Update src/modules/mavlink/mavlink_receiver.cpp

Autotune mavlink - reject invalid param1 or 2 with fail
add cmake variant and px4board file to ark flow mr target (#25793 )
2026-05-24 21:37:34 +08:00 · 2025-10-23 16:11:44 +11:00 · 2025-10-22 10:12:42 +11:00 · 2025-10-21 13:20:55 -06:00 · 2025-10-21 11:48:03 +02:00 · 2025-10-21 11:21:27 +02:00
156 changed files with 6494 additions and 550 deletions
@@ -141,6 +141,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-flow_canbootloader
+    ark_can-flow-mr_default:
+      short: ark_can-flow-mr_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-flow-mr_default
    ark_can-flow-mr_canbootloader:
      short: ark_can-flow-mr_canbootloader
      buildType: MinSizeRel
@@ -486,3 +491,13 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: x-mav_ap-h743v2_default
+    svehicle_e2_bootloader:
+      short: svehicle_e2_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: svehicle_e2_bootloader
+    svehicle_e2_default:
+      short: svehicle_e2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: svehicle_e2_default
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2023, PX4 Development Team
+Copyright (c) 2012 - 2025, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -26,6 +26,7 @@ param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
+param set-default EKF2_REQ_PDOP 4
 param set-default EKF2_REQ_SACC 1
 param set-default EKF2_REQ_VDRIFT 1
 param set-default EKF2_RNG_QLTY_T 3
@@ -15,4 +15,4 @@ ignore-exclude-errors-x
 lineend=linux
 exclude=EASTL
 add-brackets
-max-code-length=120
+max-code-length=140
@@ -0,0 +1,30 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
+CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
+CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
+CONFIG_UAVCANNODE_RAW_IMU=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_ACCELERATION is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
+# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -8,9 +8,8 @@ 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
+param set-default SENS_AFBR_L_RATE 5
+param set-default SENS_AFBR_MODE 1

