Merge remote-tracking branch 'origin/main' into pr-spacecraft-allocator-and-board

2026-05-13 06:27:35 +08:00 · 2025-02-05 16:27:04 +01:00
parent bb5d6a01b8 0faec9b3e7
commit 1a87f65058
114 changed files with 2937 additions and 521 deletions
@@ -131,6 +131,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-flow_canbootloader
+    ark_can-flow-mr_canbootloader:
+      short: ark_can-flow-mr_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-flow-mr_canbootloader
    ark_can-gps_default:
      short: ark_can-gps_default
      buildType: MinSizeRel
@@ -16,10 +16,6 @@ param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1

-# disable some checks to allow to fly:
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-
 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1
@@ -16,12 +16,6 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-
 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402
@@ -33,18 +27,19 @@ param set-default SIH_KDV 0.2
 param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)

-
 param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3

+# SIH for now hardcodes this configuration which we need to match in the airframe files.
 param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R 1
+param set-default CA_SV_CS0_TYPE 15  # single channel aileron
 param set-default CA_SV_CS1_TRQ_P 1
-param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS1_TYPE 3  # elevator
 param set-default CA_SV_CS2_TRQ_Y 1
-param set-default CA_SV_CS2_TYPE 4
+param set-default CA_SV_CS2_TYPE 4  # rudder
+
 param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 202
 param set-default PWM_MAIN_FUNC3 203
@@ -28,10 +28,6 @@ param set-default MC_PITCH_P 5

 param set-default MAV_TYPE 19

-# disable some checks to allow to fly:
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-
 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2
@@ -0,0 +1,96 @@
+#!/bin/sh
+#
+# @name SIH Standard VTOL
+#
+# @type Simulation
+# @class VTOL
+#
+# @output Motor1 MC motor front right
+# @output Motor2 MC motor back left
+# @output Motor3 MC motor front left
+# @output Motor4 MC motor back right
+# @output Motor5 Forward thrust motor
+# @output Servo1 Ailerons (single channel)
+# @output Servo2 Elevator
+# @output Servo3 Rudder
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
+param set-default EKF2_GPS_DELAY 0
+
+param set-default VT_TYPE 2
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR0_PX 0.2
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR1_PX -0.2
+param set-default CA_ROTOR1_PY -0.2
+param set-default CA_ROTOR2_PX 0.2
+param set-default CA_ROTOR2_PY -0.2
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.2
+param set-default CA_ROTOR3_PY 0.2
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_PX -0.3
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+
+# SIH for now hardcodes this configuration which we need to match in the airframe files.
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 1
+param set-default CA_SV_CS0_TYPE 15  # single channel aileron
+param set-default CA_SV_CS1_TRQ_P 1
+param set-default CA_SV_CS1_TYPE 3  # elevator
+param set-default CA_SV_CS2_TRQ_Y 1
+param set-default CA_SV_CS2_TYPE 4  # rudder
+
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+param set-default FW_AIRSPD_MAX 12
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 201
+param set-default PWM_MAIN_FUNC6 202
+param set-default PWM_MAIN_FUNC7 203
+param set-default PWM_MAIN_FUNC8 105
+
+param set-default MAV_TYPE 22
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+# param set-default SYS_HITL 2
+
+param set-default SENS_DPRES_OFF 0.001
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.2
+
+# sih as standard vtol
+param set SIH_VEHICLE_TYPE 3
@@ -109,6 +109,7 @@ px4_add_romfs_files(
 	10040_sihsim_quadx
 	10041_sihsim_airplane
 	10042_sihsim_xvert
+	10043_sihsim_standard_vtol

 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
@@ -4,6 +4,9 @@
 # Simulator IMU data provided at 250 Hz
 param set-default IMU_INTEG_RATE 250

+# For simulation, allow registering modes while armed for developer convenience
+param set-default COM_MODE_ARM_CHK 1
+
 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then

 	echo "INFO  [init] SIH simulator"
@@ -17,15 +17,16 @@ param set UAVCAN_ENABLE 0
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_P 1
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1
-param set-default CA_SV_CS2_TYPE 4

-param set HIL_ACT_REV 1
+# SIH for now hardcodes this configuration which we need to match in the airframe files.
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 1
+param set-default CA_SV_CS0_TYPE 15  # single channel aileron
+param set-default CA_SV_CS1_TRQ_P 1
+param set-default CA_SV_CS1_TYPE 3  # elevator
+param set-default CA_SV_CS2_TRQ_Y 1
+param set-default CA_SV_CS2_TYPE 4  # rudder
+
 param set HIL_ACT_FUNC1 201
 param set HIL_ACT_FUNC2 202
 param set HIL_ACT_FUNC3 203
@@ -10,7 +10,7 @@
 # @output Motor3 MC motor front left
 # @output Motor4 MC motor back right
 # @output Motor5 Forward thrust motor
-# @output Servo1 Aileron
+# @output Servo1 Ailerons (single channel)
 # @output Servo2 Elevator
 # @output Servo3 Rudder
 #
@@ -20,8 +20,7 @@
 . ${R}etc/init.d/rc.vtol_defaults

 param set UAVCAN_ENABLE 0
-param set-default VT_B_TRANS_DUR 5
-param set-default VT_ELEV_MC_LOCK 0
+
 param set-default VT_TYPE 2
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5
@@ -40,25 +39,23 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.2
 param set-default CA_ROTOR3_PY 0.2
 param set-default CA_ROTOR3_KM -0.05
-
-
 param set-default CA_ROTOR4_PX -0.3
 param set-default CA_ROTOR4_KM 0.05
 param set-default CA_ROTOR4_AX 1
 param set-default CA_ROTOR4_AZ 0

+# SIH for now hardcodes this configuration which we need to match in the airframe files.
 param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS0_TRQ_R 1
+param set-default CA_SV_CS0_TYPE 15  # single channel aileron
 param set-default CA_SV_CS1_TRQ_P 1
-param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS1_TYPE 3  # elevator
 param set-default CA_SV_CS2_TRQ_Y 1
+param set-default CA_SV_CS2_TYPE 4  # rudder

-param set HIL_ACT_REV 32
-
-param set-default FW_AIRSPD_MAX 12
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 10
+param set-default FW_AIRSPD_MAX 12

 param set-default HIL_ACT_FUNC1 101
 param set-default HIL_ACT_FUNC2 102
@@ -71,16 +68,12 @@ param set-default HIL_ACT_FUNC8 105

 param set-default MAV_TYPE 22

-
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

 param set-default SENS_DPRES_OFF 0.001

@@ -93,9 +86,7 @@ param set SIH_IYY 0.000625
 param set SIH_IZZ 0.00300
 param set SIH_IXZ 0
 param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.145
+param set SIH_L_ROLL 0.2

 # sih as standard vtol
 param set SIH_VEHICLE_TYPE 3
-
-param set-default VT_ARSP_TRANS 6
@@ -24,7 +24,6 @@ param set-default COM_DISARM_PRFLT -1

 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
-param set-default EKF2_GPS_CHECK 21
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10
@@ -21,3 +21,6 @@ param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10

 param set-default GPS_UBX_DYNMODEL 6
+
+# lower RNG_FOG since MC are expected to fly closer over obstacles
+param set-default EKF2_RNG_FOG 1.0
@@ -302,6 +302,75 @@ else
 		. $FCONFIG
 	fi

+
+	#
+	# Sensors System (start before Commander so Preflight checks are properly run).
+	#
+	if param greater SYS_HITL 0
+	then
+		sensors start -h
+
+		# disable GPS
+		param set GPS_1_CONFIG 0
+
+		# start the simulator in hardware if needed
+		if param compare SYS_HITL 2
+		then
+			simulator_sih start
+			sensor_baro_sim start
+			sensor_mag_sim start
+			sensor_gps_sim start
+			sensor_agp_sim start
+		fi
+
+	else
+		#
+		# board sensors: rc.sensors
+		#
+		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
+		if [ -f $BOARD_RC_SENSORS ]
+		then
+			echo "Board sensors: ${BOARD_RC_SENSORS}"
+			. $BOARD_RC_SENSORS
+		fi
+		unset BOARD_RC_SENSORS
+
+		. ${R}etc/init.d/rc.sensors
+
+		if param compare -s BAT1_SOURCE 2
+		then
+			esc_battery start
+		fi
+
+		if ! param compare BAT1_SOURCE 1
+		then
+			battery_status start
+		fi
+
+		sensors start
+	fi
+
+	#
+	# state estimator selection
+	#
+	if param compare -s EKF2_EN 1
+	then
+		ekf2 start &
+	fi
+
+	if param compare -s LPE_EN 1
+	then
+		local_position_estimator start
+	fi
+
+	if param compare -s ATT_EN 1
+	then
+		attitude_estimator_q start
+	fi
+
+	#
+	# px4io
+	#
 	if px4io supported
 	then
 	# Check if PX4IO present and update firmware if needed.
@@ -369,79 +438,24 @@ else
 	fi

 	#
-	# Sensors System (start before Commander so Preflight checks are properly run).
-	# Commander needs to be this early for in-air-restarts.
+	# Commander
 	#
 	if param greater SYS_HITL 0
 	then
+		commander start -h
+
 		if ! pwm_out_sim start -m hil
 		then
 			tune_control play error
 		fi

-		sensors start -h
-		commander start -h
-		# disable GPS
-		param set GPS_1_CONFIG 0
-
-		# start the simulator in hardware if needed
-		if param compare SYS_HITL 2
-		then
-			simulator_sih start
-			sensor_baro_sim start
-			sensor_mag_sim start
-			sensor_gps_sim start
-			sensor_agp_sim start
-		fi
-
 	else
-		#
-		# board sensors: rc.sensors
-		#
-		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
-		if [ -f $BOARD_RC_SENSORS ]
-		then
-			echo "Board sensors: ${BOARD_RC_SENSORS}"
-			. $BOARD_RC_SENSORS
-		fi
-		unset BOARD_RC_SENSORS
-
-		. ${R}etc/init.d/rc.sensors
-
-		if param compare -s BAT1_SOURCE 2
-		then
-			esc_battery start
-		fi
-
-		if ! param compare BAT1_SOURCE 1
-		then
-			battery_status start
-		fi
-
-		sensors start
 		commander start

 		dshot start
 		pwm_out start
 	fi

-	#
-	# state estimator selection
-	if param compare -s EKF2_EN 1
-	then
-		ekf2 start &
-	fi
-
-	if param compare -s LPE_EN 1
-	then
-		local_position_estimator start
-	fi
-
-	if param compare -s ATT_EN 1
-	then
-		attitude_estimator_q start
-	fi
-
 	#
 	# Configure vehicle type specific parameters.
 	# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
@@ -189,7 +189,7 @@ class uploader:
    GET_CHIP        = b'\x2c'     # rev5+  , get chip version
    SET_BOOT_DELAY  = b'\x2d'     # rev5+  , set boot delay
    GET_CHIP_DES    = b'\x2e'     # rev5+  , get chip description in ASCII
-    GET_VERSION     = b'\x2f'     # rev5+  , get chip description in ASCII
+    GET_VERSION     = b'\x2f'     # rev5+  , get bootloader version in ASCII
    CHIP_FULL_ERASE = b'\x40'     # full erase of flash, rev6+
    MAX_DES_LENGTH  = 20

@@ -201,7 +201,6 @@ class uploader:
    INFO_BOARD_ID   = b'\x02'        # board type
    INFO_BOARD_REV  = b'\x03'        # board revision
    INFO_FLASH_SIZE = b'\x04'        # max firmware size in bytes
-    BL_VERSION      = b'\x07'        # get bootloader version, e.g. major.minor.patch.githash (up to 20 chars)

