ModuleBase add common base type and cleanup

systemcmds/topic_listener: remove excludes
- this is a bit wasteful, but we can afford it for now everywhere listener is enabled
2026-05-30 04:20:04 +08:00 · 2020-11-10 14:03:58 -05:00 · 2020-11-10 13:46:48 -05:00 · 2020-11-10 13:11:51 -05:00 · 2020-11-10 11:04:47 -05:00 · 2020-11-10 10:38:46 -05:00
422 changed files with 6933 additions and 2608 deletions
@@ -10,17 +10,24 @@ pipeline {
          def build_nodes = [:]
          def docker_images = [
            armhf: "px4io/px4-dev-armhf:2020-04-01",
+            arm64: "px4io/px4-dev-aarch64:latest",
            base: "px4io/px4-dev-base-bionic:2020-04-01",
            nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

          def armhf_builds = [
-            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_airpi2_default"],
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
            image: docker_images.armhf,
            archive: false
          ]

+          def arm64_builds = [
+            target: ["scumaker_pilotpi_arm64"],
+            image: docker_images.arm64,
+            archive: false
+          ]
+
          def base_builds = [
            target: ["px4_sitl_rtps"],
            image: docker_images.base,
@@ -41,7 +48,6 @@ pipeline {
                     "cubepilot_cubeyellow_console",
                     "cubepilot_cubeyellow_default",
                     "holybro_durandal-v1_default",
-                     "holybro_durandal-v1_stackcheck",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
                     "intel_aerofc-v1_default",
@@ -53,7 +59,7 @@ pipeline {
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmurt1062-v1_default",
-                     "nxp_rddrone-uavcan146_default",
+                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
@@ -836,6 +836,8 @@ void statusFTDI() {
  // run logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger on"'
  // status commands
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "board_adc test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander check"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander status"'
@@ -846,14 +848,15 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "df"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "gps status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener adc_report"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener battery_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_attitude"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_local_position"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_selector_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor_bias"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener logger_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_fifo"'
@@ -884,6 +887,7 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
@@ -901,6 +905,8 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb top -1 -a"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
  // stop logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
 }
@@ -909,6 +915,8 @@ void statusSEGGER() {
  // run logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger on"'
  // status commands
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "board_adc test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander check"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander status"'
@@ -919,12 +927,13 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "df -h"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dmesg"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "gps status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener adc_report"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener battery_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener cpuload"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_attitude"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_local_position"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_selector_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_sensor_bias"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener logger_status"'
@@ -957,6 +966,7 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status streams"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param show"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
@@ -974,12 +984,14 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "uorb top -1 -a"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
  // stop logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
 }

 void cleanupFTDI() {
-  // wipe sdcard
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
@@ -1009,7 +1021,7 @@ void cleanupFTDI() {
 }

 void cleanupSEGGER() {
-  // wipe sdcard
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "navigator stop"'
@@ -19,6 +19,7 @@ jobs:
          beaglebone_blue_default,
          emlid_navio2_default,
          px4_raspberrypi_default,
+          scumaker_pilotpi_default,
          ]
    steps:
    - uses: actions/checkout@v1
@@ -0,0 +1,50 @@
+name: Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:latest
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -27,7 +27,6 @@ jobs:
          cubepilot_cubeyellow_console,
          cubepilot_cubeyellow_default,
          holybro_durandal-v1_default,
-          holybro_durandal-v1_stackcheck,
          holybro_kakutef7_default,
          holybro_pix32v5_default,
          intel_aerofc-v1_default,
@@ -40,7 +39,7 @@ jobs:
          nxp_fmuk66-v3_socketcan,
          nxp_fmuk66-v3_rtps,
          nxp_fmurt1062-v1_default,
-          nxp_rddrone-uavcan146_default,
+          nxp_ucans32k146_default,
          omnibus_f4sd_default,
          px4_fmu-v2_default,
          px4_fmu-v2_fixedwing,
@@ -15,10 +15,10 @@ jobs:
      fail-fast: false
      matrix:
        config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo"} # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo"} # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo"} # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage"} # Zurich
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
    container:
      image: px4io/px4-dev-simulation-focal:2020-08-14
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -28,9 +28,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.30.1/mavsdk_0.30.1_ubuntu18.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.30.1_ubuntu18.04_amd64.deb
+      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -92,7 +92,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json

    - name: Look at core files
      if: failure()
@@ -12,15 +12,15 @@
 	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
-	url = https://github.com/PX4/sitl_gazebo.git
+	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
-	url = https://github.com/PX4/Matrix.git
+	url = https://github.com/PX4/PX4-Matrix
 	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
-	url = https://github.com/PX4/ecl.git
+	url = https://github.com/PX4/PX4-ECL
 	branch = master
 [submodule "boards/atlflight/cmake_hexagon"]
 	path = boards/atlflight/cmake_hexagon
@@ -28,7 +28,7 @@
 	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/GpsDrivers.git
+	url = https://github.com/PX4/PX4-GPSDrivers
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
@@ -37,11 +37,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-9.1.0+
+	branch = px4_firmware_nuttx-10.0.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-9.1.0+
+	branch = px4_firmware_nuttx-10.0.0+
 [submodule "platforms/qurt/dspal"]
 	path = platforms/qurt/dspal
 	url = https://github.com/ATLFlight/dspal.git
@@ -86,6 +86,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cubepilot_cubeyellow_default
+    emlid_navio2_default:
+      short: emlid_navio2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: emlid_navio2_default
    holybro_durandal-v1_default:
      short: holybro_durandal-v1
      buildType: MinSizeRel
@@ -210,10 +210,12 @@ pipeline {
            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/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('cp -R modules/*.md px4_user_guide/en/modules/')
              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')
@@ -40,8 +40,12 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co

 ## Maintenance Team

-  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
-    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
+  * Project: Founder
+    * [Lorenz Meier](https://github.com/LorenzMeier)
+  * Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * [Dev Call](https://github.com/PX4/Firmware/labels/devcall)
+    * [Ramon Roche](https://github.com/mrpollo)
  * Communication Architecture
    * [Beat Kueng](https://github.com/bkueng)
    * [Julian Oes](https://github.com/JulianOes)
@@ -55,15 +59,22 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
    * [Roman Bapst](https://github.com/RomanBapst)
  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
    * [Roman Bapst](https://github.com/RomanBapst)
-  * OS / NuttX [David Sidrane](https://github.com/davids5)
-  * Driver Architecture [Daniel Agar](https://github.com/dagar)
-  * Commander Architecture [Julian Oes](https://github.com/julianoes)
-  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) [Daniel Agar](https://github.com/dagar)
-  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [Paul Riseborough](https://github.com/priseborough)
+  * OS / NuttX
+    * [David Sidrane](https://github.com/davids5)
+  * Driver Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture
+    * [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan)
+    * [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
+    * [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation
    * [Julian Kent](https://github.com/jkflying)
-  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
-  * RTPS/ROS2 Interface - [Nuno Marques](https://github.com/TSC21)
+  * Obstacle Avoidance
+    * [Martina Rivizzigno](https://github.com/mrivi)
+  * RTPS/ROS2 Interface
+    * [Nuno Marques](https://github.com/TSC21)

 See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).

