parameters: add boolean support (PARAM_DEFINE_BOOL)

- real boolean parameter support saves a bit of space in export (bson) and in mavlink sync
linux_pwm_out: use PWM_MAIN parameter prefix
2026-08-19 12:00:35 +08:00 · 2021-12-23 17:08:12 -05:00 · 2021-12-23 15:57:11 -05:00 · 2021-12-23 15:57:11 -05:00 · 2021-12-23 15:57:11 -05:00 · 2021-12-23 15:57:11 -05:00
274 changed files with 2043 additions and 903 deletions
@@ -410,10 +410,8 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'

-                    // test dataman (stop mavlink & navigator first)
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" || true'
+                    // test dataman
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'

                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
@@ -497,6 +495,9 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
+
+                    // test dataman
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
                  }
                }
                stage("status") {
@@ -15,10 +15,10 @@ jobs:
      fail-fast: false
      matrix:
        config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo",   model: "iris"          } # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo",   model: "tailsitter"    } # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich
+          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
+          - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
+          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich

    container:
      image: px4io/px4-dev-simulation-focal:2021-09-08
@@ -477,6 +477,12 @@ else
 		rc_input start $RC_INPUT_ARGS
 	fi

+	# PPS capture driver (before pwm_out)
+	if param greater -s PPS_CAP_ENABLE 0
+	then
+		pps_capture start
+	fi
+
 	# Camera capture driver (before pwm_out)
 	if param greater -s CAM_CAP_FBACK 0
 	then
@@ -92,6 +92,7 @@ pca9685,CONFIG_DRIVERS_PCA9685=y
 pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
+pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
 protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
 pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
 pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y
@@ -111,7 +111,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                    for key in param['values']:
                        tags += '\n * @value {:} {:}'.format(key, param['values'][key])
                elif param['type'] == 'boolean':
-                    param_type = 'INT32'
+                    param_type = 'BOOL'
                    tags += '\n * @boolean'
                elif param['type'] == 'int32':
                    param_type = 'INT32'
@@ -136,9 +136,6 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                        else:
                            default_value = param['default']

-                    if type(default_value) == bool:
-                        default_value = int(default_value)
-
                    # output the existing C-style format
                    ret += '''
 /**
@@ -42,6 +42,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0030
 CONFIG_CDCACM_PRODUCTSTR="MindPX FMU v2.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -47,6 +47,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0061
 CONFIG_CDCACM_PRODUCTSTR="PX4 ATL Mantis-EDU"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -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_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -23,6 +24,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -46,7 +48,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -42,6 +42,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0016
 CONFIG_CDCACM_PRODUCTSTR="PX4 Crazyflie v2.0"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -41,6 +41,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0016
 CONFIG_CDCACM_PRODUCTSTR="PX4 Crazyflie v2.0"
 CONFIG_CDCACM_RXBUFSIZE=300
@@ -29,6 +29,7 @@ CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004c
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL CUAV Nora"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004c
 CONFIG_CDCACM_PRODUCTSTR="PX4 CUAV Nora"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -29,6 +29,7 @@ CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004c
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL CUAV X7Pro"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004c
 CONFIG_CDCACM_PRODUCTSTR="PX4 CUAV X7Pro"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -29,6 +29,7 @@ CONFIG_BOARD_LOOPSPERMSEC=79954
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1016
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL CubePilot CubeOrange"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -47,6 +47,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1016
 CONFIG_CDCACM_PRODUCTSTR="CubeOrange"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1016
 CONFIG_CDCACM_PRODUCTSTR="CubeOrange"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -48,6 +48,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1012
 CONFIG_CDCACM_PRODUCTSTR="CubeYellow"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -14,6 +14,8 @@ 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_IMU_ST_LSM9DS1=y
+CONFIG_DRIVERS_LINUX_PWM_OUT=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
@@ -24,6 +26,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -47,7 +50,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -41,6 +41,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0016
 CONFIG_CDCACM_PRODUCTSTR="PX4 FreeFly RTK GPS"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -29,6 +29,7 @@ CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004b
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL Holybro Durandal Vx"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004b
 CONFIG_CDCACM_PRODUCTSTR="PX4 DurandalV1"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0016
 CONFIG_CDCACM_PRODUCTSTR="PX4 KakuteF7"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -47,6 +47,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004E
 CONFIG_CDCACM_PRODUCTSTR="PX4 PIX32V5"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -29,6 +29,7 @@ CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004b
 CONFIG_CDCACM_PRODUCTSTR="Matek H743-slim"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -45,6 +45,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0036
 CONFIG_CDCACM_PRODUCTSTR="MatekH743-slim"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0xa32f
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU ModalAI FCv1"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -29,6 +29,7 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0xa330
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL ModalAI FCv2"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0xa330
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU ModalAI FCv2"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x008D
 CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroF7"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x008D
 CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroF7"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -29,6 +29,7 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1023
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL mRo ControlZeroH7 OEM"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1024
 CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroH7 OEM"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -29,6 +29,7 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1023
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL mRo ControlZeroH7"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1023
 CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroH7"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -29,6 +29,7 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1017
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL mRo Pixracer Pro"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1017
 CONFIG_CDCACM_PRODUCTSTR="mRoPixracerPro"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0088
 CONFIG_CDCACM_PRODUCTSTR="mRo x2.1-777"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -43,6 +43,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0021
 CONFIG_CDCACM_PRODUCTSTR="PX4 AUAV X2.1"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -30,6 +30,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0001
 CONFIG_CDCACM_PRODUCTSTR="PX4 OmnibusF4SD"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -42,6 +42,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0011
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v2.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -43,6 +43,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0011
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v2.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -43,6 +43,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0012
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v4.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -43,6 +43,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0013
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v4.x PRO"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -47,6 +47,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0032
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -48,6 +48,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0032
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -47,6 +47,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0032
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -48,6 +48,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0032
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -49,6 +49,7 @@ CONFIG_C99_BOOL8=y
 CONFIG_CAN_EXTID=y
 CONFIG_CAN_FIFOSIZE=32
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0032
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0033
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5X.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -29,6 +29,7 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0036
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL FMU v6U.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0036
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v6U.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -29,6 +29,7 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0035
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL FMU v6X.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -46,6 +46,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0035
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v6X.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -47,6 +47,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004b
 CONFIG_CDCACM_PRODUCTSTR="PX4 SP RACING H7 EXTREME"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -42,6 +42,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0012
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU UVify Core"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -49,7 +49,11 @@ add_custom_target(metadata_airframes
 set(generated_params_dir ${PX4_BINARY_DIR}/generated_params_metadata)
 file(GLOB_RECURSE yaml_config_files ${PX4_SOURCE_DIR}/src/modules/*.yaml
 	${PX4_SOURCE_DIR}/src/drivers/*.yaml ${PX4_SOURCE_DIR}/src/lib/*.yaml)
-list(FILTER yaml_config_files EXCLUDE REGEX ".*/pwm_out_sim/") # avoid param duplicates
+
+# avoid param duplicates
+list(FILTER yaml_config_files EXCLUDE REGEX ".*/pwm_out_sim/")
+list(FILTER yaml_config_files EXCLUDE REGEX ".*/linux_pwm_out/")
+
 add_custom_target(metadata_parameters
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
@@ -118,6 +118,7 @@ set(msg_files
 	orbit_status.msg
 	parameter_update.msg
 	ping.msg
+	pps_capture.msg
 	position_controller_landing_status.msg
 	position_controller_status.msg
 	position_setpoint.msg
@@ -4,4 +4,6 @@ uint64 timestamp_utc # UTC timestamp
 uint32 seq		# Image sequence number
 bool feedback	# Trigger feedback from camera

