diff --git a/.github/workflows/mavros_tests.yml b/.github/workflows/mavros_tests.yml
deleted file mode 100644
index b8df2541d8..0000000000
--- a/.github/workflows/mavros_tests.yml
+++ /dev/null
@@ -1,73 +0,0 @@
-name: MAVROS Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  test:
-    name: "MAVROS ${{ matrix.config.name }}"
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    permissions:
-      contents: read
-    container:
-      image: px4io/px4-dev-ros-noetic:2021-09-08
-    env:
-      PX4_SBOM_DISABLE: 1
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {name: "Mission", test_file: "mavros_posix_test_mission.test", params: "mission:=MC_mission_box vehicle:=iris"}
-          - {name: "Offboard", test_file: "mavros_posix_tests_offboard_posctl.test", params: "vehicle:=iris"}
-    steps:
-      - uses: runs-on/action@v2
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 1
-      - name: Configure Git Safe Directory
-        run: git config --system --add safe.directory '*'
-
-      - name: Setup - Install Python Test Dependencies
-        run: pip3 install -r Tools/setup/requirements.txt
-
-      - uses: ./.github/actions/setup-ccache
-        id: ccache
-        with:
-          cache-key-prefix: ccache-sitl-gazebo-classic
-          max-size: 350M
-
-      - uses: ./.github/actions/build-gazebo-sitl
-
-      - name: Test - MAVROS ${{ matrix.config.name }}
-        run: |
-          ./test/rostest_px4_run.sh \
-            ${{ matrix.config.test_file }} \
-            ${{ matrix.config.params }}
-        timeout-minutes: 10
-
-      - uses: ./.github/actions/save-ccache
-        if: always()
-        with:
-          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
-
-      - name: Upload - Failed Test Logs
-        if: failure()
-        uses: actions/upload-artifact@v7
-        with:
-          name: failed-mavros-${{ matrix.config.name }}-logs.zip
-          path: |
-            logs/**/**/**/*.log
-            logs/**/**/**/*.ulg
diff --git a/integrationtests/python_src/px4_it/mavros/__init__.py b/integrationtests/python_src/px4_it/mavros/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py b/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py
deleted file mode 100755
index 4432e466e7..0000000000
--- a/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py
+++ /dev/null
@@ -1,154 +0,0 @@
-#!/usr/bin/env python3
-#***************************************************************************
-#
-#   Copyright (c) 2015 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.
-#
-#***************************************************************************/
-
-#
-# @author Andreas Antener <andreas@uaventure.com>
-#
-
-PKG = 'px4'
-
-import rospy
-from geometry_msgs.msg import Quaternion, Vector3
-from mavros_msgs.msg import AttitudeTarget
-from mavros_test_common import MavrosTestCommon
-from pymavlink import mavutil
-from std_msgs.msg import Header
-from threading import Thread
-from tf.transformations import quaternion_from_euler
-
-
-class MavrosOffboardAttctlTest(MavrosTestCommon):
-    """
-    Tests flying in offboard control by sending attitude and thrust setpoints
-    via MAVROS.
-
-    For the test to be successful it needs to cross a certain boundary in time.
-    """
-
-    def setUp(self):
-        super(MavrosOffboardAttctlTest, self).setUp()
-
-        self.att = AttitudeTarget()
-
-        self.att_setpoint_pub = rospy.Publisher(
-            'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1)
-
-        # send setpoints in separate thread to better prevent failsafe
-        self.att_thread = Thread(target=self.send_att, args=())
-        self.att_thread.daemon = True
-        self.att_thread.start()
-
-    def tearDown(self):
-        super(MavrosOffboardAttctlTest, self).tearDown()
-
-    #
-    # Helper methods
-    #
-    def send_att(self):
-        rate = rospy.Rate(10)  # Hz
-        self.att.body_rate = Vector3()
-        self.att.header = Header()
-        self.att.header.frame_id = "base_footprint"
-        self.att.orientation = Quaternion(*quaternion_from_euler(-0.25, 0.15,
-                                                                 0))
-        self.att.thrust = 0.7
-        self.att.type_mask = 7  # ignore body rate
-
-        while not rospy.is_shutdown():
-            self.att.header.stamp = rospy.Time.now()
-            self.att_setpoint_pub.publish(self.att)
-            try:  # prevent garbage in console output when thread is killed
-                rate.sleep()
-            except rospy.ROSInterruptException:
-                pass
-
-    #
-    # Test method
-    #
-    def test_attctl(self):
-        """Test offboard attitude control"""
-        # boundary to cross
-        boundary_x = 200
-        boundary_y = 100
-        boundary_z = 20
-
-        # make sure the simulation is ready to start the mission
-        self.wait_for_topics(60)
-        self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
-                                   10, -1)
-
-        self.log_topic_vars()
-        self.set_mode("OFFBOARD", 5)
-        self.set_arm(True, 5)
-
-        rospy.loginfo("run mission")
-        rospy.loginfo("attempting to cross boundary | x: {0}, y: {1}, z: {2}".
-                      format(boundary_x, boundary_y, boundary_z))
-        # does it cross expected boundaries in 'timeout' seconds?
-        timeout = 90  # (int) seconds
-        loop_freq = 2  # Hz
-        rate = rospy.Rate(loop_freq)
-        crossed = False
-        for i in range(timeout * loop_freq):
-            if (self.local_position.pose.position.x > boundary_x and
-                    self.local_position.pose.position.y > boundary_y and
-                    self.local_position.pose.position.z > boundary_z):
-                rospy.loginfo("boundary crossed | seconds: {0} of {1}".format(
-                    i / loop_freq, timeout))
-                crossed = True
-                break
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(crossed, (
-            "took too long to cross boundaries | current position x: {0:.2f}, y: {1:.2f}, z: {2:.2f} | timeout(seconds): {3}".
-            format(self.local_position.pose.position.x,
-                   self.local_position.pose.position.y,
-                   self.local_position.pose.position.z, timeout)))
-
-        self.set_mode("AUTO.LAND", 5)
-        self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
-                                   90, 0)
-        self.set_arm(False, 5)
-
-
-if __name__ == '__main__':
-    import rostest
-    rospy.init_node('test_node', anonymous=True)
-
-    rostest.rosrun(PKG, 'mavros_offboard_attctl_test',
-                   MavrosOffboardAttctlTest)
diff --git a/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py b/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py
deleted file mode 100755
index 8e88bf608b..0000000000
--- a/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py
+++ /dev/null
@@ -1,188 +0,0 @@
-#!/usr/bin/env python3
-#***************************************************************************
-#
-#   Copyright (c) 2015 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.
-#
-#***************************************************************************/
-
-#
-# @author Andreas Antener <andreas@uaventure.com>
-#
-
-PKG = 'px4'
-
-import rospy
-import math
-import numpy as np
-from geometry_msgs.msg import PoseStamped, Quaternion
-from mavros_msgs.msg import ParamValue
-from mavros_test_common import MavrosTestCommon
-from pymavlink import mavutil
-from std_msgs.msg import Header
-from threading import Thread
-from tf.transformations import quaternion_from_euler
-
-
-class MavrosOffboardPosctlTest(MavrosTestCommon):
-    """
-    Tests flying a path in offboard control by sending position setpoints
-    via MAVROS.
-
-    For the test to be successful it needs to reach all setpoints in a certain time.
-
-    FIXME: add flight path assertion (needs transformation from ROS frame to NED)
-    """
-
-    def setUp(self):
-        super(MavrosOffboardPosctlTest, self).setUp()
-
-        self.pos = PoseStamped()
-        self.radius = 1
-
-        self.pos_setpoint_pub = rospy.Publisher(
-            'mavros/setpoint_position/local', PoseStamped, queue_size=1)
-
-        # send setpoints in separate thread to better prevent failsafe
-        self.pos_thread = Thread(target=self.send_pos, args=())
-        self.pos_thread.daemon = True
-        self.pos_thread.start()
-
-    def tearDown(self):
-        super(MavrosOffboardPosctlTest, self).tearDown()
-
-    #
-    # Helper methods
-    #
-    def send_pos(self):
-        rate = rospy.Rate(10)  # Hz
-        self.pos.header = Header()
-        self.pos.header.frame_id = "base_footprint"
-
-        while not rospy.is_shutdown():
-            self.pos.header.stamp = rospy.Time.now()
-            self.pos_setpoint_pub.publish(self.pos)
-            try:  # prevent garbage in console output when thread is killed
-                rate.sleep()
-            except rospy.ROSInterruptException:
-                pass
-
-    def is_at_position(self, x, y, z, offset):
-        """offset: meters"""
-        rospy.logdebug(
-            "current position | x:{0:.2f}, y:{1:.2f}, z:{2:.2f}".format(
-                self.local_position.pose.position.x, self.local_position.pose.