 # Internal SPI
 paa3905 -s start -Y 180
@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2025 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.
+#
+############################################################################
+
+add_subdirectory(pwm_voltage)
@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""
@@ -0,0 +1,99 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
+CONFIG_DRIVERS_ADC_ADS1115=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_HEATER=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=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_PWM_OUT=y
+CONFIG_DRIVERS_PX4IO=y
+CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_SAFETY_BUTTON=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+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
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+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_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
+CONFIG_MODULES_MC_ATT_CONTROL=y
+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_NAVIGATOR=y
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+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_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NETMAN=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -0,0 +1,13 @@
+{
+    "board_id": 6110,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the SVehicleE2 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "SVehicleE2",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1966080,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,29 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# By disabling all 3 INA modules, we use the
+# i2c_launcher instead.
+param set-default SENS_EN_INA238 0
+param set-default SENS_EN_INA228 0
+param set-default SENS_EN_INA226 0
+
+# Mavlink ethernet (CFG 1000)
+param set-default MAV_2_CONFIG 1000
+param set-default MAV_2_BROADCAST 1
+param set-default MAV_2_MODE 0
+param set-default MAV_2_RADIO_CTL 0
+param set-default MAV_2_RATE 100000
+param set-default MAV_2_REMOTE_PRT 14550
+param set-default MAV_2_UDP_PRT 14550
+
+param set-default BAT1_V_DIV 21.5
+param set-default BAT1_A_PER_V 33.33
+
+param set-default SENS_EXT_I2C_PRB 0
+
+safety_button start
+
+# pwm voltage 3.3V/5V switch
+pwm_voltage_apply start
@@ -0,0 +1,34 @@
+#!/bin/sh
+#
+# SVehicle E2 specific board sensors init
+#------------------------------------------------------------------------------
+
+if param compare -s ADC_ADS1115_EN 1
+then
+	ads1115 start -X
+	board_adc start -n
+else
+	board_adc start
+fi
+
+if param compare SENS_EN_INA228 1
+then
+	# Start Digital power monitors
+	ina228 -X  start
+fi
+
+bmi088 -A -R 4 -s -b 3 start
+bmi088 -G -R 4 -s -b 3 start
+
+icm42688p -R 6 -s start
+
+# Internal SPI bus ICM-20649 (hard-mounted)
+icm20649 -R 14 -s start
+
+# Internal magnetometer on I2c
+rm3100 -I -R 12 start
+
+bmm150 -I -R 4 start
+
+icp201xx -X start
+icp201xx -I -a 0x64 start
@@ -0,0 +1,17 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.
@@ -0,0 +1,95 @@
+#
+# 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_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"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/svehicle/e2/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="svehicle"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H753II=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x41F8
+CONFIG_CDCACM_PRODUCTSTR="SVehicle BL E2.x"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x20A3
+CONFIG_CDCACM_VENDORSTR="SVehicle"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=3194
+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
+CONFIG_RAW_BINARY=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_SPI=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_UART5=y
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_UART5_RXBUFSIZE=512
+CONFIG_UART5_RXDMA=y
+CONFIG_UART5_TXBUFSIZE=512
+CONFIG_UART5_TXDMA=y
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,562 @@
+/************************************************************************************
+ * nuttx-configs/px4_fmu-v6x/include/board.h
+ *
+ *   Copyright (C) 2016-2019 Gregory Nutt. All rights reserved.
+ *   Authors: David Sidrane <david.sidrane@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 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.
+ *
+ ************************************************************************************/
+#ifndef __NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H
+#define __NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdmmc.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The px4_fmu-v6X  board provides the following clock sources:
+ *
+ *   X1: 16 MHz crystal for HSE
+ *
+ * So we have these clock source available within the STM32
+ *
+ *   HSI: 16 MHz RC factory-trimmed
+ *   HSE: 16 MHz crystal for HSE
+ */
+
+#define STM32_BOARD_XTAL        16000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE = 16,000,000
+ *
+ * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ * Subject to:
+ *
+ *     1 <= PLLM <= 63
+ *     4 <= PLLN <= 512
+ *   150 MHz <= PLL_VCOL <= 420MHz
+ *   192 MHz <= PLL_VCOH <= 836MHz
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * CPUCLK  = SYSCLK / D1CPRE
+ * Subject to
+ *
+ *   PLLP1   = {2, 4, 6, 8, ..., 128}
+ *   PLLP2,3 = {2, 3, 4, ..., 128}
+ *   CPUCLK <= 480 MHz
+ */
+
+#define STM32_BOARD_USEHSE
+
+#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
+
+/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
+ *
+ *   PLL1_VCO = (16,000,000 / 1) * 60 = 960 MHz
+ *
+ *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
+ *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
+ *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
+ */
+
+#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVP1EN | \
+				 RCC_PLLCFGR_DIVQ1EN | \
+				 RCC_PLLCFGR_DIVR1EN)
+#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
+#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(60)
+#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
+#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
+
+#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 60)
+#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
+#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
+
+/* PLL2 */
+
+#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
+				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
+				  RCC_PLLCFGR_DIVP2EN | \
+				  RCC_PLLCFGR_DIVQ2EN | \
+				  RCC_PLLCFGR_DIVR2EN)
+#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(4)
+#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
+#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
+#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
+#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
+
+#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 4) * 48)
+#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+
+/* PLL3 */
+
+#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVQ3EN)
+#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(4)
+#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
+#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
+#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
+#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
+
+#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 4) * 48)
+#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
+#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+
+/* SYSCLK = PLL1P = 480MHz
+ * CPUCLK = SYSCLK / 1 = 480 MHz
+ */
+
+#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
+#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
+#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
+
+/* Configure Clock Assignments */
+
+/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
+ * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
+ */
+
+#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
+#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
+#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
+#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
+
+#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
+#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* Timer clock frequencies */
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#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_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_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)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Kernel Clock Configuration
+ *
+ * Note: look at Table 54 in ST Manual
+ */
+
+/* I2C123 clock source */
+
+#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
+
+/* I2C4 clock source */
+
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
+
+/* SPI123 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
+
+/* SPI45 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
+
+/* SPI6 clock source */
+
+#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
+
+/* USB 1 and 2 clock source */
+
+#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
+
+/* ADC 1 2 3 clock source */
+
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
+
+/* UART clock selection */
+/* reset to default to overwrite any changes done by any bootloader */
+
+#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
+#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
+
+/* FDCAN 1 2 clock source */
+
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
+/* FLASH wait states
+ *
+ *  ------------ ---------- -----------
+ *  Vcore        MAX ACLK   WAIT STATES
+ *  ------------ ---------- -----------
+ *  1.15-1.26 V     70 MHz    0
+ *  (VOS1 level)   140 MHz    1
+ *                 210 MHz    2
+ *  1.05-1.15 V     55 MHz    0
+ *  (VOS2 level)   110 MHz    1
+ *                 165 MHz    2
+ *                 220 MHz    3
+ *  0.95-1.05 V     45 MHz    0
+ *  (VOS3 level)    90 MHz    1
+ *                 135 MHz    2
+ *                 180 MHz    3
+ *                 225 MHz    4
+ *  ------------ ---------- -----------
+ */
+
+#define BOARD_FLASH_WAITSTATES 2
+
+/* SDMMC definitions ********************************************************/
+
+/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
+
+#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+
+/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
+ * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
+ */
+
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+
+#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
+
+/* LED definitions ******************************************************************/
+/* The PX4 FMUV6X board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+ * LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+/* LED definitions ******************************************************************/
+/* The px4_fmu-v6x board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+ * LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+#define BOARD_LED3_BIT    (1 << BOARD_LED3)
+
+/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
+ * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
+ * events as follows:
+ *
+ *
+ *   SYMBOL                     Meaning                      LED state
+ *                                                        Red   Green Blue
+ *   ----------------------  --------------------------  ------ ------ ----*/
+
+#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
+#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
+#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
+#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
+#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
+#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
+#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
+#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
+#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
+
+/* Thus if the Green LED is statically on, NuttX has successfully booted and
+ * is, apparently, running normally.  If the Red LED is flashing at
+ * approximately 2Hz, then a fatal error has been detected and the system
+ * has halted.
+ */
+
+/* Alternate function pin selections ************************************************/
+
+#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6 */
+
+#define GPIO_USART2_RX   GPIO_USART2_RX_1       /* PA3   */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2       /* PD5   */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2      /* PD4   */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2  /* PD3   */
+
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9   */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8   */
+
+#define GPIO_UART4_RX    GPIO_UART4_RX_6    /* PH14 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_6    /* PH13 */
+
+#define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
+#define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
+#undef GPIO_UART5_CTS
+#define GPIO_UART5_CTS   ((GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9) | GPIO_PULLDOWN) /* PC9  */
+
+#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
+#define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */
+
+#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 | GPIO_PULLDOWN)   /* PF8  */
+#define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN)   /* PE10 */
+
+#define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1 */
+
+
+/* CAN
+ *
+ * CAN1 is routed to transceiver.
+ * CAN2 is routed to transceiver.
+ */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1  */
+#define GPIO_CAN2_RX     GPIO_CAN2_RX_1     /* PB12 */
+#define GPIO_CAN2_TX     GPIO_CAN2_TX_1     /* PB13  */
+
+/* SPI
+ * SPI1 is sensors1
+ * SPI2 is sensors2
+ * SPI3 is sensors3
+ * SPI4 is Not Used
+ * SPI5 is FRAM
+ * SPI6 is EXTERNAL1
+ *
+ */
+
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
+
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_3               /* PG9  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_2               /* PB5  */
+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5  */
+
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3               /* PI2  */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4               /* PI3  */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1  */
+
+#define GPIO_SPI3_MISO   GPIO_SPI3_MISO_2               /* PC11 */
+#define GPIO_SPI3_MOSI   GPIO_SPI3_MOSI_3               /* PB2  */
+#define GPIO_SPI3_SCK    ADJ_SLEW_RATE(GPIO_SPI3_SCK_2) /* PC10 */
+
+#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_2               /* PH7  */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_1               /* PF11 */
+#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
+
+#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_2               /* PA6  */
+#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_1               /* PG14 */
+#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_3) /* PB3  */
+
+/* I2C
+ *
+ *   The optional _GPIO configurations allow the I2C driver to manually
+ *   reset the bus to clear stuck slaves.  They match the pin configuration,
+ *   but are normally-high GPIOs.
+ *
+ */
+
+#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
+#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
+
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
+
+#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2       /* PF1 */
+#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2       /* PF0 */
+
+#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN1)
+#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN0)
+
+#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1       /* PA8 */
+#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */
+
+#define GPIO_I2C3_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN8)
+#define GPIO_I2C3_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN8)
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */
+
+#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14)
+#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15)
+
+/* SDMMC2
+ *
+ *      VDD 3.3
+ *      GND
+ *      SDMMC2_CK                           PD6
+ *      SDMMC2_CMD                          PD7
+ *      SDMMC2_D0                           PB14
+ *      SDMMC2_D1                           PB15
+ *      SDMMC2_D2                           PG11
+ *      SDMMC2_D3                           PB4
+ */
+
+#define GPIO_SDMMC2_CK   GPIO_SDMMC2_CK_1  /* PD6 */
+#define GPIO_SDMMC2_CMD  GPIO_SDMMC2_CMD_1 /* PD7 */
+//      GPIO_SDMMC2_D0   No Remap          /* PB14 */
+//      GPIO_SDMMC2_D1   No Remap          /* PB15 */
+#define GPIO_SDMMC2_D2   GPIO_SDMMC2_D2_1  /* PG11 */
+//      GPIO_SDMMC2_D3    No Remap         /* PB4 */
+
+/* The STM32 H7 connects to a TI DP83848TSQ/NOPB
+ * using RMII
+ *
+ *   STM32 H7 BOARD        DP83848TSQ/NOPB
+ *   GPIO     SIGNAL       PIN NAME
+ *   -------- ------------ -------------
+ *   PA7     ETH_CRS_DV    CRS_DV
+ *   PC1     ETH_MDC       MDC
+ *   PA2     ETH_MDIO      MDIO
+ *   PA1     ETH_REF_CL    X1
+ *   PC4     ETH_RXD0      RX_D0
+ *   PC5     ETH_RXD1      RX_D1
+ *   PB11    ETH_TX_EN     TX_EN
+ *   PG13    ETH_TXD0      TX_D0
+ *   PG12    ETH_TXD1      TX_D1
+ *
+ * The PHY address is 1, since COL/PHYAD0 features a pull up.
+ */
+
+#define GPIO_ETH_RMII_TX_EN	GPIO_ETH_RMII_TX_EN_1 /* PB11 */
+#define GPIO_ETH_RMII_TXD0	GPIO_ETH_RMII_TXD0_2  /* PG13 */
+#define GPIO_ETH_RMII_TXD1	GPIO_ETH_RMII_TXD1_2  /* PG12 */
+
+
+/* USB
+ *
+ *      OTG_FS_DM                           PA11
+ *      OTG_FS_DP                           PA12
+ *      VBUS                                PA9
+ */
+
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# include "stm32_gpio.h"
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)   /* PI0 AUX1 */
+# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12)  /* PH12 AUX2 */
+# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11)  /* PH11 AUX3 */
+# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10)  /* PH10 AUX4 */
+# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)  /* PD13 AUX5 */
+# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)  /* PD14 AUX6 */
+# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)  /* PE11  CAP1 */
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
+		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
+		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
+		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
+		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
+		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
+		if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \
+	} while(0)
+
+# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
+
+#endif  /*__NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H  */
@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     /* 1 DMA1:37 ICM-20649 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     /* 2 DMA1:38 ICM-20649 */
+
+#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0     /* 3 DMA1:39 ICM-42688-P */
+#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0     /* 4 DMA1:40 ICM-42688-P */
+
+//#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
+//#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
+
+//#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0 /*  DMA1:43 Telem3 */
+//#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0 /*  DMA1:44 Telem3 */
+
+//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
+//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
+
+//#define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 EXT2 */
+//#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 EXT2 */
+
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */
+
+// Assigned in timer_config.cpp
+
+// Timer 4                                          /* 7 DMA1:32 TIM4UP */
+// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+
+// DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 DMA2:61 BMI088 */
+#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 DMA2:62 BMI088 */
+
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
+
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66  TELEM2 */
+
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79  TELEM1 */
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80  TELEM1 */
+
+//#define DMAMAP_UART8_RX   DMAMAP_DMA12_UART8RX_1  /*  DMA1:81  GPS2 */
+//#define DMAMAP_UART8_TX   DMAMAP_DMA12_UART8TX_1  /*  DMA1:82  GPS2 */
+
+// DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       /* 1 BDMA:11 SPI J11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       /* 2 BDMA:12 SPI J11 */
@@ -0,0 +1,330 @@
+#
+# 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_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_ARP 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_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_IFUPDOWN 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_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_NSLOOKUP 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_TELNETD 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/svehicle/e2/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="svehicle"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H753II=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=95751
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x41F8
+CONFIG_CDCACM_PRODUCTSTR="SVehicle E2.x"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x20A3
+CONFIG_CDCACM_VENDORSTR="SVehicle"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_ETH0_PHY_LAN8742A=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FSUTILS_IPCFG=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_THROTTLE=0
+CONFIG_IPCFG_BINARY=y
+CONFIG_IPCFG_CHARDEV=y
+CONFIG_IPCFG_PATH="/fs/mtd_net"
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=4
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NET=y
+CONFIG_NETDB_DNSCLIENT=y
+CONFIG_NETDB_DNSCLIENT_ENTRIES=8
+CONFIG_NETDB_DNSSERVER_NOADDR=y
+CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NETINIT_DHCPC=y
+CONFIG_NETINIT_DNS=y
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
+CONFIG_NETINIT_MONITOR=y
+CONFIG_NETINIT_THREAD=y
+CONFIG_NETINIT_THREAD_PRIORITY=49
+CONFIG_NETUTILS_TELNETD=y
+CONFIG_NET_ARP_IPIN=y
+CONFIG_NET_ARP_SEND=y
+CONFIG_NET_BROADCAST=y
+CONFIG_NET_ETH_PKTSIZE=1518
+CONFIG_NET_ICMP=y
+CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_NACTIVESOCKETS=16
+CONFIG_NET_SOLINGER=y
+CONFIG_NET_TCP=y
+CONFIG_NET_TCPBACKLOG=y
+CONFIG_NET_TCP_DELAYED_ACK=y
+CONFIG_NET_TCP_WRITE_BUFFERS=y
+CONFIG_NET_UDP=y
+CONFIG_NET_UDP_CHECKSUMS=y
+CONFIG_NET_UDP_WRITE_BUFFERS=y
+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_STRERROR=y
+CONFIG_NSH_TELNET=y
+CONFIG_NSH_TELNET_LOGIN=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+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
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SDMMC2_SDIO_PULLUP=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=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=256
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_ETHMAC=y
+CONFIG_STM32H7_FLASH_OVERRIDE_I=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C2=y
+CONFIG_STM32H7_I2C3=y
+CONFIG_STM32H7_I2C4=y
+CONFIG_STM32H7_I2C_DYNTIMEO=y
+CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PHYSR=31
+CONFIG_STM32H7_PHYSR_100MBPS=0x8
+CONFIG_STM32H7_PHYSR_FULLDUPLEX=0x10
+CONFIG_STM32H7_PHYSR_MODE=0x10
+CONFIG_STM32H7_PHYSR_SPEED=0x8
+CONFIG_STM32H7_PHY_POLLING=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SDMMC2=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI2_DMA=y
+CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
+CONFIG_STM32H7_SPI3=y
+CONFIG_STM32H7_SPI3_DMA=y
+CONFIG_STM32H7_SPI3_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI5=y
+CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI6_DMA=y
+CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
+CONFIG_STM32H7_TIM12=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_TIM5=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART5=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_DHCPC_RENEW=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_PING=y
+CONFIG_SYSTEM_SYSTEM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART5_IFLOWCONTROL=y
+CONFIG_UART5_OFLOWCONTROL=y
+CONFIG_UART5_RXDMA=y
+CONFIG_UART5_TXBUFSIZE=10000
+CONFIG_UART5_TXDMA=y
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_IFLOWCONTROL=y
+CONFIG_UART7_OFLOWCONTROL=y
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_RXDMA=y
+CONFIG_UART7_TXBUFSIZE=3000
+CONFIG_UART7_TXDMA=y
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=3000
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=180
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_SERIAL_CONSOLE=y
+CONFIG_USART3_TXBUFSIZE=1500
+CONFIG_USART3_TXDMA=y
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_WATCHDOG=y
@@ -0,0 +1,215 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 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 PX4 FMUV6X uses an STM32H753II has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743II, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The PX4 FMUV6X has a test point on board, the BOOT0 pin is at ground so by
+ * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
+ * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743II also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * 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 bootloader uses the first sector of the flash, which is 128K in length.
+ */
+
+MEMORY
+{
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08000000, LENGTH =  128K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * 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(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.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 +1,229 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 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 PX4 FMUV6X uses an STM32H753II has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743II, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The PX4 FMUV6X has a test point on board, the BOOT0 pin is at ground so by
+ * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
+ * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743II also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * 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.
+ */
+
+MEMORY
+{
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * 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)
+EXTERN(board_get_manifest)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.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(.);
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > AXI_SRAM
+
+	/* Emit the the D3 power domain section for locating BDMA data */
+
+	.sram4_reserve (NOLOAD) :
+	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
+	} > SRAM4
+
+	/* 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 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2025 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__pwm_voltage_apply
+	MAIN pwm_voltage_apply
+
+	SRCS
+		pwm_voltage.cpp
+	DEPENDS
+		px4_work_queue
+	)
@@ -0,0 +1,43 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Control PWM output voltage
+ *
+ * @value 0 3.3V
+ * @value 1 5.0V
+ *
+ * @reboot_required true
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);
@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 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 <inttypes.h>
+#include <stdint.h>
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module_params.h>
+
+#include "board_config.h"
+
+extern "C" int pwm_voltage_apply_main(int argc, char *argv[])
+{
+	int32_t pwm_volt_sel = 0;
+
+	param_get(param_find("PWM_VOLT_SEL"), &pwm_volt_sel);
+
+	if (pwm_volt_sel != 0) {
+		PWM_5V_VOLT_SEL(true);
+
+	} else {
+		PWM_5V_VOLT_SEL(false);
+	}
+
+	return 0;
+}
@@ -0,0 +1,75 @@
+############################################################################
+#
+#   Copyright (c) 2016 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  "bootloader")
+	add_compile_definitions(BOOTLOADER)
+	add_library(drivers_board
+		bootloader_main.c
+		init.c
+		usb.c
+		timer_config.cpp
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer #gpio
+			arch_io_pins # iotimer
+			bootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		init.c
+		led.c
+		mtd.cpp
+		sdio.c
+		spi.cpp
+		timer_config.cpp
+		usb.c
+	)
+	add_dependencies(drivers_board arch_board_hw_info)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_io_pins
+			arch_spi
+			arch_board_hw_info
+			drivers__led # drv_led_start
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer
+	)
+endif()
@@ -0,0 +1,484 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016-2022 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
+ *
+ * PX4FMU-v6x internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+
+#include <stm32_gpio.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+#undef TRACE_PINS
+
+/* PX4IO connection configuration */
+
+#define BOARD_USES_PX4IO_VERSION       2
+#define PX4IO_SERIAL_DEVICE            "/dev/ttyS5"
+#define PX4IO_SERIAL_TX_GPIO           GPIO_USART6_TX
+#define PX4IO_SERIAL_RX_GPIO           GPIO_USART6_RX
+#define PX4IO_SERIAL_BASE              STM32_USART6_BASE
+#define PX4IO_SERIAL_VECTOR            STM32_IRQ_USART6
+#define PX4IO_SERIAL_TX_DMAMAP         DMAMAP_USART6_TX
+#define PX4IO_SERIAL_RX_DMAMAP         DMAMAP_USART6_RX
+#define PX4IO_SERIAL_RCC_REG           STM32_RCC_APB2ENR
+#define PX4IO_SERIAL_RCC_EN            RCC_APB2ENR_USART6EN
+#define PX4IO_SERIAL_CLOCK             STM32_PCLK2_FREQUENCY
+#define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
+
+/* Configuration ************************************************************************************/
+
+#define BOARD_HAS_LTC44XX_VALIDS      2 //  N Bricks
+#define BOARD_HAS_USB_VALID           1 // LTC Has USB valid
+#define BOARD_HAS_NBAT_V              2 // one is adc,another is Digital Voltage(iic or can)
+#define BOARD_HAS_NBAT_I              2 // one is adc,another is Digital Current(iic or can)
+
+/* PX4FMU GPIOs ***********************************************************************************/
+
+/* Trace Clock and D0-D3 are available on the trace connector
+ *
+ * TRACECLK PE2  - Dedicated       - Trace Connector Pin 1
+ * TRACED0  PE3  - nLED_RED        - Trace Connector Pin 3
+ * TRACED1  PE4  - nLED_GREEN      - Trace Connector Pin 5
+ * TRACED2  PE5  - nLED_BLUE       - Trace Connector Pin 7
+ * TRACED3  PE6  - nARMED          - Trace Connector Pin 8
+
+ */
+
+/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
+
+#if !defined(TRACE_PINS)
+#  define GPIO_nLED_RED        /* PE3 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+#  define GPIO_nLED_GREEN      /* PE4 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
+#  define GPIO_nLED_BLUE       /* PE5 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
+
+#  define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#  define BOARD_OVERLOAD_LED     LED_RED
+#  define BOARD_ARMED_STATE_LED  LED_BLUE
+
+#else
+
+#  define GPIO_TRACECLK1 (GPIO_TRACECLK |GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN2)
+#  define GPIO_TRACED0   (GPIO_TRACED0_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN3)
+#  define GPIO_TRACED1   (GPIO_TRACED1_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN4)
+#  define GPIO_TRACED2   (GPIO_TRACED2_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN5)
+#  define GPIO_TRACED3   (GPIO_TRACED3_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN6)
+//#define GPIO_TRACESWO                        //(GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN3)
+
+#  undef  BOARD_HAS_CONTROL_STATUS_LEDS
+#  undef  BOARD_OVERLOAD_LED
+#  undef  BOARD_ARMED_STATE_LED
+
+#  define GPIO_nLED_RED    GPIO_TRACED0
+#  define GPIO_nLED_GREEN  GPIO_TRACED1
+#  define GPIO_nLED_BLUE   GPIO_TRACED2
+#  define GPIO_nARMED      GPIO_TRACED3
+#  define GPIO_nARMED_INIT GPIO_TRACED3
+#endif
+
+/* I2C busses */
+
+/* Devices on the onboard buses.
+ *
+ * Note that these are unshifted addresses.
+ */
+#define BOARD_MTD_NUM_EEPROM        2 /* MTD: base_eeprom, imu_eeprom*/
+
+#define PX4_I2C_OBDEV_SE050         0x48
+
+#define GPIO_I2C2_DRDY1_BMP388      /* PG5  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that
+ * can be used by the Px4 Firmware in the adc driver
+ */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+
+#define ADC1_CH(n)                  (n)
+
+/* N.B. there is no offset mapping needed for ADC3 because */
+#define ADC3_CH(n)                  (n)
+
+/* We are only use ADC3 for REV/VER.
+ * ADC3_6V6 and ADC3_3V3 are mapped back to ADC1
+ * To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3
+ * respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO
+ * PA0SO of 0.
+ *
+ *  0 Analog switch closed (pads are connected through the analog switch)
+ *
+ * So ADC3_INP0 is GPIO_ADC123_INP12
+ *    ADC3_INP1 is GPIO_ADC12_INP13
+ */
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below  */
+
+#define PX4_ADC_GPIO  \
+	/* PA0  */  GPIO_ADC1_INP16,   \
+	/* PA4  */  GPIO_ADC12_INP18,  \
+	/* PB0  */  GPIO_ADC12_INP9,   \
+	/* PB1  */  GPIO_ADC12_INP5,   \
+	/* PC2  */  GPIO_ADC123_INP12, \
+	/* PC3  */  GPIO_ADC12_INP13,  \
+	/* PF12 */  GPIO_ADC1_INP6,    \
+	/* PH3  */  GPIO_ADC3_INP14,   \
+	/* PH4  */  GPIO_ADC3_INP15
+
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+
+#define ADC_BATTERY_VOLTAGE_CHANNEL        	/* PF12 */ ADC1_CH(6)
+#define ADC_BATTERY_CURRENT_CHANNEL        	/* PB0 */  ADC1_CH(9)
+#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL     /* PA0  */  ADC1_CH(16)
+#define ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL     /* PA4  */  ADC1_CH(18)
+#define ADC_SCALED_V5_CHANNEL                   /* PB1  */  ADC1_CH(5)
+#define ADC_ADC3_6V6_CHANNEL                    /* PC2  */  ADC3_CH(12)
+#define ADC_ADC3_3V3_CHANNEL                    /* PC3  */  ADC3_CH(13)
+#define ADC_HW_VER_SENSE_CHANNEL                /* PH3  */  ADC3_CH(14)
+#define ADC_HW_REV_SENSE_CHANNEL                /* PH4  */  ADC3_CH(15)
+
+#define ADC_CHANNELS \
+	((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
+	 (1 << ADC_BATTERY_CURRENT_CHANNEL) | \
+	 (1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \
+	 (1 << ADC_SCALED_V5_CHANNEL)               | \
+	 (1 << ADC_ADC3_6V6_CHANNEL)                | \
+	 (1 << ADC_ADC3_3V3_CHANNEL))               | \
+	(1 << ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL)
+
+
+/* HW has to large of R termination on ADC todo:change when HW value is chosen */
+
+#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
+
+#define SYSTEM_ADC_BASE STM32_ADC1_BASE
+
+/* HW has to large of R termination on ADC todo:change when HW value is chosen */
+#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
+
+// // /* HW Version and Revision drive signals Default to 1 to detect */
+// #define BOARD_HAS_HW_SPLIT_VERSIONING
+
+#define BOARD_HAS_STATIC_MANIFEST 1
+
+#define PX4_MFT_HW_SUPPORTED_PX4_MFT_CAN2 1
+
+#define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
+#define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
+#define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
+
+#define UAVCAN_NUM_IFACES_RUNTIME  1
+
+/* HEATER
+ * PWM in future
+ */
+#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+
+/* PE6 is nARMED
+ *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
+ *  While armed it shall be configured at a GPIO OUT set LOW
+ */
+#if !defined(TRACE_PINS)
+#define GPIO_nARMED_INIT     /* PE6 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
+#define GPIO_nARMED          /* PE6 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
+#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
+#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
+#endif
+
+
+/* PWM
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS   9
+
+/* PWM Power */
+#define GPIO_PWM_VOLT_SEL		/* PG6  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN6)
+#define PWM_5V_VOLT_SEL(on_true)	px4_arch_gpiowrite(GPIO_PWM_VOLT_SEL, (on_true))
+
+/* Power supply control and monitoring GPIOs */
+
+#define GPIO_nPOWER_IN_A                /* PG1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
+#define GPIO_nPOWER_IN_B                /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
+#define GPIO_nPOWER_IN_C                /* PG3  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN3)
+
+#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
+#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_B /* Brick 2 Is Chosen  */
+#define BOARD_NUMBER_BRICKS             1
+#define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */
+
+#define GPIO_VDD_5V_PERIPH_nEN          /* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
+#define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
+#define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
+#define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
+#define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+
+/* ETHERNET GPIO */
+
+#define GPIO_ETH_POWER_EN              /* PG15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN15)
+
+/* NFC GPIO */
+
+#define GPIO_NFC_GPIO                   /* PC0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN0)
