Add static_assert to verify LOG_FILEPATH_SCANF_WIDTH is synchronized

- Add compile-time check that LOG_FILEPATH_SIZE == 256 - Ensures LOG_FILEPATH_SCANF_WIDTH stays synchronized if buffer size changes - Provides clear error message if someone modifies LOG_FILEPATH_SIZE Co-authored-by: dakejahl <37091262+dakejahl@users.noreply.github.com>
Use LOG_FILEPATH_SCANF_WIDTH macro for format specifier
2026-05-23 18:17:36 +08:00 · 2025-12-15 21:50:04 +00:00 · 2025-12-15 21:49:01 +00:00 · 2025-12-15 21:47:25 +00:00 · 2025-12-15 21:45:09 +00:00 · 2025-12-15 21:43:00 +00:00
1122 changed files with 38081 additions and 7521 deletions
@@ -1,22 +1,9 @@
 <!--

-Thank you for your contribution!
-
-Get early feedback through
- Dronecode Discord: https://discord.gg/dronecode
- PX4 Discuss: http://discuss.px4.io/
- opening a draft pr and sharing the link
-
-->
-
 ### Solved Problem
-When ... I found that ...
-
 Fixes #{Github issue ID}

 ### Solution
- Add ... for ...
- Refactor ...

 ### Changelog Entry
 For release notes:
@@ -27,11 +14,10 @@ Documentation: Need to clarify page ... / done, read docs.px4.io/...
 ```

 ### Alternatives
-We could also ...

 ### Test coverage
- Unit/integration test: ...
- Simulation/hardware testing logs: https://review.px4.io/

 ### Context
 Related links, screenshot before/after, video
+
+-->
@@ -130,8 +130,8 @@ jobs:
          load: false
          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
          provenance: false
-          cache-from: type=gha,version=1
-          cache-to: type=gha,version=1,mode=max
+          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
+          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}

  deploy:
    name: Deploy To Registry
@@ -54,6 +54,7 @@ jobs:
        run: |
          make clean
          make distclean
+          make submodulesclean

      - name: If it's a PR checkout the base branch
        if: ${{ github.event.pull_request }}
@@ -41,6 +41,10 @@ jobs:
            scripts: >
              boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
              boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
+          - target: nxp_mr-tropic
+            scripts: >
+              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
+              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
    steps:
      - uses: actions/checkout@v4
        with:
@@ -118,7 +118,7 @@ jobs:
          PX4_HOME_LON: ${{matrix.config.longitude}}
          PX4_HOME_ALT: ${{matrix.config.altitude}}
          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose --force-color
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
        timeout-minutes: 45

      - name: Upload failed logs
@@ -0,0 +1,62 @@
+name: Sync ROS 2 messages to px4_msgs
+on:
+  push:
+    branches:
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
+    paths:
+      - 'msg/**'
+      - 'srv/**'
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  sync_to_px4_msgs:
+    if: github.repository == 'PX4/PX4-Autopilot'
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    steps:
+      - name: Checkout PX4 repo
+        uses: actions/checkout@v4
+
+      - name: Setup git credentials
+        run: |
+          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
+          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
+
+      - name: Clone PX4_msgs repo
+        run: |
+          git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
+
+      - name: Check out the same branch as the PX4 repo
+        run: |
+          cd px4_msgs
+          if git checkout ${{ github.ref_name }}; then
+            echo "Checked out existing branch"
+          else
+            git checkout -b ${{ github.ref_name }}
+          fi
+
+      - name: Copy ROS 2 messages
+        run: |
+          rm -f px4_msgs/msg/*.msg
+          rm -f px4_msgs/msg/versioned/*.msg
+          rm -f px4_msgs/srv/*.srv
+          rm -f px4_msgs/srv/versioned/*.srv
+          cp msg/*.msg px4_msgs/msg/
+          cp msg/versioned/*.msg px4_msgs/msg/ || true
+          cp srv/*.srv px4_msgs/srv/
+          cp srv/versioned/*.srv px4_msgs/srv/ || true
+
+      - name: Commit and push changes
+        run: |
+          cd px4_msgs
+          git status
+          git add .
+          git commit -a -m "Update to PX4 ${{ github.sha }}" || true
+          git push origin ${{ github.ref_name }} || true
+          cd ..
+          rm -rf px4_msgs
@@ -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
@@ -236,6 +241,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_fpv_default
+    ark_mag_canbootloader:
+      short: ark_mag_canbootloader
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: ark_mag_canbootloader
+    ark_mag_default:
+      short: ark_mag_default
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: ark_mag_default
    ark_pi6x_bootloader:
      short: ark_pi6x_bootloader
      buildType: MinSizeRel
@@ -406,6 +421,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: micoair_h743-v2_default
+    micoair_h743-lite_bootloader:
+      short: micoair_h743-lite_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-lite_bootloader
+    micoair_h743-lite_default:
+      short: micoair_h743-lite
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-lite_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -456,6 +481,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: nxp_mr-canhubk3_fmu
+    nxp_mr-tropic_default:
+      short: nxp_mr-tropic_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_mr-tropic_default
+    nxp_mr-tropic_bootloader:
+      short: nxp_mr-tropic_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_mr-tropic_bootloader
    nxp_tropic-community_default:
      short: nxp_tropic-community_default
      buildType: MinSizeRel
@@ -486,3 +521,23 @@ 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
+    x-mav_ap-h743r1_bootloader:
+      short: x-mav_ap-h743r1-boot
+      buildType: MinSizeRel
+      settings:
+        CONFIG: x-mav_ap-h743r1_bootloader
+    x-mav_ap-h743r1_default:
+      short: x-mav_ap-h743r1
+      buildType: MinSizeRel
+      settings:
+        CONFIG: x-mav_ap-h743r1_default
@@ -220,36 +220,6 @@ pipeline {
          }
        }

-        stage('PX4 ROS msgs') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
-              // 'main' branch
-              sh('rm -f px4_msgs/msg/*.msg')
-              sh('rm -f px4_msgs/msg/versioned/*.msg')
-              sh('rm -f px4_msgs/srv/*.srv')
-              sh('rm -f px4_msgs/srv/versioned/*.srv')
-              sh('cp msg/*.msg px4_msgs/msg/')
-              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
-              sh('cp srv/*.srv px4_msgs/srv/')
-              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
-              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin main || true')
