Merged master into indoor branch

2026-09-19 16:51:38 +08:00 · 2014-12-26 17:06:19 +01:00
parent f3a224e30d 5c51adf5f7
commit 407889ea2c
229 changed files with 27468 additions and 4247 deletions
@@ -38,3 +38,4 @@ tags
 .pydevproject
 .ropeproject
 *.orig
+Firmware.zip
@@ -5,5 +5,8 @@
 	path = NuttX
 	url = git://github.com/PX4/NuttX.git
 [submodule "uavcan"]
-	path = uavcan
+	path = src/lib/uavcan
 	url = git://github.com/pavel-kirienko/uavcan.git
+[submodule "unittests/gtest"]
+	path = unittests/gtest
+	url = https://github.com/sjwilks/gtest.git
@@ -0,0 +1,95 @@
+# Build and autotest script for PX4 Firmware
+# http://travis-ci.org
+
+language: cpp
+
+before_script:
+  - sudo apt-get update -q
+# Travis specific tools
+  - sudo apt-get install s3cmd grep zip mailutils
+# General toolchain dependencies
+  - sudo apt-get install libc6:i386 libgcc1:i386 gcc-4.6-base:i386 libstdc++5:i386 libstdc++6:i386
+  - sudo apt-get install python-serial python-argparse
+  - sudo apt-get install flex bison libncurses5-dev autoconf texinfo build-essential libtool zlib1g-dev genromfs git wget
+  - pushd .
+  - cd ~
+  - wget https://launchpadlibrarian.net/174121628/gcc-arm-none-eabi-4_7-2014q2-20140408-linux.tar.bz2
+  - tar -jxf gcc-arm-none-eabi-4_7-2014q2-20140408-linux.tar.bz2
+  - exportline="export PATH=$HOME/gcc-arm-none-eabi-4_7-2014q2/bin:\$PATH"
+  - if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
+  - . ~/.profile
+  - popd
+
+git:
+  depth: 500
+
+env:
+  global:
+# AWS KEY: $PX4_AWS_KEY
+    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
+# AWS SECRET: $PX4_AWS_SECRET
+    - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
+    - PX4_AWS_BUCKET=px4-travis
+    - PX4_EMAIL_SUBJECT="Travis CI result"
+# Email address: $PX4_EMAIL
+    - secure: "ei3hKAw6Pk+vEkQBI5Y2Ak74BRAaXcK2UHVnVadviBHI4EVPwn1YGP6A4Y0wnLe4U7ETTl0UiijRoVxyDW0Mq896Pv0siw02amNpjSZZYu+RfN1+//MChB48OxsLDirUdHVrULhl/bOARM02h2Bg28jDE2g7IqmJwg3em3oMbjU="
+    - PX4_REPORT=report.txt
+
+script:
+  - arm-none-eabi-gcc --version
+  - echo 'Running Tests..' && echo -en 'travis_fold:start:script.1\\r'
+  - make tests
+  - echo -en 'travis_fold:end:script.1\\r'
+  - echo 'Building NuttX..' && echo -en 'travis_fold:start:script.2\\r'
+  - make archives
+  - echo -en 'travis_fold:end:script.2\\r'
+  - echo 'Building Firmware..' && echo -en 'travis_fold:start:script.3\\r'
+  - make -j6
+  - echo -en 'travis_fold:end:script.3\\r'
+  - zip Firmware.zip Images/*.px4
+
+# We use an encrypted env variable to ensure this only executes when artifacts are uploaded.
+after_script:
+  - echo "Branch $TRAVIS_BRANCH (pull request: $TRAVIS_PULL_REQUEST) ready for flight testing." >> $PX4_REPORT
+  - git log -n1 > $PX4_REPORT
+  - echo " " >> $PX4_REPORT
+  - echo "Files available at:" >> $PX4_REPORT
+  - echo "https://px4-travis.s3.amazonaws.com/PX4/Firmware/$TRAVIS_BUILD_NUMBER/$TRAVIS_BUILD_NUMBER.1/Firmware.zip" >> $PX4_REPORT
+  - echo "Description of desired tests is available at:" >> $PX4_REPORT
+  - echo "https://github.com/PX4/Firmware/pull/$TRAVIS_PULL_REQUEST" >> $PX4_REPORT
+  - echo " " >> $PX4_REPORT
+  - echo "Thanks for testing!" >> $PX4_REPORT
+  - echo " " >> $PX4_REPORT
+  - /usr/bin/mail -s "$SUBJECT ($TRAVIS_COMMIT)" "$PX4_EMAIL" < "$PX4_REPORT"
+  #- s3cmd put --acl-public --guess-mime-type --config=.s3cfg Firmware.zip s3://s3-website-us-east-1.amazonaws.com/#$TRAVIS_JOB_ID/
+
+deploy:
+  provider: releases
+  api_key:
+    secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
+  file: "Firmware.zip"
+  skip_cleanup: true
+  on:
+    tags: true
+    all_branches: true
+    repo: PX4/Firmware
+
+addons:
+  artifacts:
+    paths:
+    - "Firmware.zip"
+    key:
+      secure: j4y9x9KXUiarGrnpFBLPIkEKIH8X6oSRUO61TwxTOamsE0eEKnIaCz1Xq83q7DoqzomHBD3qXAFPV9dhLr1zdKEPJDIyV45GVD4ClIQIzh/P3Uc7kDNxKzdmxY12SH6D0orMpC4tCf1sNK7ETepltWfcnjaDk1Rjs9+TVY7LuzM=
+    secret:
+      secure: CJC7VPGtEhJu8Pix85iPF8xUvMPZvTgnHyd9MrSlPKCFFMrlgz9eMT0WWW/TPQ+s4LPwJIfEQx2Q0BRT5tOXuvsTLuOG68mplVddhTWbHb0m0qTQErXFHEppvW4ayuSdeLJ4TjTWphBVainL0mcLLRwQfuAJJDDs/sGan3WrG+Y=
+    bucket: px4-travis
+    region: us-east-1
+    endpoint: s3-website-us-east-1.amazonaws.com
+
+notifications:
+  webhooks:
+    urls:
+      - https://webhooks.gitter.im/e/2b9c4a4cb2211f8befba
+    on_success: always  # options: [always|never|change] default: always
+    on_failure: always  # options: [always|never|change] default: always
+    on_start: false     # default: false
@@ -229,6 +229,14 @@ updatesubmodules:
 #
 testbuild:
 	$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
+	$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
+
+#
+# Unittest targets. Builds and runs the host-level
+# unit tests.
+.PHONY: tests
+tests:
+	$(Q) (cd $(PX4_BASE)/unittests && $(MAKE) unittests)