@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# @name BlueROV2 Heavy Configuration
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+
+fi
+
+set PWM_OUT 12345678
+set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
+set MIXER custom
@@ -16,17 +16,13 @@ then

 	param set MC_ROLLRATE_P 0.3

-	param set MIS_LTRMIN_ALT 10
-	param set MIS_TAKEOFF_ALT 10
 	param set MIS_YAW_TMT 10

 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1
+	param set MPC_THR_MIN 0.3
 	param set MPC_XY_P 0.15
 	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_P_ACC 1
 	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_Z_VEL_P_ACC 16
@@ -38,6 +34,8 @@ then
 	param set VT_F_TRANS_THR 0.7
 	param set VT_TYPE 0

+	param set WV_EN 0
+
 fi

 set MAV_TYPE 20
@@ -51,6 +51,7 @@ px4_add_romfs_files(
 	1019_iris_dual_gps
 	1020_uuv_generic
 	1021_uuv_hippocampus
+	1022_uuv_bluerov2_heavy
 	1030_plane
 	1031_plane_cam
 	1032_plane_catapult
@@ -2,6 +2,17 @@

 # EKF2 replay script

+# shellcheck disable=SC2154
+if [ ! -f ${replay} ]; then
+	echo "Invalid replay log file ${replay}"
+	exit 1
+fi
+
+if [ ! -f replay_params.txt ]; then
+	echo "Creating $(pwd)/replay_params.txt"
+	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
+fi
+
 publisher_rules_file="orb_publisher.rules"
 cat <<EOF > "$publisher_rules_file"
 restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
@@ -141,6 +141,12 @@ then
 	# Speedup SITL startup
 	param set EKF2_REQ_GPS_H 0.5

+	# Multi-EKF
+	param set EKF2_MULTI_IMU 3
+	param set SENS_IMU_MODE 0
+	param set EKF2_MULTI_MAG 2
+	param set SENS_MAG_MODE 0
+
 	# By default log from boot until first disarm.
 	param set SDLOG_MODE 1
 	# enable default, estimator replay and vision/avoidance logging profiles
@@ -210,6 +216,7 @@ if ! replay tryapplyparams
 then
 	simulator start -c $simulator_tcp_port
 fi
+load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
@@ -0,0 +1,39 @@
+#!/bin/sh
+#
+# @name NXP HoverGames
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+# @maintainer Iain Galloway <iain.galloway@nxp.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+if [ $AUTOCNF = yes ]
+then
+
+	param set IMU_GYRO_CUTOFF 40
+	param set IMU_DGYRO_CUTOFF 20
+	param set IMU_GYRO_RATEMAX 400
+
+	param set MC_ROLLRATE_P 0.18
+	param set MC_ROLLRATE_I 0.15
+	param set MC_ROLLRATE_D 0.003
+
+	param set MC_PITCHRATE_P 0.18
+	param set MC_PITCHRATE_I 0.15
+	param set MC_PITCHRATE_D 0.003
+
+fi
@@ -0,0 +1,51 @@
+#!/bin/sh
+#
+# @name BlueROV2 (Heavy Configuration)
+#
+# @type Vectored 6 DOF UUV
+# @class Underwater Robot
+#
+# @output MAIN1 motor 1 CCW, bow starboard horizontal, , propeller CCW
+# @output MAIN2 motor 2 CCW, bow port horizontal, propeller CCW
+# @output MAIN3 motor 3 CCW, stern starboard horizontal, propeller CW
+# @output MAIN4 motor 4 CCW, stern port horizontal, propeller CW
+# @output MAIN5 motor 5 CCW, bow starboard vertical, propeller CCW
+# @output MAIN6 motor 6 CCW, bow port vertical, propeller CW
+# @output MAIN7 motor 7 CCW, stern starboard vertical, propeller CW
+# @output MAIN8 motor 8 CCW, stern port vertical, propeller CCW
+#
+# @maintainer Thies Lennart Alff <thies.lennart.alff@tuhh.de>
+#
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+	# companion computer is connected via USB permanently
+	param set CBRK_USB_CHK 197848
+	param set CBRK_IO_SAFETY 22027
+
+	param set COM_PREARM_MODE 0
+
+	param set MAV_1_CONFIG 102
+
+	param set BAT1_A_PER_V 37.8798
+	param set BAT1_CAPACITY 18000
+	param set BAT1_V_DIV 11.0
+	param set BAT1_N_CELLS 4
+	param set BAT_V_OFFS_CURR 0.33
+fi
+
+set PWM_OUT 12345678
+# set MIXER IO_pass
+set MIXER vectored6dof
+
@@ -69,6 +69,7 @@ px4_add_romfs_files(
 	4014_s500
 	4015_holybro_s500
 	4016_holybro_px4vision
+	4017_nxp_hovergames
 	4020_hk_micro_pcb
 	4030_3dr_solo
 	4031_3dr_quad
@@ -158,4 +159,5 @@ px4_add_romfs_files(
 	# [60000, 61000] (Unmanned) Underwater Robots
 	60000_uuv_generic
 	60001_uuv_hippocampus
+	60002_uuv_bluerov2_heavy
 )
@@ -40,7 +40,7 @@ else
 		# EKF2
 		#
 		param set SYS_MC_EST_GROUP 2
-		ekf2 start
+		ekf2 start &
 	fi
 fi

@@ -8,7 +8,7 @@
 #
 # Start the attitude and position estimator.
 #
-ekf2 start
+ekf2 start &

 #
 # Start attitude controller.
@@ -40,7 +40,7 @@ else
 		# EKF2
 		#
 		param set SYS_MC_EST_GROUP 2
-		ekf2 start
+		ekf2 start &
 	fi
 fi

@@ -8,7 +8,7 @@
 #
 # Start the attitude and position estimator.
 #
-ekf2 start
+ekf2 start &
 #attitude_estimator_q start
 #local_position_estimator start

@@ -68,9 +68,16 @@ fi
 # Lightware i2c lidar sensor
 if param greater -s SENS_EN_SF1XX 0
 then
-	sf1xx start -X
+	lightware_laser_i2c start -X
 fi

+# Sensor HY-SRF05 or HC-SR05 ultrasonic sensor
+if param compare -s SENS_EN_SR05 1
+then
+	srf05 start
+fi
+
+
 # Heater driver for temperature regulated IMUs.
 if param compare -s SENS_EN_THERMAL 1
 then
@@ -9,7 +9,7 @@
 #                       Begin Estimator Group Selection                       #
 ###############################################################################

-ekf2 start
+ekf2 start &

 ###############################################################################
 #                        End Estimator Group Selection                        #
@@ -183,6 +183,13 @@ then
 		echo "UUV mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set default MAV_TYPE to submarine if not defined
+		set MAV_TYPE 12
+	fi
+
+	param set MAV_TYPE ${MAV_TYPE}
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -199,5 +206,5 @@ fi
 if [ $VEHICLE_TYPE = none ]
 then
 	echo "No autostart ID found"
-	ekf2 start
+	ekf2 start &
 fi
@@ -9,7 +9,7 @@
 #                       Begin Estimator group selection                       #
 ###############################################################################

-ekf2 start
+ekf2 start &

 ###############################################################################
 #                        End Estimator group selection                        #
@@ -526,6 +526,11 @@ else
 		bst start -X
 	fi

+	if param compare IMU_GYRO_FFT_EN 1
+	then
+		gyro_fft start
+	fi
+
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -42,4 +42,5 @@ px4_add_romfs_files(
 	standard_vtol_sitl.main.mix
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
+	vectored6dof_sitl.main.mix
 )
@@ -0,0 +1,32 @@
+# Motor 1
+M: 2
+S: 0 2  -4000  -4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 2
+M: 2
+S: 0 2  +4000  +4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 3
+M: 2
+S: 0 2  -4000  -4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 4
+M: 2
+S: 0 2  +4000  +4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 5
+M: 2
+S: 0 0  -4000  -4000  0   -4000  +4000
+S: 0 1  +4000  +4000  0   -4000  +4000
+# Motor 6
+M: 2
+S: 0 0  -4000  -4000  0   -4000  +4000
+S: 0 1  -4000  -4000  0   -4000  +4000
+# Motor 7
+M: 2
+S: 0 0  +4000  +4000  0   -4000  +4000
+S: 0 1  +4000  +4000  0   -4000  +4000
+# Motor 8
+M: 2
+S: 0 0  +4000  +4000  0   -4000  +4000
+S: 0 1  -4000  -4000  0   -4000  +4000
@@ -85,6 +85,7 @@ px4_add_romfs_files(
 	tri_y_yaw+.main.mix
 	tri_y_yaw-.main.mix
 	uuv_x.main.mix
+	vectored6dof.main.mix
 	Viper.main.mix
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix
@@ -0,0 +1,32 @@
+# Motor 1
+M: 2
+S: 0 2  -4000  -4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 2
+M: 2
+S: 0 2  +4000  +4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 3
+M: 2
+S: 0 2  -4000  -4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 4
+M: 2
+S: 0 2  +4000  +4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 5
+M: 2
+S: 0 0  -4000  -4000  0   -4000  +4000
+S: 0 1  +4000  +4000  0   -4000  +4000
+# Motor 6
+M: 2
+S: 0 0  -4000  -4000  0   -4000  +4000
+S: 0 1  -4000  -4000  0   -4000  +4000
+# Motor 7
+M: 2
+S: 0 0  +4000  +4000  0   -4000  +4000
+S: 0 1  +4000  +4000  0   -4000  +4000
+# Motor 8
+M: 2
+S: 0 0  +4000  +4000  0   -4000  +4000
+S: 0 1  -4000  -4000  0   -4000  +4000
@@ -32,7 +32,7 @@ if ets_airspeed start -X
 then
 fi

