mixer_module: send a last sample out after all outputs were disabled

This matters for PWM when the last output gets disabled on either FMU or IO
it would just keep on running.

Also when rebooting with a parameters reset or new airframe with no mapped outputs
it would previously keep outputting PWM with the disarmed value of the new airframe
e.g. 1000us which is a safety hazard because servos could break the physical limit of the
model or miscalibrated ESCs spinning motors.

.ci/Jenkinsfile-compile

@@ -40,16 +40,16 @@ pipeline {
                      "ark_can-flow_default",
                      "ark_can-gps_canbootloader",
                      "ark_can-gps_default",
-                     "ark_cannode_canbootloader",
-                     "ark_cannode_default",
                      "ark_can-rtk-gps_canbootloader",
                      "ark_can-rtk-gps_default",
+                     "ark_cannode_canbootloader",
+                     "ark_cannode_default",
                      "ark_fmu-v6x_bootloader",
                      "ark_fmu-v6x_default",
                      "atl_mantis-edu_default",
                      "av_x-v1_default",
-                     "bitcraze_crazyflie_default",
                      "bitcraze_crazyflie21_default",
+                     "bitcraze_crazyflie_default",
                      "cuav_can-gps-v1_canbootloader",
                      "cuav_can-gps-v1_default",
                      "cuav_nora_default",
@@ -66,8 +66,8 @@ pipeline {
                      "holybro_durandal-v1_default",
                      "holybro_kakutef7_default",
                      "holybro_kakuteh7_default",
-                     "holybro_kakuteh7v2_default",
                      "holybro_kakuteh7mini_default",
+                     "holybro_kakuteh7v2_default",
                      "holybro_pix32v5_default",
                      "matek_gnss-m9n-f4_canbootloader",
                      "matek_gnss-m9n-f4_default",
@@ -77,8 +77,8 @@ pipeline {
                      "modalai_fc-v1_default",
                      "modalai_fc-v2_default",
                      "mro_ctrl-zero-classic_default",
-                     "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
+                     "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-h7-oem_default",
                      "mro_ctrl-zero-h7_default",
                      "mro_pixracerpro_default",
@@ -104,22 +104,28 @@ pipeline {
                      "px4_fmu-v5_debug",
                      "px4_fmu-v5_default",
                      "px4_fmu-v5_lto",
+                     "px4_fmu-v5_rover",
                      "px4_fmu-v5_stackcheck",
                      "px4_fmu-v5_uavcanv0periph",
                      "px4_fmu-v5x_default",
+                     "px4_fmu-v5x_rover",
                      "px4_fmu-v6c_default",
+                     "px4_fmu-v6c_rover",
                      "px4_fmu-v6u_default",
+                     "px4_fmu-v6u_rover",
                      "px4_fmu-v6x_default",
+                     "px4_fmu-v6x_rover",
                      "px4_fmu-v6xrt_bootloader",
                      "px4_fmu-v6xrt_default",
+                     "px4_fmu-v6xrt_rover",
                      "px4_io-v2_default",
                      "raspberrypi_pico_default",
+                     "siyi_n7_default",
                      "sky-drones_smartap-airlink_default",
                      "spracing_h7extreme_default",
                      "thepeach_k1_default",
                      "thepeach_r1_default",
                      "uvify_core_default",
-                     "siyi_n7_default"
             ],
             image: docker_images.nuttx,
             archive: true

.editorconfig

@@ -0,0 +1,14 @@
+root = true
+
+[*]
+insert_final_newline = false
+
+[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
+indent_style = tab
+tab_width = 8
+# Not in the official standard, but supported by many editors
+max_line_length = 120
+
+[*.yaml]
+indent_style = space
+indent_size = 2

.github/workflows/compile_nuttx.yml

@@ -25,6 +25,7 @@ jobs:
           ark_can-rtk-gps,
           ark_cannode,
           ark_fmu-v6x,
+          ark_septentrio-gps,
           atl_mantis-edu,
           av_x-v1,
           bitcraze_crazyflie,
@@ -48,6 +49,7 @@ jobs:
           matek_h743-slim,
           modalai_fc-v1,
           modalai_fc-v2,
+          mro_ctrl-zero-classic,
           mro_ctrl-zero-f7,
           mro_ctrl-zero-f7-oem,
           mro_ctrl-zero-h7,

.gitmodules

@@ -79,3 +79,7 @@
 [submodule "Tools/simulation/gz"]
 	path = Tools/simulation/gz
 	url = https://github.com/PX4/PX4-gazebo-models.git
+	branch = main
+[submodule "boards/modalai/voxl2/libfc-sensor-api"]
+	path = boards/modalai/voxl2/libfc-sensor-api
+	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git

.vscode/cmake-variants.yaml

@@ -71,6 +71,26 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v5x_default
+    px4_fmu-v6c_default:
+      short: px4_fmu-v6c
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6c_default
+    px4_fmu-v6c_bootloader:
+      short: px4_fmu-v6c_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6c_bootloader
+    px4_fmu-v6u_default:
+      short: px4_fmu-v6u
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6u_default
+    px4_fmu-v6u_bootloader:
+      short: px4_fmu-v6u_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6u_bootloader
     px4_fmu-v6x_default:
       short: px4_fmu-v6x
       buildType: MinSizeRel
@@ -131,6 +151,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_canbootloader
+    ark_septentrio_gps_default:
+      short: ark_septentrio_gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_septentrio_gps_default
+    ark_septentrio_gps_canbootloader:
+      short: ark_septentrio_gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_septentrio_gps_canbootloader
     ark_cannode_default:
       short: ark_cannode_default
       buildType: MinSizeRel

ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx

@@ -22,18 +22,17 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
 param set-default PWM_MAIN_FUNC1 101

ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane

@@ -26,7 +26,7 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3
 
-param set-default SIH_T_MAX 6.0
+param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402
 param set-default SIH_IYY 0.0144
@@ -45,9 +45,9 @@ param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TRQ_P 1
 param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 202

ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert

@@ -35,14 +35,14 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3
 
-param set-default SIH_T_MAX 2.0
+param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2
 # IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
 param set-default SIH_IXX 0.00354
 param set-default SIH_IYY 0.000625
 param set-default SIH_IZZ 0.00300
-param set-default SIH_IXZ 0.0
+param set-default SIH_IXZ 0
 param set-default SIH_KDV 0.2
 param set-default SIH_L_ROLL 0.145
 

ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow

@@ -47,5 +47,5 @@ param set-default MPC_ALT_MODE 2
 
 param set-default SENS_FLOW_ROT 6
 param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3.0
+param set-default SENS_FLOW_MAXHGT 3
 param set-default SENS_FLOW_MAXR 2.5

ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus

@@ -8,34 +8,34 @@
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY 0.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.0000
-param set-default CA_ROTOR0_PY -0.3000
-param set-default CA_ROTOR0_PZ -0.3000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 0.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.0000
-param set-default CA_ROTOR1_PY 0.3000
-param set-default CA_ROTOR1_PZ -0.3000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 0.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX 0.0000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.3000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY 0.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX 0.0000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.3000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY 0
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY -0.3
+param set-default CA_ROTOR0_PZ -0.3
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 0
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY 0.3
+param set-default CA_ROTOR1_PZ -0.3
+param set-default CA_ROTOR2_AX 1
+param set-default CA_ROTOR2_AY 0
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX 0
+param set-default CA_ROTOR2_PY 0.3
+param set-default CA_ROTOR2_PZ 0.3
+param set-default CA_ROTOR3_AX 1
+param set-default CA_ROTOR3_AY 0
+param set-default CA_ROTOR3_AZ 0
+param set-default CA_ROTOR3_KM 0
+param set-default CA_ROTOR3_PX 0
+param set-default CA_ROTOR3_PY -0.3
+param set-default CA_ROTOR3_PZ 0.3
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy

@@ -9,49 +9,49 @@ param set-default CA_AIRFRAME 7
 
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY -1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.5000
-param set-default CA_ROTOR0_PY 0.3000
-param set-default CA_ROTOR0_PZ 0.2000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.5000
-param set-default CA_ROTOR1_PY -0.3000
-param set-default CA_ROTOR1_PZ 0.2000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -0.5000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.2000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY -1.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX -0.5000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.2000
-param set-default CA_ROTOR4_AZ -1.0000
-param set-default CA_ROTOR4_KM 0.0000
-param set-default CA_ROTOR4_PX 0.5000
-param set-default CA_ROTOR4_PY 0.5000
-param set-default CA_ROTOR5_AZ 1.0000
-param set-default CA_ROTOR5_KM 0.0000
-param set-default CA_ROTOR5_PX 0.5000
-param set-default CA_ROTOR5_PY -0.5000
-param set-default CA_ROTOR6_AZ 1.0000
-param set-default CA_ROTOR6_KM 0.0000
-param set-default CA_ROTOR6_PX -0.5000
-param set-default CA_ROTOR6_PY 0.5000
-param set-default CA_ROTOR7_KM 0.0000
-param set-default CA_ROTOR7_PX -0.5000
-param set-default CA_ROTOR7_PY -0.5000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY -1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX 0.5
+param set-default CA_ROTOR0_PY 0.3
+param set-default CA_ROTOR0_PZ 0.2
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX 0.5
+param set-default CA_ROTOR1_PY -0.3
+param set-default CA_ROTOR1_PZ 0.2
+param set-default CA_ROTOR2_AX 1
+param set-default CA_ROTOR2_AY 1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -0.5
+param set-default CA_ROTOR2_PY 0.3
+param set-default CA_ROTOR2_PZ 0.2
+param set-default CA_ROTOR3_AX 1
+param set-default CA_ROTOR3_AY -1
+param set-default CA_ROTOR3_AZ 0
+param set-default CA_ROTOR3_KM 0
+param set-default CA_ROTOR3_PX -0.5
+param set-default CA_ROTOR3_PY -0.3
+param set-default CA_ROTOR3_PZ 0.2
+param set-default CA_ROTOR4_AZ -1
+param set-default CA_ROTOR4_KM 0
+param set-default CA_ROTOR4_PX 0.5
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR5_AZ 1
+param set-default CA_ROTOR5_KM 0
+param set-default CA_ROTOR5_PX 0.5
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR6_AZ 1
+param set-default CA_ROTOR6_KM 0
+param set-default CA_ROTOR6_PX -0.5
+param set-default CA_ROTOR6_PY 0.5
+param set-default CA_ROTOR7_KM 0
+param set-default CA_ROTOR7_PX -0.5
+param set-default CA_ROTOR7_PY -0.5
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane

@@ -54,9 +54,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam

@@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

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

@@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

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

@@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod

@@ -40,9 +40,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

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

@@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer

@@ -48,9 +48,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider

@@ -55,9 +55,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal

@@ -47,9 +47,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane

@@ -45,9 +45,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol

@@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2
 
 param set-default CA_SV_CS_COUNT 3
@@ -37,7 +37,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103

ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter

@@ -50,11 +50,11 @@ param set-default SENS_IMU_MODE 1
 
 param set-default FW_P_TC 0.6
 
-param set-default FW_PR_FF 0.1
+param set-default FW_PR_FF 0.0
 param set-default FW_PSP_OFF 2
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_I 0.2
-param set-default FW_RR_P 0.3
+param set-default FW_RR_P 0.5
 param set-default FW_THR_TRIM 0.35
 param set-default FW_THR_MAX 0.8
 param set-default FW_THR_MIN 0.05
@@ -66,8 +66,6 @@ param set-default FW_T_SINK_MIN 1.6
 param set-default MC_AIRMODE 1
 param set-default MC_ROLL_P 3
 param set-default MC_PITCH_P 3
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_PITCHRATE_P 0.3
 
 param set-default VT_ARSP_TRANS 10
 param set-default VT_B_TRANS_DUR 5

ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor

@@ -31,7 +31,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_TL_COUNT 2

ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop

@@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2
 
 param set-default CA_SV_CS_COUNT 3
@@ -37,7 +37,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103

ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar

@@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover

@@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+param set-default GND_WHEEL_BASE 2
 
 param set-default CA_AIRFRAME 5
 

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

@@ -29,7 +29,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 3.0
+param set-default GND_WHEEL_BASE 3
 
 param set-default CA_AIRFRAME 5
 

ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat

@@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
 param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+param set-default GND_WHEEL_BASE 2
 
 param set-default CA_AIRFRAME 9
 

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

@@ -14,7 +14,7 @@
 
 param set-default FW_AIRSPD_STALL 8
 
-param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_P_RMAX_NEG 20
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1
 
@@ -37,7 +37,7 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30
 
-param set-default FW_MAN_R_MAX 30.0
+param set-default FW_MAN_R_MAX 30
 
 param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0

ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2

@@ -14,7 +14,7 @@
 
 param set-default FW_AIRSPD_STALL 5
 
-param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_P_RMAX_NEG 20
 param set-default FW_W_RMAX 10
 param set-default FW_W_EN 1
 
@@ -29,9 +29,9 @@ param set-default NAV_LOITER_RAD 50
 # Parameters related to autogyro takeoff PR
 #param set-default AG_TKOFF 1
 #param set-default AG_PROT_TYPE 1
-#param set-default AG_PROT_MIN_RPM 50.0
-#param set-default AG_PROT_TRG_RPM 900.0
-#param set-defoult AG_ROTOR_RPM 900.0
+#param set-default AG_PROT_MIN_RPM 50
+#param set-default AG_PROT_TRG_RPM 900
+#param set-defoult AG_ROTOR_RPM 900
 
 param set-default FW_ARSP_SCALE_EN 0
 
@@ -42,7 +42,7 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30
 
-param set-default FW_MAN_R_MAX 30.0
+param set-default FW_MAN_R_MAX 30
 
 param set-default FW_THR_CRUISE 0.8
 param set-default FW_THR_IDLE 0

ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship

@@ -14,21 +14,21 @@
 param set-default CA_AIRFRAME 9
 
 param set-default CA_ROTOR_COUNT 3
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PY 2.0000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PY -2.0000
-param set-default CA_ROTOR2_AY -1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -10.0000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PY -2
+param set-default CA_ROTOR2_AY -1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -10
 
 param set-default CA_SV_CS_COUNT 1
-param set-default CA_SV_CS0_TRQ_P 1.0000
+param set-default CA_SV_CS0_TRQ_P 1
 
 param set-default CA_R_REV 7
 

ROMFS/px4fmu_common/init.d-posix/airframes/3011_jsbsim_hexarotor_x

@@ -13,9 +13,9 @@ param set-default MAV_TYPE 13
 
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCH_P 6.0
+param set-default MC_PITCH_P 6
 param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLL_P 6.0
+param set-default MC_ROLL_P 6
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
 
@@ -27,11 +27,11 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2
 
 
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -1
 param set-default CA_ROTOR1_KM 0.05
 param set-default CA_ROTOR2_PX 0.866025
 param set-default CA_ROTOR2_PY -0.5

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -70,9 +70,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -40,8 +40,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2
 
 param set-default SIM_GZ_EC_FUNC1 101
@@ -73,7 +73,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 
 param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -105,31 +105,19 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default THR_MDL_FAC 0.3
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
-# Outputs
-# param set-default PWM_AUX_FUNC1 101
-# param set-default PWM_AUX_FUNC2 102
-# param set-default PWM_AUX_FUNC3 103
-# param set-default PWM_AUX_FUNC4 104
-
-# param set-default PWM_MAIN_FUNC1 101
-# param set-default PWM_MAIN_FUNC2 102
-# param set-default PWM_MAIN_FUNC3 103
-# param set-default PWM_MAIN_FUNC4 104
-
 param set-default SIM_GZ_EC_FUNC1 101
 param set-default SIM_GZ_EC_FUNC2 102
 param set-default SIM_GZ_EC_FUNC3 103
@@ -144,5 +132,3 @@ param set-default SIM_GZ_EC_MAX1 1100
 param set-default SIM_GZ_EC_MAX2 1100
 param set-default SIM_GZ_EC_MAX3 1100
 param set-default SIM_GZ_EC_MAX4 1100
-
-

ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane

@@ -63,9 +63,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_CS4_TYPE 9
 param set-default CA_SV_CS5_TYPE 10