+
+
+/* Define True logic Power Control in arch agnostic form */
+
+#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
+#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
+#define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
+#define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
+#define VDD_3V3_ETH_POWER_EN(on_true)      px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true))
+
+
+/* Tone alarm output */
+
+#define TONE_ALARM_TIMER        14  /* Timer 14 */
+#define TONE_ALARM_CHANNEL      1  /* PF9 GPIO_TIM14_CH1OUT_2 */
+
+#define GPIO_BUZZER_1           /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9)
+
+#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
+#define GPIO_TONE_ALARM         GPIO_TIM14_CH1OUT_2
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
+
+/* High-resolution timer */
+#define HRT_TIMER               8  /* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
+
+#define HRT_PPM_CHANNEL         /* T8C1 */  1  /* use capture/compare channel 1 */
+#define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
+
+/* RC Serial port */
+
+#define RC_SERIAL_PORT                     "/dev/ttyS5"
+#define RC_SERIAL_SINGLEWIRE
+
+/* Input Capture Channels. */
+#define INPUT_CAP1_TIMER                  1
+#define INPUT_CAP1_CHANNEL     /* T1C2 */ 2
+#define GPIO_INPUT_CAP1        /*  PE11 */ GPIO_TIM1_CH2IN
+
+/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
+#define PWMIN_TIMER                       4
+#define PWMIN_TIMER_CHANNEL    /* T4C2 */ 2
+#define GPIO_PWM_IN            /* PD13 */ GPIO_TIM4_CH2IN_2
+
+/* Safety Switch is HW version dependent on having an PX4IO
+ * So we init to a benign state with the _INIT definition
+ * and provide the the non _INIT one for the driver to make a run time
+ * decision to use it.
+ */
+#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT   /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN10)
+#define GPIO_nSAFETY_SWITCH_LED_OUT        /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
+
+/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
+#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT
+
+#define GPIO_SAFETY_SWITCH_IN              /* PF5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN5)
+/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
+#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
+
+/* Power switch controls ******************************************************/
+
+#define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
+
+/*
+ * FMUv6X has a separate RC_IN
+ *
+ * GPIO PPM_IN on PI5 T8CH1
+ * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
+ *   Inversion is possible in the UART and can drive  GPIO PPM_IN as an output
+ */
+
+#define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
+#define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
+#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
+#define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
+
+#define SDIO_SLOTNO                    0  /* Only one slot */
+#define SDIO_MINOR                     0
+
+/* SD card bringup does not work if performed on the IDLE thread because it
+ * will cause waiting.  Use either:
+ *
+ *  CONFIG_BOARDCTL=y, OR
+ *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
+ */
+
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
+   !defined(CONFIG_BOARD_INITTHREAD)
+#  warning SDIO initialization cannot be perfomed on the IDLE thread
+#endif
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
+
+/* FMUv6X never powers off the Servo rail */
+
+#define BOARD_ADC_SERVO_VALID     (1)
+
+
+#define BOARD_ADC_BRICK_VALID 	(!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+
+#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
+#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
+
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+
+#define BOARD_HAS_ON_RESET 1
+
+#if defined(TRACE_PINS)
+#define GPIO_TRACE                          \
+	GPIO_TRACECLK1,                           \
+	GPIO_TRACED0,                             \
+	GPIO_TRACED1,                             \
+	GPIO_TRACED2,                             \
+	GPIO_TRACED3
+#else
+#define GPIO_TRACE (GPIO_OUTPUT|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
+#endif
+
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_TRACE,                       \
+		PX4_ADC_GPIO,                     \
+		GPIO_HW_VER_REV_DRIVE,            \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN2_TX,                     \
+		GPIO_CAN2_RX,                     \
+		GPIO_HEATER_OUTPUT,               \
+		GPIO_nPOWER_IN_A,                 \
+		GPIO_nPOWER_IN_B,                 \
+		GPIO_nPOWER_IN_C,                 \
+		GPIO_VDD_5V_PERIPH_nEN,           \
+		GPIO_VDD_5V_PERIPH_nOC,           \
+		GPIO_VDD_5V_HIPOWER_nEN,          \
+		GPIO_VDD_5V_HIPOWER_nOC,          \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
+		GPIO_VDD_3V3_SD_CARD_EN,          \
+		GPIO_ETH_POWER_EN,                \
+		GPIO_NFC_GPIO,                    \
+		GPIO_TONE_ALARM_IDLE,             \
+		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
+		GPIO_SAFETY_SWITCH_IN,            \
+		GPIO_nARMED_INIT,                 \
+		GPIO_PWM_VOLT_SEL                \
+	}
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+#define PX4_I2C_BUS_MTD      4,5
+
+
+#define BOARD_NUM_IO_TIMERS 5
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void);
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019-2021 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 bootloader_main.c
+ *
+ * FMU-specific early startup code for bootloader
+*/
+
+#include "board_config.h"
+#include "bl.h"
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+#include <px4_platform_common/init.h>
+
+extern int sercon_main(int c, char **argv);
+
+void board_late_initialize(void)
+{
+	sercon_main(0, NULL);
+}
+
+extern void sys_tick_handler(void);
+void board_timerhook(void)
+{
+	sys_tick_handler();
+}
@@ -0,0 +1,142 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 px4fmu_can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+#if !defined(CONFIG_CAN)
+
+#include <stdint.h>
+
+#include "board_config.h"
+
+
+__EXPORT
+uint16_t board_get_can_interfaces(void)
+{
+	uint16_t enabled_interfaces = 0x3;
+
+	if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_CAN2)) {
+		enabled_interfaces &= ~(1 << 1);
+	}
+
+	return enabled_interfaces;
+}
+
+#else
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "chip.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+/************************************************************************************
+ * 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 /* CONFIG_CAN */
@@ -0,0 +1,128 @@
+/*
+ * hw_config.h
+ *
+ *  Created on: May 17, 2015
+ *      Author: david_s5
+ */
+
+#ifndef HW_CONFIG_H_
+#define HW_CONFIG_H_
+
+/****************************************************************************
+ * 10-8--2016:
+ *  To simplify the ripple effect on the tools, we will be using
+ *  /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
+ *  moving forward all Bootloaders must contain the prefix "PX4 BL "
+ *  in the USBDEVICESTRING
+ *  This Change will be made in an upcoming BL release
+ ****************************************************************************/
+/*
+ * Define usage to configure a bootloader
+ *
+ *
+ * Constant                example          Usage
+ * APP_LOAD_ADDRESS     0x08004000            - The address in Linker Script, where the app fw is org-ed
+ * BOOTLOADER_DELAY     5000                  - Ms to wait while under USB pwr or bootloader request
+ * BOARD_FMUV2
+ * INTERFACE_USB        1                     - (Optional) Scan and use the USB interface for bootloading
+ * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
+ * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
+ * USBPRODUCTID         0x0011                - PID Should match defconfig
+ * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
+ *                                               delay provided by an APP FW
+ * BOARD_TYPE           9                     - Must match .prototype boad_id
+ * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
+ * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
+ * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
+ * BOARD_FLASH_SIZE     (_FLASH_KBYTES*1024)-   Total Flash size of device, determined at run time.
+ *                         (1024 * 1024)      - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
+ *                                              programmatically
+ *
+ * BOARD_FIRST_FLASH_SECTOR_TO_ERASE  2        - Optional sectors index in the flash_sectors table  (F4 only), to begin erasing.
+ *                                               This is to allow sectors to be reserved for app fw usage. That will NOT be erased
+ *                                               during a FW upgrade.
+ *                                               The default is 0, and selects the first sector to be erased, as the 0th entry in the
+ *                                               flash_sectors table. Which is the second physical sector of FLASH in the device.
+ *                                               The first physical sector of FLASH is used by the bootloader, and is not defined
+ *                                               in the table.
+ *
+ * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
+ *                                                                        BOOTLOADER_RESERVATION_SIZE  will be deducted from
+ *                                                                        BOARD_FLASH_SIZE to determine the size of the App FW
+ *                                                                        and hence the address space of FLASH to erase and program.
+ * USBMFGSTRING            "PX4 AP"            - Optional USB MFG string (default is '3D Robotics' if not defined.)
+ * SERIAL_BREAK_DETECT_DISABLED                -  Optional prevent break selection on Serial port from entering or staying in BL
+ *
+ * * Other defines are somewhat self explanatory.
+ */
+
+/* Boot device selection list*/
+#define USB0_DEV       0x01
+#define SERIAL0_DEV    0x02
+#define SERIAL1_DEV    0x04
+
+#define APP_LOAD_ADDRESS               0x08020000
+#define BOOTLOADER_DELAY               5000
+#define INTERFACE_USB                  1
+#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
+#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
+
+//#define USE_VBUS_PULL_DOWN
+#define INTERFACE_USART                1
+#define INTERFACE_USART_CONFIG         "/dev/ttyS0,1500000"
+#define BOOT_DELAY_ADDRESS             0x000001a0
+#define BOARD_TYPE                     6110
+#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
+#define BOARD_FLASH_SECTORS            (15)
+#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)//1024
+
+#define OSC_FREQ                       16
+
+#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE // BLUE
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_GREEN // GREEN
+#define BOARD_LED_ON                   0
+#define BOARD_LED_OFF                  1
+
+#define SERIAL_BREAK_DETECT_DISABLED   1
+
+/*
+ * Uncommenting this allows to force the bootloader through
+ * a PWM output pin. As this can accidentally initialize
+ * an ESC prematurely, it is not recommended. This feature
+ * has not been used and hence defaults now to off.
+ *
+ * # define BOARD_FORCE_BL_PIN_OUT         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
+ * # define BOARD_FORCE_BL_PIN_IN          (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
+ *
+ * # define BOARD_POWER_PIN_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
+ * # define BOARD_POWER_ON                 1
+ * # define BOARD_POWER_OFF                0
+ * # undef  BOARD_POWER_PIN_RELEASE        // Leave pin enabling Power - un comment to release (disable power)
+ *
+*/
+
+#if !defined(ARCH_SN_MAX_LENGTH)
+# define ARCH_SN_MAX_LENGTH 12
+#endif
+
+#if !defined(APP_RESERVATION_SIZE)
+#  define APP_RESERVATION_SIZE 0
+#endif
+
+#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
+#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
+#endif
+
+#if !defined(USB_DATA_ALIGN)
+# define USB_DATA_ALIGN
+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#ifndef BOOT_DEVICES_FILTER_ONUSB
+#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#endif /* HW_CONFIG_H_ */
@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(1),
+	initI2CBusExternal(2),
+	initI2CBusExternal(3),
+	initI2CBusInternal(4),
+};
@@ -0,0 +1,276 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2022 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
+ *
+ * PX4FMU-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.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "board_config.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <systemlib/px4_macros.h>
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform_common/px4_manifest.h>
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <px4_platform/board_dma_alloc.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	/* set the peripheral rails off */
+
+	VDD_5V_PERIPH_EN(false);
+	board_control_spi_sensors_power(false, 0xffff);
+
+	/* wait for the peripheral rail to reach GND */
+	usleep(ms * 1000);
+	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
+
+	/* re-enable power */
+
+	/* switch the peripheral rail back on */
+	board_control_spi_sensors_power(true, 0xffff);
+	VDD_5V_PERIPH_EN(true);
+
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
+	}
+
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
+	if (status >= 0) {
+		up_mdelay(100);
+	}
+}
+
+/************************************************************************************
+ * 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)
+{
+	board_on_reset(-1); /* Reset PWM first thing */
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure pins */
+
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	/* configure USB interfaces */
+
+	stm32_usbinitialize();
+
+	VDD_3V3_ETH_POWER_EN(true);
+
+}
+
+/****************************************************************************
+ * 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)
+{
+#if !defined(BOOTLOADER)
+
+	/* Power on Interfaces */
+	VDD_3V3_SD_CARD_EN(true);
+	VDD_5V_PERIPH_EN(true);
+	VDD_5V_HIPOWER_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SPEKTRUM_POWER_EN(true);
+
+	/* Need hrt running before using the ADC */
+
+	px4_platform_init();
+
+	// Use the default HW_VER_REV(0x0,0x0) for Ramtron
+
+	stm32_spiinitialize();
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	/* Configure the Actual SPI interfaces (after we determined the HW version)  */
+
+	stm32_spiinitialize();
+
+	board_spi_reset(10, 0xffff);
+
+	/* Configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+#  if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#  endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_on(LED_GREEN); // Indicate Power.
+	led_off(LED_BLUE);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+	// Ensure Power is off for > 10 mS
+	usleep(15 * 1000);
+	VDD_3V3_SD_CARD_EN(true);
+	usleep(500 * 1000);
+
+#  ifdef CONFIG_MMCSD
+	int ret = stm32_sdio_initialize();
+
+	if (ret != OK) {
+		led_on(LED_RED);
+		return ret;
+	}
+
+#  endif /* CONFIG_MMCSD */
+
+#endif /* !defined(BOOTLOADER) */
+
+	return OK;
+}
@@ -0,0 +1,235 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 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 px4fmu2_led.c
+ *
+ * PX4FMU 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>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+#ifdef CONFIG_ARCH_LEDS
+static bool nuttx_owns_leds = true;
+//                                B  R  S  G
+//                                0  1  2  3
+static const uint8_t xlatpx4[] = {1, 2, 4, 0};
+#  define xlat(p) xlatpx4[(p)]
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
+	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
+	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
+	GPIO_nSAFETY_SWITCH_LED_OUT,  // Indexed by LED_SAFETY by xlatpx4
+};
+
+#else
+
+#  define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
+	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
+	0,                                  // Indexed by LED_SAFETY (defaulted to an input)
+	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
+};
+
+#endif
+
+__EXPORT void led_init(void)
+{
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		if (g_ledmap[l] != 0) {
+			stm32_configgpio(g_ledmap[l]);
+		}
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive Low to switch on */
+
+	if (g_ledmap[led] != 0) {
+		stm32_gpiowrite(g_ledmap[led], !state);
+	}
+}
+
+static bool phy_get_led(int led)
+{
+	/* If Low it is on */
+	if (g_ledmap[led] != 0) {
+		return !stm32_gpioread(g_ledmap[led]);
+	}
+
+	return false;
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(xlat(led), true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(xlat(led), false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}
+
+#ifdef CONFIG_ARCH_LEDS
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_autoled_initialize
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	led_init();
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+void board_autoled_on(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_HEAPALLOCATE:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_IRQSENABLED:
+		phy_set_led(BOARD_LED_BLUE, false);
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_STACKCREATED:
+		phy_set_led(BOARD_LED_GREEN, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+	}
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+void board_autoled_off(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, false);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, false);
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#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)
+	.bus_type = px4_mft_device_t::SPI,
+	.devid    = SPIDEV_FLASH(0)
+};
+static const px4_mft_device_t i2c3 = {             // 24LC64T on Base  8K 32 X 256
+	.bus_type = px4_mft_device_t::I2C,
+	.devid    = PX4_MK_I2C_DEVID(3, 0x51)
+};
+static const px4_mft_device_t i2c4 = {             // 24LC64T on IMU   8K 32 X 256
+	.bus_type =  px4_mft_device_t::I2C,
+	.devid    =  PX4_MK_I2C_DEVID(4, 0x50)
+};
+
+
+static const px4_mtd_entry_t fmum_fram = {
+	.device = &spi5,
+	.npart = 1,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/fs/mtd_params",
+			.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT))
+		}
+	},
+};
+
+static const px4_mtd_entry_t base_eeprom = {
+	.device = &i2c3,
+	.npart = 2,
+	.partd = {
+		{
+			.type = MTD_MFT_VER,
+			.path = "/fs/mtd_mft_ver",
+			.nblocks = 248
+		},
+		{
+			.type = MTD_NET,
+			.path = "/fs/mtd_net",
+			.nblocks = 8 // 256 = 32 * 8
+
+		}
+	},
+};
+
+static const px4_mtd_entry_t imu_eeprom = {
+	.device = &i2c4,
+	.npart = 3,
+	.partd = {
+		{
+			.type = MTD_CALDATA,
+			.path = "/fs/mtd_caldata",
+			.nblocks = 240
+		},
+		{
+			.type = MTD_MFT_REV,
+			.path = "/fs/mtd_mft_rev",
+			.nblocks = 8
+		},
+		{
+			.type = MTD_ID,
+			.path = "/fs/mtd_id",
+			.nblocks = 8 // 256 = 32 * 8
+		}
+	},
+};
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs   = 3,
+	.entries = {
+		&fmum_fram,
+		&base_eeprom,
+		&imu_eeprom
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = {
+		&mtd_mft,
+	}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}
@@ -0,0 +1,177 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014, 2016 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+
+#include "chip.h"
+#include "board_config.h"
+#include "stm32_gpio.h"
+#include "stm32_sdmmc.h"
+
+#ifdef CONFIG_MMCSD
+
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Card detections requires card support and a card detection GPIO */
+
+#define HAVE_NCD   1
+#if !defined(GPIO_SDMMC1_NCD)
+#  undef HAVE_NCD
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static FAR struct sdio_dev_s *sdio_dev;
+#ifdef HAVE_NCD
+static bool g_sd_inserted = 0xff; /* Impossible value */
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_ncd_interrupt
+ *
+ * Description:
+ *   Card detect interrupt handler.
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_NCD
+static int stm32_ncd_interrupt(int irq, FAR void *context)
+{
+	bool present;
+
+	present = !stm32_gpioread(GPIO_SDMMC1_NCD);
+
+	if (sdio_dev && present != g_sd_inserted) {
+		sdio_mediachange(sdio_dev, present);
+		g_sd_inserted = present;
+	}
+
+	return OK;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void)
+{
+	int ret;
+
+#ifdef HAVE_NCD
+	/* Card detect */
+
+	bool cd_status;
+
+	/* Configure the card detect GPIO */
+
+	stm32_configgpio(GPIO_SDMMC1_NCD);
+
+	/* Register an interrupt handler for the card detect pin */
+
+	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
+#endif
+
+	/* Mount the SDIO-based MMC/SD block driver */
+	/* First, get an instance of the SDIO interface */
+
+	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
+
+	sdio_dev = sdio_initialize(SDIO_SLOTNO);
+
+	if (!sdio_dev) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
+		return -ENODEV;
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+
+	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
+
+	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
+	}
+
+	finfo("Successfully bound SDIO to the MMC/SD driver\n");
+
+#ifdef HAVE_NCD
+	/* Use SD card detect pin to check if a card is g_sd_inserted */
+
+	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
+	finfo("Card detect : %d\n", cd_status);
+
+	sdio_mediachange(sdio_dev, cd_status);
+#else
+	/* Assume that the SD card is inserted.  What choice do we have? */
+
+	sdio_mediachange(sdio_dev, true);
+#endif
+
+	return OK;
+}
+
+#endif /* CONFIG_MMCSD */
@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020, 2022 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_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+	}, {GPIO::PortI, GPIO::Pin11}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+	}, {GPIO::PortF, GPIO::Pin4}),
+	initSPIBus(SPI::Bus::SPI3, {
+		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
+		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+	}, {GPIO::PortE, GPIO::Pin7}),
+	initSPIBus(SPI::Bus::SPI5, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+	}),
+	initSPIBusExternal(SPI::Bus::SPI6, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+		initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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/io_timer_hw_description.h>
+
+/* Timer allocation
+ *
+ * TIM5_CH4  T FMU_CH1
+ * TIM5_CH3  T FMU_CH2
+ * TIM5_CH2  T FMU_CH3
+ * TIM5_CH1  T FMU_CH4
+ *
+ * TIM4_CH2  T FMU_CH5
+ * TIM4_CH3  T FMU_CH6
+ *
+ * TIM12_CH1 T FMU_CH7
+ * TIM12_CH2 T FMU_CH8
+ *
+ * TIM1_CH2  T FMU_CAP1               < Capture
+ * TIM1_CH3  T SPI2_DRDY2_ISM330_INT2 < Capture or GPIO INT
+ * TIM1_CH1  T SPIX_SYNC              > Pulse or GPIO strobe
+ *
+ * TIM2_CH3  T HEATER                 > PWM OUT or GPIO
+ *
+ * TIM14_CH1 T BUZZER_1              - Driven by other driver
+ * TIM8_CH1_IN T FMU_PPM_INPUT       - Sampled byt HRT by other driver
+ */
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer12),
+	initIOTimer(Timer::Timer1),
+	initIOTimer(Timer::Timer2),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortI, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
+	initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 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 px4fmu_usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <arm_internal.h>
+#include <chip.h>
+#include <stm32_gpio.h>
+#include <stm32_otg.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32H7_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
@@ -0,0 +1,221 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<!-- Generated by Microsoft Visio, SVG Export PX4 Zenoh arch.svg Page-1 -->
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:ev="http://www.w3.org/2001/xml-events"
+		xmlns:v="http://schemas.microsoft.com/visio/2003/SVGExtensions/" width="8.02362in" height="2.43307in"
+		viewBox="0 0 577.701 175.181" xml:space="preserve" color-interpolation-filters="sRGB" class="st9">
+	<v:documentProperties v:langID="1033" v:metric="true" v:viewMarkup="false">
+		<v:userDefs>
+			<v:ud v:nameU="msvSubprocessMaster" v:prompt="" v:val="VT4(Rectangle)"/>
+			<v:ud v:nameU="msvNoAutoConnect" v:val="VT0(1):26"/>
+		</v:userDefs>
+	</v:documentProperties>
+
+	<style type="text/css">
+	<![CDATA[
+		.st1 {fill:#ffffff;stroke:#41719c;stroke-width:0.75}
+		.st2 {fill:#41719c;font-family:Calibri;font-size:0.833336em}
+		.st3 {font-family:Courier New;font-size:1em}
+		.st4 {font-size:1em}
+		.st5 {marker-end:url(#mrkr4-62);marker-start:url(#mrkr4-60);stroke:#41719c;stroke-linecap:round;stroke-linejoin:round;stroke-width:1}
+		.st6 {fill:#41719c;fill-opacity:1;stroke:#41719c;stroke-opacity:1;stroke-width:0.28409090909091}
+		.st7 {fill:none;stroke:none;stroke-width:0.25}
+		.st8 {fill:#41719c;font-family:Calibri;font-size:1.00001em}
+		.st9 {fill:none;fill-rule:evenodd;font-size:12px;overflow:visible;stroke-linecap:square;stroke-miterlimit:3}
+	]]>
+	</style>
+
+	<defs id="Markers">
+		<g id="lend4">
+			<path d="M 2 1 L 0 0 L 2 -1 L 2 1 " style="stroke:none"/>
+		</g>
+		<marker id="mrkr4-60" class="st6" v:arrowType="4" v:arrowSize="2" v:setback="6.68" refX="6.68" orient="auto"
+				markerUnits="strokeWidth" overflow="visible">
+			<use xlink:href="#lend4" transform="scale(3.52) "/>
+		</marker>
+		<marker id="mrkr4-62" class="st6" v:arrowType="4" v:arrowSize="2" v:setback="7.04" refX="-7.04" orient="auto"
+				markerUnits="strokeWidth" overflow="visible">
+			<use xlink:href="#lend4" transform="scale(-3.52,-3.52) "/>
+		</marker>
+	</defs>
+	<g v:mID="0" v:index="1" v:groupContext="foregroundPage">
+		<v:userDefs>
+			<v:ud v:nameU="msvThemeOrder" v:val="VT0(0):26"/>
+		</v:userDefs>
+		<title>Page-1</title>
+		<v:pageProperties v:drawingScale="0.0393701" v:pageScale="0.0393701" v:drawingUnits="24" v:shadowOffsetX="8.50394"
+				v:shadowOffsetY="-8.50394"/>
+		<v:layer v:name="Connector" v:index="0"/>
+		<g id="shape1-1" v:mID="1" v:groupContext="shape" transform="translate(429.165,-50.4584)">
+			<title>Rectangle</title>
+			<desc>Zenoh RMW implementation rmw_zenoh</desc>
+			<v:userDefs>
+				<v:ud v:nameU="visVersion" v:val="VT0(15):26"/>
+			</v:userDefs>
+			<v:textBlock v:margins="rect(4,4,4,4)" v:tabSpace="42.5197"/>
+			<v:textRect cx="68.5984" cy="158.173" width="137.2" height="34.0157"/>
+			<rect x="0" y="141.165" width="137.197" height="34.0157" class="st1"/>
+			<text x="9.51" y="155.08" class="st2" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>Zenoh RMW implementation<v:newlineChar/><tspan
+						x="41.59" dy="1.213em" class="st3">rmw_zenoh</tspan></text>		</g>
+		<g id="shape2-5" v:mID="2" v:groupContext="shape" transform="translate(429.165,-90.1434)">
+			<title>Rectangle.2</title>
+			<desc>ROS Middleware (RMW) API</desc>
+			<v:userDefs>
+				<v:ud v:nameU="visVersion" v:val="VT0(15):26"/>
+			</v:userDefs>
+			<v:textBlock v:margins="rect(4,4,4,4)" v:tabSpace="42.5197"/>
+			<v:textRect cx="68.5984" cy="158.173" width="137.2" height="34.0157"/>
+			<rect x="0" y="141.165" width="137.197" height="34.0157" class="st1"/>
+			<text x="11.17" y="161.17" class="st2" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>ROS Middleware (RMW) API</text>		</g>
+		<g id="shape4-8" v:mID="4" v:groupContext="shape" transform="translate(509.953,-129.828)">
+			<title>Rectangle.4</title>
+			<desc>ROS 2 Node</desc>
+			<v:userDefs>
+				<v:ud v:nameU="visVersion" v:val="VT0(15):26"/>
+			</v:userDefs>
+			<v:textBlock v:margins="rect(4,4,4,4)" v:tabSpace="42.5197"/>
+			<v:textRect cx="28.2047" cy="157.891" width="56.41" height="34.581"/>
+			<rect x="0" y="140.6" width="56.4094" height="34.581" class="st1"/>
+			<text x="16.22" y="154.89" class="st2" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>ROS 2<v:newlineChar/><tspan
+						x="17.23" dy="1.2em" class="st4">Node</tspan></text>		</g>
+		<g id="shape5-12" v:mID="5" v:groupContext="shape" transform="translate(429.165,-129.828)">
+			<title>Rectangle.5</title>
+			<desc>ROS 2 Node</desc>
+			<v:userDefs>
+				<v:ud v:nameU="visVersion" v:val="VT0(15):26"/>
+			</v:userDefs>
+			<v:textBlock v:margins="rect(4,4,4,4)" v:tabSpace="42.5197"/>
+			<v:textRect cx="28.2047" cy="157.891" width="56.41" height="34.581"/>
+			<rect x="0" y="140.6" width="56.4094" height="34.581" class="st1"/>
+			<text x="16.22" y="154.89" class="st2" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>ROS 2<v:newlineChar/><tspan
+						x="17.23" dy="1.2em" class="st4">Node</tspan></text>		</g>
+		<g id="shape6-16" v:mID="6" v:groupContext="shape" transform="translate(93.027,-51.0236)">
+			<title>Rectangle.6</title>
+			<desc>PX4 Zenoh-Pico Node</desc>
+			<v:userDefs>
+				<v:ud v:nameU="visVersion" v:val="VT0(15):26"/>
+			</v:userDefs>
+			<v:textBlock v:margins="rect(4,4,4,4)" v:tabSpace="42.5197"/>
+			<v:textRect cx="41.644" cy="118.488" width="83.29" height="113.386"/>
+			<rect x="0" y="61.7953" width="83.288" height="113.386" class="st1"/>
+			<text x="10.07" y="115.49" class="st2" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>PX4 Zenoh-Pico <tspan
+						x="30.67" dy="1.2em" class="st4">Node</tspan></text>		</g>
+		<g id="shape7-20" v:mID="7" v:groupContext="shape" transform="translate(13.6063,-130.394)">
+			<title>Rectangle.7</title>
+			<desc>uORB Topic α</desc>
+			<v:userDefs>
+				<v:ud v:nameU="visVersion" v:val="VT0(15):26"/>
+			</v:userDefs>
+			<v:textBlock v:margins="rect(4,4,4,4)" v:tabSpace="42.5197"/>
+			<v:textRect cx="37.5591" cy="158.173" width="75.12" height="34.0157"/>
+			<rect x="0" y="141.165" width="75.1181" height="34.0157" class="st1"/>
+			<text x="10.13" y="161.17" class="st2" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>uORB Topic <tspan
+						class="st4" v:langID="1032">α</tspan></text>		</g>
+		<g id="shape8-24" v:mID="8" v:groupContext="shape" transform="translate(13.6063,-90.7087)">
+			<title>Rectangle.8</title>
+			<desc>uORB Topic β</desc>
+			<v:userDefs>
+				<v:ud v:nameU="visVersion" v:val="VT0(15):26"/>
+			</v:userDefs>
+			<v:textBlock v:margins="rect(4,4,4,4)" v:tabSpace="42.5197"/>
+			<v:textRect cx="37.5591" cy="158.173" width="75.12" height="34.0157"/>
+			<rect x="0" y="141.165" width="75.1181" height="34.0157" class="st1"/>
+			<text x="10.31" y="161.17" class="st2" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>uORB Topic <tspan
+						class="st4" v:langID="1032">β</tspan></text>		</g>
+		<g id="shape9-28" v:mID="9" v:groupContext="shape" transform="translate(13.6063,-51.0236)">
+			<title>Rectangle.9</title>
+			<desc>uORB Topic γ</desc>
+			<v:userDefs>
+				<v:ud v:nameU="visVersion" v:val="VT0(15):26"/>
+			</v:userDefs>
+			<v:textBlock v:margins="rect(4,4,4,4)" v:tabSpace="42.5197"/>
+			<v:textRect cx="37.5591" cy="158.173" width="75.12" height="34.0157"/>
+			<rect x="0" y="141.165" width="75.1181" height="34.0157" class="st1"/>
+			<text x="10.73" y="161.17" class="st2" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>uORB Topic <tspan
+						class="st4" v:langID="1032">γ</tspan></text>		</g>
+		<g id="shape10-32" v:mID="10" v:groupContext="shape" transform="translate(183.128,-130.394)">
+			<title>Rectangle.10</title>
+			<desc>ROS2 Topic α</desc>
+			<v:userDefs>
+				<v:ud v:nameU="visVersion" v:val="VT0(15):26"/>
+			</v:userDefs>
+			<v:textBlock v:margins="rect(4,4,4,4)" v:tabSpace="42.5197"/>
+			<v:textRect cx="37.5591" cy="158.173" width="75.12" height="34.0157"/>
+			<rect x="0" y="141.165" width="75.1181" height="34.0157" class="st1"/>
+			<text x="10.64" y="161.17" class="st2" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>ROS2 Topic <tspan
+						class="st4" v:langID="1032">α</tspan></text>		</g>
+		<g id="shape11-36" v:mID="11" v:groupContext="shape" transform="translate(183.128,-90.7087)">
+			<title>Rectangle.11</title>
+			<desc>ROS2 Topic β</desc>
+			<v:userDefs>
+				<v:ud v:nameU="visVersion" v:val="VT0(15):26"/>
+			</v:userDefs>
+			<v:textBlock v:margins="rect(4,4,4,4)" v:tabSpace="42.5197"/>
+			<v:textRect cx="37.5591" cy="158.173" width="75.12" height="34.0157"/>
+			<rect x="0" y="141.165" width="75.1181" height="34.0157" class="st1"/>
+			<text x="10.82" y="161.17" class="st2" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>ROS2 Topic <tspan
+						class="st4" v:langID="1032">β</tspan></text>		</g>
+		<g id="shape12-40" v:mID="12" v:groupContext="shape" transform="translate(183.128,-51.0236)">
+			<title>Rectangle.12</title>
+			<desc>ROS2 Topic γ</desc>
+			<v:userDefs>
+				<v:ud v:nameU="visVersion" v:val="VT0(15):26"/>
+			</v:userDefs>
+			<v:textBlock v:margins="rect(4,4,4,4)" v:tabSpace="42.5197"/>
+			<v:textRect cx="37.5591" cy="158.173" width="75.12" height="34.0157"/>
+			<rect x="0" y="141.165" width="75.1181" height="34.0157" class="st1"/>
+			<text x="11.25" y="161.17" class="st2" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>ROS2 Topic <tspan
+						class="st4" v:langID="1032">γ</tspan></text>		</g>
+		<g id="shape18-44" v:mID="18" v:groupContext="shape" transform="translate(13.6063,-11.3386)">
+			<title>Rectangle.18</title>
+			<desc>PX4</desc>
+			<v:userDefs>
+				<v:ud v:nameU="visVersion" v:val="VT0(15):26"/>
+			</v:userDefs>
+			<v:textBlock v:margins="rect(4,4,4,4)" v:tabSpace="42.5197"/>
+			<v:textRect cx="122.598" cy="158.173" width="245.2" height="34.0157"/>
+			<rect x="0" y="141.165" width="245.197" height="34.0157" class="st1"/>
+			<text x="114.89" y="161.17" class="st2" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>PX4</text>		</g>
+		<g id="shape19-47" v:mID="19" v:groupContext="shape" transform="translate(322.583,-49.8088)">
+			<title>Rectangle.19</title>
+			<desc>Zenoh Router zenohd</desc>
+			<v:userDefs>
+				<v:ud v:nameU="visVersion" v:val="VT0(15):26"/>
+			</v:userDefs>
+			<v:textBlock v:margins="rect(4,4,4,4)" v:tabSpace="42.5197"/>
+			<v:textRect cx="48.3661" cy="138.907" width="96.74" height="72.5492"/>
+			<rect x="0" y="102.632" width="96.7323" height="72.5492" class="st1"/>
+			<text x="20.63" y="135.82" class="st2" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>Zenoh Router<v:newlineChar/><tspan
+						x="30.36" dy="1.213em" class="st3">zenohd</tspan></text>		</g>
+		<g id="shape20-51" v:mID="20" v:groupContext="shape" transform="translate(322.583,-10.1237)">
+			<title>Rectangle.20</title>
+			<desc>Linux</desc>
+			<v:userDefs>
+				<v:ud v:nameU="visVersion" v:val="VT0(15):26"/>
+			</v:userDefs>
+			<v:textBlock v:margins="rect(4,4,4,4)" v:tabSpace="42.5197"/>
+			<v:textRect cx="122.598" cy="158.173" width="245.2" height="34.0157"/>
+			<rect x="0" y="141.165" width="245.197" height="34.0157" class="st1"/>
+			<text x="111.93" y="161.17" class="st2" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>Linux</text>		</g>
+		<g id="shape21-54" v:mID="21" v:groupContext="shape" v:layerMember="0" transform="translate(258.246,-147.402)">
+			<title>Dynamic connector</title>
+			<path d="M6.68 175.18 L7.04 175.18 L30.89 175.18 L30.89 236.5 L57.3 236.5" class="st5"/>
+		</g>
+		<g id="shape22-63" v:mID="22" v:groupContext="shape" v:layerMember="0" transform="translate(258.246,-107.717)">
+			<title>Dynamic connector.22</title>
+			<path d="M6.68 175.18 L7.04 175.18 L30.89 175.18 L30.89 196.81 L57.3 196.81" class="st5"/>
+		</g>
+		<g id="shape23-70" v:mID="23" v:groupContext="shape" v:layerMember="0" transform="translate(258.246,-68.0315)">
+			<title>Dynamic connector.23</title>
+			<path d="M6.68 175.18 L7.04 175.18 L30.89 175.18 L30.89 157.13 L57.3 157.13" class="st5"/>
+		</g>
+		<g id="shape24-77" v:mID="24" v:groupContext="shape" transform="translate(251.717,-17.1438)">
+			<title>Sheet.24</title>
+			<desc>UART TCP UDP</desc>
+			<v:textBlock v:margins="rect(4,4,4,4)" v:tabSpace="42.5197"/>
+			<v:textRect cx="37.5591" cy="151.863" width="75.12" height="46.6357"/>
+			<rect x="0" y="128.545" width="75.1181" height="46.6357" class="st7"/>
+			<text x="24.06" y="141.06" class="st8" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>UART<v:newlineChar/><tspan
+						x="28.34" dy="1.2em" class="st4">TCP<v:newlineChar/></tspan><tspan x="26.92" dy="1.2em" class="st4">UDP</tspan></text>		</g>
+	</g>
+</svg>
@@ -187,6 +187,7 @@
      - [Radiolink PIX6](flight_controller/radiolink_pix6.md)
      - [Sky-Drones AIRLink](flight_controller/airlink.md)
      - [SPRacing SPRacingH7EXTREME](flight_controller/spracingh7extreme.md)
+      - [SVehicle E2](flight_controller/svehicle_e2.md)
      - [ThePeach FCC-K1](flight_controller/thepeach_k1.md)
      - [ThePeach FCC-R1](flight_controller/thepeach_r1.md)
    - [Experimental Autopilots](flight_controller/autopilot_experimental.md)
@@ -744,6 +745,7 @@
        - [Standard Modes Protocol](mavlink/standard_modes.md)
    - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md)
      - [UORB Bridged to ROS 2](middleware/dds_topics.md)
+    - [Zenoh (PX4 ROS 2)](middleware/zenoh.md)
  - [Modules & Commands](modules/modules_main.md)
    - [Autotune](modules/modules_autotune.md)
    - [Commands](modules/modules_command.md)
@@ -83,9 +83,10 @@ This is done using the the parameters named like `UAVCAN_SUB_*` in the parameter