-                position.y, self.local_position.pose.position.z))
-
-        desired = np.array((x, y, z))
-        pos = np.array((self.local_position.pose.position.x,
-                        self.local_position.pose.position.y,
-                        self.local_position.pose.position.z))
-        return np.linalg.norm(desired - pos) < offset
-
-    def reach_position(self, x, y, z, timeout):
-        """timeout(int): seconds"""
-        # set a position setpoint
-        self.pos.pose.position.x = x
-        self.pos.pose.position.y = y
-        self.pos.pose.position.z = z
-        rospy.loginfo(
-            "attempting to reach position | x: {0}, y: {1}, z: {2} | current position x: {3:.2f}, y: {4:.2f}, z: {5:.2f}".
-            format(x, y, z, self.local_position.pose.position.x,
-                   self.local_position.pose.position.y,
-                   self.local_position.pose.position.z))
-
-        # For demo purposes we will lock yaw/heading to north.
-        yaw_degrees = 0  # North
-        yaw = math.radians(yaw_degrees)
-        quaternion = quaternion_from_euler(0, 0, yaw)
-        self.pos.pose.orientation = Quaternion(*quaternion)
-
-        # does it reach the position in 'timeout' seconds?
-        loop_freq = 2  # Hz
-        rate = rospy.Rate(loop_freq)
-        reached = False
-        for i in range(timeout * loop_freq):
-            if self.is_at_position(self.pos.pose.position.x,
-                                   self.pos.pose.position.y,
-                                   self.pos.pose.position.z, self.radius):
-                rospy.loginfo("position reached | seconds: {0} of {1}".format(
-                    i / loop_freq, timeout))
-                reached = True
-                break
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(reached, (
-            "took too long to get to position | current position x: {0:.2f}, y: {1:.2f}, z: {2:.2f} | timeout(seconds): {3}".
-            format(self.local_position.pose.position.x,
-                   self.local_position.pose.position.y,
-                   self.local_position.pose.position.z, timeout)))
-
-    #
-    # Test method
-    #
-    def test_posctl(self):
-        """Test offboard position control"""
-
-        # make sure the simulation is ready to start the mission
-        self.wait_for_topics(60)
-        self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
-                                   10, -1)
-
-        self.log_topic_vars()
-        # exempting failsafe from lost RC to allow offboard
-        rcl_except = ParamValue(1<<2, 0.0)
-        self.set_param("COM_RCL_EXCEPT", rcl_except, 5)
-        self.set_mode("OFFBOARD", 5)
-        self.set_arm(True, 5)
-
-        rospy.loginfo("run mission")
-        positions = ((0, 0, 0), (50, 50, 20), (50, -50, 20), (-50, -50, 20),
-                     (0, 0, 20))
-
-        for i in range(len(positions)):
-            self.reach_position(positions[i][0], positions[i][1],
-                                positions[i][2], 30)
-
-        self.set_mode("AUTO.LAND", 5)
-        self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
-                                   45, 0)
-        self.set_arm(False, 5)
-
-
-if __name__ == '__main__':
-    import rostest
-    rospy.init_node('test_node', anonymous=True)
-
-    rostest.rosrun(PKG, 'mavros_offboard_posctl_test',
-                   MavrosOffboardPosctlTest)
diff --git a/integrationtests/python_src/px4_it/mavros/mavros_offboard_yawrate_test.py b/integrationtests/python_src/px4_it/mavros/mavros_offboard_yawrate_test.py
deleted file mode 100755
index 88b646a19b..0000000000
--- a/integrationtests/python_src/px4_it/mavros/mavros_offboard_yawrate_test.py
+++ /dev/null
@@ -1,174 +0,0 @@
-#!/usr/bin/env python3
-#***************************************************************************
-#
-#   Copyright (c) 2020 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.
-#
-#***************************************************************************/
-#
-# @author Pedro Roque <padr@kth.se>
-#
-
-PKG = 'px4'
-
-import rospy
-from geometry_msgs.msg import Quaternion, Vector3
-from mavros_msgs.msg import AttitudeTarget
-from mavros_test_common import MavrosTestCommon
-from pymavlink import mavutil
-from std_msgs.msg import Header
-from threading import Thread
-from tf.transformations import quaternion_from_euler
-
-
-class MavrosOffboardYawrateTest(MavrosTestCommon):
-    """
-    Tests flying in offboard control by sending a Roll Pitch Yawrate Thrust (RPYrT)
-    as attitude setpoint.
-
-    For the test to be successful it needs to achieve a desired yawrate and height.
-    """
-
-    def setUp(self):
-        super(MavrosOffboardYawrateTest, self).setUp()
-
-        self.att = AttitudeTarget()
-
-        self.att_setpoint_pub = rospy.Publisher(
-            'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1)
-
-        # send setpoints in separate thread to better prevent failsafe
-        self.att_thread = Thread(target=self.send_att, args=())
-        self.att_thread.daemon = True
-        self.att_thread.start()
-
-        # desired yawrate target
-        self.des_yawrate = 0.1
-        self.yawrate_tol = 0.02
-
-    def tearDown(self):
-        super(MavrosOffboardYawrateTest, self).tearDown()
-
-    #
-    # Helper methods
-    #
-    def send_att(self):
-        rate = rospy.Rate(10)  # Hz
-        self.att.body_rate = Vector3()
-        self.att.header = Header()
-        self.att.header.frame_id = "base_footprint"
-        self.att.orientation = self.local_position.pose.orientation
-
-        self.att.body_rate.x = 0
-        self.att.body_rate.y = 0
-        self.att.body_rate.z = self.des_yawrate
-
-        self.att.thrust = 0.59
-
-        self.att.type_mask = 3 # ignore roll and pitch rate
-
-        while not rospy.is_shutdown():
-            self.att.header.stamp = rospy.Time.now()
-            self.att_setpoint_pub.publish(self.att)
-            try:  # prevent garbage in console output when thread is killed
-                rate.sleep()
-            except rospy.ROSInterruptException:
-                pass
-
-    #
-    # Test method
-    #
-    def test_attctl(self):
-        """Test offboard yawrate control"""
-
-        # boundary to cross
-        # Stay leveled, go up, and test yawrate
-        boundary_x = 5
-        boundary_y = 5
-        boundary_z = 10
-
-
-        # make sure the simulation is ready to start the mission
-        self.wait_for_topics(60)
-        self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
-                                   10, -1)
-
-        self.log_topic_vars()
-        self.set_arm(True, 5)
-        self.set_mode("OFFBOARD", 5)
-        rospy.loginfo("run mission")
-        rospy.loginfo("attempting to cross boundary | z: {2} , stay within x: {0}  y: {1} \n   and achieve {3} yawrate".
-                      format(boundary_x, boundary_y, boundary_z, self.des_yawrate))
-
-	    # does it cross expected boundaries in 'timeout' seconds?
-        timeout = 90  # (int) seconds
-        loop_freq = 2  # Hz
-        rate = rospy.Rate(loop_freq)
-        crossed = False
-        for i in range(timeout * loop_freq):
-            if (self.local_position.pose.position.x < boundary_x and
-	    	    self.local_position.pose.position.x > -boundary_x and
-                    self.local_position.pose.position.y < boundary_y and
-		    self.local_position.pose.position.y > -boundary_y and
-                    self.local_position.pose.position.z > boundary_z and
-		    abs(self.imu_data.angular_velocity.z - self.des_yawrate) < self.yawrate_tol):
-                rospy.loginfo("Test successful. Final altitude and yawrate achieved")
-                crossed = True
-                break
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(crossed, (
-            "took too long to finish test | current position x: {0:.2f}, y: {1:.2f}, z: {2:.2f} \n " \
-	    "                             | current att qx: {3:.2f}, qy: {4:.2f}, qz: {5:.2f} qw: {6:.2f}, yr: {7:.2f}| timeout(seconds): {8}".