    PROG_MULTI_MAX  = 252            # protocol max is 255, must be multiple of 4
    READ_MULTI_MAX  = 252            # protocol max is 255
@@ -0,0 +1,5 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT=""
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y
@@ -0,0 +1,13 @@
+{
+    "board_id": 88,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ARK Flow MR board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ARKFLOWMR",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+
+param set-default IMU_GYRO_RATEMAX 1000
+param set-default SENS_FLOW_RATE 150
+param set-default SENS_IMU_CLPNOTI 0
+
+param set-default SENS_AFBR_S_RATE 25
+param set-default SENS_AFBR_L_RATE 10
+param set-default SENS_AFBR_THRESH 8
+param set-default SENS_AFBR_HYSTER 2
+
+# Internal SPI
+paa3905 -s start -Y 180
+
+iim42653 -R 0 -s start
+
+afbrs50 start
@@ -0,0 +1,57 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow-mr/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BINFMT_DISABLE=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=0
+CONFIG_NUNGET_CHARS=0
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_FLASH_CONFIG_G=y
+CONFIG_STM32_NOEXT_VECTORS=y
+CONFIG_STM32_TIM8=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,136 @@
+/************************************************************************************
+ * configs/px4fmu/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 NuttX 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.
+ *
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/* HSI - 8 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - 8  MHz Crystal
+ * LSE - not installed
+ */
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+
+/* Main PLL Configuration */
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
+#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
+
+#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
+
+#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
+#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
+#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
+
+#define STM32_SYSCLK_FREQUENCY  96000000ul
+
+/* AHB clock (HCLK) is SYSCLK (96MHz) */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK (96MHz) */
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* Timers driven from APB2 will be PCLK2 since no prescale division */
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
+#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
+
+/* Alternate function pin selections ************************************************/
+
+/* UARTs */
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
+
+/* CAN */
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
+
+/* SPI */
+#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
+
+#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1 /* PB14 */
+#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1 /* PB15 */
+#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_1  /* PB10 */
+
+#endif /* __ARCH_BOARD_BOARD_H */
@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX   // DMA1, Stream 3, Channel 0
+#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX   // DMA1, Stream 4, Channel 0
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_2   // DMA2, Stream 5, Channel 3
@@ -0,0 +1,149 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow-mr/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_VARS=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=254
+CONFIG_SCHED_HPWORKSTACKSIZE=3000
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_WAITPID=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_CONFIG_G=y
+CONFIG_STM32_FLASH_PREFETCH=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI1_DMA=y
+CONFIG_STM32_SPI1_DMA_BUFFER=2048
+CONFIG_STM32_SPI2=y
+CONFIG_STM32_SPI2_DMA=y
+CONFIG_STM32_SPI2_DMA_BUFFER=2048
+CONFIG_STM32_TIM8=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USART2_TXBUFSIZE=1100
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,134 @@
+/****************************************************************************
+ * nuttx-config/scripts/canbootloader_script.ld
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,146 @@
+/****************************************************************************
+ * scripts/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 928K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(8);
+		/*
+		* This section positions the app_descriptor_t used
+		* by the make_can_boot_descriptor.py tool to set
+		* the application image's descriptor so that the
+		* uavcan bootloader has the ability to validate the
+		* image crc, size etc
+		*/
+		KEEP(*(.app_descriptor))
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,65 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		boot_config.h
+		boot.c
+		led.c
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+	add_library(drivers_board
+		can.c
+		init.c
+		led.c
+		spi.cpp
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_spi
+			drivers__led # drv_led_start
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+	)
+endif()
@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * board internal definitions
+ */
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* CAN  Silent mode control */
+#define GPIO_CAN1_SILENT_S0   /* PB11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
+
+/* CAN termination software control */
+#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
+#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION
+
+/* Boot config */
+#define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
+
+/* LEDs are driven with open drain to support Anode to 5V or 3.3V */
+#define GPIO_TIM1_CH1         /* PA8  */ (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH2         /* PA9  */ (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH3         /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+
+#define BROADCOM_AFBR_S50_S2PI_SPI_BUS 2
+#define BROADCOM_AFBR_S50_S2PI_CS   /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
+#define BROADCOM_AFBR_S50_S2PI_IRQ  /* PB4  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4|GPIO_EXTI)
+#define BROADCOM_AFBR_S50_S2PI_CLK  /* PB10 */  GPIO_SPI2_SCK_1
+#define BROADCOM_AFBR_S50_S2PI_MOSI /* PB15 */  GPIO_SPI2_MOSI_1
+#define BROADCOM_AFBR_S50_S2PI_MISO /* PB14 */  GPIO_SPI2_MISO_1
+
+#define FLASH_BASED_PARAMS
+
+/* High-resolution timer */
+#define HRT_TIMER                    3  /* use timer 3 for the HRT */
+#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
+
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_BOOT_CONFIG,                 \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_CAN1_TERMINATION,            \
+	}
+
+__BEGIN_DECLS
+
+#define BOARD_HAS_N_S_RGB_LED       1
+#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
+
+#ifndef __ASSEMBLY__
+
+extern void stm32_spiinitialize(void);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <stdint.h>
+#include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include <nuttx/board.h>
+#include "led.h"
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+	stm32_configgpio(GPIO_CAN1_SILENT_S0);
+	stm32_configgpio(GPIO_CAN1_TERMINATION);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+
+#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
+	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
+#endif
+
+}
+
+/************************************************************************************
+ * Name: board_deinitialize
+ *
+ * Description:
+ *   This function is called by the bootloader code prior to booting
+ *   the application. Is should place the HW into an benign initialized state.
+ *
+ ************************************************************************************/
+
+void board_deinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
+
+/****************************************************************************
+ * Name: board_get_product_name
+ *
+ * Description:
+ *   Called to retrieve the product name. The returned value is a assumed
+ *   to be written to a pascal style string that will be length prefixed
+ *   and not null terminated
+ *
+ * Input Parameters:
+ *    product_name - A pointer to a buffer to write the name.
+ *    maxlen       - The maximum number of charter that can be written
+ *
+ * Returned Value:
+ *   The length of characters written to the buffer.
+ *
+ ****************************************************************************/
+
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
+	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
+}
+
+/****************************************************************************
+ * Name: board_get_hardware_version
+ *
+ * Description:
+ *   Called to retrieve the hardware version information. The function
+ *   will first initialize the the callers struct to all zeros.
+ *
+ * Input Parameters:
+ *    hw_version - A pointer to a uavcan_hardwareversion_t.
+ *
+ * Returned Value:
+ *   Length of the unique_id
+ *
+ ****************************************************************************/
+
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
+	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
+
+	hw_version->major = HW_VERSION_MAJOR;
+	hw_version->minor = HW_VERSION_MINOR;
+
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
+}
+
+/****************************************************************************
+ * Name: board_indicate
+ *
+ * Description:
+ *   Provides User feedback to indicate the state of the bootloader
+ *   on board specific  hardware.
+ *
+ * Input Parameters:
+ *    indication - A member of the uiindication_t
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
+
+typedef begin_packed_struct struct led_t {
+	uint8_t red;
+	uint8_t green;
+	uint8_t blue;
+	uint8_t hz;
+} end_packed_struct led_t;
+
+static const  led_t i2l[] = {
+
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),
+
+};
+
+void board_indicate(uiindication_t indication)
+{
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
+		i2l[indication].hz);
+}
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file boot_config.h
+ *
+ * bootloader definitions that configures the behavior and options
+ * of the Boot loader
+ * This file is relies on the parent folder's boot_config.h file and defines
+ * different usages of the hardware for bootloading
+ */
+
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+/* Bring in the board_config.h definitions
+ * todo:make this be pulled in from a targed's build
+ * files in nuttx*/
+
+#include "board_config.h"
+#include "uavcan.h"
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+#include <stm32_flash.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
+
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS                    3000
+#define OPT_NODE_STATUS_RATE_MS         800
+#define OPT_NODE_INFO_RATE_MS           50
+#define OPT_BL_NUMBER_TIMERS            7
+
+/*
+ *  This Option set is set to 1 ensure a provider of firmware has an
+ *  opportunity update the node's firmware.
+ *  This Option is the default policy and can be overridden by
+ *  a jumper
+ *  When this Policy is set, the node will ignore tboot and
+ *  wait indefinitely for a GetNodeInfo request before booting.
+ *
+ *  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
+ *  the polarity of the jumper to be True Active
+ *
+ *  wait  OPT_WAIT_FOR_GETNODEINFO  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
+ *                                                 Jumper
+ *   yes           1                       0         x
+ *   yes           1                       1       Active
+ *   no            1                       1       Not Active
+ *   no            0                       0         X
+ *   yes           0                       1       Active
+ *   no            0                       1       Not Active
+ *
+ */
+#define OPT_WAIT_FOR_GETNODEINFO                    0
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1
+
+#define OPT_ENABLE_WD           1
+
+#define OPT_RESTART_TIMEOUT_MS          20000
+
+/* Reserved for the Booloader */
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
+
+/* Reserved for the application out of the total
+ * system flash minus the BOOTLOADER_SIZE_IN_K
+ */
+#define OPT_APPLICATION_RESERVER_IN_K    0
+
+#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
+#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
+
+
+#define FLASH_BASE              STM32_FLASH_BASE
+#define FLASH_SIZE              STM32_FLASH_SIZE
+
+#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
+
+/* If this board uses big flash that have large sectors */
+
+#define OPT_USE_YIELD
+
+/* Bootloader Option*****************************************************************
+ *
+ */
+#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif
@@ -0,0 +1,147 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * board specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include "led.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <drivers/drv_watchdog.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	watchdog_init();
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	// Configure SPI all interfaces GPIO & enable power.
+	stm32_spiinitialize();
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{2, 16 * 1024, 0x08008000},
+		{3, 16 * 1024, 0x0800C000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+	}
+
+#endif // FLASH_BASED_PARAMS
+
+	/* Configure the HW based on the manifest */
+	//px4_platform_configure();
+
+	return OK;
+}
@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#include "led.h"
+
+#define TMR_BASE        STM32_TIM1_BASE
+#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
+#define TMR_REG(o)      (TMR_BASE+(o))
+
+void rgb_led(int r, int g, int b, int freqs)
+{
+
+	long fosc = TMR_FREQUENCY;
+	long prescale = 2048;
+	long p1s = fosc / prescale;
+	long p0p5s  = p1s / 2;
+	uint16_t val;
+	static bool once = 0;
+
+	if (!once) {
+		once = 1;
+
+		/* Enabel Clock to Block */
+		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
+
+		/* Reload */
+
+		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
+		val |= ATIM_EGR_UG;
+		putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
+
+		/* Set Prescaler STM32_TIM_SETCLOCK */
+
+		putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
+
+		/* Enable STM32_TIM_SETMODE*/
+
+		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
+			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
+		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
+			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
+			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
+
+
+		stm32_configgpio(GPIO_TIM1_CH1);
+		stm32_configgpio(GPIO_TIM1_CH2);
+		stm32_configgpio(GPIO_TIM1_CH3);
+
+		/* master output enable = on */
+		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
+	}
+
+	long p  = freqs == 0 ? p1s : p1s / freqs;
+	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
+
+	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+
+	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
+	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
+	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
+
+	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+	if (freqs == 0) {
+		val &= ~ATIM_CR1_CEN;
+
+	} else {
+		val |= ATIM_CR1_CEN;
+	}
+
+	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+}
@@ -0,0 +1,37 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+__BEGIN_DECLS
+void rgb_led(int r, int g, int b, int freqs);
+__END_DECLS
@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortB, GPIO::Pin0}, SPI::DRDY{GPIO::PortB, GPIO::Pin1}),
+		initSPIDevice(DRV_FLOW_DEVTYPE_PAA3905, SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
+	}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin12}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,17 @@
+# UAVCAN boot loadable Module ID
+set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
+set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+)
+
+set(uavcanblid_hw_version_major 0)
+set(uavcanblid_hw_version_minor 88)
+set(uavcanblid_name "\"org.ark.can-flow-mr\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
@@ -145,10 +145,11 @@ CONFIG_NETDB_DNSCLIENT=y
 CONFIG_NETDB_DNSCLIENT_ENTRIES=8
 CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
-CONFIG_NETINIT_DHCPC=y
+CONFIG_NETMAN_FALLBACK_IPADDR=0xC0A80004
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0xA290AFE
-CONFIG_NETINIT_DRIPADDR=0xA290AFE
+CONFIG_NETINIT_IPADDR=0xC0A80004
+CONFIG_NETINIT_DNSIPADDR=0xC0A800FE
+CONFIG_NETINIT_DRIPADDR=0xC0A80001
 CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
@@ -16,9 +16,9 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
-CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -36,6 +36,7 @@ CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -31,7 +31,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NAVIGATOR_ADSB=n
+# CONFIG_NAVIGATOR_ADSB is not set
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
@@ -32,7 +32,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NAVIGATOR_ADSB=n
+# CONFIG_NAVIGATOR_ADSB is not set
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
@@ -352,6 +352,7 @@
 		GPIO_nSAFETY_SWITCH_LED_OUT,	        \
 		GPIO_SAFETY_SWITCH_IN,			\
 		GPIO_nARMED,				\
+		GPIO_PWM_LEVEL_CONTROL,			\
 	}

 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -36,7 +36,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NAVIGATOR_ADSB=n
+# CONFIG_NAVIGATOR_ADSB is not set
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -27,7 +27,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NAVIGATOR_ADSB=n
+# CONFIG_NAVIGATOR_ADSB is not set
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -41,7 +41,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NAVIGATOR_ADSB=n
+# CONFIG_NAVIGATOR_ADSB is not set
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
@@ -26,10 +26,10 @@ CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_TAP_ESC=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -35,7 +35,6 @@ CONFIG_CDCACM_PRODUCTID=0x004b
 CONFIG_CDCACM_PRODUCTSTR="MicoAir743v2"
 CONFIG_CDCACM_RXBUFSIZE=6000
 CONFIG_CDCACM_TXBUFSIZE=12000
-#TODO：ally for VENDOR ID in the future
 CONFIG_CDCACM_VENDORID=0x3162
 CONFIG_CDCACM_VENDORSTR="MicoAir"
 CONFIG_DEBUG_FULLOPT=y
@@ -196,17 +196,17 @@ CONFIG_STM32H7_SDMMC1=y
 CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI3=y
 CONFIG_STM32H7_SPI2_DMA=y
 CONFIG_STM32H7_SPI2_DMA_BUFFER=2048
+CONFIG_STM32H7_SPI3=y
 CONFIG_STM32H7_SPI3_DMA=y
 CONFIG_STM32H7_SPI3_DMA_BUFFER=2048
 CONFIG_STM32H7_SPI_DMATHRESHOLD=8
+CONFIG_STM32H7_TIM15=y
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
 CONFIG_STM32H7_TIM8=y
-CONFIG_STM32H7_TIM15=y
 CONFIG_STM32H7_UART4=y
 CONFIG_STM32H7_UART5=y
 CONFIG_STM32H7_UART7=y
@@ -222,25 +222,18 @@ CONFIG_STM32H7_USART_SWAP=y
 CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=115200
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=800
-CONFIG_UART5_BAUD=115200
 CONFIG_UART5_RXBUFSIZE=600
 CONFIG_UART5_TXBUFSIZE=800
-CONFIG_UART7_BAUD=115200
 CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=800
-CONFIG_UART8_BAUD=115200
 CONFIG_UART8_RXBUFSIZE=600
 CONFIG_UART8_TXBUFSIZE=800
-CONFIG_USART1_BAUD=115200
 CONFIG_USART1_RXBUFSIZE=1200
 CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=115200
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_TXBUFSIZE=800
-CONFIG_USART3_BAUD=115200
 CONFIG_USART3_RXBUFSIZE=600
 CONFIG_USART3_TXBUFSIZE=800
 CONFIG_USART6_BAUD=57600
@@ -43,6 +43,7 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
@@ -104,4 +105,3 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
-# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
@@ -42,8 +42,12 @@ px4_add_library(drivers_board
 	imxrt_flexspi_nor_boot.c
 	imxrt_flexspi_nor_flash.c
 	imxrt_flexspi_storage.c
+	imxrt_ocram_initialize.c
 )

