From f8bfe01eca0f071226aed50a60008178cce09c5d Mon Sep 17 00:00:00 2001
From: Minderring <1701213518@sz.edu.pku.cn>
Date: Fri, 18 Jul 2025 11:25:24 +0800
Subject: [PATCH] Add MSP_OSD and other drivers for micoair boards

---
 boards/micoair/h743-aio/default.px4board      |  30 ++++++++++++++--
 .../extras/micoair_h743-aio_bootloader.bin    | Bin 41024 -> 41040 bytes
 boards/micoair/h743-aio/firmware.prototype    |   2 +-
 .../micoair/h743-aio/init/rc.board_defaults   |   1 +
 .../h743-aio/nuttx-config/scripts/script.ld   |   2 +-
 boards/micoair/h743-aio/src/board_config.h    |   2 --
 boards/micoair/h743-aio/src/hw_config.h       |   6 ++--
 boards/micoair/h743-v2/default.px4board       |  33 +++++++++++++++---
 .../extras/micoair_h743-v2_bootloader.bin     | Bin 41028 -> 41044 bytes
 boards/micoair/h743-v2/firmware.prototype     |   2 +-
 boards/micoair/h743-v2/init/rc.board_defaults |   1 +
 .../h743-v2/nuttx-config/scripts/script.ld    |   2 +-
 boards/micoair/h743-v2/src/board_config.h     |   2 --
 boards/micoair/h743-v2/src/hw_config.h        |   6 ++--
 boards/micoair/h743/default.px4board          |  30 ++++++++++++++--
 .../h743/extras/micoair_h743_bootloader.bin   | Bin 41020 -> 41036 bytes
 boards/micoair/h743/firmware.prototype        |   2 +-
 boards/micoair/h743/init/rc.board_defaults    |   1 +
 .../h743/nuttx-config/scripts/script.ld       |   2 +-
 boards/micoair/h743/src/board_config.h        |   2 --
 boards/micoair/h743/src/hw_config.h           |   6 ++--
 21 files changed, 101 insertions(+), 31 deletions(-)
 mode change 100644 => 100755 boards/micoair/h743/extras/micoair_h743_bootloader.bin