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -0,0 +1,80 @@
+#!/bin/sh
+# @name Gazebo lawnmower
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+# We can arm and drive in manual mode when it slides and GPS check fails:
+param set-default COM_ARM_WO_GPS 1
+
+# Set Differential Drive Kinematics Library parameters:
+param set RDD_WHEEL_BASE 0.9
+param set RDD_WHEEL_RADIUS 0.22
+param set RDD_WHEEL_SPEED 10.0	# Maximum wheel speed rad/s, approx 8 km/h
+
+# Actuator mapping - set SITL motors/servos output parameters:
+
+# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
+param set-default SIM_GZ_WH_FUNC1 101 # right wheel
+#param set-default SIM_GZ_WH_MIN1 0
+#param set-default SIM_GZ_WH_MAX1 200
+#param set-default SIM_GZ_WH_DIS1 100
+#param set-default SIM_GZ_WH_FAIL1 100
+
+param set-default SIM_GZ_WH_FUNC2 102 # left wheel
+#param set-default SIM_GZ_WH_MIN2 0
+#param set-default SIM_GZ_WH_MAX2 200
+#aram set-default SIM_GZ_WH_DIS2 100
+#param set-default SIM_GZ_WH_FAIL2 100
+
+param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
+
+# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation. 
+# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate 
+# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator 
+# controls in practical scenarios.
+
+# Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
+param set-default SIM_GZ_SV_FUNC3 203
+param set-default SIM_GZ_SV_MIN3 0
+param set-default SIM_GZ_SV_MAX3 1000
+param set-default SIM_GZ_SV_DIS3 500
+param set-default SIM_GZ_SV_FAIL3 500
+
+# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
+#    - on minimum when disarmed or failed:
+param set-default SIM_GZ_SV_FUNC4 204
+param set-default SIM_GZ_SV_MIN4 0
+param set-default SIM_GZ_SV_MAX4 1000
+param set-default SIM_GZ_SV_DIS4 500
+param set-default SIM_GZ_SV_FAIL4 500
+
+# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
+
+# Strobes, PCA9685 servo channel 5, "Servo 5" (205) - flashing indicates Mission mode:
+#param set-default SIM_GZ_SV_FUNC5 205
+#param set-default SIM_GZ_SV_MIN5 1000
+#param set-default SIM_GZ_SV_MAX5 2000
+#param set-default SIM_GZ_SV_DIS5 1000
+#param set-default SIM_GZ_SV_FAIL5 1000
+
+# Horn, PCA9685 servo channel 6, "Servo 6" (206) - for alarms like GPS failure:
+#param set-default SIM_GZ_SV_FUNC6 206
+
+# Spare PCA9685 servo channel 7 on "RC AUX2" (408) - right knob, or "Servo 7" (207):
+#param set-default SIM_GZ_SV_FUNC7 207
+
+# Spare PCA9685 servo channel 8 - "Servo 8" (208):
+#param set-default SIM_GZ_SV_FUNC8 208

ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480

@@ -9,14 +9,14 @@
 
 param set-default MAV_TYPE 13
 
-param set-default MC_PITCHRATE_P 0.0800
-param set-default MC_PITCHRATE_I 0.0400
-param set-default MC_PITCHRATE_D 0.0010
-param set-default MC_PITCH_P 9.0
-param set-default MC_ROLLRATE_P 0.0800
-param set-default MC_ROLLRATE_I 0.0400
-param set-default MC_ROLLRATE_D 0.0010
-param set-default MC_ROLL_P 9.0
+param set-default MC_PITCHRATE_P 0.08
+param set-default MC_PITCHRATE_I 0.04
+param set-default MC_PITCHRATE_D 0.001
+param set-default MC_PITCH_P 9
+param set-default MC_ROLLRATE_P 0.08
+param set-default MC_ROLLRATE_I 0.04
+param set-default MC_ROLLRATE_D 0.001
+param set-default MC_ROLL_P 9
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
 
@@ -31,11 +31,11 @@ param set-default MAV_PROTO_VER 2
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 6
 
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -1
 param set-default CA_ROTOR1_KM 0.05
 param set-default CA_ROTOR2_PX 0.866025
 param set-default CA_ROTOR2_PY -0.5

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

@@ -82,6 +82,7 @@ px4_add_romfs_files(
 	4008_gz_advanced_plane
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
+	4011_gz_lawnmower
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -41,19 +41,6 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 
 	echo "INFO  [init] Gazebo simulator"
 
-	# set local coordinate frame reference
-	if [ -n "${PX4_HOME_LAT}" ]; then
-		param set SIM_GZ_HOME_LAT ${PX4_HOME_LAT}
-	fi
-
-	if [ -n "${PX4_HOME_LON}" ]; then
-		param set SIM_GZ_HOME_LON ${PX4_HOME_LON}
-	fi
-
-	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIM_GZ_HOME_ALT ${PX4_HOME_ALT}
-	fi
-
 	# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
 	if [ -z "${PX4_GZ_STANDALONE}" ]; then
 
@@ -64,6 +51,13 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 			# "gz sim" from Garden on
 			gz_command="gz"
 			gz_sub_command="sim"
+
+			# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
+			# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
+			if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
+				echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
+				gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
+			fi
 		else
 			echo "ERROR [init] Gazebo gz please install gz-garden"
 			exit 1
@@ -173,6 +167,12 @@ elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)"
 
 else
 	# otherwise start simulator (mavlink) module
+
+	# EKF2 specifics
+	param set-default EKF2_GPS_DELAY 10
+	param set-default EKF2_MULTI_IMU 3
+	param set-default SENS_IMU_MODE 0
+
 	simulator_tcp_port=$((4560+px4_instance))
 
 	# Check if PX4_SIM_HOSTNAME environment variable is empty

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -164,10 +164,6 @@ param set-default COM_RC_IN_MODE 1
 # Speedup SITL startup
 param set-default EKF2_REQ_GPS_H 0.5
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-
 param set-default IMU_GYRO_FFT_EN 1
 param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
 
@@ -248,7 +244,12 @@ then
 fi
 
 load_mon start
-battery_simulator start
+
+if param compare SIM_BAT_ENABLE 1
+then
+	battery_simulator start
+fi
+
 tone_alarm start
 rc_update start
 manual_control start

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -34,28 +34,79 @@
 add_subdirectory(airframes)
 
 px4_add_romfs_files(
-	rc.airship_apps
-	rc.airship_defaults
+
 	rc.autostart_ext
-	rc.balloon_apps
-	rc.balloon_defaults
-	rc.boat_defaults
-	rc.fw_apps
-	rc.fw_defaults
-	rc.heli_defaults
-	rc.logging
-	rc.mc_apps
-	rc.mc_defaults
+
 	rcS
 	rc.sensors
-	rc.thermal_cal
-	rc.rover_apps
-	rc.rover_defaults
-	rc.rover_differential_apps
-	rc.rover_differential_defaults
-	rc.uuv_apps
-	rc.uuv_defaults
 	rc.vehicle_setup
-	rc.vtol_apps
-	rc.vtol_defaults
+
+	# TODO
+	rc.balloon_apps
+	rc.balloon_defaults
 )
+
+if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
+	px4_add_romfs_files(
+		rc.airship_apps
+		rc.airship_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_FW_RATE_CONTROL)
+	px4_add_romfs_files(
+		rc.fw_apps
+		rc.fw_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_MC_RATE_CONTROL)
+	px4_add_romfs_files(
+		rc.heli_defaults
+		rc.mc_apps
+		rc.mc_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
+	px4_add_romfs_files(
+		rc.rover_apps
+		rc.rover_defaults
+
+		rc.boat_defaults # hack
+	)
+endif()
+
+if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+	px4_add_romfs_files(
+		rc.rover_differential_apps
+		rc.rover_differential_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_UUV_ATT_CONTROL)
+	px4_add_romfs_files(
+		rc.uuv_apps
+		rc.uuv_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_VTOL_ATT_CONTROL)
+	px4_add_romfs_files(
+		rc.vtol_apps
+		rc.vtol_defaults
+	)
+endif()
+
+
+if(CONFIG_MODULES_LOGGER)
+	px4_add_romfs_files(
+		rc.logging
+	)
+endif()
+
+if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
+	px4_add_romfs_files(
+		rc.thermal_cal
+	)
+endif()

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

@@ -11,30 +11,30 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set SYS_HITL 1
 
 param set UAVCAN_ENABLE 0
 
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # disable some checks to allow to fly
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
+
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -14,7 +14,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default BAT1_N_CELLS 3
 
 param set-default COM_RC_IN_MODE 1
@@ -55,26 +54,29 @@ param set-default VT_TYPE 2
 
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2
 
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
 
 param set-default HIL_ACT_FUNC1 101
@@ -98,5 +100,3 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_IO_SAFETY 22027
 
 param set-default MAV_TYPE 22
-
-

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -12,26 +12,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set UAVCAN_ENABLE 0
 
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
 
@@ -42,3 +24,21 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_IO_SAFETY 22027
 
 param set SIH_VEHICLE_TYPE 0
+
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -21,9 +21,9 @@ param set-default CA_ROTOR0_PX 0.3
 param set-default CA_SV_CS_COUNT 4
 param set-default CA_SV_CS0_TRQ_R 0.5
 param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TRQ_P 1
 param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4
 param set-default CA_SV_CS3_TYPE 10
 
