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
2026-05-25 07:37:39 +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
438 changed files with 12585 additions and 4236 deletions
@@ -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
@@ -531,3 +531,13 @@ CONFIG:
      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' }
@@ -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
@@ -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
@@ -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

@@ -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)')
@@ -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)')
@@ -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)')
@@ -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)')
@@ -40,6 +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
@@ -97,5 +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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -26,7 +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
@@ -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
@@ -89,7 +85,6 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -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
@@ -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
@@ -47,6 +47,7 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_INTERFACES=3
 CONFIG_COMMON_UWB=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(pwm_voltage)
@@ -0,0 +1,4 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -0,0 +1,92 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_BAROMETER_GOERTEK_SPL06=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_TF02PRO=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_COMMON_OSD=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_PX4IO=y
+CONFIG_COMMON_RC=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=4
+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_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=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
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -0,0 +1,13 @@
+{
+    "board_id": 1203,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the AP-H743r1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AP-H743r1",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1966080,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,29 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+param set-default BAT1_A_PER_V 17
+param set-default BAT1_N_CELLS 4
+param set-default BAT1_V_CHARGED 4.2
+param set-default BAT1_V_DIV 10.1
+param set-default BAT1_V_EMPTY 3.2
+
+param set-default SYS_HAS_MAG 1
+param set-default PWM_MAIN_TIM0 -4
+param set-default RC_INPUT_PROTO -1
+
+param set-default IMU_GYRO_RATEMAX 2000
+param set-default SYS_AUTOSTART 4001
+param set-default MC_PITCHRATE_K 0.4
+param set-default MC_ROLLRATE_K 0.35
+param set-default MC_YAWRATE_K 1.2
+param set-default MC_YAWRATE_MAX 360
+param set-default MAV_TYPE 2
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+param set-default CBRK_SUPPLY_CHK 894281
+
+param set-default USB_MAV_MODE 5
+
+# pwm voltage 3.3V/5V switch
+pwm_voltage_apply start
@@ -0,0 +1,4 @@
+#!/bin/sh
+#
+# board specific extras init
+#------------------------------------------------------------------------------
@@ -0,0 +1,26 @@
+#!/bin/sh
+#
+# board specific sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# IMU
+if ! icm42688p -s -b 1 -R 4 start
+then
+	bmi270 -s -b 1 -R 4 start
+fi
+
+if ! icm42688p -s -b 4 -R 4 start
+then
+	bmi270 -s -b 4 -R 4 start
+fi
+
+# baro
+if ! dps310 -I start -a 0x76
+then
+	spl06 -I  start -a 0x76
+fi
+
+# internal mag
+ist8310 -I -R 6 start
@@ -0,0 +1,17 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.
@@ -0,0 +1,90 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DEV_CONSOLE is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_SPI_EXCHANGE is not set
+# CONFIG_STM32H7_SYSCFG is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/x-mav/ap-h743r1/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0036
+CONFIG_CDCACM_PRODUCTSTR="X-MAV AP-H743r1 Bootloader"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x1B8C
+CONFIG_CDCACM_VENDORSTR="X-MAV"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SPI=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_USART6=y
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=300
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,442 @@
+/************************************************************************************
+ * nuttx-configs/px4_fmu-v6u/include/board.h
+ *
+ *   Copyright (C) 2016-2019 Gregory Nutt. All rights reserved.