-              sh('rm -rf px4_msgs')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-            }
-          }
-        }
-
        stage('S3') {
          agent {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -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
@@ -346,6 +346,7 @@ bootloaders_update: \
        micoair_h743_bootloader \
        micoair_h743-aio_bootloader \
 	micoair_h743-v2_bootloader \
+	micoair_h743-lite_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \
@@ -27,7 +27,6 @@ param set-default SIH_KDV 0.2
 param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)

-param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -44,8 +44,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -46,8 +46,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -46,8 +46,6 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -31,8 +31,6 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -31,8 +31,6 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -30,8 +30,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -31,8 +31,6 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -38,8 +38,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -44,8 +44,6 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -35,8 +35,6 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -35,8 +35,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -46,8 +46,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -43,8 +43,6 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -48,8 +48,6 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -53,8 +53,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-
 param set-default COM_PREARM_MODE 2

 param set-default CA_ROTOR_COUNT 1
@@ -11,8 +11,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}

 param set-default SIM_GZ_EN 1

-param set-default SENS_EN_ARSPDSIM 1
-
 param set-default FW_LND_ANG 8

 param set-default FW_PR_FF 0.08
@@ -48,8 +46,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1

 param set-default CA_SV_CS_COUNT 6
@@ -159,24 +159,19 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	fi

 	# Set up camera to follow the model if requested
-	if [ -n "${PX4_GZ_FOLLOW}" ]; then
+	if [ -z "${PX4_GZ_NO_FOLLOW}" ]; then

 		echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"

-		# Set camera to follow the model
-		${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
-				--reptype gz.msgs.Boolean --timeout 5000 \
-				--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
-
 		# Set default camera offset if not specified
 		follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
 		follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
 		follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}

 		# Set camera offset
-		${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
-				--reptype gz.msgs.Boolean --timeout 5000 \
-				--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
+		${gz_command} topic -t /gui/track -m gz.msgs.CameraTrack \
+				-p "track_mode: FOLLOW, follow_target: {name: '${MODEL_NAME_INSTANCE}'},\
+				 follow_offset: {x: ${follow_x}, y: ${follow_y}, z: ${follow_z}}, follow_pgain: 1.0, track_pgain: 1.0"

 		echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
 	fi
@@ -14,7 +14,6 @@

 param set UAVCAN_ENABLE 0

-param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -40,8 +40,6 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -37,8 +37,6 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -10,7 +10,6 @@

 . ${R}etc/init.d/rc.fw_defaults

-param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 param set-default CA_SV_CS_COUNT 4
@@ -32,7 +32,6 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0

-param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 7
 param set-default CA_SV_CS0_TRQ_R -0.5
@@ -10,8 +10,6 @@

 . ${R}etc/init.d/rc.fw_defaults

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.15
 param set-default CA_SV_CS_COUNT 2
@@ -10,6 +10,8 @@ set VEHICLE_TYPE fw
 # MAV_TYPE_FIXED_WING 1
 param set-default MAV_TYPE 1

+param set-default CA_AIRFRAME 1
+
 #
 # Default parameters for fixed wing UAVs.
 #
@@ -26,6 +28,7 @@ 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
@@ -154,6 +154,12 @@ then
 	fi
 fi

+# Microchip MCP9808 temperature sensor external I2C
+if param compare -s SENS_EN_MCP9808 1
+then
+	mcp9808 start -X
+fi
+
 # TE MS4515 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4515 1
 then
@@ -219,6 +225,18 @@ then
 	pcf8583 start -X -a 0x51
 fi

+# ADC sensor ADS7953 external SPI
+if param compare -s ADC_ADS7953_EN 1
+then
+	ads7953 start -S
+fi
+
+# ADC sensor tla2528 external I2C
+if param compare -s ADC_TLA2528_EN 1
+then
+	tla2528 start -X
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -15,4 +15,4 @@ ignore-exclude-errors-x
 lineend=linux
 exclude=EASTL
 add-brackets
-max-code-length=120
+max-code-length=140
@@ -25,15 +25,15 @@ parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
                    help='Pretty output instead of a single line')
 parser.add_argument('-g', '--groups', dest='group', action='store_true',
                    help='Groups targets')
-parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of board names to use instead of all')
+parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of build target name prefixes to include instead of all e.g. "px4_fmu-v5_"')

 args = parser.parse_args()
 verbose = args.verbose

-board_filter = []
+target_filter = []
 if args.filter:
-    for board in args.filter.split(','):
-        board_filter.append(board)
+    for target in args.filter.split(','):
+        target_filter.append(target)

 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
 build_configs = []
@@ -144,7 +144,7 @@ for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
                label = files.name[:-9]
                target_name = manufacturer.name + '_' + board.name + '_' + label

-                if board_filter and not board_name in board_filter:
+                if target_filter and not any(target_name.startswith(f) for f in target_filter):
                    if verbose: print(f'excluding board {board_name} ({target_name})')
                    continue

@@ -238,6 +238,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
            ( 'disarmed', 'Disarmed', 'DIS', False ),
            ( 'min', 'Minimum', 'MIN', False ),
            ( 'max', 'Maximum', 'MAX', False ),
+            ( 'center', 'Center\n(for Servos)', 'CENT', False ),
            ( 'failsafe', 'Failsafe', 'FAIL', True ),
            ]
        for key, label, param_suffix, advanced in standard_params_array:
@@ -284,6 +284,9 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''
        minimum_description = \
 '''Minimum output value (when not disarmed).
+'''
+        center_description = \
+'''Servo Center output value (when not disarmed).
 '''
        maximum_description = \
 '''Maxmimum output value (when not disarmed).