@@ -46,7 +46,7 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default BAT_N_CELLS 3
 
-param set SIH_T_MAX 6.0
+param set SIH_T_MAX 6
 param set SIH_MASS 0.3
 param set SIH_IXX 0.00402
 param set SIH_IYY 0.0144

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -71,7 +71,7 @@ param set SIH_MASS 0.2
 param set SIH_IXX 0.00354
 param set SIH_IYY 0.000625
 param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
+param set SIH_IXZ 0
 param set SIH_KDV 0.2
 param set SIH_L_ROLL 0.145
 

ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard

@@ -14,6 +14,21 @@
 
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TYPE 4
+param set-default VT_TYPE 2
+param set-default MAV_TYPE 22
+
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR0_PX 1
 param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR1_PX -1
@@ -24,16 +39,3 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -1
 param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default VT_TYPE 2
-param set-default MAV_TYPE 22

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -120,8 +120,8 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
 param set-default CA_ROTOR4_PX 0.2
 
 param set-default CA_SV_CS_COUNT 3
@@ -130,4 +130,4 @@ param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -80,6 +80,10 @@ param set-default VT_TYPE 2
 
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR0_PX 1
 param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR1_PX -1
@@ -90,18 +94,16 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -1
 param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
 
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TYPE 15
-param set-default CA_SV_CS0_TRQ_R 1.0
-param set-default CA_SV_CS1_TRQ_P 0.5000
-param set-default CA_SV_CS1_TRQ_R 0.0000
-param set-default CA_SV_CS1_TRQ_Y -0.5000
+param set-default CA_SV_CS0_TRQ_R 1
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_R 0
+param set-default CA_SV_CS1_TRQ_Y -0.5
 param set-default CA_SV_CS1_TYPE 13
-param set-default CA_SV_CS2_TRQ_P 0.5000
-param set-default CA_SV_CS2_TRQ_Y 0.5000
+param set-default CA_SV_CS2_TRQ_P 0.5
+param set-default CA_SV_CS2_TRQ_Y 0.5
 param set-default CA_SV_CS2_TYPE 14
 
 param set-default PWM_MAIN_FUNC1 201

ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor

@@ -19,30 +19,30 @@ param set-default MAV_TYPE 21
 param set-default VT_TYPE 1
 
 param set-default CA_AIRFRAME 3
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
 param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
 param set-default CA_ROTOR1_TILT 2
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
 param set-default CA_ROTOR3_TILT 4
 param set-default CA_SV_CS_COUNT 4
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_TL_COUNT 4
 
-
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05

ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor

@@ -12,19 +12,22 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 param set-default CA_AIRFRAME 3
+param set-default CA_ROTOR0_TILT 2
+param set-default CA_ROTOR2_TILT 1
+
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1
 param set-default CA_ROTOR0_PY 1
-param set-default CA_ROTOR0_TILT 2
 param set-default CA_ROTOR1_PX -1
 param set-default CA_ROTOR1_PY -1
 param set-default CA_ROTOR2_PX 1
 param set-default CA_ROTOR2_PY -1
-param set-default CA_ROTOR2_TILT 1
 param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -1
 param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
+
 param set-default CA_SV_CS_COUNT 4
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5

ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt

@@ -20,16 +20,16 @@ param set-default MAV_TYPE 15
 
 param set-default CA_AIRFRAME 8
 # Tricopter
-param set-default CA_ROTOR0_PX 0.2500
-param set-default CA_ROTOR0_PY 0.4330
-param set-default CA_ROTOR1_PX 0.2500
-param set-default CA_ROTOR1_PY -0.4300
-param set-default CA_ROTOR2_PX -0.5000
-param set-default CA_ROTOR2_PY 0.0000
+param set-default CA_ROTOR0_PX 0.25
+param set-default CA_ROTOR0_PY 0.433
+param set-default CA_ROTOR1_PX 0.25
+param set-default CA_ROTOR1_PY -0.43
+param set-default CA_ROTOR2_PX -0.5
+param set-default CA_ROTOR2_PY 0
 param set-default CA_ROTOR2_TILT 1
 param set-default CA_ROTOR_COUNT 3
-param set-default CA_SV_TL0_MAXA 45.0000
-param set-default CA_SV_TL0_MINA -45.0000
+param set-default CA_SV_TL0_MAXA 45
+param set-default CA_SV_TL0_MINA -45
 param set-default CA_SV_TL0_TD 90
 param set-default CA_SV_TL_COUNT 1
 

ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane

@@ -18,7 +18,7 @@ param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TRQ_P 1
 param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TRQ_Y 1
 param set-default CA_SV_CS3_TYPE 4

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -35,17 +35,17 @@ param set-default FW_W_RMAX 0
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 7
-param set-default CA_SV_CS0_TRQ_R -0.5000
+param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1 #left aileron
-param set-default CA_SV_CS1_TRQ_R 0.5000
+param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2 #right aileron
-param set-default CA_SV_CS2_TRQ_P 0.5000
-param set-default CA_SV_CS2_TRQ_Y -0.5000
+param set-default CA_SV_CS2_TRQ_P 0.5
+param set-default CA_SV_CS2_TRQ_Y -0.5
 param set-default CA_SV_CS2_TYPE 13 #left A-tail
-param set-default CA_SV_CS3_TRQ_P 0.5000
-param set-default CA_SV_CS3_TRQ_Y 0.5000
+param set-default CA_SV_CS3_TRQ_P 0.5
+param set-default CA_SV_CS3_TRQ_Y 0.5
 param set-default CA_SV_CS3_TYPE 14 #right A-tail
-param set-default CA_SV_CS4_TRQ_Y 1.0000
+param set-default CA_SV_CS4_TRQ_Y 1
 param set-default CA_SV_CS4_TYPE 12
 param set-default CA_SV_CS5_TYPE 9 #left flap
 param set-default CA_SV_CS6_TYPE 10 #right flap

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

@@ -21,21 +21,21 @@ param set-default CBRK_IO_SAFETY 22027
 param set-default CA_AIRFRAME 9
 
 param set-default CA_ROTOR_COUNT 3
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PY 2.0000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PY -2.0000
-param set-default CA_ROTOR2_AY -1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -10.0000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PY -2
+param set-default CA_ROTOR2_AY -1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -10
 
 param set-default CA_SV_CS_COUNT 1
-param set-default CA_SV_CS0_TRQ_P 1.0000
+param set-default CA_SV_CS0_TRQ_P 1
 
 param set-default CA_R_REV 7
 

ROMFS/px4fmu_common/init.d/airframes/4001_quad_x

@@ -10,15 +10,15 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
-

ROMFS/px4fmu_common/init.d/airframes/4014_s500

@@ -18,14 +18,15 @@ param set-default MC_PITCHRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15
 param set-default MC_PITCHRATE_I 0.15
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05

ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500

@@ -22,14 +22,15 @@ param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -97,18 +97,17 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default THR_MDL_FAC 0.3
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
 # Outputs
@@ -116,4 +115,3 @@ param set-default PWM_AUX_FUNC1 101
 param set-default PWM_AUX_FUNC2 102
 param set-default PWM_AUX_FUNC3 103
 param set-default PWM_AUX_FUNC4 104
-

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -21,14 +21,15 @@ param set-default MC_ROLLRATE_I 0.15
 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_PITCHRATE_I 0.15
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -22,19 +22,20 @@ param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004
 
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.25
-param set-default CA_ROTOR0_PY 0.25
-param set-default CA_ROTOR1_PX -0.25
-param set-default CA_ROTOR1_PY -0.25
-param set-default CA_ROTOR2_PX 0.25
-param set-default CA_ROTOR2_PY -0.25
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.25
-param set-default CA_ROTOR3_PY 0.25
-param set-default CA_ROTOR3_KM -0.05
-
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
+
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05

ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5

@@ -98,18 +98,17 @@ param set-default CBRK_IO_SAFETY 22027
 
 param set-default THR_MDL_FAC 0.3
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
 # Outputs
@@ -117,4 +116,3 @@ param set-default PWM_AUX_FUNC1 101
 param set-default PWM_AUX_FUNC2 102
 param set-default PWM_AUX_FUNC3 103
 param set-default PWM_AUX_FUNC4 104
-