+# Force compiler not to use builtin functions (like memcpy)
+# to optimize for loops in init.c (imxrt_ocram_initialize)
+set_source_files_properties(imxrt_ocram_initialize.c PROPERTIES COMPILE_FLAGS -fno-builtin)

 target_link_libraries(drivers_board
 	PRIVATE
@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018-2019, 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file imxrt_ocram_initialize.c
+ *
+ * PX4 fmu-v6xrt RAM startup early startup code.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "arm_internal.h"
+#include "imxrt_iomuxc.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+__BEGIN_DECLS
+extern const uint64_t _fitcmfuncs;   /* Copy source address in FLASH */
+extern uint64_t _sitcmfuncs;         /* Copy destination start address in ITCM */
+extern uint64_t _eitcmfuncs;         /* Copy destination end address in ITCM */
+extern uint64_t _sdtcm;              /* Copy destination start address in DTCM */
+extern uint64_t _edtcm;              /* Copy destination end address in DTCM */
+__END_DECLS
+
+/****************************************************************************
+ * Name: imxrt_ocram_initialize
+ *
+ * Description:
+ *   Called off reset vector to reconfigure the flexRAM
+ *   and finish the FLASH to RAM Copy.
+ *   CMakeLists.txt Forces compiler not to use builtin functions using -fno-builtin
+ *
+ ****************************************************************************/
+
+__EXPORT void imxrt_ocram_initialize(void)
+{
+	uint32_t regval;
+	register uint64_t *src;
+	register uint64_t *dest;
+
+	/* FlexRAM Configuration
+	 *    F = 64K ITCM
+	 *    A = 64K DTCM
+	 *    5 = 64K OCRAM
+	 *    So 0xFFFFFFAA is
+	 *    384K FlexRAM ITCM
+	 *    128K FlexRAM DTCM
+	 * */
+
+	putreg32(0xFFFFFFAA, IMXRT_IOMUXC_GPR_GPR17);
+	regval = getreg32(IMXRT_IOMUXC_GPR_GPR16);
+	putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL, IMXRT_IOMUXC_GPR_GPR16);
+
+	/* Copy any necessary code sections from FLASH to ITCM. The process is the
+	* same as the code copying from FLASH to RAM above. */
+	for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs;
+	     dest < (uint64_t *)&_eitcmfuncs;) {
+		*dest++ = *src++;
+	}
+
+	/* Clear .dtcm.  We'll do this inline (vs. calling memset) just to be
+	* certain that there are no issues with the state of global variables.
+	*/
+
+	for (dest = &_sdtcm; dest < &_edtcm;) {
+		*dest++ = 0;
+	}
+}
@@ -104,11 +104,6 @@ extern void led_off(int led);

 extern uint32_t _srodata;            /* Start of .rodata */
 extern uint32_t _erodata;            /* End of .rodata */
-extern const uint64_t _fitcmfuncs;   /* Copy source address in FLASH */
-extern uint64_t _sitcmfuncs;         /* Copy destination start address in ITCM */
-extern uint64_t _eitcmfuncs;         /* Copy destination end address in ITCM */
-extern uint64_t _sdtcm;              /* Copy destination start address in DTCM */
-extern uint64_t _edtcm;              /* Copy destination end address in DTCM */
 __END_DECLS

 /************************************************************************************
@@ -192,50 +187,6 @@ void imxrt_flash_setup_prefetch_partition(void)
 	ARM_DMB();
 }

-/****************************************************************************
- * Name: imxrt_ocram_initialize
- *
- * Description:
- *   Called off reset vector to reconfigure the flexRAM
- *   and finish the FLASH to RAM Copy.
- *
- ****************************************************************************/
-
-__EXPORT void imxrt_ocram_initialize(void)
-{
-	uint32_t regval;
-	register uint64_t *src;
-	register uint64_t *dest;
-
-	/* FlexRAM Configuration
-	 *    F = 64K ITCM
-	 *    A = 64K DTCM
-	 *    5 = 64K OCRAM
-	 *    So 0xFFFFFFAA is
-	 *    384K FlexRAM ITCM
-	 *    128K FlexRAM DTCM
-	 * */
-
-	putreg32(0xFFFFFFAA, IMXRT_IOMUXC_GPR_GPR17);
-	regval = getreg32(IMXRT_IOMUXC_GPR_GPR16);
-	putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL, IMXRT_IOMUXC_GPR_GPR16);
-
-	/* Copy any necessary code sections from FLASH to ITCM. The process is the
-	* same as the code copying from FLASH to RAM above. */
-	for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs;
-	     dest < (uint64_t *)&_eitcmfuncs;) {
-		*dest++ = *src++;
-	}
-
-	/* Clear .dtcm.  We'll do this inline (vs. calling memset) just to be
-	* certain that there are no issues with the state of global variables.
-	*/
-
-	for (dest = &_sdtcm; dest < &_edtcm;) {
-		*dest++ = 0;
-	}
-}
-
 /****************************************************************************
 * Name: imxrt_boardinitialize
 *
@@ -31,7 +31,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NAVIGATOR_ADSB=n
+# CONFIG_NAVIGATOR_ADSB is not set
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
@@ -41,7 +41,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NAVIGATOR_ADSB=n
+# CONFIG_NAVIGATOR_ADSB is not set
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
@@ -75,9 +75,14 @@ else()
 		imxrt_flexspi_nor_boot.c
 		imxrt_flexspi_nor_flash.c
 		imxrt_clockconfig.c
+		imxrt_ocram_initialize.c
 		${SRCS}
 	)

+	# Force compiler not to use builtin functions (like memcpy)
+	# to optimize for loops in init.c (imxrt_ocram_initialize)
+	set_source_files_properties(imxrt_ocram_initialize.c PROPERTIES COMPILE_FLAGS -fno-builtin)
+
 	target_link_libraries(drivers_board
 		PRIVATE
 			arch_board_hw_info
@@ -0,0 +1,118 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018-2019, 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file imxrt_ocram_initialize.c
+ *
+ * PX4 fmu-v6xrt RAM startup early startup code.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "arm_internal.h"
+#include "imxrt_iomuxc.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+__BEGIN_DECLS
+extern const uint64_t _fitcmfuncs;   /* Copy source address in FLASH */
+extern uint64_t _sitcmfuncs;         /* Copy destination start address in ITCM */
+extern uint64_t _eitcmfuncs;         /* Copy destination end address in ITCM */
+extern uint64_t _sdtcm;              /* Copy destination start address in DTCM */
+extern uint64_t _edtcm;              /* Copy destination end address in DTCM */
+__END_DECLS
+
+/****************************************************************************
+ * Name: imxrt_ocram_initialize
+ *
+ * Description:
+ *   Called off reset vector to reconfigure the flexRAM
+ *   and finish the FLASH to RAM Copy.
+ *   CMakeLists.txt Forces compiler not to use builtin functions using -fno-builtin
+ *
+ ****************************************************************************/
+
+__EXPORT void imxrt_ocram_initialize(void)
+{
+	uint32_t regval;
+	register uint64_t *src;
+	register uint64_t *dest;
+
+	/* Reallocate
+	 * Final Configuration is
+	 *    No DTCM
+	 *    512k  OCRAM M7 (FlexRAM)          (2038:0000-203f:ffff)
+	 *    128k  OCRAMM7 FlexRAM ECC         (2036:0000-2037:ffff)
+	 *    64k   OCRAM2 ECC parity           (2035:0000-2035:ffff)
+	 *    64k   OCRAM1 ECC parity           (2034:0000-2034:ffff)
+	 *    512k  FlexRAM OCRAM2              (202C:0000-2033:ffff)
+	 *    512k  FlexRAM OCRAM1              (2024:0000-202B:ffff)
+	 *    256k  System  OCRAM M4            (2020:0000-2023:ffff)
+	 */
+
+	putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR17);
+	putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR18);
+	regval = getreg32(IMXRT_IOMUXC_GPR_GPR16);
+	putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL_REG, IMXRT_IOMUXC_GPR_GPR16);
+
+	/* Copy any necessary code sections from FLASH to ITCM. The process is the
+	* same as the code copying from FLASH to RAM above. */
+	for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs;
+	     dest < (uint64_t *)&_eitcmfuncs;) {
+		*dest++ = *src++;
+	}
+
+	/* Clear .dtcm.  We'll do this inline (vs. calling memset) just to be
+	* certain that there are no issues with the state of global variables.
+	*/
+
+	for (dest = &_sdtcm; dest < &_edtcm;) {
+		*dest++ = 0;
+	}
+
+#if defined(CONFIG_BOOT_RUNFROMISRAM)
+	const uint32_t *src;
+	uint32_t *dest;
+
+	for (src = (uint32_t *)(LOCATE_IN_SRC(g_boot_data.start) + g_boot_data.size),
+	     dest = (uint32_t *)(g_boot_data.start + g_boot_data.size);
+	     dest < (uint32_t *) &_etext;) {
+		*dest++ = *src++;
+	}
+
+#endif
+}
@@ -109,11 +109,6 @@ extern void led_off(int led);

 extern uint32_t _srodata;            /* Start of .rodata */
 extern uint32_t _erodata;            /* End of .rodata */
-extern const uint64_t _fitcmfuncs;   /* Copy source address in FLASH */
-extern uint64_t _sitcmfuncs;         /* Copy destination start address in ITCM */
-extern uint64_t _eitcmfuncs;         /* Copy destination end address in ITCM */
-extern uint64_t _sdtcm;              /* Copy destination start address in DTCM */
-extern uint64_t _edtcm;              /* Copy destination end address in DTCM */
 __END_DECLS

 /************************************************************************************
@@ -225,65 +220,7 @@ void imxrt_flash_setup_prefetch_partition(void)
 	ARM_ISB();
 	ARM_DMB();
 }
-/****************************************************************************
- * Name: imxrt_ocram_initialize
- *
- * Description:
- *   Called off reset vector to reconfigure the flexRAM
- *   and finish the FLASH to RAM Copy.
- *
- ****************************************************************************/

-__EXPORT void imxrt_ocram_initialize(void)
-{
-	uint32_t regval;
-	register uint64_t *src;
-	register uint64_t *dest;
-
-	/* Reallocate
-	 * Final Configuration is
-	 *    No DTCM
-	 *    512k  OCRAM M7 (FlexRAM)          (2038:0000-203f:ffff)
-	*    128k  OCRAMM7 FlexRAM ECC         (2036:0000-2037:ffff)
-	*    64k   OCRAM2 ECC parity           (2035:0000-2035:ffff)
-	*    64k   OCRAM1 ECC parity           (2034:0000-2034:ffff)
-	*    512k  FlexRAM OCRAM2              (202C:0000-2033:ffff)
-	 *    512k  FlexRAM OCRAM1              (2024:0000-202B:ffff)
-	 *    256k  System  OCRAM M4            (2020:0000-2023:ffff)
-	 */
-
-	putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR17);
-	putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR18);
-	regval = getreg32(IMXRT_IOMUXC_GPR_GPR16);
-	putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL_REG, IMXRT_IOMUXC_GPR_GPR16);
-
-	/* Copy any necessary code sections from FLASH to ITCM. The process is the
-	* same as the code copying from FLASH to RAM above. */
-	for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs;
-	     dest < (uint64_t *)&_eitcmfuncs;) {
-		*dest++ = *src++;
-	}
-
-	/* Clear .dtcm.  We'll do this inline (vs. calling memset) just to be
-	* certain that there are no issues with the state of global variables.
-	*/
-
-	for (dest = &_sdtcm; dest < &_edtcm;) {
-		*dest++ = 0;
-	}
-
-#if defined(CONFIG_BOOT_RUNFROMISRAM)
-	const uint32_t *src;
-	uint32_t *dest;
-
-	for (src = (uint32_t *)(LOCATE_IN_SRC(g_boot_data.start) + g_boot_data.size),
-	     dest = (uint32_t *)(g_boot_data.start + g_boot_data.size);
-	     dest < (uint32_t *) &_etext;) {
-		*dest++ = *src++;
-	}
-
-#endif
-}

 /****************************************************************************
 * Name: imxrt_boardinitialize
@@ -32,7 +32,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NAVIGATOR_ADSB=n
+# CONFIG_NAVIGATOR_ADSB is not set
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -14,6 +14,7 @@ int16 RELATIVE_TIMESTAMP_INVALID = 32767 # (0x7fff) If one of the relative times
 # difference of +-3.2s to the sensor_combined topic.

 int16 airspeed_timestamp_rel
+int16 airspeed_validated_timestamp_rel
 int16 distance_sensor_timestamp_rel
 int16 optical_flow_timestamp_rel
 int16 vehicle_air_data_timestamp_rel
@@ -47,6 +47,7 @@ bool cs_rng_terrain             # 39 - true if we are fusing range finder data f
 bool cs_opt_flow_terrain        # 40 - true if we are fusing flow data for terrain
 bool cs_valid_fake_pos          # 41 - true if a valid constant position is being fused
 bool cs_constant_pos            # 42 - true if the vehicle is at a constant position
+bool cs_baro_fault	        # 43 - true when the current baro has been declared faulty and is no longer being used

 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes
@@ -9,8 +9,8 @@ uint32 gyro_device_id           # Gyroscope unique device ID for the sensor that
 float32[3] delta_angle          # delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt)
 float32[3] delta_velocity       # delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt)

-uint16 delta_angle_dt           # integration period in microseconds
-uint16 delta_velocity_dt        # integration period in microseconds
+uint32 delta_angle_dt           # integration period in microseconds
+uint32 delta_velocity_dt        # integration period in microseconds

 uint8 CLIPPING_X = 1
 uint8 CLIPPING_Y = 2
@@ -506,6 +506,11 @@ if(NOT NUTTX_DIR MATCHES "external")
 		message(STATUS "Found SVD: ${DEBUG_SVD_FILE_PATH}")
 	endif()