@@ -296,6 +299,7 @@ When set to -1 (default), the value depends on the function (see {:}).
        standard_params_array = [
            ( 'disarmed', 'Disarmed', 'DIS', disarmed_description ),
            ( 'min', 'Minimum', 'MIN', minimum_description ),
+            ( 'center', 'Center', 'CENT', center_description ),
            ( 'max', 'Maximum', 'MAX', maximum_description ),
            ( 'failsafe', 'Failsafe', 'FAIL', failsafe_description ),
            ]
@@ -312,6 +316,10 @@ When set to -1 (default), the value depends on the function (see {:}).
                    standard_params[key]['default'] = -1
                    standard_params[key]['min'] = -1

+                if key == 'center':
+                    standard_params[key]['default'] = -1
+                    standard_params[key]['min'] = -1
+
                param = {
                    'description': {
                        'short': channel_label+' ${i} '+label+' Value',
@@ -1656,9 +1656,9 @@ sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
 # fit data
 median_pressure = np.median(sensor_baro_0['pressure'])
 if noResample:
-    coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
+    coef_baro_0_x = np.polyfit(temp_rel,(sensor_baro_0['pressure']-median_pressure),5) # pressure in Pascal
 else:
-    temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_0['pressure']-median_pressure)) # convert from hPa to Pa
+    temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_0['pressure']-median_pressure)) # pressure in Pascal
    coef_baro_0_x = np.polyfit(temperature,baro,5)

 baro_0_params['TC_B0_X5'] = coef_baro_0_x[0]
@@ -1675,7 +1675,7 @@ baro_0_x_resample = fit_coef_baro_0_x(temp_rel_resample)
 plt.figure(13,figsize=(20,13))

 # draw plots
-plt.plot(sensor_baro_0['temperature'],100*sensor_baro_0['pressure']-100*median_pressure,'b')
+plt.plot(sensor_baro_0['temperature'],sensor_baro_0['pressure']-median_pressure,'b')
 plt.plot(temp_resample,baro_0_x_resample,'r')
 plt.title('Baro 0 ({}) Bias vs Temperature'.format(baro_0_params['TC_B0_ID']))
 plt.ylabel('Z bias (Pa)')
@@ -1717,9 +1717,9 @@ if num_baros >= 2:
    # fit data
    median_pressure = np.median(sensor_baro_1['pressure'])
    if noResample:
-        coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
+        coef_baro_1_x = np.polyfit(temp_rel,(sensor_baro_1['pressure']-median_pressure),5) # pressure in Pascal
    else:
-        temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_1['pressure']-median_pressure)) # convert from hPa to Pa
+        temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_1['pressure']-median_pressure)) # pressure in Pascal
        coef_baro_1_x = np.polyfit(temperature,baro,5)

    baro_1_params['TC_B1_X5'] = coef_baro_1_x[0]
@@ -1736,7 +1736,7 @@ if num_baros >= 2:
    plt.figure(14,figsize=(20,13))

    # draw plots
-    plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
+    plt.plot(sensor_baro_1['temperature'],sensor_baro_1['pressure']-median_pressure,'b')
    plt.plot(temp_resample,baro_1_x_resample,'r')
    plt.title('Baro 1 ({}) Bias vs Temperature'.format(baro_1_params['TC_B1_ID']))
    plt.ylabel('Z bias (Pa)')
@@ -1778,9 +1778,9 @@ if num_baros >= 3:
    # fit data
    median_pressure = np.median(sensor_baro_2['pressure'])
    if noResample:
-        coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
+        coef_baro_2_x = np.polyfit(temp_rel,(sensor_baro_2['pressure']-median_pressure),5) # pressure in Pascal
    else:
-        temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_2['pressure']-median_pressure)) # convert from hPa to Pa
+        temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_2['pressure']-median_pressure)) # pressure in Pascal
        coef_baro_2_x = np.polyfit(temperature,baro,5)

    baro_2_params['TC_B2_X5'] = coef_baro_2_x[0]
@@ -1797,7 +1797,7 @@ if num_baros >= 3:
    plt.figure(15,figsize=(20,13))

    # draw plots
-    plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
+    plt.plot(sensor_baro_2['temperature'],sensor_baro_2['pressure']-median_pressure,'b')
    plt.plot(temp_resample,baro_2_x_resample,'r')
    plt.title('Baro 2 ({}) Bias vs Temperature'.format(baro_2_params['TC_B2_ID']))
    plt.ylabel('Z bias (Pa)')
@@ -1838,7 +1838,7 @@ if num_baros >= 4:

    # fit data
    median_pressure = np.median(sensor_baro_3['pressure'])
-    coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa
+    coef_baro_3_x = np.polyfit(temp_rel,(sensor_baro_3['pressure']-median_pressure),5) # pressure in Pascal
    baro_3_params['TC_B3_X5'] = coef_baro_3_x[0]
    baro_3_params['TC_B3_X4'] = coef_baro_3_x[1]
    baro_3_params['TC_B3_X3'] = coef_baro_3_x[2]
@@ -1853,7 +1853,7 @@ if num_baros >= 4:
    plt.figure(16,figsize=(20,13))

    # draw plots
-    plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b')
+    plt.plot(sensor_baro_3['temperature'],sensor_baro_3['pressure']-median_pressure,'b')
    plt.plot(temp_resample,baro_3_x_resample,'r')
    plt.title('Baro 3 ({}) Bias vs Temperature'.format(baro_3_params['TC_B3_ID']))
    plt.ylabel('Z bias (Pa)')
@@ -15,7 +15,7 @@ class ModuleDocumentation(object):
    # TOC in https://github.com/PX4/PX4-Autopilot/blob/main/docs/en/SUMMARY.md
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
-    valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
+    valid_subcategories = ['', 'adc', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
                           'magnetometer', 'baro', 'optical_flow', 'radio_control','rpm_sensor', 'transponder']

    max_line_length = 80 # wrap lines that are longer than this
@@ -132,7 +132,6 @@ ENTRY(_stext)
 */
 EXTERN(abort)
 EXTERN(_bootdelay_signature)
-EXTERN(board_get_manifest)

 SECTIONS
 {
@@ -48,7 +48,6 @@ else()
 		i2c.cpp
 		init.c
 		led.c
-		mtd.cpp
 		spi.cpp
 		timer_config.cpp
 		usb.c
@@ -67,7 +67,6 @@ 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
@@ -3,19 +3,13 @@
 # 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 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

 safety_button start