-            format(self.local_position.pose.position.x,
-                   self.local_position.pose.position.y,
-                   self.local_position.pose.position.z,
-		   self.imu_data.orientation.x,
-		   self.imu_data.orientation.y,
-		   self.imu_data.orientation.z,
-		   self.imu_data.orientation.w,
-		   self.imu_data.angular_velocity.z,
-		   timeout)))
-
-        self.set_mode("AUTO.LAND", 5)
-        self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
-                                   90, 0)
-        self.set_arm(False, 5)
-
-
-if __name__ == '__main__':
-    import rostest
-    rospy.init_node('test_node', anonymous=True)
-
-    rostest.rosrun(PKG, 'mavros_offboard_yawrate_test',
-                   MavrosOffboardYawrateTest)
diff --git a/integrationtests/python_src/px4_it/mavros/mavros_test_common.py b/integrationtests/python_src/px4_it/mavros/mavros_test_common.py
deleted file mode 100644
index ee5a95d438..0000000000
--- a/integrationtests/python_src/px4_it/mavros/mavros_test_common.py
+++ /dev/null
@@ -1,458 +0,0 @@
-#!/usr/bin/env python3
-
-import unittest
-import rospy
-import math
-from geometry_msgs.msg import PoseStamped
-from mavros_msgs.msg import Altitude, ExtendedState, HomePosition, ParamValue, State, \
-                            WaypointList
-from mavros_msgs.srv import CommandBool, ParamGet, ParamSet, SetMode, SetModeRequest, WaypointClear, \
-                            WaypointPush
-from pymavlink import mavutil
-from sensor_msgs.msg import NavSatFix, Imu
-
-
-class MavrosTestCommon(unittest.TestCase):
-    def __init__(self, *args):
-        super(MavrosTestCommon, self).__init__(*args)
-
-    def setUp(self):
-        self.altitude = Altitude()
-        self.extended_state = ExtendedState()
-        self.global_position = NavSatFix()
-        self.imu_data = Imu()
-        self.home_position = HomePosition()
-        self.local_position = PoseStamped()
-        self.mission_wp = WaypointList()
-        self.state = State()
-        self.mav_type = None
-
-        self.sub_topics_ready = {
-            key: False
-            for key in [
-                'alt', 'ext_state', 'global_pos', 'home_pos', 'local_pos',
-                'mission_wp', 'state', 'imu'
-            ]
-        }
-
-        # ROS services
-        service_timeout = 30
-        rospy.loginfo("waiting for ROS services")
-        try:
-            rospy.wait_for_service('mavros/param/get', service_timeout)
-            rospy.wait_for_service('mavros/param/set', service_timeout)
-            rospy.wait_for_service('mavros/cmd/arming', service_timeout)
-            rospy.wait_for_service('mavros/mission/push', service_timeout)
-            rospy.wait_for_service('mavros/mission/clear', service_timeout)
-            rospy.wait_for_service('mavros/set_mode', service_timeout)
-            rospy.loginfo("ROS services are up")
-        except rospy.ROSException:
-            self.fail("failed to connect to services")
-        self.get_param_srv = rospy.ServiceProxy('mavros/param/get', ParamGet)
-        self.set_param_srv = rospy.ServiceProxy('mavros/param/set', ParamSet)
-        self.set_arming_srv = rospy.ServiceProxy('mavros/cmd/arming',
-                                                 CommandBool)
-        self.set_mode_srv = rospy.ServiceProxy('mavros/set_mode', SetMode)
-        self.wp_clear_srv = rospy.ServiceProxy('mavros/mission/clear',
-                                               WaypointClear)
-        self.wp_push_srv = rospy.ServiceProxy('mavros/mission/push',
-                                              WaypointPush)
-
-        # ROS subscribers
-        self.alt_sub = rospy.Subscriber('mavros/altitude', Altitude,
-                                        self.altitude_callback)
-        self.ext_state_sub = rospy.Subscriber('mavros/extended_state',
-                                              ExtendedState,
-                                              self.extended_state_callback)
-        self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',
-                                               NavSatFix,
-                                               self.global_position_callback)
-        self.imu_data_sub = rospy.Subscriber('mavros/imu/data',
-                                               Imu,
-                                               self.imu_data_callback)
-        self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
-                                             HomePosition,
-                                             self.home_position_callback)
-        self.local_pos_sub = rospy.Subscriber('mavros/local_position/pose',
-                                              PoseStamped,
-                                              self.local_position_callback)
-        self.mission_wp_sub = rospy.Subscriber(
-            'mavros/mission/waypoints', WaypointList, self.mission_wp_callback)
-        self.state_sub = rospy.Subscriber('mavros/state', State,
-                                          self.state_callback)
-
-    def tearDown(self):
-        self.log_topic_vars()
-
-    #
-    # Callback functions
-    #
-    def altitude_callback(self, data):
-        self.altitude = data
-
-        # amsl has been observed to be nan while other fields are valid
-        if not self.sub_topics_ready['alt'] and not math.isnan(data.amsl):
-            self.sub_topics_ready['alt'] = True
-
-    def extended_state_callback(self, data):
-        if self.extended_state.vtol_state != data.vtol_state:
-            rospy.loginfo("VTOL state changed from {0} to {1}".format(
-                mavutil.mavlink.enums['MAV_VTOL_STATE']
-                [self.extended_state.vtol_state].name, mavutil.mavlink.enums[
-                    'MAV_VTOL_STATE'][data.vtol_state].name))
-
-        if self.extended_state.landed_state != data.landed_state:
-            rospy.loginfo("landed state changed from {0} to {1}".format(
-                mavutil.mavlink.enums['MAV_LANDED_STATE']
-                [self.extended_state.landed_state].name, mavutil.mavlink.enums[
-                    'MAV_LANDED_STATE'][data.landed_state].name))
-
-        self.extended_state = data
-
-        if not self.sub_topics_ready['ext_state']:
-            self.sub_topics_ready['ext_state'] = True
-
-    def global_position_callback(self, data):
-        self.global_position = data
-
-        if not self.sub_topics_ready['global_pos']:
-            self.sub_topics_ready['global_pos'] = True
-
-    def imu_data_callback(self, data):
-        self.imu_data = data
-
-        if not self.sub_topics_ready['imu']:
-            self.sub_topics_ready['imu'] = True
-
-    def home_position_callback(self, data):
-        self.home_position = data
-
-        if not self.sub_topics_ready['home_pos']:
-            self.sub_topics_ready['home_pos'] = True
-
-    def local_position_callback(self, data):
-        self.local_position = data
-
-        if not self.sub_topics_ready['local_pos']:
-            self.sub_topics_ready['local_pos'] = True
-
-    def mission_wp_callback(self, data):
-        if self.mission_wp.current_seq != data.current_seq:
-            rospy.loginfo("current mission waypoint sequence updated: {0}".
-                          format(data.current_seq))
-
-        self.mission_wp = data
-
-        if not self.sub_topics_ready['mission_wp']:
-            self.sub_topics_ready['mission_wp'] = True
-
-    def state_callback(self, data):
-        if self.state.armed != data.armed:
-            rospy.loginfo("armed state changed from {0} to {1}".format(
-                self.state.armed, data.armed))
-
-        if self.state.connected != data.connected:
-            rospy.loginfo("connected changed from {0} to {1}".format(
-                self.state.connected, data.connected))
-
-        if self.state.mode != data.mode:
-            rospy.loginfo("mode changed from {0} to {1}".format(
-                self.state.mode, data.mode))
-
-        if self.state.system_status != data.system_status:
-            rospy.loginfo("system_status changed from {0} to {1}".format(
-                mavutil.mavlink.enums['MAV_STATE'][
-                    self.state.system_status].name, mavutil.mavlink.enums[
-                        'MAV_STATE'][data.system_status].name))
-
-        self.state = data
-
-        # mavros publishes a disconnected state message on init
-        if not self.sub_topics_ready['state'] and data.connected:
-            self.sub_topics_ready['state'] = True
-
-    #
-    # Helper methods
-    #
-    def set_arm(self, arm, timeout):
-        """arm: True to arm or False to disarm, timeout(int): seconds"""
-        rospy.loginfo("setting FCU arm: {0}".format(arm))
-        old_arm = self.state.armed
-        loop_freq = 1  # Hz
-        rate = rospy.Rate(loop_freq)
-        arm_set = False
-        for i in range(timeout * loop_freq):
-            if self.state.armed == arm:
-                arm_set = True
-                rospy.loginfo("set arm success | seconds: {0} of {1}".format(
-                    i / loop_freq, timeout))
-                break
-            else:
-                try:
-                    res = self.set_arming_srv(arm)
-                    if not res.success:
-                        rospy.logerr("failed to send arm command")
-                except rospy.ServiceException as e:
-                    rospy.logerr(e)
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(arm_set, (
-            "failed to set arm | new arm: {0}, old arm: {1} | timeout(seconds): {2}".
-            format(arm, old_arm, timeout)))
-
-    def set_mode(self, mode, timeout):
-        """mode: PX4 mode string, timeout(int): seconds"""
-        rospy.loginfo("setting FCU mode: {0}".format(mode))
-        old_mode = self.state.mode
-        loop_freq = 1  # Hz
-        rate = rospy.Rate(loop_freq)
-        mode_set = False
-        for i in range(timeout * loop_freq):
-            if self.state.mode == mode:
-                mode_set = True
-                rospy.loginfo("set mode success | seconds: {0} of {1}".format(
-                    i / loop_freq, timeout))
-                break
-            else:
-                try:
-                    res = self.set_mode_srv(0, mode)  # 0 is custom mode
-                    if not res.mode_sent:
-                        rospy.logerr("failed to send mode command")
-                except rospy.ServiceException as e:
-                    rospy.logerr(e)
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(mode_set, (
-            "failed to set mode | new mode: {0}, old mode: {1} | timeout(seconds): {2}".