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -46,22 +46,20 @@ param set-default SYS_HAS_MAG 0
 
 param set-default BAT1_N_CELLS 2
 
+# Square quadrotor X with reverse turn direction
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.03
-param set-default CA_ROTOR0_PY 0.03
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX -0.03
-param set-default CA_ROTOR1_PY -0.03
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
 param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX 0.03
-param set-default CA_ROTOR2_PY -0.03
-param set-default CA_ROTOR2_KM 0.05
-param set-default CA_ROTOR3_PX -0.03
-param set-default CA_ROTOR3_PY 0.03
-param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 
 param set-default PWM_MAIN_FUNC1 104
 param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC3 102
 param set-default PWM_MAIN_FUNC4 103
-

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

@@ -36,16 +36,15 @@ param set-default SDLOG_PROFILE 19
 param set-default IMU_DGYRO_CUTOFF 50
 param set-default IMU_GYRO_CUTOFF 90
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
-
-

ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250

@@ -46,20 +46,20 @@ param set-default MPC_Z_VEL_I_ACC 1.7
 
 param set-default THR_MDL_FAC 0.3
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -53,16 +53,17 @@ param set-default MC_AIRMODE 1
 
 param set-default EV_TSK_RC_LOSS 1
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
 param set-default PWM_MAIN_FUNC1 104
@@ -72,5 +73,3 @@ param set-default PWM_MAIN_FUNC4 103
 
 param set-default PWM_MAIN_TIM0 -2
 param set-default PWM_MAIN_TIM1 -2
-
-

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -11,12 +11,11 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-
 # Battery settings
 param set-default BAT_CRIT_THR 0.20
 param set-default BAT_LOW_THR 0.25
 
-param set-default BAT1_CAPACITY 2800.0
+param set-default BAT1_CAPACITY 2800
 param set-default BAT1_N_CELLS 3
 param set-default BAT1_R_INTERNAL 0.02
 param set-default BAT1_V_CHARGED 4.26
@@ -38,7 +37,7 @@ param set-default COM_RC_LOSS_T 3
 
 # ekf2
 param set-default EKF2_TERR_MASK 1
-param set-default EKF2_BARO_NOISE 2.0
+param set-default EKF2_BARO_NOISE 2
 
 param set-default EKF2_BCOEF_X 31.5
 param set-default EKF2_BCOEF_Y 25.5
@@ -56,11 +55,11 @@ param set-default EKF2_MAG_NOISE 0.1
 param set-default EKF2_MIN_RNG 0.15
 
 param set-default EKF2_OF_DELAY 38
-param set-default EKF2_OF_GATE 2.0
+param set-default EKF2_OF_GATE 2
 param set-default EKF2_OF_POS_X -0.035
 param set-default EKF2_OF_POS_Z 0.033
 param set-default EKF2_OF_MIN_RNG 0.01
-param set-default EKF2_OF_A_HMAX 7.0
+param set-default EKF2_OF_A_HMAX 7
 param set-default EKF2_OF_QMIN 30
 
 param set-default EKF2_PCOEF_XN -0.3
@@ -68,18 +67,18 @@ param set-default EKF2_PCOEF_XP -0.4
 param set-default EKF2_PCOEF_YN -0.4
 param set-default EKF2_PCOEF_YP -0.4
 
-param set-default EKF2_RNG_A_VMAX 1.0
+param set-default EKF2_RNG_A_VMAX 1
 param set-default EKF2_RNG_CTRL 0
 param set-default EKF2_RNG_DELAY 55
 param set-default EKF2_RNG_POS_X -0.035
-param set-default EKF2_RNG_POS_Y 0.0
+param set-default EKF2_RNG_POS_Y 0
 param set-default EKF2_RNG_POS_Z 0.033
 
-param set-default EKF2_TERR_NOISE 1.0
+param set-default EKF2_TERR_NOISE 1
 
 
 # Maximum allowed angle velocity in the landed state
-param set-default LNDMC_ROT_MAX 40.0
+param set-default LNDMC_ROT_MAX 40
 
 # Maximum vertical velocity allowed in the landed state
 param set-default LNDMC_Z_VEL_MAX 0.7
@@ -94,36 +93,36 @@ param set-default IMU_GYRO_CUTOFF 65
 param set-default MC_PITCHRATE_P 0.075
 param set-default MC_PITCHRATE_I 0.1
 param set-default MC_PITCHRATE_D 0.0005
-param set-default MC_PITCHRATE_MAX 360.0
-param set-default MC_PITCH_P 8.0
+param set-default MC_PITCHRATE_MAX 360
+param set-default MC_PITCH_P 8
 
 # Roll angle & rate setting
 param set-default MC_ROLLRATE_P 0.055
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.0005
-param set-default MC_ROLLRATE_MAX 360.0
-param set-default MC_ROLL_P 8.0
+param set-default MC_ROLLRATE_MAX 360
+param set-default MC_ROLL_P 8
 
 # Yaw angle & rate setting
 param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_MAX 120.0
+param set-default MC_YAWRATE_MAX 120
 param set-default MC_YAW_P 2.5
 
-param set-default MPC_ACC_DOWN_MAX 2.0
-param set-default MPC_ACC_HOR 3.0
-param set-default MPC_ACC_HOR_MAX 10.0
-param set-default MPC_ACC_UP_MAX 3.0
+param set-default MPC_ACC_DOWN_MAX 2
+param set-default MPC_ACC_HOR 3
+param set-default MPC_ACC_HOR_MAX 10
+param set-default MPC_ACC_UP_MAX 3
 param set-default MPC_ALT_MODE 0
 param set-default MPC_LAND_SPEED 0.5
 param set-default MPC_MAN_TILT_MAX 20
-param set-default MPC_YAWRAUTO_MAX 80.0
+param set-default MPC_YAWRAUTO_MAX 80
 param set-default MPC_THR_HOVER 0.54
 param set-default MPC_THR_MAX 0.9
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_TILTMAX_AIR 30
-param set-default MPC_XY_P 1.0
-param set-default MPC_Z_P 2.0
-param set-default MPC_Z_VEL_MAX_DN 2.0
+param set-default MPC_XY_P 1
+param set-default MPC_Z_P 2
+param set-default MPC_Z_VEL_MAX_DN 2
 
 # gimbal configuration
 param set-default MNT_MODE_IN 0
@@ -150,21 +149,22 @@ param set-default RC1_TRIM          1000
 # optical flow
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
-param set-default SENS_FLOW_MAXHGT 5.0
+param set-default SENS_FLOW_MAXHGT 5
 
 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
 param set-default TAP_ESC_FUNC1 101

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -73,23 +73,22 @@ param set-default MAV_1_CONFIG 102
 param set-default MAV_1_MODE 0
 param set-default SER_TEL2_BAUD 57600
 
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
 param set-default PWM_MAIN_TIM0 0
 
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -91,22 +91,22 @@ param set-default EKF2_OF_POS_Z -0.07
 # Failsafe
 param set-default COM_LOW_BAT_ACT 3
 
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
 param set-default PWM_MAIN_TIM0 -3
 
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-

ROMFS/px4fmu_common/init.d/airframes/4500_clover4

@@ -27,16 +27,17 @@ param set-default MPC_XY_P 1.1
 param set-default MPC_Z_VEL_P_ACC 4.8
 param set-default MPC_Z_P 1.2
 
+# Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
 
 param set-default PWM_MAIN_FUNC1 101

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -17,7 +17,6 @@
 #
 . ${R}etc/init.d/rc.mc_defaults
 
-
 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
 param set-default EKF2_OF_CTRL 1
@@ -50,22 +49,22 @@ param set-default MPC_MAX_FLOW_HGT 3
 
 param set-default NAV_RCL_ACT 3
 
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.03
-param set-default CA_ROTOR0_PY 0.03
-param set-default CA_ROTOR1_PX -0.03
-param set-default CA_ROTOR1_PY 0.03
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX -0.03
-param set-default CA_ROTOR2_PY -0.03
-param set-default CA_ROTOR3_PX 0.03
-param set-default CA_ROTOR3_PY -0.03
-param set-default CA_ROTOR3_KM -0.05
-
 # Run the motors at 328.125 kHz (recommended)
 param set-default PWM_MAIN_TIM0 3921
 param set-default PWM_MAIN_TIM1 3921
 
+# Square quadrotor X clockwise numbering
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY 1
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR2_PX -1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR3_PX 1
+param set-default CA_ROTOR3_PY -1
+param set-default CA_ROTOR3_KM -0.05
+
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103

ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx

@@ -36,9 +36,9 @@ param set-default GND_THR_MAX 0.5
 param set-default GND_MAX_ANG 1.042
 param set-default GND_WHEEL_BASE 0.17
 
-# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
+# TODO: Set to -1, to allow reversing. This will require many changes in the codebase
 # to support negative throttle.
-param set-default GND_THR_MIN 0.0
+param set-default GND_THR_MIN 0
 param set-default GND_SPEED_P 0.25
 param set-default GND_SPEED_I 3
 param set-default GND_SPEED_D 0.001

ROMFS/px4fmu_common/init.d/airframes/5001_quad_+

@@ -1,12 +1,10 @@
 #!/bin/sh
 #
-# @name Generic 10" Quad + geometry
+# @name Generic Quad + geometry
 #
 # @type Quadrotor +
 # @class Copter
 #
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
 # @board bitcraze_crazyflie exclude
 # @board px4_fmu-v2 exclude
 #
@@ -14,13 +12,17 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
+
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 1
+
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -1
+
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY 0
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 0
+param set-default CA_ROTOR3_KM -0.05

ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic

@@ -5,8 +5,6 @@
 # @type Underwater Robot
 # @class Underwater Robot
 #
-# @maintainer
-#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus

@@ -12,38 +12,7 @@
 #
 
 . ${R}etc/init.d/rc.uuv_defaults
-
-param set-default CA_AIRFRAME 7
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AY 0
-param set-default CA_ROTOR0_AZ 0
-param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY -0.3
-param set-default CA_ROTOR0_PZ -0.3
-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AY 0
-param set-default CA_ROTOR1_AZ 0
-param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY 0.3
-param set-default CA_ROTOR1_PZ -0.3
-param set-default CA_ROTOR2_AX 1
-param set-default CA_ROTOR2_AY 0
-param set-default CA_ROTOR2_AZ 0
-param set-default CA_ROTOR2_KM 0
-param set-default CA_ROTOR2_PX 0
-param set-default CA_ROTOR2_PY 0.3
-param set-default CA_ROTOR2_PZ 0.3
-param set-default CA_ROTOR3_AX 1
-param set-default CA_ROTOR3_AY 0
-param set-default CA_ROTOR3_AZ 0
-param set-default CA_ROTOR3_KM 0
-param set-default CA_ROTOR3_PX 0
-param set-default CA_ROTOR3_PY -0.3
-param set-default CA_ROTOR3_PZ 0.3
+. ${R}etc/init.d/airframes/60000_uuv_generic
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy

@@ -30,7 +30,7 @@ param set-default MAV_1_CONFIG 102
 
 param set-default BAT1_A_PER_V 37.8798
 param set-default BAT1_CAPACITY 18000
-param set-default BAT1_V_DIV 11.0
+param set-default BAT1_V_DIV 11
 param set-default BAT1_N_CELLS 4
 param set-default BAT_V_OFFS_CURR 0.33
 
@@ -38,49 +38,49 @@ param set-default CA_AIRFRAME 7
 
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
-param set-default CA_ROTOR0_AX 1.0000
-param set-default CA_ROTOR0_AY -1.0000
-param set-default CA_ROTOR0_AZ 0.0000
-param set-default CA_ROTOR0_KM 0.0000
-param set-default CA_ROTOR0_PX 0.5000
-param set-default CA_ROTOR0_PY 0.3000
-param set-default CA_ROTOR0_PZ 0.2000
-param set-default CA_ROTOR1_AX 1.0000
-param set-default CA_ROTOR1_AY 1.0000
-param set-default CA_ROTOR1_AZ 0.0000
-param set-default CA_ROTOR1_KM 0.0000
-param set-default CA_ROTOR1_PX 0.5000
-param set-default CA_ROTOR1_PY -0.3000
-param set-default CA_ROTOR1_PZ 0.2000
-param set-default CA_ROTOR2_AX 1.0000
-param set-default CA_ROTOR2_AY 1.0000
-param set-default CA_ROTOR2_AZ 0.0000
-param set-default CA_ROTOR2_KM 0.0000
-param set-default CA_ROTOR2_PX -0.5000
-param set-default CA_ROTOR2_PY 0.3000
-param set-default CA_ROTOR2_PZ 0.2000
-param set-default CA_ROTOR3_AX 1.0000
-param set-default CA_ROTOR3_AY -1.0000
-param set-default CA_ROTOR3_AZ 0.0000
-param set-default CA_ROTOR3_KM 0.0000
-param set-default CA_ROTOR3_PX -0.5000
-param set-default CA_ROTOR3_PY -0.3000
-param set-default CA_ROTOR3_PZ 0.2000
-param set-default CA_ROTOR4_AZ -1.0000
-param set-default CA_ROTOR4_KM 0.0000
-param set-default CA_ROTOR4_PX 0.5000
-param set-default CA_ROTOR4_PY 0.5000
-param set-default CA_ROTOR5_AZ 1.0000
-param set-default CA_ROTOR5_KM 0.0000
-param set-default CA_ROTOR5_PX 0.5000
-param set-default CA_ROTOR5_PY -0.5000
-param set-default CA_ROTOR6_AZ 1.0000
-param set-default CA_ROTOR6_KM 0.0000
-param set-default CA_ROTOR6_PX -0.5000
-param set-default CA_ROTOR6_PY 0.5000
-param set-default CA_ROTOR7_KM 0.0000
-param set-default CA_ROTOR7_PX -0.5000
-param set-default CA_ROTOR7_PY -0.5000
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY -1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX 0.5
+param set-default CA_ROTOR0_PY 0.3
+param set-default CA_ROTOR0_PZ 0.2
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX 0.5
+param set-default CA_ROTOR1_PY -0.3
+param set-default CA_ROTOR1_PZ 0.2
+param set-default CA_ROTOR2_AX 1
+param set-default CA_ROTOR2_AY 1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -0.5
+param set-default CA_ROTOR2_PY 0.3
+param set-default CA_ROTOR2_PZ 0.2
+param set-default CA_ROTOR3_AX 1
+param set-default CA_ROTOR3_AY -1
+param set-default CA_ROTOR3_AZ 0
+param set-default CA_ROTOR3_KM 0
+param set-default CA_ROTOR3_PX -0.5
+param set-default CA_ROTOR3_PY -0.3
+param set-default CA_ROTOR3_PZ 0.2
+param set-default CA_ROTOR4_AZ -1
+param set-default CA_ROTOR4_KM 0
+param set-default CA_ROTOR4_PX 0.5
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR5_AZ 1
+param set-default CA_ROTOR5_KM 0
+param set-default CA_ROTOR5_PX 0.5
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR6_AZ 1
+param set-default CA_ROTOR6_KM 0
+param set-default CA_ROTOR6_PX -0.5
+param set-default CA_ROTOR6_PY 0.5
+param set-default CA_ROTOR7_KM 0
+param set-default CA_ROTOR7_PX -0.5
+param set-default CA_ROTOR7_PY -0.5
 
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x

@@ -16,10 +16,10 @@
 param set-default MAV_TYPE 13
 
 param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PX 0
 param set-default CA_ROTOR0_PY 0.5
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PX 0
 param set-default CA_ROTOR1_PY -0.5
 param set-default CA_ROTOR2_PX 0.43
 param set-default CA_ROTOR2_PY -0.25

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r

@@ -97,10 +97,10 @@ param set-default SER_TEL2_BAUD 921600
 
 
 param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PX 0
 param set-default CA_ROTOR0_PY 0.5
 param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PX 0
 param set-default CA_ROTOR1_PY -0.5
 param set-default CA_ROTOR2_PX 0.43
 param set-default CA_ROTOR2_PY -0.25

ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+

@@ -17,10 +17,10 @@ param set-default MAV_TYPE 13
 
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.5
-param set-default CA_ROTOR0_PY 0.0
+param set-default CA_ROTOR0_PY 0
 param set-default CA_ROTOR0_KM -0.05
 param set-default CA_ROTOR1_PX -0.5
-param set-default CA_ROTOR1_PY 0.0
+param set-default CA_ROTOR1_PY 0
 param set-default CA_ROTOR2_PX -0.25
 param set-default CA_ROTOR2_PY -0.43
 param set-default CA_ROTOR2_KM -0.05