+ *   Authors: David Sidrane <david.sidrane@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+#ifndef __NUTTX_CONFIG_APH743R1_INCLUDE_BOARD_H
+#define __NUTTX_CONFIG_APH743R1_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdmmc.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The AP-H743 R1  board provides the following clock sources:
+ *
+ *   X1: 8 MHz crystal for HSE
+ *
+ * So we have these clock source available within the STM32
+ *
+ *   HSI: 16 MHz RC factory-trimmed
+ *   HSE: 16 MHz crystal for HSE
+ */
+
+#define STM32_BOARD_XTAL        8000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE = 16,000,000
+ *
+ * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ * Subject to:
+ *
+ *     1 <= PLLM <= 63
+ *     4 <= PLLN <= 512
+ *   150 MHz <= PLL_VCOL <= 420MHz
+ *   192 MHz <= PLL_VCOH <= 836MHz
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * CPUCLK  = SYSCLK / D1CPRE
+ * Subject to
+ *
+ *   PLLP1   = {2, 4, 6, 8, ..., 128}
+ *   PLLP2,3 = {2, 3, 4, ..., 128}
+ *   CPUCLK <= 480 MHz
+ */
+
+#define STM32_BOARD_USEHSE
+
+#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
+
+/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
+ *
+ *   PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
+ *
+ *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
+ *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
+ *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
+ */
+
+#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVP1EN | \
+				 RCC_PLLCFGR_DIVQ1EN | \
+				 RCC_PLLCFGR_DIVR1EN)
+#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
+#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(120)
+#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
+#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
+
+#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 120)
+#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
+#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
+
+/* PLL2 */
+
+#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
+				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
+				  RCC_PLLCFGR_DIVP2EN | \
+				  RCC_PLLCFGR_DIVQ2EN | \
+				  RCC_PLLCFGR_DIVR2EN)
+#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(2)
+#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
+#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
+#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
+#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
+
+#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 2) * 48)
+#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+
+/* PLL3 */
+
+#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVQ3EN)
+#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(2)
+#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
+#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
+#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
+#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
+
+#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 2) * 48)
+#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
+#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+
+/* SYSCLK = PLL1P = 480MHz
+ * CPUCLK = SYSCLK / 1 = 480 MHz
+ */
+
+#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
+#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
+#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
+
+/* Configure Clock Assignments */
+
+/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
+ * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
+ */
+
+#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
+#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
+#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
+#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
+
+#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
+#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* Timer clock frequencies */
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Kernel Clock Configuration
+ *
+ * Note: look at Table 54 in ST Manual
+ */
+
+/* I2C123 clock source */
+
+#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
+
+/* I2C4 clock source */
+
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
+
+/* SPI123 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
+
+/* SPI45 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
+
+/* SPI6 clock source */
+
+#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
+
+/* USB 1 and 2 clock source */
+
+#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
+
+/* ADC 1 2 3 clock source */
+
+#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
+
+/* FDCAN 1 clock source */
+
+// #define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
+/* FLASH wait states
+ *
+ *  ------------ ---------- -----------
+ *  Vcore        MAX ACLK   WAIT STATES
+ *  ------------ ---------- -----------
+ *  1.15-1.26 V     70 MHz    0
+ *  (VOS1 level)   140 MHz    1
+ *                 210 MHz    2
+ *  1.05-1.15 V     55 MHz    0
+ *  (VOS2 level)   110 MHz    1
+ *                 165 MHz    2
+ *                 220 MHz    3
+ *  0.95-1.05 V     45 MHz    0
+ *  (VOS3 level)    90 MHz    1
+ *                 135 MHz    2
+ *                 180 MHz    3
+ *                 225 MHz    4
+ *  ------------ ---------- -----------
+ */
+
+#define BOARD_FLASH_WAITSTATES 2
+
+/* SDMMC definitions ********************************************************/
+
+/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
+
+#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+
+/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
+ * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
+ */
+
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+
+#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
+
+/* LED definitions ******************************************************************/
+/* The board has two, LED_GREEN a Green LED and LED_BLUE a Blue LED,
+ * that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+#define BOARD_LED3_BIT    (1 << BOARD_LED3)
+
+/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
+ * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
+ * events as follows:
+ *
+ *
+ *   SYMBOL                     Meaning                      LED state
+ *                                                        Red   Green Blue
+ *   ----------------------  --------------------------  ------ ------ ----*/
+
+#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
+#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
+#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
+#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
+#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
+#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
+#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
+#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
+#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
+
+/* Thus if the Green LED is statically on, NuttX has successfully booted and
+ * is, apparently, running normally.  If the Red LED is flashing at
+ * approximately 2Hz, then a fatal error has been detected and the system
+ * has halted.