-if sf1xx start
+if lightware_laser_i2c start
 then
 fi

@@ -5,8 +5,8 @@ function check_git_submodule {
 # The .git exists in a submodule if init and update have been done.
 if [[ -f $1"/.git" || -d $1"/.git" ]]; then

-	# CI environment always update
-	if [ "$CI" == "true" ]; then
+	# always update within CI environment or configuring withing VSCode CMake where you can't interact
+	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then
 		git submodule --quiet sync --recursive -- $1
 		git submodule --quiet update --init --recursive --jobs=8 -- $1  || true
 		git submodule --quiet update --init --recursive --jobs=8 -- $1
@@ -5,9 +5,12 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
 		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
-	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*airpi2.* ]]; then
-		# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_airpi2_default
+	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
+		# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-04-01"
+	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
+		# scumaker_pilotpi_arm64
+		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
 	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
 		# eagle, excelsior
 		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
@@ -14,13 +14,14 @@ from analysis.checks import perform_ecl_ekf_checks
 from analysis.post_processing import get_estimator_check_flags

 def analyse_ekf(
-        ulog: ULog, check_levels: Dict[str, float], red_thresh: float = 1.0,
-        amb_thresh: float = 0.5, min_flight_duration_seconds: float = 5.0,
+        ulog: ULog, check_levels: Dict[str, float], multi_instance: int = 0,
+        red_thresh: float = 1.0, amb_thresh: float = 0.5, min_flight_duration_seconds: float = 5.0,
        in_air_margin_seconds: float = 5.0, pos_checks_when_sensors_not_fused: bool = False) -> \
        Tuple[str, Dict[str, str], Dict[str, float], Dict[str, float]]:
    """
    :param ulog:
    :param check_levels:
+    :param multi_instance:
    :param red_thresh:
    :param amb_thresh:
    :param min_flight_duration_seconds:
@@ -30,22 +31,19 @@ def analyse_ekf(
    """

    try:
-        estimator_states = ulog.get_dataset('estimator_states').data
-        print('found estimator_states data')
+        estimator_states = ulog.get_dataset('estimator_states', multi_instance).data
    except:
-        raise PreconditionError('could not find estimator_states data')
+        raise PreconditionError('could not find estimator_states instance', multi_instance)

    try:
-        estimator_status = ulog.get_dataset('estimator_status').data
-        print('found estimator_status data')
+        estimator_status = ulog.get_dataset('estimator_status', multi_instance).data
    except:
-        raise PreconditionError('could not find estimator_status data')
+        raise PreconditionError('could not find estimator_status instance', multi_instance)

    try:
-        _ = ulog.get_dataset('estimator_innovations').data
-        print('found estimator_innovations data')
+        _ = ulog.get_dataset('estimator_innovations', multi_instance).data
    except:
-        raise PreconditionError('could not find estimator_innovations data')
+        raise PreconditionError('could not find estimator_innovations instance', multi_instance)

    try:
        in_air = InAirDetector(
@@ -71,7 +69,7 @@ def analyse_ekf(

    metrics = calculate_ecl_ekf_metrics(
        ulog, innov_flags, innov_fail_checks, sensor_checks, in_air, in_air_no_ground_effects,
-        red_thresh=red_thresh, amb_thresh=amb_thresh)
+        multi_instance, red_thresh=red_thresh, amb_thresh=amb_thresh)

    check_status, master_status = perform_ecl_ekf_checks(
        metrics, sensor_checks, innov_fail_checks, check_levels)
@@ -13,7 +13,7 @@ from analysis.detectors import InAirDetector
 def calculate_ecl_ekf_metrics(
        ulog: ULog, innov_flags: Dict[str, float], innov_fail_checks: List[str],
        sensor_checks: List[str], in_air: InAirDetector, in_air_no_ground_effects: InAirDetector,
-        red_thresh: float = 1.0, amb_thresh: float = 0.5) -> Tuple[dict, dict, dict, dict]:
+        multi_instance: int = 0, red_thresh: float = 1.0, amb_thresh: float = 0.5) -> Tuple[dict, dict, dict, dict]:

    sensor_metrics = calculate_sensor_metrics(
        ulog, sensor_checks, in_air, in_air_no_ground_effects,
@@ -22,9 +22,9 @@ def calculate_ecl_ekf_metrics(
    innov_fail_metrics = calculate_innov_fail_metrics(
        innov_flags, innov_fail_checks, in_air, in_air_no_ground_effects)

-    imu_metrics = calculate_imu_metrics(ulog, in_air_no_ground_effects)
+    imu_metrics = calculate_imu_metrics(ulog, multi_instance, in_air_no_ground_effects)

-    estimator_status_data = ulog.get_dataset('estimator_status').data
+    estimator_status_data = ulog.get_dataset('estimator_status', multi_instance).data

    # Check for internal filter nummerical faults
    ekf_metrics = {'filter_faults_max': np.amax(estimator_status_data['filter_fault_flags'])}
@@ -44,10 +44,10 @@ def calculate_ecl_ekf_metrics(

 def calculate_sensor_metrics(
        ulog: ULog, sensor_checks: List[str], in_air: InAirDetector,
-        in_air_no_ground_effects: InAirDetector, red_thresh: float = 1.0,
-        amb_thresh: float = 0.5) -> Dict[str, float]:
+        in_air_no_ground_effects: InAirDetector, multi_instance: int = 0,
+        red_thresh: float = 1.0, amb_thresh: float = 0.5) -> Dict[str, float]:

-    estimator_status_data = ulog.get_dataset('estimator_status').data
+    estimator_status_data = ulog.get_dataset('estimator_status', multi_instance).data

    sensor_metrics = dict()

@@ -131,10 +131,9 @@ def calculate_innov_fail_metrics(
    return innov_fail_metrics


-def calculate_imu_metrics(
-        ulog: ULog, in_air_no_ground_effects: InAirDetector) -> dict:
+def calculate_imu_metrics(ulog: ULog, multi_instance, in_air_no_ground_effects: InAirDetector) -> dict:

-    estimator_status_data = ulog.get_dataset('estimator_status').data
+    estimator_status_data = ulog.get_dataset('estimator_status', multi_instance).data

    imu_metrics = dict()

@@ -158,7 +157,7 @@ def calculate_imu_metrics(
                in_air_no_ground_effects, np.mean)

    # IMU bias checks
-    estimator_states_data = ulog.get_dataset('estimator_states').data
+    estimator_states_data = ulog.get_dataset('estimator_states', multi_instance).data

    imu_metrics['imu_dang_bias_median'] = np.sqrt(np.sum([np.square(calculate_stat_from_signal(
        estimator_states_data, 'estimator_states', signal, in_air_no_ground_effects, np.median))
@@ -17,7 +17,7 @@ from plotting.data_plots import TimeSeriesPlot, InnovationPlot, ControlModeSumma
 from analysis.detectors import PreconditionError
 import analysis.data_version_handler as dvh

