From 713350930db85791ab511f46d829faf5b34a9dca Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 5 Dec 2021 16:59:57 -0500
Subject: [PATCH] boards: px4_fmu-v5 add test variant

---
 boards/px4/fmu-v5x/default.px4board |  4 ++--
 boards/px4/fmu-v5x/test.px4board    | 12 ++++++++++++
 2 files changed, 14 insertions(+), 2 deletions(-)
 create mode 100644 boards/px4/fmu-v5x/test.px4board

diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board
index ada4d15a9b..ceb546d679 100644
--- a/boards/px4/fmu-v5x/default.px4board
+++ b/boards/px4/fmu-v5x/default.px4board
@@ -50,6 +50,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -73,7 +74,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -82,8 +82,8 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
diff --git a/boards/px4/fmu-v5x/test.px4board b/boards/px4/fmu-v5x/test.px4board
new file mode 100644
index 0000000000..983aaf05cf
--- /dev/null
+++ b/boards/px4/fmu-v5x/test.px4board
@@ -0,0 +1,12 @@
+CONFIG_DRIVERS_ADC_ADS1115=n
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_PCA9685=n
+CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_RPM=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
+CONFIG_MODULES_ROVER_POS_CONTROL=n
+CONFIG_BOARD_TESTING=y
+CONFIG_DRIVERS_TEST_PPM=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y