+ */
+
+/* Alternate function pin selections ************************************************/
+
+#define GPIO_USART1_RX   GPIO_USART1_RX_2     	/* PA10 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_2      	/* PA9 */
+
+#define GPIO_USART2_RX   GPIO_USART2_RX_2       /* PD6 */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2       /* PD5 */
+
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   	/* PD9 */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   	/* PD8 */
+
+#define GPIO_UART4_RX    GPIO_UART4_RX_3    	/* PB8 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_3    	/* PB9 */
+
+#define GPIO_USART6_RX   GPIO_USART6_RX_1   	/* PC7 */
+#define GPIO_USART6_TX   GPIO_USART6_TX_1   	/* PC6 */
+
+#define GPIO_UART7_RX    GPIO_UART7_RX_3    	/* PE7 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3    	/* PE8 */
+
+#define GPIO_UART8_RX    GPIO_UART8_RX_1    	/* PE0 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1    	/* PE1 */
+
+/* SPI
+ *
+ */
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
+
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1               /* PA7  */
+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */
+
+#define GPIO_SPI3_MISO   GPIO_SPI3_MISO_2               /* PC11 */
+#define GPIO_SPI3_MOSI   GPIO_SPI3_MOSI_2               /* PC12 */
+#define GPIO_SPI3_SCK    ADJ_SLEW_RATE(GPIO_SPI3_SCK_2) /* PC10 */
+
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_2               /* PE5 */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2               /* PE6  */
+#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2 */
+
+/* I2C
+ *
+ */
+#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1       /* PB6  */
+#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */
+
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+
+#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1       /* PB10  */
+#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1       /* PB11  */
+
+#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
+#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN11)
+
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_1       /* PD12 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_1       /* PD13 */
+
+#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
+#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
+
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1  */
+
+#define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
+#define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */
+
+/* SDMMC2
+ *
+ *      VDD 3.3
+ *      GND
+ *      SDMMC2_CK                           PD6
+ *      SDMMC2_CMD                          PD7
+ *      SDMMC2_D0                           PB14
+ *      SDMMC2_D1                           PB15
+ *      SDMMC2_D2                           PG11
+ *      SDMMC2_D3                           PB4
+ */
+
+#define GPIO_SDMMC2_CK   GPIO_SDMMC2_CK_2  /* PC1 */
+#define GPIO_SDMMC2_CMD  GPIO_SDMMC2_CMD_1 /* PD7 */
+// #define GPIO_SDMMC2_D0   GPIO_SDMMC2_D0    /* PB14 */
+// #define GPIO_SDMMC2_D1   GPIO_SDMMC2_D1    /* PB15 */
+#define GPIO_SDMMC2_D2   GPIO_SDMMC2_D2_2  /* PB3 */
+// #define GPIO_SDMMC2_D3   GPIO_SDMMC2_D3    /* PB4 */
+
+
+#endif  /*__NUTTX_CONFIG_APH743R1_INCLUDE_BOARD_H  */
@@ -0,0 +1,61 @@
+/****************************************************************************
+ *
+ *   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
+
+// DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0		/* 1 DMA1:37 IMU */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0		/* 2 DMA1:38 IMU */
+
+#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0		/* DMA1:39 */
+#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 	/* DMA1:40 */
+
+#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_0		/* 3 DMA1:83 IMU */
+#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_0		/* 4 DMA1:84 IMU */
+
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0	/*  DMA1:41  GPS1 */
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0	/*  DMA1:42  GPS1 */
+
+#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0	/*  DMA1:43 GPS2 */
+#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0	/*  DMA1:44 GPS2 */
+
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0	/*  DMA1:45 TELEM1 */
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0	/*  DMA1:46 TELEM1 */
+
+#define DMAMAP_UART4_RX    DMAMAP_DMA12_UART4RX_1	/*  DMA1:63 TELEM2 */