-            format(mode, old_mode, timeout)))
-
-    def set_param(self, param_id, param_value, timeout):
-        """param: PX4 param string, ParamValue, timeout(int): seconds"""
-        if param_value.integer != 0:
-            value = param_value.integer
-        else:
-            value = param_value.real
-        rospy.loginfo("setting PX4 parameter: {0} with value {1}".
-        format(param_id, value))
-        loop_freq = 1  # Hz
-        rate = rospy.Rate(loop_freq)
-        param_set = False
-        for i in range(timeout * loop_freq):
-            try:
-                res = self.set_param_srv(param_id, param_value)
-                if res.success:
-                    rospy.loginfo("param {0} set to {1} | seconds: {2} of {3}".
-                    format(param_id, value, i / loop_freq, timeout))
-                break
-            except rospy.ServiceException as e:
-                rospy.logerr(e)
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(res.success, (
-            "failed to set param | param_id: {0}, param_value: {1} | timeout(seconds): {2}".
-            format(param_id, value, timeout)))
-
-    def wait_for_topics(self, timeout):
-        """wait for simulation to be ready, make sure we're getting topic info
-        from all topics by checking dictionary of flag values set in callbacks,
-        timeout(int): seconds"""
-        rospy.loginfo("waiting for subscribed topics to be ready")
-        loop_freq = 1  # Hz
-        rate = rospy.Rate(loop_freq)
-        simulation_ready = False
-        for i in range(timeout * loop_freq):
-            if all(value for value in self.sub_topics_ready.values()):
-                simulation_ready = True
-                rospy.loginfo("simulation topics ready | seconds: {0} of {1}".
-                              format(i / loop_freq, timeout))
-                break
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(simulation_ready, (
-            "failed to hear from all subscribed simulation topics | topic ready flags: {0} | timeout(seconds): {1}".
-            format(self.sub_topics_ready, timeout)))
-
-    def wait_for_landed_state(self, desired_landed_state, timeout, index):
-        rospy.loginfo("waiting for landed state | state: {0}, index: {1}".
-                      format(mavutil.mavlink.enums['MAV_LANDED_STATE'][
-                          desired_landed_state].name, index))
-        loop_freq = 10  # Hz
-        rate = rospy.Rate(loop_freq)
-        landed_state_confirmed = False
-        for i in range(timeout * loop_freq):
-            if self.extended_state.landed_state == desired_landed_state:
-                landed_state_confirmed = True
-                rospy.loginfo("landed state confirmed | seconds: {0} of {1}".
-                              format(i / loop_freq, timeout))
-                break
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(landed_state_confirmed, (
-            "landed state not detected | desired: {0}, current: {1} | index: {2}, timeout(seconds): {3}".
-            format(mavutil.mavlink.enums['MAV_LANDED_STATE'][
-                desired_landed_state].name, mavutil.mavlink.enums[
-                    'MAV_LANDED_STATE'][self.extended_state.landed_state].name,
-                   index, timeout)))
-
-    def wait_for_vtol_state(self, transition, timeout, index):
-        """Wait for VTOL transition, timeout(int): seconds"""
-        rospy.loginfo(
-            "waiting for VTOL transition | transition: {0}, index: {1}".format(
-                mavutil.mavlink.enums['MAV_VTOL_STATE'][
-                    transition].name, index))
-        loop_freq = 10  # Hz
-        rate = rospy.Rate(loop_freq)
-        transitioned = False
-        for i in range(timeout * loop_freq):
-            if transition == self.extended_state.vtol_state:
-                rospy.loginfo("transitioned | seconds: {0} of {1}".format(
-                    i / loop_freq, timeout))
-                transitioned = True
-                break
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(transitioned, (
-            "transition not detected | desired: {0}, current: {1} | index: {2} timeout(seconds): {3}".
-            format(mavutil.mavlink.enums['MAV_VTOL_STATE'][transition].name,
-                   mavutil.mavlink.enums['MAV_VTOL_STATE'][
-                       self.extended_state.vtol_state].name, index, timeout)))
-
-    def clear_wps(self, timeout):
-        """timeout(int): seconds"""
-        loop_freq = 1  # Hz
-        rate = rospy.Rate(loop_freq)
-        wps_cleared = False
-        for i in range(timeout * loop_freq):
-            if not self.mission_wp.waypoints:
-                wps_cleared = True
-                rospy.loginfo("clear waypoints success | seconds: {0} of {1}".
-                              format(i / loop_freq, timeout))
-                break
-            else:
-                try:
-                    res = self.wp_clear_srv()
-                    if not res.success:
-                        rospy.logerr("failed to send waypoint clear command")
-                except rospy.ServiceException as e:
-                    rospy.logerr(e)
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(wps_cleared, (
-            "failed to clear waypoints | timeout(seconds): {0}".format(timeout)
-        ))
-
-    def send_wps(self, waypoints, timeout):
-        """waypoints, timeout(int): seconds"""
-        rospy.loginfo("sending mission waypoints")
-        if self.mission_wp.waypoints:
-            rospy.loginfo("FCU already has mission waypoints")
-
-        loop_freq = 1  # Hz
-        rate = rospy.Rate(loop_freq)
-        wps_sent = False
-        wps_verified = False
-        for i in range(timeout * loop_freq):
-            if not wps_sent:
-                try:
-                    res = self.wp_push_srv(start_index=0, waypoints=waypoints)
-                    wps_sent = res.success
-                    if wps_sent:
-                        rospy.loginfo("waypoints successfully transferred")
-                except rospy.ServiceException as e:
-                    rospy.logerr(e)
-            else:
-                if len(waypoints) == len(self.mission_wp.waypoints):
-                    rospy.loginfo("number of waypoints transferred: {0}".
-                                  format(len(waypoints)))
-                    wps_verified = True
-
-            if wps_sent and wps_verified:
-                rospy.loginfo("send waypoints success | seconds: {0} of {1}".
-                              format(i / loop_freq, timeout))
-                break
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue((
-            wps_sent and wps_verified
-        ), "mission could not be transferred and verified | timeout(seconds): {0}".
-                        format(timeout))
-
-    def wait_for_mav_type(self, timeout):
-        """Wait for MAV_TYPE parameter, timeout(int): seconds"""
-        rospy.loginfo("waiting for MAV_TYPE")
-        loop_freq = 1  # Hz
-        rate = rospy.Rate(loop_freq)
-        res = False
-        for i in range(timeout * loop_freq):
-            try:
-                res = self.get_param_srv('MAV_TYPE')
-                if res.success:
-                    self.mav_type = res.value.integer
-                    rospy.loginfo(
-                        "MAV_TYPE received | type: {0} | seconds: {1} of {2}".
-                        format(mavutil.mavlink.enums['MAV_TYPE'][self.mav_type]
-                               .name, i / loop_freq, timeout))
-                    break
-            except rospy.ServiceException as e:
-                rospy.logerr(e)
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(res.success, (
-            "MAV_TYPE param get failed | timeout(seconds): {0}".format(timeout)
-        ))
-
-    def log_topic_vars(self):
-        """log the state of topic variables"""
-        rospy.loginfo("========================")
-        rospy.loginfo("===== topic values =====")
-        rospy.loginfo("========================")
-        rospy.loginfo("altitude:\n{}".format(self.altitude))
-        rospy.loginfo("========================")
-        rospy.loginfo("extended_state:\n{}".format(self.extended_state))
-        rospy.loginfo("========================")
-        rospy.loginfo("global_position:\n{}".format(self.global_position))
-        rospy.loginfo("========================")
-        rospy.loginfo("home_position:\n{}".format(self.home_position))
-        rospy.loginfo("========================")
-        rospy.loginfo("local_position:\n{}".format(self.local_position))
-        rospy.loginfo("========================")
-        rospy.loginfo("mission_wp:\n{}".format(self.mission_wp))
-        rospy.loginfo("========================")
-        rospy.loginfo("state:\n{}".format(self.state))
-        rospy.loginfo("========================")
diff --git a/integrationtests/python_src/px4_it/mavros/mission_test.py b/integrationtests/python_src/px4_it/mavros/mission_test.py
deleted file mode 100755
index c4134cff00..0000000000
--- a/integrationtests/python_src/px4_it/mavros/mission_test.py
+++ /dev/null
@@ -1,358 +0,0 @@
-#!/usr/bin/env python3
-#***************************************************************************
-#
-#   Copyright (c) 2015-2016 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.
