From 7c77cfa6e1ab2d30caa4b0f47aa43cdb32601243 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Mon, 19 May 2025 10:13:22 +1200
Subject: [PATCH] holybro: match AP flash layout

That way the ArduPilot bootloader works with PX4.
---
 boards/holybro/kakuteh7-wing/default.px4board               | 5 +----
 boards/holybro/kakuteh7-wing/firmware.prototype             | 2 +-
 boards/holybro/kakuteh7-wing/nuttx-config/scripts/script.ld | 2 +-
 boards/holybro/kakuteh7-wing/src/init.c                     | 1 +
 4 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/boards/holybro/kakuteh7-wing/default.px4board b/boards/holybro/kakuteh7-wing/default.px4board
index 08670e4781..97e9d53b52 100644
--- a/boards/holybro/kakuteh7-wing/default.px4board
+++ b/boards/holybro/kakuteh7-wing/default.px4board
@@ -13,13 +13,11 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -58,9 +56,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -70,6 +66,7 @@ CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
diff --git a/boards/holybro/kakuteh7-wing/firmware.prototype b/boards/holybro/kakuteh7-wing/firmware.prototype
index 5c3a914540..109266ad37 100644
--- a/boards/holybro/kakuteh7-wing/firmware.prototype
+++ b/boards/holybro/kakuteh7-wing/firmware.prototype
@@ -7,7 +7,7 @@
     "summary": "KAKUTEH7-WING",
     "version": "0.1",
     "image_size": 0,
-    "image_maxsize": 1835008,
+    "image_maxsize": 1703936,
     "git_identity": "",
     "board_revision": 0
 }
diff --git a/boards/holybro/kakuteh7-wing/nuttx-config/scripts/script.ld b/boards/holybro/kakuteh7-wing/nuttx-config/scripts/script.ld
index ae07f4bfca..31780fad15 100644
--- a/boards/holybro/kakuteh7-wing/nuttx-config/scripts/script.ld
+++ b/boards/holybro/kakuteh7-wing/nuttx-config/scripts/script.ld
@@ -110,7 +110,7 @@
 MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1664K /* params in last two sectors */
 
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
diff --git a/boards/holybro/kakuteh7-wing/src/init.c b/boards/holybro/kakuteh7-wing/src/init.c
index 0e3d27db7d..5908f71f2f 100644
--- a/boards/holybro/kakuteh7-wing/src/init.c
+++ b/boards/holybro/kakuteh7-wing/src/init.c
@@ -254,6 +254,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #if defined(FLASH_BASED_PARAMS)
 	static sector_descriptor_t params_sector_map[] = {
+		{14, 128 * 1024, 0x081C0000},
 		{15, 128 * 1024, 0x081E0000},
 		{0, 0, 0},
 	};