+uint32 ORB_QUEUE_LENGTH = 2
+
 # TOPICS camera_trigger
@@ -0,0 +1,2 @@
+uint64 timestamp			  # time since system start (microseconds) at PPS capture event
+uint64 rtc_timestamp		# Corrected GPS UTC timestamp at PPS capture event
@@ -6,7 +6,7 @@ uint64 timestamp_sample                 # the timestamp of the raw data (microse

 bool xy_valid				# true if x and y are valid
 bool z_valid				# true if z is valid
-bool v_xy_valid				# true if vy and vy are valid
+bool v_xy_valid				# true if vx and vy are valid
 bool v_z_valid				# true if vz is valid

 # Position in local NED frame
@@ -92,9 +92,10 @@ bool geofence_violated
 uint8 failure_detector_status			# Bitmask containing FailureDetector status [0, 0, 0, 0, 0, FAILURE_ALT, FAILURE_PITCH, FAILURE_ROLL]

 # see SYS_STATUS mavlink message for the following
-uint32 onboard_control_sensors_present
-uint32 onboard_control_sensors_enabled
-uint32 onboard_control_sensors_health
+# lower 32 bits are for the base flags, higher 32 bits are or the extended flags
+uint64 onboard_control_sensors_present
+uint64 onboard_control_sensors_enabled
+uint64 onboard_control_sensors_health


 uint8 ARM_DISARM_REASON_TRANSITION_TO_STANDBY = 0
@@ -30,7 +30,7 @@ bool circuit_breaker_vtol_fw_arming_check 	# set to true if for VTOLs arming in
 bool offboard_control_signal_lost

 bool rc_signal_found_once
-bool rc_input_blocked                                # set if RC input should be ignored temporarily
+bool rc_calibration_in_progress
 bool rc_calibration_valid                            # set if RC calibration is valid
 bool vtol_transition_failure                        # Set to true if vtol transition failed
 bool usb_connected                                # status of the USB power supply
@@ -261,7 +261,7 @@ private:
 	int32_t _val;
 };

-//external version
+// external version
 template<px4::params p>
 class Param<int32_t &, p>
 {
@@ -318,7 +318,7 @@ class Param<bool, p>
 {
 public:
 	// static type-check
-	static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
+	static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_BOOL, "parameter type must be bool");

 	Param()
 	{
@@ -331,18 +331,10 @@ public:
 	const bool &reference() const { return _val; }

 	/// Store the parameter value to the parameter storage (@see param_set())
-	bool commit() const
-	{
-		int32_t value_int = (int32_t)_val;
-		return param_set(handle(), &value_int) == 0;
-	}
+	bool commit() const { return param_set(handle(), &_val) == 0; }

 	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
-	bool commit_no_notification() const
-	{
-		int32_t value_int = (int32_t)_val;
-		return param_set_no_notification(handle(), &value_int) == 0;
-	}
+	bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }

 	/// Set and commit a new value. Returns true if the value changed.
 	bool commit_no_notification(bool val)
@@ -364,38 +356,83 @@ public:
 		update();
 	}

-	bool update()
-	{
-		int32_t value_int;
-		int ret = param_get(handle(), &value_int);
-
-		if (ret == 0) {
-			_val = value_int != 0;
-			return true;
-		}
-
-		return false;
-	}
+	bool update() { return param_get(handle(), &_val) == 0; }

 	param_t handle() const { return param_handle(p); }
 private:
 	bool _val;
 };

+// external version
+template<px4::params p>
+class Param<bool &, p>
+{
+public:
+	// static type-check
+	static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_BOOL, "parameter type must be bool");
+
+	Param(bool &external_val)
+		: _val(external_val)
+	{
+		param_set_used(handle());
+		update();
+	}
+
+	bool get() const { return _val; }
+
+	const bool &reference() const { return _val; }
+
+	/// Store the parameter value to the parameter storage (@see param_set())
+	bool commit() const { return param_set(handle(), &_val) == 0; }
+
+	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
+
+	/// Set and commit a new value. Returns true if the value changed.
+	bool commit_no_notification(bool val)
+	{
+		if (val != _val) {
+			set(val);
+			commit_no_notification();
+			return true;
+		}
+
+		return false;
+	}
+
+	void set(bool val) { _val = val; }
+
+	void reset()
+	{
+		param_reset_no_notification(handle());
+		update();
+	}
+
+	bool update() { return param_get(handle(), &_val) == 0; }
+
+	param_t handle() const { return param_handle(p); }
+private:
+	bool &_val;
+};
+
 template <px4::params p>
-using ParamFloat = Param<float, p>;
+using ParamBool = Param<bool, p>;

 template <px4::params p>
 using ParamInt = Param<int32_t, p>;

 template <px4::params p>
-using ParamExtFloat = Param<float &, p>;
+using ParamFloat = Param<float, p>;
+
+
+template <px4::params p>
+using ParamExtBool = Param<bool &, p>;

 template <px4::params p>
 using ParamExtInt = Param<int32_t &, p>;

 template <px4::params p>
-using ParamBool = Param<bool, p>;
+using ParamExtFloat = Param<float &, p>;

 } /* namespace do_not_explicitly_use_this_namespace */

@@ -268,7 +268,7 @@ WorkQueueManagerRun(int, char **)
 			// On posix system , the desired stacksize round to the nearest multiplier of the system pagesize
 			// It is a requirement of the  pthread_attr_setstacksize* function
 			const unsigned int page_size = sysconf(_SC_PAGESIZE);
-			const size_t stacksize_adj = math::max(PTHREAD_STACK_MIN, PX4_STACK_ADJUSTED(wq->stacksize));
+			const size_t stacksize_adj = math::max((int)PTHREAD_STACK_MIN, PX4_STACK_ADJUSTED(wq->stacksize));
 			const size_t stacksize = (stacksize_adj + page_size - (stacksize_adj % page_size));
 #endif

@@ -99,19 +99,11 @@ int uORB::DeviceMaster::advertise(const struct orb_metadata *meta, bool is_adver
 			*instance = group_tries;
 		}

-		/* driver wants a permanent copy of the path, so make one here */
-		const char *devpath = strdup(nodepath);
-
-		if (devpath == nullptr) {
-			return -ENOMEM;
-		}
-
 		/* construct the new node, passing the ownership of path to it */
-		uORB::DeviceNode *node = new uORB::DeviceNode(meta, group_tries, devpath);
+		uORB::DeviceNode *node = new uORB::DeviceNode(meta, group_tries, nodepath);

-		/* if we didn't get a device, that's bad, free the path too */
+		/* if we didn't get a device, that's bad */
 		if (node == nullptr) {
-			free((void *)devpath);
 			return -ENOMEM;
 		}

@@ -42,6 +42,10 @@
 #include "uORBCommunicator.hpp"
 #endif /* ORB_COMMUNICATOR */

+#if defined(__PX4_NUTTX)
+#include <nuttx/mm/mm.h>
+#endif
+
 static uORB::SubscriptionInterval *filp_to_subscription(cdev::file_t *filp) { return static_cast<uORB::SubscriptionInterval *>(filp->f_priv); }

 // round up to nearest power of two
@@ -71,7 +75,7 @@ static inline uint8_t round_pow_of_two_8(uint8_t n)

 uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path,
 			     uint8_t queue_size) :
-	CDev(path),
+	CDev(strdup(path)), // success is checked in CDev::init
 	_meta(meta),
 	_instance(instance),
 	_queue_size(round_pow_of_two_8(queue_size))
@@ -82,7 +86,15 @@ uORB::DeviceNode::~DeviceNode()
 {
 	delete[] _data;