 On the ARK CANnode, you may need to configure the following parameters:

-| Parameter                                                                                       | Description                   |
-| ----------------------------------------------------------------------------------------------- | ----------------------------- |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
+| Parameter                                                                                             | Description                                                                                                                                        |
+| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination.                                                                                                                      |

 ## LED Meanings

@@ -110,9 +110,10 @@ When optical flow is the only source of horizontal position/velocity, then lower

 On the ARK Flow, you may need to configure the following parameters:

-| Parameter                                                                                       | Description                   |
-| ----------------------------------------------------------------------------------------------- | ----------------------------- |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
+| Parameter                                                                                             | Description                                                                                                                                        |
+| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination.                                                                                                                      |

 ## LED Meanings

@@ -105,9 +105,10 @@ Set the following parameters in _QGroundControl_:

 You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK Flow MR itself:

-| Parameter                                                                                       | Description                   |
-| ----------------------------------------------------------------------------------------------- | ----------------------------- |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
+| Parameter                                                                                             | Description                                                                                                                                        |
+| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination.                                                                                                                      |

 ## LED Meanings

@@ -91,9 +91,17 @@ If the sensor is not centred within the vehicle you will also need to define sen

 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` if this is that last node on the CAN bus.
 - The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.

+### ARK GPS Configuration
+
+You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK GPS itself:
+
+| Parameter                                                                                             | Description                                                                                                                                        |
+| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                                 |
+
 ## LED Meanings

 You will see green, blue and red LEDs on the ARK GPS when it is being flashed, and a blinking green LED if it is running properly.
@@ -85,7 +85,15 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 - Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
 - The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.
- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` on the GPS if this it that last node on the CAN bus.
+
+### ARK RTK GPS Configuration
+
+You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS itself:
+
+| Parameter                                                                                             | Description                                                                                                                                        |
+| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                                 |

 ### Setting Up Rover and Fixed Base

@@ -96,6 +96,10 @@ If the DNA is still running and certain devices need to be manually configured,
 ::: info
 The PX4 node ID can be configured using the [UAVCAN_NODE_ID](../advanced_config/parameter_reference.md#UAVCAN_NODE_ID) parameter.
 The parameter is set to 1 by default.
+
+Devices running the [PX4 DroneCAN firmware](px4_cannode_fw.md) (such as [ARK CANnode](ark_cannode.md)) can use the
+[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) parameter to set a static node ID.
+Set it to 0 (default) for dynamic allocation, or to a value between 1-127 to use a specific static node ID.
 :::

 :::warning
@@ -282,6 +286,11 @@ For example, the screenshot below shows the parameters for a CAN GPS with node i

 ![QGC Parameter showing selected DroneCAN node](../../assets/can/dronecan/qgc_can_parameters.png)

+Common CANNODE parameters that you can configure include:
+
+- [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID): Set a static node ID (1-127) or use 0 for dynamic allocation. See [PX4 DroneCAN Firmware > Static Node ID](px4_cannode_fw.md#static-node-id) for more information.
+- [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM): Enable CAN bus termination on the last node in the bus.
+
 ## Device Specific Setup

 Most DroneCAN nodes require no further setup, unless specifically noted in their device-specific documentation.
@@ -20,6 +20,26 @@ make ark_can-flow_default

 This will create an output in **build/ark_can-flow_default** named **XX-X.X.XXXXXXXX.uavcan.bin**. Follow the instructions at [DroneCAN firmware update](index.md#firmware-update) to flash the firmware.

+## Configuration
+
+### Static Node ID
+
+By default, DroneCAN devices use [Dynamic Node Allocation (DNA)](index.md#node-id-allocation) to automatically obtain a unique node ID from the flight controller.
+However, you can configure a static node ID using the [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) parameter.
+
+To configure a static node ID:
+
+1. Set [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) to a value between 1-127 using [QGroundControl](index.md#qgc-cannode-parameter-configuration)
+2. Reboot the device
+
+To return to dynamic allocation, set `CANNODE_NODE_ID` back to 0.
+Note that when switching back to dynamic allocation, the flight controller will typically continue to allocate the same node ID that was previously used (this is normal DNA behavior).
+
+:::warning
+When using static node IDs, you must ensure that each device on the CAN bus has a unique node ID.
+Configuring two devices with the same ID will cause communication conflicts.
+:::
+
 ## Developer Information

 This section has information that is relevant to developers who want to add support for new DroneCAN hardware to the PX4 Autopilot.
@@ -35,5 +35,6 @@ The boards in this category are:
 - [Radiolink PIX6](../flight_controller/radiolink_pix6.md)
 - [Sky-Drones AIRLink](../flight_controller/airlink.md)
 - [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md)
+- [Svehicle E2](../flight_controller/svehicle_e2.md)
 - [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)
 - [ThePeach FCC-R1](../flight_controller/thepeach_r1.md)
@@ -0,0 +1,175 @@
+# S-Vehicle E2
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+:::
+
+The _E2_ is an advanced autopilot manufactured by S-Vehicle<sup>&reg;</sup>.
+
+The autopilot is recommended for commercial system integration, but is also suitable for academic research and any other applications.
+It brings you ultimate performance, stability, and reliability in every aspect.
+
+![SVehicle-E2](../../assets/flight_controller/svehicle_e2/main.png)
+
+::: info
+These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+### Processors & Sensors
+
+- FMU Processor: STM32H753IIK6
+  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
+- IO Processor: STM32F103
+  - 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
+- On-board sensors
+  - Accel/Gyro: BMI088
+  - Accel/Gyro: ICM-42688-P
+  - Accel/Gyro: ICM-20649
+  - Mag: RM3100
+  - Barometer: 2x ICP-20100
+
+### Interfaces
+
+- 14x PWM Servo Outputs
+- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus
+- 1x Analog/PWM RSSI Input
+- 2x TELEM Ports (with full flow control)
+- 1x UART4 Port
+- 2x GPS Ports
+  - 1x Full GPS plus Safety Switch Port (GPS1)
+  - 1x Basic GPS Port (with I2C, GPS2)
+- 1x USB Port (TYPE-C)
+- 1x Ethernet Port
+  - Transformerless application
+  - 100Mbps
+- 3x I2C Bus Ports
+- 1x SPI Bus
+  - 1x Chip Select Line
+  - 1x Data Ready Line
+  - 1x SPI Reset Line
+- 2x CAN Ports
+- 3x Power Input Ports
+  - ADC Power Input
+  - I2C Power Input
+  - DroneCAN/UAVCAN Power Input
+- 2x AD Ports
+  - Analog Input (3.3V)
+  - Analog Input (6.6V - not supported by PX4)
+- 1x Dedicated Debug Port
+  - FMU Debug
+
+## Purchase Channels
+
+Order from [S-Vehicle](https://svehicle.cn/).
+
+## Radio Control
+A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
+
+You will need to select a compatible transmitter/receiver and then bind them so that they communicate (read the instructions that come with your specific transmitter/receiver).
+
+Spektrum/DSM receivers connect to the DSM/SBUS RC input.
+PPM or SBUS receivers connect to the RC IN input port.
+CRSF receiver must be wired to a spare port (UART) on the Flight Controller. Then you can bind the transmitter and receiver together.
+
+## Serial Port Mapping
+
+| UART   | Device     | Port          |
+| ------ | ---------- | ------------- |
+| USART1 | /dev/ttyS0 | GPS           |
+| USART2 | /dev/ttyS1 | TELEM3        |
+| USART3 | /dev/ttyS2 | Debug Console |
+| UART4  | /dev/ttyS3 | UART4         |
+| UART5  | /dev/ttyS4 | TELEM2        |
+| USART6 | /dev/ttyS5 | PX4IO/RC      |
+| UART7  | /dev/ttyS6 | TELEM1        |
+| UART8  | /dev/ttyS7 | GPS2          |
+
+## PWM Output
+
+The E2-Plus flight controller supports up to 14 PWM outputs.
+The first 8 outputs (labelled M1 to M8) are controlled by a dedicated STM32F103 IOMCU controller.
+The remaining 6 outputs (labelled 9 to 14) are the "auxiliary" outputs.
+These are directly attached to the STM32H753 FMU controller .
+
+The 14 PWM outputs are:
+
+M1 - M8 are connected to the IOMCU
+A1 - A6 are connected to the FMU
+
+M1 - M8 support DShot and are in 3 groups:
+
+- M1, M2 in group 1
+- M3, M4 in group 2
+- M5, M6, M7, M8 in group 3
+
+The 6 FMU PWM outputs are in 2 groups:
+
+A1 - A4 are in one group.
+A5, A6 are in a 2nd group.
+
+Channels within the same group need to use the same output rate.
+If any channel in a group uses DShot then all channels in the group need to use DShot.
+
+### Electrical data
+
+- Voltage Ratings:
+  - Max input voltage: 5.7V
+  - USB Power Input: 4.75\~5.25V
+  - Servo Rail Input: 0\~9.9V
+- Current Ratings:
+  - TELEM1 and GPS2 combined output current limiter: 1.5A
+  - All other port combined output current limiter: 1.5A
+
+## Battery Monitoring
+
+The board has connectors for 3 power monitors.
+
+- POWER1 -- ADC
+- POWER2 -- DroneCAN
+- POWER3 -- I2C
+
+The board is configure by default for a analog power monitor, and also has DroneCAN power monitor and I2C defaults configured which is enabled.
+
+The default PDB included with the E2+ is analog and must be connected to `POWER1`.
+
+## Building Firmware
+
+To [build PX4](../dev_setup/building_px4.md) for this target, execute:
+
+```sh
+make svehicle_e2_default
+```
+
+## Debug Port
+
+The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
+
+| Pin     | Signal         | Volt  |
+| ------- | -------------- | ----- |
+| 1 (red) | 5V+            | +5V   |
+| 2 (blk) | DEBUG TX (OUT) | +3.3V |
+| 3 (blk) | DEBUG RX (IN)  | +3.3V |
+| 4 (blk) | FMU_SWDIO      | +3.3V |
+| 5 (blk) | FMU_SWCLK      | +3.3V |
+| 6 (blk) | GND            | GND   |
+
+For information about using this port see:
+
+- [SWD Debug Port](../debug/swd_debug.md)
+- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
+- All ports use GH1.25 ,power ports use ports on E2 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
+
+## Pinouts
+
+![SVehicle-E2 Top Down Photo](../../assets/flight_controller/svehicle_e2/top.png)
+
+![SVehicle-E2 Bottom Photo](../../assets/flight_controller/svehicle_e2/back.jpeg)
+
+![SVehicle-E2 left Photo](../../assets/flight_controller/svehicle_e2/left.png)
+
+![SVehicle-E2 right Photo](../../assets/flight_controller/svehicle_e2/right.png)
+
+## Supported Platforms / Airframes
+
+Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos.
+The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).
@@ -5,7 +5,7 @@ This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main
 :::


-The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
+The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) and/or [zenoh](../modules/modules_driver.md#zenoh) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).

 This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.

@@ -13,7 +13,7 @@ This document shows a markdown-rendered version of [dds_topics.yaml](https://git

 Topic | Type| Rate Limit
 --- | --- | ---
-`/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) | 
+`/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) |
 `/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0
 `/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0
 `/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0
@@ -21,21 +21,21 @@ Topic | Type| Rate Limit
 `/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0
 `/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0
 `/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0
-`/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) | 
+`/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) |
 `/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0
-`/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) | 
+`/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) |
 `/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0
 `/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0
-`/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) | 
+`/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) |
 `/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0
-`/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) | 
+`/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) |
 `/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0
 `/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0
 `/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0
-`/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | 
+`/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) |
 `/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0
 `/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0
-`/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) | 
+`/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) |
 `/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0

 ## Subscriptions
@@ -0,0 +1,200 @@
+# Zenoh (PX4 ROS 2 rmw_zenoh)
+
+<Badge type="tip" text="main (planned for: PX4 v1.17)" /> <Badge type="warning" text="Experimental" />
+
+:::warning Experimental
+At the time of writing, PX4 Zenoh-pico is experimental, and hence subject to change.
+:::
+
+PX4 supports Zenoh as an alternative mechanism (to DDS) for bridging uORB topics to [ROS 2](../ros2/user_guide.md) (via the ROS 2 [`rmw_zenoh`](https://github.com/ros2/rmw_zenoh) middleware).
+This allows uORB messages to be published and subscribed on a companion computer as though they were ROS 2 topics.
+It provides a fast and lightweight way to connect PX4 to ROS 2, making it easier for applications to access vehicle telemetry and send control commands.
+
+The following guide describes the architecture and various options for setting up the Zenoh client and router.
+In particular, it covers the options that are most important to PX4 users exploring Zenoh as an alternative communication layer for ROS 2.
+
+## Architecture
+
+The Zenoh-based middleware consists of a client running on PX4 and a Zenoh router running on the companion computer, with bi-directional data exchange between them over a UART, TCP, UDP, or multicast-UDP link.
+The router acts as a broker and discovery service, enabling PX4 to publish and subscribe to topics in the global Zenoh data space.
+This allows seamless integration with ROS 2 nodes using [`rmw_zenoh`](https://github.com/ros2/rmw_zenoh), and supports flexible deployment across distributed systems.
+
+![Architecture PX4 Zenoh-Pico with ROS 2](../../assets/middleware/zenoh/architecture-px4-zenoh.svg)
+
+The client is the _PX4 Zenoh-Pico Node_ referred to above, which is implemented in the [PX4 `zenoh` module](../modules/modules_driver.md#zenoh).
+This is based on Zenoh-Pico, a minimalistic version of [Eclipse Zenoh](https://zenoh.io/) (a data-centric protocol designed for real-time, distributed, and resource-constrained environments).
+
+The router suggested above is [zenohd](https://github.com/eclipse-zenoh/zenoh/tree/main/zenohd).
+
+:::info
+UART is supported by Zenoh but has not yet implemented in the PX4 Zenoh-Pico node.
+:::
+
+## ROS 2 Zenoh Bring-up on Linux Companion
+
+In order for PX4 uORB topics to be shared with ROS 2 applications, you will need the PX4 Zenoh-Pico Node client running on your FMU, connected to a Zenoh router running on the companion computer (or elsewhere in the network).
+
+First select Zenoh as the ROS 2 transport by setting the `RMW_IMPLEMENTATION` environment variable as shown:
+
+```sh
+export RMW_IMPLEMENTATION=rmw_zenoh_cpp
+```
+
+Then start the Zenoh router using the command:
+
+```sh
+ros2 run rmw_zenoh_cpp rmw_zenohd
+```
+
+For more information about the Zenoh Router see the [rmw_zenoh](https://github.com/ros2/rmw_zenoh?tab=readme-ov-file#start-the-zenoh-router) documentation.
+
+## PX4 Zenoh-Pico Node Setup
+
+### PX4 Firmware
+
+Before setting up the Zenoh communication, first make sure that your firmware contains the driver that implements the [`zenoh` driver](../modules/modules_driver.md#zenoh), which provides the implementation of the _PX4 Zenoh-Pico Node_.
+
+You can check if the module is present on your board by searching for the key `CONFIG_MODULES_ZENOH=y` in your board's `default.px4board` KConfig file.
+For example, you can see that the module is present in `px4_fmu-v6xrt` build targets from [/boards/px4/fmu-v6xrt/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6xrt/default.px4board#L91).
+
+If `CONFIG_MODULES_ZENOH=y` is not preset you can add this key to your board configuration and rebuild.
+Note that due to flash constraints you may need to remove other components in order to include the module (such as the [`uxrce_dds_client` module](../modules/modules_system.md#uxrce-dds-client), which you will not need if you are using Zenoh).
+
+The table below shows some of the PX4 targets that include Zenoh by default.
+
+| PX4 Target             | Notes                                                                                       |
+| ---------------------- | ------------------------------------------------------------------------------------------- |
+| `px4_fmu-v6xrt`        | For [FMUv6X-RT](../flight_controller/nxp_mr_vmu_rt1176.md) (reference platform for testing) |
+| `nxp_tropic-community` |                                                                                             |
+| `nxp_mr-tropic`        |                                                                                             |
+| `nxp_mr-canhubk344`    |                                                                                             |
+| `px4_sitl_zenoh`       | Zenoh-enabled simulation build                                                              |
+| `px4_fmu-v6x_zenoh`    | Zenoh-enabled firmware for FMUv6X                                                           |
+
+Zenoh is not included in the default `px4_fmu-` targets for any firmware other than `px4_fmu-v6xrt` (`px4_sitl_zenoh` and `px4_fmu-v6x_zenoh` [are build variants](../dev_setup/building_px4.md#px4-make-build-targets)).
+
+::: tip
+You can check if Zenoh is present at runtime by using QGroundControl to [find the parameter](../advanced_config/parameters.md#finding-a-parameter) [ZENOH_ENABLE](../advanced_config/parameter_reference.md#ZENOH_ENABLE).
+If present, the module is installed.
+:::
+
+### Enable Zenoh on PX4 Startup
+
+Set the [ZENOH_ENABLE](../advanced_config/parameter_reference.md#ZENOH_ENABLE) parameter to `1` to enable Zenoh on PX4 startup.
+
+### Configure Zenoh Network
+
+Set up PX4 to connect to the companion computer running `zenohd`.
+
+PX4's default IP address of the Zenoh daemon host is `10.41.10.1`.
+If you're using a different IP for the Zenoh daemon, run the following command (replacing the address) in a PX4 shell and then reboot:
+
+```sh
+zenoh config net client tcp/10.41.10.1:7447#iface=eth0
+```
+
+Note that for the simulation target with Zeroh (`px4_sitl_zenoh`) you won't need to make any changes because the default IP address of the Zenoh daemon is set to `localhost`.
+
+:::warning
+Any changes to the network configuration require a PX4 system reboot to take effect.
+:::
+
+:::tip
+See [PX4 Ethernet Setup](../advanced_config/ethernet_setup.md) for more information about Ethernet configuration.
+:::
+
+### PX4 Zenoh-pico Node configuration
+
+The **default configuration** is auto-generated from the [dds_topics.yaml](../middleware/dds_topics.md) file in the PX4 repository.
+This file specifies which uORB message definitions are to be published/subscribed by ROS 2 applications, and hence (indirectly) which topics are compiled into the zenoh module.
+
+To inspect the current Zenoh configuration:
+
+```sh
+zenoh config
+```
+
+The PX4 Zenoh-pico node stores its configuration on the **SD card** under the `zenoh` folder.
+This folder contains three key files:
+
+- **`net.txt`** – Defines the **Zenoh network configuration**.
+- **`pub.csv`** – Maps **uORB topics to ROS2 topics** (used for publishing).
+- **`sub.csv`** – Maps **ROS2 topics to uORB topics** (used for subscribing).
+
+### 4. Modifying Topic Mappings
+
+Zenoh topic mappings define how data flows between PX4's internal uORB topics and external ROS2 topics via Zenoh.
+These mappings are stored in `pub.csv` and `sub.csv` on the SD card, and can be modified at runtime using the `zenoh config` CLI tool.
+
+:::warning
+Any changes to the topic mappings require a PX4 system reboot to take effect.
+:::
+
+There are two types of mappings you can modify:
+
+- **Publisher mappings**: Forward data from a uORB topic to a Zenoh topic.
+- **Subscriber mappings**: Receive data from a Zenoh topic and publish it to a uORB topic.
+
+The main operations and their commands are:
+
+- Publish a uORB topic to a Zenoh topic:
+
+  ```sh
+  zenoh config add publisher <zenoh_topic> <uorb_topic> [uorb_instance]
+  ```
+
+- Subscribe to a Zenoh topic and forward it to a uORB topic:
+
+  ```sh
+  zenoh config add subscriber <zenoh_topic> <uorb_topic> [uorb_instance]
+  ```
+
+- Remove existing mappings:
+
+  ```sh
+  zenoh config delete publisher <zenoh_topic>
+  zenoh config delete subscriber <zenoh_topic>
+  ```
+
+After modifying the mappings, reboot PX4 to apply the changes.
+The updated configuration will be loaded from the SD card during startup.
+
+## Communicating with PX4 from ROS 2 via Zenoh
+
+Once your PX4 FMU is publishing data into ROS 2, you can inspect the available topics and their contents using standard ROS 2 CLI tools:
+
+```sh
+ros2 topic list
+```
+
+Check topic type and publishers/subscribers:
+
+```sh
+ros2 topic info -v /fmu/out/vehicle_status
+Type: px4_msgs/msg/VehicleStatus
+
+Publisher count: 1
+
+Node name: px4_aabbcc00000000000000000000000000
+Node namespace: /
+Topic type: px4_msgs/msg/VehicleStatus
+Topic type hash: RIHS01_828bddbb7d4c2aa6ad93757955f6893be1ec5d8f11885ec7715bcdd76b5226c9
+Endpoint type: PUBLISHER
+GID: 82.99.74.2c.b6.7d.93.44.91.4d.fe.14.93.58.40.16
+QoS profile:
+  Reliability: RELIABLE
+  History (Depth): KEEP_LAST (7)
+  Durability: VOLATILE
+  Lifespan: Infinite
+  Deadline: Infinite
+  Liveliness: AUTOMATIC
+  Liveliness lease duration: Infinite
+
+Subscription count: 0
+```
+
+### PX4 ROS 2 Interface with Zenoh
+
+The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) works out of the box with Zenoh as a transport backend.
+This means you can publish and subscribe to PX4 topics over Zenoh without changing your ROS 2 nodes or dealing with DDS configuration.
+For setup details and supported message types, refer to the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md).
@@ -286,6 +286,7 @@
      - [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md)
    - [INS (Inertial Navigation/GNSS)](sensor/inertial_navigation_systems.md)
      - [InertialLabs](sensor/inertiallabs.md)
+      - [MicroStrain](sensor/microstrain.md)
      - [sbgECom](sensor/sbgecom.md)
      - [VectorNav](sensor/vectornav.md)
    - [광류 센서](sensor/optical_flow.md)
@@ -701,6 +702,7 @@
        - [SensorCombined](msg_docs/SensorCombined.md)
        - [SensorCorrection](msg_docs/SensorCorrection.md)
        - [SensorGnssRelative](msg_docs/SensorGnssRelative.md)
+        - [SensorGnssStatus](msg_docs/SensorGnssStatus.md)
        - [SensorGps](msg_docs/SensorGps.md)
        - [SensorGyro](msg_docs/SensorGyro.md)
        - [SensorGyroFft](msg_docs/SensorGyroFft.md)
@@ -762,6 +764,7 @@
        - [Standard Modes Protocol](mavlink/standard_modes.md)
    - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md)
      - [UORB Bridged to ROS 2](middleware/dds_topics.md)
+    - [Zenoh (PX4 ROS 2)](middleware/zenoh.md)
  - [모듈과 명령어](modules/modules_main.md)
    - [자동 튜닝](modules/modules_autotune.md)
    - [명령어](modules/modules_command.md)
@@ -618,6 +618,10 @@ div.frame_variant td, div.frame_variant th {
 <td><a href="https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html">Axial SCX10 2 Trail Honcho</a></td>
 <td>유지보수: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 51001</p></td>
 </tr>
+<tr id="rover_rover_nxp_b3rb_rover_ackermann">
+ <td>NXP B3RB Rover Ackermann</td>
+ <td>유지보수: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 51002</p></td>
+</tr>
 <tr id="rover_rover_generic_rover_mecanum">
 <td>Generic Rover Mecanum</td>
 <td>유지보수: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 52000</p></td>
@@ -276,12 +276,12 @@ The relevant parameters are listed in the table below.

