v3_default'
-            sh 'make sizes'
-            sh 'ccache -s'
-            stash includes: 'build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf', name: 'nxp_fmuk66-v3_default'
-          }
-          post {
-            always {
-                sh 'make distclean'
-            }
-          }
-        }
-
-      } // parallel
-    } // stage Build
-
-    stage('Flash and Run') {
-
-      parallel {
-
-        stage('px4_fmu-v2_test') {
-          agent {
-            label 'px4_fmu-v2'
-          }
-          steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'px4_fmu-v2_test'
-                sh 'platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf'
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
-                //sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
-          }
-          options {
-            timeout(time: 600, unit: 'SECONDS')
-          }
-        }
-
-        stage('px4_fmu-v3_default') {
-          agent {
-            label 'px4_fmu-v3'
-          }
-          steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'px4_fmu-v3_default'
-                sh 'platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf'
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
-                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
-          }
-          options {
-            timeout(time: 600, unit: 'SECONDS')
-          }
-        }
-
-        stage('px4_fmu-v4_default') {
-          agent {
-            label 'px4_fmu-v4'
-          }
-          steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'px4_fmu-v4_default'
-                sh 'platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf'
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
-                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
-          }
-          options {
-            timeout(time: 600, unit: 'SECONDS')
-          }
-        }
-
-        stage('px4_fmu-v4pro_default') {
-          agent {
-            label 'px4_fmu-v4pro'
-          }
-          steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'px4_fmu-v4pro_default'
-                sh 'platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf'
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
-                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
-          }
-          options {
-            timeout(time: 600, unit: 'SECONDS')
-          }
-        }
-
-        stage('px4_fmu-v5_default') {
-          agent {
-            label 'px4_fmu-v5'
-          }
-          steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'px4_fmu-v5_default'
-                sh './platforms/nuttx/Debug/jlink_gdb_upload.sh  build/px4_fmu-v5_default/px4_fmu-v5_default.elf'
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
-                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
-          }
-          options {
-            timeout(time: 600, unit: 'SECONDS')
-          }
-        }
-
-        stage('px4_fmu-v5_stackcheck') {
-          agent {
-            label 'px4_fmu-v5'
-          }
-          steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'px4_fmu-v5_stackcheck'
-                sh './platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf'
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
-                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
-          }
-          options {
-            timeout(time: 600, unit: 'SECONDS')
-          }
-        }
-
-        stage('nxp_fmuk66-v3_default') {
-          agent {
-            label 'nxp_fmuk66-v3'
-          }
-          steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'nxp_fmuk66-v3_default'
-                sh './platforms/nuttx/Debug/jlink_gdb_upload.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf'
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI*` --baudrate 57600'
-                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
-          }
-          options {
-            timeout(time: 600, unit: 'SECONDS')
-          }
-        }
-
-      } // parallel
-    } // stage Flash
-
-  } // stages
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-  }
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
-    timeout(time: 60, unit: 'MINUTES')
-  }
-}

.clang-tidy

@@ -1,6 +1,5 @@
 Checks:          '*
 		,-cert-dcl50-cpp
-		,-cert-env33-c
 		,-cert-err34-c
 		,-cert-err58-cpp
 		,-cert-msc30-c
@@ -60,7 +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

.github/ISSUE_TEMPLATE/1_Bug_report.md

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

.github/ISSUE_TEMPLATE/2_Feature_request.md

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

.github/ISSUE_TEMPLATE/3_Support_question.md

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

.github/ISSUE_TEMPLATE/4_Documentation_issue.md

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

.github/issue_template.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.

.github/stale.yml

@@ -1,18 +0,0 @@
-# Number of days of inactivity before an issue becomes stale
-daysUntilStale: 90
-# Number of days of inactivity before a stale issue is closed
-daysUntilClose: 14
-# Issues with these labels will never be considered stale
-exemptLabels:
-  - pinned
-  - security
-# Label to use when marking an issue as stale
-staleLabel: wontfix
-# Comment to post when marking an issue as stale. Set to `false` to disable
-markComment: >
-  This issue has been automatically marked as stale because it has not had
-  recent activity. It will be closed if no further activity occurs. Thank you
-  for your contributions.
-# Comment to post when closing a stale issue. Set to `false` to disable
-closeComment: >
-  Closing as stale.

.github_changelog_generator

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

.gitignore

@@ -8,13 +8,14 @@
 .cproject
 .DS_Store
 .gdbinit
-.gdb_history
 .project
 .settings
 .swp
 .~lock.*
 Testing/
 Packages/*
+s3deploy-branch/
+s3deploy-archive/
 build/*
 build_*/
 core
@@ -32,11 +33,18 @@ tags
 .pydevproject
 .ropeproject
 *.orig
+src/modules/uORB/topics/*
+src/platforms/nuttx/px4_messages/*
+src/platforms/ros/px4_messages/*
 Firmware.zip
 *.generated.h
 .vagrant
 *.pretty
 xcode
+src/platforms/posix/px4_messages/
+src/platforms/posix-arm/px4_messages/
+src/platforms/qurt/px4_messages/
+ROMFS/*/*/rc.autostart
 rootfs/
 *.autosave
 CMakeLists.txt.user
@@ -52,6 +60,8 @@ GTAGS
 .idea
 cmake-build-*/
 
+.vscode
+
 posix-configs/SITL/init/test/*_generated
 
 /airframes.md
@@ -59,8 +69,5 @@ posix-configs/SITL/init/test/*_generated
 /parameters.md
 /parameters.xml
 /modules
-/msg/ros/*.msg
 
 *.gcov
-.coverage
-.coverage.*

.gitmodules

@@ -1,19 +1,20 @@
+[submodule "mavlink/include/mavlink/v1.0"]
+	path = mavlink/include/mavlink/v1.0
+	url = https://github.com/mavlink/c_library_v1.git
+	branch = master
 [submodule "mavlink/include/mavlink/v2.0"]
 	path = mavlink/include/mavlink/v2.0
 	url = https://github.com/mavlink/c_library_v2.git
 	branch = master
-[submodule "src/drivers/uavcan/libuavcan"]
-	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/PX4/uavcan.git
-	branch = px4
-[submodule "msg/tools/genmsg"]
+[submodule "src/modules/uavcan/libuavcan"]
+	path = src/modules/uavcan/libuavcan
+	url = https://github.com/UAVCAN/libuavcan.git
+[submodule "Tools/genmsg"]
 	path = msg/tools/genmsg
-	url = https://github.com/PX4/genmsg.git
-	branch = px4
-[submodule "msg/tools/gencpp"]
+	url = https://github.com/ros/genmsg.git
+[submodule "Tools/gencpp"]
 	path = msg/tools/gencpp
-	url = https://github.com/PX4/gencpp.git
-	branch = px4
+	url = https://github.com/ros/gencpp.git
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -34,26 +35,26 @@
 	path = src/lib/ecl
 	url = https://github.com/PX4/ecl.git
 	branch = master
-[submodule "boards/atlflight/cmake_hexagon"]
-	path = boards/atlflight/cmake_hexagon
-	url = https://github.com/PX4/cmake_hexagon.git
-	branch = px4
+[submodule "cmake/cmake_hexagon"]
+	path = cmake/cmake_hexagon
+	url = https://github.com/ATLFlight/cmake_hexagon
+	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/GpsDrivers.git
 	branch = master
-[submodule "src/modules/micrortps_bridge/micro-CDR"]
+[submodule "src/lib/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/PX4/micro-CDR.git
-	branch = px4
+	url = https://github.com/eProsima/micro-CDR.git
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-7.28+
+	url = https://github.com/PX4-NuttX/nuttx.git
+	branch = px4_firmware_nuttx-7.22+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
-	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-7.28+
+	url = https://github.com/PX4-NuttX/apps.git
+	branch = px4_firmware_nuttx-7.22+
 [submodule "cmake/configs/uavcan_board_ident"]
 	path = cmake/configs/uavcan_board_ident
 	url = https://github.com/PX4/uavcan_board_ident.git

.travis.yml

@@ -1,26 +1,55 @@
+# Build and autotest script for PX4 Firmware
+# http://travis-ci.org
+
+sudo: required
+
+services:
+  - docker
+
 language: cpp
 
 git:
-  depth: 100
+  depth: 2000
   submodules: false
 
+env:
+  global:
+    # COVERITY_SCAN_TOKEN
+    - secure: "Q4IAcmo1r5cr/UvhcixQa6QN5e5eTcP7FeidzEbX2+BA38yo2BH5O9YQCvZe2AI1Na8ZCjVx3H2luGgDwOKgzAIAjXjZ2KbmXYc6Ns/j/BXScY05dCCzYEhXKD98NZxIKH9lLN9pYDGRA8pChGRJnVlFOr1JHHHnB801+osHy7M="
+    # AWS KEY: $PX4_AWS_KEY
+    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
+    # AWS SECRET: $PX4_AWS_SECRET
+    - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
+
 matrix:
   fast_finish: true
   include:
-    - os: linux
-      dist: xenial
+    - env: BUILD_TARGET=coverity_scan
+      dist: trusty
       if: branch = coverity_scan
+  allow_failures:
+    - env: BUILD_TARGET=tests_coverage
+
+cache:
+  ccache: true
 
 before_install:
-    - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
-
-install:
-    - export PATH=$HOME/.local/bin:$PATH
-    - pip install --user --upgrade pip
-    - pip install --user -r Tools/setup/requirements.txt
+  # install dependencies for the coverity build (target and branch), otherwise exit early
+  - if [[ "${TRAVIS_BRANCH}" = "coverity_scan" ]]; then
+      sudo pip install empy jinja2 numpy toml;
+      echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-;
+    fi
+  # use git:// to fetch instead of https://
+  - git config --global url."git://".insteadOf https://
 
 script:
-    - make
+  - ./Tools/docker_run.sh make ${BUILD_TARGET}
+
+after_success:
+  # upload code coverage
+  - if [ "${TRAVIS_PULL_REQUEST}" = "false" ]; then
+      [ "${BUILD_TARGET}" = "tests_coverage" ] && bash <(curl -s https://codecov.io/bash) -F unittests;
+    fi
 
 addons:
   coverity_scan:
@@ -29,5 +58,5 @@ addons:
       description: "Build submitted via Travis CI"
     notification_email: ci@px4.io
     build_command_prepend: "make distclean"
-    build_command: "make px4_sitl_default"
+    build_command: "make posix_sitl_default"
     branch_pattern: coverity_scan

.vscode/.gitignore

@@ -1,6 +0,0 @@
-.cortex-debug.peripherals.state.json
-.cortex-debug.registers.state.json
-compile_commands.json
-
-# C/C++ extension does some local caching in this folder
-ipch/

.vscode/c_cpp_properties.json

@@ -1,26 +0,0 @@
-{
-    "configurations": [
-        {
-            "name": "Linux",
-            "intelliSenseMode": "gcc-x64",
-            "includePath": [
-                "${workspaceFolder}/**"
-            ],
-            "defines": [],
-            "browse": {
-                "path": [
-                    "${workspaceFolder}/src/",
-                    "${workspaceFolder}/src/lib/",
-                    "${workspaceFolder}/src/lib/matrix",
-                    "${workspaceFolder}/src/platforms",
-                    "${workspaceFolder}/platforms/",
-                    "."
-                ],
-                "limitSymbolsToIncludedHeaders": true
-            },
-            "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
-            "configurationProvider": "vector-of-bool.cmake-tools"
-        }
-    ],
-    "version": 4
-}

.vscode/cmake-kits.json

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

.vscode/cmake-variants.yaml

@@ -1,63 +0,0 @@
-CONFIG:
-  default: px4_sitl_default
-  choices:
-    px4_sitl_default:
-      short: px4_sitl
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_default
-    px4_sitl_default_Debug:
-      short: px4_sitl (Debug)
-      buildType: Debug
-      settings:
-        CONFIG: px4_sitl_default
-    px4_sitl_default_ASan:
-      short: px4_sitl (Address Sanitizer)
-      buildType: AddressSanitizer
-      settings:
-        CONFIG: px4_sitl_default
-    px4_fmu-v2_default:
-      short: px4_fmu-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v2_default
-    px4_fmu-v3_default:
-      short: px4_fmu-v3
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v3_default
-    px4_fmu-v4_default:
-      short: px4_fmu-v4
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v4_default
-    px4_fmu-v4pro_default:
-      short: px4_fmu-v4pro
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v4pro_default
-    px4_fmu-v5_default:
-      short: px4_fmu-v5
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v5_default
-    airmind_mindpx-v2_default:
-      short: airmind_mindpx-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: airmind_mindpx-v2_default
-    av_x-v1_default:
-      short: av-x
-      buildType: MinSizeRel
-      settings:
-        CONFIG: av_x-v1_default
-    intel_aerofc-v1_default:
-      short: intel_aerofc-v1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: intel_aerofc-v1_default
-    nxp_fmuk66-v3_default:
-      short: nxp_fmuk66-v3
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_fmuk66-v3_default

.vscode/extensions.json

@@ -1,18 +0,0 @@
-{
-    // See http://go.microsoft.com/fwlink/?LinkId=827846
-    // for the documentation about the extensions.json format
-    "recommendations": [
-        "ajshort.ros",
-        "chiehyu.vscode-astyle",
-        "dan-c-underwood.arm",
-        "github.vscode-pull-request-github",
-        "marus25.cortex-debug",
-        "ms-python.python",
-        "ms-vscode.cpptools",
-        "peterjausovec.vscode-docker",
-        "twxs.cmake",
-        "uavcan.dsdl",
-        "vector-of-bool.cmake-tools",
-        "wholroyd.jinja"
-    ]
-}