-	CDev::unregister_driver_and_memory();
+	const char *devname = get_devname();
+
+	if (devname) {
+#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT)
+		kmm_free((void *)devname);
+#else
+		free((void *)devname);
+#endif
+	}
 }

 int
@@ -62,7 +62,8 @@ typedef enum io_timer_channel_mode_t {
 	IOTimerChanMode_Trigger = 5,
 	IOTimerChanMode_Dshot   = 6,
 	IOTimerChanMode_LED     = 7,
-	IOTimerChanMode_Other   = 8,
+	IOTimerChanMode_PPS     = 8,
+	IOTimerChanMode_Other   = 9,
 	IOTimerChanModeSize
 } io_timer_channel_mode_t;

@@ -149,8 +149,8 @@ static int io_timer_handler7(int irq, void *context, void *arg);
 #define rFCTRL20(_tim)         REG(_tim,  0, IMXRT_FLEXPWM_FCTRL20_OFFSET)       /* Fault Control 2 Register */


-//												 				  NotUsed   PWMOut  PWMIn Capture OneShot Trigger Dshot LED Other
-io_timer_channel_allocation_t channel_allocations[IOTimerChanModeSize] = { UINT16_MAX,   0,  0,  0, 0, 0, 0, 0, 0 };
+//												 				  NotUsed   PWMOut  PWMIn Capture OneShot Trigger Dshot LED PPS Other
+io_timer_channel_allocation_t channel_allocations[IOTimerChanModeSize] = { UINT16_MAX,   0,  0,  0, 0, 0, 0, 0, 0, 0 };

 typedef uint8_t io_timer_allocation_t; /* big enough to hold MAX_IO_TIMERS */

@@ -109,6 +109,7 @@ int kinetis_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, boo

 #define _PX4_MAKE_GPIO(pin_ftmx, io)    ((((uint32_t)(pin_ftmx)) & ~(_PIN_MODE_MASK | _PIN_OPTIONS_MASK)) |(io))
 #define PX4_MAKE_GPIO_INPUT(gpio) _PX4_MAKE_GPIO(gpio, GPIO_PULLUP)
+#define PX4_MAKE_GPIO_EXTI(gpio) _PX4_MAKE_GPIO(gpio, PIN_INT_BOTH | GPIO_PULLUP)
 #define PX4_MAKE_GPIO_OUTPUT_SET(gpio) _PX4_MAKE_GPIO(gpio, GPIO_HIGHDRIVE)
 #define PX4_MAKE_GPIO_OUTPUT_CLEAR(gpio) _PX4_MAKE_GPIO(gpio, GPIO_LOWDRIVE)

@@ -66,7 +66,8 @@ typedef enum io_timer_channel_mode_t {
 	IOTimerChanMode_Trigger = 5,
 	IOTimerChanMode_Dshot   = 6,
 	IOTimerChanMode_LED     = 7,
-	IOTimerChanMode_Other   = 8,
+	IOTimerChanMode_PPS     = 8,
+	IOTimerChanMode_Other   = 9,
 	IOTimerChanModeSize
 } io_timer_channel_mode_t;

@@ -152,8 +152,8 @@ static int io_timer_handler7(int irq, void *context, void *arg);

 #define CnSC_PWMIN_INIT 0 // TBD

-//												 				  NotUsed   PWMOut  PWMIn Capture OneShot Trigger Dshot LED Other
-io_timer_channel_allocation_t channel_allocations[IOTimerChanModeSize] = { UINT16_MAX,   0,  0,  0, 0, 0, 0, 0, 0 };
+//												 				  NotUsed   PWMOut  PWMIn Capture OneShot Trigger Dshot LED PPS Other
+io_timer_channel_allocation_t channel_allocations[IOTimerChanModeSize] = { UINT16_MAX,   0,  0,  0, 0, 0, 0, 0, 0, 0 };

 typedef uint8_t io_timer_allocation_t; /* big enough to hold MAX_IO_TIMERS */

@@ -62,7 +62,8 @@ typedef enum io_timer_channel_mode_t {
 	IOTimerChanMode_Trigger = 5,
 	IOTimerChanMode_Dshot   = 6,
 	IOTimerChanMode_LED     = 7,
-	IOTimerChanMode_Other   = 8,
+	IOTimerChanMode_PPS     = 8,
+	IOTimerChanMode_Other   = 9,
 	IOTimerChanModeSize
 } io_timer_channel_mode_t;

@@ -150,8 +150,8 @@ static int io_timer_handler7(int irq, void *context, void *arg);

 #define CnSC_PWMIN_INIT 0 // TBD

-//												 				  NotUsed   PWMOut  PWMIn Capture OneShot Trigger Dshot LED Other
-io_timer_channel_allocation_t channel_allocations[IOTimerChanModeSize] = { UINT16_MAX,   0,  0,  0, 0, 0, 0, 0, 0 };
+//												 				  NotUsed   PWMOut  PWMIn Capture OneShot Trigger Dshot LED PPS Other
+io_timer_channel_allocation_t channel_allocations[IOTimerChanModeSize] = { UINT16_MAX,   0,  0,  0, 0, 0, 0, 0, 0, 0 };

 typedef uint8_t io_timer_allocation_t; /* big enough to hold MAX_IO_TIMERS */

@@ -75,7 +75,8 @@ typedef enum io_timer_channel_mode_t {
 	IOTimerChanMode_Trigger = 5,
 	IOTimerChanMode_Dshot   = 6,
 	IOTimerChanMode_LED     = 7,
-	IOTimerChanMode_Other   = 8,
+	IOTimerChanMode_PPS     = 8,
+	IOTimerChanMode_Other   = 9,
 	IOTimerChanModeSize
 } io_timer_channel_mode_t;

@@ -103,6 +103,7 @@ __BEGIN_DECLS
 #define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  stm32_gpiosetevent(pinset,r,f,e,fp,a)

 #define PX4_MAKE_GPIO_INPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))
+#define PX4_MAKE_GPIO_EXTI(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_EXTI|GPIO_INPUT|GPIO_PULLUP))
 #define PX4_MAKE_GPIO_OUTPUT_CLEAR(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))
 #define PX4_MAKE_GPIO_OUTPUT_SET(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET))

@@ -114,7 +114,7 @@ public:
 	ArchPX4IOSerial();
 	ArchPX4IOSerial(ArchPX4IOSerial &) = delete;
 	ArchPX4IOSerial &operator = (const ArchPX4IOSerial &) = delete;
-	~ArchPX4IOSerial();
+	virtual ~ArchPX4IOSerial();

 	virtual int	init();
 	virtual int	ioctl(unsigned operation, unsigned &arg);
@@ -159,7 +159,6 @@ private:
 	/**
 	 * Performance counters.
 	 */
-	perf_counter_t		_pc_dmasetup;
 	perf_counter_t		_pc_dmaerrs;

 	/**
@@ -149,8 +149,8 @@ static int io_timer_handler7(int irq, void *context, void *arg);
 /* The transfer is done to 4 registers starting from TIMx_CR1 + TIMx_DCR.DBA  */
 #define TIM_DMABURSTLENGTH_4TRANSFERS	0x00000300U

-//												 				  NotUsed   PWMOut  PWMIn Capture OneShot Trigger Dshot LED Other
-io_timer_channel_allocation_t channel_allocations[IOTimerChanModeSize] = { UINT16_MAX,   0,  0,  0, 0, 0, 0, 0, 0 };
+//												 				  NotUsed   PWMOut  PWMIn Capture OneShot Trigger Dshot LED PPS Other
+io_timer_channel_allocation_t channel_allocations[IOTimerChanModeSize] = { UINT16_MAX,   0,  0,  0, 0, 0, 0, 0, 0, 0 };

 typedef uint8_t io_timer_allocation_t; /* big enough to hold MAX_IO_TIMERS */

@@ -58,13 +58,7 @@ ArchPX4IOSerial::ArchPX4IOSerial() :
 	_current_packet(nullptr),
 	_rx_dma_status(_dma_status_inactive),
 	_completion_semaphore(SEM_INITIALIZER(0)),
-#if 0
-	_pc_dmasetup(perf_alloc(PC_ELAPSED,	"io_dmasetup ")),
-	_pc_dmaerrs(perf_alloc(PC_COUNT,	"io_dmaerrs  "))
-#else
-	_pc_dmasetup(nullptr),
-	_pc_dmaerrs(nullptr)
-#endif
+	_pc_dmaerrs(perf_alloc(PC_COUNT, MODULE_NAME": DMA errors"))
 {
 }