+	if(NOT CMAKE_GDB)
+		find_program(CMAKE_GDB gdb-multiarch)
+		message(STATUS "Found GDB: ${CMAKE_GDB}")
+	endif()
+
 	if(DEBUG_DEVICE)
 		configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json @ONLY)
 	endif()
@@ -92,6 +92,11 @@ int SF45LaserSerial::init()
 	param_get(param_find("SF45_ORIENT_CFG"), &_orient_cfg);
 	param_get(param_find("SF45_YAW_CFG"), &_yaw_cfg);

+	// set the sensor orientation
+	const float yaw_cfg_angle = ObstacleMath::sensor_orientation_to_yaw_offset(static_cast<ObstacleMath::SensorOrientation>
+				    (_yaw_cfg));
+	_obstacle_distance.angle_offset = math::degrees(matrix::wrap_2pi(yaw_cfg_angle));
+
 	start();
 	return PX4_OK;
 }
@@ -594,7 +599,6 @@ void SF45LaserSerial::sf45_process_replies()
 	case SF_DISTANCE_DATA_CM: {
 			const float raw_distance = (rx_field.data[0] << 0) | (rx_field.data[1] << 8);
 			int16_t raw_yaw = ((rx_field.data[2] << 0) | (rx_field.data[3] << 8));
-			int16_t scaled_yaw = 0;

 			// The sensor scans from 0 to -160, so extract negative angle from int16 and represent as if a float
 			if (raw_yaw > 32000) {
@@ -607,33 +611,10 @@ void SF45LaserSerial::sf45_process_replies()
 			}

 			// SF45/B product guide {Data output bit: 8 Description: "Yaw angle [1/100 deg] size: int16}"
-			scaled_yaw = raw_yaw * SF45_SCALE_FACTOR;
+			float scaled_yaw = raw_yaw * SF45_SCALE_FACTOR;

-			switch (_yaw_cfg) {
-			case ROTATION_FORWARD_FACING:
-				break;
-
-			case ROTATION_BACKWARD_FACING:
-				if (scaled_yaw > 180) {
-					scaled_yaw = scaled_yaw - 180;
-
-				} else {
-					scaled_yaw = scaled_yaw + 180; // rotation facing aft
-				}
-
-				break;
-
-			case ROTATION_RIGHT_FACING:
-				scaled_yaw = scaled_yaw + 90; // rotation facing right
-				break;
-
-			case ROTATION_LEFT_FACING:
-				scaled_yaw = scaled_yaw - 90; // rotation facing left
-				break;
-
-			default:
-				break;
-			}
+			// Adjust for sensor orientation
+			scaled_yaw = sf45_wrap_360(scaled_yaw + _obstacle_distance.angle_offset);

 			// Convert to meters for the debug message
 			float distance_m = raw_distance * SF45_SCALE_FACTOR;
@@ -642,7 +623,7 @@ void SF45LaserSerial::sf45_process_replies()
 			uint8_t current_bin = sf45_convert_angle(scaled_yaw);

 			if (current_bin != _previous_bin) {
-				PX4_DEBUG("scaled_yaw: \t %d, \t current_bin: \t %d, \t distance: \t %8.4f\n", scaled_yaw, current_bin,
+				PX4_DEBUG("scaled_yaw: \t %f, \t current_bin: \t %d, \t distance: \t %8.4f\n", (double)scaled_yaw, current_bin,
 					  (double)distance_m);

 				if (_vehicle_attitude_sub.updated()) {
@@ -664,6 +645,7 @@ void SF45LaserSerial::sf45_process_replies()

 				hrt_abstime now = hrt_absolute_time();

+				_obstacle_distance.distances[current_bin] = _current_bin_dist;
 				_handle_missed_bins(current_bin, _previous_bin, _current_bin_dist, now);

 				_publish_obstacle_msg(now);
@@ -701,48 +683,31 @@ void SF45LaserSerial::_handle_missed_bins(uint8_t current_bin, uint8_t previous_
 {
 	// if the sensor has its cycle delay configured for a low value like 5, it can happen that not every bin gets a measurement.
 	// in this case we assume the measurement to be valid for all bins between the previous and the current bin.
-	uint8_t start;
-	uint8_t end;

-	if (abs(current_bin - previous_bin) > BIN_COUNT / 4) {
-		// wrap-around case is assumed to have happend when the distance between the bins is larger than 1/4 of all Bins
-		// THis is simplyfied as we are not considering the scaning direction
-		start = math::max(previous_bin, current_bin);
-		end = math::min(previous_bin, current_bin);
+	// Shift bin indices such that we can never have the wrap-around case.
+	const float    fov_offset_angle    = 360.0f - SF45_FIELDOF_VIEW / 2.f;
+	const uint16_t current_bin_offset  = ObstacleMath::get_offset_bin_index(current_bin,  _obstacle_distance.increment,
+					     fov_offset_angle);
+	const uint16_t previous_bin_offset = ObstacleMath::get_offset_bin_index(previous_bin, _obstacle_distance.increment,
+					     fov_offset_angle);

-	} else if (previous_bin < current_bin) {	// Scanning clockwise
-		start = previous_bin + 1;
-		end = current_bin;
+	const uint16_t start = math::min(current_bin_offset, previous_bin_offset) + 1;
+	const uint16_t end   = math::max(current_bin_offset, previous_bin_offset);

-	} else { 					// scanning counter-clockwise
-		start = current_bin;
-		end = previous_bin - 1;
-	}
-
-	if (start <= end) {
-		for (uint8_t i = start; i <= end; i++) {
-			_obstacle_distance.distances[i] = measurement;
-			_data_timestamps[i] = now;
-		}
-
-	} else { // wrap-around case
-		for (uint8_t i = start; i < BIN_COUNT; i++) {
-			_obstacle_distance.distances[i] = measurement;
-			_data_timestamps[i] = now;
-		}
-
-		for (uint8_t i = 0; i <= end; i++) {
-			_obstacle_distance.distances[i] = measurement;
-			_data_timestamps[i] = now;
-		}
+	// populate the missed bins with the measurement
+	for (uint16_t i = start; i < end; i++) {
+		uint16_t bin_index = ObstacleMath::get_offset_bin_index(i, _obstacle_distance.increment, -fov_offset_angle);
+		_obstacle_distance.distances[bin_index] = measurement;
+		_data_timestamps[bin_index] = now;
 	}
 }

+
 uint8_t SF45LaserSerial::sf45_convert_angle(const int16_t yaw)
 {
 	uint8_t mapped_sector = 0;
 	float adjusted_yaw = sf45_wrap_360(yaw - _obstacle_distance.angle_offset);
-	mapped_sector = round(adjusted_yaw / _obstacle_distance.increment);
+	mapped_sector = floor(adjusted_yaw / _obstacle_distance.increment);

 	return mapped_sector;
 }
@@ -105,6 +105,7 @@ private:
 				obstacle_distance_s::distances[0]);
 	static constexpr uint64_t 	SF45_MEAS_TIMEOUT{100_ms};
 	static constexpr float 		SF45_SCALE_FACTOR = 0.01f;
+	static constexpr float		SF45_FIELDOF_VIEW = 320.f; // degrees

 	void				start();
 	void				stop();
@@ -88,7 +88,7 @@ typedef enum {
 * @param channel_mask		Bitmask of channels (LSB = channel 0) to enable.
 *				This allows some of the channels to remain configured
 *				as GPIOs or as another function. Already used channels/timers will not be configured as DShot
- * @param dshot_pwm_freq	Frequency of DSHOT signal. Usually DSHOT150, DSHOT300, DSHOT600 or DSHOT1200
+ * @param dshot_pwm_freq	Frequency of DSHOT signal. Usually DSHOT150, DSHOT300, or DSHOT600
 * @return <0 on error, the initialized channels mask.
 */
 __EXPORT extern int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot);
@@ -125,9 +125,6 @@ void DShot::enable_dshot_outputs(const bool enabled)
 			} else if (tim_config == -3) {
 				dshot_frequency_request = DSHOT600;

-			} else if (tim_config == -2) {
-				dshot_frequency_request = DSHOT1200;
-
 			} else {
 				_output_mask &= ~channels; // don't use for dshot
 			}
@@ -824,7 +821,7 @@ On startup, the module tries to occupy all available pins for DShot output.
 It skips all pins already in use (e.g. by a camera trigger module).

 It supports:
- DShot150, DShot300, DShot600, DShot1200
+- DShot150, DShot300, DShot600
 - telemetry via separate UART and publishing as esc_status message
 - sending DShot commands via CLI

@@ -52,7 +52,6 @@ using namespace time_literals;
 static constexpr unsigned int DSHOT150  =  150000u;
 static constexpr unsigned int DSHOT300  =  300000u;
 static constexpr unsigned int DSHOT600  =  600000u;
-static constexpr unsigned int DSHOT1200 = 1200000u;

 static constexpr int DSHOT_DISARM_VALUE = 0;
 static constexpr int DSHOT_MIN_THROTTLE = 1;
@@ -107,7 +106,6 @@ private:
 		DShot150  = 150,
 		DShot300  = 300,
 		DShot600  = 600,
-		DShot1200 = 1200,
 	};

 	struct Command {
@@ -160,6 +160,8 @@ int INA238::Reset()

 	int ret = PX4_ERROR;

+	_retries = 3;
+
 	if (RegisterWrite(Register::CONFIG, (uint16_t)(ADC_RESET_BIT)) != PX4_OK) {
 		return ret;
 	}
@@ -231,6 +233,16 @@ int INA238::collect()
 	success = success && (RegisterRead(Register::CURRENT, (uint16_t &)current) == PX4_OK);
 	success = success && (RegisterRead(Register::DIETEMP, (uint16_t &)temperature) == PX4_OK);

+	if (success) {
+		_battery.updateVoltage(static_cast<float>(bus_voltage * INA238_VSCALE));
+		_battery.updateCurrent(static_cast<float>(current * _current_lsb));
+		_battery.updateTemperature(static_cast<float>(temperature * INA238_TSCALE));
+
+		_battery.setConnected(success);
+
+		_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
+	}
+
 	if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
 		// check configuration registers periodically or immediately following any failure
 		if (RegisterCheck(_register_cfg[_checked_register])) {
@@ -242,26 +254,21 @@ int INA238::collect()
 			PX4_DEBUG("register check failed");
 			perf_count(_bad_register_perf);
 			success = false;
+
+			_battery.setConnected(success);
+
+			_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 		}
 	}

-	if (!success) {
-		PX4_DEBUG("error reading from sensor");
-		bus_voltage = current = 0;
-	}
-
-	_battery.setConnected(success);
-	_battery.updateVoltage(static_cast<float>(bus_voltage * INA238_VSCALE));
-	_battery.updateCurrent(static_cast<float>(current * _current_lsb));
-	_battery.updateTemperature(static_cast<float>(temperature * INA238_TSCALE));
-	_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
-
 	perf_end(_sample_perf);

 	if (success) {
 		return PX4_OK;

 	} else {
+		PX4_DEBUG("error reading from sensor");
+
 		return PX4_ERROR;
 	}
 }
@@ -23,7 +23,6 @@ actuator_output:
            -5: DShot150
            -4: DShot300
            -3: DShot600
-            -2: DShot1200
            -1: OneShot
            50: PWM 50 Hz
            100: PWM 100 Hz
@@ -1073,8 +1073,6 @@ void UavcanMixingInterfaceServo::Run()
 void
 UavcanNode::print_info()
 {
-	(void)pthread_mutex_lock(&_node_mutex);
-
 	// Memory status
 	printf("Pool allocator status:\n");
 	printf("\tCapacity hard/soft: %" PRIu16 "/%" PRIu16 " blocks\n",
@@ -1112,15 +1110,29 @@ UavcanNode::print_info()
 	printf("\n");

 #if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
-	printf("ESC outputs:\n");
-	_mixing_interface_esc.mixingOutput().printStatus();

-	printf("Servo outputs:\n");
-	_mixing_interface_servo.mixingOutput().printStatus();
+	// Print esc status if at least one channel is enabled
+	for (int i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
+		if (_mixing_interface_esc.mixingOutput().isFunctionSet(i)) {
+			printf("ESC outputs:\n");
+			_mixing_interface_esc.mixingOutput().printStatus();
+			printf("\n");
+			break;
+		}
+	}
+
+	// Print servo status if at least one channel is enabled
+	for (int i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
+		if (_mixing_interface_servo.mixingOutput().isFunctionSet(i)) {
+			printf("Servo outputs:\n");
+			_mixing_interface_servo.mixingOutput().printStatus();
+			printf("\n");
+			break;
+		}
+	}
+
 #endif

-	printf("\n");
-
 	// Sensor bridges
 	for (const auto &br : _sensor_bridges) {
 		printf("Sensor '%s':\n", br->get_name());
@@ -1140,8 +1152,6 @@ UavcanNode::print_info()

 	perf_print_counter(_cycle_perf);
 	perf_print_counter(_interval_perf);
-
-	(void)pthread_mutex_unlock(&_node_mutex);
 }

 void
@@ -51,4 +51,62 @@ void project_distance_on_horizontal_plane(float &distance, const float yaw, cons
 	distance *= horizontal_projection_scale;
 }

+int get_bin_at_angle(float bin_width, float angle)
+{
+	int bin_at_angle = (int)round(matrix::wrap(angle, 0.f, 360.f) / bin_width);
+	return wrap_bin(bin_at_angle, 360 / bin_width);
+}
+
+int get_offset_bin_index(int bin, float bin_width, float angle_offset)
+{
+	int offset = get_bin_at_angle(bin_width, angle_offset);
+	return wrap_bin(bin - offset, 360 / bin_width);
+}
+
+float sensor_orientation_to_yaw_offset(const SensorOrientation orientation)
+{
+	float offset = 0.0f;
+
+	switch (orientation) {
+	case SensorOrientation::ROTATION_YAW_0:
+		offset = 0.0f;
+		break;
+
+	case SensorOrientation::ROTATION_YAW_45:
+		offset = M_PI_F / 4.0f;
+		break;
+
+	case SensorOrientation::ROTATION_YAW_90:
+		offset = M_PI_F / 2.0f;
+		break;
+
+	case SensorOrientation::ROTATION_YAW_135:
+		offset = 3.0f * M_PI_F / 4.0f;
+		break;
+
+	case SensorOrientation::ROTATION_YAW_180:
+		offset = M_PI_F;
+		break;
+
+	case SensorOrientation::ROTATION_YAW_225:
+		offset = -3.0f * M_PI_F / 4.0f;
+		break;
+
+	case SensorOrientation::ROTATION_YAW_270:
+		offset = -M_PI_F / 2.0f;
+		break;
+
+	case SensorOrientation::ROTATION_YAW_315:
+		offset = -M_PI_F / 4.0f;
+		break;
+	}
+
+	return offset;
+}
+
+int wrap_bin(int bin, int bin_count)
+{
+	return (bin + bin_count) % bin_count;
+}
+
 } // ObstacleMath
@@ -36,6 +36,28 @@
 namespace ObstacleMath
 {