 #
 # Cleanup targets.  'clean' should remove all built products and force
@@ -237,14 +245,14 @@ testbuild:
 #
 .PHONY:	clean
 clean:
-	$(Q) $(RMDIR) $(BUILD_DIR)*.build
-	$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
+	$(Q) $(RMDIR) $(BUILD_DIR)*.build > /dev/null
+	$(Q) $(REMOVE) $(IMAGE_DIR)*.px4 > /dev/null

 .PHONY:	distclean
 distclean: clean
-	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
-	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
-	$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
+	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export > /dev/null
+	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean > /dev/null
+	$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete) > /dev/null

 #
 # Print some help text
@@ -1,10 +1,33 @@
-## PX4 Aerial Middleware and Flight Control Stack ##
+## PX4 Flight Control Stack and Middleware ##
+
+[![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware)
+
+[![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)

 *   Official Website: http://px4.io
 *   License: BSD 3-clause (see LICENSE.md)
 *   Supported airframes:
-  * Multicopters
-  * Fixed wing
+  * [Multicopters](http://px4.io/platforms/multicopters/start)
+  * [Fixed wing](http://px4.io/platforms/planes/start)
+  * [VTOL](http://px4.io/platforms/vtol/start)
 *   Binaries (always up-to-date from master):
  * [Downloads](https://pixhawk.org/downloads)
 *   Mailing list: [Google Groups](http://groups.google.com/group/px4users)
+
+### Developers ###
+
+Contributing guide:
+http://px4.io/dev/contributing
+
+Developer guide:
+http://px4.io/dev/
+
+This repository contains code supporting these boards:
+  * PX4FMUv1.x
+  * PX4FMUv2.x
+  * AeroCore
+
+## NuttShell (NSH) ##
+
+NSH usage documentation:
+http://px4.io/users/serial_connection
@@ -7,7 +7,7 @@

 sh /etc/init.d/rc.mc_defaults

-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	# TODO review MC_YAWRATE_I
 	param set MC_ROLL_P 8.0
@@ -26,5 +26,5 @@ fi

 set MIXER FMU_quad_w

-set PWM_OUTPUTS 1234
+set PWM_OUT 1234
 set PWM_MIN 1200
@@ -7,7 +7,7 @@

 sh /etc/init.d/rc.mc_defaults

-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	# TODO tune roll/pitch separately
 	param set MC_ROLL_P 7.0
@@ -29,7 +29,7 @@ fi

 set MIXER FMU_quad_w

-set PWM_OUTPUTS 1234
+set PWM_OUT 1234

 set PWM_MIN 1200
 set PWM_MAX 1950
@@ -7,7 +7,7 @@

 sh /etc/init.d/rc.mc_defaults

-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	# TODO tune roll/pitch separately
 	param set MC_ROLL_P 7.0
@@ -31,4 +31,4 @@ set MIXER FMU_quad_w
 set PWM_MIN 1210
 set PWM_MAX 2100

-set PWM_OUTPUTS 1234
+set PWM_OUT 1234
@@ -0,0 +1,31 @@
+#!nsh
+#
+# Team Blacksheep Discovery Long Range Quadcopter
+# 
+# Setup: 15 x 6.5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
+#
+# Simon Wilks <simon@px4.io>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.07
+	param set MC_ROLLRATE_I 0.02
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.4
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+fi
+
+set MIXER FMU_quad_w
+
+set PWM_OUTPUTS 1234
+set PWM_MIN 1200
@@ -7,7 +7,7 @@

 sh /etc/init.d/rc.fw_defaults

-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 25
@@ -10,4 +10,4 @@ sh /etc/init.d/rc.mc_defaults
 set MIXER FMU_hexa_cox