@@ -99,7 +93,6 @@ ArchPX4IOSerial::~ArchPX4IOSerial()
 	/* and kill our semaphores */
 	px4_sem_destroy(&_completion_semaphore);

-	perf_free(_pc_dmasetup);
 	perf_free(_pc_dmaerrs);
 }

@@ -202,7 +195,6 @@ ArchPX4IOSerial::ioctl(unsigned operation, unsigned &arg)
 					if (count >= 5000) {
 						syslog(LOG_INFO, "==== test 1 : %u failures ====\n", fails);
 						perf_print_counter(_pc_txns);
-						perf_print_counter(_pc_dmasetup);
 						perf_print_counter(_pc_retries);
 						perf_print_counter(_pc_timeouts);
 						perf_print_counter(_pc_crcerrs);
@@ -241,7 +233,6 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)

 	/* start RX DMA */
 	perf_begin(_pc_txns);
-	perf_begin(_pc_dmasetup);

 	/* DMA setup time ~3µs */
 	_rx_dma_status = _dma_status_waiting;
@@ -288,8 +279,6 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 	//rCR1 |= USART_CR1_TE;
 	rCR3 |= USART_CR3_DMAT;

-	perf_end(_pc_dmasetup);
-
 	/* compute the deadline for a 10ms timeout */
 	struct timespec abstime;
 	clock_gettime(CLOCK_REALTIME, &abstime);
@@ -309,6 +298,8 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 		if (ret == OK) {
 			/* check for DMA errors */
 			if (_rx_dma_status & DMA_STATUS_TEIF) {
+				// stream transfer error, ensure all DMA is also stopped before exiting early
+				_abort_dma();
 				perf_count(_pc_dmaerrs);
 				ret = -EIO;
 				break;
@@ -319,6 +310,7 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 			_current_packet->crc = 0;

 			if ((crc != crc_packet(_current_packet)) || (PKT_CODE(*_current_packet) == PKT_CODE_CORRUPT)) {
+				_abort_dma();
 				perf_count(_pc_crcerrs);
 				ret = -EIO;
 				break;
@@ -68,13 +68,7 @@ ArchPX4IOSerial::ArchPX4IOSerial() :
 	_current_packet(nullptr),
 	_rx_dma_status(_dma_status_inactive),
 	_completion_semaphore(SEM_INITIALIZER(0)),
-#if 0
-	_pc_dmasetup(perf_alloc(PC_ELAPSED,	"io_dmasetup ")),
-	_pc_dmaerrs(perf_alloc(PC_COUNT,	"io_dmaerrs  "))
-#else
-	_pc_dmasetup(nullptr),
-	_pc_dmaerrs(nullptr)
-#endif
+	_pc_dmaerrs(perf_alloc(PC_COUNT, MODULE_NAME": DMA errors"))
 {
 }

@@ -109,7 +103,6 @@ ArchPX4IOSerial::~ArchPX4IOSerial()
 	/* and kill our semaphores */
 	px4_sem_destroy(&_completion_semaphore);

-	perf_free(_pc_dmasetup);
 	perf_free(_pc_dmaerrs);
 }

@@ -214,7 +207,6 @@ ArchPX4IOSerial::ioctl(unsigned operation, unsigned &arg)
 					if (count >= 5000) {
 						syslog(LOG_INFO, "==== test 1 : %u failures ====\n", fails);
 						perf_print_counter(_pc_txns);
-						perf_print_counter(_pc_dmasetup);
 						perf_print_counter(_pc_retries);
 						perf_print_counter(_pc_timeouts);
 						perf_print_counter(_pc_crcerrs);
@@ -256,7 +248,6 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)

 	/* start RX DMA */
 	perf_begin(_pc_txns);
-	perf_begin(_pc_dmasetup);

 	/* DMA setup time ~3µs */
 	_rx_dma_status = _dma_status_waiting;
@@ -307,8 +298,6 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 	//rCR1 &= ~USART_CR1_TE;
 	//rCR1 |= USART_CR1_TE;

-	perf_end(_pc_dmasetup);
-
 	/* compute the deadline for a 10ms timeout */
 	struct timespec abstime;
 	clock_gettime(CLOCK_REALTIME, &abstime);
@@ -328,8 +317,8 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 		if (ret == OK) {
 			/* check for DMA errors */
 			if (_rx_dma_status & DMA_STATUS_TEIF) {
-				// stream transfer error, ensure TX DMA is also stopped before exiting early
-				stm32_dmastop(_tx_dma);
+				// stream transfer error, ensure all DMA is also stopped before exiting early
+				_abort_dma();
 				perf_count(_pc_dmaerrs);
 				ret = -EIO;
 				break;
@@ -340,6 +329,7 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 			_current_packet->crc = 0;

 			if ((crc != crc_packet(_current_packet)) || (PKT_CODE(*_current_packet) == PKT_CODE_CORRUPT)) {
+				_abort_dma();
 				perf_count(_pc_crcerrs);
 				ret = -EIO;
 				break;
@@ -106,13 +106,7 @@ ArchPX4IOSerial::ArchPX4IOSerial() :
 	_current_packet(nullptr),
 	_rx_dma_status(_dma_status_inactive),
 	_completion_semaphore(SEM_INITIALIZER(0)),
-#if 0
-	_pc_dmasetup(perf_alloc(PC_ELAPSED, "io_dmasetup ")),
-	_pc_dmaerrs(perf_alloc(PC_COUNT,  "io_dmaerrs  "))
-#else
-	_pc_dmasetup(nullptr),
-	_pc_dmaerrs(nullptr)
-#endif
+	_pc_dmaerrs(perf_alloc(PC_COUNT, MODULE_NAME": DMA errors"))
 {
 }

@@ -147,7 +141,6 @@ ArchPX4IOSerial::~ArchPX4IOSerial()
 	/* and kill our semaphores */
 	px4_sem_destroy(&_completion_semaphore);

-	perf_free(_pc_dmasetup);
 	perf_free(_pc_dmaerrs);
 }

@@ -252,7 +245,6 @@ ArchPX4IOSerial::ioctl(unsigned operation, unsigned &arg)
 					if (count >= 5000) {
 						syslog(LOG_INFO, "==== test 1 : %u failures ====\n", fails);
 						perf_print_counter(_pc_txns);
-						perf_print_counter(_pc_dmasetup);
 						perf_print_counter(_pc_retries);
 						perf_print_counter(_pc_timeouts);
 						perf_print_counter(_pc_crcerrs);
@@ -294,7 +286,6 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)

 	/* start RX DMA */
 	perf_begin(_pc_txns);
-	perf_begin(_pc_dmasetup);

 	/* DMA setup time ~3µs */
 	_rx_dma_status = _dma_status_waiting;
@@ -354,8 +345,6 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 	//rCR1 &= ~USART_CR1_TE;
 	//rCR1 |= USART_CR1_TE;

