TiltrotorEffectiveness: limit thrust axis tilt to z effectiveness scaling

During transition to FF, only allow update thrust axis up to 45° as with a high tilt angle the effectiveness of the thrust axis in z is apporaching 0, and by that is increasing the motor output to max. Transition to HF: disable thrust axis tilting, and assume motors are vertical. This is to avoid a thrust spike when the transition is initiated (as then the tilt is fully forward). Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
[gz-bridge] fix GZ timeout for slow starting simulations (#22195 )
2026-06-10 00:40:04 +08:00 · 2023-10-18 16:31:42 -04:00 · 2023-10-18 09:41:53 +02:00 · 2023-10-08 10:43:22 +13:00 · 2023-10-06 08:02:22 +13:00 · 2023-10-06 08:02:22 +13:00
851 changed files with 25491 additions and 43432 deletions
@@ -9,7 +9,7 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2023-06-26",
+            armhf: "px4io/px4-dev-armhf:2022-08-12",
            arm64: "px4io/px4-dev-aarch64:2022-08-12",
            base: "px4io/px4-dev-ros2-foxy:2022-08-12",
            nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
@@ -117,8 +117,7 @@ pipeline {
                     "spracing_h7extreme_default",
                     "thepeach_k1_default",
                     "thepeach_r1_default",
-                     "uvify_core_default",
-                     "siyi_n7_default"
+                     "uvify_core_default"
            ],
            image: docker_images.nuttx,
            archive: true
@@ -170,7 +169,7 @@ pipeline {
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 120, unit: 'MINUTES')
+    timeout(time: 90, unit: 'MINUTES')
  }
 }

@@ -12,7 +12,7 @@ pipeline {
            stage("build cubepilot_cubeorange_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -91,7 +91,7 @@ pipeline {
            stage("build cuav_x7pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -165,7 +165,7 @@ pipeline {
            stage("build px4_fmu-v4_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -238,7 +238,7 @@ pipeline {
            stage("build px4_fmu-v4pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -312,7 +312,7 @@ pipeline {
            stage("build px4_fmu-v5_debug") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -362,7 +362,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'

                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'

                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
@@ -403,7 +403,7 @@ pipeline {
            stage("build px4_fmu-v5_stackcheck") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -449,7 +449,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'

                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
                  }
                }
                stage("status") {
@@ -486,7 +486,7 @@ pipeline {
            stage("build px4_fmu-v5_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -560,7 +560,7 @@ pipeline {
            stage("build nxp_fmuk66-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2022-08-12",
+	"image": "px4io/px4-dev-nuttx-focal:2021-09-08",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

@@ -29,8 +29,7 @@
 		"twxs.cmake",
 		"uavcan.dsdl",
 		"wholroyd.jinja",
-		"zixuanwang.linkerscript",
-		"ms-vscode.makefile-tools"
+		"zixuanwang.linkerscript"
 	],