+enum SensorOrientation {
+	ROTATION_YAW_0   = 0,     // MAV_SENSOR_ROTATION_NONE
+	ROTATION_YAW_45  = 1,	  // MAV_SENSOR_ROTATION_YAW_45
+	ROTATION_YAW_90  = 2,	  // MAV_SENSOR_ROTATION_YAW_90
+	ROTATION_YAW_135 = 3,	  // MAV_SENSOR_ROTATION_YAW_135
+	ROTATION_YAW_180 = 4,	  // MAV_SENSOR_ROTATION_YAW_180
+	ROTATION_YAW_225 = 5,	  // MAV_SENSOR_ROTATION_YAW_225
+	ROTATION_YAW_270 = 6,	  // MAV_SENSOR_ROTATION_YAW_270
+	ROTATION_YAW_315 = 7,	  // MAV_SENSOR_ROTATION_YAW_315
+
+	ROTATION_FORWARD_FACING  = 0, // MAV_SENSOR_ROTATION_NONE
+	ROTATION_RIGHT_FACING    = 2, // MAV_SENSOR_ROTATION_YAW_90
+	ROTATION_BACKWARD_FACING = 4, // MAV_SENSOR_ROTATION_YAW_180
+	ROTATION_LEFT_FACING     = 6  // MAV_SENSOR_ROTATION_YAW_270
+};
+
+/**
+ * Converts a sensor orientation to a yaw offset
+ * @param orientation sensor orientation
+ */
+float sensor_orientation_to_yaw_offset(const SensorOrientation orientation);
+
 /**
 * Scales a distance measurement taken in the vehicle body horizontal plane onto the world horizontal plane
 * @param distance measurement which is scaled down
@@ -44,4 +66,26 @@ namespace ObstacleMath
 */
 void project_distance_on_horizontal_plane(float &distance, const float yaw, const matrix::Quatf &q_world_vehicle);

+/**
+ * Returns bin index at a given angle from the 0th bin
+ * @param bin_width width of a bin in degrees
+ * @param angle clockwise angle from start bin in degrees
+ */
+int get_bin_at_angle(float bin_width, float angle);
+
+/**
+ * Returns bin index for the current bin after an angle offset
+ * @param bin current bin index
+ * @param bin_width width of a bin in degrees
+ * @param angle_offset clockwise angle offset in degrees
+ */
+int get_offset_bin_index(int bin, float bin_width, float angle_offset);
+
+/**
+ * Wraps a bin index to the range [0, bin_count)
+ * @param bin bin index
+ * @param bin_count number of bins
+ */
+int wrap_bin(int bin, int bin_count);
+
 } // ObstacleMath
@@ -33,6 +33,7 @@

 #include <gtest/gtest.h>
 #include <matrix/math.hpp>
+#include <lib/mathlib/mathlib.h>
 #include "ObstacleMath.hpp"

 using namespace matrix;
@@ -89,5 +90,152 @@ TEST(ObstacleMathTest, ProjectDistanceOnHorizontalPlane)
 	expected_distance  = 1.0f * expected_scale;

 	EXPECT_NEAR(distance, expected_distance, 1e-5);
-
+}
+
+TEST(ObstacleMathTest, GetBinAtAngle)
+{
+	float bin_width = 5.0f;
+
+	// GIVEN: a start bin, bin width, and angle
+	float angle = 0.0f;
+
+	// WHEN: we calculate the bin index at the angle
+	uint16_t bin_index = ObstacleMath::get_bin_at_angle(bin_width, angle);
+
+	// THEN: the bin index should be correct
+	EXPECT_EQ(bin_index, 0);
+
+	// GIVEN: a start bin, bin width, and angle
+	angle = 90.0f;
+
+	// WHEN: we calculate the bin index at the angle
+	bin_index = ObstacleMath::get_bin_at_angle(bin_width, angle);
+
+	// THEN: the bin index should be correct
+	EXPECT_EQ(bin_index, 18);
+
+	// GIVEN: a start bin, bin width, and angle
+	angle = -90.0f;
+
+	// WHEN: we calculate the bin index at the angle
+	bin_index = ObstacleMath::get_bin_at_angle(bin_width, angle);
+
+	// THEN: the bin index should be correct
+	EXPECT_EQ(bin_index, 54);
+
+	// GIVEN: a start bin, bin width, and angle
+	angle = 450.0f;
+
+	// WHEN: we calculate the bin index at the angle
+	bin_index = ObstacleMath::get_bin_at_angle(bin_width, angle);
+
+	// THEN: the bin index should be correct
+	EXPECT_EQ(bin_index, 18);
+}
+
+
+TEST(ObstacleMathTest, OffsetBinIndex)
+{
+	// In this test, we want to offset the bin index by a negative and positive angle.
+	// We take the output of the first offset and offset it by the same angle in the
+	// opposite direction to return back to the original bin index.
+
+	// GIVEN: a bin index, bin width, and a negative angle offset
+	uint16_t bin = 0;
+	float bin_width = 5.0f;
+	float angle_offset = -120.0f;
+
+	// WHEN: we offset the bin index by the negative angle
+	uint16_t new_bin_index = ObstacleMath::get_offset_bin_index(bin, bin_width, angle_offset);
+
+	// THEN: the new bin index should be correctly offset by the wrapped angle
+	EXPECT_EQ(new_bin_index, 24);
+
+	// GIVEN: the output bin index of the previous offset, bin width, and the same angle
+	// offset in positive direction
+	bin = 24;
+	bin_width = 5.0f;
+	angle_offset = 120.0f;
+
+	// WHEN: we offset the bin index by the positive angle
+	new_bin_index = ObstacleMath::get_offset_bin_index(bin, bin_width, angle_offset);
+
+	// THEN: the new bin index should return back to the original bin index
+	EXPECT_EQ(new_bin_index, 0);
+}
+
+
+TEST(ObstacleMathTest, WrapBin)
+{
+	// GIVEN: a bin index within bounds and the number of bins
+	int bin = 0;
+	int bin_count = 72;
+
+	// WHEN: we wrap a bin index within the bounds
+	int wrapped_bin = ObstacleMath::wrap_bin(bin, bin_count);
+
+	// THEN: the wrapped bin index should stay 0
+	EXPECT_EQ(wrapped_bin, 0);
+
+	// GIVEN: a bin index that is out of bounds, and the number of bins
+	bin = 73;
+	bin_count = 72;
+
+	// WHEN: we wrap a bin index that is larger than the number of bins
+	wrapped_bin = ObstacleMath::wrap_bin(bin, bin_count);
+
+	// THEN: the wrapped bin index should be wrapped back to the beginning
+	EXPECT_EQ(wrapped_bin, 1);
+
+	// GIVEN: a negative bin index and the number of bins
+	bin = -1;
+	bin_count = 72;
+
+	// WHEN: we wrap a bin index that is negative
+	wrapped_bin = ObstacleMath::wrap_bin(bin, bin_count);
+
+	// THEN: the wrapped bin index should be wrapped back to the end
+	EXPECT_EQ(wrapped_bin, 71);
+}
+
+TEST(ObstacleMathTest, HandleMissedBins)
+{
+	// In this test, the current and previous bin are adjacent to the bins that are outside
+	// the sensor field of view. The missed bins (0,1,6 & 7) should be populated, and no
+	// data should be filled in the bins outside the FOV.
+
+	// GIVEN: measurements, current bin, previous bin, bin width, and field of view offset
+	float measurements[8] = {0, 0, 1, 0, 0, 2, 0, 0};
+	int   current_bin     = 2;
+	int   previous_bin    = 5;
+	int   bin_width       = 45.0f;
+	float fov             = 270.0f;
+	float fov_offset      = 360.0f - fov / 2;
+
+	float measurement     = measurements[current_bin];
+
+	// WHEN: we handle missed bins
+	int current_bin_offset  = ObstacleMath::get_offset_bin_index(current_bin,  bin_width, fov_offset);
+	int previous_bin_offset = ObstacleMath::get_offset_bin_index(previous_bin, bin_width, fov_offset);
+
+	int start = math::min(current_bin_offset, previous_bin_offset) + 1;
+	int end   = math::max(current_bin_offset, previous_bin_offset);
+
+	EXPECT_EQ(start, 1);
+	EXPECT_EQ(end,   5);
+
+	for (uint16_t i = start; i < end; i++) {
+		uint16_t bin_index = ObstacleMath::get_offset_bin_index(i, bin_width, -fov_offset);
+		measurements[bin_index] = measurement;
+	}
+
+	// THEN: the correct missed bins should be populated with the measurement
+	EXPECT_EQ(measurements[0], 1);
+	EXPECT_EQ(measurements[1], 1);
+	EXPECT_EQ(measurements[2], 1);
+	EXPECT_EQ(measurements[3], 0);
+	EXPECT_EQ(measurements[4], 0);
+	EXPECT_EQ(measurements[5], 2);
+	EXPECT_EQ(measurements[6], 1);
+	EXPECT_EQ(measurements[7], 1);
 }
@@ -44,4 +44,4 @@ target_include_directories(ControlAllocation PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_link_libraries(ControlAllocation PRIVATE mathlib)

 px4_add_unit_gtest(SRC ControlAllocationPseudoInverseTest.cpp LINKLIBS ControlAllocation)
-# px4_add_functional_gtest(SRC ControlAllocationSequentialDesaturationTest.cpp LINKLIBS ControlAllocation ActuatorEffectiveness)
+px4_add_functional_gtest(SRC ControlAllocationSequentialDesaturationTest.cpp LINKLIBS ControlAllocation ActuatorEffectiveness)
@@ -40,17 +40,27 @@

 #include <gtest/gtest.h>
 #include <ControlAllocationSequentialDesaturation.hpp>
-#include <actuator_effectiveness/ActuatorEffectivenessRotors.hpp>

 using namespace matrix;

 namespace
 {
+struct RotorGeometryTest {
+	matrix::Vector3f position;
+	matrix::Vector3f axis;
+	float thrust_coef;
+	float moment_ratio;
+};
+
+struct GeometryTest {
+	RotorGeometryTest rotors[ActuatorEffectiveness::NUM_ACTUATORS];
+	int num_rotors{0};
+};

 // Makes and returns a Geometry object for a "standard" quad-x quadcopter.
-ActuatorEffectivenessRotors::Geometry make_quad_x_geometry()
+GeometryTest make_quad_x_geometry()
 {
-	ActuatorEffectivenessRotors::Geometry geometry = {};
+	GeometryTest geometry = {};
 	geometry.rotors[0].position(0) = 1.0f;
 	geometry.rotors[0].position(1) = 1.0f;
 	geometry.rotors[0].position(2) = 0.0f;
@@ -88,7 +98,6 @@ ActuatorEffectivenessRotors::Geometry make_quad_x_geometry()
 	geometry.rotors[3].moment_ratio = -0.05f;

 	geometry.num_rotors = 4;
-
 	return geometry;
 }

@@ -98,7 +107,48 @@ ActuatorEffectiveness::EffectivenessMatrix make_quad_x_effectiveness()
 	ActuatorEffectiveness::EffectivenessMatrix effectiveness;
 	effectiveness.setZero();
 	const auto geometry = make_quad_x_geometry();
-	ActuatorEffectivenessRotors::computeEffectivenessMatrix(geometry, effectiveness);
+
+	// Minimalistically copied from ActuatorEffectivenessRotors::computeEffectivenessMatrix
+	for (int i = 0; i < geometry.num_rotors; i++) {
+
+		// Get rotor axis
+		Vector3f axis = geometry.rotors[i].axis;
+
+		// Normalize axis
+		float axis_norm = axis.norm();
+
+		if (axis_norm > FLT_EPSILON) {
+			axis /= axis_norm;
+
+		} else {
+			// Bad axis definition, ignore this rotor
+			continue;
+		}
+
+		// Get rotor position
+		const Vector3f &position = geometry.rotors[i].position;
+
+		// Get coefficients
+		float ct = geometry.rotors[i].thrust_coef;
+		float km = geometry.rotors[i].moment_ratio;
+
+		if (fabsf(ct) < FLT_EPSILON) {
+			continue;
+		}
+
+		// Compute thrust generated by this rotor
+		matrix::Vector3f thrust = ct * axis;
+
+		// Compute moment generated by this rotor
+		matrix::Vector3f moment = ct * position.cross(axis) - ct * km * axis;
+
+		// Fill corresponding items in effectiveness matrix
+		for (int j = 0; j < 3; j++) {
+			effectiveness(j, i) = moment(j);
+			effectiveness(j + 3, i) = thrust(j);
+		}
+	}
+
 	return effectiveness;
 }