@@ -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
@@ -47,7 +47,7 @@
 #define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)

 /* Safety LED */
-#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)

 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */
@@ -19,6 +19,7 @@ CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
@@ -39,6 +40,7 @@ CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
@@ -71,7 +73,6 @@ 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
@@ -14,10 +14,7 @@ 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 SENS_EN_INA238 0
-param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
-
 param set-default SENS_EN_THERMAL 1
 param set-default SENS_IMU_MODE 1
 param set-default SENS_IMU_TEMP 10.0
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# ARK FMUARKV6X specific board sensors init
+# ARK FMU V6X specific board sensors init
 #------------------------------------------------------------------------------
 set HAVE_PM2 yes
 set HAVE_PM3 yes
@@ -69,28 +69,25 @@ fi

 if ver hwtypecmp ARKV6X000
 then
-	# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
-	iim42652 -R 3 -s -b 1 -C 32051 start
+	# Internal SPI bus IIM42652
+	iim42652 -R 3 -s -b 1 start

-	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
-	icm42688p -R 9 -s -b 2 -C 32051 start
+	# Internal SPI bus ICM42688p
+	icm42688p -R 9 -s -b 2 start

-	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
-	icm42688p -R 6 -s -b 3 -C 32051 start
+	# Internal SPI bus ICM42688p
+	icm42688p -R 6 -s -b 3 start
 fi

 if ver hwtypecmp ARKV6X001
 then
-	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
-	#iim42653 -R 3 -s -b 1 -C 32051 start
+	# Internal SPI bus IIM42653
 	iim42653 -R 3 -s -b 1 start

-	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
-	#iim42653 -R 9 -s -b 2 -C 32051 start
+	# Internal SPI bus IIM42653
 	iim42653 -R 9 -s -b 2 start

-	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
-	#iim42653 -R 6 -s -b 3 -C 32051 start
+	# Internal SPI bus IIM42653
 	iim42653 -R 6 -s -b 3 start
 fi

@@ -100,5 +97,11 @@ bmm150 -I start
 # Internal Baro on I2C
 bmp388 -I start

+# Start an external PWM generator
+if param greater PCA9685_EN_BUS 0
+then
+	pca9685_pwm_out start
+fi
+
 unset HAVE_PM2
 unset HAVE_PM3
@@ -57,8 +57,6 @@ else()
 		mtd.cpp
 		sdio.c
 		spi.cpp
-		spix_sync.c
-		spix_sync.h
 		timer_config.cpp
 		usb.c
 	)
@@ -241,7 +241,7 @@

 /* PWM
 */
-#define DIRECT_PWM_OUTPUT_CHANNELS   8
+#define DIRECT_PWM_OUTPUT_CHANNELS   9

 #define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
 #define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
@@ -482,7 +482,7 @@
 #define PX4_I2C_BUS_MTD      4,5


-#define BOARD_NUM_IO_TIMERS  3
+#define BOARD_NUM_IO_TIMERS  4
 #define BOARD_SPIX_SYNC_FREQ 32000

 __BEGIN_DECLS
@@ -46,7 +46,6 @@
 ****************************************************************************/

 #include "board_config.h"
-#include "spix_sync.h"

 #include <stdbool.h>
 #include <stdio.h>
@@ -290,9 +289,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif /* CONFIG_MMCSD */

-	/* Configure the SPIX_SYNC output */
-	spix_sync_servo_init(BOARD_SPIX_SYNC_FREQ);
-	spix_sync_servo_set(0, 150);
-
 	return OK;
 }
@@ -1,309 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 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 Airmind 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 spix_sync.c
-*
-*
-*/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <board_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <string.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <ctype.h>
-
-
-#include <perf/perf_counter.h>
-#include <systemlib/err.h>
-#include <systemlib/px4_macros.h>
-
-#include <px4_arch/io_timer.h>
-
-#include "spix_sync.h"
-
-#define REG(_tmr, _reg) (*(volatile uint32_t *)(spix_sync_timers[_tmr].base + _reg))
-
-#define rCR1(_tmr)      REG(_tmr, STM32_GTIM_CR1_OFFSET)
-#define rCR2(_tmr)      REG(_tmr, STM32_GTIM_CR2_OFFSET)
-#define rSMCR(_tmr)     REG(_tmr, STM32_GTIM_SMCR_OFFSET)
-#define rDIER(_tmr)     REG(_tmr, STM32_GTIM_DIER_OFFSET)
-#define rSR(_tmr)       REG(_tmr, STM32_GTIM_SR_OFFSET)
-#define rEGR(_tmr)      REG(_tmr, STM32_GTIM_EGR_OFFSET)
-#define rCCMR1(_tmr)    REG(_tmr, STM32_GTIM_CCMR1_OFFSET)
-#define rCCMR2(_tmr)    REG(_tmr, STM32_GTIM_CCMR2_OFFSET)
-#define rCCER(_tmr)     REG(_tmr, STM32_GTIM_CCER_OFFSET)
-#define rCNT(_tmr)      REG(_tmr, STM32_GTIM_CNT_OFFSET)
-#define rPSC(_tmr)      REG(_tmr, STM32_GTIM_PSC_OFFSET)
-#define rARR(_tmr)      REG(_tmr, STM32_GTIM_ARR_OFFSET)
-#define rCCR1(_tmr)     REG(_tmr, STM32_GTIM_CCR1_OFFSET)
-#define rCCR2(_tmr)     REG(_tmr, STM32_GTIM_CCR2_OFFSET)
-#define rCCR3(_tmr)     REG(_tmr, STM32_GTIM_CCR3_OFFSET)
-#define rCCR4(_tmr)     REG(_tmr, STM32_GTIM_CCR4_OFFSET)
-#define rDCR(_tmr)      REG(_tmr, STM32_GTIM_DCR_OFFSET)
-#define rDMAR(_tmr)     REG(_tmr, STM32_GTIM_DMAR_OFFSET)
-#define rBDTR(_tmr)     REG(_tmr, STM32_ATIM_BDTR_OFFSET)
-
-#define BOARD_SPIX_SYNC_PWM_FREQ 1024000
-
-unsigned
-spix_sync_timer_get_period(unsigned timer)
-{
-	return (rARR(timer));
-}
-
-static void spix_sync_timer_init_timer(unsigned timer, unsigned rate)
-{
-	if (spix_sync_timers[timer].base) {
-
-		irqstate_t flags = px4_enter_critical_section();
-
-		/* enable the timer clock before we try to talk to it */
-
-		modifyreg32(spix_sync_timers[timer].clock_register, 0, spix_sync_timers[timer].clock_bit);
-
-		/* disable and configure the timer */
-		rCR1(timer) = 0;
-		rCR2(timer) = 0;
-		rSMCR(timer) = 0;
-		rDIER(timer) = 0;
-		rCCER(timer) = 0;
-		rCCMR1(timer) = 0;
-		rCCMR2(timer) = 0;
-		rCCR1(timer) = 0;
-		rCCR2(timer) = 0;
-		rCCR3(timer) = 0;
-		rCCR4(timer) = 0;
-		rCCER(timer) = 0;
-		rDCR(timer) = 0;
-
-		if ((spix_sync_timers[timer].base == STM32_TIM1_BASE) || (spix_sync_timers[timer].base == STM32_TIM8_BASE)) {
-
-			/* master output enable = on */
-
-			rBDTR(timer) = ATIM_BDTR_MOE;
-		}
-
-		/* If the timer clock source provided as clock_freq is the STM32_APBx_TIMx_CLKIN
-		 * then configure the timer to free-run at 1MHz.