 ## 고장 감지기

-고장 감지기를 사용하여 차량의 예기치 않게 전복되거나 외부의 고장 감지 시스템에 따른 보호 조치를 할 수 있습니다.
+The failure detector allows a vehicle to take protective actions if it unexpectedly flips, detects a motor failure, or if it is notified by an external failure detection system.

 During **flight**, the failure detector can be used to trigger [flight termination](../advanced_config/flight_termination.md) if failure conditions are met, which may then launch a [parachute](../peripherals/parachute.md) or perform some other action.

 :::info
-Failure detection during flight is deactivated by default (enable by setting the parameter: [CBRK_FLIGHTTERM=0](#CBRK_FLIGHTTERM)).
+Acting on a detected failure during flight is deactivated by default (enable by setting the parameter: [CBRK_FLIGHTTERM=0](#CBRK_FLIGHTTERM)).
 :::

 During **takeoff** the failure detector [attitude trigger](#attitude-trigger) invokes the [disarm action](#act_disarm) if the vehicle flips (disarm kills the motors but, unlike flight termination, will not launch a parachute or perform other failure actions).
@@ -303,6 +303,26 @@ The failure detector is active in all vehicle types and modes, except for those
 | <a id="FD_FAIL_P_TTRI"></a>[FD_FAIL_P_TTRI](../advanced_config/parameter_reference.md#FD_FAIL_P_TTRI) | Time to exceed [FD_FAIL_P](#FD_FAIL_P) for failure detection (default 0.3s). |
 | <a id="FD_FAIL_R_TTRI"></a>[FD_FAIL_R_TTRI](../advanced_config/parameter_reference.md#FD_FAIL_R_TTRI) | Time to exceed [FD_FAIL_R](#FD_FAIL_R) for failure detection (default 0.3s). |

+### Motor Failure Trigger
+
+The failure detector can be configured to detect a motor failure while armed (and trigger an associated action) in the following conditions:
+
+- A 300 ms timeout occurs in telemetry from an ESC that was previously available.
+- The input current in the telemetry of an ESC which was previously positive gets too low for more than [`FD_ACT_MOT_TOUT`](FD_ACT_MOT_TOUT) ms.
+  The "too low" condition is defined by:
+
+  ```text
+  {esc current} < {parameter FD_ACT_MOT_C2T} * {motor command between 0 and 1}
+  ```
+
+| 매개변수                                                                                                                                                                    | 설명                                                                                                                                                                                                                                                        |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN)                                        | Enable/disable the motor failure trigger completely.                                                                                                                                                                                      |
+| <a id="FD_ACT_MOT_THR"></a>[FD_ACT_MOT_THR](../advanced_config/parameter_reference.md#FD_ACT_MOT_THR)    | Minimum normalized [0,1] motor command below which motor under current is ignored.                                                                                                    |
+| <a id="FD_ACT_MOT_C2T"></a>[FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T)    | Scale between normalized [0,1] motor command and expected minimally reported currrent when the rotor is healthy.                                                                      |
+| <a id="FD_ACT_MOT_TOUT"></a>[FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in miliseconds for which the under current detection condition needs to stay true.                                                                                                                                                   |
+| <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE)                      | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
+
 ### 외부 자동 작동 시스템 (ATS)

 The [failure detector](#failure-detector), if [enabled](#CBRK_FLIGHTTERM), can also be triggered by an external ATS system.
@@ -19,7 +19,7 @@ At time of writing (PX4 v1.14):

 ## 장애 시스템 명령

-Failures can be injected using the [failure system command](../modules/modules_command.md#failure) from any PX4 console/shell, specifying both the target and type of the failure.
+Failures can be injected using the [failure system command](../modules/modules_command.md#failure) from any PX4 [console/shell](../debug/consoles.md) (such as the [QGC MAVLink Console](../debug/mavlink_shell.md#qgroundcontrol-mavlink-console) or SITL _pxh shell_), specifying both the target and type of the failure.

 ### 구문

@@ -61,11 +61,18 @@ failure <component> <failure_type> [-i <instance_number>]
 - _instance number_ (optional): Instance number of affected sensor.
  0 (기본값) 지정된 유형의 모든 센서를 나타냅니다.

-### Example
+## MAVSDK 실패 플러그인
+
+The [MAVSDK failure plugin](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_failure.html) can be used to programmatically inject failures.
+It is used in [PX4 Integration Testing](../test_and_ci/integration_testing_mavsdk.md) to simulate failure cases (for example, see [PX4-Autopilot/test/mavsdk_tests/autopilot_tester.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/test/mavsdk_tests/autopilot_tester.cpp)).
+
+The plugin API is a direct mapping of the failure command shown above, with a few additional error signals related to the connection.
+
+## Example: RC signal

 To simulate losing RC signal without having to turn off your RC controller:

-1. Enable the parameter [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN). And specifically to turn off motors also [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE).
+1. Enable the [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN) parameter.
 2. Enter the following commands on the MAVLink console or SITL _pxh shell_:

   ```sh
@@ -76,9 +83,18 @@ To simulate losing RC signal without having to turn off your RC controller:
   failure rc_signal ok
   ```

-## MAVSDK 실패 플러그인
+## Example: Motor

-The [MAVSDK failure plugin](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_failure.html) can be used to programmatically inject failures.
-It is used in [PX4 Integration Testing](../test_and_ci/integration_testing_mavsdk.md) to simulate failure cases (for example, see [PX4-Autopilot/test/mavsdk_tests/autopilot_tester.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/test/mavsdk_tests/autopilot_tester.cpp)).
+To stop a motor mid-flight without the system anticipating it or excluding it from allocation effectiveness:

-The plugin API is a direct mapping of the failure command shown above, with a few additional error signals related to the connection.
+1. Enable the [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN) parameter.
+2. Enable [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) parameter to allow turning off motors.
+3. Enter the following commands on the MAVLink console or SITL _pxh shell_:
+
+   ```sh
+   # Turn off first motor
+   failure motor off -i 1
+
+   # Turn it back on
+   failure motor ok -i 1
+   ```
@@ -160,7 +160,7 @@ ulog 스트리밍을 지원하는 다양한 클라이언트가 있습니다.

 - If log streaming does not start, make sure the `logger` is running (see above), and inspect the console output while starting.
 - 그래도 작동하지 않으면, MAVLink 2를 사용하고 있는지 확인하십시오.
-  Enforce it by setting `MAV_PROTO_VER` to 2.
+  `MAV_PROTO_VER` needs to be set to 2.
 - Log streaming uses a maximum of 70% of the configured MAVLink rate (`-r` parameter).
  더 큰 전송율이 요구되는 상황에서는, 메세지가 사라집니다.
  The currently used percentage can be inspected with `mavlink status` (1.8% is used in this example):
@@ -83,9 +83,10 @@ This is done using the the parameters named like `UAVCAN_SUB_*` in the parameter

 On the ARK CANnode, you may need to configure the following parameters:

-| 매개변수                                                                                                                 | 설명                                            |
-| -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------- |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
+| 매개변수                                                                                                                                               | 설명                                                                                                                                                                                                                          |
+| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)                               | CAN built-in bus termination.                                                                                                                                                                               |

 ## LED 신호의 의미

@@ -109,9 +109,10 @@ When optical flow is the only source of horizontal position/velocity, then lower

 On the ARK Flow, you may need to configure the following parameters:

-| 매개변수                                                                                                                 | 설명                                            |
-| -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------- |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
+| 매개변수                                                                                                                                               | 설명                                                                                                                                                                                                                          |
+| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)                               | CAN built-in bus termination.                                                                                                                                                                               |

 ## LED 신호의 의미

@@ -104,9 +104,10 @@ Set the following parameters in _QGroundControl_:

 You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK Flow MR itself:

-| 매개변수                                                                                                                 | 설명                                            |
-| -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------- |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
+| 매개변수                                                                                                                                               | 설명                                                                                                                                                                                                                          |
+| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)                               | CAN built-in bus termination.                                                                                                                                                                               |

 ## LED 신호의 의미

@@ -91,9 +91,17 @@ If the sensor is not centred within the vehicle you will also need to define sen

 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` if this is that last node on the CAN bus.
 - The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.

+### ARK GPS Configuration
+
+You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK GPS itself:
+
+| 매개변수                                                                                                                                               | 설명                                                                                                                                                                                                                          |
+| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)                               | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                                                                           |
+
 ## LED 신호의 의미

 You will see green, blue and red LEDs on the ARK GPS when it is being flashed, and a blinking green LED if it is running properly.
@@ -85,7 +85,15 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 - Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
 - The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.
- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` on the GPS if this it that last node on the CAN bus.
+
+### ARK RTK GPS Configuration
+
+You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS itself:
+
+| 매개변수                                                                                                                                               | 설명                                                                                                                                                                                                                          |
+| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)                               | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                                                                           |

 ### Setting Up Rover and Fixed Base

@@ -102,6 +102,10 @@ If the DNA is still running and certain devices need to be manually configured,
 :::info
 The PX4 node ID can be configured using the [UAVCAN_NODE_ID](../advanced_config/parameter_reference.md#UAVCAN_NODE_ID) parameter.
 The parameter is set to 1 by default.
+
+Devices running the [PX4 DroneCAN firmware](px4_cannode_fw.md) (such as [ARK CANnode](ark_cannode.md)) can use the
+[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) parameter to set a static node ID.
+Set it to 0 (default) for dynamic allocation, or to a value between 1-127 to use a specific static node ID.
 :::

 :::warning
@@ -288,6 +292,11 @@ For example, the screenshot below shows the parameters for a CAN GPS with node i

 ![QGC Parameter showing selected DroneCAN node](../../assets/can/dronecan/qgc_can_parameters.png)

+Common CANNODE parameters that you can configure include:
+
+- [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID): Set a static node ID (1-127) or use 0 for dynamic allocation. See [PX4 DroneCAN Firmware > Static Node ID](px4_cannode_fw.md#static-node-id) for more information.
+- [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM): Enable CAN bus termination on the last node in the bus.
+
 ## Device Specific Setup

 Most DroneCAN nodes require no further setup, unless specifically noted in their device-specific documentation.
@@ -20,6 +20,26 @@ make ark_can-flow_default

 This will create an output in **build/ark_can-flow_default** named **XX-X.X.XXXXXXXX.uavcan.bin**. Follow the instructions at [DroneCAN firmware update](index.md#firmware-update) to flash the firmware.

+## 설정
+
+### Static Node ID
+
+By default, DroneCAN devices use [Dynamic Node Allocation (DNA)](index.md#node-id-allocation) to automatically obtain a unique node ID from the flight controller.
+However, you can configure a static node ID using the [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) parameter.
+
+To configure a static node ID:
+
+1. Set [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) to a value between 1-127 using [QGroundControl](index.md#qgc-cannode-parameter-configuration)
+2. Reboot the device
+
+To return to dynamic allocation, set `CANNODE_NODE_ID` back to 0.
+Note that when switching back to dynamic allocation, the flight controller will typically continue to allocate the same node ID that was previously used (this is normal DNA behavior).
+
+:::warning
+When using static node IDs, you must ensure that each device on the CAN bus has a unique node ID.
+Configuring two devices with the same ID will cause communication conflicts.
+:::
+
 ## 개발자 정보

 This section has information that is relevant to developers who want to add support for new DroneCAN hardware to the PX4 Autopilot.
@@ -43,9 +43,8 @@ The horizontal position of the vehicle can move due to wind (or pre-existing mom

 The mode is affected by the following parameters:

-| 매개변수                                                                                                                                                                                            | 설명                                                                                                                                                                                                                                                                                                                                                                                                                 |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | 최대 수직 상승 속도. 기본값: 3 m/s.                                                                                                                                                                                                                                                                                                                                           |
-| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | 최대 수직 하강 속도. 기본값: 1 m/s.                                                                                                                                                                                                                                                                                                                                           |
-| <a id="RCX_DZ"></a>`RCX_DZ`                                                                                                                                                                     | RC dead zone for channel X. The value of X for throttle will depend on the value of [RC_MAP_THROTTLE](../advanced_config/parameter_reference.md#RC_MAP_THROTTLE). For example, if the throttle is channel 4 then [RC4_DZ](../advanced_config/parameter_reference.md#RC4_DZ) specifies the deadzone. |
-| <a id="MPC_xxx"></a>`MPC_XXXX`                                                                                                                                                                  | 대부분의 MPC_xxx 매개 변수는이 모드에서 비행 동작에 어느정도 영향을 미칩니다 . For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover.                                                                                                                            |
+| 매개변수                                                                                                                                                                                            | 설명                                                                                                                                                                                                                                                                                      |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | 최대 수직 상승 속도. 기본값: 3 m/s.                                                                                                                                                                                                                |
+| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | 최대 수직 하강 속도. 기본값: 1 m/s.                                                                                                                                                                                                                |
+| <a id="MPC_xxx"></a>`MPC_XXXX`                                                                                                                                                                  | 대부분의 MPC_xxx 매개 변수는이 모드에서 비행 동작에 어느정도 영향을 미칩니다 . For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover. |
@@ -67,7 +67,6 @@ All the parameters in the [Multicopter Position Control](../advanced_config/para
 | <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | 최대 수직 하강 속도. 기본값: 1 m/s.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                |
 | <a id="MPC_LAND_ALT1"></a>[MPC_LAND_ALT1](../advanced_config/parameter_reference.md#MPC_LAND_ALT1)                                                    | Altitude for triggering first phase of slow landing. Below this altitude descending velocity gets limited to a value between [MPC_Z_VEL_MAX_DN](#MPC_Z_VEL_MAX_DN) (or `MPC_Z_V_AUTO_DN`) and [MPC_LAND_SPEED](#MPC_LAND_SPEED). Value needs to be higher than [MPC_LAND_ALT2](#MPC_LAND_ALT2). Default 10m. |
 | <a id="MPC_LAND_ALT2"></a>[MPC_LAND_ALT2](../advanced_config/parameter_reference.md#MPC_LAND_ALT2)                                                    | Altitude for second phase of slow landing. Below this altitude descending velocity gets limited to [`MPC_LAND_SPEED`](#MPC_LAND_SPEED). Value needs to be lower than "MPC_LAND_ALT1". Default 5m.                                                                                                                                                                                                                                                             |
-| <a id="RCX_DZ"></a>`RCX_DZ`                                                                                                                                                                     | RC dead zone for channel X. The value of X for throttle will depend on the value of [RC_MAP_THROTTLE](../advanced_config/parameter_reference.md#RC_MAP_THROTTLE). For example, if the throttle is channel 4 then [RC4_DZ](../advanced_config/parameter_reference.md#RC4_DZ) specifies the deadzone.                                                                                                                                                      |
 | <a id="MPC_xxx"></a>`MPC_XXXX`                                                                                                                                                                  | 대부분의 MPC_xxx 매개 변수는이 모드에서 비행 동작에 어느정도 영향을 미칩니다 . For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover.                                                                                                                                                                                                                                                                                 |
 | <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE)                                                       | Stick input to movement translation strategy. From PX4 v1.12 the default (`Acceleration based`) is that stick position controls acceleration (in a similar way to a car accelerator pedal). Other options allow stick deflection to directly control speed over ground, with and without smoothing and acceleration limits.                                                                                                                                       |
 | <a id="MPC_ACC_HOR_MAX"></a>[MPC_ACC_HOR_MAX](../advanced_config/parameter_reference.md#MPC_ACC_HOR_MAX)                         | Maximum horizontal acceleration.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        |
@@ -123,35 +123,35 @@ This should be set by default, but if not, follow the [MAVLink2 configuration in
 RTK GPS 연결은 기본적으로 플러그앤플레이입니다.

 1. Start _QGroundControl_ and attach the base RTK GPS via USB to the ground station.
-  장치가 자동으로 인식됩니다.
+   장치가 자동으로 인식됩니다.