-def create_pdf_report(ulog: ULog, output_plot_filename: str) -> None:
+def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str) -> None:
    """
    creates a pdf report of the ekf analysis.
    :param ulog:
@@ -29,20 +29,18 @@ def create_pdf_report(ulog: ULog, output_plot_filename: str) -> None:
    # save the plots to PDF

    try:
-        estimator_status = ulog.get_dataset('estimator_status').data
-        print('found estimator_status data')
+        estimator_status = ulog.get_dataset('estimator_status', multi_instance).data
    except:
-        raise PreconditionError('could not find estimator_status data')
+        raise PreconditionError('could not find estimator_status instance', multi_instance)

    try:
-        estimator_states = ulog.get_dataset('estimator_states').data
-        print('found estimator_states data')
+        estimator_states = ulog.get_dataset('estimator_states', multi_instance).data
    except:
-        raise PreconditionError('could not find estimator_states data')
+        raise PreconditionError('could not find estimator_states instance', multi_instance)

    try:
-        estimator_innovations = ulog.get_dataset('estimator_innovations').data
-        estimator_innovation_variances = ulog.get_dataset('estimator_innovation_variances').data
+        estimator_innovations = ulog.get_dataset('estimator_innovations', multi_instance).data
+        estimator_innovation_variances = ulog.get_dataset('estimator_innovation_variances', multi_instance).data
        innovation_data = estimator_innovations
        for key in estimator_innovation_variances:
            # append 'var' to the field name such that we can distingush between innov and innov_var
@@ -65,7 +63,7 @@ def create_pdf_report(ulog: ULog, output_plot_filename: str) -> None:
            for key in innovation_data:
                innovation_data[key] = innovation_data[key][0:innovation_data_min_length]

-        print('found innovation data (merged estimator_innovations + estimator_innovation_variances)')
+        print('found innovation data (merged estimator_innovations + estimator_innovation_variances) instance', multi_instance)

    except:
        raise PreconditionError('could not find innovation data')
@@ -90,6 +90,21 @@ def process_logdata_ekf(
    except:
        raise PreconditionError('could not open {:s}'.format(filename))

+    ekf_instances = 1
+
+    try:
+        estimator_selector_status = ulog.get_dataset('estimator_selector_status',).data
+        print('found estimator_selector_status (multi-ekf) data')
+
+        for instances_available in estimator_selector_status['instances_available']:
+            if instances_available > ekf_instances:
+                ekf_instances = instances_available
+
+        print(ekf_instances, 'ekf instances')
+
+    except:
+        print('could not find estimator_selector_status data')
+
    try:
        # get the dictionary of fail and warning test thresholds from a csv file
        with open(check_level_dict_filename, 'r') as file:
@@ -100,30 +115,35 @@ def process_logdata_ekf(
        raise PreconditionError('could not find {:s}'.format(check_level_dict_filename))

    in_air_margin = 5.0 if sensor_safety_margins else 0.0
-    # perform the ekf analysis
-    master_status, check_status, metrics, airtime_info = analyse_ekf(
-        ulog, check_levels, red_thresh=1.0, amb_thresh=0.5, min_flight_duration_seconds=5.0,
-        in_air_margin_seconds=in_air_margin)

-    test_results = create_results_table(
-        check_table_filename, master_status, check_status, metrics, airtime_info)
+    for multi_instance in range(ekf_instances):

-    # write metadata to a .csv file
-    with open('{:s}.mdat.csv'.format(filename), "w") as file:
+        print('\nestimator instance:', multi_instance)

-        file.write("name,value,description\n")
+        # perform the ekf analysis
+        master_status, check_status, metrics, airtime_info = analyse_ekf(
+            ulog, check_levels, multi_instance, red_thresh=1.0, amb_thresh=0.5, min_flight_duration_seconds=5.0,
+            in_air_margin_seconds=in_air_margin)

-        # loop through the test results dictionary and write each entry on a separate row, with data comma separated
-        # save data in alphabetical order
-        key_list = list(test_results.keys())
-        key_list.sort()
-        for key in key_list:
-            file.write(key + "," + str(test_results[key][0]) + "," + test_results[key][1] + "\n")
-    print('Test results written to {:s}.mdat.csv'.format(filename))
+        test_results = create_results_table(
+            check_table_filename, master_status, check_status, metrics, airtime_info)

-    if plot:
-        create_pdf_report(ulog, '{:s}.pdf'.format(filename))
-        print('Plots saved to {:s}.pdf'.format(filename))
+        # write metadata to a .csv file
+        with open('{:s}-{:d}.mdat.csv'.format(filename, multi_instance), "w") as file:
+
+            file.write("name,value,description\n")
+
+            # loop through the test results dictionary and write each entry on a separate row, with data comma separated
+            # save data in alphabetical order
+            key_list = list(test_results.keys())
+            key_list.sort()
+            for key in key_list:
+                file.write(key + "," + str(test_results[key][0]) + "," + test_results[key][1] + "\n")
+        print('Test results written to {:s}-{:d}.mdat.csv'.format(filename, multi_instance))
+
+        if plot:
+            create_pdf_report(ulog, multi_instance, '{:s}-{:d}.pdf'.format(filename, multi_instance))
+            print('Plots saved to {:s}-{:d}.pdf'.format(filename, multi_instance))

    return test_results

@@ -16,7 +16,7 @@ function spawn_model() {
 	MODEL=$1
 	N=$2 #Instance Number

-	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol")
+	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover")
 	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL "* ]];
 	then
 		echo "ERROR: Currently only vehicle model $MODEL is not supported!"
@@ -113,7 +113,7 @@ def main():

    if args.port == None:
        if sys.platform == "darwin":
-            args.port = "/dev/tty.usbmodem1"
+            args.port = "/dev/tty.usbmodem01"
        else:
            serial_list = mavutil.auto_detect_serial(preferred_list=['*FTDI*',
                "*Arduino_Mega_2560*", "*3D_Robotics*", "*USB_to_UART*", '*PX4*', '*FMU*', "*Gumstix*"])
@@ -26,7 +26,7 @@ as well (such as `free`). Use `help` on the console to get a list of all
 available commands, and in most cases `command help` will print the usage.