-		 * Otherwise, other frequencies are attainable by adjusting .clock_freq accordingly.
-		 */
-
-		rPSC(timer) = (spix_sync_timers[timer].clock_freq / BOARD_SPIX_SYNC_PWM_FREQ) - 1;
-
-		/* configure the timer to update at the desired rate */
-
-		rARR(timer) = (BOARD_SPIX_SYNC_PWM_FREQ / rate) - 1;
-
-		/* generate an update event; reloads the counter and all registers */
-		rEGR(timer) = GTIM_EGR_UG;
-
-		px4_leave_critical_section(flags);
-	}
-
-}
-
-void spix_sync_channel_init(unsigned channel)
-{
-	/* Only initialize used channels */
-
-	if (spix_sync_channels[channel].timer_channel) {
-
-		unsigned timer = spix_sync_channels[channel].timer_index;
-
-		/* configure the GPIO first */
-		px4_arch_configgpio(spix_sync_channels[channel].gpio_out);
-
-		uint16_t polarity = spix_sync_channels[channel].masks;
-
-		/* configure the channel */
-		switch (spix_sync_channels[channel].timer_channel) {
-		case 1:
-			rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC1M_SHIFT) | GTIM_CCMR1_OC1PE;
-			rCCER(timer) |= polarity | GTIM_CCER_CC1E;
-			break;
-
-		case 2:
-			rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC2M_SHIFT) | GTIM_CCMR1_OC2PE;
-			rCCER(timer) |= polarity | GTIM_CCER_CC2E;
-			break;
-
-		case 3:
-			rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC3M_SHIFT) | GTIM_CCMR2_OC3PE;
-			rCCER(timer) |= polarity | GTIM_CCER_CC3E;
-			break;
-
-		case 4:
-			rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC4M_SHIFT) | GTIM_CCMR2_OC4PE;
-			rCCER(timer) |= polarity | GTIM_CCER_CC4E;
-			break;
-		}
-	}
-}
-
-int
-spix_sync_servo_set(unsigned channel, uint8_t  cvalue)
-{
-	if (channel >= arraySize(spix_sync_channels)) {
-		return -1;
-	}
-
-	unsigned timer = spix_sync_channels[channel].timer_index;
-
-	/* test timer for validity */
-	if ((spix_sync_timers[timer].base == 0) ||
-	    (spix_sync_channels[channel].gpio_out == 0)) {
-		return -1;
-	}
-
-	unsigned period = spix_sync_timer_get_period(timer);
-
-	unsigned value = (unsigned)cvalue * period / 255;
-
-	/* configure the channel */
-	if (value > 0) {
-		value--;
-	}
-
-
-	switch (spix_sync_channels[channel].timer_channel) {
-	case 1:
-		rCCR1(timer) = value;
-		break;
-
-	case 2:
-		rCCR2(timer) = value;
-		break;
-
-	case 3:
-		rCCR3(timer) = value;
-		break;
-
-	case 4:
-		rCCR4(timer) = value;
-		break;
-
-	default:
-		return -1;
-	}
-
-	return 0;
-}
-
-unsigned spix_sync_servo_get(unsigned channel)
-{
-	if (channel >= 3) {
-		return 0;
-	}
-
-	unsigned timer = spix_sync_channels[channel].timer_index;
-	uint16_t value = 0;
-
-	/* test timer for validity */
-	if ((spix_sync_timers[timer].base == 0) ||
-	    (spix_sync_channels[channel].timer_channel == 0)) {
-		return 0;
-	}
-
-	/* configure the channel */
-	switch (spix_sync_channels[channel].timer_channel) {
-	case 1:
-		value = rCCR1(timer);
-		break;
-
-	case 2:
-		value = rCCR2(timer);
-		break;
-
-	case 3:
-		value = rCCR3(timer);
-		break;
-
-	case 4:
-		value = rCCR4(timer);
-		break;
-	}
-
-	unsigned period = spix_sync_timer_get_period(timer);
-	return ((value + 1) * 255 / period);
-}
-
-int spix_sync_servo_init(unsigned rate)
-{
-	/* do basic timer initialisation first */
-	for (unsigned i = 0; i < arraySize(spix_sync_timers); i++) {
-		spix_sync_timer_init_timer(i, rate);
-	}
-
-	/* now init channels */
-	for (unsigned i = 0; i < arraySize(spix_sync_channels); i++) {
-		spix_sync_channel_init(i);
-	}
-
-	spix_sync_servo_arm(true);
-	return OK;
-}
-
-void
-spix_sync_servo_deinit(void)
-{
-	/* disable the timers */
-	spix_sync_servo_arm(false);
-}
-void
-spix_sync_servo_arm(bool armed)
-{
-	/* iterate timers and arm/disarm appropriately */
-	for (unsigned i = 0; i < arraySize(spix_sync_timers); i++) {
-		if (spix_sync_timers[i].base != 0) {
-			if (armed) {
-				/* force an update to preload all registers */
-				rEGR(i) = GTIM_EGR_UG;
-
-				/* arm requires the timer be enabled */
-				rCR1(i) |= GTIM_CR1_CEN | GTIM_CR1_ARPE;
-
-			} else {
-				rCR1(i) = 0;
-			}
-		}
-	}
-}
@@ -60,8 +60,7 @@ 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),
+	initIOTimer(Timer::Timer1),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -73,18 +72,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	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}),
-	//initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
-	//initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, 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);
-
-
-constexpr io_timers_t spix_sync_timers[MAX_SPIX_SYNC_TIMERS] = {
-	initIOTimer(Timer::Timer1),
-};
-
-constexpr timer_io_channels_t spix_sync_channels[MAX_SPIX_SYNC_TIMERS] = {
-	initIOTimerChannel(spix_sync_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
-};
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -50,7 +51,6 @@ 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
@@ -16,3 +16,9 @@ iis2mdc -R 0 -I -b 4 start

 # Internal Baro on I2C
 bmp388 -I -b 2 start
+
+# Start an external PWM generator
+if param greater PCA9685_EN_BUS 0
+then
+	pca9685_pwm_out start
+fi
@@ -0,0 +1,5 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT=""
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y
@@ -0,0 +1,22 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y
+CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
+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_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -0,0 +1,13 @@
+{
+    "board_id": 93,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ARK MAG board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ARKMAG",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+
+rm3100 -s -b 2 start
@@ -0,0 +1,57 @@
+#
+# 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_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/mag/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BINFMT_DISABLE=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=0
+CONFIG_NUNGET_CHARS=0
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_FLASH_CONFIG_G=y
+CONFIG_STM32_NOEXT_VECTORS=y
+CONFIG_STM32_TIM8=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,132 @@
+/************************************************************************************
+ * configs/px4fmu/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 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.