.vscode/launch.json

@@ -1,194 +0,0 @@
-{
-    "version": "0.2.0",
-    "configurations": [
-        {
-            "name": "SITL shell",
-            "type": "cppdbg",
-            "request": "launch",
-            "program": "${command:cmake.launchTargetPath}",
-            "args": [
-                "${workspaceFolder}/ROMFS/px4fmu_common",
-                "-s",
-                "etc/init.d-posix/rcS",
-                "-t",
-                "${workspaceFolder}/test_data"
-            ],
-            "stopAtEntry": false,
-            "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
-            "environment": [
-                {
-                    "name": "PX4_SIM_MODEL",
-                    "value": "shell"
-                }
-            ],
-            "externalConsole": false,
-            "linux": {
-                "MIMode": "gdb",
-                "setupCommands": [
-                    {
-                        "description": "Enable pretty-printing for gdb",
-                        "text": "-enable-pretty-printing",
-                        "ignoreFailures": true
-                    },
-                    {
-                        "description": "PX4 ignore wq signals",
-                        "text": "handle SIGCONT nostop noprint nopass",
-                        "ignoreFailures": true
-                    }
-                ]
-            },
-            "osx": {
-                "MIMode": "lldb",
-                "setupCommands": [
-                    {
-                        "text": "pro hand -p true -s false -n false SIGCONT",
-                    }
-                ]
-            }
-        },
-        {
-            "name": "SITL jmavsim iris",
-            "type": "cppdbg",
-            "request": "launch",
-            "program": "${command:cmake.launchTargetPath}",
-            "args": [
-                "${workspaceFolder}/ROMFS/px4fmu_common",
-                "-s",
-                "etc/init.d-posix/rcS",
-                "-t",
-                "${workspaceFolder}/test_data"
-            ],
-            "stopAtEntry": false,
-            "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
-            "environment": [
-                {
-                    "name": "PX4_SIM_MODEL",
-                    "value": "iris"
-                }
-            ],
-            "externalConsole": false,
-            "preLaunchTask": "jmavsim",
-            "postDebugTask": "jmavsim kill",
-            "linux": {
-                "MIMode": "gdb",
-                "setupCommands": [
-                    {
-                        "description": "Enable pretty-printing for gdb",
-                        "text": "-enable-pretty-printing",
-                        "ignoreFailures": true
-                    },
-                    {
-                        "description": "PX4 ignore wq signals",
-                        "text": "handle SIGCONT nostop noprint nopass",
-                        "ignoreFailures": true
-                    }
-                ]
-            },
-            "osx": {
-                "MIMode": "lldb",
-                "setupCommands": [
-                    {
-                        "text": "pro hand -p true -s false -n false SIGCONT",
-                    }
-                ]
-            }
-        },
-        {
-            "name": "SITL gazebo iris",
-            "type": "cppdbg",
-            "request": "launch",
-            "program": "${command:cmake.launchTargetPath}",
-            "args": [
-                "${workspaceFolder}/ROMFS/px4fmu_common",
-                "-s",
-                "etc/init.d-posix/rcS",
-                "-t",
-                "${workspaceFolder}/test_data"
-            ],
-            "stopAtEntry": false,
-            "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
-            "environment": [
-                {
-                    "name": "PX4_SIM_MODEL",
-                    "value": "iris"
-                }
-            ],
-            "externalConsole": false,
-            "preLaunchTask": "gazebo iris",
-            "postDebugTask": "gazebo kill",
-            "linux": {
-                "MIMode": "gdb",
-                "setupCommands": [
-                    {
-                        "description": "Enable pretty-printing for gdb",
-                        "text": "-enable-pretty-printing",
-                        "ignoreFailures": true
-                    },
-                    {
-                        "description": "PX4 ignore wq signals",
-                        "text": "handle SIGCONT nostop noprint nopass",
-                        "ignoreFailures": true
-                    }
-                ]
-            },
-            "osx": {
-                "MIMode": "lldb",
-                "setupCommands": [
-                    {
-                        "text": "pro hand -p true -s false -n false SIGCONT",
-                    }
-                ]
-            }
-        },
-        {
-            "name": "px4_fmu-v2 (jlink) ",
-            "executable": "${command:cmake.launchTargetPath}",
-            "request": "launch",
-            "type": "cortex-debug",
-            "servertype": "jlink",
-            "device": "STM32F427VI",
-            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F427.svd",
-            "interface": "swd"
-        },
-        {
-            "name": "px4_fmu-v3 (jlink)",
-            "executable": "${command:cmake.launchTargetPath}",
-            "request": "launch",
-            "type": "cortex-debug",
-            "servertype": "jlink",
-            "device": "STM32F427VI",
-            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F427.svd",
-            "interface": "swd"
-        },
-        {
-            "name": "px4_fmu-v4 (jlink)",
-            "executable": "${command:cmake.launchTargetPath}",
-            "request": "launch",
-            "type": "cortex-debug",
-            "servertype": "jlink",
-            "device": "STM32F427VI",
-            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F427.svd",
-            "interface": "swd"
-        },
-        {
-            "name": "px4_fmu-v4pro (jlink)",
-            "executable": "${command:cmake.launchTargetPath}",
-            "request": "launch",
-            "type": "cortex-debug",
-            "servertype": "jlink",
-            "device": "STM32F469VI",
-            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F469.svd",
-            "interface": "swd"
-        },
-        {
-            "name": "px4_fmu-v5 (jlink)",
-            "executable": "${command:cmake.launchTargetPath}",
-            "request": "launch",
-            "type": "cortex-debug",
-            "servertype": "jlink",
-            "device": "STM32F765VI",
-            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F7x5.svd",
-            "interface": "swd"
-        },
-    ]
-}

.vscode/settings.json

@@ -1,91 +0,0 @@
-{
-        "astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
-        "astyle.c.enable": true,
-        "astyle.cpp.enable": true,
-        "breadcrumbs.enabled": true,
-        "cmake.autoRestartBuild": true,
-        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
-        "cmake.buildBeforeRun": true,
-        "cmake.configureOnOpen": true,
-        "cmake.copyCompileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
-        "cmake.debugConfig": {
-                "name": "SITL shell (gdb)",
-                "type": "cppdbg",
-                "request": "launch",
-                "program": "${command:cmake.launchTargetPath}",
-                "args": [
-                        "${workspaceFolder}/ROMFS/px4fmu_common",
-                        "-s",
-                        "etc/init.d-posix/rcS",
-                        "-t",
-                        "${workspaceFolder}/test_data"
-                ],
-                "stopAtEntry": false,
-                "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
-                "environment": [
-                        {
-                                "name": "PX4_SIM_MODEL",
-                                "value": "shell"
-                        }
-                ],
-                "externalConsole": false,
-                "linux": {
-                        "MIMode": "gdb",
-                        "setupCommands": [
-                                {
-                                        "description": "Enable pretty-printing for gdb",
-                                        "text": "-enable-pretty-printing",
-                                        "ignoreFailures": true
-                                },
-                                {
-                                        "description": "PX4 ignore wq signals",
-                                        "text": "handle SIGCONT nostop noprint nopass",
-                                        "ignoreFailures": true
-                                }
-                        ]
-                },
-                "osx": {
-                        "MIMode": "lldb",
-                        "setupCommands": [
-                                {
-                                        "text": "pro hand -p true -s false -n false SIGCONT",
-                                }
-                        ]
-                }
-        },
-        "C_Cpp.clang_format_fallbackStyle": "none",
-        "C_Cpp.configurationWarnings": "Disabled",
-        "C_Cpp.default.cppStandard": "c++11",
-        "C_Cpp.default.cStandard": "c99",
-        "C_Cpp.default.intelliSenseMode": "gcc-x64",
-        "C_Cpp.errorSquiggles": "Disabled",
-        "C_Cpp.formatting": "Disabled",
-        "C_Cpp.intelliSenseEngine": "Default",
-        "C_Cpp.intelliSenseEngineFallback": "Disabled",
-        "debug.toolBarLocation": "docked",
-        "editor.insertSpaces": false,
-        "editor.minimap.maxColumn": 120,
-        "editor.minimap.renderCharacters": false,
-        "editor.minimap.showSlider": "always",
-        "editor.smoothScrolling": true,
-        "editor.suggest.localityBonus": true,
-        "editor.tabSize": 8,
-        "editor.wordWrapColumn": 120,
-        "explorer.openEditors.visible": 0,
-        "files.insertFinalNewline": true,
-        "files.trimTrailingWhitespace": true,
-        "git.detectSubmodulesLimit": 20,
-        "files.associations": {
-                "*.jinja": "jinja"
-        },
-        "search.exclude": {
-                "build/**": true
-        },
-        "search.showLineNumbers": true,
-        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
-        "workbench.editor.enablePreview": false,
-        "workbench.editor.enablePreviewFromQuickOpen": false,
-        "workbench.editor.highlightModifiedTabs": true,
-        "workbench.settings.enableNaturalLanguageSearch": false,
-        "workbench.statusBar.feedback.visible": false
-}

.vscode/tasks.json

@@ -1,97 +0,0 @@
-{
-    // See https://go.microsoft.com/fwlink/?LinkId=733558
-    // for the documentation about the tasks.json format
-    "version": "2.0.0",
-    "tasks": [
-        {
-            "label": "jmavsim",
-            "type": "shell",
-            "command": "Tools/jmavsim_run.sh",
-            "isBackground": true,
-            "args": [
-                "-r",
-                "500"
-            ],
-            "options": {
-                "cwd": "${workspaceRoot}"
-            },
-            "presentation": {
-                "reveal": "always",
-                "panel": "dedicated"
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
-        {
-            "label": "jmavsim kill",
-            "type": "shell",
-            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
-            "problemMatcher": []
-        },
-        {
-            "label": "gazebo build",
-            "type": "shell",
-            "command": "make px4_sitl_default sitl_gazebo",
-            "options": {
-                "cwd": "${workspaceRoot}"
-            },
-            "problemMatcher": []
-        },
-        {
-            "label": "gazebo iris",
-            "type": "shell",
-            "dependsOn": "gazebo build",
-            "options": {
-                "cwd": "${workspaceRoot}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models"
-                }
-            },
-            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/iris.world",
-            "isBackground": true,
-            "presentation": {
-                "reveal": "always",
-                "panel": "dedicated"
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
-        {
-            "label": "gazebo kill",
-            "type": "shell",
-            "command": "killall gzserver",
-            "problemMatcher": []
-        },
-    ]
-}

.ycm_extra_conf.py

@@ -61,7 +61,7 @@ flags = [
 'c++',
 '-undef', # get rid of standard definitions to allow us to include arm math header
 '-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
-'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
+'-I', 'Build/px4io-v2_default.build/nuttx-export/include/',
 '-I', './NuttX/nuttx/arch/arm/include',
 '-include', './src/include/visibility.h',
 '-I', './src',

CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2019 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -40,7 +40,7 @@
 # * Common functions should be included in px_base.cmake.
 #
 # * OS/ board specific fucntions should be include in
-#	px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
+#	px_impl_${OS}.cmake or px4_impl_${OS}_${BOARD}.cmake.
 #
 # Formatting
 # ---------------------------------------------------------------------------
@@ -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
 # ---------------------------------------------------------------------------
@@ -92,156 +92,81 @@
 # ---------------------------------------------------------------------------
 #
 # * If referencing a string variable, don't put it in quotes.
-#	Don't do "${PX4_PLATFORM}" STREQUAL "posix",
-#	instead type ${PX4_PLATFORM} STREQUAL "posix". This will throw an
-#	error when ${PX4_PLATFORM} is not defined instead of silently
+#	Don't do "${OS}" STREQUAL "posix",
+#	instead type ${OS} STREQUAL "posix". This will throw an
+#	error when ${OS} is not defined instead of silently
 #	evaluating to false.
 #
 #=============================================================================
 
+# 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
 #
-include(px4_git)
+include(common/px4_git)
 
 execute_process(
 	COMMAND git describe --always --tags
-	OUTPUT_VARIABLE PX4_GIT_TAG
+	OUTPUT_VARIABLE git_tag
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	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"
                  )
 
 #=============================================================================
 # configuration
 #
 
-set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
+set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
 
-include(px4_add_module)
-set(config_module_list)
-set(config_df_driver_list)
+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}")
 
-# find PX4 config
-#  look for in tree board config that matches CONFIG input
-if(NOT PX4_CONFIG_FILE)
+file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
+set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
 
-	file(GLOB_RECURSE board_configs
-		RELATIVE "${PX4_SOURCE_DIR}/boards"
-		"boards/*.cmake"
-		)
-
-	set(PX4_CONFIGS ${board_configs} CACHE STRING "PX4 board configs" FORCE)
-
-	foreach(filename ${board_configs})
-		# parse input CONFIG into components to match with existing in tree configs
-		#  the platform prefix (eg nuttx_) is historical, and removed if present
-		string(REPLACE ".cmake" "" filename_stripped ${filename})
-		string(REPLACE "/" ";" config ${filename_stripped})
-		list(LENGTH config config_len)
-
-		if(${config_len} EQUAL 3)
-
-
-			list(GET config 0 vendor)
-			list(GET config 1 model)
-			list(GET config 2 label)
-
-			set(board "${vendor}${model}")
-
-			# <VENDOR>_<MODEL>_<LABEL> (eg px4_fmu-v2_default)
-			# <VENDOR>_<MODEL>_default (eg px4_fmu-v2) # allow skipping label if "default"
-			if ((${CONFIG} MATCHES "${vendor}_${model}_${label}") OR # match full vendor, model, label
-			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${vendor}_${model}")) # default label can be omitted
-			)
-				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				break()
-			endif()
-
-			# <BOARD>_<LABEL> (eg px4_fmu-v2_default)
-			# <BOARD>_default (eg px4_fmu-v2) # allow skipping label if "default"
-			if ((${CONFIG} MATCHES "${board}_${label}") OR # match full board, label
-			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${board}")) # default label can be omitted
-			)
-				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				break()
-			endif()
-
-
-			# LEGACY form
-			# <OS>_<BOARD>_<LABEL> (eg nuttx_px4_fmu-v2_default)
-			string(REGEX REPLACE "^nuttx_|^posix_|^qurt_" "" config_no_os ${CONFIG}) # ignore OS prefix
-
-			if ((${config_no_os} MATCHES "${board}_${label}"))
-				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				break()
-			endif()
-
-
-			# LEGACY form special case to ease board layout transition (2018-11-18)
-			#  match board with model and label only: eg sitl_default -> px4_sitl_default
-			if ((${config_no_os} MATCHES "${model}_${label}"))
-				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				break()
-			endif()
-
-		endif()
-
-	endforeach()
-endif()
-
-if(NOT PX4_CONFIG_FILE)
-	message(FATAL_ERROR "PX4 config file not set, try one of ${PX4_CONFIGS}")
-endif()
-
-message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")
-include(px4_add_board)
-include(${PX4_CONFIG_FILE})
-message(STATUS "PX4 config: ${PX4_CONFIG}")
-message(STATUS "PX4 platform: ${PX4_PLATFORM}")
-
-if (ENABLE_LOCKSTEP_SCHEDULER)
-	add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
-	message(STATUS "PX4 lockstep: enabled")
-else()
-	message(STATUS "PX4 lockstep: disabled")
-endif()
-
-# external modules
+set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
+set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
 
 if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
 endif()
 
-set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
+set(config_module "configs/${CONFIG}")
+include(${config_module})
 
-include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
+include(common/coverage)
+include(common/sanitizers)
 
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
-	include(init)
-endif()
-
-# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
+# CMake build type
+# Debug Release RelWithDebInfo MinSizeRel Coverage
 if (NOT CMAKE_BUILD_TYPE)
-	if (${PX4_PLATFORM} STREQUAL "nuttx")
+	if (${OS} STREQUAL "nuttx")
+		set(PX4_BUILD_TYPE "MinSizeRel")
+	elseif (${OS} STREQUAL "bebop")
 		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
 		set(PX4_BUILD_TYPE "RelWithDebInfo")
@@ -250,12 +175,15 @@ if (NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
 endif()
 
-set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
+
+message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
 
 #=============================================================================
 
-message(STATUS "PX4 version: ${PX4_GIT_TAG}")
-message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
+message(STATUS "PX4 VERSION: ${git_tag}")
+message(STATUS "CONFIG: ${target_name}")
+message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
 
 #=============================================================================
 # project definition
@@ -264,34 +192,19 @@ 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)
-
-# For the catkin build process, unset build of dynamically-linked binaries
-# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
-if (NOT CATKIN_DEVEL_PREFIX)
-	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
-	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
-else()
-	SET(BUILD_SHARED_LIBS OFF)
-endif()
-
 #=============================================================================
 
+# 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 (${PX4_PLATFORM} STREQUAL "posix")
-
-	# This makes it possible to dynamically load code which depends on symbols
-	# inside the px4 executable.
-	set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-	set(CMAKE_ENABLE_EXPORTS ON)
-
-	include(coverage)
-	include(sanitizers)
+if (${OS} STREQUAL "posix")
 