 	"containerUser": "user",
@@ -0,0 +1,34 @@
+---
+name: 🐛 Bug report
+about: Create a report to help us improve
+labels: bug-report
+
+---
+
+## Describe the bug
+A clear and concise description of the bug.
+
+## To Reproduce
+Steps to reproduce the behavior:
+1. Drone switched on '...'
+2. Uploaded mission '....' (attach QGC mission file)
+3. Took off '....'
+4. See error
+
+## Expected behavior
+A clear and concise description of what you expected to happen.
+
+## Log Files and Screenshots
+*Always* provide a link to the flight log file:
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
+- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+- Share the link to the log (Copy and paste the URL of the log)
+
+Add screenshots to help explain your problem.
+
+## Drone (please complete the following information):
+- Describe the type of drone.
+- Photo of the IMU / autopilot setup if possible.
+
+## Additional context
+Add any other context about the problem here.
@@ -0,0 +1,20 @@
+---
+name: 🚀 Feature Request
+about: Suggest an idea for this project
+labels: feature-request
+
+---
+
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).
+
+## Describe problem solved by the proposed feature
+A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
+
+## Describe your preferred solution
+A clear and concise description of what you want to happen.
+
+## Describe possible alternatives
+A clear and concise description of alternative solutions or features you've considered.
+
+## Additional context
+Add any other context or screenshots for the feature request here.
@@ -0,0 +1,13 @@
+---
+name: ⛔ Support Question
+about: See http://discuss.px4.io/ for questions about using PX4.
+
+---
+
+## Attention! Please read the note below
+
+We use GitHub issues only to discuss PX4 bugs and new features.
+
+**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
+
+Thanks!
@@ -0,0 +1,11 @@
+---
+name: ⛔ Documentation Issue
+about: See https://github.com/PX4/px4_user_guide for documentation issues
+
+---
+
+## Attention! Please read the note below
+
+**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
+
+Thanks!
@@ -1,94 +0,0 @@
-name: 🐛 Bug report
-description: Create a report to help us improve
-title: "[Bug] "
-labels: ["bug-report"]
-body:
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: A clear and concise description of the bug.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: To Reproduce
-      description: |
-          Steps to reproduce the behavior.
-          1. Drone switched on '...'
-          2. Uploaded mission '....' (attach QGC mission file)
-          3. Took off '....'
-          4. See error
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Expected behavior
-      description: A clear and concise description of what you expected to happen.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-
-  - type: textarea
-    attributes:
-      label: Flight Log
-      description: |
-          *Always* provide a link to the flight log file:
-          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
-          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
-          - Share the link to the log (Copy and paste the URL of the log)
-      placeholder: |
-          # PASTE HERE THE LINK TO THE LOG
-    validations:
-      required: true
-
-  - type: markdown
-    attributes:
-      value: |
-        ## Setup
-
-  - type: textarea
-    attributes:
-      label: Software Version
-      description: |
-          Which version of PX4 are you using?
-      placeholder: |
-          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
-    validations:
-      required: true
-
-  - type: input
-    attributes:
-      label: Flight controller
-      description: Specify your flight controller model (what type is it, where was it bought from, ...).
-    validations:
-      required: true
-
-  - type: dropdown
-    attributes:
-      label: Vehicle type
-      options:
-        - Multicopter
-        - Helicopter
-        - Fixed Wing
-        - Hybrid VTOL
-        - Airship/Balloon
-        - Rover
-        - Boat
-        - Submarine
-        - Other
-
-  - type: textarea
-    attributes:
-      label: How are the different components wired up (including port information)
-      description: Details about how all is wired.
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context about the problem here.
@@ -1,8 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: Support Question
-    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
-    about: For questions about using PX4 or related components, please use the discuss forum and discord server
-  - name: Documentation Issue
-    url: https://github.com/PX4/PX4-user_guide/issues
-    about: If you found an issue in documentation, please submit it directly to the docs repository issues
@@ -1,35 +0,0 @@
-name: 🚀 Feature Request
-description: Suggest an idea for this project
-labels: ["feature-request"]
-body:
-  - type: markdown
-    attributes:
-      value: |
-        ## Please note that feature requests are not 'fire and forget'
-        It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing.
-
-  - type: textarea
-    attributes:
-      label: Describe problem solved by the proposed feature
-      description: A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe your preferred solution
-      description: A clear and concise description of what you want to happen.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe possible alternatives
-      description: A clear and concise description of any alternative solutions or features you've considered.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context or screenshots for the feature request here.
@@ -0,0 +1,24 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
+  <linearGradient id="smooth" x2="0" y2="100%">
+    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
+    <stop offset="1" stop-opacity=".1"/>
+  </linearGradient>
+
+  <mask id="round">
+    <rect width="90" height="20" rx="3" fill="#fff"/>
+  </mask>
+
+  <g mask="url(#round)">
+    <rect width="42" height="20" fill="#555"/>
+    <rect x="42" width="48" height="20" fill="#E01563"/>
+    <rect width="90" height="20" fill="url(#smooth)"/>
+  </g>
+
+  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
+    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
+    <text x="22" y="14">slack</text>
+    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
+    <text x="65" y="14">Join us!</text>
+  </g>
+</svg>
+
@@ -0,0 +1,15 @@
+# Number of days of inactivity before an issue becomes stale
+daysUntilStale: 90
+# Number of days of inactivity before a stale issue is closed, or `false` to disable
+daysUntilClose: false
+# Issues with these labels will never be considered stale
+exemptLabels:
+  - pinned
+# Label to use when marking an issue as stale
+staleLabel: stale
+# Comment to post when marking an issue as stale. Set to `false` to disable
+markComment: >
+  This issue has been automatically marked as stale because it has not had
+  recent activity. Thank you for your contributions.
+# Comment to post when closing a stale issue. Set to `false` to disable
+closeComment: false
@@ -28,7 +28,7 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -1,12 +1,9 @@
-name: Compile Linux Targets
+name: Linux Targets

 on:
  push:
    branches:
    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
  pull_request:
    branches:
    - '*'
@@ -14,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2023-06-26
+    container: px4io/px4-dev-armhf:2021-09-08
    strategy:
      matrix:
        config: [
@@ -27,8 +24,7 @@ jobs:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}
-    - name: ownership workaround
-      run: git config --system --add safe.directory '*'
+
    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
      shell: cmake -P {0}
@@ -1,12 +1,9 @@
-name: Compile Linux ARM64 Targets
+name: Linux ARM64 Targets

 on:
  push:
    branches:
    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
  pull_request:
    branches:
    - '*'
@@ -14,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2022-08-12
+    container: px4io/px4-dev-aarch64:2021-09-08
    strategy:
      matrix:
        config: [
@@ -10,12 +10,13 @@ on:

 jobs:
  build:
-    runs-on: macos-latest
+    runs-on: macos-10.15
    strategy:
      matrix:
        config: [
          px4_fmu-v5_default,
          px4_sitl
+          #tests, # includes px4_sitl
          ]
    steps:
    - uses: actions/checkout@v1
@@ -1,12 +1,9 @@
-name: Compile Nuttx Targets
+name: Nuttx Targets

 on:
  push:
    branches:
    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
  pull_request:
    branches:
    - '*'
@@ -14,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
    strategy:
      fail-fast: false
      matrix:
@@ -73,8 +70,7 @@ jobs:
          raspberrypi_pico,
          sky-drones_smartap-airlink,
          spracing_h7extreme,
-          uvify_core,
-          siyi_n7
+          uvify_core
          ]
    steps:
    - uses: actions/checkout@v1
@@ -24,15 +24,12 @@ jobs:
    needs: enumerate_targets
    strategy:
      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: ${{ matrix.container }}
+    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}

-    - name: ownership workaround
-      run: git config --system --add safe.directory '*'
-
    - name: make ${{matrix.target}}
      run: make ${{matrix.target}}

@@ -21,7 +21,7 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -103,7 +103,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -1,16 +0,0 @@
-name: 'Handle stale issues and PRs'
-on:
-  schedule:
-    - cron: '30 1 * * *'
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v8
-        with:
-          days-before-stale: 30
-          days-before-close: -1
-          stale-issue-label: 'stale'
-          stale-pr-label: 'stale'
-          remove-stale-when-updated: true
@@ -21,7 +21,7 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-10.3.0+-v1.14
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
@@ -18,7 +18,6 @@
        "twxs.cmake",
        "uavcan.dsdl",
        "wholroyd.jinja",
-        "zixuanwang.linkerscript",
-        "ms-vscode.makefile-tools"
+        "zixuanwang.linkerscript"
    ]
 }
@@ -127,6 +127,5 @@
        "terminal.integrated.scrollback": 15000,
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        },
-        "ros.distro": "humble"
+        }
 }
@@ -414,8 +414,6 @@ endif()
 #
 add_library(parameters_interface INTERFACE)
 add_library(kernel_parameters_interface INTERFACE)
-add_library(events_interface INTERFACE)
-add_library(kernel_events_interface INTERFACE)

 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -442,11 +440,8 @@ add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
 	target_link_libraries(parameters_interface INTERFACE usr_parameters)
 	target_link_libraries(kernel_parameters_interface INTERFACE parameters)
-	target_link_libraries(events_interface INTERFACE usr_events)
-	target_link_libraries(kernel_events_interface INTERFACE events)
 else()
 	target_link_libraries(parameters_interface INTERFACE parameters)
-	target_link_libraries(events_interface INTERFACE events)
 endif()

 # firmware added last to generate the builtin for included modules
@@ -94,7 +94,7 @@ pipeline {

        stage('failsafe docs') {
          agent {
-            docker { image 'px4io/px4-dev-nuttx-focal:2022-08-12' }
+            docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
          }
          steps {
            sh '''#!/bin/bash -l
@@ -125,7 +125,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+              image 'px4io/px4-dev-nuttx-focal:2021-08-18'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -31,7 +31,6 @@ param set-default PWM_MAIN_FUNC4 104

 # EKF2
 param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_HGT_REF 0
 param set-default EKF2_EVP_NOISE 0.05
 param set-default EKF2_EVA_NOISE 0.05
 param set-default EKF2_OF_CTRL 1
@@ -40,9 +39,6 @@ param set-default EKF2_OF_CTRL 1
 param set-default LPE_FUSION 242
 param set-default LPE_FAKE_ORIGIN 1

-# Commander
-# param set-default COM_HOME_EN 0 # Disable setting of home position
-
 param set-default MPC_ALT_MODE 2

 param set-default SENS_FLOW_ROT 6
@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor with a depth camera (forward-facing)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris
@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor with a depth camera (downward-facing)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris
@@ -8,6 +8,7 @@