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -32,94 +32,127 @@
 ############################################################################
 
 px4_add_romfs_files(
-	# [0-999] Reserved (historical)"
-
-	# [1000, 1999] Simulation setups"
-	1001_rc_quad_x.hil
-	1002_standard_vtol.hil
-	1100_rc_quad_x_sih.hil
-	1101_rc_plane_sih.hil
-	1102_tailsitter_duo_sih.hil
-
-	# [2000, 2999] Standard planes"
-	2100_standard_plane
-	2106_albatross
-
-	2507_cloudship
-
-	# [3000, 3999] Flying wing"
-	3000_generic_wing
-
-	# [4000, 4999] Quadrotor x"
-	4001_quad_x
-	4014_s500
-	4015_holybro_s500
-	4016_holybro_px4vision
-	4017_nxp_hovergames
-	4019_x500_v2
-	4020_holybro_px4vision_v1_5
-	4041_beta75x
-	4050_generic_250
-	4052_holybro_qav250
-	4053_holybro_kopis2
-	4061_atl_mantis_edu
-	4071_ifo
-	4073_ifo-s
-	4500_clover4
-	4901_crazyflie21
-
-	# [5000, 5999] Quadrotor +"
-	5001_quad_+
-
-	# [6000, 6999] Hexarotor x"
-	6001_hexa_x
-	6002_draco_r
-
-	# [7000, 7999] Hexarotor +"
-	7001_hexa_+
-
-	# [8000, 8999] Octorotor +"
-	8001_octo_x
-
-	# [9000, 9999] Octorotor +"
-	9001_octo_+
-
-	# [11000, 11999] Hexa Cox
-	11001_hexa_cox
-
-	# [12000, 12999] Octo Cox
-	12001_octo_cox
-
-	# [13000, 13999] VTOL
-	13000_generic_vtol_standard
-	13100_generic_vtol_tiltrotor
-	13013_deltaquad
-	13014_vtol_babyshark
-	13030_generic_vtol_quad_tiltrotor
-	13200_generic_vtol_tailsitter
-
-	# [14000, 14999] MC with tilt
-	14001_generic_mc_with_tilt
-
-	16001_helicopter
-
-	# [17000, 17999] Autogyro
-	17002_TF-AutoG2
-	17003_TF-G2
+	# [0-999] Reserved (historical)
 
 	# [18000, 18999] High-altitude balloons
 	18001_TF-B1
 
 	# [22000, 22999] Reserve for custom models
-
-	24001_dodeca_cox
-
-	50000_generic_ground_vehicle
-	50004_nxpcup_car_dfrobot_gpx
-	50003_aion_robotics_r1_rover
-
-	# [60000, 61000] (Unmanned) Underwater Robots
-	60000_uuv_generic
-	60001_uuv_hippocampus
-	60002_uuv_bluerov2_heavy
 )
+
+if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
+	px4_add_romfs_files(
+		# [1000, 1999] Simulation setups
+		1001_rc_quad_x.hil
+		1002_standard_vtol.hil
+		1100_rc_quad_x_sih.hil
+		1101_rc_plane_sih.hil
+		1102_tailsitter_duo_sih.hil
+	)
+endif()
+
+if(CONFIG_MODULES_MC_RATE_CONTROL)
+	px4_add_romfs_files(
+		# [4000, 4999] Quadrotor x
+		4001_quad_x
+		4014_s500
+		4015_holybro_s500
+		4016_holybro_px4vision
+		4017_nxp_hovergames
+		4019_x500_v2
+		4020_holybro_px4vision_v1_5
+		4041_beta75x
+		4050_generic_250
+		4052_holybro_qav250
+		4053_holybro_kopis2
+		4061_atl_mantis_edu
+		4071_ifo
+		4073_ifo-s
+		4500_clover4
+		4901_crazyflie21
+
+		# [5000, 5999] Quadrotor +
+		5001_quad_+
+
+		# [6000, 6999] Hexarotor x
+		6001_hexa_x
+		6002_draco_r
+
+		# [7000, 7999] Hexarotor +
+		7001_hexa_+
+
+		# [8000, 8999] Octorotor +
+		8001_octo_x
+
+		# [9000, 9999] Octorotor +
+		9001_octo_+
+
+		# [11000, 11999] Hexa Cox
+		11001_hexa_cox
+
+		# [12000, 12999] Octo Cox
+		12001_octo_cox
+
+		# [14000, 14999] MC with tilt
+		14001_generic_mc_with_tilt
+
+		16001_helicopter
+
+		24001_dodeca_cox
+	)
+endif()
+
+if(CONFIG_MODULES_FW_RATE_CONTROL)
+	px4_add_romfs_files(
+		# [2000, 2999] Standard planes
+		2100_standard_plane
+		2106_albatross
+
+		# [3000, 3999] Flying wing
+		3000_generic_wing
+
+		# [17000, 17999] Autogyro
+		17002_TF-AutoG2
+		17003_TF-G2
+	)
+endif()
+
+if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
+	px4_add_romfs_files(
+		2507_cloudship
+	)
+endif()
+
+if(CONFIG_MODULES_VTOL_ATT_CONTROL)
+	px4_add_romfs_files(
+		# [13000, 13999] VTOL
+		13000_generic_vtol_standard
+		13100_generic_vtol_tiltrotor
+		13013_deltaquad
+		13014_vtol_babyshark
+		13030_generic_vtol_quad_tiltrotor
+		13200_generic_vtol_tailsitter
+	)
+endif()
+
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
+	px4_add_romfs_files(
+		50000_generic_ground_vehicle
+		50004_nxpcup_car_dfrobot_gpx
+	)
+endif()
+
+if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+	px4_add_romfs_files(
+		50003_aion_robotics_r1_rover
+	)
+endif()
+
+if(CONFIG_MODULES_UUV_ATT_CONTROL)
+	px4_add_romfs_files(
+		# [60000, 61000] (Unmanned) Underwater Robots
+		60000_uuv_generic
+		60001_uuv_hippocampus
+		60002_uuv_bluerov2_heavy
+	)
+endif()

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -28,13 +28,12 @@ param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
 param set-default EKF2_GPS_CHECK 21
 param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
 param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
 param set-default EKF2_REQ_SACC 1
-param set-default EKF2_REQ_VDRIFT 1.0
-param set-default EKF2_RNG_QLTY_T 3.0
+param set-default EKF2_REQ_VDRIFT 1
+param set-default EKF2_RNG_QLTY_T 3
 
 param set-default RTL_TYPE 1
 param set-default RTL_RETURN_ALT 100

ROMFS/px4fmu_common/init.d/rc.rover_differential_apps

@@ -5,7 +5,7 @@
 ekf2 start &
 
 # Start rover differential drive controller.
-differential_drive_control start
+differential_drive start
 
 # Start Land Detector.
 land_detector start rover

ROMFS/px4fmu_common/init.d/rc.thermal_cal

@@ -22,6 +22,11 @@ then
 	set TEMP_COMP_START "true"
 fi
 
+if param compare -s TC_M_ENABLE 1
+then
+	set TEMP_COMP_START "true"
+fi
+
 if [ "x$TEMP_COMP_START" != "x" ]
 then
 	temperature_compensation start

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -21,7 +21,7 @@ param set-default MIS_YAW_TMT 10
 param set-default EKF2_ARSP_THR 10
 param set-default EKF2_FUSE_BETA 1
 
-param set-default HTE_VXY_THR 2.0
+param set-default HTE_VXY_THR 2
 
 param set-default MIS_TKO_LAND_REQ 2
 

ROMFS/px4fmu_common/init.d/rcS

@@ -170,7 +170,7 @@ else
 		param select-backup $PARAM_BACKUP_FILE
 	fi
 
-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X PX4_FMU_V6XRT
+	if mft query -q -k MFT -s MFT_ETHERNET -v 1
 	then
 		netman update -i eth0
 	fi
@@ -439,7 +439,12 @@ else
 	#
 	# Start a thermal calibration if required.
 	#
-	. ${R}etc/init.d/rc.thermal_cal
+	set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal
+	if [ -f ${RC_THERMAL_CAL} ]
+	then
+		. ${RC_THERMAL_CAL}
+	fi
+	unset RC_THERMAL_CAL
 
 	#
 	# Start gimbal to control mounts such as gimbals, disabled by default.
@@ -500,7 +505,12 @@ else
 	#
 	# Start the logger.
 	#
-	. ${R}etc/init.d/rc.logging
+	set RC_LOGGING ${R}etc/init.d/rc.logging
+	if [ -f ${RC_LOGGING} ]
+	then
+		. ${RC_LOGGING}
+	fi
+	unset RC_LOGGING
 
 	#
 	# Set additional parameters and env variables for selected AUTOSTART.

Tools/astyle/files_to_check_code_style.sh

@@ -30,4 +30,5 @@ exec find boards msg src platforms test \
     -path src/lib/cdrstream/cyclonedds -prune -o \
     -path src/lib/cdrstream/rosidl -prune -o \
     -path src/modules/zenoh/zenoh-pico -prune -o \
+    -path boards/modalai/voxl2/libfc-sensor-api -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/msg/templates/uorb/msg.cpp.em