-#
-#***************************************************************************/
-
-#
-# @author Andreas Antener <andreas@uaventure.com>
-#
-
-PKG = 'px4'
-
-import rospy
-import glob
-import json
-import math
-import os
-import numpy as np
-from pyulog import ULog
-import sys
-from mavros import mavlink
-from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached
-from mavros_test_common import MavrosTestCommon
-from pymavlink import mavutil
-from threading import Thread
-
-
-def get_last_log():
-    try:
-        log_path = os.environ['PX4_LOG_DIR']
-    except KeyError:
-        try:
-            log_path = os.path.join(os.environ['ROS_HOME'], 'log')
-        except KeyError:
-            log_path = os.path.join(os.environ['HOME'], '.ros/log')
-    last_log_dir = sorted(glob.glob(os.path.join(log_path, '*')))[-1]
-    last_log = sorted(glob.glob(os.path.join(last_log_dir, '*.ulg')))[-1]
-    return last_log
-
-
-def analyze_estimator_attitude(log_file):
-    """Compute attitude estimator error metrics from a ULog file."""
-    ulog = ULog(log_file)
-
-    att = ulog.get_dataset('vehicle_attitude').data
-    att_gt = ulog.get_dataset('vehicle_attitude_groundtruth').data
-
-    def quat_to_euler(q0, q1, q2, q3):
-        """Quaternion (w,x,y,z) to (roll, pitch, yaw) via ZYX Tait-Bryan."""
-        roll = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
-        sinp = 2 * (q0 * q2 - q3 * q1)
-        pitch = np.where(np.abs(sinp) >= 1,
-                         np.copysign(np.pi / 2, sinp), np.arcsin(sinp))
-        yaw = np.arctan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2**2 + q3**2))
-        return roll, pitch, yaw
-
-    roll, pitch, yaw = quat_to_euler(
-        att['q[0]'], att['q[1]'], att['q[2]'], att['q[3]'])
-    roll_gt, pitch_gt, yaw_gt = quat_to_euler(
-        att_gt['q[0]'], att_gt['q[1]'], att_gt['q[2]'], att_gt['q[3]'])
-
-    # interpolate groundtruth onto attitude timestamps
-    ts = att['timestamp']
-    ts_gt = att_gt['timestamp']
-    roll_gt = np.interp(ts, ts_gt, roll_gt)
-    pitch_gt = np.interp(ts, ts_gt, pitch_gt)
-    yaw_gt = np.interp(ts, ts_gt, yaw_gt)
-
-    wrap = lambda x: np.arcsin(np.sin(x))
-    e_roll = wrap(roll - roll_gt)
-    e_pitch = wrap(pitch - pitch_gt)
-    e_yaw = wrap(yaw - yaw_gt)
-
-    return {
-        'roll_error_mean': np.rad2deg(np.mean(e_roll)),
-        'pitch_error_mean': np.rad2deg(np.mean(e_pitch)),
-        'yaw_error_mean': np.rad2deg(np.mean(e_yaw)),
-        'roll_error_std': np.rad2deg(np.std(e_roll)),
-        'pitch_error_std': np.rad2deg(np.std(e_pitch)),
-        'yaw_error_std': np.rad2deg(np.std(e_yaw)),
-    }
-
-
-def read_mission(mission_filename):
-    wps = []
-    with open(mission_filename, 'r') as f:
-        for waypoint in read_plan_file(f):
-            wps.append(waypoint)
-            rospy.logdebug(waypoint)
-
-    # set first item to current
-    if wps:
-        wps[0].is_current = True
-
-    return wps
-
-
-def read_plan_file(f):
-    d = json.load(f)
-    if 'mission' in d:
-        d = d['mission']
-
-    if 'items' in d:
-        for wp in d['items']:
-            yield Waypoint(
-                is_current=False,
-                frame=int(wp['frame']),
-                command=int(wp['command']),
-                param1=float('nan'
-                             if wp['params'][0] is None else wp['params'][0]),
-                param2=float('nan'
-                             if wp['params'][1] is None else wp['params'][1]),
-                param3=float('nan'
-                             if wp['params'][2] is None else wp['params'][2]),
-                param4=float('nan'
-                             if wp['params'][3] is None else wp['params'][3]),
-                x_lat=float(wp['params'][4]),
-                y_long=float(wp['params'][5]),
-                z_alt=float(wp['params'][6]),
-                autocontinue=bool(wp['autoContinue']))
-    else:
-        raise IOError("no mission items")
-
-
-class MavrosMissionTest(MavrosTestCommon):
-    """
-    Run a mission
-    """
-
-    def setUp(self):
-        super(self.__class__, self).setUp()
-
-        self.mission_item_reached = -1  # first mission item is 0
-        self.mission_name = ""
-
-        self.mavlink_pub = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
-        self.mission_item_reached_sub = rospy.Subscriber(
-            'mavros/mission/reached', WaypointReached,
-            self.mission_item_reached_callback)
-
-        # need to simulate heartbeat to prevent datalink loss detection
-        self.hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(
-            mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
-        self.hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
-        self.hb_ros_msg = mavlink.convert_to_rosmsg(self.hb_mav_msg)
-        self.hb_thread = Thread(target=self.send_heartbeat, args=())
-        self.hb_thread.daemon = True
-        self.hb_thread.start()
-
-    def tearDown(self):
-        super(MavrosMissionTest, self).tearDown()
-
-    #
-    # Helper methods
-    #
-    def send_heartbeat(self):
-        rate = rospy.Rate(2)  # Hz
-        while not rospy.is_shutdown():
-            self.mavlink_pub.publish(self.hb_ros_msg)
-            try:  # prevent garbage in console output when thread is killed
-                rate.sleep()
-            except rospy.ROSInterruptException:
-                pass
-
-    def mission_item_reached_callback(self, data):
-        if self.mission_item_reached != data.wp_seq:
-            rospy.loginfo("mission item reached: {0}".format(data.wp_seq))
-            self.mission_item_reached = data.wp_seq
-
-    def distance_to_wp(self, lat, lon, alt):
-        """alt(amsl): meters"""
-        R = 6371000  # metres
-        rlat1 = math.radians(lat)
-        rlat2 = math.radians(self.global_position.latitude)
-
-        rlat_d = math.radians(self.global_position.latitude - lat)
-        rlon_d = math.radians(self.global_position.longitude - lon)
-
-        a = (math.sin(rlat_d / 2) * math.sin(rlat_d / 2) + math.cos(rlat1) *
-             math.cos(rlat2) * math.sin(rlon_d / 2) * math.sin(rlon_d / 2))
-        c = 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a))
-
-        d = R * c
-        alt_d = abs(alt - self.altitude.amsl)
-
-        rospy.logdebug("d: {0}, alt_d: {1}".format(d, alt_d))
-        return d, alt_d
-
-    def reach_position(self, lat, lon, alt, timeout, index):
-        """alt(amsl): meters, timeout(int): seconds"""
-        rospy.loginfo(
-            "trying to reach waypoint | lat: {0:.9f}, lon: {1:.9f}, alt: {2:.2f}, index: {3}".
-            format(lat, lon, alt, index))
-        best_pos_xy_d = None
-        best_pos_z_d = None
-        reached = False
-        mission_length = len(self.mission_wp.waypoints)
-
-        # does it reach the position in 'timeout' seconds?
-        loop_freq = 2  # Hz
-        rate = rospy.Rate(loop_freq)
-        for i in range(timeout * loop_freq):
-            pos_xy_d, pos_z_d = self.distance_to_wp(lat, lon, alt)
-
-            # remember best distances
-            if not best_pos_xy_d or best_pos_xy_d > pos_xy_d:
-                best_pos_xy_d = pos_xy_d
-            if not best_pos_z_d or best_pos_z_d > pos_z_d:
-                best_pos_z_d = pos_z_d
-
-            # FCU advanced to the next mission item, or finished mission
-            reached = (
-                # advanced to next wp
-                (index < self.mission_wp.current_seq)
-                # end of mission
-                or (index == (mission_length - 1) and
-                    self.mission_item_reached == index))
-
-            if reached:
-                rospy.loginfo(
-                    "position reached | pos_xy_d: {0:.2f}, pos_z_d: {1:.2f}, index: {2} | seconds: {3} of {4}".
-                    format(pos_xy_d, pos_z_d, index, i / loop_freq, timeout))
-                break
-            elif i == 0 or ((i / loop_freq) % 10) == 0:
-                # log distance first iteration and every 10 sec
-                rospy.loginfo(
-                    "current distance to waypoint | pos_xy_d: {0:.2f}, pos_z_d: {1:.2f}, index: {2}".
-                    format(pos_xy_d, pos_z_d, index))
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(
-            reached,
-            "position not reached | lat: {0:.9f}, lon: {1:.9f}, alt: {2:.2f}, current pos_xy_d: {3:.2f}, current pos_z_d: {4:.2f}, best pos_xy_d: {5:.2f}, best pos_z_d: {6:.2f}, index: {7} | timeout(seconds): {8}".