 	# Define GNU standard installation directories
 	include(GNUInstallDirs)
@@ -299,26 +212,42 @@ if (${PX4_PLATFORM} STREQUAL "posix")
 	if (NOT CMAKE_INSTALL_PREFIX)
 		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
 	endif()
+
+	# cmake testing only on posix
+	enable_testing()
+	include(CTest)
 endif()
 
+#=============================================================================
+# require px4 module interface
+set(px4_required_interface
+	px4_os_prebuild_targets
+	px4_os_add_flags
+	)
+foreach(cmd ${px4_required_interface})
+	if (NOT COMMAND ${cmd})
+		message(FATAL_ERROR "${config_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_module} must define ${conf}")
+	endif()
+endforeach()
+
+# force static lib build
+set(BUILD_SHARED_LIBS OFF)
+
 #=============================================================================
 # ccache
 #
-option(CCACHE "Use ccache if available" ON)
+option(CCACHE "Use ccache if available" OFF)
 find_program(CCACHE_PROGRAM ccache)
-if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
-
-	get_filename_component(ccache_real_path ${CCACHE_PROGRAM} REALPATH)
-	get_filename_component(cxx_real_path ${CMAKE_CXX_COMPILER} REALPATH)
-	get_filename_component(cxx_abs_path ${CMAKE_CXX_COMPILER} ABSOLUTE)
-
-	if ("${ccache_real_path}" STREQUAL "${cxx_real_path}")
-		message(STATUS "ccache enabled via symlink (${cxx_abs_path} -> ${cxx_real_path})")
-	else()
-		message(STATUS "ccache enabled (export CCACHE_DISABLE=1 to disable)")
-		set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
-	endif()
-
+if (CCACHE AND CCACHE_PROGRAM)
+	message(STATUS "Enabled ccache: ${CCACHE_PROGRAM}")
+	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
 endif()
 
 #=============================================================================
@@ -337,38 +266,90 @@ if (CATKIN_DEVEL_PREFIX)
 endif()
 
 find_package(PythonInterp REQUIRED)
+px4_find_python_module(jinja2 REQUIRED)
 
-option(PYTHON_COVERAGE "Python code coverage" OFF)
-if(PYTHON_COVERAGE)
-	message(STATUS "python coverage enabled")
-	set(PYTHON_EXECUTABLE coverage run -p)
-else()
-	# run normally (broken under coveragepy)
-	px4_find_python_module(jinja2 REQUIRED)
-endif()
+#=============================================================================
+# 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})
+		message(FATAL_ERROR "Toolchain/config must define ${var}")
+	endif()
+endforeach()
+
+# print full c compiler version
+execute_process(COMMAND ${CMAKE_C_COMPILER} --version
+		OUTPUT_VARIABLE c_compiler_version
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		)
+STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version})
+message(STATUS "C compiler: ${c_compiler_version_short}")
+
+# print full c++ compiler version
+execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
+		OUTPUT_VARIABLE cxx_compiler_version
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		)
+STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
+message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
+
+#=============================================================================
+# external libraries
+#
+px4_os_prebuild_targets(OUT prebuild_targets
+	BOARD ${BOARD}
+	THREADS ${THREADS})
 
 #=============================================================================
 # build flags
 #
-include(px4_add_common_flags)
-px4_add_common_flags()
-px4_os_add_flags()
+px4_os_add_flags(
+	BOARD ${BOARD}
+	C_FLAGS c_flags
+	CXX_FLAGS cxx_flags
+	OPTIMIZATION_FLAGS optimization_flags
+	EXE_LINKER_FLAGS exe_linker_flags
+	INCLUDE_DIRS include_dirs
+	LINK_DIRS link_dirs
+	DEFINITIONS definitions)
+
+px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker_flags}" GLUE " ")
+px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${optimization_flags}" GLUE " ")
+px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimization_flags}" GLUE " ")
+
+include_directories(${include_dirs})
+link_directories(${link_dirs})
+add_definitions(${definitions})
 
 #=============================================================================
 # message, and airframe generation
 #
-include(px4_metadata)
+include(common/px4_metadata)
 
-add_subdirectory(msg EXCLUDE_FROM_ALL)
+add_subdirectory(msg)
 
-px4_generate_airframes_xml(BOARD ${PX4_BOARD})
+px4_generate_airframes_xml(BOARD ${BOARD})
 
 #=============================================================================
 # DriverFramework
 #
+
 px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
-set(OS ${PX4_PLATFORM})
-add_subdirectory(src/lib/DriverFramework/framework)
 
 # List the DriverFramework drivers
 if (DEFINED config_df_driver_list)
@@ -385,6 +366,7 @@ endforeach()
 #=============================================================================
 # external projects
 #
+
 set(ep_base ${PX4_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
 
@@ -409,192 +391,53 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endforeach()
 endif()
 
-#=============================================================================
-# Testing - Automatic unit and integration testing with CTest
-#
-
-# optionally enable cmake testing (supported only on posix)
-option(CMAKE_TESTING "Configure test targets" OFF)
-if (${PX4_CONFIG} STREQUAL "px4_sitl_test")
-	set(CMAKE_TESTING ON)
-endif()
-if(CMAKE_TESTING)
-	include(CTest) # sets BUILD_TESTING variable
-endif()
-
-# enable test filtering to run only specific tests with the ctest -R regex functionality
-set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
-
-# if testing is enabled download and configure gtest
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
-include(px4_add_gtest)
-if(BUILD_TESTING)
-	include(gtest)
-endif()
-
-add_custom_target(test_results
-		COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
-		DEPENDS
-			px4
-			examples__dyn_hello
-			test_mixer_multirotor
-		USES_TERMINAL
-		COMMENT "Running tests"
-		WORKING_DIRECTORY ${PX4_BINARY_DIR})
-set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
-
 #=============================================================================
 # subdirectories
 #
-add_library(parameters_interface INTERFACE)
-
-include(px4_add_library)
-add_subdirectory(src/lib EXCLUDE_FROM_ALL)
-
-add_subdirectory(src/platforms EXCLUDE_FROM_ALL)
-add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
-add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
-
-if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
-	add_subdirectory(${PX4_BOARD_DIR})
-endif()
-
 foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()
 
-# 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/${PX4_PLATFORM})
+add_subdirectory(src/firmware/${OS})
 
 #=============================================================================
-# uORB graph generation: add a custom target 'uorb_graph'
+# generate custom target to print for all executable and module cmake targets
 #
-set(uorb_graph_config ${PX4_BOARD})
-
-set(graph_module_list "")
-foreach(module ${config_module_list})
-	set(graph_module_list "${graph_module_list}" "--src-path" "src/${module}")
-endforeach()
-
-add_custom_command(OUTPUT ${uorb_graph_config}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${module_list}
-		--exclude-path src/examples
-		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	COMMENT "Generating uORB graph"
-)
-add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
-
-#=============================================================================
-# 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()
+if (all_posix_cmake_targets)
+	list(SORT all_posix_cmake_targets)
+	px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
+	add_custom_target(list_cmake_targets
+		COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\""
+		COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:"
+		VERBATIM
+		)
 endif()
 
-#=============================================================================
-# Metadata - helpers for generating documentation
-#
-
-add_custom_target(metadata_airframes
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
-		--markdown ${PX4_BINARY_DIR}/docs/airframes.md
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
-		--xml ${PX4_BINARY_DIR}/docs/airframes.xml
-	COMMENT "Generating full airframe metadata (markdown and xml)"
-	USES_TERMINAL
-)
-
-file(GLOB_RECURSE yaml_config_files ${PX4_SOURCE_DIR}/src/modules/*.yaml
-	${PX4_SOURCE_DIR}/src/drivers/*.yaml ${PX4_SOURCE_DIR}/src/lib/*.yaml)
-add_custom_target(metadata_parameters
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE}
-	${PX4_SOURCE_DIR}/Tools/serial/generate_config.py --all-ports --params-file ${PX4_SOURCE_DIR}/src/generated_serial_params.c --config-files ${yaml_config_files}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
-		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
-		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
-		--markdown ${PX4_BINARY_DIR}/docs/parameters.md
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
-		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
-		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
-		--xml ${PX4_BINARY_DIR}/docs/parameters.xml
-	COMMENT "Generating full parameter metadata (markdown and xml)"
-	USES_TERMINAL
-)
-
-add_custom_target(metadata_module_documentation
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src
-		--markdown ${PX4_BINARY_DIR}/docs/modules
-	COMMENT "Generating module documentation"
-	USES_TERMINAL
-)
-
-add_custom_target(all_metadata
-	DEPENDS
-		metadata_airframes
-		metadata_parameters
-		metadata_module_documentation
-)
-
 #=============================================================================
 # packaging
 #
 # Important to having packaging at end of cmake file.
 #
-set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${PX4_CONFIG})
-set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG})
+set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
+set(CPACK_PACKAGE_VERSION ${git_version})
 set(CPACK_PACKAGE_CONTACT ${package-contact})
-set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF) # TODO: review packaging for linux boards
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
 set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
 set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
-set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
-set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_CONFIG}-${PX4_GIT_TAG}")
-set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_GIT_TAG}")
+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)
+
+# vim: set noet fenc=utf-8 ff=unix ft=cmake :