@@ -3036,7 +3036,7 @@ The commander module contains the state machine for mode switching and failsafe
 #ifndef CONSTRAINED_FLASH
 	PRINT_MODULE_USAGE_COMMAND_DESCR("calibrate", "Run sensor calibration");
 	PRINT_MODULE_USAGE_ARG("mag|baro|accel|gyro|level|esc|airspeed", "Calibration type", false);
-	PRINT_MODULE_USAGE_ARG("quick", "Quick calibration (accel only, not recommended)", false);
+	PRINT_MODULE_USAGE_ARG("quick", "Quick calibration [mag, accel (not recommended)]", false);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("check", "Run preflight checks");
 	PRINT_MODULE_USAGE_COMMAND("arm");
 	PRINT_MODULE_USAGE_PARAM_FLAG('f', "Force arming (do not run preflight checks)", true);
@@ -73,6 +73,14 @@ void Report::armingCheckFailure(NavModes required_modes, HealthComponentIndex co
 	addEvent(event_id, log_levels, message, (uint32_t)reportedModes(required_modes), component.index);
 }

+void Report::armingCheckFailure(NavModesMessageFail required_modes, HealthComponentIndex component,
+				uint32_t event_id, const events::LogLevels &log_levels, const char *message)
+{
+	armingCheckFailure(required_modes.fail_modes, component, log_levels.external);
+	addEvent(event_id, log_levels, message,
+		 (uint32_t)reportedModes(required_modes.message_modes | required_modes.fail_modes), component.index);
+}
+
 Report::EventBufferHeader *Report::addEventToBuffer(uint32_t event_id, const events::LogLevels &log_levels,
 		uint32_t modes, unsigned args_size)
 {
@@ -74,6 +74,12 @@ static_assert(sizeof(navigation_mode_group_t) == sizeof(NavModes), "type mismatc
 static_assert(vehicle_status_s::NAVIGATION_STATE_MAX <= CHAR_BIT *sizeof(navigation_mode_group_t),
 	      "type too small, use next larger type");

+// Type to pass two mode groups in one struct to have the same number of function arguments to facilitate events parsing
+struct NavModesMessageFail {
+	NavModes message_modes; ///< modes in which there's user messageing but arming is allowed
+	NavModes fail_modes; ///< modes in which checks fail which must be a subset of message_modes
+};
+
 static inline NavModes operator|(NavModes a, NavModes b)
 {
 	return static_cast<NavModes>(static_cast<uint32_t>(a) | static_cast<uint32_t>(b));
@@ -251,6 +257,14 @@ public:
 	void armingCheckFailure(NavModes required_modes, HealthComponentIndex component, uint32_t event_id,
 				const events::LogLevels &log_levels, const char *message);

+	/**
+	 * Overloaded variant of armingCheckFailure() which allows to separately specify modes in which a message should be emitted and a subset in which arming is blocked
+	 * @param required_modes .message_modes modes in which to put out the event and hence user message.
+	 *                       .failing_modes modes in which to to fail arming. Has to be a subset of message_modes to never disallow arming without a reason.
+	 */
+	void armingCheckFailure(NavModesMessageFail required_modes, HealthComponentIndex component,
+				uint32_t event_id, const events::LogLevels &log_levels, const char *message);
+
 	void clearArmingBits(NavModes modes);

 	/**
@@ -206,19 +206,62 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
 					  || (configured_arm_threshold_in_use && below_configured_arm_threshold) ? NavModes::All : NavModes::None;
 		events::LogLevel log_level = critical_or_higher || below_configured_arm_threshold
 					     ? events::Log::Critical : events::Log::Warning;
-		/* EVENT
-		 * @description
-		 * The battery state of charge of the worst battery is below the threshold.
-		 *
-		 * <profile name="dev">
-		 * This check can be configured via <param>BAT_LOW_THR</param>, <param>BAT_CRIT_THR</param>, <param>BAT_EMERGEN_THR</param> and <param>COM_ARM_BAT_MIN</param> parameters.
-		 * </profile>
-		 */
-		reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_low"), log_level,
-					    "Low battery");

-		if (reporter.mavlink_log_pub()) {
-			mavlink_log_emergency(reporter.mavlink_log_pub(), "Low battery level\t");
+		switch (reporter.failsafeFlags().battery_warning) {
+		default:
+		case battery_status_s::BATTERY_WARNING_LOW:
+			/* EVENT
+			* @description
+			* The lowest battery state of charge is below the low threshold.
+			*
+			* <profile name="dev">
+			* Can be configured with <param>BAT_LOW_THR</param>.
+			* </profile>
+			*/
+			reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_low"),
+						    log_level, "Low battery");
+
+			if (reporter.mavlink_log_pub()) {
+				mavlink_log_emergency(reporter.mavlink_log_pub(), "Low battery\t");
+			}
+
+			break;
+
+		case battery_status_s::BATTERY_WARNING_CRITICAL:
+			/* EVENT
+			* @description
+			* The lowest battery state of charge is below the critical threshold.
+			*
+			* <profile name="dev">
+			* Can be configured with <param>BAT_CRIT_THR</param> and from when to disalow arming with <param>COM_ARM_BAT_MIN</param>.
+			* </profile>
+			*/
+			reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_critical"),
+						    log_level, "Critical battery");
+
+			if (reporter.mavlink_log_pub()) {
+				mavlink_log_emergency(reporter.mavlink_log_pub(), "Critical battery\t");
+			}
+
+			break;
+
+		case battery_status_s::BATTERY_WARNING_EMERGENCY:
+			/* EVENT
+			* @description
+			* The lowest battery state of charge is below the emergency threshold.
+			*
+			* <profile name="dev">
+			* Can be configured with <param>BAT_EMERGEN_THR</param>.
+			* </profile>
+			*/
+			reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_emergency"),
+						    log_level, "Emergency battery level");
+
+			if (reporter.mavlink_log_pub()) {
+				mavlink_log_emergency(reporter.mavlink_log_pub(), "Emergency battery level\t");
+			}
+
+			break;
 		}

 	}
@@ -273,7 +273,7 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 		}

 		if (!context.isArmed() && ekf_gps_check_fail) {
-			NavModes required_groups_gps;
+			NavModesMessageFail required_modes;
 			events::Log log_level;

 			switch (static_cast<GnssArmingCheck>(_param_com_arm_wo_gps.get())) {
@@ -281,17 +281,21 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor

 			/* FALLTHROUGH */
 			case GnssArmingCheck::DenyArming:
-				required_groups_gps = required_groups;
+				required_modes.message_modes = required_modes.fail_modes = NavModes::All;
 				log_level = events::Log::Error;
 				break;

 			case GnssArmingCheck::WarningOnly:
-				required_groups_gps = NavModes::None; // optional
+				required_modes.message_modes = (NavModes)(reporter.failsafeFlags().mode_req_local_position
+							       | reporter.failsafeFlags().mode_req_local_position_relaxed
+							       | reporter.failsafeFlags().mode_req_global_position);
+				// Only warn and don't block arming because there could still be a valid position estimate from another source e.g. optical flow, VIO
+				required_modes.fail_modes = NavModes::None;
 				log_level = events::Log::Warning;
 				break;

 			case GnssArmingCheck::Disabled:
-				required_groups_gps = NavModes::None;
+				required_modes.message_modes = required_modes.fail_modes = NavModes::None;
 				log_level = events::Log::Disabled;
 				break;
 			}
@@ -304,10 +308,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 				/* EVENT
 				 * @description
 				 * <profile name="dev">
-				 * This check can be configured via <param>EKF2_GPS_CHECK</param> parameter.
+				 * Can be configured with <param>EKF2_GPS_CHECK</param> and <param>COM_ARM_WO_GPS</param>.
 				 * </profile>
 				 */
-				reporter.armingCheckFailure(required_groups_gps, health_component_t::gps,
+				reporter.armingCheckFailure(required_modes, health_component_t::gps,
 							    events::ID("check_estimator_gps_fix_too_low"),
 							    log_level, "GPS fix too low");

@@ -316,10 +320,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 				/* EVENT
 				 * @description
 				 * <profile name="dev">
-				 * This check can be configured via <param>EKF2_GPS_CHECK</param> parameter.
+				 * Can be configured with <param>EKF2_GPS_CHECK</param> and <param>COM_ARM_WO_GPS</param>.
 				 * </profile>
 				 */
-				reporter.armingCheckFailure(required_groups_gps, health_component_t::gps,
+				reporter.armingCheckFailure(required_modes, health_component_t::gps,
 							    events::ID("check_estimator_gps_num_sats_too_low"),
 							    log_level, "Not enough GPS Satellites");

@@ -328,10 +332,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 				/* EVENT
 				 * @description
 				 * <profile name="dev">
-				 * This check can be configured via <param>EKF2_GPS_CHECK</param> parameter.
+				 * Can be configured with <param>EKF2_GPS_CHECK</param> and <param>COM_ARM_WO_GPS</param>.
 				 * </profile>
 				 */
-				reporter.armingCheckFailure(required_groups_gps, health_component_t::gps,
+				reporter.armingCheckFailure(required_modes, health_component_t::gps,
 							    events::ID("check_estimator_gps_pdop_too_high"),
 							    log_level, "GPS PDOP too high");

@@ -340,10 +344,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 				/* EVENT
 				 * @description
 				 * <profile name="dev">
-				 * This check can be configured via <param>EKF2_GPS_CHECK</param> parameter.
+				 * Can be configured with <param>EKF2_GPS_CHECK</param> and <param>COM_ARM_WO_GPS</param>.
 				 * </profile>
 				 */
-				reporter.armingCheckFailure(required_groups_gps, health_component_t::gps,
+				reporter.armingCheckFailure(required_modes, health_component_t::gps,
 							    events::ID("check_estimator_gps_hor_pos_err_too_high"),
 							    log_level, "GPS Horizontal Position Error too high");

@@ -352,10 +356,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 				/* EVENT
 				 * @description
 				 * <profile name="dev">
-				 * This check can be configured via <param>EKF2_GPS_CHECK</param> parameter.
+				 * Can be configured with <param>EKF2_GPS_CHECK</param> and <param>COM_ARM_WO_GPS</param>.
 				 * </profile>
 				 */
-				reporter.armingCheckFailure(required_groups_gps, health_component_t::gps,
+				reporter.armingCheckFailure(required_modes, health_component_t::gps,
 							    events::ID("check_estimator_gps_vert_pos_err_too_high"),
 							    log_level, "GPS Vertical Position Error too high");

@@ -364,10 +368,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 				/* EVENT
 				 * @description
 				 * <profile name="dev">
-				 * This check can be configured via <param>EKF2_GPS_CHECK</param> parameter.
+				 * Can be configured with <param>EKF2_GPS_CHECK</param> and <param>COM_ARM_WO_GPS</param>.
 				 * </profile>
 				 */
-				reporter.armingCheckFailure(required_groups_gps, health_component_t::gps,
+				reporter.armingCheckFailure(required_modes, health_component_t::gps,
 							    events::ID("check_estimator_gps_speed_acc_too_low"),
 							    log_level, "GPS Speed Accuracy too low");

@@ -376,10 +380,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 				/* EVENT
 				 * @description
 				 * <profile name="dev">
-				 * This check can be configured via <param>EKF2_GPS_CHECK</param> parameter.
+				 * Can be configured with <param>EKF2_GPS_CHECK</param> and <param>COM_ARM_WO_GPS</param>.
 				 * </profile>
 				 */
-				reporter.armingCheckFailure(required_groups_gps, health_component_t::gps,
+				reporter.armingCheckFailure(required_modes, health_component_t::gps,
 							    events::ID("check_estimator_gps_hor_pos_drift_too_high"),
 							    log_level, "GPS Horizontal Position Drift too high");

@@ -388,10 +392,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 				/* EVENT
 				 * @description
 				 * <profile name="dev">
-				 * This check can be configured via <param>EKF2_GPS_CHECK</param> parameter.
+				 * Can be configured with <param>EKF2_GPS_CHECK</param> and <param>COM_ARM_WO_GPS</param>.
 				 * </profile>
 				 */
-				reporter.armingCheckFailure(required_groups_gps, health_component_t::gps,
+				reporter.armingCheckFailure(required_modes, health_component_t::gps,
 							    events::ID("check_estimator_gps_vert_pos_drift_too_high"),
 							    log_level, "GPS Vertical Position Drift too high");

@@ -400,10 +404,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 				/* EVENT
 				 * @description
 				 * <profile name="dev">
-				 * This check can be configured via <param>EKF2_GPS_CHECK</param> parameter.
+				 * Can be configured with <param>EKF2_GPS_CHECK</param> and <param>COM_ARM_WO_GPS</param>.
 				 * </profile>
 				 */
-				reporter.armingCheckFailure(required_groups_gps, health_component_t::gps,
+				reporter.armingCheckFailure(required_modes, health_component_t::gps,
 							    events::ID("check_estimator_gps_hor_speed_drift_too_high"),
 							    log_level, "GPS Horizontal Speed Drift too high");

@@ -412,10 +416,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 				/* EVENT
 				 * @description
 				 * <profile name="dev">
-				 * This check can be configured via <param>EKF2_GPS_CHECK</param> parameter.
+				 * Can be configured with <param>EKF2_GPS_CHECK</param> and <param>COM_ARM_WO_GPS</param>.
 				 * </profile>
 				 */
-				reporter.armingCheckFailure(required_groups_gps, health_component_t::gps,
+				reporter.armingCheckFailure(required_modes, health_component_t::gps,
 							    events::ID("check_estimator_gps_vert_speed_drift_too_high"),
 							    log_level, "GPS Vertical Speed Drift too high");

@@ -424,10 +428,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 				/* EVENT
 				 * @description
 				 * <profile name="dev">
-				 * This check can be configured via <param>EKF2_GPS_CHECK</param> parameter.
+				 * Can be configured with <param>EKF2_GPS_CHECK</param> and <param>COM_ARM_WO_GPS</param>.
 				 * </profile>
 				 */
-				reporter.armingCheckFailure(required_groups_gps, health_component_t::gps,
+				reporter.armingCheckFailure(required_modes, health_component_t::gps,
 							    events::ID("check_estimator_gps_spoofed"),
 							    log_level, "GPS signal spoofed");

@@ -437,7 +441,7 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 					message = "Preflight%s: Estimator not using GPS";
 					/* EVENT
 					 */
-					reporter.armingCheckFailure(required_groups_gps, health_component_t::gps,
+					reporter.armingCheckFailure(required_modes, health_component_t::gps,
 								    events::ID("check_estimator_gps_not_fusing"),
 								    log_level, "Estimator not using GPS");