-	perf_end(_pc_dmasetup);
-
 	/* compute the deadline for a 10ms timeout */
 	struct timespec abstime;
 	clock_gettime(CLOCK_REALTIME, &abstime);
@@ -375,8 +364,8 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 		if (ret == OK) {
 			/* check for DMA errors */
 			if (_rx_dma_status & DMA_STATUS_TEIF) {
-				// stream transfer error, ensure TX DMA is also stopped before exiting early
-				stm32_dmastop(_tx_dma);
+				// stream transfer error, ensure all DMA is also stopped before exiting early
+				_abort_dma();
 				perf_count(_pc_dmaerrs);
 				ret = -EIO;
 				break;
@@ -387,6 +376,7 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 			_current_packet->crc = 0;

 			if ((crc != crc_packet(_current_packet)) || (PKT_CODE(*_current_packet) == PKT_CODE_CORRUPT)) {
+				_abort_dma();
 				perf_count(_pc_crcerrs);
 				ret = -EIO;
 				break;
@@ -6,7 +6,8 @@
 # config for a quad
 # modified from ../rpi/px4.config

-param load
+param select eeprom/parameters
+param import

 param set CBRK_SUPPLY_CHK 894281

@@ -6,7 +6,8 @@
 # config for fixed wing (FW)
 # modified from ./px4.config, switch att/pos_control & mixer

-param load
+param select eeprom/parameters
+param import

 param set CBRK_SUPPLY_CHK 894281

@@ -3,10 +3,8 @@
 # (px4-alias.sh is expected to be in the PATH)
 . px4-alias.sh

-if [ -f eeprom/parameters ]
-then
-	param load
-fi
+param select eeprom/parameters
+param import

 # system_power not implemented
 param set CBRK_SUPPLY_CHK 894281
@@ -3,10 +3,8 @@
 # (px4-alias.sh is expected to be in the PATH)
 . px4-alias.sh

-if [ -f eeprom/parameters ]
-then
-	param load
-fi
+param select eeprom/parameters
+param import

 # system_power not implemented
 param set CBRK_SUPPLY_CHK 894281
@@ -5,10 +5,9 @@

 # navio config for a quad

-if [ -f eeprom/parameters ]
-then
-	param load
-fi
+param select eeprom/parameters
+param import
+
 param set CBRK_SUPPLY_CHK 894281
 param set SYS_AUTOSTART 4001
 param set MAV_TYPE 2
@@ -5,10 +5,9 @@

 # navio config for FW

-if [ -f eeprom/parameters ]
-then
-	param load
-fi
+param select eeprom/parameters
+param import
+
 param set CBRK_SUPPLY_CHK 894281
 param set SYS_AUTOSTART 2100
 param set MAV_TYPE 1
@@ -7,10 +7,9 @@
 # connect to it with jMAVSim:
 # ./Tools/jmavsim_run.sh -q -i <IP> -p 14577 -r 250

-if [ -f eeprom/parameters ]
-then
-	param load
-fi
+param select eeprom/parameters
+param import
+
 param set CBRK_SUPPLY_CHK 894281
 param set SYS_AUTOSTART 1001
 param set MAV_TYPE 2
@@ -5,10 +5,9 @@

 # navio config for simple testing

-if [ -f eeprom/parameters ]
-then
-	param load
-fi
+param select eeprom/parameters
+param import
+
 param set CBRK_SUPPLY_CHK 894281
 param set SYS_AUTOSTART 4001
 param set MAV_TYPE 2
@@ -39,7 +39,7 @@
 * @boolean
 * @group Sensors
 */
-PARAM_DEFINE_INT32(SENS_EN_BATT, 0);
+PARAM_DEFINE_BOOL(SENS_EN_BATT, 0);

 /**
 * Capacity/current multiplier for high-current capable SMBUS battery
@@ -30,13 +30,20 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+set(PARAM_PREFIX PWM_MAIN)
+
+if(CONFIG_BOARD_IO)
+	set(PARAM_PREFIX PWM_AUX)
+endif()
+
 px4_add_module(
 	MODULE drivers__camera_capture
 	MAIN camera_capture
 	COMPILE_FLAGS
+		-DPARAM_PREFIX="${PARAM_PREFIX}"
 	SRCS
 		camera_capture.cpp
 	DEPENDS
 		arch_io_pins
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+)
@@ -43,12 +43,6 @@

 #include <board_config.h>

-#ifdef BOARD_WITH_IO
-# define PARAM_PREFIX "PWM_AUX"
-#else
-# define PARAM_PREFIX "PWM_MAIN"
-#endif
-
 #define commandParamToInt(n) static_cast<int>(n >= 0 ? n + 0.5f : n - 0.5f)

 namespace camera_capture
@@ -76,13 +70,13 @@ CameraCapture::CameraCapture() :

 	// get the capture channel from function configuration params
 	param_t p_ctrl_alloc = param_find("SYS_CTRL_ALLOC");
-	int32_t ctrl_alloc = 0;
+	bool ctrl_alloc = false;

 	if (p_ctrl_alloc != PARAM_INVALID) {
 		param_get(p_ctrl_alloc, &ctrl_alloc);
 	}

-	if (ctrl_alloc == 1) {
+	if (ctrl_alloc) {
 		_capture_channel = -1;

 		for (unsigned i = 0; i < 16 && _capture_channel == -1; ++i) {
@@ -111,7 +105,7 @@ void
 CameraCapture::capture_callback(uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
 {
 	_trigger.chan_index = chan_index;
-	_trigger.edge_time = edge_time;
+	_trigger.hrt_edge_time = edge_time;
 	_trigger.edge_state = edge_state;
 	_trigger.overflow = overflow;

@@ -124,7 +118,7 @@ CameraCapture::gpio_interrupt_routine(int irq, void *context, void *arg)
 	CameraCapture *dev = static_cast<CameraCapture *>(arg);

 	dev->_trigger.chan_index = 0;
-	dev->_trigger.edge_time = hrt_absolute_time();
+	dev->_trigger.hrt_edge_time = hrt_absolute_time();
 	dev->_trigger.edge_state = 0;
 	dev->_trigger.overflow = 0;

@@ -150,19 +144,20 @@ CameraCapture::publish_trigger()

 	// MODES 1 and 2 are not fully tested
 	if (_camera_capture_mode == 0 || _gpio_capture) {
-		trigger.timestamp = _trigger.edge_time - uint64_t(1000 * _strobe_delay);
+		trigger.timestamp = _trigger.hrt_edge_time - uint64_t(1000 * _strobe_delay);
 		trigger.seq = _capture_seq++;
 		_last_trig_time = trigger.timestamp;
+
 		publish = true;

 	} else if (_camera_capture_mode == 1) { // Get timestamp of mid-exposure (active high)
 		if (_trigger.edge_state == 1) {
-			_last_trig_begin_time = _trigger.edge_time - uint64_t(1000 * _strobe_delay);
+			_last_trig_begin_time = _trigger.hrt_edge_time - uint64_t(1000 * _strobe_delay);

 		} else if (_trigger.edge_state == 0 && _last_trig_begin_time > 0) {
-			trigger.timestamp = _trigger.edge_time - ((_trigger.edge_time - _last_trig_begin_time) / 2);
+			trigger.timestamp = _trigger.hrt_edge_time - ((_trigger.hrt_edge_time - _last_trig_begin_time) / 2);
 			trigger.seq = _capture_seq++;
-			_last_exposure_time = _trigger.edge_time - _last_trig_begin_time;
+			_last_exposure_time = _trigger.hrt_edge_time - _last_trig_begin_time;
 			_last_trig_time = trigger.timestamp;
 			publish = true;
 			_capture_seq++;
@@ -170,12 +165,12 @@ CameraCapture::publish_trigger()

 	} else { // Get timestamp of mid-exposure (active low)
 		if (_trigger.edge_state == 0) {
-			_last_trig_begin_time = _trigger.edge_time - uint64_t(1000 * _strobe_delay);
+			_last_trig_begin_time = _trigger.hrt_edge_time - uint64_t(1000 * _strobe_delay);