+ *
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/* HSI - 8 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - 8  MHz Crystal
+ * LSE - not installed
+ */
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+
+/* Main PLL Configuration */
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
+#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
+
+#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
+
+#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
+#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
+#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
+
+#define STM32_SYSCLK_FREQUENCY  96000000ul
+
+/* AHB clock (HCLK) is SYSCLK (96MHz) */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
+#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_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK (96MHz) */
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* Timers driven from APB2 will be PCLK2 since no prescale division */
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
+#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
+
+/* Alternate function pin selections ************************************************/
+
+/* UARTs */
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
+
+/* CAN */
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
+
+/* SPI */
+#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1 /* PB14 */
+#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1 /* PB15 */
+#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_1  /* PB10 */
+
+#endif /* __ARCH_BOARD_BOARD_H */
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX   // DMA1, Stream 3, Channel 0
+#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX   // DMA1, Stream 4, Channel 0
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
@@ -0,0 +1,149 @@
+#
+# 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_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT 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_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_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV 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_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/ark/mag/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=40
+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_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=254
+CONFIG_SCHED_HPWORKSTACKSIZE=3000
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_WAITPID=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=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_CONFIG_G=y
+CONFIG_STM32_FLASH_PREFETCH=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI2=y
+CONFIG_STM32_SPI2_DMA=y
+CONFIG_STM32_SPI2_DMA_BUFFER=2048
+CONFIG_STM32_TIM8=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USART2_TXBUFSIZE=1100
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,134 @@
+/****************************************************************************
+ * nuttx-config/scripts/canbootloader_script.ld
+ *
+ *   Copyright (C) 2015 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 STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * 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 first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * 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)
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.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 +1,146 @@
+/****************************************************************************
+ * scripts/ld.script
+ *
+ *   Copyright (C) 2011 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 STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * 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 first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 928K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * 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(8);
+		/*
+		* This section positions the app_descriptor_t used
+		* by the make_can_boot_descriptor.py tool to set
+		* the application image's descriptor so that the
+		* uavcan bootloader has the ability to validate the
+		* image crc, size etc
+		*/
+		KEEP(*(.app_descriptor))
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.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 +1,65 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		boot_config.h
+		boot.c
+		led.c
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+	add_library(drivers_board
+		can.c
+		init.c
+		led.c
+		spi.cpp
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_spi
+			drivers__led # drv_led_start
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+	)
+endif()
@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 board_config.h
+ *
+ * board internal definitions
+ */
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* CAN  Silent mode control */
+#define GPIO_CAN1_SILENT_S0   /* PB11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
+
+/* CAN termination software control */
+#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
+#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION
+
+/* Boot config */
+#define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
+
+/* LEDs are driven with open drain to support Anode to 5V or 3.3V */
+#define GPIO_TIM1_CH1         /* PA8  */ (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH2         /* PA9  */ (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH3         /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+
+#define FLASH_BASED_PARAMS
+
+/* High-resolution timer */
+#define HRT_TIMER                    3  /* use timer 3 for the HRT */
+#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
+
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_BOOT_CONFIG,                 \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_CAN1_TERMINATION,            \
+	}
+
+__BEGIN_DECLS
+
+#define BOARD_HAS_N_S_RGB_LED       1
+#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
+
+#ifndef __ASSEMBLY__
+
+extern void stm32_spiinitialize(void);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@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 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <stdint.h>
+#include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include <nuttx/board.h>
+#include "led.h"
+
+/************************************************************************************
+ * 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)
+{
+	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+	stm32_configgpio(GPIO_CAN1_SILENT_S0);
+	stm32_configgpio(GPIO_CAN1_TERMINATION);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+
+#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
+	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
+#endif
+
+}
+
+/************************************************************************************
+ * Name: board_deinitialize
+ *
+ * Description:
+ *   This function is called by the bootloader code prior to booting
+ *   the application. Is should place the HW into an benign initialized state.
+ *
+ ************************************************************************************/
+
+void board_deinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
+
+/****************************************************************************
+ * Name: board_get_product_name
+ *
+ * Description:
+ *   Called to retrieve the product name. The returned value is a assumed
+ *   to be written to a pascal style string that will be length prefixed
+ *   and not null terminated
+ *
+ * Input Parameters:
+ *    product_name - A pointer to a buffer to write the name.
+ *    maxlen       - The maximum number of charter that can be written
+ *
+ * Returned Value:
+ *   The length of characters written to the buffer.
+ *
+ ****************************************************************************/
+
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
+	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
+}
+
+/****************************************************************************
+ * Name: board_get_hardware_version
+ *
+ * Description:
+ *   Called to retrieve the hardware version information. The function
+ *   will first initialize the the callers struct to all zeros.
+ *
+ * Input Parameters:
+ *    hw_version - A pointer to a uavcan_hardwareversion_t.
+ *
+ * Returned Value:
+ *   Length of the unique_id
+ *
+ ****************************************************************************/
+
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
+	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
+
+	hw_version->major = HW_VERSION_MAJOR;
+	hw_version->minor = HW_VERSION_MINOR;
+
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
+}
+
+/****************************************************************************
+ * Name: board_indicate
+ *
+ * Description:
+ *   Provides User feedback to indicate the state of the bootloader
+ *   on board specific  hardware.