 # Need to set all 8 channels
-set PWM_OUTPUTS 12345678
+set PWM_OUT 12345678
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults

 set MIXER FMU_octo_cox

-set PWM_OUTPUTS 12345678
+set PWM_OUT 12345678
@@ -0,0 +1,16 @@
+#!nsh
+#
+# Generic configuration file for caipirinha VTOL version
+#
+# Roman Bapst <bapstr@ethz.ch>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+set MIXER FMU_caipirinha_vtol
+
+set PWM_OUT 12
+set PWM_MAX 2000
+set PWM_RATE 400
+param set VT_MOT_COUNT 2
+param set VT_IDLE_PWM_MC  1080
@@ -2,4 +2,4 @@

 sh /etc/init.d/rc.fw_defaults

-set MIXER FMU_AERT
+set MIXER skywalker
@@ -4,5 +4,5 @@ sh /etc/init.d/rc.fw_defaults

 set MIXER FMU_Q
 # Provide ESC a constant 1000 us pulse while disarmed
-set PWM_OUTPUTS 4
+set PWM_OUT 4
 set PWM_DISARMED 1000
@@ -7,7 +7,7 @@

 sh /etc/init.d/rc.fw_defaults

-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set FW_AIRSPD_MIN 13
 	param set FW_AIRSPD_TRIM 15
@@ -36,5 +36,5 @@ fi
 set MIXER phantom

 # Provide ESC a constant 1000 us pulse
-set PWM_OUTPUTS 4
+set PWM_OUT 4
 set PWM_DISARMED 1000
@@ -7,7 +7,7 @@

 sh /etc/init.d/rc.fw_defaults

-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set FW_AIRSPD_MIN 15
 	param set FW_AIRSPD_TRIM 20
@@ -7,7 +7,7 @@

 sh /etc/init.d/rc.fw_defaults

-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set BAT_N_CELLS 2
 	param set FW_AIRSPD_MAX 15
@@ -44,5 +44,5 @@ fi

 set MIXER wingwing
 # Provide ESC a constant 1000 us pulse
-set PWM_OUTPUTS 4
+set PWM_OUT 4
 set PWM_DISARMED 1000
@@ -7,9 +7,9 @@

 sh /etc/init.d/rc.fw_defaults

-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
-	
+
 	# TODO: these are the X5 default parameters, update them to the caipi

 	param set FW_AIRSPD_MIN 15
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults

 set MIXER FMU_quad_x

-set PWM_OUTPUTS 1234
+set PWM_OUT 1234
@@ -8,7 +8,7 @@ sh /etc/init.d/rc.mc_defaults
 #
 # Load default params for this platform
 #
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
    # Set all params here, then disable autoconfig
    param set MC_ROLL_P 6.0
@@ -24,7 +24,7 @@ then
    param set MC_YAWRATE_I 0.2
    param set MC_YAWRATE_D 0.0
    param set MC_YAW_FF 0.8
-    
+
    param set BAT_V_SCALING 0.00838095238
 fi

@@ -7,7 +7,7 @@

 sh /etc/init.d/4001_quad_x

-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.1
@@ -7,7 +7,7 @@

 sh /etc/init.d/4001_quad_x

-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	# TODO REVIEW
 	param set MC_ROLL_P 7.0
@@ -7,7 +7,7 @@

 sh /etc/init.d/4001_quad_x

-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	# TODO REVIEW
 	param set MC_ROLL_P 7.0
@@ -9,7 +9,7 @@ echo "HK Micro PCB Quad"

 sh /etc/init.d/4001_quad_x

-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.1
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults

 set MIXER FMU_quad_+

-set PWM_OUTPUTS 1234
+set PWM_OUT 1234
@@ -10,4 +10,4 @@ sh /etc/init.d/rc.mc_defaults
 set MIXER FMU_hexa_x

 # Need to set all 8 channels
-set PWM_OUTPUTS 12345678
+set PWM_OUT 12345678
@@ -10,4 +10,4 @@ sh /etc/init.d/rc.mc_defaults
 set MIXER FMU_hexa_+

 # Need to set all 8 channels
-set PWM_OUTPUTS 12345678
+set PWM_OUT 12345678
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults

 set MIXER FMU_octo_x

-set PWM_OUTPUTS 12345678
+set PWM_OUT 12345678
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults

 set MIXER FMU_octo_+

-set PWM_OUTPUTS 12345678
+set PWM_OUT 12345678
@@ -15,6 +15,7 @@
 # 10000	..	10999		Wide arm / H frame
 # 11000	..	11999		Hexa Cox
 # 12000	..	12999		Octo Cox
+# 13000 ..  13999		VTOL