 		} else if (_trigger.edge_state == 1 && _last_trig_begin_time > 0) {
-			trigger.timestamp = _trigger.edge_time - ((_trigger.edge_time - _last_trig_begin_time) / 2);
+			trigger.timestamp = _trigger.hrt_edge_time - ((_trigger.hrt_edge_time - _last_trig_begin_time) / 2);
 			trigger.seq = _capture_seq++;
-			_last_exposure_time = _trigger.edge_time - _last_trig_begin_time;
+			_last_exposure_time = _trigger.hrt_edge_time - _last_trig_begin_time;
 			_last_trig_time = trigger.timestamp;
 			publish = true;
 		}
@@ -189,6 +184,25 @@ CameraCapture::publish_trigger()
 		return;
 	}

+	pps_capture_s pps_capture;
+
+	if (_pps_capture_sub.update(&pps_capture)) {
+		_pps_hrt_timestamp = pps_capture.timestamp;
+		_pps_rtc_timestamp = pps_capture.rtc_timestamp;
+	}
+
+
+	if (_pps_hrt_timestamp > 0) {
+		// Last PPS RTC time + elapsed time to the camera capture interrupt
+		trigger.timestamp_utc = _pps_rtc_timestamp + (trigger.timestamp - _pps_hrt_timestamp);
+
+	} else {
+		// No PPS capture received, use RTC clock as fallback
+		timespec tv{};
+		px4_clock_gettime(CLOCK_REALTIME, &tv);
+		trigger.timestamp_utc = ts_to_abstime(&tv) - hrt_elapsed_time(&trigger.timestamp);
+	}
+
 	_trigger_pub.publish(trigger);
 }

@@ -51,6 +51,7 @@
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/camera_trigger.h>
+#include <uORB/topics/pps_capture.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>

@@ -103,11 +104,12 @@ private:

 	// Subscribers
 	uORB::Subscription				_command_sub{ORB_ID(vehicle_command)};
+	uORB::Subscription				_pps_capture_sub{ORB_ID(pps_capture)};

 	// Trigger Buffer
 	struct _trig_s {
 		uint32_t chan_index;
-		hrt_abstime edge_time;
+		hrt_abstime hrt_edge_time;
 		uint32_t edge_state;
 		uint32_t overflow;
 	} _trigger{};
@@ -130,6 +132,9 @@ private:
 	hrt_abstime		_last_trig_time{0};
 	uint32_t 		_capture_overflows{0};

+	hrt_abstime	_pps_hrt_timestamp{0};
+	uint64_t		_pps_rtc_timestamp{0};
+
 	// Signal capture callback
 	void			capture_callback(uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);

@@ -59,7 +59,7 @@ PARAM_DEFINE_FLOAT(CAM_CAP_DELAY, 0.0f);
 * @group Camera Control
 * @reboot_required true
 */
-PARAM_DEFINE_INT32(CAM_CAP_FBACK, 0);
+PARAM_DEFINE_BOOL(CAM_CAP_FBACK, 0);

 /**
 * Camera capture timestamping mode
@@ -84,4 +84,4 @@ PARAM_DEFINE_INT32(CAM_CAP_MODE, 0);
 * @group Camera Control
 * @reboot_required true
 */
-PARAM_DEFINE_INT32(CAM_CAP_EDGE, 0);
+PARAM_DEFINE_INT32(CAM_CAP_EDGE, 0);
@@ -30,10 +30,18 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+set(PARAM_PREFIX PWM_MAIN)
+
+if(CONFIG_BOARD_IO)
+	set(PARAM_PREFIX PWM_AUX)
+endif()
+
 px4_add_module(
 	MODULE drivers__camera_trigger
 	MAIN camera_trigger
 	COMPILE_FLAGS
+		-DPARAM_PREFIX="${PARAM_PREFIX}"
 	SRCS
 		camera_trigger.cpp
 		interfaces/src/camera_interface.cpp
@@ -59,6 +59,7 @@
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/camera_trigger.h>
+#include <uORB/topics/pps_capture.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
 #include <uORB/topics/vehicle_local_position.h>
@@ -173,6 +174,8 @@ private:
 	bool 			_turning_on{false};
 	matrix::Vector2f	_last_shoot_position{0.f, 0.f};
 	bool			_valid_position{false};
+	hrt_abstime	_pps_hrt_timestamp{0};
+	uint64_t		_pps_rtc_timestamp{0};

 	//Camera Auto Mount Pivoting Oblique Survey (CAMPOS)
 	uint32_t		_CAMPOS_num_poses{0};
@@ -186,6 +189,7 @@ private:

 	uORB::Subscription	_command_sub{ORB_ID(vehicle_command)};
 	uORB::Subscription	_lpos_sub{ORB_ID(vehicle_local_position)};
+	uORB::Subscription	_pps_capture_sub{ORB_ID(pps_capture)};

 	orb_advert_t		_trigger_pub{nullptr};

@@ -197,10 +201,8 @@ private:
 	param_t			_p_min_interval;
 	param_t			_p_distance;
 	param_t			_p_interface;
-	param_t 		_p_cam_cap_fback;

 	trigger_mode_t		_trigger_mode{TRIGGER_MODE_NONE};
-	int32_t _cam_cap_fback{0};

 	camera_interface_mode_t	_camera_interface_mode{CAMERA_INTERFACE_MODE_GPIO};
 	CameraInterface		*_camera_interface{nullptr};  ///< instance of camera interface
@@ -263,7 +265,6 @@ CameraTrigger::CameraTrigger() :
 	_p_activation_time = param_find("TRIG_ACT_TIME");
 	_p_mode = param_find("TRIG_MODE");
 	_p_interface = param_find("TRIG_INTERFACE");
-	_p_cam_cap_fback = param_find("CAM_CAP_FBACK");

 	param_get(_p_activation_time, &_activation_time);
 	param_get(_p_interval, &_interval);
@@ -272,10 +273,6 @@ CameraTrigger::CameraTrigger() :
 	param_get(_p_mode, (int32_t *)&_trigger_mode);
 	param_get(_p_interface, (int32_t *)&_camera_interface_mode);

-	if (_p_cam_cap_fback != PARAM_INVALID) {
-		param_get(_p_cam_cap_fback, (int32_t *)&_cam_cap_fback);
-	}
-
 	switch (_camera_interface_mode) {
 #ifdef __PX4_NUTTX

@@ -317,10 +314,7 @@ CameraTrigger::CameraTrigger() :
 	// Advertise critical publishers here, because we cannot advertise in interrupt context
 	camera_trigger_s trigger{};

-	if (!_cam_cap_fback) {
-		_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
-
-	}
+	_trigger_pub = orb_advertise_queue(ORB_ID(camera_trigger), &trigger, camera_trigger_s::ORB_QUEUE_LENGTH);
 }

 CameraTrigger::~CameraTrigger()
@@ -832,23 +826,33 @@ CameraTrigger::engage(void *arg)
 		return;
 	}

+	pps_capture_s pps_capture;
+
+	if (trig->_pps_capture_sub.update(&pps_capture)) {
+		trig->_pps_hrt_timestamp = pps_capture.timestamp;
+		trig->_pps_rtc_timestamp = pps_capture.rtc_timestamp;
+	}
+
 	// Send camera trigger message. This messages indicates that we sent
 	// the camera trigger request. Does not guarantee capture.
 	camera_trigger_s trigger{};

-	timespec tv{};
-	px4_clock_gettime(CLOCK_REALTIME, &tv);
-	trigger.timestamp_utc = (uint64_t) tv.tv_sec * 1000000 + tv.tv_nsec / 1000;
+	if (trig->_pps_hrt_timestamp > 0) {
+		// Current RTC time (RTC time captured by the PPS module + elapsed time since capture)
+		trigger.timestamp_utc = trig->_pps_rtc_timestamp + hrt_elapsed_time(&trig->_pps_hrt_timestamp);
+
+	} else {
+		// No PPS capture received, use RTC clock as fallback
+		timespec tv{};
+		px4_clock_gettime(CLOCK_REALTIME, &tv);
+		trigger.timestamp_utc = ts_to_abstime(&tv);
+	}

 	trigger.seq = trig->_trigger_seq;
 	trigger.feedback = false;
 	trigger.timestamp = hrt_absolute_time();