diff --git a/boards/micoair/h743-aio/default.px4board b/boards/micoair/h743-aio/default.px4board
index 5e68a6dbc5..0fd31b83fc 100644
--- a/boards/micoair/h743-aio/default.px4board
+++ b/boards/micoair/h743-aio/default.px4board
@@ -7,29 +7,53 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
+CONFIG_COMMON_INS=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_POWER_MONITOR_INA220=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
+CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_COMMON_RPM=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_DRIVERS_TAP_ESC=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_COMMON_UWB=y
+CONFIG_COMMON_WIND_SENSOR=y
+CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
@@ -39,9 +63,9 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_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
diff --git a/boards/micoair/h743-aio/extras/micoair_h743-aio_bootloader.bin b/boards/micoair/h743-aio/extras/micoair_h743-aio_bootloader.bin
index 362848ab8018ed036f62c28c1c6323ba077d69fe..09c5d9fc31c8df9c13854d95043e55bb876486df 100755
GIT binary patch
delta 1547
zcmYjReN0nV6u<ZNz0wNBDt>`N-{Vp26kVlGyWz50^xDy}Vo-<MTu>vz`~atm%a%x)
z|KOr=<bp83F*h`uW)XaL8Ddj6U9v4PvBN|Rn`57#&gJRoZcAD3?ki^VCFh*`JLh-r
zIrpCX?xjoIwM$&jyE=G9Y0`Q19N(_oGA`!fJZwt$!D_rIU50PqhV--Wpt5ADqT@T-
zfdTvNbIxUauZP|Ehs^y<ug~(qZslawk3zPM#RV@{Zw{143(Y)&>KzJXdA~UbLN<It
z>@rO-hNS}-N|+qNrP6E;wBssifmVWa8Nw@gz3gE6kSxP4{Hbh#N0qDc4UW;2Q~9sW
zG=ffGxNZb_zhY^{4meLavSNq9bg>H<Gy#BFMOf|NjgK*&#KfwseD<thjIyDfNskhH
ze!Cu)DVx{tfzX5pHr$3T9DKoNY-AOUnnB(=JhLKh($Ko&z`z5Lw*hBwRNxUD-uRZV
zlle9)YhU~*)!4~~=b0SF|7=?h5924QcFc+}e1H`)%IrNRz*DzI_rCI3)!Qj>j`HMg
zhaNU6yY}scf|lSp<+s<1QlU+e8aj+{pAvlM41_zCn!}s;qKh%T*EjZN-B5K!F;G8=
z0rh4qIBIYKHPi<}PF9v70Mr}IABq7HsNGCY#xaIX<@GDZeJZS+^enreaj(REDyRhN
zyhkFlE&%oV1)n-BUyd3~b!(>DnnS)ZU<YE|n&O=Fh2{W{jDu3Ih=QYLmb;YkmyHA4
z-(l9$`)suc<El#k!4x6<Kfc=!l!2ylSiiKic&twMWwi0>La(D_AnJGOBJ~-%$bs?>
z4p&A=K3(jI5;>_w3PnOrvTYRXBIHDDfw$A`4ud?++aAkDA}ZKMNK4G>0qTsnfby6%
z$7OGuJ3VYwDVOVQcN@d^&gCr94{8So@>k>IIJInm3aGO0mEJhXNoLp+GkK?#6d)VQ
zV(YycgHnbkPH=*grZamqAtI0$ClxeK^fWrM@<HQLnE%BH2mu$U0K@k!cnpieZq{Qz
z&TL*{UDa2~dSM<0!!Q>}&_hTO>yL&(E|hqWAwWnWu5HeoZ~f2DC3)EoF>iAQ1eAs{
z2DPo8$7h?f7oLm)(HZoq)E*!CSi9IPIkfS}5a7Z<qU0tO5g}u7p#F?Wvo()HQ#=jT
zO>W&FjQFQDxu*=KB(d-iw}pU+oh`ZWbNo_^753wXmf1Byb~0tX3DP&g=kP-|M9GIV
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zG`7`U^sj2)SlyO1>6a`!n#<|NhPP6(h5D0mjr%gybPeTES-%ePxoMJy*HRfx&eKqd
zFG*U<bb`1h3i`DI@~J@)BGe8ZP%|YKdac)nga~jPbf<+u!HiI?$^-3hh_d70`CB8C
znycpRun><Q%i&@PoYk6BbUO}g+lEB8VmkG+Ex6Rvei4bwDfu>Gm#wNLHBHJweJuWG
zLRsZTJ&2RjB#r+&-rKqneuJ;J&b6FLuzov0?u=xln_Wao&LqI1m0^+9+=f%yEbNt;
z-&PCP;nuby7{CK<i{Rr5d@n<%%<0U8Da#hyw*&fz;yS*Qn>KNe)<gCn(ubcD2fJi8
X^`|b2=?J@0&#+h-d*0fy=>x~VViAon