 #
 # Simulation
@@ -220,6 +221,11 @@ then
 	sh /etc/init.d/10017_steadidrone_qu4d
 fi

+if param compare SYS_AUTOSTART 10018 18
+then
+	sh /etc/init.d/10018_tbs_endurance
+fi
+
 #
 # Hexa Coaxial
 #
@@ -237,3 +243,13 @@ if param compare SYS_AUTOSTART 12001
 then
 	sh /etc/init.d/12001_octo_cox
 fi
+
+# 13000 is historically reserved for the quadshot
+
+#
+# VTOL caipririnha
+#
+ if param compare SYS_AUTOSTART 13001
+ then
+	 sh /etc/init.d/13001_caipirinha_vtol
+ fi
@@ -2,7 +2,7 @@

 set VEHICLE_TYPE fw

-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 #
 # Default parameters for FW
@@ -15,4 +15,4 @@ then
 	param set FW_T_RLL2THR 15
 	param set FW_T_SRATE_P 0.01
 	param set FW_T_TIME_CONST 5
-fi
+fi
@@ -8,12 +8,11 @@ then
 	#
 	# Load mixer
 	#
-	set MIXERSD /fs/microsd/etc/mixers/$MIXER.mix
 	
 	#Use the mixer file from the SD-card if it exists
-	if [ -f $MIXERSD ]
+	if [ -f /fs/microsd/etc/mixers/$MIXER.mix ]
 	then
-		set MIXER_FILE $MIXERSD
+		set MIXER_FILE /fs/microsd/etc/mixers/$MIXER.mix
 	else
 		set MIXER_FILE /etc/mixers/$MIXER.mix
 	fi
@@ -32,30 +31,31 @@ then
 	
 	if mixer load $OUTPUT_DEV $MIXER_FILE
 	then
-		echo "[init] Mixer loaded: $MIXER_FILE"
+		echo "[i] Mixer: $MIXER_FILE"
 	else
-		echo "[init] Error loading mixer: $MIXER_FILE"
-		tone_alarm $TUNE_OUT_ERROR
+		echo "[i] Error loading mixer: $MIXER_FILE"
+		tone_alarm $TUNE_ERR
 	fi
+
+	unset MIXER_FILE
 else
 	if [ $MIXER != skip ]
 	then
-		echo "[init] Mixer not defined"
-		tone_alarm $TUNE_OUT_ERROR
+		echo "[i] Mixer not defined"
+		tone_alarm $TUNE_ERR
 	fi
 fi

 if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
 then
-	if [ $PWM_OUTPUTS != none ]
+	if [ $PWM_OUT != none ]
 	then
 		#
 		# Set PWM output frequency
 		#
 		if [ $PWM_RATE != none ]
 		then
-			echo "[init] Set PWM rate: $PWM_RATE"
-			pwm rate -c $PWM_OUTPUTS -r $PWM_RATE
+			pwm rate -c $PWM_OUT -r $PWM_RATE
 		fi
 		
 		#
@@ -63,18 +63,15 @@ then
 		#
 		if [ $PWM_DISARMED != none ]
 		then
-			echo "[init] Set PWM disarmed: $PWM_DISARMED"
-			pwm disarmed -c $PWM_OUTPUTS -p $PWM_DISARMED
+			pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
 		fi
 		if [ $PWM_MIN != none ]
 		then
-			echo "[init] Set PWM min: $PWM_MIN"
-			pwm min -c $PWM_OUTPUTS -p $PWM_MIN
+			pwm min -c $PWM_OUT -p $PWM_MIN
 		fi
 		if [ $PWM_MAX != none ]
 		then
-			echo "[init] Set PWM max: $PWM_MAX"
-			pwm max -c $PWM_OUTPUTS -p $PWM_MAX
+			pwm max -c $PWM_OUT -p $PWM_MAX
 		fi
 	fi

@@ -16,5 +16,5 @@ then
 	set PX4IO_LIMIT 200
 fi

-echo "[init] Set PX4IO update rate limit: $PX4IO_LIMIT Hz"
+echo "[i] Set PX4IO update rate limit: $PX4IO_LIMIT Hz"
 px4io limit $PX4IO_LIMIT
@@ -2,7 +2,7 @@

 set VEHICLE_TYPE mc

-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.1
@@ -71,6 +71,10 @@ if px4flow start
 then
 fi

+if ll40ls start
+then
+fi
+
 #
 # Start sensors -> preflight_check
 #
@@ -10,9 +10,9 @@ then
 		# First sensor publisher to initialize takes lowest instance ID
 		# This delay ensures that UAVCAN-interfaced sensors would be allocated on lowest instance IDs
 		sleep 1
-		echo "[init] UAVCAN started"
+		echo "[i] UAVCAN started"
 	else
-		echo "[init] ERROR: Could not start UAVCAN"
-		tone_alarm $TUNE_OUT_ERROR
+		echo "[i] ERROR: Could not start UAVCAN"
+		tone_alarm $TUNE_ERR
 	fi
 fi
@@ -0,0 +1,15 @@
+#!nsh
+#
+# Standard apps for vtol:
+# att & pos estimator, att & pos control.
+#
+
+attitude_estimator_ekf start
+#ekf_att_pos_estimator start
+position_estimator_inav start
+
+vtol_att_control start
+mc_att_control start
+mc_pos_control start
+fw_att_control start
+fw_pos_control_l1 start
@@ -0,0 +1,39 @@
+#!nsh
+
+set VEHICLE_TYPE vtol
+
+if [ $AUTOCNF == yes ]
+then
+	#
+	#Default controller parameters for MC
+	#
+	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 6.0
+	param set MC_PITCHRATE_P 0.2
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 4
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.3
+
+	#
+	# Default parameters for FW
+	#
+	param set FW_PR_FF 0.3
+	param set FW_PR_I 0.000
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.02
+	param set FW_RR_FF 0.3
+	param set FW_RR_I 0.00
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.02
+fi
+
+set PWM_DISARMED 900
+set PWM_MIN 1000
+set PWM_MAX 2000
@@ -1,46 +1,46 @@
 #!nsh
 #
 # PX4FMU startup script.
+#
+#  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#