CONTRIBUTING.md

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

Debug/Nuttx.py

@@ -0,0 +1,704 @@
+# GDB/Python functions for dealing with NuttX
+
+from __future__ import print_function
+import gdb, gdb.types
+
+parse_int = lambda x: int(str(x), 0)
+
+class NX_register_set(object):
+	"""Copy of the registers for a given context"""
+
+	v7_regmap = {
+		'R13':		0,
+		'SP':		0,
+		'PRIORITY':	1,
+		'R4':		2,
+		'R5':		3,
+		'R6':		4,
+		'R7':		5,
+		'R8':		6,
+		'R9':		7,
+		'R10':		8,
+		'R11':		9,
+		'EXC_RETURN':	10,
+		'R0':		11,
+		'R1':		12,
+		'R2':		13,
+		'R3':		14,
+		'R12':		15,
+		'R14':		16,
+		'LR':		16,
+		'R15':		17,
+		'PC':		17,
+		'XPSR':		18,
+	}
+
+	v7em_regmap = {
+		'R13':		0,
+		'SP':		0,
+		'PRIORITY':	1,
+		'R4':		2,
+		'R5':		3,
+		'R6':		4,
+		'R7':		5,
+		'R8':		6,
+		'R9':		7,
+		'R10':		8,
+		'R11':		9,
+		'EXC_RETURN':	10,
+		'R0':		27,
+		'R1':		28,
+		'R2':		29,
+		'R3':		30,
+		'R12':		31,
+		'R14':		32,
+		'LR':		32,
+		'R15':		33,
+		'PC':		33,
+		'XPSR':		34,
+	}
+
+	regs = dict()
+
+	def __init__(self, xcpt_regs):
+		if xcpt_regs is None:
+			self.regs['R0']         = self.mon_reg_call('r0')
+			self.regs['R1']         = self.mon_reg_call('r1')
+			self.regs['R2']         = self.mon_reg_call('r2')
+			self.regs['R3']         = self.mon_reg_call('r3')
+			self.regs['R4']         = self.mon_reg_call('r4')
+			self.regs['R5']         = self.mon_reg_call('r5')
+			self.regs['R6']         = self.mon_reg_call('r6')
+			self.regs['R7']         = self.mon_reg_call('r7')
+			self.regs['R8']         = self.mon_reg_call('r8')
+			self.regs['R9']         = self.mon_reg_call('r9')
+			self.regs['R10']        = self.mon_reg_call('r10')
+			self.regs['R11']        = self.mon_reg_call('r11')
+			self.regs['R12']        = self.mon_reg_call('r12')
+			self.regs['R13']        = self.mon_reg_call('r13')
+			self.regs['SP']         = self.mon_reg_call('sp')
+			self.regs['R14']        = self.mon_reg_call('r14')
+			self.regs['LR']         = self.mon_reg_call('lr')
+			self.regs['R15']        = self.mon_reg_call('r15')
+			self.regs['PC']         = self.mon_reg_call('pc')
+			self.regs['XPSR']       = self.mon_reg_call('xPSR')
+		else:
+			for key in self.v7em_regmap.keys():
+				self.regs[key] = int(xcpt_regs[self.v7em_regmap[key]])
+
+	def mon_reg_call(self,register):
+		"""
+		register is the register as a string e.g. 'pc'
+		return integer containing the value of the register
+		"""
+		str_to_eval = "mon reg "+register
+		resp = gdb.execute(str_to_eval,to_string = True)
+		content = resp.split()[-1];
+		try:
+			return int(content,16)
+		except:
+			return 0
+
+	@classmethod
+	def with_xcpt_regs(cls, xcpt_regs):
+		return cls(xcpt_regs)
+
+	@classmethod
+	def for_current(cls):
+		return cls(None)
+
+	def __format__(self, format_spec):
+		return format_spec.format(
+			registers	 = self.registers
+			)
+
+	@property
+	def registers(self):
+		return self.regs
+
+
+class NX_task(object):
+	"""Reference to a NuttX task and methods for introspecting it"""
+
+	def __init__(self, tcb_ptr):
+		self._tcb = tcb_ptr.dereference()
+		self._group = self._tcb['group'].dereference()
+		self.pid = tcb_ptr['pid']
+
+	@classmethod
+	def for_tcb(cls, tcb):
+		"""return a task with the given TCB pointer"""
+		pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
+		pidhash_value = pidhash_sym.value()
+		pidhash_type = pidhash_sym.type
+		for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
+			pidhash_entry = pidhash_value[i]
+			if pidhash_entry['tcb'] == tcb:
+				return cls(pidhash_entry['tcb'])
+		return None
+
+	@classmethod
+	def for_pid(cls, pid):
+		"""return a task for the given PID"""
+		pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
+		pidhash_value = pidhash_sym.value()
+		pidhash_type = pidhash_sym.type
+		for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
+			pidhash_entry = pidhash_value[i]
+			if pidhash_entry['pid'] == pid:
+				return cls(pidhash_entry['tcb'])
+		return None
+
+	@staticmethod
+	def pids():
+		"""return a list of all PIDs"""
+		pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
+		pidhash_value = pidhash_sym.value()
+		pidhash_type = pidhash_sym.type
+		result = []
+		for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
+			entry = pidhash_value[i]
+			pid = parse_int(entry['pid'])
+			if pid is not -1:
+				result.append(pid)
+		return result
+
+	@staticmethod
+	def tasks():
+		"""return a list of all tasks"""
+		tasks = []
+		for pid in NX_task.pids():
+			tasks.append(NX_task.for_pid(pid))
+		return tasks
+
+	def _state_is(self, state):
+		"""tests the current state of the task against the passed-in state name"""
+		statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e'))
+		if self._tcb['task_state'] == statenames[state]:
+			return True
+		return False
+
+	@property
+	def stack_used(self):
+		"""calculate the stack used by the thread"""
+		if 'stack_used' not in self.__dict__:
+			stack_base = self._tcb['stack_alloc_ptr'].cast(gdb.lookup_type('unsigned char').pointer())
+			if stack_base == 0:
+				self.__dict__['stack_used'] = 0
+			else:
+				stack_limit = self._tcb['adj_stack_size']
+				for offset in range(0, parse_int(stack_limit)):
+					if stack_base[offset] != 0xff:
+						break
+				self.__dict__['stack_used'] = stack_limit - offset
+		return self.__dict__['stack_used']
+
+	@property
+	def name(self):
+		"""return the task's name"""
+		return self._tcb['name'].string()
+
+	@property
+	def state(self):
+		"""return the name of the task's current state"""
+		statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e'))
+		for name,value in statenames.items():
+			if value == self._tcb['task_state']:
+				return name
+		return 'UNKNOWN'
+
+	@property
+	def waiting_for(self):
+		"""return a description of what the task is waiting for, if it is waiting"""
+		if self._state_is('TSTATE_WAIT_SEM'):
+			try: 
+				waitsem = self._tcb['waitsem'].dereference()
+				waitsem_holder = waitsem['holder']
+				holder = NX_task.for_tcb(waitsem_holder['htcb'])
+				if holder is not None:
+					return '{}({})'.format(waitsem.address, holder.name)
+				else:
+					return '{}(<bad holder>)'.format(waitsem.address)
+			except:
+				return 'EXCEPTION'
+		if self._state_is('TSTATE_WAIT_SIG'):
+			return 'signal'
+		return ""
+
+	@property
+	def is_waiting(self):
+		"""tests whether the task is waiting for something"""
+		if self._state_is('TSTATE_WAIT_SEM') or self._state_is('TSTATE_WAIT_SIG'):
+			return True
+
+	@property
+	def is_runnable(self):
+		"""tests whether the task is runnable"""
+		if (self._state_is('TSTATE_TASK_PENDING') or 
+			self._state_is('TSTATE_TASK_READYTORUN') or 
+			self._state_is('TSTATE_TASK_RUNNING')):
+			return True
+		return False
+
+	@property
+	def file_descriptors(self):
+		"""return a dictionary of file descriptors and inode pointers"""
+		filelist = self._group['tg_filelist']
+		filearray = filelist['fl_files']
+		result = dict()
+		for i in range(filearray.type.range()[0],filearray.type.range()[1]):
+			inode = parse_int(filearray[i]['f_inode'])
+			if inode != 0:
+				result[i] = inode
+		return result
+
+	@property
+	def registers(self):
+		if 'registers' not in self.__dict__:
+			registers = dict()
+			if self._state_is('TSTATE_TASK_RUNNING'):
+				registers = NX_register_set.for_current().registers
+			else:
+				context = self._tcb['xcp']
+				regs = context['regs']
+				registers = NX_register_set.with_xcpt_regs(regs).registers
+
+			self.__dict__['registers'] = registers
+		return self.__dict__['registers']
+
+	def __repr__(self):
+		return "<NX_task {}>".format(self.pid)
+
+	def __str__(self):
+		return "{}:{}".format(self.pid, self.name)
+	
+	def showoff(self):
+		print("-------")
+		print(self.pid,end = ", ")
+		print(self.name,end = ", ")
+		print(self.state,end = ", ")
+		print(self.waiting_for,end = ", ")
+		print(self.stack_used,end = ", ")
+		print(self._tcb['adj_stack_size'],end = ", ")
+		print(self.file_descriptors)
+		print(self.registers)
+		
+	def __format__(self, format_spec):
+		return format_spec.format(
+			pid              = self.pid,
+			name             = self.name,
+			state            = self.state,
+			waiting_for      = self.waiting_for,
+			stack_used       = self.stack_used,
+			stack_limit      = self._tcb['adj_stack_size'],
+			file_descriptors = self.file_descriptors,
+			registers	 = self.registers
+			)
+	
+class NX_show_task (gdb.Command):
+	"""(NuttX) prints information about a task"""
+
+	def __init__(self):
+		super(NX_show_task, self).__init__("show task", gdb.COMMAND_USER)
+
+	def invoke(self, arg, from_tty):
+		t = NX_task.for_pid(parse_int(arg))
+		if t is not None:
+			my_fmt = 'PID:{pid}  name:{name}  state:{state}\n'
+			my_fmt += '  stack used {stack_used} of {stack_limit}\n'
+			if t.is_waiting:
+				my_fmt += '  waiting for {waiting_for}\n'
+			my_fmt += '  open files: {file_descriptors}\n'
+			my_fmt += '  R0  {registers[R0]:#010x} {registers[R1]:#010x} {registers[R2]:#010x} {registers[R3]:#010x}\n'
+			my_fmt += '  R4  {registers[R4]:#010x} {registers[R5]:#010x} {registers[R6]:#010x} {registers[R7]:#010x}\n'
+			my_fmt += '  R8  {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
+			my_fmt += '  R12 {registers[PC]:#010x}\n'
+			my_fmt += '  SP  {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
+			print(format(t, my_fmt))
+
+class NX_show_tasks (gdb.Command):
+	"""(NuttX) prints a list of tasks"""
+
+	def __init__(self):
+		super(NX_show_tasks, self).__init__('show tasks', gdb.COMMAND_USER)
+
+	def invoke(self, args, from_tty):
+		tasks = NX_task.tasks()
+		print ('Number of tasks: ' + str(len(tasks)))
+		for t in tasks:
+			#t.showoff()
+			print(format(t, 'Task: {pid} {name} {state} {stack_used}/{stack_limit}'))
+
+NX_show_task()
+NX_show_tasks()
+
+class NX_show_heap (gdb.Command):
+	"""(NuttX) prints the heap"""
+
+	def __init__(self):
+		super(NX_show_heap, self).__init__('show heap', gdb.COMMAND_USER)
+		struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s')
+		preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof
+		if preceding_size == 2:
+			self._allocflag = 0x8000
+		elif preceding_size == 4:
+			self._allocflag = 0x80000000
+		else:
+			raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size)
+			self._allocnodesize = struct_mm_allocnode_s.sizeof
+
+	def _node_allocated(self, allocnode):
+		if allocnode['preceding'] & self._allocflag:
+			return True
+		return False
+
+	def _node_size(self, allocnode):
+		return allocnode['size'] & ~self._allocflag
+
+	def _print_allocations(self, region_start, region_end):
+		if region_start >= region_end:
+			raise gdb.GdbError('heap region {} corrupt'.format(hex(region_start)))
+		nodecount = region_end - region_start
+		print ('heap {} - {}'.format(region_start, region_end))
+		cursor = 1
+		while cursor < nodecount:
+			allocnode = region_start[cursor]
+			if self._node_allocated(allocnode):
+				state = ''
+			else:
+				state = '(free)'
+			print( '  {} {} {}'.format(allocnode.address + self._allocnodesize,
+                                                  self._node_size(allocnode), state))
+			cursor += self._node_size(allocnode) / self._allocnodesize
+
+	def invoke(self, args, from_tty):
+		heap = gdb.lookup_global_symbol('g_mmheap').value()
+		nregions = heap['mm_nregions']
+		region_starts = heap['mm_heapstart']
+		region_ends = heap['mm_heapend']
+		print( '{} heap(s)'.format(nregions))
+		# walk the heaps
+		for i in range(0, nregions):
+			self._print_allocations(region_starts[i], region_ends[i])
+
+NX_show_heap()
+
+class NX_show_interrupted_thread (gdb.Command):
+	"""(NuttX) prints the register state of an interrupted thread when in interrupt/exception context"""
+
+	def __init__(self):
+		super(NX_show_interrupted_thread, self).__init__('show interrupted-thread', gdb.COMMAND_USER)
+
+	def invoke(self, args, from_tty):
+		regs = gdb.lookup_global_symbol('current_regs').value()
+		if regs is 0:
+			raise gdb.GdbError('not in interrupt context')
+		else:
+			registers = NX_register_set.with_xcpt_regs(regs)
+			my_fmt = ''
+			my_fmt += '  R0  {registers[R0]:#010x} {registers[R1]:#010x} {registers[R2]:#010x} {registers[R3]:#010x}\n'
+			my_fmt += '  R4  {registers[R4]:#010x} {registers[R5]:#010x} {registers[R6]:#010x} {registers[R7]:#010x}\n'
+			my_fmt += '  R8  {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
+			my_fmt += '  R12 {registers[PC]:#010x}\n'
+			my_fmt += '  SP  {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
+			print (format(registers, my_fmt))
+
+NX_show_interrupted_thread()
+
+class NX_check_tcb(gdb.Command):
+	""" check the tcb of a task from a address """
+	def __init__(self):
+		super(NX_check_tcb,self).__init__('show tcb', gdb.COMMAND_USER)
+		
+	def invoke(self,args,sth):
+		tasks = NX_task.tasks()
+		print("tcb int: ",int(args))
+		print(tasks[int(args)]._tcb)
+		a =tasks[int(args)]._tcb['xcp']['regs']
+		print("relevant registers:")
+		for reg in regmap:
+			hex_addr= hex(int(a[regmap[reg]]))
+			eval_string = 'info line *'+str(hex_addr)
+			print(reg,": ",hex_addr,)
+NX_check_tcb()
+
+class NX_tcb(object):
+	def __init__(self):
+		pass
+	
+	def is_in(self,arg,list):
+		for i in list:
+			if arg == i:
+				return True;
+		return False
+	
+	def find_tcb_list(self,dq_entry_t):
+		tcb_list = []
+		tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
+		first_tcb = tcb_ptr.dereference()
+		tcb_list.append(first_tcb);
+		next_tcb = first_tcb['flink'].dereference()
+		while not self.is_in(parse_int(next_tcb['pid']),[parse_int(t['pid']) for t in tcb_list]):
+			tcb_list.append(next_tcb); 
+			old_tcb = next_tcb;
+			next_tcb = old_tcb['flink'].dereference()
+		
+		return [t for t in tcb_list if parse_int(t['pid'])<2000]
+	
+	def getTCB(self):
+		list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
+		tcb_list = [];
+		for l in list_of_listsnames:
+			li = gdb.lookup_global_symbol(l)
+			print(li)
+			cursor = li.value()['head']
+			tcb_list = tcb_list + self.find_tcb_list(cursor)
+
+class NX_check_stack_order(gdb.Command):
+	""" Check the Stack order corresponding to the tasks """
+	
+	def __init__(self):
+		super(NX_check_stack_order,self).__init__('show check_stack', gdb.COMMAND_USER)
+		
+	def is_in(self,arg,list):
+		for i in list:
+			if arg == i:
+				return True;
+		return False
+	
+	def find_tcb_list(self,dq_entry_t):
+		tcb_list = []
+		tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
+		first_tcb = tcb_ptr.dereference()
+		tcb_list.append(first_tcb);
+		next_tcb = first_tcb['flink'].dereference()
+		while not self.is_in(parse_int(next_tcb['pid']),[parse_int(t['pid']) for t in tcb_list]):
+			tcb_list.append(next_tcb); 
+			old_tcb = next_tcb;
+			next_tcb = old_tcb['flink'].dereference()
+		
+		return [t for t in tcb_list if parse_int(t['pid'])<2000]
+	
+	def getTCB(self):
+		list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
+		tcb_list = [];
+		for l in list_of_listsnames:
+			li = gdb.lookup_global_symbol(l)
+			cursor = li.value()['head']
+			tcb_list = tcb_list + self.find_tcb_list(cursor)
+		return tcb_list
+		
+	def getSPfromTask(self,tcb):
+		regmap = NX_register_set.v7em_regmap
+		a =tcb['xcp']['regs']
+		return 	parse_int(a[regmap['SP']])
+	
+	def find_closest(self,list,val):
+		tmp_list = [abs(i-val) for i in list]
+		tmp_min = min(tmp_list)
+		idx = tmp_list.index(tmp_min)
+		return idx,list[idx]
+	
+	def find_next_stack(self,address,_dict_in):
+		add_list = []
+		name_list = []
+		for key in _dict_in.keys():
+			for i in range(3):
+				if _dict_in[key][i] < address:
+					add_list.append(_dict_in[key][i])
+					if i == 2: # the last one is the processes stack pointer
+						name_list.append(self.check_name(key)+"_SP")
+					else:
+						name_list.append(self.check_name(key))
+					
+		idx,new_address = self.find_closest(add_list,address)
+		return new_address,name_list[idx]
+	
+	def check_name(self,name):
+		if isinstance(name,(list)):
+			name = name[0];
+		idx = name.find("\\")
+		newname = name[:idx]
+		
+		return newname
+	 
+	def invoke(self,args,sth):
+		tcb = self.getTCB();
+		stackadresses={};
+		for t in tcb:
+			p = [];
+			#print(t.name,t._tcb['stack_alloc_ptr'])
+			p.append(parse_int(t['stack_alloc_ptr']))
+			p.append(parse_int(t['adj_stack_ptr']))
+			p.append(self.getSPfromTask(t))
+			stackadresses[str(t['name'])] = p;
+		address = int("0x30000000",0)
+		print("stack address  :  process")
+		for i in range(len(stackadresses)*3):
+			  address,name = self.find_next_stack(address,stackadresses)
+			  print(hex(address),": ",name)
+
+NX_check_stack_order()
+					 
+class NX_run_debug_util(gdb.Command):
+	""" show the registers of a task corresponding to a tcb address"""
+	def __init__(self):
+		super(NX_run_debug_util,self).__init__('show regs', gdb.COMMAND_USER)
+	
+	def printRegisters(self,task):
+		regmap = NX_register_set.v7em_regmap
+		a =task._tcb['xcp']['regs']
+		print("relevant registers in ",task.name,":")
+		for reg in regmap:
+			hex_addr= hex(int(a[regmap[reg]]))
+			eval_string = 'info line *'+str(hex_addr)
+			print(reg,": ",hex_addr,)
+			
+	def getPCfromTask(self,task):
+		regmap = NX_register_set.v7em_regmap
+		a =task._tcb['xcp']['regs']
+		return 	hex(int(a[regmap['PC']]))
+	
+	def invoke(self,args,sth):
+		tasks = NX_task.tasks() 
+		if args == '':
+			for t in tasks:
+				self.printRegisters(t)
+				eval_str = "list *"+str(self.getPCfromTask(t))
+				print("this is the location in code where the current threads $pc is:")
+				gdb.execute(eval_str)
+		else:
+			tcb_nr = int(args);
+			print("tcb_nr = ",tcb_nr)
+			t = tasks[tcb_nr]
+			self.printRegisters(t)
+			eval_str = "list *"+str(self.getPCfromTask(t))
+			print("this is the location in code where the current threads $pc is:")
+			gdb.execute(eval_str)
+			
+NX_run_debug_util()
+
+		
+class NX_search_tcb(gdb.Command):
+	""" shot PID's of all running tasks """
+	
+	def __init__(self):
+		super(NX_search_tcb,self).__init__('show alltcb', gdb.COMMAND_USER)
+	
+	def is_in(self,arg,list):
+		for i in list:
+			if arg == i:
+				return True;
+		return False
+	
+	def find_tcb_list(self,dq_entry_t):
+		tcb_list = []
+		tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
+		first_tcb = tcb_ptr.dereference()
+		tcb_list.append(first_tcb);
+		next_tcb = first_tcb['flink'].dereference()
+		while not self.is_in(parse_int(next_tcb['pid']),[parse_int(t['pid']) for t in tcb_list]):
+			tcb_list.append(next_tcb); 
+			old_tcb = next_tcb;
+			next_tcb = old_tcb['flink'].dereference()
+		
+		return [t for t in tcb_list if parse_int(t['pid'])<2000]
+	
+	def invoke(self,args,sth):
+		list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
+		tasks = [];
+		for l in list_of_listsnames:
+			li = gdb.lookup_global_symbol(l)
+			cursor = li.value()['head']
+			tasks = tasks + self.find_tcb_list(cursor)
+		
+		# filter for tasks that are listed twice
+		tasks_filt = {}
+		for t in tasks:
+			pid = parse_int(t['pid']);
+			if not pid in tasks_filt.keys():
+				tasks_filt[pid] = t['name']; 
+		print('{num_t} Tasks found:'.format(num_t = len(tasks_filt)))
+		for pid in tasks_filt.keys():
+			print("PID: ",pid," ",tasks_filt[pid])
+
+NX_search_tcb()
+
+
+class NX_my_bt(gdb.Command):
+	""" 'fake' backtrace: backtrace the stack of a process and check every suspicious address for the list 
+	arg: tcb_address$
+	(can easily be found by typing 'showtask').
+	"""
+	
+	def __init__(self):
+		super(NX_my_bt,self).__init__('show mybt', gdb.COMMAND_USER)
+		
+	def readmem(self,addr):
+		'''
+		read memory at addr and return nr
+		'''	
+		str_to_eval = "x/x "+hex(addr)
+		resp = gdb.execute(str_to_eval,to_string = True)
+		idx = resp.find('\t')
+		return int(resp[idx:],16)
+	
+	def is_in_bounds(self,val):
+		lower_bound = int("08004000",16)
+		upper_bound = int("080ae0c0",16);
+		#print(lower_bound," ",val," ",upper_bound)
+		if val>lower_bound and val<upper_bound:
+			return True;
+		else:
+			return False;
+	def get_tcb_from_address(self,addr):
+		addr_value = gdb.Value(addr)
+		tcb_ptr = addr_value.cast(gdb.lookup_type('struct tcb_s').pointer())
+		return tcb_ptr.dereference()
+	
+	def resolve_file_line_func(self,addr,stack_percentage):
+		gdb.write(str(round(stack_percentage,2))+":")
+		str_to_eval = "info line *"+hex(addr)
+		#gdb.execute(str_to_eval)
+		res = gdb.execute(str_to_eval,to_string = True)
+		# get information from results string:
+		words = res.split()
+		if words[0] != 'No':
+			line = int(words[1])
+			block = gdb.block_for_pc(addr)
+			func = block.function
+			if str(func) == "None":
+				func = block.superblock.function
+			return words[3].strip('"'), line, func
+		
+	def invoke(self,args,sth):
+		try:
+			addr_dec = parse_int(args)   # Trying to interpret the input as TCB address
+		except ValueError:
+			for task in NX_task.tasks(): # Interpreting as a task name
+				if task.name == args:
+					_tcb = task._tcb
+					break
+		else:
+			_tcb = self.get_tcb_from_address(addr_dec)
+
+		print("found task with PID: ",_tcb["pid"])
+		up_stack = parse_int(_tcb['adj_stack_ptr'])
+		curr_sp = parse_int(_tcb['xcp']['regs'][0]) #curr stack pointer
+		other_sp = parse_int(_tcb['xcp']['regs'][8]) # other stack pointer
+		stacksize = parse_int(_tcb['adj_stack_size']) # other stack pointer
+		
+		print("tasks current SP = ",hex(curr_sp),"stack max ptr is at ",hex(up_stack))
+		
+		item = 0
+		for sp in range(other_sp if curr_sp == up_stack else curr_sp, up_stack, 4):
+			mem = self.readmem(sp)
+			#print(hex(sp)," : ",hex(mem))
+			if self.is_in_bounds(mem):
+				# this is a potential instruction ptr
+				stack_percentage = (up_stack-sp)/stacksize
+				filename,line,func = self.resolve_file_line_func(mem, stack_percentage)
+				print('#%-2d ' % item, '0x%08x in ' % mem, func, ' at ', filename, ':', line, sep='')
+				item += 1
+		
+NX_my_bt()