 2. Start the vehicle and make sure it is connected to _QGroundControl_.

-  :::tip
-  _QGroundControl_ displays an RTK GPS status icon in the top icon bar while an RTK GPS device is connected (in addition to the normal GPS status icon).
-  RTK가 설정되는 동안 아이콘은 빨간색으로 표시되고, RTK GPS가 활성화되면 흰색으로 바뀝니다.
-  아이콘을 클릭하여 현재 상태와 RTK 정확도를 확인할 수 있습니다.
+   :::tip
+   _QGroundControl_ displays an RTK GPS status icon in the top icon bar while an RTK GPS device is connected (in addition to the normal GPS status icon).
+   RTK가 설정되는 동안 아이콘은 빨간색으로 표시되고, RTK GPS가 활성화되면 흰색으로 바뀝니다.
+   아이콘을 클릭하여 현재 상태와 RTK 정확도를 확인할 수 있습니다.

 :::

 3. _QGroundControl_ then starts the RTK setup process (known as "Survey-In").

-  Survey-In은 기지국의 정확한 위치 추정치를 획득을 위한 시작 절차입니다.
-  The process typically takes several minutes (it ends after reaching the minimum time and accuracy specified in the [RTK settings](#rtk-gps-settings)).
+   Survey-In은 기지국의 정확한 위치 추정치를 획득을 위한 시작 절차입니다.
+   The process typically takes several minutes (it ends after reaching the minimum time and accuracy specified in the [RTK settings](#rtk-gps-settings)).

-  RTK GPS 상태 아이콘을 클릭하여 진행 상황을 추적할 수 있습니다.
+   RTK GPS 상태 아이콘을 클릭하여 진행 상황을 추적할 수 있습니다.

-  ![survey-in](../../assets/qgc/setup/rtk/qgc_rtk_survey-in.png)
+   ![survey-in](../../assets/qgc/setup/rtk/qgc_rtk_survey-in.png)

 4. Survey-in이 완료되면 :
-  - The RTK GPS icon changes to white and _QGroundControl_ starts to stream position data to the vehicle:
+   - The RTK GPS icon changes to white and _QGroundControl_ starts to stream position data to the vehicle:

-    ![RTK streaming](../../assets/qgc/setup/rtk/qgc_rtk_streaming.png)
+     ![RTK streaming](../../assets/qgc/setup/rtk/qgc_rtk_streaming.png)

-  - 기체의 GPS가 RTK 모드로 전환됩니다.
-    The new mode is displayed in the _normal_ GPS status icon (`3D RTK GPS Lock`):
+   - 기체의 GPS가 RTK 모드로 전환됩니다.
+     The new mode is displayed in the _normal_ GPS status icon (`3D RTK GPS Lock`):

-    ![RTK GPS Status](../../assets/qgc/setup/rtk/qgc_rtk_gps_status.png)
+     ![RTK GPS Status](../../assets/qgc/setup/rtk/qgc_rtk_gps_status.png)

 ### GPS를 Yaw/Heading 소스로 설정

@@ -206,7 +206,7 @@ MAVLink2 프로토콜은 낮은 대역폭 채널을 보다 효율적으로 사
 MAVLink2가 사용되는 지 확인하려면 :

 - Update the telemetry module firmware to the latest version (see [QGroundControl > Setup > Firmware](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/firmware.html)).
- Set [MAV_PROTO_VER](../advanced_config/parameter_reference.md#MAV_PROTO_VER) to 2 (see [QGroundControl Setup > Parameters](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html))
+- Ensure [MAV_PROTO_VER](../advanced_config/parameter_reference.md#MAV_PROTO_VER) is set to 2 (see [QGroundControl Setup > Parameters](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html))

 #### 튜닝

@@ -1,3 +1,8 @@
+<script setup>
+import { useData } from 'vitepress'
+const { site } = useData();
+</script>
+
 <div style="float:right; padding:10px; margin-right:20px;"><a href="https://px4.io/"><img src="../assets/site/logo_pro_small.png" title="PX4 Logo" width="180px" /></a></div>

 # PX4 Autopilot 사용자 안내서
@@ -9,17 +14,22 @@ PX4 is the _Professional Autopilot_.
 세계 각국에서 활동중인 여러 단체들의 지원을 받을 수 있습니다. PX4는 레이싱 드론, 운송용 드론, 자동차와 선박 등의 다양한 운송체에 적용하여 사용할 수 있습니다.

 :::tip
-This guide contains everything you need to assemble, configure, and safely fly a PX4-based vehicle. 이 프로젝트에 기여하시려면,  Check out the [Development](development/development.md) section.
-
+This guide contains everything you need to assemble, configure, and safely fly a PX4-based vehicle.
+이 프로젝트에 기여하시려면,  Check out the [Development](development/development.md) section.
 :::

+<div v-if="site.title == 'PX4 Guide (main)'">
+
 :::warning
+
 This guide is for the _development_ version of PX4 (`main` branch).
 Use the **Version** selector to find the current _stable_ version.

 Documented changes since the stable release are captured in the evolving [release note](releases/main.md).
 :::

+</div>
+
 ## 시작하기

 [Basic Concepts](getting_started/px4_basic_concepts.md) should be read by all users!
@@ -4,7 +4,7 @@
 This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
 :::

-The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
+The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) and/or [zenoh](../modules/modules_driver.md#zenoh) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).

 This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.

@@ -0,0 +1,201 @@
+# Zenoh (PX4 ROS 2 rmw_zenoh)
+
+<Badge type="tip" text="main (planned for: PX4 v1.17)" /> <Badge type="warning" text="Experimental" />
+
+:::warning
+실험
+At the time of writing, PX4 Zenoh-pico is experimental, and hence subject to change.
+:::
+
+PX4 supports Zenoh as an alternative mechanism (to DDS) for bridging uORB topics to [ROS 2](../ros2/user_guide.md) (via the ROS 2 [`rmw_zenoh`](https://github.com/ros2/rmw_zenoh) middleware).
+This allows uORB messages to be published and subscribed on a companion computer as though they were ROS 2 topics.
+It provides a fast and lightweight way to connect PX4 to ROS 2, making it easier for applications to access vehicle telemetry and send control commands.
+
+The following guide describes the architecture and various options for setting up the Zenoh client and router.
+In particular, it covers the options that are most important to PX4 users exploring Zenoh as an alternative communication layer for ROS 2.
+
+## 아키텍쳐
+
+The Zenoh-based middleware consists of a client running on PX4 and a Zenoh router running on the companion computer, with bi-directional data exchange between them over a UART, TCP, UDP, or multicast-UDP link.
+The router acts as a broker and discovery service, enabling PX4 to publish and subscribe to topics in the global Zenoh data space.
+This allows seamless integration with ROS 2 nodes using [`rmw_zenoh`](https://github.com/ros2/rmw_zenoh), and supports flexible deployment across distributed systems.
+
+![Architecture PX4 Zenoh-Pico with ROS 2](../../assets/middleware/zenoh/architecture-px4-zenoh.svg)
+
+The client is the _PX4 Zenoh-Pico Node_ referred to above, which is implemented in the [PX4 `zenoh` module](../modules/modules_driver.md#zenoh).
+This is based on Zenoh-Pico, a minimalistic version of [Eclipse Zenoh](https://zenoh.io/) (a data-centric protocol designed for real-time, distributed, and resource-constrained environments).
+
+The router suggested above is [zenohd](https://github.com/eclipse-zenoh/zenoh/tree/main/zenohd).
+
+:::info
+UART is supported by Zenoh but has not yet implemented in the PX4 Zenoh-Pico node.
+:::
+
+## ROS 2 Zenoh Bring-up on Linux Companion
+
+In order for PX4 uORB topics to be shared with ROS 2 applications, you will need the PX4 Zenoh-Pico Node client running on your FMU, connected to a Zenoh router running on the companion computer (or elsewhere in the network).
+
+First select Zenoh as the ROS 2 transport by setting the `RMW_IMPLEMENTATION` environment variable as shown:
+
+```sh
+export RMW_IMPLEMENTATION=rmw_zenoh_cpp
+```
+
+Then start the Zenoh router using the command:
+
+```sh
+ros2 run rmw_zenoh_cpp rmw_zenohd
+```
+
+For more information about the Zenoh Router see the [rmw_zenoh](https://github.com/ros2/rmw_zenoh?tab=readme-ov-file#start-the-zenoh-router) documentation.
+
+## PX4 Zenoh-Pico Node Setup
+
+### PX4 Firmware
+
+Before setting up the Zenoh communication, first make sure that your firmware contains the driver that implements the [`zenoh` driver](../modules/modules_driver.md#zenoh), which provides the implementation of the _PX4 Zenoh-Pico Node_.
+
+You can check if the module is present on your board by searching for the key `CONFIG_MODULES_ZENOH=y` in your board's `default.px4board` KConfig file.
+For example, you can see that the module is present in `px4_fmu-v6xrt` build targets from [/boards/px4/fmu-v6xrt/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6xrt/default.px4board#L91).
+
+If `CONFIG_MODULES_ZENOH=y` is not preset you can add this key to your board configuration and rebuild.
+Note that due to flash constraints you may need to remove other components in order to include the module (such as the [`uxrce_dds_client` module](../modules/modules_system.md#uxrce-dds-client), which you will not need if you are using Zenoh).
+
+The table below shows some of the PX4 targets that include Zenoh by default.
+
+| PX4 Target             | 참고                                                                                                             |
+| ---------------------- | -------------------------------------------------------------------------------------------------------------- |
+| `px4_fmu-v6xrt`        | For [FMUv6X-RT](../flight_controller/nxp_mr_vmu_rt1176.md) (reference platform for testing) |
+| `nxp_tropic-community` |                                                                                                                |
+| `nxp_mr-tropic`        |                                                                                                                |
+| `nxp_mr-canhubk344`    |                                                                                                                |
+| `px4_sitl_zenoh`       | Zenoh-enabled simulation build                                                                                 |
+| `px4_fmu-v6x_zenoh`    | Zenoh-enabled firmware for FMUv6X                                                                              |
+
+Zenoh is not included in the default `px4_fmu-` targets for any firmware other than `px4_fmu-v6xrt` (`px4_sitl_zenoh` and `px4_fmu-v6x_zenoh` [are build variants](../dev_setup/building_px4.md#px4-make-build-targets)).
+
+:::tip
+You can check if Zenoh is present at runtime by using QGroundControl to [find the parameter](../advanced_config/parameters.md#finding-a-parameter) [ZENOH_ENABLE](../advanced_config/parameter_reference.md#ZENOH_ENABLE).
+If present, the module is installed.
+:::
+
+### Enable Zenoh on PX4 Startup
+
+Set the [ZENOH_ENABLE](../advanced_config/parameter_reference.md#ZENOH_ENABLE) parameter to `1` to enable Zenoh on PX4 startup.
+
+### Configure Zenoh Network
+
+Set up PX4 to connect to the companion computer running `zenohd`.
+
+PX4's default IP address of the Zenoh daemon host is `10.41.10.1`.
+If you're using a different IP for the Zenoh daemon, run the following command (replacing the address) in a PX4 shell and then reboot:
+
+```sh
+zenoh config net client tcp/10.41.10.1:7447#iface=eth0
+```
+
+Note that for the simulation target with Zeroh (`px4_sitl_zenoh`) you won't need to make any changes because the default IP address of the Zenoh daemon is set to `localhost`.
+
+:::warning
+Any changes to the network configuration require a PX4 system reboot to take effect.
+:::
+
+:::tip
+See [PX4 Ethernet Setup](../advanced_config/ethernet_setup.md) for more information about Ethernet configuration.
+:::
+
+### PX4 Zenoh-pico Node configuration
+
+The **default configuration** is auto-generated from the [dds_topics.yaml](../middleware/dds_topics.md) file in the PX4 repository.
+This file specifies which uORB message definitions are to be published/subscribed by ROS 2 applications, and hence (indirectly) which topics are compiled into the zenoh module.
+
+To inspect the current Zenoh configuration:
+
+```sh
+zenoh config
+```
+
+The PX4 Zenoh-pico node stores its configuration on the **SD card** under the `zenoh` folder.
+This folder contains three key files:
+
+- **`net.txt`** – Defines the **Zenoh network configuration**.
+- **`pub.csv`** – Maps **uORB topics to ROS2 topics** (used for publishing).
+- **`sub.csv`** – Maps **ROS2 topics to uORB topics** (used for subscribing).
+
+### 4. Modifying Topic Mappings
+
+Zenoh topic mappings define how data flows between PX4's internal uORB topics and external ROS2 topics via Zenoh.
+These mappings are stored in `pub.csv` and `sub.csv` on the SD card, and can be modified at runtime using the `zenoh config` CLI tool.
+
+:::warning
+Any changes to the topic mappings require a PX4 system reboot to take effect.
+:::
+
+There are two types of mappings you can modify:
+
+- **Publisher mappings**: Forward data from a uORB topic to a Zenoh topic.
+- **Subscriber mappings**: Receive data from a Zenoh topic and publish it to a uORB topic.
+
+The main operations and their commands are:
+
+- Publish a uORB topic to a Zenoh topic:
+
+  ```sh
+  zenoh config add publisher <zenoh_topic> <uorb_topic> [uorb_instance]
+  ```
+
+- Subscribe to a Zenoh topic and forward it to a uORB topic:
+
+  ```sh
+  zenoh config add subscriber <zenoh_topic> <uorb_topic> [uorb_instance]
+  ```
+
+- Remove existing mappings:
+
+  ```sh
+  zenoh config delete publisher <zenoh_topic>
+  zenoh config delete subscriber <zenoh_topic>
+  ```
+
+After modifying the mappings, reboot PX4 to apply the changes.
+The updated configuration will be loaded from the SD card during startup.
+
+## Communicating with PX4 from ROS 2 via Zenoh
+
+Once your PX4 FMU is publishing data into ROS 2, you can inspect the available topics and their contents using standard ROS 2 CLI tools:
+
+```sh
+ros2 topic list
+```
+
+Check topic type and publishers/subscribers:
+
+```sh
+ros2 topic info -v /fmu/out/vehicle_status
+Type: px4_msgs/msg/VehicleStatus
+
+Publisher count: 1
+
+Node name: px4_aabbcc00000000000000000000000000
+Node namespace: /
+Topic type: px4_msgs/msg/VehicleStatus
+Topic type hash: RIHS01_828bddbb7d4c2aa6ad93757955f6893be1ec5d8f11885ec7715bcdd76b5226c9
+Endpoint type: PUBLISHER
+GID: 82.99.74.2c.b6.7d.93.44.91.4d.fe.14.93.58.40.16
+QoS profile:
+  Reliability: RELIABLE
+  History (Depth): KEEP_LAST (7)
+  Durability: VOLATILE
+  Lifespan: Infinite
+  Deadline: Infinite
+  Liveliness: AUTOMATIC
+  Liveliness lease duration: Infinite
+
+Subscription count: 0
+```
+
+### PX4 ROS 2 Interface with Zenoh
+
+The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) works out of the box with Zenoh as a transport backend.
+This means you can publish and subscribe to PX4 topics over Zenoh without changing your ROS 2 nodes or dealing with DDS configuration.
+For setup details and supported message types, refer to the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md).
@@ -104,7 +104,7 @@ Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4

 ### 설명

-I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20.
+I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF30/d.

 Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html

@@ -1,29 +1,39 @@
 # AirspeedValidated (UORB message)

+Validated airspeed
+
+Provides information about airspeed (indicated, true, calibrated) and the source of the data.
+Used by controllers, estimators and for airspeed reporting to operator.
+
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AirspeedValidated.msg)

 ```c
+# Validated airspeed
+#
+# Provides information about airspeed (indicated, true, calibrated) and the source of the data.
+# Used by controllers, estimators and for airspeed reporting to operator.
+
+
 uint32 MESSAGE_VERSION = 1

-uint64 timestamp				# time since system start (microseconds)
+uint64 timestamp  # [us] Time since system start

-float32 indicated_airspeed_m_s			# [m/s] Indicated airspeed (IAS), set to NAN if invalid
-float32 calibrated_airspeed_m_s     		# [m/s] Calibrated airspeed (CAS), set to NAN if invalid
-float32 true_airspeed_m_s			# [m/s] True airspeed (TAS), set to NAN if invalid
+float32 indicated_airspeed_m_s   # [m/s] [@invalid NaN] Indicated airspeed (IAS)
+float32 calibrated_airspeed_m_s  # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
+float32 true_airspeed_m_s        # [m/s] [@invalid NaN] True airspeed (TAS)

-int8 airspeed_source				# Source of currently published airspeed values
-int8 DISABLED = -1
-int8 GROUND_MINUS_WIND = 0
-int8 SENSOR_1 = 1
-int8 SENSOR_2 = 2
-int8 SENSOR_3 = 3
-int8 SYNTHETIC = 4
+int8 airspeed_source               # [@enum SOURCE] Source of currently published airspeed values
+int8 SOURCE_DISABLED = -1          # Disabled
+int8 SOURCE_GROUND_MINUS_WIND = 0  # Ground speed minus wind
+int8 SOURCE_SENSOR_1 = 1           # Sensor 1
+int8 SOURCE_SENSOR_2 = 2           # Sensor 2
+int8 SOURCE_SENSOR_3 = 3           # Sensor 3
+int8 SOURCE_SYNTHETIC = 4          # Synthetic airspeed

-# debug states
-float32 calibrated_ground_minus_wind_m_s 	# CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
-float32 calibraded_airspeed_synth_m_s		# synthetic airspeed in m/s, set to NAN if invalid
-float32 airspeed_derivative_filtered		# filtered indicated airspeed derivative [m/s/s]
-float32 throttle_filtered			# filtered fixed-wing throttle [-]
-float32 pitch_filtered				# filtered pitch [rad]
+float32 calibrated_ground_minus_wind_m_s  # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
+float32 calibraded_airspeed_synth_m_s     # [m/s] [@invalid NaN] Synthetic airspeed
+float32 airspeed_derivative_filtered      # [m/s^2] Filtered indicated airspeed derivative
+float32 throttle_filtered                 # [-] Filtered fixed-wing throttle
+float32 pitch_filtered                    # [rad] Filtered pitch

 ```
@@ -1,42 +1,59 @@
 # AutotuneAttitudeControlStatus (UORB message)

+Autotune attitude control status
+
+This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune,
+and is subscribed to by the respective attitude controllers to command rate setpoints.
+
+The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
+
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AutotuneAttitudeControlStatus.msg)

 ```c
-uint64 timestamp                # time since system start (microseconds)
+# Autotune attitude control status
+#
+# This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune,
+# and is subscribed to by the respective attitude controllers to command rate setpoints.
+#
+# The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.

-float32[5] coeff                # coefficients of the identified discrete-time model
-float32[5] coeff_var            # coefficients' variance of the identified discrete-time model
-float32 fitness                 # fitness of the parameter estimate
-float32 innov
-float32 dt_model
+uint64 timestamp  # [us] Time since system start

-float32 kc
-float32 ki
-float32 kd
-float32 kff
-float32 att_p
+float32[5] coeff      # [-] Coefficients of the identified discrete-time model
+float32[5] coeff_var  # [-] Coefficients' variance of the identified discrete-time model
+float32 fitness       # [-] Fitness of the parameter estimate
+float32 innov         # [rad/s] Innovation (residual error between model and measured output)
+float32 dt_model      # [s] Model sample time used for identification

-float32[3] rate_sp

-float32 u_filt
-float32 y_filt
+float32 kc    # [-] Proportional rate-loop gain (ideal form)
+float32 ki    # [-] Integral rate-loop gain (ideal form)
+float32 kd    # [-] Derivative rate-loop gain (ideal form)
+float32 kff   # [-] Feedforward rate-loop gain
+float32 att_p # [-] Proportional attitude gain

-uint8 STATE_IDLE = 0
-uint8 STATE_INIT = 1
-uint8 STATE_ROLL = 2
-uint8 STATE_ROLL_PAUSE = 3
-uint8 STATE_PITCH = 4
-uint8 STATE_PITCH_PAUSE = 5
-uint8 STATE_YAW = 6
-uint8 STATE_YAW_PAUSE = 7
-uint8 STATE_VERIFICATION = 8
-uint8 STATE_APPLY = 9
-uint8 STATE_TEST = 10
-uint8 STATE_COMPLETE = 11
-uint8 STATE_FAIL = 12
-uint8 STATE_WAIT_FOR_DISARM = 13
+float32[3] rate_sp # [rad/s] Rate setpoint commanded to the attitude controller.

-uint8 state
+float32 u_filt  # [-] Filtered input signal (normalized torque setpoint) used in system identification.
+float32 y_filt  # [rad/s] Filtered output signal (angular velocity) used in system identification.
+
+uint8 state  # [@enum STATE] Current state of the autotune procedure.
+uint8 STATE_IDLE = 0                      # Idle (not running)
+uint8 STATE_INIT = 1                      # Initialize filters and setup
+uint8 STATE_ROLL_AMPLITUDE_DETECTION = 2  # FW only: determine required excitation amplitude (roll)
+uint8 STATE_ROLL = 3                      # Roll-axis excitation and model identification
+uint8 STATE_ROLL_PAUSE = 4                # Pause to return to level flight
+uint8 STATE_PITCH_AMPLITUDE_DETECTION = 5 # FW only: determine required excitation amplitude (pitch)
+uint8 STATE_PITCH = 6                     # Pitch-axis excitation and model identification
+uint8 STATE_PITCH_PAUSE = 7               # Pause to return to level flight
+uint8 STATE_YAW_AMPLITUDE_DETECTION = 8   # FW only: determine required excitation amplitude (yaw)
+uint8 STATE_YAW = 9                       # Yaw-axis excitation and model identification
+uint8 STATE_YAW_PAUSE = 10                # Pause to return to level flight
+uint8 STATE_VERIFICATION = 11             # Verify model and candidate gains
+uint8 STATE_APPLY = 12                    # Apply gains
+uint8 STATE_TEST = 13                     # Test gains in closed-loop
+uint8 STATE_COMPLETE = 14                 # Tuning completed successfully
+uint8 STATE_FAIL = 15                     # Tuning failed (model invalid or controller unstable)
+uint8 STATE_WAIT_FOR_DISARM = 16          # Waiting for disarm before finalizing