 #
 # Default to auto-start mode.
 #
 set MODE autostart

-set RC_FILE /fs/microsd/etc/rc.txt
-set CONFIG_FILE /fs/microsd/etc/config.txt
-set EXTRAS_FILE /fs/microsd/etc/extras.txt
+set FRC /fs/microsd/etc/rc.txt
+set FCONFIG /fs/microsd/etc/config.txt
+set FEXTRAS /fs/microsd/etc/extras.txt

-set TUNE_OUT_ERROR ML<<CP4CP4CP4CP4CP4
+set TUNE_ERR ML<<CP4CP4CP4CP4CP4

 #
 # Try to mount the microSD card.
 #
-echo "[init] Looking for microSD..."
+echo "[i] Looking for microSD..."
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
 	set LOG_FILE /fs/microsd/bootlog.txt
-	echo "[init] microSD mounted: /fs/microsd"
+	echo "[i] microSD mounted: /fs/microsd"
 	# Start playing the startup tune
 	tone_alarm start
 else
 	set LOG_FILE /dev/null
-	echo "[init] No microSD card found"
-	# Play SOS
-	tone_alarm error
 fi

 #
 # Look for an init script on the microSD card.
 # Disable autostart if the script found.
 #
-if [ -f $RC_FILE ]
+if [ -f $FRC ]
 then
-	echo "[init] Executing init script: $RC_FILE"
-	sh $RC_FILE
+	echo "[i] Executing init script: $FRC"
+	sh $FRC
 	set MODE custom
 else
-	echo "[init] Init script not found: $RC_FILE"
+	echo "[i] Init script not found: $FRC"
 fi

 # if this is an APM build then there will be a rc.APM script
@@ -49,17 +49,17 @@ if [ -f /etc/init.d/rc.APM ]
 then
 	if sercon
 	then
-		echo "[init] USB interface connected"
+		echo "[i] USB interface connected"
 	fi

-	echo "[init] Running rc.APM"
+	echo "[i] Running rc.APM"
 	# if APM startup is successful then nsh will exit
 	sh /etc/init.d/rc.APM
 fi

 if [ $MODE == autostart ]
 then
-	echo "[init] AUTOSTART mode"
+	echo "[i] AUTOSTART mode"

 	#
 	# Start CDC/ACM serial driver
@@ -117,31 +117,31 @@ then
 	set VEHICLE_TYPE none
 	set MIXER none
 	set OUTPUT_MODE none
-	set PWM_OUTPUTS none
+	set PWM_OUT none
 	set PWM_RATE none
 	set PWM_DISARMED none
 	set PWM_MIN none
 	set PWM_MAX none
-	set MKBLCTRL_MODE none
+	set MK_MODE none
 	set FMU_MODE pwm
-	set MAVLINK_FLAGS default
+	set MAVLINK_F default
 	set EXIT_ON_END no
 	set MAV_TYPE none
-	set LOAD_DEFAULT_APPS yes
+	set LOAD_DAPPS yes
 	set GPS yes
 	set GPS_FAKE no
 	set FAILSAFE none

 	#
-	# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
+	# Set AUTOCNF flag to use it in AUTOSTART scripts
 	#
 	if param compare SYS_AUTOCONFIG 1
 	then
 		# Wipe out params
 		param reset_nostart
-		set DO_AUTOCONFIG yes
+		set AUTOCNF yes
 	else
-		set DO_AUTOCONFIG no
+		set AUTOCNF no
 	fi

 	#
@@ -159,7 +159,7 @@ then
 	#
 	if param compare SYS_AUTOSTART 0
 	then
-		echo "[init] No autostart"
+		echo "[i] No autostart"
 	else
 		sh /etc/init.d/rc.autostart
 	fi
@@ -167,18 +167,19 @@ then
 	#
 	# Override parameters from user configuration file
 	#
-	if [ -f $CONFIG_FILE ]
+	if [ -f $FCONFIG ]
 	then
-		echo "[init] Config: $CONFIG_FILE"
-		sh $CONFIG_FILE
+		echo "[i] Config: $FCONFIG"
+		sh $FCONFIG
 	else
-		echo "[init] Config not found: $CONFIG_FILE"
+		echo "[i] Config not found: $FCONFIG"
 	fi
+	unset FCONFIG