+#define DMAMAP_UART4_TX    DMAMAP_DMA12_UART4TX_1	/*  DMA1:64 TELEM2 */
+
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0	/*  DMA1:71 PX4IO */
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0	/*  DMA1:72 PX4IO */
@@ -0,0 +1,273 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_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_EXIT 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_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF 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/x-mav/ap-h743r1/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0036
+CONFIG_CDCACM_PRODUCTSTR="X-MAV AP-H743r1"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x1B8C
+CONFIG_CDCACM_VENDORSTR="X-MAV"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_NCHAINS=24
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_IOB=y
+CONFIG_MM_REGIONS=4
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC2=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_FLASH_OVERRIDE_I=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C2=y
+CONFIG_STM32H7_I2C4=y
+CONFIG_STM32H7_I2C_DYNTIMEO=y
+CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_HSECLOCK=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SDMMC2=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=4096
+CONFIG_STM32H7_SPI3=y
+CONFIG_STM32H7_SPI4=y
+CONFIG_STM32H7_SPI4_DMA=y
+CONFIG_STM32H7_SPI4_DMA_BUFFER=4096
+CONFIG_STM32H7_SPI_DMATHRESHOLD=8
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM2=y
+CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_TIM8=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=921600
+CONFIG_UART4_RXBUFSIZE=3000
+CONFIG_UART4_RXDMA=y
+CONFIG_UART4_TXBUFSIZE=3000
+CONFIG_UART4_TXDMA=y
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_TXBUFSIZE=3000
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_SERIAL_CONSOLE=y
+CONFIG_UART8_TXBUFSIZE=3000
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART1_TXDMA=y
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=3000
+CONFIG_USART2_TXDMA=y
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=180
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=1500
+CONFIG_USART3_TXDMA=y
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_RXDMA=y
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USART6_TXDMA=y
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_WATCHDOG=y
+CONFIG_WQUEUE_NOTIFIER=y
@@ -0,0 +1,213 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The X-MAV AP-H743-R1 uses an STM32H743VIT6 has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743VIT6, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The AP-H743-R1 has a Button on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the button has been pressed,
+ * then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743VIT6 also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ */
+
+MEMORY
+{
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08000000, LENGTH = 2048K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,228 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2020 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 board uses an STM32H743VIT6 and has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743VIT6, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * There's a button on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
+ * drepresed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743VIT6 also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ */
+
+MEMORY
+{
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > FLASH
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > FLASH
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > FLASH
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > FLASH
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > AXI_SRAM
+
+	/* Emit the the D3 power domain section for locating BDMA data */
+
+	.sram4_reserve (NOLOAD) :
+	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
+	} > SRAM4
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__pwm_voltage_apply
+	MAIN pwm_voltage_apply
+
+	SRCS
+		pwm_voltage.cpp
+	DEPENDS
+		px4_work_queue
+	)
@@ -0,0 +1,43 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Control PWM output voltage
+ *
+ * @value 0 3.3V
+ * @value 1 5.0V
+ *
+ * @reboot_required true
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);
@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <inttypes.h>