Debug/PX4

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

Debug/dot.gdbinit

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

Debug/olimex-px4fmu-debug.cfg

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

Debug/openocd.gdbinit

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

Debug/poor-mans-profiler.sh

@@ -0,0 +1,270 @@
+#!/bin/bash
+#
+# Author: Pavel Kirienko <pavel.kirienko@zubax.com>
+#
+# Poor man's sampling profiler for NuttX.
+#
+# Usage: Install flamegraph.pl in your PATH, configure your .gdbinit, run the script with proper arguments and go
+#        have a coffee. When you're back, you'll see the flamegraph. Note that frequent calls to GDB significantly
+#        interfere with normal operation of the target, which means that you can't profile real-time tasks with it.
+#        For best results, ensure that the PC is not overloaded, the USB host controller to which the debugger is
+#        connected is not congested. You should also allow the current user to set negative nice values.
+#
+# The FlameGraph script can be downloaded from https://github.com/brendangregg/FlameGraph. Thanks Mr. Gregg.
+#
+# Requirements: ARM GDB with Python support. You can get one by downloading the sources from
+#               https://launchpad.net/gcc-arm-embedded and building them with correct flags.
+#               Note that Python support is not required if no per-task sampling is needed.
+#
+
+set -e
+root=$(dirname $0)/..
+
+function die()
+{
+    echo "$@"
+    exit 1
+}
+
+function usage()
+{
+    echo "Invalid usage. Supported options:"
+    cat $0 | sed -n 's/^\s*--\([^)\*]*\).*/\1/p' # Don't try this at home.
+    exit 1
+}
+
+which flamegraph.pl > /dev/null || die "Install flamegraph.pl first"
+
+#
+# Parsing the arguments. Read this section for usage info.
+#
+nsamples=0
+sleeptime=0.1    # Doctors recommend 7-8 hours a day
+taskname=
+elf=
+append=0
+fgfontsize=10
+fgwidth=1900
+
+for i in "$@"
+do
+    case $i in
+        --nsamples=*)
+            nsamples="${i#*=}"
+            ;;
+        --sleeptime=*)
+            sleeptime="${i#*=}"
+            ;;
+        --taskname=*)
+            taskname="${i#*=}"
+            ;;
+        --elf=*)
+            elf="${i#*=}"
+            ;;
+        --append)
+            append=1
+            ;;
+        --fgfontsize=*)
+            fgfontsize="${i#*=}"
+            ;;
+        --fgwidth=*)
+            fgwidth="${i#*=}"
+            ;;
+        *)
+            usage
+            ;;
+    esac
+    shift
+done
+
+[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/px4fmu-v4_default/src/firmware/nuttx/firmware_nuttx"
+
+#
+# Temporary files
+#
+stacksfile=/tmp/pmpn-stacks.log
+foldfile=/tmp/pmpn-folded.txt
+graphfile=/tmp/pmpn-flamegraph.svg
+gdberrfile=/tmp/pmpn-gdberr.log
+
+#
+# Sampling if requested. Note that if $append is true, the stack file will not be rewritten.
+#
+cd $root
+
+if [[ $nsamples > 0 ]]
+then
+    [[ $append = 0 ]] && (rm -f $stacksfile; echo "Old stacks removed")
+
+    echo "Sampling the task '$taskname'..."
+
+    for x in $(seq 1 $nsamples)
+    do
+        if [[ "$taskname" = "" ]]
+        then
+            arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" -ex bt \
+                2> $gdberrfile \
+                | sed -n 's/\(#.*\)/\1/p' \
+                >> $stacksfile
+        else
+            arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" \
+                                           -ex "source $root/Debug/Nuttx.py" \
+                                           -ex "show mybt $taskname" \
+                2> $gdberrfile \
+                | sed -n 's/0\.0:\(#.*\)/\1/p' \
+                >> $stacksfile
+        fi
+        echo -e '\n\n' >> $stacksfile
+        echo -ne "\r$x/$nsamples"
+        sleep $sleeptime
+    done
+
+    echo
+    echo "Stacks saved to $stacksfile"
+else
+    echo "Sampling skipped - set 'nsamples' to re-sample."
+fi
+
+#
+# Folding the stacks.
+#
+[ -f $stacksfile ] || die "Where are the stack samples?"
+
+cat << 'EOF' > /tmp/pmpn-folder.py
+#
+# This stack folder correctly handles C++ types.
+#
+from __future__ import print_function, division
+import fileinput, collections, os, sys
+
+def enforce(x, msg='Invalid input'):
+    if not x:
+        raise Exception(msg)
+
+def split_first_part_with_parens(line):
+    LBRACES = {'(':'()', '<':'<>', '[':'[]', '{':'{}'}
+    RBRACES = {')':'()', '>':'<>', ']':'[]', '}':'{}'}
+    QUOTES = set(['"', "'"])
+    quotes = collections.defaultdict(bool)
+    braces = collections.defaultdict(int)
+    out = ''
+    for ch in line:
+        out += ch
+        # escape character cancels further processing
+        if ch == '\\':
+            continue
+        # special cases
+        if out.endswith('operator>') or out.endswith('operator>>') or out.endswith('operator->'):  # gotta love c++
+            braces['<>'] += 1
+        if out.endswith('operator<') or out.endswith('operator<<'):
+            braces['<>'] -= 1
+        # switching quotes
+        if ch in QUOTES:
+            quotes[ch] = not quotes[ch]
+        # counting parens only when outside quotes
+        if sum(quotes.values()) == 0:
+            if ch in LBRACES.keys():
+                braces[LBRACES[ch]] += 1
+            if ch in RBRACES.keys():
+                braces[RBRACES[ch]] -= 1
+        # sanity check
+        for v in braces.values():
+            enforce(v >= 0, 'Unaligned braces: ' + str(dict(braces)))
+        # termination condition
+        if ch == ' ' and sum(braces.values()) == 0:
+            break
+    out = out.strip()
+    return out, line[len(out):]
+
+def parse(line):
+    def take_path(line, output):
+        line = line.strip()
+        if line.startswith('at '):
+            line = line[3:].strip()
+        if line:
+            output['file_full_path'] = line.rsplit(':', 1)[0].strip()
+            output['file_base_name'] = os.path.basename(output['file_full_path'])
+            output['line'] = int(line.rsplit(':', 1)[1])
+        return output
+
+    def take_args(line, output):
+        line = line.lstrip()
+        if line[0] == '(':
+            output['args'], line = split_first_part_with_parens(line)
+        return take_path(line.lstrip(), output)
+
+    def take_function(line, output):
+        output['function'], line = split_first_part_with_parens(line.lstrip())
+        return take_args(line.lstrip(), output)
+
+    def take_mem_loc(line, output):
+        line = line.lstrip()
+        if line.startswith('0x'):
+            end = line.find(' ')
+            num = line[:end]
+            output['memloc'] = int(num, 16)
+            line = line[end:].lstrip()
+            end = line.find(' ')
+            enforce(line[:end] == 'in')
+            line = line[end:].lstrip()
+        return take_function(line, output)
+
+    def take_frame_num(line, output):
+        line = line.lstrip()
+        enforce(line[0] == '#')
+        end = line.find(' ')
+        num = line[1:end]
+        output['frame_num'] = int(num)
+        return take_mem_loc(line[end:], output)
+
+    return take_frame_num(line, {})
+
+stacks = collections.defaultdict(int)
+current = ''
+
+stack_tops = collections.defaultdict(int)
+num_stack_frames = 0
+
+for idx,line in enumerate(fileinput.input()):
+    try:
+        line = line.strip()
+        if line:
+            inf = parse(line)
+            fun = inf['function']
+            current = (fun + ';' + current) if current else fun
+
+            if inf['frame_num'] == 0:
+                num_stack_frames += 1
+                stack_tops[fun] += 1
+        elif current:
+            stacks[current] += 1
+            current = ''
+    except Exception, ex:
+        print('ERROR (line %d):' % (idx + 1), ex, file=sys.stderr)
+
+for s, f in sorted(stacks.items(), key=lambda (s, f): s):
+    print(s, f)
+
+print('Total stack frames:', num_stack_frames, file=sys.stderr)
+print('Top consumers (distribution of the stack tops):', file=sys.stderr)
+for name,num in sorted(stack_tops.items(), key=lambda (name, num): num, reverse=True)[:300]:
+    print('% 7.3f%%   ' % (100 * num / num_stack_frames), name, file=sys.stderr)
+EOF
+
+cat $stacksfile | python /tmp/pmpn-folder.py > $foldfile
+
+echo "Folded stacks saved to $foldfile"
+
+#
+# Graphing.
+#
+cat $foldfile | flamegraph.pl --fontsize=$fgfontsize --width=$fgwidth > $graphfile
+echo "FlameGraph saved to $graphfile"
+
+# On KDE, xdg-open prefers Gwenview by default, which doesn't handle interactive SVGs, so we need a browser.
+# The current implementation is hackish and stupid. Somebody, please do something about it.
+opener=xdg-open
+which firefox       > /dev/null && opener=firefox
+which google-chrome > /dev/null && opener=google-chrome
+
+$opener $graphfile

Debug/px4fmu-board.cfg

@@ -0,0 +1,37 @@
+# The latest defaults in OpenOCD 0.7.0 are actually prettymuch correct for the px4fmu
+
+# increase working area to 32KB for faster flash programming
+set WORKAREASIZE 0x8000
+
+source [find target/stm32f4x.cfg]
+
+# needed for px4
+reset_config trst_only
+
+proc stm32_reset {} {
+  reset halt
+# FIXME - needed to init periphs on reset
+# 0x40023800 RCC base
+# 0x24 RCC_APB2 0x75933
+# RCC_APB2 0
+}
+
+# perform init that is required on each connection to the target
+proc stm32_init {} {
+
+  # force jtag to not shutdown during sleep
+  #uint32_t cr = getreg32(STM32_DBGMCU_CR);
+  #cr |= DBGMCU_CR_STANDBY | DBGMCU_CR_STOP | DBGMCU_CR_SLEEP;
+  #putreg32(cr, STM32_DBGMCU_CR);
+  mww 0xe0042004 00000007
+}
+
+# if srst is not fitted use SYSRESETREQ to
+# perform a soft reset
+cortex_m reset_config sysresetreq
+
+# Let GDB directly program elf binaries
+gdb_memory_map enable
+
+# doesn't work yet
+gdb_flash_program disable

Debug/runopenocd.sh

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

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/
+

Documentation/doxygen.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+rm -rf html
+doxygen

Documentation/px4_hil/UserGuide.md

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

Documentation/versionfilter.sh

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

Firmware.sublime-project

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

Images/aerocore2.prototype

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

Images/aerofc-v1.prototype

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

Images/auav-x21.prototype

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

Images/crazyflie.prototype

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

Images/esc35-v1.prototype

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

Images/mindpx-v2.prototype

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

Images/nxphlite-v3.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 29,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the NXPHLITEv3 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "NXPHLITEv3",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4-same70xplained-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 110,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the SAME70xplained board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4/SAME70xplained",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Images/px4-stm32f4discovery.prototype

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

Images/px4cannode-v1.prototype

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

Images/px4esc-v1.prototype

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

Images/px4flow-v2.prototype

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

Images/px4fmu-v2.prototype

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

Images/px4fmu-v3.prototype

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

Images/px4fmu-v4.prototype

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

Images/px4fmu-v4pro.prototype

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

Images/px4fmu-v5.prototype

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

Images/px4io-v2.prototype

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

Images/px4nucleoF767ZI-v1.prototype

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

Images/s2740vc-v1.prototype

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

Images/tap-v1.prototype

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

Images/zubaxgnss-v1.prototype

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

Jenkinsfile

@@ -1,248 +1,273 @@
-#!/usr/bin/env groovy
-
 pipeline {
   agent none
   stages {
 