-	// Publish only if  _cam_cap_fback is disabled, otherwise, it is published over camera_capture driver
-	if (!trig->_cam_cap_fback) {
-		orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trigger);
-
-	}
+	orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trigger);

 	// increment frame count
 	trig->_trigger_seq++;
@@ -35,12 +35,6 @@
 #include <px4_platform_common/log.h>
 #include <board_config.h>

-#ifdef BOARD_WITH_IO
-# define PARAM_PREFIX "PWM_AUX"
-#else
-# define PARAM_PREFIX "PWM_MAIN"
-#endif
-
 void CameraInterface::get_pins()
 {
 	// Set all pins as invalid
@@ -49,14 +43,13 @@ void CameraInterface::get_pins()
 	}

 	param_t p_ctrl_alloc = param_find("SYS_CTRL_ALLOC");
-	int32_t ctrl_alloc = 0;
+	bool ctrl_alloc = false;

 	if (p_ctrl_alloc != PARAM_INVALID) {
 		param_get(p_ctrl_alloc, &ctrl_alloc);
 	}

-	if (ctrl_alloc == 1) {
-
+	if (ctrl_alloc) {
 		unsigned pin_index = 0;

 		for (unsigned i = 0; i < 16 && pin_index < arraySize(_pins); ++i) {
@@ -38,4 +38,4 @@
 * @group Sensors
 * @boolean
  */
-PARAM_DEFINE_INT32(SENS_EN_ETSASPD, 0);
+PARAM_DEFINE_BOOL(SENS_EN_ETSASPD, 0);
@@ -38,4 +38,4 @@
 * @group Sensors
 * @boolean
  */
-PARAM_DEFINE_INT32(SENS_EN_MS4525, 0);
+PARAM_DEFINE_BOOL(SENS_EN_MS4525, 0);
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	f23740a3c5	parameters: add boolean support (PARAM_DEFINE_BOOL) - real boolean parameter support saves a bit of space in export (bson) and in mavlink sync	2021-12-23 17:08:12 -05:00
Daniel Agar	38af93085b	linux_pwm_out: use PWM_MAIN parameter prefix - this keeps things simpler for now across the old and new output configuration	2021-12-23 15:57:11 -05:00
Daniel Agar	64e00c41d4	posix-configs: fix bbblue and rpi param import	2021-12-23 15:57:11 -05:00
Daniel Agar	c8f2a29d67	boards: beaglebone_blue_default fix missing linux_pwm_out driver	2021-12-23 15:57:11 -05:00
Daniel Agar	a5f58d321e	boards: emlid_navio_default fix missing drivers/modules	2021-12-23 15:57:11 -05:00
Daniel Agar	7d7d707db9	commander: add COM_HOME_EN parameter to enable/disable home position	2021-12-23 15:46:31 -05:00
Daniel Agar	28c34a0484	Jenkins: hardware don't force tests dataman to pass and add to stackcheck build	2021-12-23 14:50:47 -05:00
PX4 BuildBot	a069a47d50	Update submodule nuttx to latest Thu Dec 23 18:11:37 UTC 2021 - nuttx in PX4/Firmware (d0ce5705359f8beeb9faf7fa0d12279e03bb7ac7): https://github.com/PX4/NuttX/commit/d4c06e9dfb7bb14d0f19ef47b94d838b1caf50f3 - nuttx current upstream: https://github.com/PX4/NuttX/commit/378032a44ba1ec0e7e3df16a23d21a6e77a2d816 - Changes: https://github.com/PX4/NuttX/compare/d4c06e9dfb7bb14d0f19ef47b94d838b1caf50f3...378032a44ba1ec0e7e3df16a23d21a6e77a2d816 378032a44b 2021-12-15 David Sidrane - [BACKPORT] stm32f7:sdmmc invalidate before DMA to avoid eviction overwrite	2021-12-23 14:50:47 -05:00
Daniel Agar	a4040f7afd	px4io_serial: always perform full abort DMA on error - enable DMA error perf count	2021-12-23 12:48:42 -05:00
Matthias Grob	f68ae39840	Commander: avoid RC actions during calibration	2021-12-22 09:08:23 -05:00
Beat Küng	89974c46b9	mavlink streams: add return in all cases Generally not needed here, but GCC produced an error when compiling with -finstrument-functions.	2021-12-22 08:47:33 -05:00
Beat Küng	e29759d877	WorkQueueManager: explicitly convert PTHREAD_STACK_MIN to int fixes a compiler error on GCC 11.2.1: error: no matching function for call to ‘max(long int, int)’	2021-12-22 08:47:33 -05:00
alessandro	2c8a92c628	sitl config: put model name first Github constructs the workflow names from the matrix configurations. Having latitude and longitude in the fist columns makes these names rather cryptic.	2021-12-22 12:48:54 +01:00
Daniel Agar	47fcdb1fdb	sensors/vehicle_angular_velocity: replace ESC/FFT elapsed perf counters with single cycle perf counter - non-trivial perf counters (elapsed & interval) are relatively expensive - if ESC and FFT notch filtering are enabled this reduces 6 updates (2 per axis) to 1	2021-12-21 14:21:10 -05:00
Julian Oes	5894f302b5	mavlink: add test for zero padding We want to avoid publishing garbage leftover from earlier publications.	2021-12-21 09:40:36 -05:00
Julian Oes	5cfe30fa2e	mavlink: fix include for unit tests This is required to find the include directory for the unit test of the MavlinkStatustextHandler.	2021-12-21 09:40:36 -05:00
Julian Oes	2e0286e6bb	mavlink: support receiving multi-chunk statustexts This adds support for mavlink statustext messages arriving in multiple chunks.	2021-12-21 09:40:36 -05:00
Daniel Agar	0029a75ab0	systemcmds: convert c -> c++	2021-12-21 09:22:49 -05:00
Julian Oes	d2e931858d	px4io: remove unused cmake_policy This should fix the build with older cmake versions.	2021-12-21 09:21:25 -05:00
Julian Oes	9686c81f7d	boards: enable flow control on CDCACM This enables flow control on CDCACM for the NuttX boards which fixes a problem where HITL would stall. The stall could happen if the hardware would be a bit too slow in keeping up with the incoming messages. Often, this happened on arming because the logger would take some time to log all parameters right at the beginning. The stall would then not recover due to NuttX bug where the rx interrupt would not be restored correctly and instead only a slower watchdog would release the next read. This watchdog takes 200ms which means it's hard to impossible to get out of the situation without restarting sim and/or PX4. For more information about the issue, see: apache/incubator-nuttx#3633 As a workaround, until that bug is fixed, and because it makes sense anyway, I propose to enable FLOWCONTROL for the serial via USB.	2021-12-21 08:01:38 +01:00
DanielePettenuzzo	88521b0145	print error only if the mavlink command fails In some cases we printed also the mavlink commands that replied to be unsupported. This is not an error to show in the log.	2021-12-21 07:37:23 +01:00
Julian Oes	199b5e7d48	Revert "mavsdk_tests: retry gz model spawn command" This reverts commit `c15d3f7cfa`.	2021-12-20 13:05:46 -05:00
Julian Oes	9184038359	mavsdk_tests: try to restart gzserver Sometimes gzserver seems to just not start correctly. With this commit we try to just restart.	2021-12-20 13:05:46 -05:00
TSC21	9894598b63	mavsdk_tests: update to be able to fetch rtps builds as well	2021-12-20 13:05:46 -05:00
Thomas Debrunner	9312c772f1	mavsdk-tests: Re-try to launch a mission for some time before failing. This mitigates an issue where the flight controller has an uploaded mission, but has not finished the mission feasibility checks yet.	2021-12-20 13:05:46 -05:00