 	#
 	# If autoconfig parameter was set, reset it and save parameters
 	#
-	if [ $DO_AUTOCONFIG == yes ]
+	if [ $AUTOCNF == yes ]
 	then
 		param set SYS_AUTOCONFIG 0
 		param save
@@ -219,18 +220,18 @@ then
 					set IO_PRESENT yes
 				else
 					echo "PX4IO update failed" >> $LOG_FILE
-					tone_alarm $TUNE_OUT_ERROR
+					tone_alarm $TUNE_ERR
 				fi
 			else
 				echo "PX4IO update failed" >> $LOG_FILE
-				tone_alarm $TUNE_OUT_ERROR
+				tone_alarm $TUNE_ERR
 			fi
 		fi

 		if [ $IO_PRESENT == no ]
 		then
-			echo "[init] ERROR: PX4IO not found"
-			tone_alarm $TUNE_OUT_ERROR
+			echo "[i] ERROR: PX4IO not found"
+			tone_alarm $TUNE_ERR
 		fi
 	fi

@@ -251,7 +252,7 @@ then
 	then
 		# Need IO for output but it not present, disable output
 		set OUTPUT_MODE none
-		echo "[init] ERROR: PX4IO not found, disabling output"
+		echo "[i] ERROR: PX4IO not found, disabling output"

 		# Avoid using ttyS0 for MAVLink on FMUv1
 		if ver hwcmp PX4FMU_V1
@@ -294,33 +295,31 @@ then
 		then
 			if param compare UAVCAN_ENABLE 0
 			then
-				echo "[init] OVERRIDING UAVCAN_ENABLE = 1"
+				echo "[i] OVERRIDING UAVCAN_ENABLE = 1"
 				param set UAVCAN_ENABLE 1
 			fi
 		fi

 		if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
 		then
-			echo "[init] Use PX4IO PWM as primary output"
 			if px4io start
 			then
-				echo "[init] PX4IO started"
+				echo "[i] PX4IO started"
 				sh /etc/init.d/rc.io
 			else
-				echo "[init] ERROR: PX4IO start failed"
-				tone_alarm $TUNE_OUT_ERROR
+				echo "[i] ERROR: PX4IO start failed"
+				tone_alarm $TUNE_ERR
 			fi
 		fi

 		if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
 		then
-			echo "[init] Use FMU as primary output"
 			if fmu mode_$FMU_MODE
 			then
-				echo "[init] FMU mode_$FMU_MODE started"
+				echo "[i] FMU mode_$FMU_MODE started"
 			else
-				echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
-				tone_alarm $TUNE_OUT_ERROR
+				echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
+				tone_alarm $TUNE_ERR
 			fi

 			if ver hwcmp PX4FMU_V1
@@ -338,36 +337,34 @@ then

 		if [ $OUTPUT_MODE == mkblctrl ]
 		then
-			echo "[init] Use MKBLCTRL as primary output"
 			set MKBLCTRL_ARG ""
-			if [ $MKBLCTRL_MODE == x ]
+			if [ $MK_MODE == x ]
 			then
 				set MKBLCTRL_ARG "-mkmode x"
 			fi
-			if [ $MKBLCTRL_MODE == + ]
+			if [ $MK_MODE == + ]
 			then
 				set MKBLCTRL_ARG "-mkmode +"
 			fi

 			if mkblctrl $MKBLCTRL_ARG
 			then
-				echo "[init] MKBLCTRL started"
+				echo "[i] MK started"
 			else
-				echo "[init] ERROR: MKBLCTRL start failed"
-				tone_alarm $TUNE_OUT_ERROR
+				echo "[i] ERROR: MK start failed"
+				tone_alarm $TUNE_ERR
 			fi

 		fi

 		if [ $OUTPUT_MODE == hil ]
 		then
-			echo "[init] Use HIL as primary output"
 			if hil mode_port2_pwm8
 			then
-				echo "[init] HIL output started"
+				echo "[i] HIL output started"
 			else
-				echo "[init] ERROR: HIL output start failed"
-				tone_alarm $TUNE_OUT_ERROR
+				echo "[i] ERROR: HIL output start failed"
+				tone_alarm $TUNE_ERR
 			fi
 		fi

@@ -380,11 +377,11 @@ then
 			then
 				if px4io start
 				then
-					echo "[init] PX4IO started"
+					echo "[i] PX4IO started"
 					sh /etc/init.d/rc.io
 				else
-					echo "[init] ERROR: PX4IO start failed"
-					tone_alarm $TUNE_OUT_ERROR
+					echo "[i] ERROR: PX4IO start failed"
+					tone_alarm $TUNE_ERR
 				fi
 			fi
 		else
@@ -392,10 +389,10 @@ then
 			then
 				if fmu mode_$FMU_MODE
 				then
-					echo "[init] FMU mode_$FMU_MODE started"
+					echo "[i] FMU mode_$FMU_MODE started"
 				else
-					echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
-					tone_alarm $TUNE_OUT_ERROR
+					echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
+					tone_alarm $TUNE_ERR
 				fi

 				if ver hwcmp PX4FMU_V1
@@ -413,23 +410,24 @@ then
 		fi
 	fi

-	if [ $MAVLINK_FLAGS == default ]
+	if [ $MAVLINK_F == default ]
 	then
 		# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
 		if [ $TTYS1_BUSY == yes ]
 		then
 			# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
-			set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
+			set MAVLINK_F "-r 1000 -d /dev/ttyS0"