-            format(lat, lon, alt, pos_xy_d, pos_z_d, best_pos_xy_d,
-                   best_pos_z_d, index, timeout))
-
-    #
-    # Test method
-    #
-    def test_mission(self):
-        """Test mission"""
-        if len(sys.argv) < 2:
-            self.fail("usage: mission_test.py mission_file")
-            return
-
-        self.mission_name = sys.argv[1]
-        mission_file = os.path.dirname(
-            os.path.realpath(__file__)) + "/missions/" + sys.argv[1]
-
-        rospy.loginfo("reading mission {0}".format(mission_file))
-        try:
-            wps = read_mission(mission_file)
-        except IOError as e:
-            self.fail(e)
-
-        # make sure the simulation is ready to start the mission
-        self.wait_for_topics(60)
-        self.wait_for_landed_state(mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND,
-                                   10, -1)
-        self.wait_for_mav_type(10)
-
-        # push waypoints to FCU and start mission
-        self.send_wps(wps, 30)
-        self.log_topic_vars()
-        self.set_mode("AUTO.MISSION", 5)
-        self.set_arm(True, 5)
-
-        rospy.loginfo("run mission {0}".format(self.mission_name))
-        for index, waypoint in enumerate(wps):
-            # only check position for waypoints where this makes sense
-            if (waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT or
-                    waypoint.frame == Waypoint.FRAME_GLOBAL):
-                alt = waypoint.z_alt
-                if waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT:
-                    alt += self.altitude.amsl - self.altitude.relative
-
-                self.reach_position(waypoint.x_lat, waypoint.y_long, alt, 60,
-                                    index)
-
-            # check if VTOL transition happens if applicable
-            if (waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF or
-                    waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND
-                    or waypoint.command ==
-                    mavutil.mavlink.MAV_CMD_DO_VTOL_TRANSITION):
-                transition = waypoint.param1  # used by MAV_CMD_DO_VTOL_TRANSITION
-                if waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF:  # VTOL takeoff implies transition to FW
-                    transition = mavutil.mavlink.MAV_VTOL_STATE_FW
-                if waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND:  # VTOL land implies transition to MC
-                    transition = mavutil.mavlink.MAV_VTOL_STATE_MC
-
-                self.wait_for_vtol_state(transition, 60, index)
-
-            # after reaching position, wait for landing detection if applicable
-            if (waypoint.command == mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND or
-                    waypoint.command == mavutil.mavlink.MAV_CMD_NAV_LAND):
-                self.wait_for_landed_state(
-                    mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND, 120, index)
-
-        self.set_arm(False, 5)
-        self.clear_wps(5)
-
-        rospy.loginfo("mission done, calculating performance metrics")
-        last_log = get_last_log()
-        rospy.loginfo("log file {0}".format(last_log))
-        res = analyze_estimator_attitude(last_log)
-
-        # enforce performance
-        self.assertTrue(abs(res['roll_error_mean']) < 5.0, str(res))
-        self.assertTrue(abs(res['pitch_error_mean']) < 5.0, str(res))
-        self.assertTrue(abs(res['yaw_error_mean']) < 5.0, str(res))
-
-        self.assertTrue(res['roll_error_std'] < 5.0, str(res))
-        self.assertTrue(res['pitch_error_std'] < 5.0, str(res))
-
-        # TODO: fix by excluding initial heading init and reset preflight
-        self.assertTrue(res['yaw_error_std'] < 15.0, str(res))
-
-
-if __name__ == '__main__':
-    import rostest
-    rospy.init_node('test_node', anonymous=True)
-
-    name = "mavros_mission_test"
-    if len(sys.argv) > 1:
-        name += "-%s" % sys.argv[1]
-    rostest.rosrun(PKG, name, MavrosMissionTest)
diff --git a/integrationtests/python_src/px4_it/mavros/missions/FW_mission_1.plan b/integrationtests/python_src/px4_it/mavros/missions/FW_mission_1.plan
deleted file mode 100644
index 03986f692e..0000000000
--- a/integrationtests/python_src/px4_it/mavros/missions/FW_mission_1.plan
+++ /dev/null
@@ -1,123 +0,0 @@
-{
-    "fileType": "Plan",
-    "geoFence": {
-        "circles": [
-        ],
-        "polygons": [
-        ],
-        "version": 2
-    },
-    "groundStation": "QGroundControl",
-    "mission": {
-        "cruiseSpeed": 15,
-        "firmwareType": 12,
-        "hoverSpeed": 5,
-        "items": [
-            {
-                "AMSLAltAboveTerrain": 50,
-                "Altitude": 50,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 22,
-                "doJumpId": 1,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.397757116360204,
-                    8.54802567938998,
-                    50
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": 50,
-                "Altitude": 50,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 16,
-                "doJumpId": 2,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.395834920202326,
-                    8.548141558196932,
-                    50
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "autoContinue": true,
-                "command": 189,
-                "doJumpId": 3,
-                "frame": 2,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    0,
-                    0,
-                    0,
-                    0
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": 25,
-                "Altitude": 25,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 31,
-                "doJumpId": 4,
-                "frame": 3,
-                "params": [
-                    1,
-                    50,
-                    0,
-                    1,
-                    47.39580995751514,
-                    8.545613891100459,
-                    25
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": 0,
-                "Altitude": 0,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 21,
-                "doJumpId": 5,
-                "frame": 3,
-                "params": [
-                    25,
-                    0,
-                    0,
-                    null,
-                    47.39757125904106,
-                    8.545589014690734,
-                    0
-                ],
-                "type": "SimpleItem"
-            }
-        ],
-        "plannedHomePosition": [
-            47.397742,
-            8.545594,
-            489
-        ],
-        "vehicleType": 1,
-        "version": 2
-    },
-    "rallyPoints": {
-        "points": [
-        ],
-        "version": 2
-    },
-    "version": 1
-}
diff --git a/integrationtests/python_src/px4_it/mavros/missions/MC_mission_box.plan b/integrationtests/python_src/px4_it/mavros/missions/MC_mission_box.plan
deleted file mode 100644
index f1b04ffd63..0000000000
--- a/integrationtests/python_src/px4_it/mavros/missions/MC_mission_box.plan
+++ /dev/null
@@ -1,145 +0,0 @@
-{
-    "fileType": "Plan",
-    "geoFence": {
-        "circles": [
-        ],
-        "polygons": [
-        ],
-        "version": 2
-    },
-    "groundStation": "QGroundControl",
-    "mission": {
-        "cruiseSpeed": 15,
-        "firmwareType": 12,
-        "hoverSpeed": 5,
-        "items": [
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 5,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 22,
-                "doJumpId": 1,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.39773941040039,
-                    8.5455904006958,
-                    5
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 10,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 16,
-                "doJumpId": 2,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.39787292480469,
-                    8.54559326171875,
-                    10
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 10,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 16,
-                "doJumpId": 3,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.39787292480469,
-                    8.545341491699219,
-                    10
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 10,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 16,
-                "doJumpId": 4,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.39773941040039,
-                    8.545336723327637,
-                    10
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 10,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 16,
-                "doJumpId": 5,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.39773941040039,
-                    8.5455904006958,
-                    10
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 0,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 21,
-                "doJumpId": 6,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.39773941040039,
-                    8.545591354370117,
-                    0
-                ],
-                "type": "SimpleItem"
-            }
-        ],
-        "plannedHomePosition": [
-            47.397742,
-            8.545594,
-            488
-        ],
-        "vehicleType": 2,
-        "version": 2
-    },
-    "rallyPoints": {
-        "points": [
-        ],
-        "version": 2
-    },
-    "version": 1
-}
diff --git a/integrationtests/python_src/px4_it/mavros/missions/MC_safe_landing.plan b/integrationtests/python_src/px4_it/mavros/missions/MC_safe_landing.plan
deleted file mode 100644