@@ -73,9 +73,16 @@ struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
 #include <lib/matrix/matrix/math.hpp>
 #include <lib/mathlib/mathlib.h>
 
+@{
+queue_length = 1
+for constant in spec.constants:
+	if constant.name == 'ORB_QUEUE_LENGTH':
+		queue_length = constant.val
+}@
+
 @[for topic in topics]@
 static_assert(static_cast<orb_id_size_t>(ORB_ID::@topic) == @(all_topics.index(topic)), "ORB_ID index mismatch");
-ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic));
+ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic), @queue_length);
 @[end for]
 
 void print_message(const orb_metadata *meta, const @uorb_struct& message)

Tools/simulation/gazebo-classic/sitl_gazebo-classic

@@ -1 +1 @@
-Subproject commit 33ac87a37676fb597de110e926bbf0a080169ffe
+Subproject commit da7206e057703cc645770f02437013358b71e1c0

Tools/simulation/gz

@@ -1 +1 @@
-Subproject commit c78f7f01417168e8faab7a83ade2129c0d26b39d
+Subproject commit 6b4ed09d1b495fbff663f098979cc046df013abd

boards/ark/can-flow/firmware.prototype

@@ -4,7 +4,7 @@
     "description": "Firmware for the ARK flow board",
     "image": "",
     "build_time": 0,
-    "summary": "ARFFLOW",
+    "summary": "ARKFLOW",
     "version": "0.1",
     "image_size": 0,
     "image_maxsize": 2080768,

boards/ark/fmu-v6x/init/rc.board_defaults

@@ -22,12 +22,12 @@ param set-default SENS_IMU_TEMP 10.0
 #param set-default SENS_IMU_TEMP_I 0.025
 #param set-default SENS_IMU_TEMP_P 1.0
 
-if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
+if ver hwtypecmp ARKV6X000
 then
 	param set-default SENS_TEMP_ID 2818058
 fi
 
-if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001
+if ver hwtypecmp ARKV6X001
 then
 	param set-default SENS_TEMP_ID 3014666
 fi

boards/ark/fmu-v6x/init/rc.board_sensors

@@ -5,7 +5,7 @@
 set HAVE_PM2 yes
 set HAVE_PM3 yes
 
-if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X005004
+if mft query -q -k MFT -s MFT_PM2 -v 0
 then
 	set HAVE_PM2 no
 	set HAVE_PM3 no
@@ -66,7 +66,7 @@ then
 	fi
 fi
 
-if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
+if ver hwtypecmp ARKV6X000
 then
 	# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
 	iim42652 -R 3 -s -b 1 -C 32051 start
@@ -78,7 +78,7 @@ then
 	icm42688p -R 6 -s -b 3 -C 32051 start
 fi
 
-if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001
+if ver hwtypecmp ARKV6X001
 then
 	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
 	#iim42653 -R 3 -s -b 1 -C 32051 start

boards/ark/fmu-v6x/nuttx-config/include/board.h

@@ -248,7 +248,7 @@
 
 /* ADC 1 2 3 clock source */
 
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
 
 /* FDCAN 1 2 clock source */
 
@@ -380,7 +380,7 @@
 #define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
 #define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
 // GPIO_UART5_RTS  No remap                 /* PC8  */
-// GPIO_UART5_CTS  No remap                 /* PC9  */
+#define GPIO_UART5_CTS   (GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9|GPIO_PULLDOWN)    /* PC9  */
 
 #define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
 #define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */

boards/ark/fmu-v6x/src/CMakeLists.txt

@@ -55,7 +55,6 @@ else()
 		init.c
 		led.c
 		mtd.cpp
-		manifest.c
 		sdio.c
 		spi.cpp
 		spix_sync.c

boards/ark/fmu-v6x/src/board_config.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2016-2024 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
@@ -204,25 +204,17 @@
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
 
 /* HW Version and Revision drive signals Default to 1 to detect */
-#define BOARD_HAS_HW_VERSIONING
+#define BOARD_HAS_HW_SPLIT_VERSIONING
 
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
 #define HW_INFO_INIT_PREFIX    "ARKV6X"
 
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 8 // Rev 0 and Rev 1
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
 //                 Base/FMUM
-#define ARKV6X00   HW_VER_REV(0x0,0x0) // ARKV6X,     Sensor Set  Rev 0
-#define ARKV6X01   HW_VER_REV(0x0,0x1) // ARKV6X,     Sensor Set  Rev 1
-//#define ARKV6X03   HW_VER_REV(0x0,0x3) // ARKV6X,     Sensor Set  Rev 3
-//#define ARKV6X04   HW_VER_REV(0x0,0x4) // ARKV6X,     Sensor Set  Rev 4
-#define ARKV6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,   Sensor Set  Rev 0
-#define ARKV6X11   HW_VER_REV(0x1,0x1) // NO PX4IO,   Sensor Set  Rev 1
-#define ARKV6X40   HW_VER_REV(0x4,0x0) // ARKV6X,     Sensor Set  Rev 0   HB CM4 base Rev 3
-#define ARKV6X41   HW_VER_REV(0x4,0x1) // ARKV6X,     Sensor Set  Rev 1   HB CM4 base Rev 4
-#define ARKV6X50   HW_VER_REV(0x5,0x0) // ARKV6X,     Sensor Set  Rev 0   HB Mini Rev 5
-#define ARKV6X51   HW_VER_REV(0x5,0x1) // ARKV6X,     Sensor Set  Rev 1   HB Mini Rev 1 // never shipped
+#define ARKV6X_0   HW_FMUM_ID(0x0) // ARKV6X,     Sensor Set  Rev 0
+#define ARKV6X_1   HW_FMUM_ID(0x1) // ARKV6X,     Sensor Set  Rev 1
 
 #define UAVCAN_NUM_IFACES_RUNTIME  1
 

boards/ark/fmu-v6x/src/manifest.c

@@ -1,216 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022 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.
- *
- ****************************************************************************/
-
-/**
- * @file manifest.c
- *
- * This module supplies the interface to the manifest of hardware that is
- * optional and dependent on the HW REV and HW VER IDs
- *
- * The manifest allows the system to know whether a hardware option
- * say for example the PX4IO is an no-pop option vs it is broken.
- *
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <inttypes.h>
-#include <stdbool.h>
-#include <syslog.h>
-
-#include "systemlib/px4_macros.h"
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-typedef struct {
-	uint32_t                hw_ver_rev; /* the version and revision */
-	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
-} px4_hw_mft_list_entry_t;
-
-typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
-#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
-
-static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
-
-// List of components on a specific board configuration
-// The index of those components is given by the enum (px4_hw_mft_item_id_t)
-// declared in board_common.h
-static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0640[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0650[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-};
-
-
-static px4_hw_mft_list_entry_t mft_lists[] = {
-//  ver_rev
-	{ARKV6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X,     Sensor Set  Rev 0
-	{ARKV6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X,     Sensor Set  Rev 1
-	{ARKV6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO,   Sensor Set  Rev 0
-	{ARKV6X11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO,   Sensor Set  Rev 1
-	{ARKV6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X,     Sensor Set  Rev 0   HB CM4 base Rev 3
-	{ARKV6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X,     Sensor Set  Rev 1   HB CM4 base Rev 4
-	{ARKV6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X,     Sensor Set  Rev 0   HB Mini Rev 5
-	{ARKV6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X,     Sensor Set  Rev 1   HB Mini Rev 1 // never shipped
-};
-
-/************************************************************************************
- * Name: board_query_manifest
- *
- * Description:
- *   Optional returns manifest item.
- *
- * Input Parameters:
- *   manifest_id - the ID for the manifest item to retrieve
- *
- * Returned Value:
- *   0 - item is not in manifest => assume legacy operations
- *   pointer to a manifest item
- *
- ************************************************************************************/
-
-__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
-{
-	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
-
-	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 16;
-		ver_rev |= board_get_hw_revision();
-
-		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
-			if (mft_lists[i].hw_ver_rev == ver_rev) {
-				boards_manifest = &mft_lists[i];
-				break;
-			}
-		}
-
-		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
-		}
-	}
-
-	px4_hw_mft_item rv = &device_unsupported;
-
-	if (boards_manifest != px4_hw_mft_list_uninitialized &&
-	    id < boards_manifest->entries) {
-		rv = &boards_manifest->mft[id];
-	}
-
-	return rv;
-}