 			# Exit from nsh to free port for mavlink
 			set EXIT_ON_END yes
 		else
 			# Start MAVLink on default port: ttyS1
-			set MAVLINK_FLAGS "-r 1000"
+			set MAVLINK_F "-r 1000"
 		fi
 	fi

-	mavlink start $MAVLINK_FLAGS
+	mavlink start $MAVLINK_F
+	unset MAVLINK_F

 	#
 	# MAVLink onboard / TELEM2
@@ -451,15 +449,16 @@ then

 	if [ $GPS == yes ]
 	then
-		echo "[init] Start GPS"
+		echo "[i] Start GPS"
 		if [ $GPS_FAKE == yes ]
 		then
-			echo "[init] Faking GPS"
+			echo "[i] Faking GPS"
 			gps start -f
 		else
 			gps start
 		fi
 	fi
+	unset GPS_FAKE

 	#
 	# Start up ARDrone Motor interface
@@ -474,7 +473,7 @@ then
 	#
 	if [ $VEHICLE_TYPE == fw ]
 	then
-		echo "[init] Vehicle type: FIXED WING"
+		echo "[i] FIXED WING"

 		if [ $MIXER == none ]
 		then
@@ -494,7 +493,7 @@ then
 		sh /etc/init.d/rc.interface

 		# Start standard fixedwing apps
-		if [ $LOAD_DEFAULT_APPS == yes ]
+		if [ $LOAD_DAPPS == yes ]
 		then
 			sh /etc/init.d/rc.fw_apps
 		fi
@@ -505,11 +504,11 @@ then
 	#
 	if [ $VEHICLE_TYPE == mc ]
 	then
-		echo "[init] Vehicle type: MULTICOPTER"
+		echo "[i] MULTICOPTER"

 		if [ $MIXER == none ]
 		then
-			echo "Default mixer for multicopter not defined"
+			echo "Mixer undefined"
 		fi

 		if [ $MAV_TYPE == none ]
@@ -553,12 +552,51 @@ then
 		sh /etc/init.d/rc.interface

 		# Start standard multicopter apps
-		if [ $LOAD_DEFAULT_APPS == yes ]
+		if [ $LOAD_DAPPS == yes ]
 		then
 			sh /etc/init.d/rc.mc_apps
 		fi
 	fi

+	#
+	# VTOL setup
+	#
+	if [ $VEHICLE_TYPE == vtol ]
+	then
+		echo "[init] Vehicle type: VTOL"
+
+		if [ $MIXER == none ]
+		then
+			echo "Default mixer for vtol not defined"
+		fi
+
+		if [ $MAV_TYPE == none ]
+		then
+			# Use mixer to detect vehicle type
+			if [ $MIXER == FMU_caipirinha_vtol ]
+			then
+				set MAV_TYPE 19
+			fi
+		fi
+
+		# Still no MAV_TYPE found
+		if [ $MAV_TYPE == none ]
+		then
+			echo "Unknown MAV_TYPE"
+		else
+			param set MAV_TYPE $MAV_TYPE
+		fi
+
+		# Load mixer and configure outputs
+		sh /etc/init.d/rc.interface
+
+		# Start standard vtol apps
+		if [ $LOAD_DAPPS == yes ]
+		then
+			sh /etc/init.d/rc.vtol_apps
+		fi
+	fi
+
 	#
 	# Start the navigator
 	#
@@ -569,24 +607,38 @@ then
 	#
 	if [ $VEHICLE_TYPE == none ]
 	then
-		echo "[init] Vehicle type: No autostart ID found"
+		echo "[i] No autostart ID found"

 	fi

 	# Start any custom addons
-	if [ -f $EXTRAS_FILE ]
+	if [ -f $FEXTRAS ]
 	then
-		echo "[init] Starting addons script: $EXTRAS_FILE"
-		sh $EXTRAS_FILE
+		echo "[i] Addons script: $FEXTRAS"
+		sh $FEXTRAS
 	else
-		echo "[init] No addons script: $EXTRAS_FILE"
+		echo "[i] No addons script: $FEXTRAS"
 	fi
+	unset FEXTRAS

 	if [ $EXIT_ON_END == yes ]
 	then
-		echo "[init] Exit from nsh"
+		echo "Exit from nsh"
 		exit
 	fi
+	unset EXIT_ON_END
+
+	# Run no SD alarm last
+	if [ $LOG_FILE == /dev/null ]
+	then
+		echo "[i] No microSD card found"
+		# Play SOS
+		tone_alarm error
+	fi

 # End of autostart
 fi
+
+# There is no further processing, so we can free some RAM
+# XXX potentially unset all script variables.
+unset TUNE_ERR
@@ -0,0 +1,16 @@
+#!nsh
+# Caipirinha vtol mixer for PX4FMU
+#
+#===========================
+R: 2- 10000 10000 10000 0
+
+#mixer for the elevons
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+S: 1 1  10000  10000      0 -10000  10000
+
+M: 2
+O:       10000   10000    0 -10000  10000
+S: 1 0   10000   10000    0 -10000  10000
+S: 1 1  -10000  -10000    0 -10000  10000
@@ -0,0 +1,64 @@
+Mixer for Skywalker Airframe
+==================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
+assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
+elevator to output 1, the rudder to output 2 and the throttle to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically.  To obtain the correct
+motion using a Y  cable, the servos can be positioned reversed from one another.
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 0  -10000  -10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 1   10000   10000      0 -10000  10000
+
+Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
@@ -3,11 +3,11 @@
 # Flight startup script for PX4FMU standalone configuration.
 #

-echo "[init] doing standalone PX4FMU startup..."
+echo "[i] doing standalone PX4FMU startup..."