index f2593118ba..0000000000
--- a/integrationtests/python_src/px4_it/mavros/missions/MC_safe_landing.plan
+++ /dev/null
@@ -1,107 +0,0 @@
-{
-    "fileType": "Plan",
-    "geoFence": {
-        "circles": [
-        ],
-        "polygons": [
-        ],
-        "version": 2
-    },
-    "groundStation": "QGroundControl",
-    "mission": {
-        "cruiseSpeed": 15,
-        "firmwareType": 12,
-        "hoverSpeed": 5,
-        "items": [
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 18,
-                "AltitudeMode": 1,
-                "autoContinue": true,
-                "command": 22,
-                "doJumpId": 1,
-                "frame": 3,
-                "params": [
-                    15,
-                    0,
-                    0,
-                    null,
-                    47.3977394,
-                    8.5455942,
-                    18
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 18,
-                "AltitudeMode": 1,
-                "autoContinue": true,
-                "command": 16,
-                "doJumpId": 2,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.3977394,
-                    8.5456982,
-                    18
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 18,
-                "AltitudeMode": 1,
-                "autoContinue": true,
-                "command": 16,
-                "doJumpId": 3,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.3977432,
-                    8.545805,
-                    18
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 0,
-                "AltitudeMode": 1,
-                "autoContinue": true,
-                "command": 21,
-                "doJumpId": 4,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.3977432,
-                    8.545804,
-                    0
-                ],
-                "type": "SimpleItem"
-            }
-        ],
-        "plannedHomePosition": [
-            47.3977419,
-            8.5455941,
-            489
-        ],
-        "vehicleType": 2,
-        "version": 2
-    },
-    "rallyPoints": {
-        "points": [
-        ],
-        "version": 2
-    },
-    "version": 1
-}
diff --git a/integrationtests/python_src/px4_it/mavros/missions/VTOL_mission_1.plan b/integrationtests/python_src/px4_it/mavros/missions/VTOL_mission_1.plan
deleted file mode 100644
index 8068b43127..0000000000
--- a/integrationtests/python_src/px4_it/mavros/missions/VTOL_mission_1.plan
+++ /dev/null
@@ -1,107 +0,0 @@
-{
-    "fileType": "Plan",
-    "geoFence": {
-        "circles": [
-        ],
-        "polygons": [
-        ],
-        "version": 2
-    },
-    "groundStation": "QGroundControl",
-    "mission": {
-        "cruiseSpeed": 15,
-        "firmwareType": 12,
-        "hoverSpeed": 5,
-        "items": [
-            {
-                "AMSLAltAboveTerrain": 15,
-                "Altitude": 15,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 84,
-                "doJumpId": 1,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.39773615102264,
-                    8.547064163497595,
-                    15
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 30,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 31,
-                "doJumpId": 2,
-                "frame": 3,
-                "params": [
-                    0,
-                    50,
-                    0,
-                    1,
-                    47.396840504834636,
-                    8.548309212214804,
-                    30
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 15,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 16,
-                "doJumpId": 3,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.39617583578575,
-                    8.546774195044463,
-                    15
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": 0,
-                "Altitude": 0,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 85,
-                "doJumpId": 4,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.39706525003061,
-                    8.545322355693173,
-                    0
-                ],
-                "type": "SimpleItem"
-            }
-        ],
-        "plannedHomePosition": [
-            47.397742,
-            8.545594,
-            489
-        ],
-        "vehicleType": 20,
-        "version": 2
-    },
-    "rallyPoints": {
-        "points": [
-        ],
-        "version": 2
-    },
-    "version": 1
-}
diff --git a/launch/mavros_posix_sitl.launch b/launch/mavros_posix_sitl.launch
deleted file mode 100644
index 31b93fa15d..0000000000
--- a/launch/mavros_posix_sitl.launch
+++ /dev/null
@@ -1,54 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <!-- MAVROS posix SITL environment launch script -->
-    <!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
-    <!-- vehicle pose -->
-    <arg name="x" default="0"/>
-    <arg name="y" default="0"/>
-    <arg name="z" default="0"/>
-    <arg name="R" default="0"/>
-    <arg name="P" default="0"/>
-    <arg name="Y" default="0"/>
-    <!-- vehicle model and world -->
-    <arg name="est" default="ekf2"/>
-    <arg name="vehicle" default="iris"/>
-    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
-    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
-
-    <!-- gazebo configs -->
-    <arg name="gui" default="true"/>
-    <arg name="debug" default="false"/>
-    <arg name="verbose" default="false"/>
-    <arg name="paused" default="false"/>
-    <arg name="respawn_gazebo" default="false"/>
-    <!-- MAVROS configs -->
-    <arg name="fcu_url" default="udp://:14540@localhost:14557"/>
-    <arg name="respawn_mavros" default="false"/>
-    <!-- PX4 configs -->
-    <arg name="interactive" default="true"/>
-    <!-- PX4 SITL and Gazebo -->
-    <include file="$(find px4)/launch/posix_sitl.launch">
-        <arg name="x" value="$(arg x)"/>
-        <arg name="y" value="$(arg y)"/>
-        <arg name="z" value="$(arg z)"/>
-        <arg name="R" value="$(arg R)"/>
-        <arg name="P" value="$(arg P)"/>
-        <arg name="Y" value="$(arg Y)"/>
-        <arg name="world" value="$(arg world)"/>
-        <arg name="vehicle" value="$(arg vehicle)"/>
-        <arg name="sdf" value="$(arg sdf)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="interactive" value="$(arg interactive)"/>
-        <arg name="debug" value="$(arg debug)"/>
-        <arg name="verbose" value="$(arg verbose)"/>
-        <arg name="paused" value="$(arg paused)"/>
-        <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
-    </include>
-    <!-- MAVROS -->
-    <include file="$(find mavros)/launch/px4.launch">
-        <!-- GCS link is provided by SITL -->
-        <arg name="gcs_url" value=""/>
-        <arg name="fcu_url" value="$(arg fcu_url)"/>
-        <arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
-    </include>
-</launch>
diff --git a/launch/pub_test.launch b/launch/pub_test.launch
deleted file mode 100644
index 769a51aa9c..0000000000
--- a/launch/pub_test.launch
+++ /dev/null
@@ -1,13 +0,0 @@
-<launch>
-    <!-- Test mavros posix sitl publishes pose at 30 Hz -->
-    <include file="$(find px4)/launch/mavros_posix_sitl.launch">
-        <arg name="gui" value="false"/>
-        <arg name="interactive" value="false"/>
-        <arg name="verbose" value="true"/>
-    </include>
-    <param name="pub_test/topic" value="/mavros/local_position/pose"/>
-    <param name="pub_test/hz" value="30.0"/>
-    <param name="pub_test/hzerror" value="1.0"/>
-    <param name="pub_test/test_duration" value="10.0"/>
-    <test test-name="pub_test" pkg="rostest" type="hztest" name="pub_test"/>
-</launch>
diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
index 594fa95c99..2c1dd89112 100644
--- a/platforms/posix/CMakeLists.txt
+++ b/platforms/posix/CMakeLists.txt
@@ -181,7 +181,6 @@ elseif("${PX4_BOARD}" MATCHES "sitl")
 	# px4 dirs
 	install(
 		DIRECTORY
-			${PROJECT_SOURCE_DIR}/integrationtests
 			${PROJECT_SOURCE_DIR}/launch
 			${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
 		DESTINATION
diff --git a/test/mavros_posix_test_mission.test b/test/mavros_posix_test_mission.test
deleted file mode 100644
index 4d946f1b43..0000000000
--- a/test/mavros_posix_test_mission.test
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <!-- Posix SITL MAVROS integration tests -->
-    <!-- Test a mission -->
-    <arg name="est" default="ekf2"/>
-    <arg name="gui" default="false"/>
-    <arg name="interactive" default="false"/>
-    <arg name="mission"/>  <!-- no default, required input -->
-    <arg name="vehicle" default="iris"/>
-    <!-- MAVROS, PX4 SITL, Gazebo -->
-    <include file="$(find px4)/launch/mavros_posix_sitl.launch">
-        <arg name="est" value="$(arg est)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="interactive" value="$(arg interactive)"/>
-        <arg name="respawn_gazebo" value="true"/>
-        <arg name="respawn_mavros" value="true"/>
-        <arg name="vehicle" value="$(arg vehicle)"/>
-        <arg name="verbose" value="true"/>
-    </include>
-    <!-- ROStest -->
-    <test test-name="$(arg mission)" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission).plan"/>
-</launch>
diff --git a/test/mavros_posix_test_safe_landing.test b/test/mavros_posix_test_safe_landing.test
deleted file mode 100644
index 909a5f86d2..0000000000
--- a/test/mavros_posix_test_safe_landing.test
+++ /dev/null
@@ -1,51 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <!-- Posix SITL MAVROS integration tests -->
-    <!-- Test a mission -->
-    <arg name="est" default="ekf2"/>
-    <arg name="gui" default="false"/>