 Since this is generated from source, errors must be reported/fixed
-in the [Firmware](https://github.com/PX4/Firmware) repository.
+in the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository.
 The documentation pages can be generated by running the following command from
 the root of the Firmware directory:
 ```
@@ -72,7 +72,7 @@ The generated files will be written to the `modules` directory.
                result += "%s\n" % doc
            usage_string = module.usage_string()
            if len(usage_string) > 0:
-                result += "### Usage {#%s_usage}\n```\n%s\n```\n" % (module.name(), usage_string)
+                result += '<a id="%s_usage"></a>\n### Usage\n```\n%s\n```\n' % (module.name(), usage_string)
        return result

    def Save(self, dirname):
@@ -0,0 +1,64 @@
+let
+	pkgs = import (builtins.fetchTarball {
+		name = "nixos-20.09-2020-10-29";
+		url = "https://github.com/nixos/nixpkgs/archive/edb26126d98bc696f4f3e206583faa65d3d6e818.tar.gz";
+		sha256 = "1cl4ka4kk7kh3bl78g06dhiidazf65q8miyzaxi9930d6gwyzkci";
+	}) {};
+	empy = with pkgs.python3Packages; buildPythonPackage rec {
+		pname = "empy";
+		version = "3.3.4";
+		src = fetchPypi {
+			inherit pname version;
+			sha256 = "1cq1izl6l87i5i3vj0jcqfksh10kpiwpr2m19vgpj530bdw4kb3k";
+		};
+		doCheck = false;
+	};
+	pyros-genmsg = with pkgs.python3Packages; buildPythonPackage rec {
+		pname = "pyros-genmsg";
+		version = "0.5.8";
+		src = fetchPypi {
+			inherit version;
+			pname = "pyros_genmsg";
+			sha256 = "0y7l131lc77v0c1rhxza41cxnnxc7acfqzlqf84fdya0kiyv071w";
+		};
+		doCheck = false;
+	};
+	pyulog = with pkgs.python3Packages; buildPythonPackage rec {
+		pname = "pyulog";
+		version = "0.8.0";
+		src = fetchPypi {
+			inherit pname version;
+			sha256 = "1ivvhfi9rsrqdk9f06rj0q1d367ngyy0xyc2x9mdwjx3dazwgn45";
+		};
+		propagatedBuildInputs = [ numpy ];
+		doCheck = false;
+	};
+in pkgs.mkShell {
+	nativeBuildInputs = [ pkgs.cmake ];
+	buildInputs = [
+		pkgs.gcc-arm-embedded
+		pkgs.python3
+	] ++ (with pkgs.python3Packages; [
+		argcomplete
+		cerberus
+		coverage
+		empy
+		jinja2
+		matplotlib
+		numpy
+		packaging
+		pandas
+		pkgconfig
+		psutil
+		pygments
+		pyros-genmsg
+		pyserial
+		pyulog
+		pyyaml
+		requests
+		setuptools
+		six
+		toml
+		wheel
+	]);
+}
@@ -71,6 +71,7 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
+		modules
 		motor_ramp
 		param
 		perf
@@ -88,6 +88,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -89,8 +89,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -95,6 +95,7 @@ px4_add_board(
 		#hardfault_log
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		#mtd
@@ -93,6 +93,7 @@ px4_add_board(
 		#hardfault_log
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		#mtd
@@ -88,6 +88,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		nshterm
@@ -122,7 +122,6 @@ CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -67,6 +67,7 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
+		modules
 		motor_ramp
 		param
 		perf
@@ -44,6 +44,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -85,7 +85,6 @@ CONFIG_MTD_AT24XX=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -39,7 +39,6 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
-CONFIG_NFILE_STREAMS=0
 CONFIG_NUNGET_CHARS=0
 CONFIG_NXFONTS_DISABLE_16BPP=y
 CONFIG_NXFONTS_DISABLE_1BPP=y
@@ -69,8 +69,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -56,7 +56,6 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
-CONFIG_NFILE_STREAMS=3
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
@@ -94,8 +94,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -46,6 +46,8 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
+#include <px4_platform_common/init.h>
+

 extern int sercon_main(int c, char **argv);

@@ -64,6 +66,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 void board_late_initialize(void)
 {
+	px4_platform_console_init();
 	sercon_main(0, NULL);
 }

@@ -56,7 +56,6 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
-CONFIG_NFILE_STREAMS=3
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
@@ -94,8 +94,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -156,7 +156,6 @@ CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BDMA=y
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
@@ -46,6 +46,7 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
+#include <px4_platform_common/init.h>

 extern int sercon_main(int c, char **argv);

@@ -64,6 +65,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 void board_late_initialize(void)
 {
+	px4_platform_console_init();
 	sercon_main(0, NULL);
 }

@@ -56,7 +56,6 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
-CONFIG_NFILE_STREAMS=3
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
@@ -95,8 +95,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -96,8 +96,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -46,6 +46,7 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
+#include <px4_platform_common/init.h>

 extern int sercon_main(int c, char **argv);

@@ -64,6 +65,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 void board_late_initialize(void)
 {
+	px4_platform_console_init();
 	sercon_main(0, NULL);
 }

@@ -94,8 +94,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -95,8 +95,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -33,7 +33,6 @@ CONFIG_MM_FILL_ALLOCATIONS=y
 CONFIG_MM_SMALL=y
 CONFIG_NAME_MAX=12
 CONFIG_NFILE_DESCRIPTORS=3
-CONFIG_NFILE_STREAMS=1
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_RAM_SIZE=8192
 CONFIG_RAM_START=0x20000000
@@ -67,6 +67,7 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
+		modules
 		motor_ramp
 		param
 		perf
@@ -130,8 +130,7 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	NavioRGBLed *instance = new NavioRGBLed();

 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		instance->set_task_id(task_id_is_work_queue);

 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -142,8 +141,6 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	}

 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;

 	return PX4_ERROR;
 }
@@ -93,6 +93,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -56,7 +56,6 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
-CONFIG_NFILE_STREAMS=3
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
@@ -95,8 +95,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -96,8 +96,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -46,6 +46,7 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
+#include <px4_platform_common/init.h>

 extern int sercon_main(int c, char **argv);

@@ -64,6 +65,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 void board_late_initialize(void)
 {
+	px4_platform_console_init();
 	sercon_main(0, NULL);
 }

@@ -1,128 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR holybro
-	MODEL durandal-v1
-	LABEL stackcheck
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	#BUILD_BOOTLOADER
-	IO px4_io-v2_default
-	TESTING
-#	UAVCAN_INTERFACES 2  - No H7 or FD can support in UAVCAN
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		TEL4:/dev/ttyS3
-	DRIVERS
-		adc/board_adc
-		#barometer # all available barometer drivers
-		barometer/ms5611
-		batt_smbus
-		#camera_capture
-		#camera_trigger
-		#differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		#dshot
-		gps
-		heater
-		#imu # all available imu drivers
-		#imu/adis16448
-		#imu/adis16477
-		#imu/adis16497
-		#imu/bosch/bmi088
-		imu/invensense/icm20689
-		#irlock
-		#lights/blinkm
-		#lights/rgbled
-		lights/rgbled_ncp5623c
-		#magnetometer # all available magnetometer drivers
-		magnetometer/isentek/ist8310
-		#mkblctrl
-		#optical_flow # all available optical flow drivers
-		#osd
-		#pca9685
-		#power_monitor/ina226
-		#protocol_splitter
-#		pwm_input  - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate
-#					   all arch dependant code there
-		pwm_out_sim
-		pwm_out
-		px4io
-		#roboclaw
-		#tap_esc
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-#		uavcan - No H7 or FD can support in UAVCAN yet