delta 1583
zcmYjReM}Tb6rb7KJNNVsPW(a?+`R?5RiG#5$5}MOfdg{dlNeiU&`_y}RfN(SlWGIB
ze-s;y;$Q(4Y2!yowE}K21#(3tHvPw>r%lAFEon8Nwsy79x#Q?fXAjf5$$PW!z2Cg|
z+xKSnhs)gM%Us7{1N>U8H+W3kaI^ZeIgN(^Tcf;i4c-(b!y;T8)eg6*3!_y7UwsS+
zxW*BCaoSxIti$(a?_qjFoEO%qXX1V_##>n2=;5kuUF!qsHXcFk5e2fm$L0fl7W{?S
zY8_+<!*L*_F)7DurCHqlW?U-Ghiz)T)DK}B-XJ@f-Y?6r8Gj|ugZtI%@-2?R)U(M|
zGtBqd#vjcf@p~*S-vNPoaQP0wdcGA1x&Xjd)ws&Zo2@4p6((jiYjwNPJjh;SnKY@v
z*S48prux=~cOjgGZ@&HzD%kgi*SwP@9=3tR96X~iWYw*l79j8dBqAKYQH7si|Hi$>
zBIYYl3*J06#e9Iho@TNS|Fd-|+=myJ?wI+2*}E8#0k+;_0`e+z|7uY$m3}k{3hJ_5
zP7~azmcRcVH0lMGs}FW(Oo0|vsy%LoZ>zpf&p}wEZa=Vz&$tvcdAuVZRNg5o%m&)2
zAkc0GeZxW~(7L-ppNr8Fx`5_q{_Y?Ufp(JViTFVb>(^JOk9jp%JmE>{(Xp38UJVoj
zE#`%Yr3Yx=^?0>Gxj!ISD|4fihCc5IZ~(C~H#@<)z}Ceh^MKSTBHyr$)y`)4lrf<E
z?Pnu>%Ce0ztahgN<4H#U|MtCJpx&%s5351q!nN5Wm4>T<x)pQnuXyHG6;&Opx?2?>
zFVob#07<4POv@CCgtP@klvYm2>7e2{>CW;)F&Pok!n`S4326={<^gST$cSXNnnHF@
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zq@XyKc2^KeF?k`<80Ms@Y{g*_fy59gq9HPw28Obp)h&X_SB5|z$OMH)8bsq}Hr+~`
z)UYrqzq^=C!8Qm6p&dvtkB}@j8QlhUDDinh7a=aZw_)~63;y$S5uE(o<`q|$5n0f*
z0lfh|xVIsG!MOksT|Tcy9igEn{YbOAP~nl##rc6m$!#jKwv2^<_7gT7O`0osIMiHL
z>oyO-Q82aEZM<#Ft1YW{*Y(9ByymDKUd0thld7);;PO#_g%%B5zF0Iql<8RmTwRo0
zVeMJh87BSXd;)(*L6n@OVRB<!L@r;27Q>GX>8J|~Rme~s3}uX<u2BVr$+s`yI!0?&
z>c?gB4KP{*G9e|H8n)Mz-H!v0b2ys~&-lz)9j&lnDUZC55ZXN8VCCLnsl%jv94M<J
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zuL1FPi=^8HR7Ml~BKdM7pn?eZ{BcXKPGCMA?lg^p#X2C7e$#ouZSjMY>3tO%5A>@L
zV13~EUxy~Nvy5K?op@$r0tYEx(wLAzLO|JiM`XKWXbq#DseM@^B5^4tH^L4%Nt-vt
zBE_L@7Jn92bKIx{ak53y@sIGK#*Oege%Lr?WqX*7+zIT{Bat?C3@K?3gVZd)$l7x@
zq_7JZI3zq3g?62Z@yXDO_`^86sR9;awJ8Jk<3F2H;R-drd76Qzzh6C~I!?@n(Tmd@
z+e(*}EGltrNlz~U>bjPl+*HdGS`FDxlRkeGe7#kMIrwSoJnM(-@U3LAb?g`TDUSc#
F`7b>1oWuYC

diff --git a/boards/micoair/h743-aio/firmware.prototype b/boards/micoair/h743-aio/firmware.prototype
index c487b88912..cd0a6ec500 100644
--- a/boards/micoair/h743-aio/firmware.prototype
+++ b/boards/micoair/h743-aio/firmware.prototype
@@ -7,7 +7,7 @@
     "summary": "MicoAir743AIO",
     "version": "0.1",
     "image_size": 0,
-    "image_maxsize": 1835008,
+    "image_maxsize": 1966080,
     "git_identity": "",
     "board_revision": 0
 }
diff --git a/boards/micoair/h743-aio/init/rc.board_defaults b/boards/micoair/h743-aio/init/rc.board_defaults
index 5e3cd5bd60..23d1e77fd3 100644
--- a/boards/micoair/h743-aio/init/rc.board_defaults
+++ b/boards/micoair/h743-aio/init/rc.board_defaults
@@ -19,6 +19,7 @@ param set-default MC_ROLLRATE_K 0.35
 param set-default MC_YAWRATE_K 1.2
 param set-default MC_YAWRATE_MAX 360
 param set-default MAV_TYPE 2
+param set-default MSP_OSD_CONFIG 102
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
 param set-default CBRK_SUPPLY_CHK 894281
diff --git a/boards/micoair/h743-aio/nuttx-config/scripts/script.ld b/boards/micoair/h743-aio/nuttx-config/scripts/script.ld
index 1dc1a0ef97..85f4990724 100644
--- a/boards/micoair/h743-aio/nuttx-config/scripts/script.ld
+++ b/boards/micoair/h743-aio/nuttx-config/scripts/script.ld
@@ -110,7 +110,7 @@
 MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
 