-    stage('Analysis') {
+    stage('Build') {
+      steps {
+        script {
+          def builds = [:]
 
+
+          // nuttx default targets that are archived and uploaded to s3
+          for (def option in ["px4fmu-v4", "px4fmu-v4pro", "px4fmu-v5", "aerofc-v1"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "git fetch --tags"
+                      sh "make nuttx_${node_name}_default"
+                      sh "make nuttx_${node_name}_rtps"
+                      sh "make sizes"
+                      sh "ccache -s"
+                      archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // special case for fmu-v2/fmu-v3
+          builds["px4fmu-v2"] = {
+            node {
+              stage("Build Test ${node_name}") {
+                docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  stage("${node_name}") {
+                    checkout scm
+                    sh "make clean"
+                    sh "ccache -z"
+                    sh "git fetch --tags"
+                    sh "make px4io-v2_default"
+                    sh "make nuttx_px4fmu-v2_default"
+                    sh "make nuttx_px4fmu-v2_lpe"
+                    sh "make nuttx_px4fmu-v3_default"
+                    sh "make nuttx_px4fmu-v3_rtps"
+                    sh "make sizes"
+                    sh "ccache -s"
+                    archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
+                  }
+                }
+              }
+            }
+          }
+
+
+          // nuttx default targets that are archived and uploaded to s3
+          for (def option in ["aerocore2", "auav-x21", "crazyflie", "mindpx-v2", "nxphlite-v3", "tap-v1"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "git fetch --tags"
+                      sh "make nuttx_${node_name}_default"
+                      sh "make sizes"
+                      sh "ccache -s"
+                      archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // other nuttx default targets
+          for (def option in ["px4-same70xplained-v1", "px4-stm32f4discovery", "px4cannode-v1", "px4esc-v1", "px4nucleoF767ZI-v1", "s2740vc-v1"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make nuttx_${node_name}_default"
+                      sh "make sizes"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // posix_sitl
+          for (def option in ["sitl_default", "sitl_rtps"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-base:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make posix_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // raspberry pi and bebop (armhf)
+          for (def option in ["rpi_cross", "bebop_default"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-raspi:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make posix_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // other armhf (to be merged with raspi and bebop)
+          for (def option in ["ocpoc_ubuntu"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.image('px4io/px4-dev-armhf:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make posix_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // snapdragon eagle (posix + qurt)
+          for (def option in ["eagle_default"]) {
+            def node_name = "${option}"
+
+            builds["${node_name}"] = {
+              node {
+                stage("Build Test ${node_name}") {
+                  docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
+                    docker.image("lorenzmeier/px4-dev-snapdragon:2017-10-23").inside {
+                      stage("${node_name}") {
+                        checkout scm
+                        sh "make clean"
+                        sh "ccache -z"
+                        sh "make ${node_name}"
+                        sh "ccache -s"
+                      }
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+
+          // GCC7 posix
+          for (def option in ["sitl_default"]) {
+            def node_name = "${option}"
+
+            builds["${node_name} (GCC7)"] = {
+              node {
+                stage("Build Test ${node_name} (GCC7)") {
+                  docker.image('px4io/px4-dev-base-archlinux:2017-12-08').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make posix_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+          // GCC7 nuttx
+          for (def option in ["px4fmu-v5_default"]) {
+            def node_name = "${option}"
+
+            builds["${node_name} (GCC7)"] = {
+              node {
+                stage("Build Test ${node_name} (GCC7)") {
+                  docker.image('px4io/px4-dev-base-archlinux:2017-12-08').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                    stage("${node_name}") {
+                      checkout scm
+                      sh "make clean"
+                      sh "ccache -z"
+                      sh "make nuttx_${node_name}"
+                      sh "ccache -s"
+                    }
+                  }
+                }
+              }
+            }
+          }
+
+          parallel builds
+        }
+      }
+    }
+
+    stage('Test') {
       parallel {
 
-        stage('Catkin build on ROS workspace') {
+        stage('check style') {
           agent {
             docker {
-              image 'px4io/px4-dev-ros-melodic:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+              image 'px4io/px4-dev-base:2017-10-23'
+              args '-e CI=true'
             }
           }
-          steps {
-            sh 'ls -l'
-            sh '''#!/bin/bash -l
-              echo $0;
-              mkdir -p catkin_ws/src;
-              cd catkin_ws;
-              git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
-              git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
-              source /opt/ros/melodic/setup.bash;
-              catkin init;
-              catkin build -j$(nproc) -l$(nproc);
-            '''
-            // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
-            sh '''#!/bin/bash -l
-              echo $0;
-              source catkin_ws/devel/setup.bash;
-              rostest px4 pub_test.launch;
-            '''
-          }
-          post {
-            always {
-              sh 'rm -rf catkin_ws'
-            }
-          }
-          options {
-            checkoutToSubdirectory('catkin_ws/src/Firmware')
-          }
-        }
-
-        stage('Colcon build on ROS2 workspace') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros2-bouncy:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'ls -l'
-            sh '''#!/bin/bash -l
-              echo $0;
-              unset ROS_DISTRO;
-              mkdir -p colcon_ws/src;
-              cd colcon_ws;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
-              git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
-              source /opt/ros/bouncy/setup.sh;
-              source /opt/ros/melodic/setup.sh;
-              colcon build --event-handlers console_direct+ --symlink-install;
-            '''
-          }
-          post {
-            always {
-              sh 'rm -rf colcon_ws'
-            }
-          }
-          options {
-            checkoutToSubdirectory('colcon_ws/src/Firmware')
-          }
-        }
-
-        stage('Style check') {
-          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
-          }
           steps {
             sh 'make check_format'
           }
-          post {
-            always {
-              sh 'rm -rf catkin_ws'
-            }
-          }
         }
 
-        stage('Bloaty px4_fmu-v2') {
+        stage('clang analyzer') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+              image 'px4io/px4-dev-clang:2017-10-23'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
             }
           }
           steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v2_default'
-            sh 'make px4_fmu-v2_default bloaty_symbols'
-            sh 'make px4_fmu-v2_default bloaty_compileunits'
-            sh 'make px4_fmu-v2_default bloaty_inlines'
-            sh 'make px4_fmu-v2_default bloaty_templates'
-            sh 'make px4_fmu-v2_default bloaty_compare_master'
-            sh 'make sizes'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('Bloaty px4_fmu-v5') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v5_default'
-            sh 'make px4_fmu-v5_default bloaty_symbols'
-            sh 'make px4_fmu-v5_default bloaty_compileunits'
-            sh 'make px4_fmu-v5_default bloaty_inlines'
-            sh 'make px4_fmu-v5_default bloaty_templates'
-            sh 'make px4_fmu-v5_default bloaty_compare_master'
-            sh 'make sizes'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('No-ninja px4_fmu-v2') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'NO_NINJA_BUILD=1 make px4_fmu-v2_default'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('No-ninja px4_fmu-v5') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'NO_NINJA_BUILD=1 make px4_fmu-v5_default'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('No-ninja SITL build') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base-bionic:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'NO_NINJA_BUILD=1 make px4_sitl_default'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('SITL unit tests') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base-bionic:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make tests'
-            sh 'ccache -s'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-        stage('Clang analyzer') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-clang:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
+            sh 'make clean'
             sh 'make scan-build'
             // publish html
             publishHTML target: [
@@ -255,52 +280,30 @@ pipeline {
               reportName: 'Clang Static Analyzer'
             ]
           }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'beta'
-              branch 'stable'
-              branch 'pr-jenkins' // for testing
-            }
-          }
         }
 
-        // stage('Clang tidy') {
-        //   agent {
-        //     docker {
-        //       image 'px4io/px4-dev-clang:2019-03-08'
-        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //     }
-        //   }
-        //   steps {
-        //     sh 'export'
-        //     retry (3) {
-        //       sh 'make distclean'
-        //       sh 'make clang-tidy-quiet'
-        //     }
-        //   }
-        //   post {
-        //     always {
-        //       sh 'make distclean'
-        //     }
-        //   }
-        // }
-
-        stage('Cppcheck') {
+        stage('clang tidy') {
           agent {
             docker {
-              image 'px4io/px4-dev-base-bionic:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+              image 'px4io/px4-dev-clang:2017-10-23'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
             }
           }
           steps {
-            sh 'export'
-            sh 'make distclean'
+            sh 'make clean'
+            sh 'make clang-tidy-quiet'
+          }
+        }
+
+        stage('cppcheck') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-base:ubuntu17.10'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+            }
+          }
+          steps {
+            sh 'make clean'
             sh 'make cppcheck'
             // publish html
             publishHTML target: [
@@ -313,358 +316,105 @@ pipeline {
               reportName: 'Cppcheck'
             ]
           }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'beta'
-              branch 'stable'
-              branch 'pr-jenkins' // for testing
-            }
-          }
         }
 
-        stage('Check stack') {
+        stage('tests') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+              image 'px4io/px4-dev-base:2017-10-23'
+              args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
             }
           }
           steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make px4_fmu-v2_default stack_check'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
+            sh 'make clean'
+            sh 'make posix_sitl_default test_results_junit'
+            junit 'build/posix_sitl_default/JUnitTestResults.xml'
           }
         }
 
-        stage('ShellCheck') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make shellcheck_all'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
+        // temporarily disabled until stable
+        //stage('tests coverage') {
+        //  agent {
+        //    docker {
+        //      image 'px4io/px4-dev-base:2017-10-23'
+        //      args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
+        //    }
+        //  }
+        //  steps {
+        //    sh 'make clean'
+        //    sh 'make tests_coverage'
+        //    // publish html
+        //    publishHTML target: [
+        //      allowMissing: false,
+        //      alwaysLinkToLastBuild: false,
+        //      keepAll: true,
+        //      reportDir: 'build/posix_sitl_default/coverage-html',
+        //      reportFiles: '*',
+        //      reportName: 'Coverage Report'
+        //    ]
+        //  }
+        //}
 
-        stage('Module config validation') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base-bionic:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make validate_module_configs'
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
-      } // parallel
-    } // stage Analysis
+      }
+    }
 
     stage('Generate Metadata') {
 
       parallel {
 
-        stage('Airframe') {
+        stage('airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
+            docker { image 'px4io/px4-dev-base:2017-10-23' }
           }
           steps {
-            sh 'make distclean'
             sh 'make airframe_metadata'
-            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
-              stash includes: 'airframes.md, airframes.xml', name: 'metadata_airframes'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
+            archiveArtifacts(artifacts: 'airframes.md, airframes.xml', fingerprint: true)
           }
         }
 
-        stage('Parameter') {
+        stage('parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
+            docker { image 'px4io/px4-dev-base:2017-10-23' }
           }
           steps {
-            sh 'make distclean'
             sh 'make parameters_metadata'
-            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
-              stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
+            archiveArtifacts(artifacts: 'parameters.md, parameters.xml', fingerprint: true)
           }
         }
 
-        stage('Module') {
+        stage('module') {
           agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
+            docker { image 'px4io/px4-dev-base:2017-10-23' }
           }
           steps {
-            sh 'make distclean'
             sh 'make module_documentation'
-            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'modules/*.md')
-              stash includes: 'modules/*.md', name: 'metadata_module_documentation'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
+            archiveArtifacts(artifacts: 'modules/*.md', fingerprint: true)
           }
         }
+      }
+    }
 
-        stage('uORB graphs') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-03-08'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make uorb_graphs'
-            dir('Tools/uorb_graph') {
-              archiveArtifacts(artifacts: 'graph_px4_sitl.json')
-              stash includes: 'graph_px4_sitl.json', name: 'uorb_graph'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
+    stage('S3 Upload') {
+      agent {
+        docker { image 'px4io/px4-dev-base:2017-10-23' }
+      }
+
+      when {
+        anyOf {
+          branch 'master'
+          branch 'beta'
+          branch 'stable'
         }
+      }
 
-      } // parallel
-    } // stage: Generate Metadata
-
-    stage('Deploy') {
-
-      parallel {
-
-        stage('Devguide') {
-          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
-          }
-          steps {
-            sh('export')
-            unstash 'metadata_airframes'
-            unstash 'metadata_parameters'
-            unstash 'metadata_module_documentation'
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/Devguide.git')
-              sh('cp airframes.md Devguide/en/airframes/airframe_reference.md')
-              sh('cp parameters.md Devguide/en/advanced/parameter_reference.md')
-              sh('cp -R modules/*.md Devguide/en/middleware/')
-              sh('cd Devguide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd Devguide; git push origin master || true')
-              sh('rm -rf Devguide')
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-        }
-
-        stage('Userguide') {
-          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
-          }
-          steps {
-            sh('export')
-            unstash 'metadata_airframes'
-            unstash 'metadata_parameters'
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
-              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
-              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
-              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd px4_user_guide; git push origin master || true')
-              sh('rm -rf px4_user_guide')
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-        }
-
-        stage('QGroundControl') {
-          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
-          }
-          steps {
-            sh('export')
-            unstash 'metadata_airframes'
-            unstash 'metadata_parameters'
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/mavlink/qgroundcontrol.git')
-              sh('cp airframes.xml qgroundcontrol/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml')
-              sh('cp parameters.xml qgroundcontrol/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml')
-              sh('cd qgroundcontrol; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd qgroundcontrol; git push origin master || true')
-              sh('rm -rf qgroundcontrol')
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-        }
-
-        stage('PX4 ROS msgs') {
-          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
-          }
-          steps {
-            sh('export')
-            sh('make distclean')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
-              // 'master' branch
-              sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
-              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin master || true')
-              // 'ros1' branch
-              sh('cd px4_msgs; git checkout ros1')
-              sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
-              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin ros1 || true')
-              sh('rm -rf px4_msgs')
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
-        stage('PX4 ROS2 bridge') {
-          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
-          }
-          steps {
-            sh('export')
-            sh('make distclean')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
-              // deploy uORB RTPS ID map
-              sh('python msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
-              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
-              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
-              // deploy uORB RTPS required tools
-              sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
-              sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
-              sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
-              sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
-              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
-              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
-              sh('rm -rf px4_msgs')
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
-        stage('S3') {
-          agent {
-            docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
-          }
-          steps {
-            sh('export')
-            unstash 'metadata_airframes'
-            unstash 'metadata_parameters'
-            sh('ls')
-            withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-        }
-
-      } // parallel
-    } // stage: Generate Metadata
-
-  } // stages
-
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-    GIT_AUTHOR_EMAIL = "bot@px4.io"
-    GIT_AUTHOR_NAME = "PX4BuildBot"
-    GIT_COMMITTER_EMAIL = "bot@px4.io"
-    GIT_COMMITTER_NAME = "PX4BuildBot"
+      steps {
+        sh 'echo "uploading to S3"'
+      }
+    }
   }
+
   options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
+    buildDiscarder(logRotator(numToKeepStr: '5'))
     timeout(time: 60, unit: 'MINUTES')
   }
 }

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2019, PX4 Development Team
+Copyright (c) 2012 - 2017, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2019 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2017 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -48,19 +48,16 @@ endif
 #
 # Example usage:
 #
-# make px4_fmu-v2_default 			(builds)
-# make px4_fmu-v2_default upload 	(builds and uploads)
-# make px4_fmu-v2_default test 		(builds and tests)
+# make px4fmu-v2_default 			(builds)
+# make px4fmu-v2_default upload 	(builds and uploads)
+# make px4fmu-v2_default test 		(builds and tests)
 #
-# This tells cmake to build the nuttx px4_fmu-v2 default config in the
-# directory build/px4_fmu-v2_default and then call make
+# This tells cmake to build the nuttx px4fmu-v2 default config in the
+# directory build/nuttx_px4fmu-v2_default and then call make
 # in that directory with the target upload.
 