+#include <stdint.h>
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module_params.h>
+
+#include "board_config.h"
+
+extern "C" int pwm_voltage_apply_main(int argc, char *argv[])
+{
+	int32_t pwm_volt_sel = 0;
+
+	param_get(param_find("PWM_VOLT_SEL"), &pwm_volt_sel);
+
+	if (pwm_volt_sel != 0) {
+		PWM_5V_VOLT_SEL(true);
+
+	} else {
+		PWM_5V_VOLT_SEL(false);
+	}
+
+	return 0;
+}
@@ -0,0 +1,15 @@
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
@@ -0,0 +1,70 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
+	add_library(drivers_board
+		bootloader_main.c
+		usb.c
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			bootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
+
+else()
+	add_library(drivers_board
+		i2c.cpp
+		init.c
+		led.c
+		sdio.c
+		spi.cpp
+		timer_config.cpp
+		usb.c
+		mtd.cpp
+		can.c
+	)
+	# add_dependencies(drivers_board arch_board_hw_info)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_io_pins
+			arch_spi
+			arch_board_hw_info
+			drivers__led
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+	)
+endif()
@@ -0,0 +1,226 @@
+/****************************************************************************
+ *
+ *   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
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+#include <stm32_gpio.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+/* PX4IO connection configuration */
+#define BOARD_USES_PX4IO_VERSION       2
+#define PX4IO_SERIAL_DEVICE            "/dev/ttyS4"
+#define PX4IO_SERIAL_TX_GPIO           GPIO_USART6_TX
+#define PX4IO_SERIAL_RX_GPIO           GPIO_USART6_RX
+#define PX4IO_SERIAL_BASE              STM32_USART6_BASE
+#define PX4IO_SERIAL_VECTOR            STM32_IRQ_USART6
+#define PX4IO_SERIAL_TX_DMAMAP         DMAMAP_USART6_TX
+#define PX4IO_SERIAL_RX_DMAMAP         DMAMAP_USART6_RX
+#define PX4IO_SERIAL_RCC_REG           STM32_RCC_APB2ENR
+#define PX4IO_SERIAL_RCC_EN            RCC_APB2ENR_USART6EN
+#define PX4IO_SERIAL_CLOCK             STM32_PCLK2_FREQUENCY
+#define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
+
+/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
+
+#  define GPIO_nLED_RED         /* PD15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN15)
+#  define GPIO_nLED_GREEN       /* PD11 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
+#  define GPIO_nLED_BLUE        /* PD10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
+
+#  define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#  define BOARD_OVERLOAD_LED     LED_RED
+#  define BOARD_ARMED_STATE_LED  LED_BLUE
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that
+ * can be used by the Px4 Firmware in the adc driver
+ */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+
+#define SYSTEM_ADC_BASE STM32_ADC1_BASE
+
+#define ADC12_CH(n)		(n)
+#define ADC3_CH(n)                  (n)
+
+#define ANALOG_PC3 (GPIO_ANALOG|GPIO_PORTC|GPIO_PIN3)
+
+#define PX4_ADC_GPIO  \
+	/* PC4  */  GPIO_ADC12_INP4,  \
+	/* PC5  */  GPIO_ADC12_INP8
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below  */
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+#define ADC_BATTERY_VOLTAGE_CHANNEL             ADC12_CH(4)
+#define ADC_BATTERY_CURRENT_CHANNEL             ADC12_CH(8)
+
+#define ADC_CHANNELS \
+	((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
+	 (1 << ADC_BATTERY_CURRENT_CHANNEL))
+
+#define BOARD_ADC_OPEN_CIRCUIT_V     (1.6f)
+
+#define BOARD_HAS_STATIC_MANIFEST 1
+
+#define UAVCAN_NUM_IFACES_RUNTIME  1
+
+/* PWM
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS   7
+
+#define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
+
+/* PWM Power */
+#define GPIO_PWM_VOLT_SEL               /* PA8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define PWM_5V_VOLT_SEL(on_true)        px4_arch_gpiowrite(GPIO_PWM_VOLT_SEL, (on_true))
+
+/* Tone alarm output */
+#define TONE_ALARM_TIMER        5 /* Timer 5 */
+#define TONE_ALARM_CHANNEL      4  /* PA3 GPIO_TIM5_CH4 */
+#define GPIO_BUZZER_1           /* PA3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
+
+#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
+#define GPIO_TONE_ALARM         GPIO_BUZZER_1
+
+/* USB OTG FS
+ *
+ * PE15  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS         /* PE15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTE|GPIO_PIN15)
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+
+/* High-resolution timer */