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
diff --git a/boards/micoair/h743-aio/src/board_config.h b/boards/micoair/h743-aio/src/board_config.h
index 9db51a7db7..dcc045b96f 100644
--- a/boards/micoair/h743-aio/src/board_config.h
+++ b/boards/micoair/h743-aio/src/board_config.h
@@ -53,7 +53,6 @@
  * Definitions
  ****************************************************************************************************/
 
-// #define FLASH_BASED_PARAMS
 
 
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
@@ -147,7 +146,6 @@
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
 
-#define FLASH_BASED_PARAMS
 
 #define BOARD_NUM_IO_TIMERS 4
 
diff --git a/boards/micoair/h743-aio/src/hw_config.h b/boards/micoair/h743-aio/src/hw_config.h
index b02994a1ea..c63c1e6588 100644
--- a/boards/micoair/h743-aio/src/hw_config.h
+++ b/boards/micoair/h743-aio/src/hw_config.h
@@ -97,9 +97,9 @@
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,115200"
 #define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1176
-#define BOARD_FLASH_SECTORS            (14)
-#define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE 	       (1 * 128 * 1024)
+#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
+#define BOARD_FLASH_SECTORS            (15)
+#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
 
 #define OSC_FREQ                       8
 
diff --git a/boards/micoair/h743-v2/default.px4board b/boards/micoair/h743-v2/default.px4board
index 821021a753..88ec1b6121 100644
--- a/boards/micoair/h743-v2/default.px4board
+++ b/boards/micoair/h743-v2/default.px4board
@@ -8,29 +8,47 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
+CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_GOERTEK_SPL06=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
+CONFIG_COMMON_INS=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_POWER_MONITOR_INA220=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
+CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RPM=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_DRIVERS_TAP_ESC=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_COMMON_UWB=y
+CONFIG_COMMON_WIND_SENSOR=y
+CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
@@ -40,9 +58,9 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_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
@@ -66,6 +84,8 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_FAILURE=y
@@ -78,7 +98,10 @@ CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TESTS=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
diff --git a/boards/micoair/h743-v2/extras/micoair_h743-v2_bootloader.bin b/boards/micoair/h743-v2/extras/micoair_h743-v2_bootloader.bin
index 678f20842089460e191003ffa6ce0d938f6fb7fc..7038197a01cb11e2a0354b48795025a612b0bbd2 100755
GIT binary patch
delta 1610
zcmYk6e{2(F7{}lDde>dYx^;{J8;srcx><08LJ2f(gwn}Tsk6g@4h1q;m|Y02AOs_c
zE#Mz08fe~va|7lCNrV|Tjs?aj9lsJZ7^#pjGli+q^4kMfucfoE?-in4@;vYReV)(z
z`@Q!<KXt92>e{7&m!yEkrKPf3r5n1bG&CW7wi|lU@@xV6(U$C^aECNKN7B#-S^<mv
zmhs2(e$v8D^mD-`;+GV<VW;$E;Z3H<Lh_7@@)>$+<1-Aj2<1B%2*M^q2!t)DgKO8*
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ZfOY8i_F{d2T>H5sS3_RM{V4Zy>%ZcZt!e-O