 #
 # Start the ORB
 #
 uorb start

-echo "[init] startup done"
+echo "[i] startup done"
@@ -6,7 +6,7 @@ uorb start

 if sercon
 then
-	echo "[init] USB interface connected"
+	echo "[i] USB interface connected"

 	# Try to get an USB console
 	nshterm /dev/ttyACM0 &
@@ -15,14 +15,14 @@ fi
 #
 # Try to mount the microSD card.
 #
-echo "[init] looking for microSD..."
+echo "[i] looking for microSD..."
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
-	echo "[init] card mounted at /fs/microsd"
+	echo "[i] card mounted at /fs/microsd"
 	# Start playing the startup tune
 	tone_alarm start
 else
-	echo "[init] no microSD card found"
+	echo "[i] no microSD card found"
 	# Play SOS
 	tone_alarm error
 fi
@@ -104,4 +104,4 @@ then
 else
 	echo
 	echo "Some Unit Tests FAILED:${unit_test_failure_list}"
-fi
+fi
@@ -103,7 +103,7 @@ class SourceParser(object):
        Returns list of supported file extensions that can be parsed by this
        parser.
        """
-        return ["cpp", "c"]
+        return [".cpp", ".c"]

    def Parse(self, contents):
        """
@@ -26,5 +26,10 @@ class SourceScanner(object):
        parser.Parse method.
        """
        with codecs.open(path, 'r', 'utf-8') as f:
-            contents = f.read()
+            try:
+                contents = f.read()
+            except:
+                contents = ''
+                print('Failed reading file: %s, skipping content.' % path)
+                pass
        parser.Parse(contents)
@@ -1,54 +0,0 @@
-
-CC=g++
-CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \
-	-I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm
-
-all: mixer_test sbus2_test autodeclination_test st24_test sf0x_test
-
-MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \
-		../../src/systemcmds/tests/test_conv.cpp \
-		../../src/modules/systemlib/mixer/mixer_simple.cpp \
-		../../src/modules/systemlib/mixer/mixer_multirotor.cpp \
-		../../src/modules/systemlib/mixer/mixer.cpp \
-		../../src/modules/systemlib/mixer/mixer_group.cpp \
-		../../src/modules/systemlib/mixer/mixer_load.c \
-		../../src/modules/systemlib/pwm_limit/pwm_limit.c \
-		hrt.cpp \
-		mixer_test.cpp
-
-SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \
-		hrt.cpp \
-		sbus2_test.cpp
-
-ST24_FILES=../../src/lib/rc/st24.c \
-		hrt.cpp \
-		st24_test.cpp
-
-SF0X_FILES= \
-		hrt.cpp \
-		sf0x_test.cpp \
-		../../src/drivers/sf0x/sf0x_parser.cpp
-
-AUTODECLINATION_FILES= ../../src/lib/geo_lookup/geo_mag_declination.c \
-		hrt.cpp \
-		autodeclination_test.cpp
-
-mixer_test: $(MIXER_FILES)
-	$(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
-
-sbus2_test: $(SBUS2_FILES)
-	$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
-
-sf0x_test: $(SF0X_FILES)
-	$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
-
-autodeclination_test: $(SBUS2_FILES)
-	$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
-
-st24_test: $(ST24_FILES)
-	$(CC) -o st24_test $(ST24_FILES) $(CFLAGS)
-
-.PHONY: clean
-
-clean:
-	rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test st24_test sf0x_test
@@ -1,28 +0,0 @@
-
-#include <stdio.h>
-#include <stdlib.h> 
-#include <unistd.h>
-#include <string.h>
-#include <systemlib/mixer/mixer.h>
-#include <systemlib/err.h>
-#include <drivers/drv_hrt.h>
-#include <px4iofirmware/px4io.h>
-#include "../../src/systemcmds/tests/tests.h"
-#include <geo/geo.h>
-
-int main(int argc, char *argv[]) {
-	warnx("autodeclination test started");
-
-	if (argc < 3)
-		errx(1, "Need lat/lon!");
-
-	char* p_end;
-
-	float lat = strtod(argv[1], &p_end);
-	float lon = strtod(argv[2], &p_end);
-
-	float declination = get_mag_declination(lat, lon);
-
-	printf("lat: %f lon: %f, dec: %f\n", lat, lon, declination);
-
-}
@@ -24,6 +24,8 @@ MODULES		+= drivers/l3gd20
 MODULES		+= drivers/mpu6000
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
+#MODULES		+= drivers/ll40ls
+MODULES		+= drivers/trone
 #MODULES		+= drivers/mb12xx
 MODULES		+= drivers/gps
 MODULES		+= drivers/hil
--- a/Show More
+++ b/Show More