 param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0

 param set-default NPFG_PERIOD 12

@@ -35,6 +36,7 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+#param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
@@ -59,3 +61,7 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
+
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -1,122 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Omnicopter SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Jaeyoung Lim <jalim@ethz.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=omnicopter}
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 255
-
-param set-default CA_ROTOR0_PX 0.14435
-param set-default CA_ROTOR0_PY -0.14435
-param set-default CA_ROTOR0_PZ -0.14435
-param set-default CA_ROTOR0_KM 0.05 # CCW
-param set-default CA_ROTOR0_AX -0.788675
-param set-default CA_ROTOR0_AY -0.211325
-param set-default CA_ROTOR0_AZ -0.57735
-
-param set-default CA_ROTOR1_PX -0.14435
-param set-default CA_ROTOR1_PY -0.14435
-param set-default CA_ROTOR1_PZ -0.14435
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR1_AX 0.211325
-param set-default CA_ROTOR1_AY -0.788675
-param set-default CA_ROTOR1_AZ 0.57735
-
-param set-default CA_ROTOR2_PX 0.14435
-param set-default CA_ROTOR2_PY 0.14435
-param set-default CA_ROTOR2_PZ -0.14435
-param set-default CA_ROTOR2_KM 0.05
-param set-default CA_ROTOR2_AX -0.211325
-param set-default CA_ROTOR2_AY 0.788675
-param set-default CA_ROTOR2_AZ 0.57735
-
-param set-default CA_ROTOR3_PX -0.14435
-param set-default CA_ROTOR3_PY 0.14435
-param set-default CA_ROTOR3_PZ -0.14435
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR3_AX 0.788675
-param set-default CA_ROTOR3_AY 0.211325
-param set-default CA_ROTOR3_AZ -0.57735
-
-param set-default CA_ROTOR4_PX 0.14435
-param set-default CA_ROTOR4_PY -0.14435
-param set-default CA_ROTOR4_PZ 0.14435
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR4_AX 0.788675
-param set-default CA_ROTOR4_AY 0.211325
-param set-default CA_ROTOR4_AZ -0.57735
-
-param set-default CA_ROTOR5_PX -0.14435
-param set-default CA_ROTOR5_PY -0.14435
-param set-default CA_ROTOR5_PZ 0.14435
-param set-default CA_ROTOR5_KM 0.05
-param set-default CA_ROTOR5_AX -0.211325
-param set-default CA_ROTOR5_AY 0.788675
-param set-default CA_ROTOR5_AZ 0.57735
-
-param set-default CA_ROTOR6_PX 0.14435
-param set-default CA_ROTOR6_PY 0.14435
-param set-default CA_ROTOR6_PZ 0.14435
-param set-default CA_ROTOR6_KM 0.05
-param set-default CA_ROTOR6_AX 0.211325
-param set-default CA_ROTOR6_AY -0.788675
-param set-default CA_ROTOR6_AZ 0.57735
-
-param set-default CA_ROTOR7_PX -0.14435
-param set-default CA_ROTOR7_PY 0.14435
-param set-default CA_ROTOR7_PZ 0.14435
-param set-default CA_ROTOR7_KM 0.05
-param set-default CA_ROTOR7_AX -0.788675
-param set-default CA_ROTOR7_AY -0.211325
-param set-default CA_ROTOR7_AZ -0.57735
-
-param set-default SIM_GZ_EN 1
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_FUNC6 106
-param set-default SIM_GZ_EC_FUNC7 107
-param set-default SIM_GZ_EC_FUNC8 108
-
-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MIN2 0
-param set-default SIM_GZ_EC_MIN3 0
-param set-default SIM_GZ_EC_MIN4 0
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MIN6 0
-param set-default SIM_GZ_EC_MIN7 0
-param set-default SIM_GZ_EC_MIN8 0
-
-param set-default SIM_GZ_EC_MAX1 1100
-param set-default SIM_GZ_EC_MAX2 1100
-param set-default SIM_GZ_EC_MAX3 1100
-param set-default SIM_GZ_EC_MAX4 1100
-param set-default SIM_GZ_EC_MAX5 1100
-param set-default SIM_GZ_EC_MAX6 1100
-param set-default SIM_GZ_EC_MAX7 1100
-param set-default SIM_GZ_EC_MAX8 1100
-# disable MC desaturation which improves attitude tracking
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
@@ -39,10 +39,8 @@ px4_add_romfs_files(
 	1012_gazebo-classic_iris_rplidar
 	1013_gazebo-classic_iris_vision
 	1013_gazebo-classic_iris_vision.post
-	1014_gazebo-classic_iris_obs_avoid
-	1014_gazebo-classic_iris_obs_avoid.post
-	1015_gazebo-classic_iris_depth_camera
-	1016_gazebo-classic_iris_downward_depth_camera
+	1015_gazebo-classic_iris_obs_avoid
+	1015_gazebo-classic_iris_obs_avoid.post
 	1017_gazebo-classic_iris_opt_flow_mockup
 	1019_gazebo-classic_iris_dual_gps
 	1021_gazebo-classic_uuv_hippocampus
@@ -83,8 +81,6 @@ px4_add_romfs_files(
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

-	8011_gz_omnicopter
-
 	10015_gazebo-classic_iris
 	10016_none_iris
 	10017_jmavsim_iris
@@ -98,6 +94,4 @@ px4_add_romfs_files(