delta 1535
zcmYjReM}Tb6rb7KJ@@1e55y`cuzP#hs~-0BtYVSMhaFB&Jq_AIqXtpvsj(o%n6!TY
zZIjXuTj@Xn6|rfxO>O1q1|t$YKWhIo>8VL+(U$ZhP(Pa0fOE%@o6a7lb(8mI-u!;=
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zc+G8ub?Sk-*P)<akgwi9kedKg)MpxxnxJ33`u=GM%hmlKZsT*$MvPwH*c&xN{?a0#
zeI5bYjmW^Lm=CnRJ`l`dX^Fi+3$gRQ2#|nwoarh25H>ZJ)GwLvX|R0i#Ccxlo{jo6
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za2zBx779NLo<@IjVN-Ap!kb%d@B%*AnguW6&eqwxFR?Oh?1_;plY9n0<Uo|1qA_xP
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zee|y1H&#<&mj6g|pt+o3Y<MRn6|^Ca>)fp@A4+yp9=ZArh_{(#-QGkMH02kMR~#p8
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zQv5<&MlOj0N9B;jypw4IOFduvx<NwHa!RhpTuPRfnP8UFP#?n|#?;k?D1bP{EbII`
zxUH=WUc(RC=4N)sSTEhcmJ&z4V$(=TcMN0~gd|p;Q+Q!}CVN=D?bWap_qXT5ASUhE
zFi*|um}%hYz004dImgmr!mi4yoja>`tXNS2)Y48rmt_5i)<gCP(#M|@hq@H#!Q)+-
TmPR(vs~EPCJ!v0d`Gosl0@#Hs

diff --git a/boards/micoair/h743-v2/firmware.prototype b/boards/micoair/h743-v2/firmware.prototype
index 3f1a41def8..424c33313e 100644
--- a/boards/micoair/h743-v2/firmware.prototype
+++ b/boards/micoair/h743-v2/firmware.prototype
@@ -7,7 +7,7 @@
     "summary": "MicoAir743v2",
     "version": "0.1",
     "image_size": 0,
-    "image_maxsize": 1835008,
+    "image_maxsize": 1966080,
     "git_identity": "",
     "board_revision": 0
 }
diff --git a/boards/micoair/h743-v2/init/rc.board_defaults b/boards/micoair/h743-v2/init/rc.board_defaults
index 2115bc8848..76ebd8084f 100644
--- a/boards/micoair/h743-v2/init/rc.board_defaults
+++ b/boards/micoair/h743-v2/init/rc.board_defaults
@@ -22,6 +22,7 @@ param set-default MC_ROLLRATE_K 0.35
 param set-default MC_YAWRATE_K 1.2
 param set-default MC_YAWRATE_MAX 360
 param set-default MAV_TYPE 2
+param set-default MSP_OSD_CONFIG 202
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
 param set-default CBRK_SUPPLY_CHK 894281
diff --git a/boards/micoair/h743-v2/nuttx-config/scripts/script.ld b/boards/micoair/h743-v2/nuttx-config/scripts/script.ld
index 1dc1a0ef97..85f4990724 100644
--- a/boards/micoair/h743-v2/nuttx-config/scripts/script.ld
+++ b/boards/micoair/h743-v2/nuttx-config/scripts/script.ld
@@ -110,7 +110,7 @@
 MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
 
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
diff --git a/boards/micoair/h743-v2/src/board_config.h b/boards/micoair/h743-v2/src/board_config.h
index 97f36585ad..e3f211638e 100644
--- a/boards/micoair/h743-v2/src/board_config.h
+++ b/boards/micoair/h743-v2/src/board_config.h
@@ -53,7 +53,6 @@
  * Definitions
  ****************************************************************************************************/
 
-// #define FLASH_BASED_PARAMS
 
 
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
@@ -149,7 +148,6 @@
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
 
-#define FLASH_BASED_PARAMS
 
 #define BOARD_NUM_IO_TIMERS 5
 
diff --git a/boards/micoair/h743-v2/src/hw_config.h b/boards/micoair/h743-v2/src/hw_config.h
index a74346eddb..ded5196d73 100644
--- a/boards/micoair/h743-v2/src/hw_config.h
+++ b/boards/micoair/h743-v2/src/hw_config.h
@@ -97,9 +97,9 @@
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,115200"
 #define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1179
-#define BOARD_FLASH_SECTORS            (14)
-#define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE 	       (1 * 128 * 1024)
+#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
+#define BOARD_FLASH_SECTORS            (15)
+#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
 