+ *
+ * Input Parameters:
+ *    indication - A member of the uiindication_t
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
+
+typedef begin_packed_struct struct led_t {
+	uint8_t red;
+	uint8_t green;
+	uint8_t blue;
+	uint8_t hz;
+} end_packed_struct led_t;
+
+static const  led_t i2l[] = {
+
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),
+
+};
+
+void board_indicate(uiindication_t indication)
+{
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
+		i2l[indication].hz);
+}
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 boot_config.h
+ *
+ * bootloader definitions that configures the behavior and options
+ * of the Boot loader
+ * This file is relies on the parent folder's boot_config.h file and defines
+ * different usages of the hardware for bootloading
+ */
+
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+/* Bring in the board_config.h definitions
+ * todo:make this be pulled in from a targed's build
+ * files in nuttx*/
+
+#include "board_config.h"
+#include "uavcan.h"
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+#include <stm32_flash.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
+
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS                    3000
+#define OPT_NODE_STATUS_RATE_MS         800
+#define OPT_NODE_INFO_RATE_MS           50
+#define OPT_BL_NUMBER_TIMERS            7
+
+/*
+ *  This Option set is set to 1 ensure a provider of firmware has an
+ *  opportunity update the node's firmware.
+ *  This Option is the default policy and can be overridden by
+ *  a jumper
+ *  When this Policy is set, the node will ignore tboot and
+ *  wait indefinitely for a GetNodeInfo request before booting.
+ *
+ *  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
+ *  the polarity of the jumper to be True Active
+ *
+ *  wait  OPT_WAIT_FOR_GETNODEINFO  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
+ *                                                 Jumper
+ *   yes           1                       0         x
+ *   yes           1                       1       Active
+ *   no            1                       1       Not Active
+ *   no            0                       0         X
+ *   yes           0                       1       Active
+ *   no            0                       1       Not Active
+ *
+ */
+#define OPT_WAIT_FOR_GETNODEINFO                    0
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1
+
+#define OPT_ENABLE_WD           1
+
+#define OPT_RESTART_TIMEOUT_MS          20000
+
+/* Reserved for the Booloader */
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
+
+/* Reserved for the application out of the total
+ * system flash minus the BOOTLOADER_SIZE_IN_K
+ */
+#define OPT_APPLICATION_RESERVER_IN_K    0
+
+#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
+#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
+
+
+#define FLASH_BASE              STM32_FLASH_BASE
+#define FLASH_SIZE              STM32_FLASH_SIZE
+
+#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
+
+/* If this board uses big flash that have large sectors */
+
+#define OPT_USE_YIELD
+
+/* Bootloader Option*****************************************************************
+ *
+ */
+#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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 can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * 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
@@ -0,0 +1,147 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 init.c
+ *
+ * board 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.
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include "led.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <drivers/drv_watchdog.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+/************************************************************************************
+ * 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)
+{
+	watchdog_init();
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	// Configure SPI all interfaces GPIO & enable power.
+	stm32_spiinitialize();
+}
+
+/****************************************************************************
+ * 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)
+{
+	px4_platform_init();
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{2, 16 * 1024, 0x08008000},
+		{3, 16 * 1024, 0x0800C000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+	}
+
+#endif // FLASH_BASED_PARAMS
+
+	/* Configure the HW based on the manifest */
+	//px4_platform_configure();
+
+	return OK;
+}
@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 led.c
+ *
+ * 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>
+
+#include "led.h"
+
+#define TMR_BASE        STM32_TIM1_BASE
+#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
+#define TMR_REG(o)      (TMR_BASE+(o))
+
+void rgb_led(int r, int g, int b, int freqs)
+{
+
+	long fosc = TMR_FREQUENCY;
+	long prescale = 2048;
+	long p1s = fosc / prescale;
+	long p0p5s  = p1s / 2;
+	uint16_t val;
+	static bool once = 0;
+
+	if (!once) {
+		once = 1;
+
+		/* Enable Clock to Block */
+		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
+
+		/* Reload */
+
+		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
+		val |= ATIM_EGR_UG;
+		putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
+
+		/* Set Prescaler STM32_TIM_SETCLOCK */
+
+		putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
+
+		/* Enable STM32_TIM_SETMODE*/
+
+		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
+			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
+		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
+			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
+			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
+
+
+		stm32_configgpio(GPIO_TIM1_CH1);
+		stm32_configgpio(GPIO_TIM1_CH2);
+		stm32_configgpio(GPIO_TIM1_CH3);
+
+		/* master output enable = on */
+		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
+	}
+
+	long p  = freqs == 0 ? p1s : p1s / freqs;
+	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
+
+	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+
+	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
+	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
+	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
+
+	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+	if (freqs == 0) {
+		val &= ~ATIM_CR1_CEN;
+
+	} else {
+		val |= ATIM_CR1_CEN;
+	}
+
+	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+}
@@ -1,6 +1,7 @@
 /****************************************************************************
 *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -32,11 +33,5 @@
 ****************************************************************************/

 __BEGIN_DECLS
-void spix_sync_channel_init(unsigned channel);
-int spix_sync_servo_set(unsigned channel, uint8_t  value);
-unsigned spix_sync_servo_get(unsigned channel);
-int spix_sync_servo_init(unsigned rate);
-void spix_sync_servo_deinit(void);
-void spix_sync_servo_arm(bool armed);
-unsigned spix_sync_timer_get_period(unsigned timer);
+void rgb_led(int r, int g, int b, int freqs);
 __END_DECLS
@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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.