 ```
@@ -24,5 +24,6 @@ int8[16] actuator_saturation            # Indicates actuator saturation status.
                                        # Note 2: an actuator with limited dynamics can be indicated as upper-saturated even if it as not reached its maximum value.

 uint16 handled_motor_failure_mask        # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
+uint16 motor_stop_mask                   # Bitmaks of motors stopped by failure injection

 ```
@@ -54,8 +54,9 @@ bool cs_valid_fake_pos          # 41 - true if a valid constant position is bein
 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
 bool cs_gnss_vel                # 44 - true if GNSS velocity measurement fusion is intended
-bool cs_gnss_fault              # 45 - true if GNSS measurements have been declared faulty and are no longer used
+bool cs_gnss_fault              # 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty
 bool cs_yaw_manual              # 46 - true if yaw has been set manually
+bool cs_gnss_hgt_fault          # 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty

 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes
@@ -17,5 +17,6 @@ bool fd_motor

 float32 imbalanced_prop_metric      # Metric of the imbalanced propeller check (low-passed)
 uint16 motor_failure_mask           # Bit-mask with motor indices, indicating critical motor failures
+uint16 motor_stop_mask              # Bitmaks of motors stopped by failure injection

 ```
@@ -14,6 +14,9 @@ uint16 DEVICE_FLAGS_NEUTRAL = 2
 uint16 DEVICE_FLAGS_ROLL_LOCK = 4
 uint16 DEVICE_FLAGS_PITCH_LOCK = 8
 uint16 DEVICE_FLAGS_YAW_LOCK = 16
+uint16 DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME = 32
+uint16 DEVICE_FLAGS_YAW_IN_EARTH_FRAME = 64
+

 float32[4] q
 float32 angular_velocity_x
@@ -0,0 +1,19 @@
+# SensorGnssStatus (UORB message)
+
+Gnss quality indicators
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGnssStatus.msg)
+
+```c
+# Gnss quality indicators
+
+uint64 timestamp		# time since system start (microseconds)
+uint32 device_id                # unique device ID for the sensor that does not change between power cycles
+
+bool  quality_available         # Set to true if quality indicators are available
+uint8 quality_corrections       # Corrections quality from 0 to 10, or 255 if not available
+uint8 quality_receiver          # Overall receiver operating status from 0 to 10, or 255 if not available
+uint8 quality_gnss_signals      # Quality of GNSS signals from 0 to 10, or 255 if not available
+uint8 quality_post_processing   # Expected post processing quality from 0 to 10, or 255 if not available
+
+```
@@ -38,18 +38,26 @@ float32 vdop			# Vertical dilution of precision
 int32 noise_per_ms		# GPS noise per millisecond
 uint16 automatic_gain_control   # Automatic gain control monitor

-uint8 JAMMING_STATE_UNKNOWN  = 0
-uint8 JAMMING_STATE_OK       = 1
-uint8 JAMMING_STATE_WARNING  = 2
-uint8 JAMMING_STATE_CRITICAL = 3
-uint8 jamming_state		# indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
-int32 jamming_indicator		# indicates jamming is occurring
+uint8 JAMMING_STATE_UNKNOWN   = 0 #default
+uint8 JAMMING_STATE_OK        = 1
+uint8 JAMMING_STATE_MITIGATED = 2
+uint8 JAMMING_STATE_DETECTED  = 3
+uint8 jamming_state	      # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected
+int32 jamming_indicator	      # indicates jamming is occurring

-uint8 SPOOFING_STATE_UNKNOWN   = 0
-uint8 SPOOFING_STATE_NONE      = 1
-uint8 SPOOFING_STATE_INDICATED = 2
-uint8 SPOOFING_STATE_MULTIPLE  = 3
-uint8 spoofing_state		# indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
+uint8 SPOOFING_STATE_UNKNOWN   = 0 #default
+uint8 SPOOFING_STATE_OK        = 1
+uint8 SPOOFING_STATE_MITIGATED = 2
+uint8 SPOOFING_STATE_DETECTED  = 3
+uint8 spoofing_state	       # indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected
+
+# Combined authentication state (e.g. Galileo OSNMA)
+uint8 AUTHENTICATION_STATE_UNKNOWN      = 0 #default
+uint8 AUTHENTICATION_STATE_INITIALIZING = 1
+uint8 AUTHENTICATION_STATE_ERROR        = 2
+uint8 AUTHENTICATION_STATE_OK           = 3
+uint8 AUTHENTICATION_STATE_DISABLED     = 4
+uint8 authentication_state              # GPS signal authentication state

 float32 vel_m_s			# GPS ground speed, (metres/sec)
 float32 vel_n_m_s		# GPS North velocity, (metres/sec)
@@ -63,6 +71,16 @@ uint64 time_utc_usec		# Timestamp (microseconds, UTC), this is the timestamp whi

 uint8 satellites_used		# Number of satellites used

+uint32 SYSTEM_ERROR_OK                   = 0 #default
+uint32 SYSTEM_ERROR_INCOMING_CORRECTIONS = 1
+uint32 SYSTEM_ERROR_CONFIGURATION        = 2
+uint32 SYSTEM_ERROR_SOFTWARE             = 4
+uint32 SYSTEM_ERROR_ANTENNA              = 8
+uint32 SYSTEM_ERROR_EVENT_CONGESTION     = 16
+uint32 SYSTEM_ERROR_CPU_OVERLOAD         = 32
+uint32 SYSTEM_ERROR_OUTPUT_CONGESTION    = 64
+uint32 system_error                      # General errors with the connected GPS receiver
+
 float32 heading			# heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])
 float32 heading_offset		# heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
 float32 heading_accuracy	# heading accuracy (rad, [0, 2PI])
@@ -1,41 +1,44 @@
 # VehicleOdometry (UORB message)

-Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
+Vehicle odometry data
+
+Fits ROS REP 147 for aerial vehicles