 #define OSC_FREQ                       8
 
diff --git a/boards/micoair/h743/default.px4board b/boards/micoair/h743/default.px4board
index ac84a53cd6..58d6dac967 100644
--- a/boards/micoair/h743/default.px4board
+++ b/boards/micoair/h743/default.px4board
@@ -7,28 +7,51 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
+CONFIG_COMMON_INS=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_POWER_MONITOR_INA220=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
+CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RPM=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_DRIVERS_TAP_ESC=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_COMMON_UWB=y
+CONFIG_COMMON_WIND_SENSOR=y
+CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
@@ -38,9 +61,9 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_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
@@ -64,6 +87,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_FAILURE=y
@@ -76,6 +100,8 @@ CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
diff --git a/boards/micoair/h743/extras/micoair_h743_bootloader.bin b/boards/micoair/h743/extras/micoair_h743_bootloader.bin
old mode 100644
new mode 100755
index ca8c511279669e21033c2c92bded52ffc0e6e2d3..9cd2a9049167371bac4d318f4fcf129363032d71
GIT binary patch
delta 4470
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diff --git a/boards/micoair/h743/firmware.prototype b/boards/micoair/h743/firmware.prototype
index 92f7847051..57e1730340 100644
--- a/boards/micoair/h743/firmware.prototype
+++ b/boards/micoair/h743/firmware.prototype
@@ -7,7 +7,7 @@
     "summary": "MicoAir743",
     "version": "0.1",
     "image_size": 0,
-    "image_maxsize": 1835008,
+    "image_maxsize": 1966080,
     "git_identity": "",
     "board_revision": 0
 }
diff --git a/boards/micoair/h743/init/rc.board_defaults b/boards/micoair/h743/init/rc.board_defaults
index 55b69959dc..b75fc32b5f 100644
--- a/boards/micoair/h743/init/rc.board_defaults
+++ b/boards/micoair/h743/init/rc.board_defaults
@@ -19,6 +19,7 @@ param set-default MC_ROLLRATE_K 0.35
 param set-default MC_YAWRATE_K 1.2
 param set-default MC_YAWRATE_MAX 360
 param set-default MAV_TYPE 2
+param set-default MSP_OSD_CONFIG 102
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
 param set-default CBRK_SUPPLY_CHK 894281
diff --git a/boards/micoair/h743/nuttx-config/scripts/script.ld b/boards/micoair/h743/nuttx-config/scripts/script.ld
index 1dc1a0ef97..85f4990724 100644
--- a/boards/micoair/h743/nuttx-config/scripts/script.ld
+++ b/boards/micoair/h743/nuttx-config/scripts/script.ld
@@ -110,7 +110,7 @@
 MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
 
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
diff --git a/boards/micoair/h743/src/board_config.h b/boards/micoair/h743/src/board_config.h
index 48ff3ff203..77004d0742 100644
--- a/boards/micoair/h743/src/board_config.h
+++ b/boards/micoair/h743/src/board_config.h
@@ -53,7 +53,6 @@
  * Definitions
  ****************************************************************************************************/
 
-// #define FLASH_BASED_PARAMS
 
 
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
@@ -145,7 +144,6 @@
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
 
-#define FLASH_BASED_PARAMS
 
 #define BOARD_NUM_IO_TIMERS 4
 
diff --git a/boards/micoair/h743/src/hw_config.h b/boards/micoair/h743/src/hw_config.h
index a428dd5359..5ed1180829 100644
--- a/boards/micoair/h743/src/hw_config.h
+++ b/boards/micoair/h743/src/hw_config.h
@@ -97,9 +97,9 @@
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,115200"
 #define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1166
-#define BOARD_FLASH_SECTORS            (14)
-#define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE 	       (1 * 128 * 1024)
+#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
+#define BOARD_FLASH_SECTORS            (15)
+#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
 
 #define OSC_FREQ                       8