 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
-
-	# [22000, 22999] Reserve for custom models
 )
@@ -38,19 +38,6 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"

 elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then

-	# set local coordinate frame reference
-	if [ -n "${PX4_HOME_LAT}" ]; then
-		param set SIM_GZ_HOME_LAT ${PX4_HOME_LAT}
-	fi
-
-	if [ -n "${PX4_HOME_LON}" ]; then
-		param set SIM_GZ_HOME_LON ${PX4_HOME_LON}
-	fi
-
-	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIM_GZ_HOME_ALT ${PX4_HOME_LON}
-	fi
-
 	# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
 	if [ -f ./gz_env.sh ]; then
 		. ./gz_env.sh
@@ -72,7 +59,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 	fi

 	# look for running ${gz_command} gazebo world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )

 	# shellcheck disable=SC2153
 	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
@@ -187,11 +187,6 @@ param set-default SYS_FAILURE_EN 1
 # does not go below 50% by default, but failure injection can trigger failsafes.
 param set-default COM_LOW_BAT_ACT 2

-# Allow to override SYS_MC_EST_GROUP via env
-if [ -n "$SYS_MC_EST_GROUP" ]; then
-	param set SYS_MC_EST_GROUP $SYS_MC_EST_GROUP
-fi
-
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
@@ -17,7 +17,6 @@
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 # @board bitcraze_crazyflie exclude
-# @board diatone_mamba-f405-mk2 exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -13,7 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults

@@ -43,6 +42,7 @@ param set-default MC_ROLLRATE_P 0.07
 param set-default MC_YAW_P 3

 param set-default MPC_THR_HOVER 0.7
+param set-default MPC_THR_MAX 1
 param set-default MPC_Z_P 1.5
 param set-default MPC_Z_VEL_P_ACC 8
 param set-default MPC_Z_VEL_I_ACC 6
@@ -13,7 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults

@@ -42,6 +41,7 @@ param set-default MC_ROLLRATE_P 0.07
 param set-default MC_YAW_P 3

 param set-default MPC_THR_HOVER 0.7
+param set-default MPC_THR_MAX 1
 param set-default MPC_Z_P 1.5
 param set-default MPC_Z_VEL_P_ACC 8
 param set-default MPC_Z_VEL_I_ACC 6
@@ -34,7 +34,6 @@ param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
 param set-default EKF2_REQ_SACC 1
 param set-default EKF2_REQ_VDRIFT 1.0
-param set-default EKF2_RNG_QLTY_T 3.0

 param set-default RTL_TYPE 1
 param set-default RTL_RETURN_ALT 100
@@ -172,12 +172,6 @@ then
 	ms5525dso start -X
 fi

-# TE ASP5033 differential pressure sensor external I2C
-if param compare -s SENS_EN_ASP5033 1
-then
-	asp5033 start -X
-fi
-
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
@@ -93,14 +93,6 @@ then
 		fi
 	fi

-	# Check for an update of the ext_autostart folder, and replace the old one with it
-	if [ -e /fs/microsd/ext_autostart_new ]
-	then
-		echo "Updating external autostart files"
-		rm -r $SDCARD_EXT_PATH
-		mv /fs/microsd/ext_autostart_new $SDCARD_EXT_PATH
-	fi
-
 	set PARAM_FILE /fs/microsd/params
 	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
 fi
@@ -39,7 +39,7 @@ def print_line(line):
        print('{0}'.format(line), end='')


-def do_nsh_cmd(port_url, baudrate, cmd, ignore_stdout_errors=False):
+def do_nsh_cmd(port_url, baudrate, cmd):
    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)

    timeout_start = time.monotonic()
@@ -106,7 +106,7 @@ def do_nsh_cmd(port_url, baudrate, cmd, ignore_stdout_errors=False):
            if success_cmd in serial_line:
                sys.exit(return_code)
            else:
-                if "ERROR " in serial_line and not ignore_stdout_errors:
+                if "ERROR " in serial_line:
                    return_code = -1

                print_line(serial_line)
@@ -148,8 +148,6 @@ def main():
    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
    parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
-    parser.add_argument('--ignore-stdout-errors', action='store_true',
-                        help='Ignore errors printed to stdout')
    args = parser.parse_args()

    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
@@ -157,7 +155,7 @@ def main():

    print("pyserial url: {0}".format(port_url))

-    do_nsh_cmd(port_url, args.baudrate, args.cmd, args.ignore_stdout_errors)
+    do_nsh_cmd(port_url, args.baudrate, args.cmd)

 if __name__ == "__main__":
   main()
@@ -4,16 +4,16 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64
-		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:2022-08-12"
+		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
 	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
 		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
@@ -27,7 +27,7 @@ fi