-# explicity set default build target
-all: px4_sitl_default
-
-# define a space character to be able to explicitly find it in strings
-space := $(subst ,, )
+#  explicity set default build target
+all: posix_sitl_default
 
 # Parsing
 # --------------------------------------------------------------------
@@ -101,7 +98,7 @@ else
 	PX4_MAKE_ARGS = -j$(j) --no-print-directory
 endif
 
-SRC_DIR := $(shell dirname "$(realpath $(lastword $(MAKEFILE_LIST)))")
+SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
 
 # check if replay env variable is set & set build dir accordingly
 ifdef replay
@@ -117,72 +114,29 @@ endif
 
 ifdef PX4_CMAKE_BUILD_TYPE
 	CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
-else
-
-	# Address Sanitizer
-	ifdef PX4_ASAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
-	endif
-
-	# Memory Sanitizer
-	ifdef PX4_MSAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
-	endif
-
-	# Thread Sanitizer
-	ifdef PX4_TSAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
-	endif
-
-	# Undefined Behavior Sanitizer
-	ifdef PX4_UBSAN
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
-	endif
-
 endif
 
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-	@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
-	@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
-	@$(call cmake-cache-check)
-	@# make sure to start from scratch when switching from GNU Make to Ninja
-	@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-	@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
-	@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
-		mkdir -p $(BUILD_DIR) \
-		&& cd $(BUILD_DIR) \
-		&& cmake "$(SRC_DIR)" -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) \
-		|| (rm -rf $(BUILD_DIR)); \
-	fi
-	@# run the build for the specified target
-	@cmake --build $(BUILD_DIR) -- $(PX4_MAKE_ARGS) $(ARGS)
++@$(eval BUILD_DIR = $(SRC_DIR)/build/$@$(BUILD_DIR_SUFFIX))
++@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
++@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(1) || (rm -rf $(BUILD_DIR)); fi
++@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef
 
-# check if the options we want to build with in CMAKE_ARGS match the ones which are already configured in the cache inside BUILD_DIR
-define cmake-cache-check
-	@# change to build folder which fails if it doesn't exist and CACHED_CMAKE_OPTIONS stays empty
-	@# fetch all previously configured and cached options from the build folder and transform them into the OPTION=VALUE format without type (e.g. :BOOL)
-	@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's/\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)/\1\2/gp' ))
-	@# transform the options in CMAKE_ARGS into the OPTION=VALUE format without -D
-	@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's/-D\([^[:blank:]]*=[^[:blank:]]*\)/\1/gp' ))
-	@# find each currently desired option in the already cached ones making sure the complete configured string value is the same
-	@$(eval VERIFIED_CMAKE_OPTIONS = $(foreach option,$(DESIRED_CMAKE_OPTIONS),$(strip $(findstring $(option)$(space),$(CACHED_CMAKE_OPTIONS)))))
-	@# if the complete list of desired options is found in the list of verified options we don't need to reconfigure and CMAKE_CACHE_CHECK stays empty
-	@$(eval CMAKE_CACHE_CHECK = $(if $(findstring $(DESIRED_CMAKE_OPTIONS),$(VERIFIED_CMAKE_OPTIONS)),,y))
-endef
-
-COLOR_BLUE = \033[0;94m
+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 boards/*/*.cmake
-ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's/boards\///' | sed -e 's/\.cmake//' | sed -e 's/\//_/g' | sort)
+# Get a list of all config targets cmake/configs/*.cmake
+ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" -maxdepth 1 ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed  -e 's:^.*/::' | sort))
+# Strip off leading nuttx_
+NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS)))
 
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -190,47 +144,32 @@ ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*comm
 
 # All targets.
 $(ALL_CONFIG_TARGETS):
-	@$(eval PX4_CONFIG = $@)
-	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
-	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
+	$(call cmake-build,$@,$(SRC_DIR))
 
-# Filter for only default targets to allow omiting the "_default" postfix
-CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
-$(CONFIG_TARGETS_DEFAULT):
-	@$(eval PX4_CONFIG = $@_default)
-	@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
-	@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
+# Abbreviated config targets.
 
-all_config_targets: $(ALL_CONFIG_TARGETS)
-all_default_targets: $(CONFIG_TARGETS_DEFAULT)
+# nuttx_ is left off by default; provide a rule to allow that.
+$(NUTTX_CONFIG_TARGETS):
+	$(call cmake-build,nuttx_$@,$(SRC_DIR))
 
-posix: px4_sitl_default
+all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
 
-# board reorganization deprecation warnings (2018-11-22)
-define deprecation_warning
-	$(warning $(1) has been deprecated and will be removed, please use $(2)!)
-endef
-
-px4fmu-%_default:
-	$(call deprecation_warning, ${@},$(subst px4fmu,px4_fmu,$@))
-	$(MAKE) $(subst px4fmu,px4_fmu, $@)
-
-posix_sitl_default:
-	$(call deprecation_warning, ${@},px4_sitl_default)
-	$(MAKE) px4_sitl_default
+posix: posix_sitl_default
+broadcast: posix_sitl_broadcast
 
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: all posix px4_sitl_default all_config_targets all_default_targets
+.PHONY: all posix broadcast all_nuttx_targets
 
 # Multi- config targets.
-eagle_default: atlflight_eagle_default atlflight_eagle_qurt-default
-eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
+eagle_default: posix_eagle_default qurt_eagle_default
+eagle_rtps: posix_eagle_rtps qurt_eagle_default
+eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
+excelsior_default: posix_excelsior_default qurt_excelsior_default
+excelsior_rtps: posix_excelsior_rtps qurt_excelsior_default
+excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
 
-excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt-default
-excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
-
-.PHONY: eagle_default eagle_rtps
-.PHONY: excelsior_default excelsior_rtps
+.PHONY: eagle_default eagle_rtps eagle_legacy_default
+.PHONY: excelsior_default excelsior_rtps excelsior_legacy_default
 
 # Other targets
 # --------------------------------------------------------------------
@@ -242,206 +181,160 @@ qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
 
 # px4fmu NuttX firmware
 px4fmu_firmware: \
-	check_px4_io-v2_default \
-	check_px4_fmu-v2_default \
-	check_px4_fmu-v3_default \
-	check_px4_fmu-v4_default \
-	check_px4_fmu-v4pro_default \
-	check_px4_fmu-v5_default \
+	check_px4io-v2_default \
+	check_px4fmu-v2_default \
+	check_px4fmu-v3_default \
+	check_px4fmu-v4_default \
+	check_px4fmu-v4pro_default \
+	check_px4fmu-v5_default \
 	sizes
 
 misc_qgc_extra_firmware: \
-	check_nxp_fmuk66-v3_default \
-	check_intel_aerofc-v1_default \
-	check_auav_x21_default \
-	check_bitcraze_crazyflie_default \
-	check_airmind_mindpx-v2_default \
-	check_px4_fmu-v2_lpe \
+	check_aerocore2_default \
+	check_aerofc-v1_default \
+	check_auav-x21_default \
+	check_crazyflie_default \
+	check_mindpx-v2_default \
+	check_px4fmu-v2_lpe \
+	check_tap-v1_default \
 	sizes
 
 # Other NuttX firmware
 alt_firmware: \
-	check_px4_cannode-v1_default \
-	check_px4_esc-v1_default \
-	check_auav_esc35-v1_default \
-	check_thiemar_s2740vc-v1_default \
+	check_nxphlite-v3_default \
+	check_px4-same70xplained-v1_default \
+	check_px4-stm32f4discovery_default \
+	check_px4cannode-v1_default \
+	check_px4esc-v1_default \
+	check_px4nucleoF767ZI-v1_default \
+	check_s2740vc-v1_default \
 	sizes
 
 # builds with RTPS
 check_rtps: \
-	check_px4_fmu-v3_rtps \
-	check_px4_fmu-v4_rtps \
-	check_px4_fmu-v4pro_rtps \
-	check_px4_sitl_rtps \
+	check_px4fmu-v3_rtps \
+	check_px4fmu-v4_rtps \
+	check_px4fmu-v4pro_rtps \
+	check_posix_sitl_rtps \
 	sizes
 
-.PHONY: sizes check quick_check check_rtps uorb_graphs
+.PHONY: sizes check quick_check check_rtps
 
 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
 
 # All default targets that don't require a special build environment
-check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
+check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
 
 # quick_check builds a single nuttx and posix target, runs testing, and checks the style
-quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format
+quick_check: check_posix_sitl_default check_px4fmu-v4pro_default tests check_format
 
 check_%:
 	@echo
-	$(call colorecho,'Building' $(subst check_,,$@))
+	$(call colorecho,"Building" $(subst check_,,$@))
 	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo
 
-uorb_graphs:
-	@./Tools/uorb_graph/create_from_startupscript.sh
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
-	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
-	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
-	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
-
-
 .PHONY: coverity_scan
 
-coverity_scan: px4_sitl_default
+coverity_scan: posix_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
+.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata
 
 parameters_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
+	@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:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
+	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown
+	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --xml
 
 module_documentation:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
+	@python $(SRC_DIR)/Tools/px_process_module_doc.py -v --markdown $(SRC_DIR)/modules --src-path $(SRC_DIR)/src
 
 px4_metadata: parameters_metadata airframe_metadata module_documentation
 
-doxygen:
-	@mkdir -p "$(SRC_DIR)"/build/doxygen
-	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
-	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
-
 # Astyle
 # --------------------------------------------------------------------
 .PHONY: check_format format
 
 check_format:
-	$(call colorecho,'Checking formatting with astyle')
-	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh
-	@cd "$(SRC_DIR)" && git diff --check
+	$(call colorecho,"Checking formatting with astyle")
+	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh
+	@cd $(SRC_DIR) && git diff --check
 
 format:
-	$(call colorecho,'Formatting with astyle')
-	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
+	$(call colorecho,"Formatting with astyle")
+	@$(SRC_DIR)/Tools/astyle/check_code_style_all.sh --fix
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
-.PHONY: rostest python_coverage
+.PHONY: tests tests_coverage
 
 tests:
-	$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
-	$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
-	$(eval ARGS += test_results)
-	$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
-	$(eval UBSAN_OPTIONS += color=always)
-	$(call cmake-build,px4_sitl_test)
+	@$(MAKE) --no-print-directory posix_sitl_default test_results \
+	ASAN_OPTIONS="color=always:check_initialization_order=1:detect_stack_use_after_return=1" \
+	UBSAN_OPTIONS="color=always"
 
 tests_coverage:
-	@$(MAKE) clean
-	@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
-	@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"
-
-rostest: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
-
-tests_mission: rostest
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
-
-rostest_run: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
-
-tests_mission_coverage:
-	@$(MAKE) clean
-	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
-	@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
-
-tests_offboard: rostest
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
-	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
-
-tests_avoidance: rostest
-	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
-
-python_coverage:
-	@mkdir -p "$(SRC_DIR)"/build/python_coverage
-	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_airframes
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_parameters
-	#@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage module_documentation # TODO: fix within coverage.py
-	@coverage combine `find . -name .coverage\*`
-	@coverage report -m
-
+	@$(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"
 
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
-.PHONY: cppcheck shellcheck_all validate_module_configs
+.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack
 
 scan-build:
 	@export CCC_CC=clang
 	@export CCC_CXX=clang++
-	@rm -rf "$(SRC_DIR)"/build/px4_sitl_default-scan-build
-	@rm -rf "$(SRC_DIR)"/build/scan-build/report_latest
-	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-scan-build
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-scan-build && scan-build cmake "$(SRC_DIR)" -GNinja -DCONFIG=px4_sitl_default
-	@scan-build -o "$(SRC_DIR)"/build/scan-build cmake --build "$(SRC_DIR)"/build/px4_sitl_default-scan-build
-	@find "$(SRC_DIR)"/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" "$(SRC_DIR)"/build/scan-build/report_latest \;
+	@rm -rf $(SRC_DIR)/build/posix_sitl_default-scan-build
+	@rm -rf $(SRC_DIR)/build/scan-build/report_latest
+	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-scan-build
+	@cd $(SRC_DIR)/build/posix_sitl_default-scan-build && scan-build cmake $(SRC_DIR) -GNinja -DCONFIG=posix_sitl_default
+	@scan-build -o $(SRC_DIR)/build/scan-build cmake --build $(SRC_DIR)/build/posix_sitl_default-scan-build
+	@find $(SRC_DIR)/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" $(SRC_DIR)/build/scan-build/report_latest \;
 
-px4_sitl_default-clang:
-	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
+posix_sitl_default-clang:
+	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && cmake $(SRC_DIR) $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
+	@$(PX4_MAKE) -C $(SRC_DIR)/build/posix_sitl_default-clang
 
-clang-tidy: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+clang-tidy: posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # 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: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
+clang-tidy-fix: posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .
 
 # modified version of run-clang-tidy.py to return error codes and only output relevant results
-clang-tidy-quiet: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+clang-tidy-quiet: posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
-cppcheck: px4_sitl_default
-	@mkdir -p "$(SRC_DIR)"/build/cppcheck
-	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
-	@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/
+cppcheck: posix_sitl_default
+	@mkdir -p $(SRC_DIR)/build/cppcheck
+	@cppcheck -i$(SRC_DIR)/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project=$(SRC_DIR)/build/posix_sitl_default/compile_commands.json --xml-version=2 2> $(SRC_DIR)/build/cppcheck/cppcheck-result.xml > /dev/null
+	@cppcheck-htmlreport --source-encoding=ascii --file=$(SRC_DIR)/build/cppcheck/cppcheck-result.xml --report-dir=$(SRC_DIR)/build/cppcheck --source-dir=$(SRC_DIR)/src/
 
-shellcheck_all:
-	@"$(SRC_DIR)"/Tools/run-shellcheck.sh "$(SRC_DIR)"/ROMFS/px4fmu_common/
-	@make px4_fmu-v5_default shellcheck
-
-validate_module_configs:
-	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+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
 
 clean:
-	@rm -rf "$(SRC_DIR)"/build
+	@rm -rf $(SRC_DIR)/build
 
 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
@@ -457,11 +350,9 @@ 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"
 
-# Help / Error
 # --------------------------------------------------------------------
 
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
@@ -469,17 +360,26 @@ distclean: gazeboclean
 	$(if $(filter $(FIRST_ARG),$@), \
 		$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
 
+#help:
+#	@echo
+#	@echo "Type 'make ' and hit the tab key twice to see a list of the available"
+#	@echo "build configurations."
+#	@echo
+
+empty :=
+space := $(empty) $(empty)
+
 # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
 help:
 	@echo "Usage: $(MAKE) <target>"
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
 		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
 	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
 
 # Print a list of all config targets.
 list_config_targets:
-	@for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done
+	@for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done

PULL_REQUEST_TEMPLATE.md

@@ -1,16 +0,0 @@
-Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
-
-**Describe problem solved by the proposed pull request**
-A clear and concise description of the problem this proposed change will solve. E.g. For this use case I ran into...
-
-**Test data / coverage**
-How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
-
-**Describe your preferred solution**
-A clear and concise description of what you have implemented.
-
-**Describe possible alternatives**
-A clear and concise description of alternative solutions or features you've considered.
-
-**Additional context**
-Add any other related context or media.