+ *
+ ****************************************************************************/
+
+#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::SPI2, {
+		initSPIDevice(DRV_MAG_DEVTYPE_RM3100, SPI::CS{GPIO::PortB, GPIO::Pin12}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,17 @@
+# UAVCAN boot loadable Module ID
+set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
+set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+)
+
+set(uavcanblid_hw_version_major 0)
+set(uavcanblid_hw_version_minor 93)
+set(uavcanblid_name "\"org.ark.mag\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
@@ -19,6 +19,7 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
@@ -41,7 +42,6 @@ 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
@@ -34,3 +34,9 @@ paw3902 -s -b 3 start -Y 90

 # Internal distance sensor
 afbrs50 start
+
+# Start an external PWM generator
+if param greater PCA9685_EN_BUS 0
+then
+	pca9685_pwm_out start
+fi
@@ -14,6 +14,7 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_BMI088_ACCELEROMETER_INT2=y
 CONFIG_COMMON_LIGHT=y
@@ -25,7 +26,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
@@ -57,7 +57,6 @@ CONFIG_LOGGER_STACK_SIZE=4100
 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
@@ -66,9 +65,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_ACKERMANN=y
-CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-CONFIG_MODULES_ROVER_MECANUM=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TIME_PERSISTOR=y
@@ -77,9 +73,7 @@ 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
@@ -91,8 +85,6 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -3,12 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------

-# By disabling INA modules, we use the
-# i2c_launcher instead.
-param set-default SENS_EN_INA226 0
-param set-default SENS_EN_INA228 0
-param set-default SENS_EN_INA238 0
-
 # Set the backend of the dataman to SRAM
 param set-default SYS_DM_BACKEND 1
 # Set TELEM1 as default mavlink connection
@@ -19,6 +13,13 @@ param set-default SDLOG_BACKEND 2
 # 200kOhm/10kOhm voltage divider on V_BAT
 param set-default BAT1_V_DIV 21

+# Uncomment to use PWM9 as Analog input
+# param set-default PWM_MAIN_TIM2 -2
+
+# Uncomment to use PWM10 as PPS input
+# param set-default PWM_MAIN_TIM3 -2
+# param set-default PWM_MAIN_FUNC10 2064
+
 # Skynode: use the "custom participant", IP=10.41.10.1 config for uxrce_dds_client
 param set-default UXRCE_DDS_PTCFG 2
 param set-default UXRCE_DDS_AG_IP 170461697
@@ -74,5 +74,5 @@ ist8310 -X -b 1 -R 10 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start -b 1
+	pca9685_pwm_out start
 fi
@@ -226,8 +226,8 @@ CONFIG_STM32H7_PHY_POLLING=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_RTC=y
 CONFIG_STM32H7_RTC_HSECLOCK=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
 CONFIG_STM32H7_RTC_MAGIC=0xA5A5A5A5
+CONFIG_STM32H7_RTC_MAGIC_REG=1
 CONFIG_STM32H7_RTC_MAGIC_TIME_SET=0xA6A6A6A6
 CONFIG_STM32H7_SAVE_CRASHDUMP=y
 CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
@@ -238,9 +238,12 @@ CONFIG_STM32H7_SPI3_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y
 CONFIG_STM32H7_SPI4_DMA_BUFFER=4096
-CONFIG_STM32H7_TIM12=y
 CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM2=y
 CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_TIM5=y
+CONFIG_STM32H7_TIM8=y
 CONFIG_STM32H7_UART4=y
 CONFIG_STM32H7_UART5=y
 CONFIG_STM32H7_UART7=y
@@ -135,15 +135,14 @@


 /* PWM Timers */
-#define BOARD_NUM_IO_TIMERS 2
-#define DIRECT_PWM_OUTPUT_CHANNELS   8
+/* 3 for PWM outputs, 1 for input capture */
+#define BOARD_NUM_IO_TIMERS 4
+/* 9 for PWM outputs, 1 for input capture */
+#define DIRECT_PWM_OUTPUT_CHANNELS 10

 /* 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         /* T8C2 */  2  /* use capture/compare channel 1 */
-#define GPIO_PPM_IN             /* PC7  */ GPIO_TIM8_CH2IN_1
+#define HRT_TIMER               4  /* use timer4 for the HRT */
+#define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */

 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
@@ -44,11 +44,17 @@
 * TIM3_CH2  T FMU_CH6
 * TIM3_CH3  T FMU_CH7
 * TIM3_CH4  T FMU_CH8
+ *
+ * TIM5_CH1  T FMU_CH9
+ *
+ * TIM8_CH2  T FMU_CAP1 < Input Capture
 */

 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer5),
+	initIOTimer(Timer::Timer8),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -60,6 +66,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortB, GPIO::Pin5}),
 	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
 	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortC, GPIO::Pin9}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortC, GPIO::Pin7}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@@ -20,6 +20,7 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPIO_MCP23009=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
@@ -3,12 +3,6 @@
 # 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
-
 # Skynode: use the "custom participant", IP=10.41.10.1 config for uxrce_dds_client
 param set-default UXRCE_DDS_PTCFG 2
 param set-default UXRCE_DDS_AG_IP 170461697
@@ -471,7 +471,7 @@
 #define PX4_I2C_BUS_MTD      4,5


-#define BOARD_NUM_IO_TIMERS 5
+#define BOARD_NUM_IO_TIMERS 4

 /* No CDCACM driver for this board, so this is manually defined for version.c
 * so that the px4_board_version reports the correct board id to the companion */
@@ -50,8 +50,6 @@
 * 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
 */
@@ -61,7 +59,6 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	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] = {
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_LINUX_PWM_OUT=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -30,8 +31,8 @@ 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_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -11,3 +11,7 @@ param set BAT1_V_DIV 5.7

 # Always keep current config
 param set SYS_AUTOCONFIG 0
+
+# PCA9685 PWM Out defaults
+param set-default PCA9685_EN_BUS 4
+param set-default PCA9685_I2C_ADDR 64
@@ -28,7 +28,7 @@ then
 	echo "ads1115 not found."
 fi

-if ! pca9685_pwm_out start -a 0x40 -b 4
+if ! pca9685_pwm_out start
 then
 	echo "pca9685_pwm_out not found."
 fi
@@ -1,5 +1,5 @@
 {
-    "board_id": 1188,
+    "board_id": 1189,
    "magic": "PX4FWv1",
    "description": "Firmware for the CORVON743v1 board",
    "image": "",
@@ -96,7 +96,7 @@
 #define INTERFACE_USART                1
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,115200"
 #define BOOT_DELAY_ADDRESS             0x000001a0
-#define BOARD_TYPE                     1188
+#define BOARD_TYPE                     1189
 #define BOARD_FLASH_SECTORS            (14)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)
 #define APP_RESERVATION_SIZE 	       (1 * 128 * 1024)
@@ -61,7 +61,6 @@ 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
--- a/Show More
+++ b/Show More