-	MODULES
-		airspeed_selector
-		#attitude_estimator_q
-		battery_status
-		#camera_feedback
-		commander
-		dataman
-		ekf2
-		#esc_battery
-		events
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		#landing_target_estimator
-		load_mon
-		#local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		#rover_pos_control
-		sensors
-		#sih
-		#temperature_compensation
-		#vmount
-		vtol_att_control
-	SYSTEMCMDS
-		#bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		hardfault_log
-		i2cdetect
-		led_control
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)
@@ -95,8 +95,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -94,8 +94,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -69,6 +69,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -77,7 +77,6 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -69,6 +69,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -87,6 +87,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -93,8 +93,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -93,6 +93,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -93,8 +93,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -93,8 +93,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -90,6 +90,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -89,8 +89,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -22,6 +22,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		distance_sensor/srf05 # Specific driver
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -133,7 +133,6 @@ CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y
@@ -129,7 +129,6 @@ CONFIG_NET_TCP=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y
@@ -269,8 +269,11 @@ __END_DECLS
 */
 // todo:Design this!

-#define DIRECT_PWM_OUTPUT_CHANNELS  10
-#define DIRECT_INPUT_TIMER_CHANNELS 10
+#define DIRECT_PWM_OUTPUT_CHANNELS  8
+#define DIRECT_INPUT_TIMER_CHANNELS 8
+
+#define GPIO_ULTRASOUND_TRIGGER  /* PTD0 */  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
+#define GPIO_ULTRASOUND_ECHO     /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)

 /* Power supply control and monitoring GPIOs */
 // None
@@ -120,9 +120,6 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	px4_arch_configgpio(io_timer_channel_get_gpio_output(6)); // Echo trigger pin
-	px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(7)));
-
 	if (status >= 0) {
 		up_mdelay(6);
 	}
@@ -66,8 +66,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel7}, {GPIO::PortD, GPIO::Pin7}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel6}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel7}, {GPIO::PortE, GPIO::Pin12}),
-	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
+//	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
+//	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@@ -22,6 +22,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		distance_sensor/srf05 # Specific driver
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -88,6 +89,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -135,7 +135,6 @@ CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y
@@ -130,7 +130,6 @@ CONFIG_NET_TCP=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y
@@ -273,8 +273,11 @@ __END_DECLS
 */
 // todo:Design this!

-#define DIRECT_PWM_OUTPUT_CHANNELS  8
-#define DIRECT_INPUT_TIMER_CHANNELS 8
+#define DIRECT_PWM_OUTPUT_CHANNELS  6
+#define DIRECT_INPUT_TIMER_CHANNELS 6
+
+#define GPIO_ULTRASOUND_TRIGGER  /* PTD0 */  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
+#define GPIO_ULTRASOUND_ECHO     /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)

 /* Power supply control and monitoring GPIOs */
 // None
@@ -120,9 +120,6 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	px4_arch_configgpio(io_timer_channel_get_gpio_output(6)); // Echo trigger pin
-	px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(7)));
-
 	if (status >= 0) {
 		up_mdelay(6);
 	}
@@ -64,8 +64,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel5}, {GPIO::PortD, GPIO::Pin5}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel6}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel7}, {GPIO::PortE, GPIO::Pin12}),
-	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
+//	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
+//	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	700961daf2	ModuleBase add common base type and cleanup	2020-11-10 14:03:58 -05:00
Daniel Agar	d33a48eb24	systemcmds/topic_listener: remove excludes - this is a bit wasteful, but we can afford it for now everywhere listener is enabled	2020-11-10 13:46:48 -05:00
Daniel Agar	c8dfcf7f0d	Github Actions: break up MAVSDK SITL tests - run only 1 vehicle type per location	2020-11-10 13:11:51 -05:00
SalimTerryLi	6728a3a05a	boards: rename AirPi2 to PilotPi, add arm64 support, add to CI * rename all * add arm64 support * change internal ist8310 onto I2C-1	2020-11-10 11:04:47 -05:00
Daniel Agar	38fbb452da	vscode add navio2 variant and native debug launch	2020-11-10 10:38:46 -05:00
Nicolas Martin	1965cd38ba	arm auth: add parameters migration should be reverted in v1.13	2020-11-10 09:03:59 +01:00
Nicolas MARTIN	8b96ff57d7	arm auth: split COM_ARM_AUTH in 3 parameters new params are: - COM_ARM_AUTH_ID - COM_ARM_AUTH_MET - COM_ARM_AUTH_TO	2020-11-10 09:03:59 +01:00
Nicolas MARTIN	6579544fca	arm_auth: use ack reception timestamp to compute authorization timeout	2020-11-10 09:03:59 +01:00
Nicolas MARTIN	e89c21155a	arm_auth: check authorization timestamp to skip old commands	2020-11-10 09:03:59 +01:00
David Sidrane	defa437b88	Add HY-SRF05 ultrasonic sensor driver * nxp_fmuk66-e: Use srf05 distance sensor * nxp_fmuk66-v3: Use srf05 distance sensor	2020-11-08 13:25:58 -05:00
Daniel Agar	c60743b306	boards: NuttX increase file name max 32 -> 40	2020-11-08 12:51:59 -05:00
PX4 BuildBot	5ce0b5a32c	Update submodule matrix to latest Sat Nov 7 19:38:27 EST 2020 - matrix in PX4/Firmware (0c3c9bea0f8466d0c14326d134fd0fa06f480cf5): https://github/commit/ce6b10b99af722a4e653387d40019a8428d2a54f - matrix current upstream: https://github/commit/a504b6e88152d88dba936bc74e449f2f281b84e2 - Changes: https://github/compare/ce6b10b99af722a4e653387d40019a8428d2a54f...a504b6e88152d88dba936bc74e449f2f281b84e2 `a504b6e` 2020-11-04 Mitchell-Lee-93 - precision of tol for float has been changed	2020-11-08 12:35:27 +01:00
stou-sandalski	6b23e28971	Fix for missing battery voltage from UAVCAN power modules (#16138 ) It seems that battery.voltage_* is no longer used and QGC is getting voltage data from the cell voltage array instead.	2020-11-08 12:34:41 +01:00
Alex Mikhalev	91d1825fcf	Fix non-determinstic boot hang with crashdumps On boot, if board_hardfault_init finds a hardfault stored in BBSRAM, it checks if there is any data available on stdin to see if there is somebody there to respond to a prompt. But on boards such as cubeorange where there is not a serial console by default, the ioctl fails and bytesWaiting is uninitialized. So it will non-deterministally hang the boot process with no outside feedback if that value is not zero. Signed-off-by: Alex Mikhalev <alexmikhalevalex@gmail.com>	2020-11-05 12:41:01 -08:00
Adam Blazczak	149ac16bb4	add support for secondary GPS interface Useful for navio2 or px4_raspberrypi when attaching a secondary (UART) GPS through one of the USB ports; the default navio2 onboard GPS is running on spi. Example usage: gps start -d /dev/spidev0.0 -i spi -e /dev/ttyACM0 -j uart -p ubx	2020-11-05 08:59:11 +01:00
Hamish Willee	ffa38f1b4f	module markdownout - explicit anchor not heading	2020-11-05 08:56:31 +01:00
Daniel Agar	bde5cadba7	ROMFS: replay automatically create replay_params.txt	2020-11-04 11:47:01 -05:00
Daniel Agar	142452f80c	replay: print parameter changes and error on mismatch	2020-11-04 11:47:01 -05:00
Daniel Agar	03aa2dd46c	ROMFS: create NXP HoverGames airframe (SYS_AUTOSTART 4017) Co-authored-by: igalloway <iaintravelgalloway@gmail.com>	2020-11-04 11:43:20 -05:00