Julian Oes	764af19da4	mavsdk_tests: bump MAVSDK version to v0.48.0 This might help with CI tests where we get RC loss because, presumably, MAVSDK is not sending them in time.	2021-12-20 13:05:46 -05:00
Claudio Micheli	9d02851893	vmount: increase stack size to 2100 Signed-off-by: Claudio Micheli <claudio@auterion.com>	2021-12-20 13:05:15 -05:00
Julian Oes	90fe4b7a54	vmount: publish gimbal v2 protocol for v1 gimbals This enables the use case where the gimbal v2 protocol is used between the ground station and the drone, and the gimbal v1 protocol is used between the drone and the gimbal.	2021-12-20 13:05:15 -05:00
Julian Oes	6d74b390d9	vmount: use absolute angle for location tracking I'm pretty sure it makes more sense to use an absolute angle to track a lat/lon location.	2021-12-20 13:05:15 -05:00
Julian Oes	d88f9353e8	vmount: improve debug message This should help to figure out when gimbal commands don't work.	2021-12-20 13:05:15 -05:00
Julian Oes	f7c4034f3c	vmount: fix v1 frames with v2 input It looks like the frames for pitch and roll were not set correctly when v1 is used in v2 input.	2021-12-20 13:05:15 -05:00
Julian Oes	0ce4eae314	vmount: fix v1 frames for v1 input This basically means that we want roll and pitch to be absolute, so relative to the horizon.	2021-12-20 13:05:15 -05:00
Julian Oes	3c5bf497a3	esc_calib: remove unused variable	2021-12-20 10:56:24 -05:00
Julian Oes	a6431ab8f0	simulator: fix implicit-const-int-float-conversion	2021-12-20 10:56:24 -05:00
Daniel Agar	019eaf7038	multicopter: minimize dt jitter by using estimate timestamp_sample	2021-12-17 17:52:28 -05:00
Julian Oes	dcf69144cb	mavsdk_tests: fix type for mypy check This was probably triggered due to a mypy update.	2021-12-17 17:28:54 +01:00
marcojob	2cfe08b3b1	small typo in vehicle_local_position msg	2021-12-17 15:45:07 +01:00
Igor Mišić	2d680dfd1a	pps_capture: fix PARAM_PREFIX for boards with px4io (CONFIG_BOARD_IO)	2021-12-17 07:56:08 +01:00
Igor Mišić	89f828fba7	pps_capture: advertise for logging	2021-12-17 07:56:08 +01:00
Igor Mišić	17f5df2d3e	pps_capture: add argument guard	2021-12-17 07:56:08 +01:00
Beat Küng	f6ced71d26	pps_capture: make it configurable via output functions	2021-12-17 07:56:08 +01:00
Igor Mišić	0f60e7debf	pps_capture: add kconfig	2021-12-17 07:56:08 +01:00
Michael Schaeuble	064a602962	Add PPS capture message to logged topics, simplify timestamp logic and small cleanup	2021-12-17 07:56:08 +01:00
Michael Schaeuble	5ad8b84dec	Fix PPS based UTC timestamp in camera trigger and capture messages The existing implementation has about 100ms difference to a reference clock. With the changes this error less than 25us. - Use sensor_gps messages with hrt timestamps as RTC reference and not the system realtime clock. The PPS interrupt can then be aligned with the GPS clock system. - Keep fallback based on system RTC when no PPS pulse was captured	2021-12-17 07:56:08 +01:00
Michael Schaeuble	ebb657bcf4	Fix camera trigger via MAVLink when camera capture feedback is enabled - camera_trigger module always publishes the camera_trigger msg (independent of the camera feedback) - Use camera_trigger msg and set the feedback flag - Subscribing modules determine if the message is relevant based on the feedback message	2021-12-17 07:56:08 +01:00
Michael Schaeuble	3e4031cf0f	Set rtc_edge_time also in capture_callback When using an FMU channel as PPS capture GPIO, the rtc_edge_time is now set as well. The delay between actual capture and callback is compensated with the elapsed time of the rtc clock.	2021-12-17 07:56:08 +01:00
Thomas Debrunner	43bc6db99e	PPS capture: Add a param to enable / disable PPS capture module. This is important, since it takes over an FMU pin which can no longer be used for actuator output.	2021-12-17 07:56:08 +01:00
Igor Mišić	298a8c4637	boards/fmu-v5x: allocating PPS pin - start pps_capture before pwm_out	2021-12-17 07:56:08 +01:00
Igor Mišić	60a212f717	px4_arch: add PX4_MAKE_GPIO_EXTI	2021-12-17 07:56:08 +01:00
Igor Mišić	c6098ef3dd	camera_capture: update to use PPS correction for UTC time	2021-12-17 07:56:08 +01:00
Igor Mišić	8eca35111e	camera_trigger: update to use PPS correction for UTC time	2021-12-17 07:56:08 +01:00
Igor Mišić	72b1db4a63	pps_capture: implementation of pulse per second capture driver	2021-12-17 07:56:08 +01:00
Daniel Agar	43a04c9bca	fix PARAM_PREFIX for boards with px4io (CONFIG_BOARD_IO)	2021-12-16 07:20:12 +01:00
Daniel Agar	ecc2ca7f98	mathlib: int16_t negate explicitly handle both INT16_MIN and INT16_MAX - technically negating INT16_MAX doesn't need special handling, but this ensures any simple saturation logic downstream works by default	2021-12-15 12:45:58 -05:00
Daniel Agar	d59d16a6cd	drivers/accelerometer: adjust int16_t clipping threshold slightly - consider data clipped/saturated if it's INT16_MIN/INT16_MAX or within 1 - this accommodates rotated data (\|INT16_MIN\| = INT16_MAX + 1) and sensors that may re-use the lowest bit for other purposes (sync indicator, etc)	2021-12-15 12:45:58 -05:00
Daniel Agar	ea29b45282	ekf2: enable mag check by default, but commander only warn	2021-12-15 09:43:46 -05:00
Daniel Agar	3fba7288af	ekf2: selector use hysteresis for healthy flag - require that an instance is healthy continuously for >= 1s before allowing it to be used	2021-12-14 09:52:36 -05:00
Thomas Debrunner	eb69f15d3a	health-flags: Increase health flags to 64 bit bit field to support extended sys status mavlink message Add SYS_STATUS flag for parachute	2021-12-14 09:41:12 -05:00
Thomas Debrunner	37099f85b9	mavlink: Update to newest mavlink master	2021-12-14 09:41:12 -05:00
Silvan Fuhrer	e9b9176ce2	param translation: fix for FW_GPSF_LT and FW_GPSF_R Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-12-14 08:27:04 +01:00
Jukka Laitinen	ce6147f570	uORB: Remove transfer of memory allocation ownership to CDev - Allocate and free the node name in uORBDeviceNode. - Add protected build support by de-allocating the name with kmm_free, when running in kernel side. strdup allocates from the kernel heap in NuttX kernel space. - Remove the CDev::unregister_driver_and_memory(), it is no longer used Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-12-13 22:52:36 -05:00
Jukka Laitinen	25c10eb124	cdev: build & link fixes for NuttX protected build - Always link to nuttx_fs for register/unregister_driver calls Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-12-13 22:52:36 -05:00
Daniel Agar	acdcc35392	tests: dataman fix ssize_t printf	2021-12-13 22:51:23 -05:00
alexklimaj	6133ef0d63	Dronecan fix beep driver	2021-12-13 14:52:46 -05:00