-    <arg name="interactive" default="false"/>
-    <arg name="mission" default="MC_safe_landing"/>
-    <arg name="sdf" default="$(find avoidance)/sim/models/iris_downwards_camera/iris_downwards_camera.sdf"/>
-    <arg name="vehicle" default="iris_obs_avoid"/>
-    <arg name="world" default="$(find avoidance)/sim/worlds/boxes1.world"/>
-    <!-- PX4 SITL and Gazebo -->
-    <include file="$(find px4)/launch/posix_sitl.launch">
-        <arg name="est" value="$(arg est)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="interactive" value="$(arg interactive)"/>
-        <arg name="respawn_gazebo" value="true"/>
-        <arg name="sdf" value="$(arg sdf)"/>
-        <arg name="vehicle" value="$(arg vehicle)"/>
-        <arg name="verbose" value="true"/>
-        <arg name="world" value="$(arg world)"/>
-    </include>
-    <!-- MAVROS -->
-    <include file="$(find mavros)/launch/node.launch">
-        <arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml"/>
-        <arg name="config_yaml" value="$(find local_planner)/resource/px4_config.yaml"/>
-        <arg name="gcs_url" value=""/>
-        <arg name="fcu_url" value="udp://:14540@localhost:14557"/>
-        <arg name="tgt_system" value="1"/>
-        <arg name="tgt_component" value="1"/>
-        <arg name="respawn_mavros" value="true"/>
-    </include>
-    <!-- Transformation Publishers -->
-    <node pkg="tf" type="static_transform_publisher" name="tf_depth_camera"
-          args="0 0 0 1.57 3.14 0 fcu camera_link 10"/>
-    <!-- Suppress console outputs -->
-    <env name="ROSCONSOLE_CONFIG_FILE" value="$(find local_planner)/resource/custom_rosconsole.conf"/>
-    <!-- Launch Local Planner -->
-    <arg name="pointcloud_topics" default="/camera/depth/points"/>
-    <node name="safe_landing_planner_node" pkg="safe_landing_planner" type="safe_landing_planner_node" output="screen">
-    <param name="pointcloud_topics" value="$(arg pointcloud_topics)" />
-  </node>
-
-  <node name="waypoint_generator_node" pkg="safe_landing_planner" type="waypoint_generator_node" output="screen" >
-  </node>
-
-  <node name="dynparam_slpn" pkg="dynamic_reconfigure" type="dynparam" args="load safe_landing_planner_node $(find safe_landing_planner)/cfg/slpn.yaml" />
-  <node name="dynparam_wpgn" pkg="dynamic_reconfigure" type="dynparam" args="load waypoint_generator_node $(find safe_landing_planner)/cfg/wpgn.yaml" />
-    <!-- ROStest -->
-    <test test-name="$(arg mission)" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission).plan"/>
-</launch>
diff --git a/test/mavros_posix_tests_iris_opt_flow.test b/test/mavros_posix_tests_iris_opt_flow.test
deleted file mode 100644
index c7d3f71b14..0000000000
--- a/test/mavros_posix_tests_iris_opt_flow.test
+++ /dev/null
@@ -1,21 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <!-- Posix SITL MAVROS integration tests -->
-    <!-- Test offboard local posistion and attitude control with optical flow iris -->
-    <arg name="est" default="ekf2"/>
-    <arg name="gui" default="false"/>
-    <arg name="interactive" default="false"/>
-    <!-- MAVROS, PX4 SITL, Gazebo -->
-    <include file="$(find px4)/launch/mavros_posix_sitl.launch">
-        <arg name="est" value="$(arg est)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="interactive" value="$(arg interactive)"/>
-        <arg name="respawn_gazebo" value="true"/>
-        <arg name="respawn_mavros" value="true"/>
-        <arg name="vehicle" value="iris_opt_flow"/>
-        <arg name="verbose" value="true"/>
-    </include>
-    <!-- ROStest -->
-    <test test-name="mavros_flow_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="300.0"/>
-    <test test-name="mavros_flow_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="300.0"/>
-</launch>
diff --git a/test/mavros_posix_tests_missions.test b/test/mavros_posix_tests_missions.test
deleted file mode 100644
index 16b6d62557..0000000000
--- a/test/mavros_posix_tests_missions.test
+++ /dev/null
@@ -1,26 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <!-- Posix SITL MAVROS integration tests -->
-    <!-- Test all missions -->
-    <arg name="est" default="ekf2"/>
-    <arg name="gui" default="false"/>
-    <arg name="interactive" default="false"/>
-    <arg name="vehicle" default="standard_vtol"/>
-    <!-- MAVROS, PX4 SITL, Gazebo -->
-    <include file="$(find px4)/launch/mavros_posix_sitl.launch">
-        <arg name="est" value="$(arg est)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="interactive" value="$(arg interactive)"/>
-        <arg name="respawn_gazebo" value="true"/>
-        <arg name="respawn_mavros" value="true"/>
-        <arg name="vehicle" value="$(arg vehicle)"/>
-        <arg name="verbose" value="true"/>
-    </include>
-    <!-- ROStest -->
-    <test test-name="FW_mission_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="FW_mission_1.plan" vehicle="plane"/>
-    <test test-name="FW_mission_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="FW_mission_1.plan" vehicle="plane_catapult"/>
-    <test test-name="MC_mission_box" pkg="px4" type="mission_test.py" time-limit="300.0" args="MC_mission_box.plan" vehicle="iris"/>
-    <test test-name="VTOL_mission_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="VTOL_mission_1.plan" vehicle="standard_vtol"/>
-    <test test-name="VTOL_mission_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="VTOL_mission_1.plan" vehicle="tailsitter"/>
-    <test test-name="VTOL_mission_1" pkg="px4" type="mission_test.py" time-limit="300.0" args="VTOL_mission_1.plan" vehicle="tiltrotor"/>
-</launch>
diff --git a/test/mavros_posix_tests_offboard_attctl.test b/test/mavros_posix_tests_offboard_attctl.test
deleted file mode 100644
index 58fc2df6f0..0000000000
--- a/test/mavros_posix_tests_offboard_attctl.test
+++ /dev/null
@@ -1,21 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <!-- Posix SITL MAVROS integration tests -->
-    <!-- Test offboard attitude control -->
-    <arg name="est" default="ekf2"/>
-    <arg name="gui" default="false"/>
-    <arg name="interactive" default="false"/>
-    <arg name="vehicle" default="iris"/>
-    <!-- MAVROS, PX4 SITL, Gazebo -->
-    <include file="$(find px4)/launch/mavros_posix_sitl.launch">
-        <arg name="est" value="$(arg est)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="interactive" value="$(arg interactive)"/>
-        <arg name="respawn_gazebo" value="true"/>
-        <arg name="respawn_mavros" value="true"/>
-        <arg name="vehicle" value="$(arg vehicle)"/>
-        <arg name="verbose" value="true"/>
-    </include>
-    <!-- ROStest -->
-    <test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" time-limit="300.0"/>
-</launch>
diff --git a/test/mavros_posix_tests_offboard_posctl.test b/test/mavros_posix_tests_offboard_posctl.test
deleted file mode 100644
index 7fbb35737e..0000000000
--- a/test/mavros_posix_tests_offboard_posctl.test
+++ /dev/null
@@ -1,21 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <!-- Posix SITL MAVROS integration tests -->
-    <!-- Test offboard local posistion control -->
-    <arg name="est" default="ekf2"/>
-    <arg name="gui" default="false"/>
-    <arg name="interactive" default="false"/>
-    <arg name="vehicle" default="iris"/>
-    <!-- MAVROS, PX4 SITL, Gazebo -->
-    <include file="$(find px4)/launch/mavros_posix_sitl.launch">
-        <arg name="est" value="$(arg est)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="interactive" value="$(arg interactive)"/>
-        <arg name="respawn_gazebo" value="true"/>
-        <arg name="respawn_mavros" value="true"/>
-        <arg name="vehicle" value="$(arg vehicle)"/>
-        <arg name="verbose" value="true"/>
-    </include>
-    <!-- ROStest -->
-    <test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="300.0"/>
-</launch>
diff --git a/test/mavros_posix_tests_offboard_rpyrt_ctl.test b/test/mavros_posix_tests_offboard_rpyrt_ctl.test
deleted file mode 100644
index 6d26412d26..0000000000
--- a/test/mavros_posix_tests_offboard_rpyrt_ctl.test
+++ /dev/null
@@ -1,21 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <!-- Posix SITL MAVROS integration tests -->
-    <!-- Test offboard attitude control -->
-    <arg name="est" default="ekf2"/>
-    <arg name="gui" default="false"/>
-    <arg name="interactive" default="false"/>
-    <arg name="vehicle" default="iris"/>
-    <!-- MAVROS, PX4 SITL, Gazebo -->
-    <include file="$(find px4)/launch/mavros_posix_sitl.launch">
-        <arg name="est" value="$(arg est)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="interactive" value="$(arg interactive)"/>
-        <arg name="respawn_gazebo" value="true"/>
-        <arg name="respawn_mavros" value="true"/>
-        <arg name="vehicle" value="$(arg vehicle)"/>
-        <arg name="verbose" value="true"/>
-    </include>
-    <!-- ROStest -->
-    <test test-name="mavros_offboard_yawrate_test" pkg="px4" type="mavros_offboard_yawrate_test.py" time-limit="300.0"/>
-</launch>
diff --git a/test/rostest_px4_run.sh b/test/rostest_px4_run.sh
deleted file mode 100755
index e66e833e61..0000000000
--- a/test/rostest_px4_run.sh
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/usr/bin/env bash
-
-DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-PX4_SRC_DIR=${DIR}/..
-
-source /opt/ros/${ROS_DISTRO:-kinetic}/setup.bash
-source ${PX4_SRC_DIR}/Tools/simulation/gazebo-classic/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/build/px4_sitl_default
-
-export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${PX4_SRC_DIR}:${PX4_SRC_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
-
-export ROS_LOG_DIR="$HOME/.ros/ros_logs"
-mkdir -p "$ROS_LOG_DIR"
-
-rostest px4 "$@"