Beat Küng	e6ad321ab2	gps: add GPS_{1,2}_PROTOCOL param to select protocol, default to u-blox u-blox is the most widely used GPS, so module detection should be a bit faster in general.	2020-11-04 10:26:49 -05:00
Beat Küng	ab43a94224	gps: keep track of RX data rate	2020-11-04 10:26:49 -05:00
Beat Küng	c5c521f5e0	gps: add support for u-blox heading with 2 F9P devices	2020-11-04 10:26:49 -05:00
Julian Kent	d7fa5c68aa	Add support for alpha/beta/rc on the vendor version (#16112 ) * Add support for versioning the vendor version * Make regex only allow either alpha/beta/rc, or vendor versions	2020-11-04 13:48:19 +01:00
Beat Küng	8f72ea9577	Jenkins: push module documentation to PX4 user guide as well	2020-11-04 13:08:05 +01:00
David Sidrane	f02d490e89	rddrone-uavcan146:Rename to ucans32k146	2020-11-04 03:37:06 -08:00
David Sidrane	e0f6c220b1	hardfault_log:Sanity check stack before dumping it	2020-11-04 08:44:38 +01:00
Hamish Willee	425b8a1733	markdownout - change Firmware to PX4-Autopilot	2020-11-04 08:31:28 +01:00
Daniel Agar	ea2fced6ad	Tools/check_submodules.sh: always update if within vscode cmake configure - the interactive portion of check_git_submodule with hang waiting for user input	2020-11-03 23:40:12 -05:00
Silvan Fuhrer	99833eb001	FW Position Control: remove duplicated position_sp_triplet update Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2020-11-03 15:47:57 +01:00
Daniel Agar	ba5ef28f23	uORB_tests: add uORB::SubscriptionMultiArray tests	2020-11-03 09:10:54 -05:00
JaeyoungLim	9e5cf3a598	Enable multiple rover simulations (#15904 ) This commit allows running multiple simulations with rovers	2020-11-03 14:55:32 +01:00
Lorenz Meier	a39bead740	Update SITL (compile fix) This fixes the linker command for protobuf libraries for plugins. ;	2020-11-02 18:39:31 -05:00
Silvan Fuhrer	d4d02f449f	Improve tailsitter tuning master (#16078 ) * tailsitter SITL: improve hover tuning Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Add SITL testing for tailsitter VTOLs This enables SITL testing for Tailsitter vehicles Co-authored-by: Jaeyoung-Lim <jaeyoung@auterion.com>	2020-11-02 23:41:12 +01:00
Ricardo Marques	fd90387270	README: Cleanup Maintenance Team structure Changes current Maintenance Team structure in README.md in order to be more organized and with a standard. Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com>	2020-11-02 23:31:29 +01:00
Avionics Anonymous	437a1c6db1	Use ModuleParams instead of old param funcs	2020-11-02 23:29:50 +01:00
Avionics Anonymous	cc96468fad	Extend UAVCAN light control Adds automatic control of more light types via UAVCAN. Publishes commands for beacon, strobe, nav, and landings lights. Each is automatically controlled based on arming state and this behavior is configurable per light type via params. For example, nav lights can be set to be always on while beacons turn on when the system is prearmed and strobes turn on only when armed.	2020-11-02 23:29:50 +01:00
Silvan Fuhrer	67a0e1993a	FW Position controller: add option to swap throttle and pitch stick Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2020-11-02 22:49:05 +01:00
Martin Povišer	ad0de67df7	dshot: fix build error Fixes src/drivers/dshot/dshot.cpp:1408:9: error: declaration of 'struct DShotOutput::custom_command(int, char**)::Command' shadows a previous local [-Werror=shadow]	2020-11-02 13:52:42 -05:00
Martin Povišer	d2145917e7	setup: add Nix derivation with build environment	2020-11-02 13:52:42 -05:00
Martin Povišer	b0a73b5144	platforms/nuttx: change bash references There is a platform, NixOS Linux, on which '/bin/bash' is not available. This commit changes the interpreter to '/usr/bin/env bash' in some scripts essential to firmware building.	2020-11-02 13:52:42 -05:00
CUAVcaijie	77dfd111e2	boards: cuav/x7pro disable BDMA (#16056 ) - currently causing a crash, disable for now	2020-11-02 13:14:44 -05:00
Daniel Agar	817285ec64	commander: gyro calibration use MedianFilter	2020-11-02 12:58:46 -05:00
Daniel Agar	d14deb0e5a	FFT add simple median filter	2020-11-02 12:58:46 -05:00
Daniel Agar	4578b8cdcc	Update submodule ecl to latest Mon Nov 2 09:57:32 EST 2020 - ecl in PX4/Firmware (f87b19f31b9918f73d336d10e68d39c659037582): https://github/commit/48a8992caf7a95e09a5e17235133894c072b96bd - ecl current upstream: https://github/commit/a21092804a784d012939f96cc633e7da5f5e8cde - Changes: https://github/compare/48a8992caf7a95e09a5e17235133894c072b96bd...a21092804a784d012939f96cc633e7da5f5e8cde `a210928` 2020-11-01 Daniel Agar - EKF: remove virtual getters from estimator_interface	2020-11-02 12:44:14 -05:00
Beat Küng	d83da4ded4	fix SubscriptionMultiArray: end() iterator needs to point past the end And ensure not to dereference.	2020-11-02 09:00:04 +01:00
Daniel Agar	a1ef4d1469	ekf2: only advertise immediately in multi-EKF mode	2020-11-01 15:48:35 -05:00
PX4 BuildBot	1dd3283fbb	Update submodule ecl to latest Sat Oct 31 20:37:40 EDT 2020 - ecl in PX4/Firmware (6bb56ae2b3debb76669a04adb7c64bac74bb87f4): https://github/commit/d85e24d3ca767b48bdbb1594b564d30df5777769 - ecl current upstream: https://github/commit/48a8992caf7a95e09a5e17235133894c072b96bd - Changes: https://github/compare/d85e24d3ca767b48bdbb1594b564d30df5777769...48a8992caf7a95e09a5e17235133894c072b96bd `48a8992` 2020-10-30 Daniel Agar - EKF: move small simple getters to header `defb35d` 2020-10-29 Daniel Agar - EKF: pass imuSample by const reference	2020-10-31 21:11:44 -04:00
PX4 BuildBot	4df3931bd1	Update submodule sitl_gazebo to latest Thu Oct 29 20:40:02 EDT 2020 - sitl_gazebo in PX4/Firmware (`6b9dde59d6`): https://github.com/PX4/PX4-SITL_gazebo/commit/2451437c19ed9fcdf8a79990313e768c98aa15b6 - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/06e801fe8b5267e561f00d8847a6343cb2386ab6 - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/2451437c19ed9fcdf8a79990313e768c98aa15b6...06e801fe8b5267e561f00d8847a6343cb2386ab6 06e801f 2020-10-29 Nuno Marques - add missing generated models to git ignore (#644) eafc98b 2020-10-28 JaeyoungLim - Move boat model to jinja templates (#641)	2020-10-29 22:00:05 -04:00
Daniel Agar	6b9dde59d6	update ecl to latest - fmu-v5 debug and stackcheck builds now need to be CONSTRAINED_FLASH to fit - delete unused holybro_durandal-v1_stackcheck build (also CONSTRAINED_FLASH)	2020-10-29 18:56:52 -04:00
Daniel Agar	81aa8a914f	boards: px4_fmu-v2 disable ver command line to save flash	2020-10-29 18:56:52 -04:00
Daniel Agar	d5894bea5c	cmake: NuttX debug skip SVD print if not found	2020-10-29 15:07:47 -04:00
Daniel Agar	216a0eb3a0	cmake: NuttX redirect libapps build stdout to log file	2020-10-29 15:07:47 -04:00
Daniel Agar	b13422dd80	gitmodules update URLs to renamed PX4 repositories	2020-10-29 15:06:59 -04:00
Daniel Agar	ecb462f325	ekf2: EKF2.cpp using matrix Eulerf, Quatf, Vector3f	2020-10-29 10:22:57 -04:00
Daniel Agar	d1af095c0b	ekf2: don't store vehicle_status_s	2020-10-29 10:22:57 -04:00
Daniel Agar	d27573b797	ekf2: don't store vehicle_land_detected_s	2020-10-29 10:22:57 -04:00
Daniel Agar	7757aeda94	ekf2: don't store sensor_selection_s copy	2020-10-29 10:22:57 -04:00
Daniel Agar	db5235b074	ekf2: avoid storing message copies	2020-10-29 10:22:57 -04:00
Daniel Agar	3f9f2c6fdf	ekf2: multi ekf supports up to 4 IMUs	2020-10-28 20:50:58 -04:00
Daniel Agar	cf082d7f1c	Github actions: SITL tests upgrade MAVSDK v0.30.1 -> v0.33.1	2020-10-28 20:26:47 -04:00
Daniel Agar	b5e00cd424	NuttX upgrade branches to px4_firmware_nuttx-10.0.0+	2020-10-28 17:25:08 -04:00
David Sidrane	ff87bc0fda	fmu-v6x:Bootloader init NULL console	2020-10-28 14:25:25 -04:00
David Sidrane	39b1d827d2	cubeorange:Bootloader init NULL console	2020-10-28 14:25:25 -04:00
David Sidrane	1fa1f8c2c5	durandal-v1:Bootloader init NULL console	2020-10-28 14:25:25 -04:00
David Sidrane	962b90fd75	cuav:Bootloader init NULL console	2020-10-28 14:25:25 -04:00
David Sidrane	8797823333	px4_init:Split out console init to create null device to be used in non PX4 platform bsp (bootloadres)	2020-10-28 14:25:25 -04:00
David Sidrane	021bc284c1	nxp:imxrt ADC track Rev02 of ref manual change made in upstream	2020-10-28 14:25:25 -04:00