@@ -446,7 +450,7 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 					message = "Preflight%s: Poor GPS Quality";
 					/* EVENT
 					 */
-					reporter.armingCheckFailure(required_groups_gps, health_component_t::gps,
+					reporter.armingCheckFailure(required_modes, health_component_t::gps,
 								    events::ID("check_estimator_gps_generic"),
 								    log_level, "Poor GPS Quality");
 				}
@@ -38,6 +38,7 @@
 #include <uORB/topics/arming_check_reply.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>
+#include <px4_platform_common/module_params.h>

 static_assert((1ull << arming_check_reply_s::HEALTH_COMPONENT_INDEX_AVOIDANCE) == (uint64_t)
 	      health_component_t::avoidance, "enum definition missmatch");
@@ -66,7 +67,7 @@ public:
 	void update();

 	bool isUnresponsive(int registration_id);
-
+	bool allowUpdateWhileArmed() const { return _param_com_mode_arm_chk.get(); }
 private:
 	static constexpr hrt_abstime REQUEST_TIMEOUT = 50_ms;
 	static constexpr hrt_abstime UPDATE_INTERVAL = 300_ms;
@@ -109,4 +110,7 @@ private:
 	uORB::Subscription _arming_check_reply_sub{ORB_ID(arming_check_reply)};

 	uORB::Publication<arming_check_request_s> _arming_check_request_pub{ORB_ID(arming_check_request)};
+	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
+					(ParamBool<px4::params::COM_MODE_ARM_CHK>) _param_com_mode_arm_chk
+				       );
 };
@@ -370,11 +370,7 @@ void ModeManagement::update(bool armed, uint8_t user_intended_nav_state, bool fa
 	_failsafe_action_active = failsafe_action_active;
 	_external_checks.update();

-	bool allow_update_while_armed = false;
-#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
-	// For simulation, allow registering modes while armed for developer convenience
-	allow_update_while_armed = true;
-#endif
+	bool allow_update_while_armed = _external_checks.allowUpdateWhileArmed();

 	if (armed && !allow_update_while_armed) {
 		// Reject registration requests
@@ -408,7 +404,8 @@ void ModeManagement::update(bool armed, uint8_t user_intended_nav_state, bool fa
 			}
 		}

-		// As we're disarmed we can use the user intended mode, as no failsafe will be active
+		// As we're disarmed we can use the user intended mode, as no failsafe will be active.
+		// Note that this might not be true if COM_MODE_ARM_CHK is set
 		checkNewRegistrations(update_request);
 		checkUnregistrations(user_intended_nav_state, update_request);
 	}
@@ -1018,3 +1018,14 @@ PARAM_DEFINE_FLOAT(COM_THROW_SPEED, 5);
 * @increment 1
 */
 PARAM_DEFINE_INT32(COM_FLTT_LOW_ACT, 3);
+
+/**
+ * Allow external mode registration while armed.
+ *
+ * By default disabled for safety reasons
+ *
+ * @group Commander
+ * @boolean
+ *
+ */
+PARAM_DEFINE_INT32(COM_MODE_ARM_CHK, 0);
@@ -65,6 +65,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 			if ((_baro_counter == 0) || baro_sample.reset) {
 				_baro_lpf.reset(measurement);
 				_baro_counter = 1;
+				_control_status.flags.baro_fault = false;

 			} else {
 				_baro_lpf.update(measurement);
@@ -113,7 +114,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 		const bool continuing_conditions_passing = (_params.baro_ctrl == 1)
 				&& measurement_valid
 				&& (_baro_counter > _obs_buffer_length)
-				&& !_baro_hgt_faulty;
+				&& !_control_status.flags.baro_fault;

 		const bool starting_conditions_passing = continuing_conditions_passing
 				&& isNewestSampleRecent(_time_last_baro_buffer_push, 2 * BARO_MAX_INTERVAL);
@@ -148,7 +149,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)

 					if (isRecent(_time_last_hgt_fuse, _params.hgt_fusion_timeout_max)) {
 						// Some other height source is still working
-						_baro_hgt_faulty = true;
+						_control_status.flags.baro_fault = true;
 					}
 				}

@@ -50,7 +50,7 @@
 void Ekf::controlBetaFusion(const imuSample &imu_delayed)
 {
 	_control_status.flags.fuse_beta = _params.beta_fusion_enabled
-					  && _control_status.flags.fixed_wing
+					  && (_control_status.flags.fixed_wing || _control_status.flags.fuse_aspd)
 					  && _control_status.flags.in_air
 					  && !_control_status.flags.fake_pos;

@@ -620,6 +620,7 @@ uint64_t mag_heading_consistent  :
 		uint64_t opt_flow_terrain        : 1; ///< 40 - true if we are fusing flow data for terrain
 		uint64_t valid_fake_pos          : 1; ///< 41 - true if a valid constant position is being fused
 		uint64_t constant_pos            : 1; ///< 42 - true if the vehicle is at a constant position
+		uint64_t baro_fault	      : 1; ///< 43 - true when the baro has been declared faulty and is no longer being used

 	} flags;
 	uint64_t value;
@@ -602,7 +602,6 @@ private:

 	HeightBiasEstimator _baro_b_est{HeightSensor::BARO, _height_sensor_ref};

-	bool _baro_hgt_faulty{false};		///< true if baro data have been declared faulty TODO: move to fault flags
 #endif // CONFIG_EKF2_BAROMETER

 #if defined(CONFIG_EKF2_MAGNETOMETER)
@@ -745,6 +745,7 @@ void EKF2::Run()
 		ekf2_timestamps_s ekf2_timestamps {
 			.timestamp = now,
 			.airspeed_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID,
+			.airspeed_validated_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID,
 			.distance_sensor_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID,
 			.optical_flow_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID,
 			.vehicle_air_data_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID,
@@ -1932,6 +1933,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
 		status_flags.cs_opt_flow_terrain    = _ekf.control_status_flags().opt_flow_terrain;
 		status_flags.cs_valid_fake_pos      = _ekf.control_status_flags().valid_fake_pos;
 		status_flags.cs_constant_pos        = _ekf.control_status_flags().constant_pos;
+		status_flags.cs_baro_fault	    = _ekf.control_status_flags().baro_fault;

 		status_flags.fault_status_changes     = _filter_fault_status_changes;
 		status_flags.fs_bad_mag_x             = _ekf.fault_status_flags().bad_mag_x;
@@ -2080,6 +2082,9 @@ void EKF2::UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps)
 			}

 			_airspeed_validated_timestamp_last = airspeed_validated.timestamp;
+
+			ekf2_timestamps.airspeed_validated_timestamp_rel = (int16_t)((int64_t)airspeed_validated.timestamp / 100 -
+					(int64_t)ekf2_timestamps.timestamp / 100);
 		}

 	} else if (((ekf2_timestamps.timestamp - _airspeed_validated_timestamp_last) > 3_s) && _airspeed_sub.updated()) {
@@ -573,12 +573,9 @@ private:
 #endif // CONFIG_EKF2_AIRSPEED

 #if defined(CONFIG_EKF2_SIDESLIP)
-		(ParamExtFloat<px4::params::EKF2_BETA_GATE>)
-		_param_ekf2_beta_gate, ///< synthetic sideslip innovation consistency gate size (STD)
-		(ParamExtFloat<px4::params::EKF2_BETA_NOISE>) _param_ekf2_beta_noise, ///< synthetic sideslip noise (rad)
-
-		(ParamExtInt<px4::params::EKF2_FUSE_BETA>)
-		_param_ekf2_fuse_beta, ///< Controls synthetic sideslip fusion, 0 disables, 1 enables
+		(ParamExtFloat<px4::params::EKF2_BETA_GATE>) _param_ekf2_beta_gate,
+		(ParamExtFloat<px4::params::EKF2_BETA_NOISE>) _param_ekf2_beta_noise,
+		(ParamExtInt<px4::params::EKF2_FUSE_BETA>) _param_ekf2_fuse_beta,
 #endif // CONFIG_EKF2_SIDESLIP

 #if defined(CONFIG_EKF2_MAGNETOMETER)
@@ -158,7 +158,7 @@ parameters:
          If there's a jump from larger than RNG_FOG to smaller than EKF2_RNG_FOG, the
          measurement may gets rejected. 0 - disabled
      type: float
-      default: 1.0
+      default: 3.0
      min: 0.0
      max: 20.0
      unit: m
@@ -6,8 +6,8 @@ parameters:
      description:
        short: Enable synthetic sideslip fusion
        long: 'For reliable wind estimation both sideslip and airspeed fusion (see
-          EKF2_ARSP_THR) should be enabled. Only applies to fixed-wing vehicles (or
-          VTOLs in fixed-wing mode). Note: side slip fusion is currently not supported
+          EKF2_ARSP_THR) should be enabled. Only applies to vehicles in fixed-wing mode
+          or with airspeed fusion active. Note: side slip fusion is currently not supported
          for tailsitters.'
      type: boolean
      default: 0
@@ -282,12 +282,6 @@ void FlightTaskAuto::_prepareLandSetpoints()
 			sticks_xy.setZero();
 		}

-		// If ground distance estimate valid (distance sensor) during nudging then limit horizontal speed
-		if (PX4_ISFINITE(_dist_to_bottom)) {
-			// Below 50cm no horizontal speed, above allow per meter altitude 0.5m/s speed
-			max_speed = math::max(0.f, math::min(max_speed, (_dist_to_bottom - .5f) * .5f));
-		}
-
 		_stick_acceleration_xy.setVelocityConstraint(max_speed);
 		_stick_acceleration_xy.generateSetpoints(sticks_xy, _yaw, _land_heading, _position,
 				_velocity_setpoint_feedback.xy(), _deltatime);
@@ -109,6 +109,9 @@ void OutputMavlinkV1::update(const ControlData &control_data, bool new_setpoints

 	_stream_device_attitude_status();

+	// If the output is MAVLink v1, then we signal this by referring to compid 1.
+	gimbal_device_id = 1;
+
 	_last_update = now;
 }

@@ -294,6 +294,7 @@ void LoggedTopics::add_estimator_replay_topics()

 	// current EKF2 subscriptions
 	add_topic("airspeed");
+	add_topic("airspeed_validated");
 	add_topic("vehicle_optical_flow");
 	add_topic("sensor_combined");
 	add_topic("sensor_selection");
@@ -3075,12 +3075,7 @@ MavlinkReceiver::handle_message_gimbal_device_information(mavlink_message_t *msg
 	gimbal_information.yaw_max = gimbal_device_info_msg.yaw_max;
 	gimbal_information.yaw_min = gimbal_device_info_msg.yaw_min;

-	if (gimbal_device_info_msg.gimbal_device_id == 0) {
-		gimbal_information.gimbal_device_id = msg->compid;
-
-	} else {
-		gimbal_information.gimbal_device_id = gimbal_device_info_msg.gimbal_device_id;
-	}
+	gimbal_information.gimbal_device_id = msg->compid;

 	_gimbal_device_information_pub.publish(gimbal_information);
 }
@@ -74,48 +74,31 @@ private:
 				return false;
 			}

-			if (gimbal_device_attitude_status.gimbal_device_id >= 1 && gimbal_device_attitude_status.gimbal_device_id <= 6) {
-				// A non-MAVLink gimbal is signalled and addressed using 1 to 6 as the gimbal_device_id
-				mavlink_gimbal_device_attitude_status_t msg{};
+			mavlink_gimbal_device_attitude_status_t msg{};

-				msg.target_system = gimbal_device_attitude_status.target_system;
-				msg.target_component = gimbal_device_attitude_status.target_component;
+			msg.target_system = gimbal_device_attitude_status.target_system;
+			msg.target_component = gimbal_device_attitude_status.target_component;

-				msg.time_boot_ms = gimbal_device_attitude_status.timestamp / 1000;
+			msg.time_boot_ms = gimbal_device_attitude_status.timestamp / 1000;

-				msg.flags = gimbal_device_attitude_status.device_flags;
+			msg.flags = gimbal_device_attitude_status.device_flags;

-				msg.q[0] = gimbal_device_attitude_status.q[0];
-				msg.q[1] = gimbal_device_attitude_status.q[1];
-				msg.q[2] = gimbal_device_attitude_status.q[2];
-				msg.q[3] = gimbal_device_attitude_status.q[3];
+			msg.q[0] = gimbal_device_attitude_status.q[0];
+			msg.q[1] = gimbal_device_attitude_status.q[1];
+			msg.q[2] = gimbal_device_attitude_status.q[2];
+			msg.q[3] = gimbal_device_attitude_status.q[3];

-				msg.angular_velocity_x = gimbal_device_attitude_status.angular_velocity_x;
-				msg.angular_velocity_y = gimbal_device_attitude_status.angular_velocity_y;
-				msg.angular_velocity_z = gimbal_device_attitude_status.angular_velocity_z;
+			msg.angular_velocity_x = gimbal_device_attitude_status.angular_velocity_x;
+			msg.angular_velocity_y = gimbal_device_attitude_status.angular_velocity_y;
+			msg.angular_velocity_z = gimbal_device_attitude_status.angular_velocity_z;

-				msg.failure_flags = gimbal_device_attitude_status.failure_flags;
-				msg.gimbal_device_id = gimbal_device_attitude_status.gimbal_device_id;
+			msg.failure_flags = gimbal_device_attitude_status.failure_flags;
+			msg.gimbal_device_id = gimbal_device_attitude_status.gimbal_device_id;

-				msg.delta_yaw = gimbal_device_attitude_status.delta_yaw;
-				msg.delta_yaw_velocity = gimbal_device_attitude_status.delta_yaw_velocity;
+			msg.delta_yaw = gimbal_device_attitude_status.delta_yaw;
+			msg.delta_yaw_velocity = gimbal_device_attitude_status.delta_yaw_velocity;