README.md

@@ -1,46 +1,38 @@
-# PX4 Drone Autopilot
+## PX4 Pro Drone Autopilot ##
 
-[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)
-
-[![Build Status](http://ci.px4.io:8080/buildStatus/icon?job=PX4/Firmware/master)](http://ci.px4.io:8080/blue/organizations/jenkins/PX4%2FFirmware/activity)
+[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware) [![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)
 
 [![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
 
-This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
-* [Supported airframes](https://docs.px4.io/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/en/airframes/airframe_reference.html#copter)
-  * [Fixed wing](https://docs.px4.io/en/airframes/airframe_reference.html#plane)
-  * [VTOL](https://docs.px4.io/en/airframes/airframe_reference.html#vtol)
-  * many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
-* Releases: [Downloads](https://github.com/PX4/Firmware/releases)
-
-
-## PX4 Users
-
-The [PX4 User Guide](https://docs.px4.io/en/) explains how to assemble [supported vehicles](https://docs.px4.io/en/airframes/airframe_reference.html) and fly drones with PX4.
-See the [forum and chat](https://docs.px4.io/en/#support) if you need help!
-
-
-## PX4 Developers
-
-This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
-
-Developers should read the [Guide for Contributions](https://dev.px4.io/en/contribute/).
-See the [forum and chat](https://dev.px4.io/en/#support) if you need help!
+  * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
+  * Supported airframes:
+    * [Multicopters](http://px4.io/portfolio_category/multicopter/)
+    * [Fixed wing](http://px4.io/portfolio_category/plane/)
+    * [VTOL](http://px4.io/portfolio_category/vtol/)
+    * many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
+  * Releases: [Downloads](https://github.com/PX4/Firmware/releases)
 
+Please refer to the [user documentation](https://docs.px4.io/en/) and [user forum](http://discuss.px4.io) for flying drones with the PX4 flight stack.
 
 ### Weekly Dev Call
 
-The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/#dev_call).
+The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/).
 
-> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
+  * [Wednesday 17:00 Central European Time, 11:00 Eastern Time, 08:00 Pacific Standard Time](https://www.google.com/calendar/embed?src=bGludXhmb3VuZGF0aW9uLm9yZ19nMjF0dmFtMjRtN3BtN2poZXYwMWJ2bHFoOEBncm91cC5jYWxlbmRhci5nb29nbGUuY29t)
+  * [Uber conference (dial-in or web client)](https://www.uberconference.com/lf-dronecode)
+  * The agenda is announced in advance on the [PX4 Discuss](http://discuss.px4.io/c/weekly-dev-call)
+  * Issues and PRs may be labelled [devcall](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3Adevcall) to flag them for discussion
 
+### Developers ###
+  * [Developer Guide](https://dev.px4.io/)
+    * [Build instructions](https://dev.px4.io/en/setup/building_px4.html)
+    * [Guide for Contributions](https://dev.px4.io/en/contribute/)
 
 ## Maintenance Team
 
-  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), 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)
@@ -67,42 +59,40 @@ 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 - [Nuno Marques](https://github.com/TSC21)
-
-See also [About Us](http://px4.io/about-us/#development_team) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
+  * RTPS/ROS2 Interface - [Vicente Monge](https://github.com/vicenteeprosima)
 
 ## Supported Hardware
 
 This repository contains code supporting these boards:
-  * [Snapdragon Flight](https://docs.px4.io/en/flight_controller/snapdragon_flight.html)
-  * [Intel Aero](https://docs.px4.io/en/flight_controller/intel_aero.html)
-  * [Raspberry PI with Navio 2](https://docs.px4.io/en/flight_controller/raspberry_pi_navio2.html)
+  * [Snapdragon Flight](https://dev.px4.io/en/flight_controller/snapdragon_flight.html)
+  * [Intel Aero](https://dev.px4.io/en/flight_controller/intel_aero.html)
+  * [Raspberry PI with Navio 2](https://dev.px4.io/en/flight_controller/raspberry_pi.html)
   * [Parrot Bebop 2](https://dev.px4.io/en/advanced/parrot_bebop.html)
   * FMUv2.x
-    * [Pixhawk](https://docs.px4.io/en/flight_controller/pixhawk.html)
-    * [Pixhawk Mini](https://docs.px4.io/en/flight_controller/pixhawk_mini.html)
-    * [Pixfalcon](https://docs.px4.io/en/flight_controller/pixfalcon.html)
-  * FMUv3.x [Pixhawk 2](https://docs.px4.io/en/flight_controller/pixhawk-2.html)
+    * [Pixhawk](https://dev.px4.io/en/flight_controller/pixhawk.html)
+    * Pixhawk Mini
+    * [Pixfalcon](https://dev.px4.io/en/flight_controller/pixfalcon.html)
+  * FMUv3.x [Pixhawk 2](https://pixhawk.org/modules/pixhawk2)
   * FMUv4.x
-    * [Pixracer](https://docs.px4.io/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/en/flight_controller/pixhawk3_pro.html)
-  * FMUv5.x (ARM Cortex M7)
-    * [Pixhawk 4](https://docs.px4.io/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini](https://docs.px4.io/en/flight_controller/pixhawk4_mini.html)  
+    * [Pixracer](https://dev.px4.io/en/flight_controller/pixracer.html)
+    * Pixhawk 3 Pro
+  * FMUv5.x (ARM Cortex M7, future Pixhawk)
+  * STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
+  * Gumstix AeroCore (v1 and v2)
   * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/en/flight_controller/crazyflie2.html)
+  * [Bitcraze Crazyflie 2.0](https://dev.px4.io/en/flight_controller/crazyflie2.html)
 
-Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/en/flight_controller/).
+## Project Milestones
 
-## Project Roadmap
-
-A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).
+The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by [Lorenz Meier](https://github.com/LorenzMeier).

ROMFS/CMakeLists.txt

@@ -1,268 +1,46 @@
-############################################################################
-#
-#   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(romfs_temp_dir ${PX4_BINARY_DIR}/ROMFS/${config_romfs_root})
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
-set(romfs_gen_root_dir ${PX4_BINARY_DIR}/genromfs)
-
-set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
-set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
-
-#=============================================================================
-#
-#	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)
-	set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_CMAKE_FILES ${CMAKE_CURRENT_LIST_FILE})
-
-	foreach(arg IN LISTS ARGN)
-		set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_FILES ${CMAKE_CURRENT_LIST_DIR}/${arg})
-	endforeach()
-endfunction()
-
-# get list of all ROMFS files
-add_subdirectory(${romfs_src_dir})
 
 # directory setup
-# copy all romfs files, process airframes
-get_property(romfs_cmake_files GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
-get_property(romfs_copy_files GLOBAL PROPERTY PX4_ROMFS_FILES)
-get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
-file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
-if (px4_constrained_flash_build)
-	set(added_arguments --constrained-flash)
-endif()
-add_custom_command(
-	OUTPUT
-		${romfs_gen_root_dir}/init.d/rcS
-		${romfs_gen_root_dir}/init.d/rc.serial
-		${romfs_gen_root_dir}/init.d/rc.autostart
-		romfs_copy.stamp
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}
-	# TODO: we should only copy the files in ${romfs_copy_files}
-	COMMAND ${CMAKE_COMMAND} -E copy_directory ${romfs_src_dir} ${romfs_gen_root_dir}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/init.d-posix
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/mixers-sitl
-	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/mixers/CMakeLists.txt
-	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/CMakeLists.txt
-	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/airframes/CMakeLists.txt
+# 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
-		--airframes-path ${romfs_gen_root_dir}/init.d
-		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
-		--board ${PX4_BOARD}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
-		--rc-dir ${romfs_gen_root_dir}/init.d
-		--serial-ports ${board_serial_ports} ${added_arguments}
-		--config-files ${module_config_files} #--verbose
-	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
+		-a ${romfs_temp_dir}/init.d
+		-s ${romfs_temp_dir}/init.d/rc.autostart
+		--board ${BOARD}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
+		--folder ${romfs_temp_dir} --board ${BOARD}
 	DEPENDS
-		${jinja_templates}
-		${module_config_files}
-		${romfs_cmake_files}
-		${romfs_copy_files}
+		${romfs_src_files}
+		${init_airframes}
+		${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d/rcS
 		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
-	COMMENT "ROMFS: copying, generating airframes"
 	)
 
-# copy extras into ROMFS
-set(extras_dependencies)
-
-# copy px4io binary if configured
-if(config_io_board)
-	list(APPEND extras_dependencies
-		copy_px4io_bin
-		${fw_io_bin}
-		)
-endif()
-
-
-if(config_bl_file)
-	file(MAKE_DIRECTORY ${PX4_BINARY_DIR}/romfs_extras)
-	configure_file(${config_bl_file} ${PX4_BINARY_DIR}/romfs_extras COPYONLY)
-
-	list(APPEND extras_dependencies
-		${config_bl_file}
-		)
-endif()
-
-set(OPTIONAL_BOARD_RC)
-list(APPEND OPTIONAL_BOARD_RC
-	rc.board_defaults
-	rc.board_sensors
-	rc.board_extras
-)
-
-foreach(board_rc_file ${OPTIONAL_BOARD_RC})
-
-	if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
-		message(STATUS "ROMFS: Adding ${board_rc_file}")
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/init.d/${board_rc_file}
-				${board_rc_file}.stamp
-			COMMAND ${CMAKE_COMMAND} -E copy ${PX4_BOARD_DIR}/init/${board_rc_file} ${romfs_gen_root_dir}/init.d/${board_rc_file}
-			COMMAND ${CMAKE_COMMAND} -E touch ${board_rc_file}.stamp
-			DEPENDS
-				${PX4_BOARD_DIR}/init/${board_rc_file}
-				romfs_copy.stamp
-			COMMENT "ROMFS: copying ${board_rc_file}"
-		)
-
-		list(APPEND extras_dependencies
-			${board_rc_file}.stamp
-			)
-	endif()
-
-endforeach()
-
-add_custom_command(OUTPUT romfs_extras.stamp
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras/
-	COMMAND ${CMAKE_COMMAND} -E copy_directory ${PX4_BINARY_DIR}/romfs_extras/ ${romfs_gen_root_dir}/extras/
-	COMMAND ${CMAKE_COMMAND} -E touch romfs_extras.stamp
-	DEPENDS
-		romfs_copy.stamp
-		${extras_dependencies}
-	COMMENT "ROMFS: copying extras"
+set(romfs_dependencies)
+list(APPEND romfs_dependencies
+	${romfs_temp_dir}/init.d/rcS
+	${romfs_temp_dir}/init.d/rc.autostart
+	)
+	
+# create romfs.bin
+add_custom_command(OUTPUT romfs.img
+	COMMAND ${GENROMFS} -f romfs.img -d ${romfs_temp_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
+	DEPENDS ${romfs_dependencies}
 	)
 
-add_custom_command(
-	OUTPUT romfs_pruned.stamp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
-	COMMAND ${CMAKE_COMMAND} -E touch romfs_pruned.stamp
-	DEPENDS
-		romfs_copy.stamp
-		romfs_extras.stamp
-		${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
-	COMMENT "ROMFS: pruning"
+# create romfs.o
+add_custom_command(OUTPUT nsh_romfsimg.c
+	COMMAND xxd -i romfs.img nsh_romfsimg.c
+	COMMAND sed 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && mv nsh_romfsimg.c.tmp nsh_romfsimg.c
+	DEPENDS romfs.img
 	)
 
-if("${CONFIG_FS_CROMFS}" STREQUAL "y")
-	add_custom_command(
-		OUTPUT ${CMAKE_BINARY_DIR}/gencromfs
-		COMMAND make --no-print-directory --silent -f Makefile.host gencromfs
-		COMMAND ${CMAKE_COMMAND} -E copy gencromfs ${CMAKE_BINARY_DIR}/gencromfs
-		DEPENDS ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/tools/gencromfs.c
-		WORKING_DIRECTORY ${NUTTX_DIR}/tools
-	)
-
-	# create nsh_romfsimg.c
-	add_custom_command(OUTPUT nsh_romfsimg.c
-		COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
-		COMMAND ${CMAKE_BINARY_DIR}/gencromfs ${romfs_gen_root_dir} nsh_romfsimg.c
-		DEPENDS
-			${CMAKE_BINARY_DIR}/gencromfs
-			romfs_pruned.stamp
-		COMMENT "ROMFS: generating image"
-	)
-
-else()
-	# create romfs.img
-	find_program(GENROMFS genromfs)
-	if(NOT GENROMFS)
-		message(FATAL_ERROR "genromfs not found")
-	endif()
-
-	add_custom_command(
-		OUTPUT
-			romfs.img
-			romfs.txt
-		COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt
-		COMMAND ${GENROMFS} -f romfs.img -d ${romfs_gen_root_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
-		DEPENDS romfs_pruned.stamp
-		COMMENT "ROMFS: generating image"
-	)
-
-
-	# create nsh_romfsimg.c
-	find_program(XXD xxd)
-	if(NOT XXD)
-		message(FATAL_ERROR "xxd not found")
-	endif()
-
-	find_program(SED sed)
-	if(NOT SED)
-		message(FATAL_ERROR "sed not found")
-	endif()
-
-	add_custom_command(OUTPUT nsh_romfsimg.c
-		COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
-		COMMAND ${XXD} -i romfs.img nsh_romfsimg.c
-		COMMAND ${SED} 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c
-		DEPENDS romfs.img
-	)
-endif()
-
-
 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)
-
-
-# shellcheck
-find_program(SHELLCHECK_PATH shellcheck)
-
-if(SHELLCHECK_PATH)
-
-	# TODO: fix SC2086, SC2166
-	add_custom_target(shellcheck
-		COMMAND ${SHELLCHECK_PATH} --shell=sh
-			--exclude=SC2121 # SC2121: To assign a variable, use just 'var=value'
-			--exclude=SC2086 # SC2086: Double quote to prevent globbing and word splitting.
-			--exclude=SC2166 # SC2166: Prefer [ p ] || [ q ] as [ p -o q ] is not well defined.
-			--exclude=SC2154 # SC2154: <var> is referenced but not assigned (NuttX uses different asssignment)
-			--exclude=SC2164 # SC2164: Use 'cd ... || exit' or 'cd ... || return' in case cd fails.
-			`find ${romfs_gen_root_dir}/init.d -type f`
-		DEPENDS ${romfs_gen_root_dir}/init.d/rc.autostart
-		WORKING_DIRECTORY ${romfs_gen_root_dir}
-		USES_TERMINAL
-	)
-endif()

ROMFS/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)

ROMFS/px4fmu_common/extras/README.txt

@@ -1,5 +0,0 @@
-px4fmuv3_bl.bin: Bootloader binary of the PX4 Bootloader
-  (https://github.com/PX4/Bootloader)
-  based on commit 184b813699a9cfd6f43a5a21556a06b4372baf5f
-  for the target px4fmuv3_bl
-

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

@@ -1,13 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-set MIXER quad_w
-