Daniel Agar	233949a377	NuttX upgrade to 10.0.0+ defconfig changes	2020-10-28 14:25:25 -04:00
David Sidrane	850e068aa3	Nuttx 10.0.0+	2020-10-28 14:25:25 -04:00
Daniel Agar	2c874f1cd9	ekf2 selector fix SITL lockstep - ekf2 selector don't register lockstep until first attitude publication - sensors module register lockstep component - enable multi-EKF2 in SITL	2020-10-28 09:42:41 -04:00
TSC21	b1dc1b1ecd	msg: rtps: add IDs for missing estimator_* msgs	2020-10-28 11:58:35 +01:00
Thies Lennart Alff	82988b1912	airframes: added BlueROV2 (heavy configuration) airframe (#16004 )	2020-10-28 11:07:31 +01:00
TSC21	5b7d1a0496	msg: rtps: add missing ID for orb_test_medium_wrap_around	2020-10-28 10:18:22 +01:00
Daniel Agar	69986affbf	commander: calibration restore sleep after CAL_QGC_DONE_MSG/CAL_QGC_FAILED_MSG	2020-10-27 18:54:16 -04:00
Nicolas Martin	171bd6d784	positionControl: add check on sign before sqrtf	2020-10-27 18:52:23 -04:00
SalimTerryLi	05f1efd1a4	load_mon: get mem_usage by reading /proc/meminfo on Linux	2020-10-27 18:49:25 -04:00
Daniel Agar	91da194bd7	sensors/vehicle_gps_position: only register callbacks once topic published - this avoids creating unnecessary uORB device nodes for GPS instances that might never exist	2020-10-27 18:40:57 -04:00
Daniel Agar	df2f26ebdf	rename vehicle_visual_odometry_aligned -> estimator_visual_odometry_aligned - saves a small amount of work for the ekf2 selector in multi-EKF mode (visual_odometry_aligned now ignored) - helps to distinguish the origin/purpose from vehicle_odometry and vehicle_visual_odometry	2020-10-27 12:33:39 -04:00
Daniel Agar	d5e68bc05a	mathlib: NotchFilter delete unused update method	2020-10-27 12:30:59 -04:00
Mathieu Bresciani	050c9dcd3d	HTE: fix variance prediction (#16016 ) In the predition step, the process variance was erroneously multiplied by dt instead of dt^2. The default values are adjusted accordingly to keep the same tuning for the default loop rate of 50Hz	2020-10-27 16:56:32 +01:00
Daniel Agar	f36f8928e3	distance_sensor/vl53l1x: fix code style	2020-10-27 11:43:11 -04:00
Alexey	2e98c64853	drivers/distance_sensor: new driver for ST VL53L1x Co-authored-by: Alexey Matveev <>	2020-10-27 11:26:53 -04:00
Daniel Agar	0f411d6820	Multi-EKF support (ekf2) - ekf2 can now run in multi-instance mode (currently up to 9 instances) - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude) - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude) - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro) - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status - ekf2 single instance mode is still fully supported and the default Co-authored-by: Paul Riseborough <gncsolns@gmail.com>	2020-10-27 10:56:11 -04:00
Daniel Agar	d5245a22d3	logger: limit default estimator_optical_flow_vel logging	2020-10-26 14:10:25 -04:00
bresch	109ed18a3a	Flow: adjust default optical flow delay based on pmw3901 This is the correct value for the most common optical flow sensor	2020-10-26 14:10:25 -04:00
bresch	142724748a	pmw3901: Adjust scale factor to match gyro data	2020-10-26 14:10:25 -04:00
bresch	09cc3120e2	OpticalFlow: add optical flow velocity logging This is important to align the flow with the IMU data and verify that the compensation is properly done	2020-10-26 14:10:25 -04:00
Matthias Grob	8e710294b3	FlightTaskManualAltitudeSmoothVel: fix parameter inheritance chain	2020-10-26 15:55:21 +01:00
Matthias Grob	7ba93d5452	FlightTasks: fix reActivate not calling the parent overrided method	2020-10-26 15:55:21 +01:00
FengShun	eac9a6b68b	Replace PublicationQueued with Publication to automatically configure ORB_QUEUE_LENGTH	2020-10-26 13:01:13 +01:00
FengShun	90c366f369	uORB::Publication*: template parameter automatically obtains the queue size according to the type	2020-10-26 13:01:13 +01:00
Nicolas Martin	948bed6b5c	fix ekf2 saved mag bias comments (mGauss -> Gauss)	2020-10-26 00:43:20 -04:00
Daniel Agar	8435742dd5	logger: double actuator_controls_0 and vehicle_attitude_setpoint default log rate	2020-10-26 00:36:02 -04:00
Daniel Agar	6d2f592c16	logger: add vehicle_constraints to default set	2020-10-26 00:36:02 -04:00
PX4 BuildBot	53b5e2d863	Update submodule sitl_gazebo to latest Sun Oct 25 20:37:27 EDT 2020 - sitl_gazebo in PX4/Firmware (`945c17bc3f`): https://github.com/PX4/sitl_gazebo/commit/4f03afc7def0b958e7567a35093bacf93dcc824f - sitl_gazebo current upstream: https://github.com/PX4/sitl_gazebo/commit/2451437c19ed9fcdf8a79990313e768c98aa15b6 - Changes: https://github.com/PX4/sitl_gazebo/compare/4f03afc7def0b958e7567a35093bacf93dcc824f...2451437c19ed9fcdf8a79990313e768c98aa15b6 2451437 2020-10-24 Igor Campos - fix #638 - geotagging plugin not working: subscribed to wrong topic 9f832e5 2020-10-09 JaeyoungLim - Add groundtruth plugin dcae3ed 2020-09-29 JaeyoungLim - Switch tiltrotor to jinja templates 928169c 2020-09-28 JaeyoungLim - Move where the gps joint is being defined 60897b7 2020-08-24 JaeyoungLim - Fix tiltrotor model 9f82ad4 2020-10-22 JaeyoungLim - Move rover models to jinja templates (#629) 00d6f2f 2020-10-21 Thies Lennart Alff - Adding Model of BlueROV2 (heavy configuration) (#637) b15784d 2020-10-19 Vojtech Spurny - gazebo_gps_plugin fix and enhancement (#635)	2020-10-25 23:54:33 -04:00
Daniel Agar	614a0ac2a2	experimental/gyro_fft: improve peak detection, add start parameter - add new parameter `IMU_GYRO_FFT_EN` to start - add 75% overlap in buffer to increase FFT update rate - space out FFT calls (no more than 1 per cycle) - increase `IMU_GYRO_FFT_MIN` default - decrease main stack usage	2020-10-25 23:48:21 -04:00
Daniel Agar	945c17bc3f	move subsystem_info entirely into commander and remove from uORB * HealthFlags: define bitfield using 1<<X Co-authored-by: Matthias Grob <maetugr@gmail.com>	2020-10-25 10:08:15 -04:00
Igor Mišić	ea3d202370	spracing_h7extrem: Updated gyros to use icm20602 drivers.	2020-10-24 11:54:13 -04:00
Daniel Agar	6285e06fe2	mc_pos_control: split out header and name consistently	2020-10-23 15:06:04 -04:00
Matthias Grob	1fb4f960cd	FlightTaskAuto: Lock down yaw when waypoint is reached This is done to prevent yawing 180 degrees when switching to hold mode with high velocity and the overshoot causing a 180° yaw turn. The yaw is unlocked on waypoint updates and the yaw setpoint generation had to be put at the end because otherwise the first yaw calculation is with the old waypoint and immediately locks again.	2020-10-23 20:54:01 +02:00
Daniel Agar	81765bc06a	commander: PreFlightCheck remove HIL special cases - skipping these sensor checks in HIL no longer makes sense as each sensor has a normal publication (sensor_accel/gyro/etc) regardless of simulation	2020-10-23 11:25:50 -04:00
Matthias Grob	4378254182	Fix NuttX build under Cygwin after NuttX 9.1.0+ upgrade #15139	2020-10-23 06:56:31 -07:00
David Sidrane	d8a03d04a7	nxp_rddrone-uavcan146:Fixed wrong SPI CLK Pin	2020-10-23 09:18:24 +02:00
Beat Küng	d2644a3bf7	distance_sensor/sf0x: rename to lightware_laser_serial	2020-10-22 11:30:50 -04:00
Beat Küng	a68ac95399	distance_sensor/sf1xx: rename to lightware_laser_i2c	2020-10-22 11:30:50 -04:00
Beat Küng	6d2e306d50	sf1xx: use new protocol for LW20/c benefits: - read & validate product name - sensor configuration with the output we want (raw distance data) - get signal quality Protocol description: http://support.lightware.co.za/sf20/#/commands Other Lightware sensors can easily be moved over to that as well.	2020-10-22 11:30:50 -04:00
Beat Küng	c0cf144a5a	ll40ls: fix rotation -> orientation	2020-10-22 11:30:50 -04:00
JaeyoungLim	46d79d3050	Remove exception of actuator scaling for airships (#16011 ) This removes the exception handling of airship type vehicles when scaling actuators for the simulator	2020-10-22 10:37:03 +02:00
Hamish Willee	d91d7e3282	parameter markdown table - remove styling	2020-10-22 08:05:41 +02:00
Lorenz Meier	b14d0e4326	Update MAVLink shell default device for modern Mac OS The enumeration changed from usbmodem1 to usbmodem01 and this tracks this OS-level naming change.	2020-10-21 12:11:31 -04:00