 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg)

 ```c
-# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
+# Vehicle odometry data
+#
+# Fits ROS REP 147 for aerial vehicles

 uint32 MESSAGE_VERSION = 0

-uint64 timestamp		# time since system start (microseconds)
-uint64 timestamp_sample
+uint64 timestamp         # [us] Time since system start
+uint64 timestamp_sample  # [us] Timestamp sample

-uint8 POSE_FRAME_UNKNOWN = 0
-uint8 POSE_FRAME_NED     = 1 # NED earth-fixed frame
-uint8 POSE_FRAME_FRD     = 2 # FRD world-fixed frame, arbitrary heading reference
-uint8 pose_frame            # Position and orientation frame of reference
+uint8 pose_frame              # [@enum POSE_FRAME] Position and orientation frame of reference
+uint8 POSE_FRAME_UNKNOWN = 0  # Unknown frame
+uint8 POSE_FRAME_NED     = 1  # North-East-Down (NED) navigation frame. Aligned with True North.
+uint8 POSE_FRAME_FRD     = 2  # Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down.

-float32[3] position         # Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
-float32[4] q                # Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown
+float32[3] position  # [m] [@frame local frame] [@invalid NaN If invalid/unknown] Position. Origin is position of GC at startup.
+float32[4] q         # [-] [@invalid NaN First value if invalid/unknown] Attitude (expressed as a quaternion) relative to pose reference frame at current location. Follows the Hamiltonian convention (w, x, y, z, right-handed, passive rotations from body to world)

-uint8 VELOCITY_FRAME_UNKNOWN  = 0
-uint8 VELOCITY_FRAME_NED      = 1 # NED earth-fixed frame
-uint8 VELOCITY_FRAME_FRD      = 2 # FRD world-fixed frame, arbitrary heading reference
-uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
-uint8 velocity_frame        # Reference frame of the velocity data
+uint8 velocity_frame               # [@enum VELOCITY_FRAME] Reference frame of the velocity data
+uint8 VELOCITY_FRAME_UNKNOWN  = 0  # Unknown frame
+uint8 VELOCITY_FRAME_NED      = 1  # NED navigation frame at current position.
+uint8 VELOCITY_FRAME_FRD      = 2  # FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down.
+uint8 VELOCITY_FRAME_BODY_FRD = 3  # FRD body-fixed frame

-float32[3] velocity         # Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown
+float32[3] velocity          # [m/s] [@frame @velocity_frame] [@invalid NaN If invalid/unknown] Velocity.
+float32[3] angular_velocity  # [rad/s] [@frame @VELOCITY_FRAME_BODY_FRD] [@invalid NaN If invalid/unknown] Angular velocity in body-fixed frame

-float32[3] angular_velocity # Angular velocity in body-fixed frame (rad/s). NaN if invalid/unknown
+float32[3] position_variance     # [m^2] Variance of position error
+float32[3] orientation_variance  # [rad^2] Variance of orientation/attitude error (expressed in body frame)
+float32[3] velocity_variance     # [m^2/s^2] Variance of velocity error

-float32[3] position_variance
-float32[3] orientation_variance
-float32[3] velocity_variance
-
-uint8 reset_counter
-int8 quality
+uint8 reset_counter  # [-] Reset counter. Counts reset events on attitude, velocity and position.
+int8 quality         # [-] [@invalid 0] Quality. Unused.

 # TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
 # TOPICS estimator_odometry
@@ -15,7 +15,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m

 - [ActuatorMotors](ActuatorMotors.md) — Motor control message
 - [ActuatorServos](ActuatorServos.md) — Servo control message
- [AirspeedValidated](AirspeedValidated.md)
+- [AirspeedValidated](AirspeedValidated.md) — Validated airspeed
 - [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply
 - [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request
 - [BatteryStatus](BatteryStatus.md) — Battery status
@@ -70,7 +70,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [VehicleLandDetected](VehicleLandDetected.md)
 - [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED.
  The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
+- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data
 - [VehicleRatesSetpoint](VehicleRatesSetpoint.md)
 - [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander
 - [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
@@ -87,7 +87,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [AdcReport](AdcReport.md)
 - [Airspeed](Airspeed.md) — Airspeed data from sensors
 - [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector)
- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md)
+- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status
 - [BatteryInfo](BatteryInfo.md) — Battery information
 - [ButtonEvent](ButtonEvent.md)
 - [CameraCapture](CameraCapture.md)
@@ -246,6 +246,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
  change with board revisions and sensor updates.
 - [SensorCorrection](SensorCorrection.md) — Sensor corrections in SI-unit form for the voted sensor
 - [SensorGnssRelative](SensorGnssRelative.md) — GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
+- [SensorGnssStatus](SensorGnssStatus.md) — Gnss quality indicators
 - [SensorGps](SensorGps.md) — GPS position in WGS84 coordinates.
  the field 'timestamp' is for the position & velocity (microseconds)
 - [SensorGyro](SensorGyro.md)
@@ -36,7 +36,7 @@ There are some benefits and drawbacks to using ROS-based missions, which are pro

 - QGroundControl currently does not display the mission or progress during execution, and cannot upload or download a mission.
  Therefore you will need another mechanism to provide a mission, such as from a web server, a custom GCS, or by generating it directly inside the application.
- The current implementation only supports multicopters (it uses the [GotoSetpointType](../ros2/px4_ros2_control_interface.md#go-to-setpoint-gotosetpointtype), which only works for multicopters, and VTOL in MC mode).
+- The current implementation only supports multicopters (it uses the [GotoSetpointType](../ros2/px4_ros2_control_interface.md#go-to-setpoint-multicoptergotosetpointtype), which only works for multicopters, and VTOL in MC mode).
  It is designed to be extendable to any other vehicle type.

 ## 개요
@@ -9,6 +9,7 @@ However PX4 can also use some INS devices as either sources of raw data, or as a
 INS systems that can be used as a replacement for EKF2 in PX4:

 - [InertialLabs](../sensor/inertiallabs.md)
+- [MicroStrain](../sensor/microstrain.md): Includes VRU, AHRS, INS, and GNSS/INS devices.
 - [SBG Systems](../sensor/sbgecom.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.
 - [VectorNav](../sensor/vectornav.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.

@@ -0,0 +1,219 @@
+# MicroStrain (INS, IMU, VRU, AHRS)
+
+MicroStrain by HBK provides high-performance inertial sensors engineered for reliability and precision in challenging environments.
+Widely used across industries like aerospace, robotics, industrial automation, and research, MicroStrain sensors are optimized for real-time, accurate motion tracking and orientation data.
+
+![CV7](../../assets/hardware/sensors/inertial/microstrain_3dm_cv7_hbk.png)
+
+The driver currently supports the following hardware:
+
+- [`MicroStrain CV7-AR`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar): Inertial Measurement Unit (IMU) and Vertical Reference Unit (VRU)
+- [`MicroStrain CV7-AHRS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs): Inertial Measurement Unit (IMU) and Attitude Heading Reference System (AHRS)
+- [`MicroStrain CV7-INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS).
+- [`MicroStrain CV7-GNSS/INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-gnss-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS) combined with dual multiband (GNSS) receivers.
+
+PX4 can use these sensors to provide raw IMU data for EKF2 or to replace EKF2 as an external INS.
+For more information, including user manuals and datasheets, please refer to the sensors product page.
+
+## 구매처
+
+MicroStrain sensors can be purchased through HBK's official [MicroStrain product page](https://www.hbkworld.com/en/products/transducers/inertial-sensors) or through authorized distributors globally.
+For large orders, custom requirements, or technical inquiries, reach out directly to [sales](https://www.hbkworld.com/en/contact-us/contact-sales-microstrain)
+
+## 하드웨어 설정
+
+### 배선
+
+Connect the main UART port of the MicroStrain sensor to any unused serial port on the flight controller.
+This port needs to be specified while starting the device.
+
+### 장착
+
+The MicroStrain sensor can be mounted in any orientation.
+The default coordinate system uses X for the front, Y for the right, and Z for down, with directions marked on the device.
+
+## 펌웨어 설정
+
+### PX4 설정
+
+To use the MicroStrain driver:
+
+1. Include the module in firmware in the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) by setting the kconfig variables: `CONFIG_DRIVERS_INS_MICROSTRAIN` or `CONFIG_COMMON_INS`.
+
+2. Configure the driver mode by setting [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE)
+
+   - To use the MicroStrain sensor to provide raw IMU data to EKF2
+
+     1. Set [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE) to 0
+     2. Update the [EKF2_MULTI_IMU](../advanced_config/parameter_reference.md#EKF2_MULTI_IMU) parameter to account for the added MicroStrain sensor.
+     3. Enable EKF2 by setting [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN) to 1
+     4. To prioritize MicroStrain sensor output, adjust the priority level of individual sensors from 0-100 using the following parameters:
+
+        - [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO)
+        - [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO)
+        - [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO)
+        - [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO)
+
+        where `n` corresponds to the index of the corresponding sensor.
+
+        ::: tip
+        Sensors can be identified by their device id, which can be found by checking the parameters:
+
+        - [CAL_ACCn_ID](../advanced_config/parameter_reference.md#CAL_ACC0_ID)
+        - [CAL_GYROn_ID](../advanced_config/parameter_reference.md#CAL_GYRO0_ID)
+        - [CAL_MAGn_ID](../advanced_config/parameter_reference.md#CAL_MAG0_ID)
+        - [CAL_BAROn_ID](../advanced_config/parameter_reference.md#CAL_BARO0_ID)
+
+
+:::
+
+   - To use the MicroStrain sensor as an external INS
+     1. Set [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE) to 1
+     2. Disable EKF2 by setting [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN) to 0
+
+3. Reboot and start the driver
+   - `microstrain start -d <port>`
+   - To start the driver automatically when the flight controller powers on, set [SENS_MS_CFG](../advanced_config/parameter_reference.md#SENS_MS_CFG) to the sensor’s connected port.
+
+## MicroStrain Configuration
+
+1. Rates:
+
+   - By default, accel and gyro data are published at 500 Hz, magnetometer at 50 Hz, and barometric pressure at 50 Hz.
+     This can be changed by adjusting the following parameters:
+
+     - [MS_IMU_RATE_HZ](../advanced_config/parameter_reference.md#MS_IMU_RATE_HZ)
+     - [MS_MAG_RATE_HZ](../advanced_config/parameter_reference.md#MS_MAG_RATE_HZ)
+     - [MS_BARO_RATE_HZ](../advanced_config/parameter_reference.md#MS_BARO_RATE_HZ)
+
+   - Global position, local position, attitude and odometry will be published at 250 Hz by default.
+     This can be configured via:
+
+     - [MS_FILT_RATE_HZ](../advanced_config/parameter_reference.md#MS_FILT_RATE_HZ)
+
+   - For the CV7-GNSS/INS, the GNSS receiver 1 and 2 will publish data at 5Hz by default.
+     This can be changed using:
+
+     - [MS_GNSS_RATE_HZ](../advanced_config/parameter_reference.md#MS_GNSS_RATE_HZ)
+
+   - The driver will automatically configure data outputs based on the specific sensor model and available data streams.
+
+   - The driver is scheduled to run at twice the fastest configured data rate.
+
+2. Aiding measurements:
+
+   - If supported, GNSS position and velocity aiding are always enabled.
+
+   - Internal/external magnetometer and heading aiding, as well as optical flow aiding, are disabled by default. They can be enabled using the following parameters:
+
+     - [MS_INT_MAG_EN](../advanced_config/parameter_reference.md#MS_INT_MAG_EN)
+     - [MS_INT_HEAD_EN](../advanced_config/parameter_reference.md#MS_INT_HEAD_EN)
+     - [MS_EXT_HEAD_EN](../advanced_config/parameter_reference.md#MS_EXT_HEAD_EN)
+     - [MS_EXT_MAG_EN](../advanced_config/parameter_reference.md#MS_EXT_MAG_EN)
+     - [MS_OPT_FLOW_EN](../advanced_config/parameter_reference.md#MS_OPT_FLOW_EN)
+
+   - The aiding frames for external sources can be configured using the following parameters:
+
+     - [MS_EHEAD_YAW](../advanced_config/parameter_reference.md#MS_EHEAD_YAW)
+     - [MS_EMAG_ROLL](../advanced_config/parameter_reference.md#MS_EMAG_ROLL)
+     - [MS_EMAG_PTCH](../advanced_config/parameter_reference.md#MS_EMAG_PTCH)
+     - [MS_EMAG_YAW](../advanced_config/parameter_reference.md#MS_EMAG_YAW)
+     - [MS_OFLW_OFF_X](../advanced_config/parameter_reference.md#MS_OFLW_OFF_X)
+     - [MS_OFLW_OFF_Y](../advanced_config/parameter_reference.md#MS_OFLW_OFF_Y)
+     - [MS_OFLW_OFF_Z](../advanced_config/parameter_reference.md#MS_OFLW_OFF_Z)
+     - [SENS_FLOW_ROT](../advanced_config/parameter_reference.md#SENS_FLOW_ROT)
+
+   - The uncertainty for optical flow and external magnetometer aiding must be specified using the following parameters:
+
+     - [MS_EMAG_UNCERT](../advanced_config/parameter_reference.md#MS_EMAG_UNCERT)
+     - [MS_OFLW_UNCERT](../advanced_config/parameter_reference.md#MS_OFLW_UNCERT)
+
+   ::: tip
+
+   1. When optical flow aiding is enabled, the sensor uses the `vehicle_optical_flow_vel` output from the flight controller as a body-frame velocity aiding measurement.
+   2. If the MicroStrain sensor does not support these aiding sources but they are enabled, sensor initialization will fail.
+
+
+:::
+
+3. Initial heading alignment:
+
+   - Initial heading alignment is set to kinematic by default. This can be changed by adjusting
+
+     - [MS_ALIGNMENT](../advanced_config/parameter_reference.md#MS_ALIGNMENT)
+
+4. GNSS Aiding Source Control (GNSS/INS only)
+
+   - The Source of the GNSS aiding data can be configured using:
+
+     - [MS_GNSS_AID_SRC](../advanced_config/parameter_reference.md#MS_GNSS_AID_SRC)
+
+5. Sensor to vehicle transform:
+
+   - If the sensor is mounted in an orientation different from the vehicle frame. A sensor to vehicle transform can be enabled using
+
+     - [MS_SVT_EN](../advanced_config/parameter_reference.md#MS_SVT_EN)
+
+   - The transform is defined using the following parameters
+
+     - [MS_SENSOR_ROLL](../advanced_config/parameter_reference.md#MS_SENSOR_ROLL)
+     - [MS_SENSOR_PTCH](../advanced_config/parameter_reference.md#MS_SENSOR_PTCH)
+     - [MS_SENSOR_YAW](../advanced_config/parameter_reference.md#MS_SENSOR_YAW)
+
+6. IMU ranges:
+
+   - The accelerometer and gyroscope ranges on the device are configurable using:
+
+     - [MS_ACCEL_RANGE](../advanced_config/parameter_reference.md#MS_ACCEL_RANGE)
+     - [MS_GYRO_RANGE](../advanced_config/parameter_reference.md#MS_GYRO_RANGE)
+
+   ::: tip
+   Available range settings depend on the specific [sensor](https://www.hbkworld.com/en/products/transducers/inertial-sensors) and can be found in the corresponding user manual.
+   By default, the ranges are not changed.
+
+
+:::
+
+7. GNSS Lever arm offsets:
+
+   - The lever arm offset for the external GNSS receiver can be configured using:
+
+     - [MS_GNSS_OFF1_X](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_X)
+     - [MS_GNSS_OFF1_Y](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_Y)
+     - [MS_GNSS_OFF1_Z](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_Z)
+
+   - For dual-antenna configurations, the second GNSS receiver’s offset is configured using:
+
+     - [MS_GNSS_OFF2_X](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_X)
+     - [MS_GNSS_OFF2_Y](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_Y)
+     - [MS_GNSS_OFF2_Z](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_Z)
+
+## Published Data
+
+The MicroStrain driver continuously publishes sensor data to the following uORB topics:
+
+- [sensor_accel](../msg_docs/SensorAccel.md)
+- [sensor_gyro](../msg_docs/SensorGyro.md)
+- [sensor_mag](../msg_docs/SensorMag.md)
+- [sensor_baro](../msg_docs/SensorBaro.md)
+
+For GNSS/INS devices, GPS data is also published to:
+
+- [sensor_gps](../msg_docs/SensorGps.md)
+
+If used as an external INS replacing EKF2, it publishes:
+
+- [vehicle_global_position](../msg_docs/VehicleGlobalPosition.md)
+- [vehicle_local_position](../msg_docs/VehicleLocalPosition.md)
+- [vehicle_attitude](../msg_docs/VehicleAttitude.md)
+- [vehicle_odometry](../msg_docs/VehicleOdometry.md)
+
+otherwise the same data is published to the following topics
+
+- `external_ins_global_position`
+- `external_ins_attitude`
+- `external_ins_local_position`
+
+:::tip
+Published topics can be viewed using the `listener` command.
+:::
@@ -286,6 +286,7 @@
      - [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md)
    - [INS (Інерціальна навігація/GNSS)](sensor/inertial_navigation_systems.md)
      - [InertialLabs](sensor/inertiallabs.md)
+      - [MicroStrain](sensor/microstrain.md)
      - [sbgECom](sensor/sbgecom.md)
      - [VectorNav](sensor/vectornav.md)
    - [Optical Flow](sensor/optical_flow.md)
@@ -701,6 +702,7 @@
        - [SensorCombined](msg_docs/SensorCombined.md)
        - [SensorCorrection](msg_docs/SensorCorrection.md)
        - [SensorGnssRelative](msg_docs/SensorGnssRelative.md)
+        - [SensorGnssStatus](msg_docs/SensorGnssStatus.md)
        - [SensorGps](msg_docs/SensorGps.md)
        - [SensorGyro](msg_docs/SensorGyro.md)
        - [SensorGyroFft](msg_docs/SensorGyroFft.md)
@@ -762,6 +764,7 @@
        - [Standard Modes Protocol](mavlink/standard_modes.md)
    - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md)
      - [UORB Bridged to ROS 2](middleware/dds_topics.md)
+    - [Zenoh (PX4 ROS 2)](middleware/zenoh.md)
  - [Модулі & Команди](modules/modules_main.md)
    - [Автоматичне підлаштування](modules/modules_autotune.md)
    - [Команди](modules/modules_command.md)
@@ -615,6 +615,10 @@ div.frame_variant td, div.frame_variant th {
 <td><a href="https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html">Axial SCX10 2 Trail Honcho</a></td>
 <td>Підтримувач: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 51001</p></td>
 </tr>
+<tr id="rover_rover_nxp_b3rb_rover_ackermann">
+ <td>NXP B3RB Rover Ackermann</td>
+ <td>Підтримувач: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 51002</p></td>
+</tr>
 <tr id="rover_rover_generic_rover_mecanum">
 <td>Generic Rover Mecanum</td>
 <td>Підтримувач: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 52000</p></td>
@@ -274,12 +274,12 @@ The relevant parameters are listed in the table below.

 ## Виявлення відмов

-Детектор відмов дозволяє автомобілю вжити захисних заходів, якщо він несподівано перевертається, або якщо йому повідомлено зовнішньою системою виявлення відмов.
+The failure detector allows a vehicle to take protective actions if it unexpectedly flips, detects a motor failure, or if it is notified by an external failure detection system.

 During **flight**, the failure detector can be used to trigger [flight termination](../advanced_config/flight_termination.md) if failure conditions are met, which may then launch a [parachute](../peripherals/parachute.md) or perform some other action.

 :::info
-Failure detection during flight is deactivated by default (enable by setting the parameter: [CBRK_FLIGHTTERM=0](#CBRK_FLIGHTTERM)).
+Acting on a detected failure during flight is deactivated by default (enable by setting the parameter: [CBRK_FLIGHTTERM=0](#CBRK_FLIGHTTERM)).
 :::

 During **takeoff** the failure detector [attitude trigger](#attitude-trigger) invokes the [disarm action](#act_disarm) if the vehicle flips (disarm kills the motors but, unlike flight termination, will not launch a parachute or perform other failure actions).
@@ -301,6 +301,26 @@ The failure detector is active in all vehicle types and modes, except for those
 | <a id="FD_FAIL_P_TTRI"></a>[FD_FAIL_P_TTRI](../advanced_config/parameter_reference.md#FD_FAIL_P_TTRI) | Time to exceed [FD_FAIL_P](#FD_FAIL_P) for failure detection (default 0.3s).            |
 | <a id="FD_FAIL_R_TTRI"></a>[FD_FAIL_R_TTRI](../advanced_config/parameter_reference.md#FD_FAIL_R_TTRI) | Time to exceed [FD_FAIL_R](#FD_FAIL_R) for failure detection (default 0.3s).            |

+### Motor Failure Trigger
+
+The failure detector can be configured to detect a motor failure while armed (and trigger an associated action) in the following conditions:
+
+- A 300 ms timeout occurs in telemetry from an ESC that was previously available.
+- The input current in the telemetry of an ESC which was previously positive gets too low for more than [`FD_ACT_MOT_TOUT`](FD_ACT_MOT_TOUT) ms.
+  The "too low" condition is defined by:
+
+  ```text
+  {esc current} < {parameter FD_ACT_MOT_C2T} * {motor command between 0 and 1}
+  ```
+
+| Параметр                                                                                                                                                                | Опис                                                                                                                                                                                                                                                      |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN)                                        | Enable/disable the motor failure trigger completely.                                                                                                                                                                                      |
+| <a id="FD_ACT_MOT_THR"></a>[FD_ACT_MOT_THR](../advanced_config/parameter_reference.md#FD_ACT_MOT_THR)    | Minimum normalized [0,1] motor command below which motor under current is ignored.                                                                                                    |
+| <a id="FD_ACT_MOT_C2T"></a>[FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T)    | Scale between normalized [0,1] motor command and expected minimally reported currrent when the rotor is healthy.                                                                      |
+| <a id="FD_ACT_MOT_TOUT"></a>[FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in miliseconds for which the under current detection condition needs to stay true.                                                                                                                                                   |
+| <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE)                      | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
+
 ### Зовнішня автоматична система тригерування (ATS)

 The [failure detector](#failure-detector), if [enabled](#CBRK_FLIGHTTERM), can also be triggered by an external ATS system.
@@ -19,7 +19,7 @@ Failure injection still in development.

 ## Команда системи збою

-Failures can be injected using the [failure system command](../modules/modules_command.md#failure) from any PX4 console/shell, specifying both the target and type of the failure.
+Failures can be injected using the [failure system command](../modules/modules_command.md#failure) from any PX4 [console/shell](../debug/consoles.md) (such as the [QGC MAVLink Console](../debug/mavlink_shell.md#qgroundcontrol-mavlink-console) or SITL _pxh shell_), specifying both the target and type of the failure.

 ### Синтаксис

@@ -61,11 +61,18 @@ failure <component> <failure_type> [-i <instance_number>]
 - _instance number_ (optional): Instance number of affected sensor.
  0 (за замовчуванням) вказує на всі сенсори вказаного типу.

-### Example
+## MAVSDK відлагоджувальний плагін
+
+The [MAVSDK failure plugin](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_failure.html) can be used to programmatically inject failures.
+It is used in [PX4 Integration Testing](../test_and_ci/integration_testing_mavsdk.md) to simulate failure cases (for example, see [PX4-Autopilot/test/mavsdk_tests/autopilot_tester.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/test/mavsdk_tests/autopilot_tester.cpp)).
+
+API плагіна - це пряме відображення команди збою, показаної вище, з деякими додатковими сигналами про помилки, пов'язані з підключенням.
+
+## Example: RC signal

 Щоб симулювати втрату сигналу RC без вимкнення вашого пульта керування RC:

-1. Enable the parameter [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN). And specifically to turn off motors also [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE).
+1. Enable the [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN) parameter.
 2. Enter the following commands on the MAVLink console or SITL _pxh shell_:

   ```sh
@@ -76,9 +83,18 @@ failure <component> <failure_type> [-i <instance_number>]
   failure rc_signal ok
   ```

-## MAVSDK відлагоджувальний плагін
+## Example: Motor

-The [MAVSDK failure plugin](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_failure.html) can be used to programmatically inject failures.
-It is used in [PX4 Integration Testing](../test_and_ci/integration_testing_mavsdk.md) to simulate failure cases (for example, see [PX4-Autopilot/test/mavsdk_tests/autopilot_tester.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/test/mavsdk_tests/autopilot_tester.cpp)).
+To stop a motor mid-flight without the system anticipating it or excluding it from allocation effectiveness:

-API плагіна - це пряме відображення команди збою, показаної вище, з деякими додатковими сигналами про помилки, пов'язані з підключенням.
+1. Enable the [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN) parameter.
+2. Enable [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) parameter to allow turning off motors.
+3. Enter the following commands on the MAVLink console or SITL _pxh shell_:
+
+   ```sh
+   # Turn off first motor
+   failure motor off -i 1
+
+   # Turn it back on
+   failure motor ok -i 1
+   ```
@@ -160,7 +160,7 @@ If you have concerns about a particular card you can run the above test and repo

 - If log streaming does not start, make sure the `logger` is running (see above), and inspect the console output while starting.
 - Якщо це все ще не працює, переконайтеся, що використовується MAVLink 2.
-  Enforce it by setting `MAV_PROTO_VER` to 2.
+  `MAV_PROTO_VER` needs to be set to 2.
 - Log streaming uses a maximum of 70% of the configured MAVLink rate (`-r` parameter).
  Якщо потрібно більше, повідомлення видаляються.
  The currently used percentage can be inspected with `mavlink status` (1.8% is used in this example):
@@ -83,9 +83,10 @@ This is done using the the parameters named like `UAVCAN_SUB_*` in the parameter

 На ARK CANnode вам може знадобитися налаштувати наступні параметри:

-| Параметр                                                                                                             | Опис                                           |
-| -------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------- |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | Вбудована завершення шини CAN. |
+| Параметр                                                                                                                                           | Опис                                                                                                                                                                                                                        |
+| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)                               | Вбудована завершення шини CAN.                                                                                                                                                                              |

 ## Значення LED індикаторів

@@ -109,9 +109,10 @@ When optical flow is the only source of horizontal position/velocity, then lower

 On the ARK Flow, you may need to configure the following parameters:

-| Параметр                                                                                                             | Опис                                           |
-| -------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------- |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | Вбудована завершення шини CAN. |
+| Параметр                                                                                                                                           | Опис                                                                                                                                                                                                                        |
+| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)                               | Вбудована завершення шини CAN.                                                                                                                                                                              |

 ## Значення LED індикаторів

@@ -104,9 +104,10 @@ Set the following parameters in _QGroundControl_:

 You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK Flow MR itself:

-| Параметр                                                                                                             | Опис                                           |
-| -------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------- |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | Вбудована завершення шини CAN. |
+| Параметр                                                                                                                                           | Опис                                                                                                                                                                                                                        |
+| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)                               | Вбудована завершення шини CAN.                                                                                                                                                                              |

 ## Значення LED індикаторів

@@ -91,9 +91,17 @@ DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enablin

 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` if this is that last node on the CAN bus.
 - The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.

+### ARK GPS Configuration
+
+You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK GPS itself:
+
+| Параметр                                                                                                                                           | Опис                                                                                                                                                                                                                        |
+| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)                               | Вбудована завершення шини CAN. Set to `1` if this is the last node on the CAN bus.                                                                                                          |
+
 ## Значення LED індикаторів

 Ви побачите зелені, сині та червоні світлодіоди на ARK GPS під час прошивки, а також мигаючий зелений світлодіод, якщо все працює належним чином.
@@ -85,7 +85,15 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 - Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
 - The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.
- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` on the GPS if this it that last node on the CAN bus.
+
+### ARK RTK GPS Configuration
+
+You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS itself:
+
+| Параметр                                                                                                                                           | Опис                                                                                                                                                                                                                        |
+| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)                               | Вбудована завершення шини CAN. Set to `1` if this is the last node on the CAN bus.                                                                                                          |

 ### Setting Up Rover and Fixed Base

@@ -102,6 +102,10 @@ If you wish to disable the DNA completely, set `UAVCAN_ENABLE` to `1` and manual
 :::info
 The PX4 node ID can be configured using the [UAVCAN_NODE_ID](../advanced_config/parameter_reference.md#UAVCAN_NODE_ID) parameter.
 Параметр за замовчуванням встановлено на 1.
+
+Devices running the [PX4 DroneCAN firmware](px4_cannode_fw.md) (such as [ARK CANnode](ark_cannode.md)) can use the
+[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) parameter to set a static node ID.
+Set it to 0 (default) for dynamic allocation, or to a value between 1-127 to use a specific static node ID.
 :::

 :::warning
@@ -288,6 +292,11 @@ For example, the screenshot below shows the parameters for a CAN GPS with node i

 ![QGC Parameter showing selected DroneCAN node](../../assets/can/dronecan/qgc_can_parameters.png)

+Common CANNODE parameters that you can configure include:
+
+- [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID): Set a static node ID (1-127) or use 0 for dynamic allocation. See [PX4 DroneCAN Firmware > Static Node ID](px4_cannode_fw.md#static-node-id) for more information.
+- [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM): Enable CAN bus termination on the last node in the bus.
+
 ## Налаштування пристрою

 Більшість вузлів DroneCAN не потребують додаткової настройки, якщо це не вказано у їх документації, специфічній для пристрою.
@@ -20,6 +20,26 @@ make ark_can-flow_default

 This will create an output in **build/ark_can-flow_default** named **XX-X.X.XXXXXXXX.uavcan.bin**. Follow the instructions at [DroneCAN firmware update](index.md#firmware-update) to flash the firmware.

+## Налаштування
+
+### Static Node ID
+
+By default, DroneCAN devices use [Dynamic Node Allocation (DNA)](index.md#node-id-allocation) to automatically obtain a unique node ID from the flight controller.
+However, you can configure a static node ID using the [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) parameter.
+
+To configure a static node ID:
+
+1. Set [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) to a value between 1-127 using [QGroundControl](index.md#qgc-cannode-parameter-configuration)
+2. Reboot the device
+
+To return to dynamic allocation, set `CANNODE_NODE_ID` back to 0.
+Note that when switching back to dynamic allocation, the flight controller will typically continue to allocate the same node ID that was previously used (this is normal DNA behavior).
+
+:::warning
+When using static node IDs, you must ensure that each device on the CAN bus has a unique node ID.
+Configuring two devices with the same ID will cause communication conflicts.
+:::
+
 ## Інформація для розробників

 Цей розділ містить інформацію, яка є актуальною для розробників, які хочуть додати підтримку нового апаратного забезпечення DroneCAN до автопілота PX4.
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Hamish Willee	728b10e0e0	Update src/modules/mavlink/mavlink_receiver.cpp	2025-10-23 16:11:44 +11:00
Hamish Willee	36bbb4a190	Autotune mavlink - reject invalid param1 or 2 with fail	2025-10-22 10:12:42 +11:00
Andrew Brahim	1297780d28	add cmake variant and px4board file to ark flow mr target (#25793 ) * add cmake variant and px4board file Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * boards: ark flow mr update default.px4board and rc.board_sensors --------- Signed-off-by: dirksavage88 <dirksavage88@gmail.com> Co-authored-by: alexklimaj <alex@arkelectron.com>	2025-10-21 13:20:55 -06:00
Marco Hauswirth	59f6c69067	EKF2: rotate vel on heading reset (#25753 ) * correct NED velocity according to yaw reset to keep "body-velocity" consistent * add unit test velocityRotationOnYawReset * '[AUTO COMMIT] update change indication' * dont adjust velocity on yaw-reset when NE aiding active --------- Co-authored-by: haumarco <haumarco@users.noreply.github.com>	2025-10-21 11:48:03 +02:00
Tobias Fenner	71f56df23b	adsb: Fix vertical separation check using wrong parameter The collision detection incorrectly used crosstrack_separation (horizontal radius) for both horizontal and vertical checks. This resulted in the vertical separation threshold being ignored, creating a spherical detection zone instead of the intended cylindrical "hockey puck" shape. Fixed by using vertical_separation parameter for altitude difference check on line 80. The bug was likely introduced as a copy-paste error when creating the vertical check from the horizontal check template. The existing unit test uses identical values for both parameters (500.0f), which masked this bug. Testing: Code review. The existing unit tests pass, but they don't catch this bug due to using equal values. Future test improvement would be to use different crosstrack_separation and vertical_separation values. Signed-off-by: Tobias Fenner <tobyrfenner@gmail.com>	2025-10-21 11:21:27 +02:00
Jacob Dahl	d30fa62f40	mavlink: take in @dakejahl 's refactoring and extend it	2025-10-21 10:24:30 +02:00
Matthias Grob	65c5bd6906	Fix (dis)arm reason enumeration (#25766 )	2025-10-20 09:12:36 -04:00
mahima-yoga	056289892c	fw_defaults: bump default EKF2_REQ_PDOP to 4	2025-10-20 08:54:55 +02:00
PX4 Build Bot	ead1cf00ff	New Crowdin translations - ko (#25780 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-10-20 08:17:05 +11:00
PX4 Build Bot	0d0bfc1937	New Crowdin translations - uk (#25781 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-10-20 08:16:57 +11:00
GC-20-20	66e73528a2	boards: add new SVehicle-E2 (#25578 ) * boards: add new svehicle e2 * add SVehicle-E2 documentation * Add new documents * Subedit - shrink images * Supplementary documentation based on discussion --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Andrew Brahim <35986980+dirksavage88@users.noreply.github.com>	2025-10-18 20:32:10 -04:00
Jacob Dahl	444b31be21	uavcan: fix logic for static node id	2025-10-17 18:35:20 -08:00
Jacob Dahl	b3acde4899	use uavcan::NodeID::Max	2025-10-17 18:35:20 -08:00
Jacob Dahl	8ca8f12a24	docs: uavcannode: document CANNODE_NODE_ID for static node ID	2025-10-17 18:35:20 -08:00
Jacob Dahl	0b63b8317a	uavcannode: add CANNODE_NODE_ID to allow setting static node ID	2025-10-17 18:35:20 -08:00
Alexander Sherikov	6e8f61c551	various cmake fixes (#25748 ) - enable building in a cmake subdirectory: - use consistent path to "etc" in build directory - add a quick fix for mavlink inclusion with `mavlink/<version>/mavlink.h`, presumably the problem does not appear normally since somewhere the build root directory is added to include paths. - install gazebo config and plugins, the goal is to enable packaging of PX4 sitl binaries. - fix dependency on dds_topics.h generation in uxrce_dds_client: *** No rule to make target 'PX4-Autopilot/src/modules/uxrce_dds_client/dds_topics.h', needed by 'PX4-Autopilot/events/px4.json'. Stop. https://github.com/PX4/PX4-Autopilot/issues/21788 Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-10-17 11:11:00 -08:00
Vladimir Letunovskiu	d2d433290a	Update copyright year to 2025 in LICENSE file (#25778 )	2025-10-17 10:49:41 -08:00
Henry Kotzé	7418d84001	ekf2: ev vel, use measurement timestamp to update aid_src timestamp_sample (#25774 ) - the estimator_aid_src::sample_timestamp would use its own timestamp to update, this would cause the estimator_aid_src for ev velocity not to log, since the timestamp_sample would always equal to zero and thus never be greater than the previous published time Co-authored-by: henrykotze <henry@autonosky.com>	2025-10-17 10:43:34 -08:00
Phil-Engljaehringer	dc0af1ab9d	health: Fix displayed value in power check (#25751 ) * Changed the healthFailure call in the PowerChecks to ensure that no value above the low_error_threshold or below the high_error_threshold is reported in AMC * fix format * made _latest_low_failure and _latest_low_failure member variables. Only update them when hystersis state changes from false to true.	2025-10-17 14:54:16 +02:00
Hamish Willee	f03131cfd3	MAVLink PARAM_ERROR support (#25699 ) Co-authored-by: PX4BuildBot <bot@pixhawk.org>	2025-10-17 13:29:23 +11:00
Peter van der Perk	faee1da630	docs: Zenoh middleware guide (#25737 )	2025-10-16 20:48:12 +11:00
Hamish Willee	104759b90c	Update mavlink with more PARAM_ERROR values (#25772 )	2025-10-16 14:09:02 +11:00
Jacob Dahl	42c4e6b4fb	gz: submodule update (#25771 )	2025-10-15 13:28:52 -08:00
Jacob Dahl	54866b886e	gz: fix gimbal message type (#25770 )	2025-10-15 13:28:14 -08:00
Jacob Dahl	9c1f3306a4	mission: delay until: mark next setpoint invalid (#25728 ) Fixes bug with the NAV_CMD_DELAY where the copter would "pace" back and forth while waiting at the delay waypoint	2025-10-15 13:21:28 -08:00
Jacob Dahl	1ca80ae6f6	astyle: remove max line length (#25717 )	2025-10-16 07:08:02 +11:00
Matthias Grob	3e3bb82331	navigator: increase stack by 30 bytes (#25769 )	2025-10-15 11:21:26 -08:00
Erkki Eilonen	f32c3024b8	gazebo: fix unused variables warning ([-Wunused-private-field])	2025-10-15 11:32:16 -04:00
Erkki Eilonen	2297e66a9d	gazebo: fix implicit conversion errors ([-Wdouble-promotion])	2025-10-15 11:32:16 -04:00