 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
 fi

 # docker hygiene
@@ -56,14 +56,11 @@ def perform_imu_checks(
    # perform the vibration check
    imu_status['imu_vibration_check'] = 'Pass'
    for imu_vibr_metric in ['imu_coning', 'imu_hfgyro', 'imu_hfaccel']:
-        mean_metric = '{:s}_mean_warn'.format(imu_vibr_metric)
-        peak_metric = '{:s}_peak_warn'.format(imu_vibr_metric)
-        mean_key = '{:s}_mean'.format(imu_vibr_metric)
-        peak_key = '{:s}_peak'.format(imu_vibr_metric)
-        if mean_key in imu_metrics and peak_key in imu_metrics:
-            if imu_metrics[mean_key] > check_levels[mean_metric] \
-                   or imu_metrics[peak_key] > check_levels[peak_metric]:
-                imu_status['imu_vibration_check'] = 'Warning'
+        mean_metric = '{:s}_mean'.format(imu_vibr_metric)
+        peak_metric = '{:s}_peak'.format(imu_vibr_metric)
+        if imu_metrics[mean_metric] > check_levels['{:s}_warn'.format(mean_metric)] \
+                or imu_metrics[peak_metric] > check_levels['{:s}_warn'.format(peak_metric)]:
+            imu_status['imu_vibration_check'] = 'Warning'

    if imu_status['imu_vibration_check'] == 'Warning':
        print('IMU vibration check warning.')
@@ -104,9 +104,9 @@ def calculate_innov_fail_metrics(

    # calculate innovation check fail metrics
    for signal_id, signal, result in [('posv', 'reject_ver_pos', 'hgt_fail_percentage'),
-                                      ('magx', 'fs_bad_mag_x', 'magx_fail_percentage'),
-                                      ('magy', 'fs_bad_mag_y', 'magy_fail_percentage'),
-                                      ('magz', 'fs_bad_mag_z', 'magz_fail_percentage'),
+                                      ('magx', 'reject_mag_x', 'magx_fail_percentage'),
+                                      ('magy', 'reject_mag_y', 'magy_fail_percentage'),
+                                      ('magz', 'reject_mag_z', 'magz_fail_percentage'),
                                      ('yaw', 'reject_yaw', 'yaw_fail_percentage'),
                                      ('velh', 'reject_hor_vel', 'vel_fail_percentage'),
                                      ('velv', 'reject_ver_vel', 'vel_fail_percentage'),
@@ -222,7 +222,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        data_plot = CheckFlagsPlot(
            status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
                                                                               'reject_hagl'],
-                                       ['fs_bad_mag_x', 'fs_bad_mag_y', 'fs_bad_mag_z',
+                                       ['reject_mag_x', 'reject_mag_y', 'reject_mag_z',
                                        'reject_yaw'], ['reject_airspeed'], ['reject_sideslip'],
                                       ['reject_optflow_x',
                                        'reject_optflow_y']], x_label='time (sec)',
@@ -61,19 +61,18 @@ def process_target(px4board_file, target_name):

    if platform not in excluded_platforms:
        # get the container based on the platform and toolchain
+        container = platform
        if platform == 'posix':
-            container = 'px4io/px4-dev-base-focal:2021-09-08'
+            container = 'base-focal'
            if toolchain:
                if toolchain.startswith('aarch64'):
-                    container = 'px4io/px4-dev-aarch64:2022-08-12'
+                    container = 'aarch64'
                elif toolchain == 'arm-linux-gnueabihf':
-                    container = 'px4io/px4-dev-armhf:2023-06-26'
+                    container = 'armhf'
                else:
-                    if verbose: print(f'unmatched toolchain: {toolchain}')
+                    if verbose: print(f'possibly unmatched toolchain: {toolchain}')
        elif platform == 'nuttx':
-            container = 'px4io/px4-dev-nuttx-focal:2022-08-12'
-        else:
-            if verbose: print(f'unmatched platform: {platform}')
+            container = 'nuttx-focal'

        ret = {'target': target_name, 'container': container}

@@ -114,3 +113,4 @@ extra_args = {}
 if args.pretty:
    extra_args['indent'] = 2
 print(json.dumps(github_action_config, **extra_args))
+
@@ -124,9 +124,8 @@ static inline constexpr int ucdr_topic_size_@(topic)()
 	return @(struct_size);
 }

-bool ucdr_serialize_@(topic)(const void* data, ucdrBuffer& buf, int64_t time_offset = 0)
+bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf, int64_t time_offset = 0)
 {
-	const @(uorb_struct)& topic = *static_cast<const @(uorb_struct)*>(data);
@{
 for field_type, field_name, field_size, padding in fields:
 	if padding > 0:
@@ -77,7 +77,7 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field
 constexpr char __orb_@(name_snake_case)_fields[] = "@( ";".join(topic_fields) );";