-				mavlink_msg_gimbal_device_attitude_status_send_struct(_mavlink->get_channel(), &msg);
-
-			} else {
-				// We have a Mavlink gimbal. We simulate its mavlink instance by spoofing the component ID
-				mavlink_message_t message;
-				mavlink_msg_gimbal_device_attitude_status_pack_chan(_mavlink->get_system_id(), MAV_COMP_ID_GIMBAL,
-						_mavlink->get_channel(), &message,
-						gimbal_device_attitude_status.target_system, gimbal_device_attitude_status.target_component,
-						gimbal_device_attitude_status.timestamp / 1000,
-						gimbal_device_attitude_status.device_flags, gimbal_device_attitude_status.q,
-						gimbal_device_attitude_status.angular_velocity_x,
-						gimbal_device_attitude_status.angular_velocity_y, gimbal_device_attitude_status.angular_velocity_z,
-						gimbal_device_attitude_status.failure_flags,
-						0, 0, 0);
-				_mavlink->forward_message(&message, _mavlink);
-			}
+			mavlink_msg_gimbal_device_attitude_status_send_struct(_mavlink->get_channel(), &msg);

 			return true;
 		}
@@ -68,17 +68,21 @@ matrix::Vector3f AttitudeControl::update(const Quatf &q) const
 		qd_red = qd;

 	} else {
-		// transform rotation from current to desired thrust vector into a world frame reduced desired attitude
+		// Transform rotation from current to desired thrust vector into a world frame reduced desired attitude.
+		// This is a right multiplication as the tilt error quaternion is obtained from two Z vectors expressed in the world frame.
 		qd_red *= q;
 	}

-	// mix full and reduced desired attitude
-	Quatf q_mix = qd_red.inversed() * qd;
-	q_mix.canonicalize();
+	// With a full desired attitude given by: qd = qd_red * qd_dyaw, extract the delta yaw component.
+	// By definition, the delta yaw quaternion has the form (cos(angle/2), 0, 0, sin(angle/2))
+	Quatf qd_dyaw = qd_red.inversed() * qd;
+	qd_dyaw.canonicalize();
 	// catch numerical problems with the domain of acosf and asinf
-	q_mix(0) = math::constrain(q_mix(0), -1.f, 1.f);
-	q_mix(3) = math::constrain(q_mix(3), -1.f, 1.f);
-	qd = qd_red * Quatf(cosf(_yaw_w * acosf(q_mix(0))), 0, 0, sinf(_yaw_w * asinf(q_mix(3))));
+	qd_dyaw(0) = math::constrain(qd_dyaw(0), -1.f, 1.f);
+	qd_dyaw(3) = math::constrain(qd_dyaw(3), -1.f, 1.f);
+
+	// scale the delta yaw angle and re-combine the desired attitude
+	qd = qd_red * Quatf(cosf(_yaw_w * acosf(qd_dyaw(0))), 0.f, 0.f, sinf(_yaw_w * asinf(qd_dyaw(3))));

 	// quaternion attitude control law, qe is rotation from q to qd
 	const Quatf qe = q.inversed() * qd;
@@ -46,12 +46,7 @@ FeasibilityChecker::FeasibilityChecker() :

 void FeasibilityChecker::reset()
 {
-	_mission_validity_failed = false;
-	_takeoff_failed = false;
-	_land_pattern_validity_failed = false;
-	_distance_between_waypoints_failed = false;
-	_fixed_wing_land_approach_failed = false;
-	_takeoff_land_available_failed = false;
+	_checks_failed.value = 0;

 	_found_item_with_position = false;
 	_has_vtol_takeoff = false;
@@ -155,11 +150,11 @@ bool FeasibilityChecker::processNextItem(mission_item_s &mission_item, const int
 		updateData();
 	}

-	if (!_mission_validity_failed) {
-		_mission_validity_failed = !checkMissionItemValidity(mission_item, current_index);
+	if (!_checks_failed.flags.mission_validity_failed) {
+		_checks_failed.flags.mission_validity_failed = !checkMissionItemValidity(mission_item, current_index);
 	}

-	if (_mission_validity_failed) {
+	if (_checks_failed.flags.mission_validity_failed) {
 		// if a mission item is not valid then abort the other checks
 		return false;
 	}
@@ -177,7 +172,7 @@ bool FeasibilityChecker::processNextItem(mission_item_s &mission_item, const int
 	}

 	if (current_index == total_count - 1) {
-		_takeoff_land_available_failed = !checkTakeoffLandAvailable();
+		_checks_failed.flags.takeoff_land_available_failed = !checkTakeoffLandAvailable();
 	}

 	_mission_item_previous = mission_item;
@@ -188,39 +183,39 @@ bool FeasibilityChecker::processNextItem(mission_item_s &mission_item, const int
 void FeasibilityChecker::doCommonChecks(mission_item_s &mission_item, const int current_index)
 {

-	if (!_distance_between_waypoints_failed) {
-		_distance_between_waypoints_failed = !checkDistancesBetweenWaypoints(mission_item);
+	if (!_checks_failed.flags.distance_between_waypoints_failed) {
+		_checks_failed.flags.distance_between_waypoints_failed = !checkDistancesBetweenWaypoints(mission_item);
 	}

 	if (!_first_waypoint_found) {
 		checkHorizontalDistanceToFirstWaypoint(mission_item);
 	}

-	if (!_takeoff_failed) {
-		_takeoff_failed = !checkTakeoff(mission_item);
+	if (!_checks_failed.flags.takeoff_failed) {
+		_checks_failed.flags.takeoff_failed = !checkTakeoff(mission_item);
 	}

-	if (!_items_fit_to_vehicle_type_failed) {
-		_items_fit_to_vehicle_type_failed = !checkItemsFitToVehicleType(mission_item);
+	if (!_checks_failed.flags.items_fit_to_vehicle_type_failed) {
+		_checks_failed.flags.items_fit_to_vehicle_type_failed = !checkItemsFitToVehicleType(mission_item);
 	}
 }

 void FeasibilityChecker::doVtolChecks(mission_item_s &mission_item, const int current_index, const int last_index)
 {
-	if (!_land_pattern_validity_failed) {
-		_land_pattern_validity_failed = !checkLandPatternValidity(mission_item, current_index, last_index);
+	if (!_checks_failed.flags.land_pattern_validity_failed) {
+		_checks_failed.flags.land_pattern_validity_failed = !checkLandPatternValidity(mission_item, current_index, last_index);
 	}

 }

 void FeasibilityChecker::doFixedWingChecks(mission_item_s &mission_item, const int current_index, const int last_index)
 {
-	if (!_land_pattern_validity_failed) {
-		_land_pattern_validity_failed = !checkLandPatternValidity(mission_item, current_index, last_index);
+	if (!_checks_failed.flags.land_pattern_validity_failed) {
+		_checks_failed.flags.land_pattern_validity_failed = !checkLandPatternValidity(mission_item, current_index, last_index);
 	}

-	if (!_fixed_wing_land_approach_failed) {
-		_fixed_wing_land_approach_failed = !checkFixedWindLandApproach(mission_item, current_index);
+	if (!_checks_failed.flags.fixed_wing_land_approach_failed) {
+		_checks_failed.flags.fixed_wing_land_approach_failed = !checkFixedWindLandApproach(mission_item, current_index);
 	}

 }
@@ -77,12 +77,7 @@ public:
 	*/
 	bool someCheckFailed()
 	{
-		return _takeoff_failed ||
-		       _distance_between_waypoints_failed ||
-		       _land_pattern_validity_failed ||
-		       _fixed_wing_land_approach_failed ||
-		       _mission_validity_failed ||
-		       _takeoff_land_available_failed;
+		return _checks_failed.value != 0;
 	}

 	/**
@@ -110,14 +105,18 @@ private:
 	matrix::Vector2d _home_lat_lon = matrix::Vector2d((double)NAN, (double)NAN);
 	VehicleType _vehicle_type{VehicleType::RotaryWing};

-	// internal flags to keep track of which checks failed
-	bool _mission_validity_failed{false};
-	bool _takeoff_failed{false};
-	bool _land_pattern_validity_failed{false};
-	bool _distance_between_waypoints_failed{false};
-	bool _fixed_wing_land_approach_failed{false};
-	bool _takeoff_land_available_failed{false};
-	bool _items_fit_to_vehicle_type_failed{false};
+	union checks_failed_u {
+		struct {
+			bool mission_validity_failed : 1;
+			bool takeoff_failed : 1;
+			bool land_pattern_validity_failed : 1;
+			bool distance_between_waypoints_failed : 1;
+			bool fixed_wing_land_approach_failed : 1;
+			bool takeoff_land_available_failed : 1;
+			bool items_fit_to_vehicle_type_failed : 1;
+		} flags;
+		uint16_t value {0};
+	} _checks_failed{};

 	// internal checkTakeoff related variables
 	bool _found_item_with_position{false};
@@ -622,11 +622,11 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
 	sp->lon = item.lon;
 	sp->alt = get_absolute_altitude_for_item(item);
 	sp->yaw = item.yaw;
-	sp->loiter_radius = (fabsf(item.loiter_radius) > NAV_EPSILON_POSITION) ? fabsf(item.loiter_radius) :
+	sp->loiter_radius = (fabsf(item.loiter_radius) > FLT_EPSILON) ? fabsf(item.loiter_radius) :
 			    _navigator->get_loiter_radius();
 	sp->loiter_direction_counter_clockwise = item.loiter_radius < 0;

-	if (item.acceptance_radius > 0.001f && PX4_ISFINITE(item.acceptance_radius)) {
+	if (item.acceptance_radius > FLT_EPSILON && PX4_ISFINITE(item.acceptance_radius)) {
 		// if the mission item has a specified acceptance radius, overwrite the default one from parameters
 		sp->acceptance_radius = item.acceptance_radius;

@@ -56,8 +56,6 @@
 #  define NUM_MISSIONS_SUPPORTED 500
 #endif

-#define NAV_EPSILON_POSITION	0.001f	/**< Anything smaller than this is considered zero */
-
 /* compatible to mavlink MAV_CMD */
 enum NAV_CMD {
 	NAV_CMD_IDLE = 0,
@@ -118,7 +118,7 @@ VtolTakeoff::on_active()
 				_mission_item.time_inside = 1.f;
 				_mission_item.loiter_radius = _navigator->get_loiter_radius();
 				_mission_item.acceptance_radius  = _navigator->get_acceptance_radius();
-				_mission_item.altitude = _navigator->get_home_position()->alt + _param_loiter_alt.get();
+				_mission_item.altitude = _takeoff_alt_msl + _param_loiter_alt.get();

 				mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
 				pos_sp_triplet->current.lat = _loiter_location(0);
@@ -170,6 +170,8 @@ VtolTakeoff::set_takeoff_position()
 	// set current mission item to takeoff
 	set_takeoff_item(&_mission_item, _transition_alt_amsl);

+	_takeoff_alt_msl = _navigator->get_global_position()->alt;
+
 	_mission_item.lat = _navigator->get_global_position()->lat;
 	_mission_item.lon = _navigator->get_global_position()->lon;

@@ -70,6 +70,7 @@ private:
 	} _takeoff_state;

 	float _transition_alt_amsl{0.f};	// absolute altitude at which vehicle will transition to forward flight
+	float _takeoff_alt_msl{0.f};
 	matrix::Vector2d _loiter_location;
 	float _loiter_height{0};

@@ -39,6 +39,7 @@

 // for ekf2 replay
 #include <uORB/topics/airspeed.h>
+#include <uORB/topics/airspeed_validated.h>
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/topics/landing_target_pose.h>
 #include <uORB/topics/sensor_combined.h>
@@ -91,6 +92,9 @@ ReplayEkf2::onSubscriptionAdded(Subscription &sub, uint16_t msg_id)
 	} else if (sub.orb_meta == ORB_ID(airspeed)) {
 		_airspeed_msg_id = msg_id;

+	} else if (sub.orb_meta == ORB_ID(airspeed_validated)) {
+		_airspeed_validated_msg_id = msg_id;
+
 	} else if (sub.orb_meta == ORB_ID(distance_sensor)) {
 		_distance_sensor_msg_id = msg_id;

@@ -138,6 +142,7 @@ ReplayEkf2::publishEkf2Topics(const ekf2_timestamps_s &ekf2_timestamps, std::ifs
 	};

 	handle_sensor_publication(ekf2_timestamps.airspeed_timestamp_rel, _airspeed_msg_id);
+	handle_sensor_publication(ekf2_timestamps.airspeed_validated_timestamp_rel, _airspeed_validated_msg_id);
 	handle_sensor_publication(ekf2_timestamps.distance_sensor_timestamp_rel, _distance_sensor_msg_id);
 	handle_sensor_publication(ekf2_timestamps.optical_flow_timestamp_rel, _optical_flow_msg_id);
 	handle_sensor_publication(ekf2_timestamps.vehicle_air_data_timestamp_rel, _vehicle_air_data_msg_id);
@@ -225,6 +230,7 @@ ReplayEkf2::onExitMainLoop()
 	PX4_INFO("Topic, Num Published, Num Error (no timestamp match found):");

 	print_sensor_statistics(_airspeed_msg_id, "airspeed");
+	print_sensor_statistics(_airspeed_validated_msg_id, "airspeed_validated");
 	print_sensor_statistics(_distance_sensor_msg_id, "distance_sensor");
 	print_sensor_statistics(_optical_flow_msg_id, "vehicle_optical_flow");
 	print_sensor_statistics(_sensor_combined_msg_id, "sensor_combined");
@@ -82,6 +82,7 @@ private:
 	static constexpr uint16_t msg_id_invalid = 0xffff;

 	uint16_t _airspeed_msg_id = msg_id_invalid;
+	uint16_t _airspeed_validated_msg_id = msg_id_invalid;
 	uint16_t _distance_sensor_msg_id = msg_id_invalid;
 	uint16_t _optical_flow_msg_id = msg_id_invalid;
 	uint16_t _sensor_combined_msg_id = msg_id_invalid;
--- a/Show More
+++ b/Show More