@[for topic in topics]@
-ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast<orb_id_size_t>(ORB_ID::@topic));
+ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast<uint8_t>(ORB_ID::@topic));
@[end for]

 void print_message(const orb_metadata *meta, const @uorb_struct& message)
@@ -76,5 +76,5 @@ const struct orb_metadata *get_orb_meta(ORB_ID id)
 		return nullptr;
 	}

-	return uorb_topics_list[static_cast<orb_id_size_t>(id)];
+	return uorb_topics_list[static_cast<uint8_t>(id)];
 }
@@ -62,7 +62,7 @@ static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
 */
 extern const struct orb_metadata *const *orb_get_topics() __EXPORT;

-enum class ORB_ID : orb_id_size_t {
+enum class ORB_ID : uint8_t {
@[for idx, topic_name in enumerate(topic_names_all)]@
 	@(topic_name) = @(idx),
@[end for]
@@ -1 +1 @@
-symforce>=0.9.0
+symforce>=0.5.0
@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>Omnicopter</name>
-  <version>1.0</version>
-  <sdf version='1.9'>model.sdf</sdf>
-
-  <author>
-   <name>Jaeyoung Lim</name>
-   <email>jalim@ethz.ch</email>
-  </author>
-
-  <description>
-    Omnicopter model for over actuated system
-  </description>
-</model>
@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <include>
-      <name>omnicopter</name>
-      <pose>0 0 0 0 0 0</pose>
-      <uri>https://fuel.gazebosim.org/1.0/PX4/models/Omnicopter</uri>
-    </include>
-</sdf>
@@ -11,7 +11,6 @@
    <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
    <plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
    <plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
-    <plugin name='gz::sim::systems::ApplyLinkWrench' filename='gz-sim-apply-link-wrench-system'/>
    <plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
      <render_engine>ogre2</render_engine>
    </plugin>
@@ -10,7 +10,7 @@ sitl_num=2
 [ -n "$1" ] && sitl_num="$1"

 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-src_path="$SCRIPT_DIR/../../"
+src_path="$SCRIPT_DIR/.."

 build_path=${src_path}/build/px4_sitl_default

@@ -106,7 +106,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -140,8 +140,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
@@ -115,8 +115,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
@@ -65,7 +65,7 @@
 #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_TBOOT_MS                    5000
 #define OPT_NODE_STATUS_RATE_MS         800
 #define OPT_NODE_INFO_RATE_MS           50
 #define OPT_BL_NUMBER_TIMERS            7
@@ -93,7 +93,7 @@
 */
 #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_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0

 #define OPT_ENABLE_WD           1

@@ -1,6 +1,6 @@
 # UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
 add_definitions(
 	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
 	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
@@ -14,4 +14,4 @@ add_definitions(
 	-DHW_UAVCAN_NAME=${uavcanblid_name}
 	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
 	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)
+)
@@ -117,8 +117,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
@@ -65,7 +65,7 @@
 #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_TBOOT_MS                    5000
 #define OPT_NODE_STATUS_RATE_MS         800
 #define OPT_NODE_INFO_RATE_MS           50
 #define OPT_BL_NUMBER_TIMERS            7
@@ -93,7 +93,7 @@
 */
 #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_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0

 #define OPT_ENABLE_WD           1

@@ -1,6 +1,6 @@
 # UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
 add_definitions(
 	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
 	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
@@ -6,9 +6,6 @@ gps start -d /dev/ttyS0 -p ubx

 icm42688p -R 0 -s start

-if ! bmp388 -I -b 2 start
-then
-	bmp388 -I -b 1 start
-fi
+bmp388 -I -b 2 start

 bmm150 -I -b 1 start
@@ -117,8 +117,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
@@ -65,7 +65,7 @@
 #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_TBOOT_MS                    5000
 #define OPT_NODE_STATUS_RATE_MS         800
 #define OPT_NODE_INFO_RATE_MS           50
 #define OPT_BL_NUMBER_TIMERS            7
@@ -93,7 +93,7 @@
 */
 #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_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0

 #define OPT_ENABLE_WD           1

@@ -1,6 +1,6 @@
 # UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
 add_definitions(
 	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
 	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
@@ -20,7 +20,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
@@ -117,8 +117,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
@@ -65,7 +65,7 @@
 #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_TBOOT_MS                    5000
 #define OPT_NODE_STATUS_RATE_MS         800
 #define OPT_NODE_INFO_RATE_MS           50
 #define OPT_BL_NUMBER_TIMERS            7
@@ -92,12 +92,8 @@
 *
 */
 #define OPT_WAIT_FOR_GETNODEINFO                    0
-/* The ARK CANnode uses PH1 for GPIO_BOOT_CONFIG but it is not
- * compatible with px4_arch_gpioread as Port H = 7 which is greater
- * than STM32_NPORTS
- * #define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        0
- */
-#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0

 #define OPT_ENABLE_WD           1

@@ -1,6 +1,6 @@
 # UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
 add_definitions(
 	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
 	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
@@ -3,12 +3,10 @@
 # ARK FMUARKV6X specific board sensors init
 #------------------------------------------------------------------------------
 set HAVE_PM2 yes
-set HAVE_PM3 yes

 if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X005004
 then
 	set HAVE_PM2 no
-	set HAVE_PM3 no
 fi

 if param compare -s ADC_ADS1115_EN 1
@@ -27,43 +25,26 @@ then
 	then
 		ina226 -X -b 2 -t 2 -k start
 	fi
-
-	if [ $HAVE_PM3 = yes ]
-	then
-		ina226 -X -b 3 -t 2 -k start
-	fi
 fi

 if param compare SENS_EN_INA228 1
 then
 	# Start Digital power monitors
 	ina228 -X -b 1 -t 1 -k start
-
 	if [ $HAVE_PM2 = yes ]
 	then
 		ina228 -X -b 2 -t 2 -k start
 	fi
-
-	if [ $HAVE_PM3 = yes ]
-	then
-		ina228 -X -b 3 -t 2 -k start
-	fi
 fi

 if param compare SENS_EN_INA238 1
 then
 	# Start Digital power monitors
 	ina238 -X -b 1 -t 1 -k start
-
 	if [ $HAVE_PM2 = yes ]
 	then
 		ina238 -X -b 2 -t 2 -k start
 	fi
-
-	if [ $HAVE_PM3 = yes ]
-	then
-		ina238 -X -b 3 -t 2 -k start
-	fi
 fi

 if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
@@ -97,4 +78,3 @@ bmm150 -I start
 bmp388 -I start

 unset HAVE_PM2
-unset HAVE_PM3
@@ -7,7 +7,6 @@
 #
 # CONFIG_DEV_CONSOLE is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_SPI_EXCHANGE is not set
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
@@ -49,14 +48,13 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50
-CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -387,7 +387,7 @@

 #define GPIO_UART7_RX    GPIO_UART7_RX_4    /* PF6  */
 #define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
-#define GPIO_UART7_RTS   GPIO_UART7_RTS_2   /* PF8  */
+#define GPIO_UART7_RTS   (GPIO_UART7_RTS_2 | GPIO_PULLDOWN)   /* PF8  */
 #define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN)   /* PE10 */

 #define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
@@ -118,7 +118,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_IPCFG_BINARY=y
@@ -189,8 +189,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -294,7 +292,7 @@ CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART5_IFLOWCONTROL=y
 CONFIG_UART5_OFLOWCONTROL=y
 CONFIG_UART5_RXDMA=y
-CONFIG_UART5_TXBUFSIZE=10000
+CONFIG_UART5_TXBUFSIZE=3000
 CONFIG_UART5_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_IFLOWCONTROL=y
@@ -34,7 +34,7 @@
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
-static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
+static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM 32K 512 X 64
 	.bus_type = px4_mft_device_t::SPI,
 	.devid    = SPIDEV_FLASH(0)
 };
@@ -45,12 +45,18 @@ static const px4_mft_device_t i2c3 = {             // 24LC64T on Base  8K 32 X 2

 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi5,
-	.npart = 1,
+	.npart = 2,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT))
+			.nblocks = 32
+		},
+		{
+			.type = MTD_WAYPOINTS,
+			.path = "/fs/mtd_waypoints",
+			.nblocks = 32
+
 		}
 	},
 };
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -147,8 +147,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -120,7 +120,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_LIBC_LONG_LONG=y
@@ -105,7 +105,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -42,12 +42,18 @@ static const px4_mft_device_t i2c1 = {             // 24AA64FT on Base  8K 32 X

 static const px4_mtd_entry_t fmu_eeprom = {
 	.device = &i2c1,
-	.npart = 1,
+	.npart = 2,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
 			.nblocks = 128
+		},
+		{
+			.type = MTD_WAYPOINTS,
+			.path = "/fs/mtd_waypoints",
+			.nblocks = 128
+
 		}
 	},
 };
@@ -15,7 +15,6 @@ CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 # CONFIG_EKF2_GNSS_YAW is not set
-# CONFIG_EKF2_MAGNETOMETER is not set
 # CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
@@ -34,7 +33,6 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MTD=y
@@ -106,7 +106,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -119,8 +119,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
@@ -1,6 +1,6 @@
 # UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
 add_definitions(
 	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
 	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -147,8 +147,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -147,8 +147,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -147,8 +147,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_COMMON_INS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -50,6 +49,7 @@ 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
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -148,8 +148,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -148,8 +148,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -20,7 +20,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
-CONFIG_COMMON_INS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -49,7 +49,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
--- a/Show More
+++ b/Show More