+#define HRT_TIMER               8  /* use timer1 for the HRT */
+#define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */
+
+/* RC Serial port */
+#define RC_SERIAL_PORT                     "/dev/ttyS4"
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
+
+/* SD card bringup does not work if performed on the IDLE thread because it
+ * will cause waiting.  Use either:
+ *
+ *  CONFIG_LIB_BOARDCTL=y, OR
+ *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
+ */
+#define SDIO_SLOTNO             0  /* Only one slot */
+#define SDIO_MINOR              0
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
+   !defined(CONFIG_BOARD_INITTHREAD)
+#  warning SDIO initialization cannot be perfomed on the IDLE thread
+#endif
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+#define BOARD_HAS_ON_RESET 1
+
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_CAN1_TX,\
+		GPIO_CAN1_RX,\
+		GPIO_CAN2_TX,\
+		GPIO_CAN2_RX,\
+		PX4_ADC_GPIO,\
+		GPIO_TONE_ALARM_IDLE,\
+		GPIO_PWM_VOLT_SEL\
+	}
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+#define BOARD_NUM_IO_TIMERS 5
+
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void);
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   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 bootloader_main.c
+ *
+ * FMU-specific early startup code for bootloader
+*/
+
+#include "board_config.h"
+#include "bl.h"
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+#include <px4_platform_common/init.h>
+
+extern int sercon_main(int c, char **argv);
+
+__EXPORT void board_on_reset(int status) {}
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* configure USB interfaces */
+	stm32_usbinitialize();
+}
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	return 0;
+}
+
+void board_late_initialize(void)
+{
+	sercon_main(0, NULL);
+}
+
+extern void sys_tick_handler(void);
+void board_timerhook(void)
+{
+	sys_tick_handler();
+}
@@ -0,0 +1,140 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu_can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+#if !defined(CONFIG_CAN)
+
+#include <stdint.h>
+
+#include "board_config.h"
+
+
+__EXPORT
+uint16_t board_get_can_interfaces(void)
+{
+	uint16_t enabled_interfaces = 0x3;
+
+	enabled_interfaces &= ~(1 << 1);
+
+	return enabled_interfaces;
+}
+
+#else
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "chip.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+#endif /* CONFIG_CAN */
@@ -0,0 +1,135 @@
+/****************************************************************************
+ *
+ *   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
+
+/****************************************************************************
+ * 10-8--2016:
+ *  To simplify the ripple effect on the tools, we will be using
+ *  /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
+ *  moving forward all Bootloaders must contain the prefix "PX4 BL "
+ *  in the USBDEVICESTRING
+ *  This Change will be made in an upcoming BL release
+ ****************************************************************************/
+/*
+ * Define usage to configure a bootloader
+ *
+ *
+ * Constant                example          Usage
+ * APP_LOAD_ADDRESS     0x08004000            - The address in Linker Script, where the app fw is org-ed
+ * BOOTLOADER_DELAY     5000                  - Ms to wait while under USB pwr or bootloader request
+ * BOARD_FMUV2
+ * INTERFACE_USB        1                     - (Optional) Scan and use the USB interface for bootloading
+ * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
+ * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
+ * USBPRODUCTID         0x0011                - PID Should match defconfig
+ * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
+ *                                               delay provided by an APP FW
+ * BOARD_TYPE           9                     - Must match .prototype boad_id
+ * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
+ * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
+ * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
+ * BOARD_FLASH_SIZE     (_FLASH_KBYTES*1024)-   Total Flash size of device, determined at run time.
+ *                         (1024 * 1024)      - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
+ *                                              programmatically
+ *
+ * BOARD_FIRST_FLASH_SECTOR_TO_ERASE  2        - Optional sectors index in the flash_sectors table  (F4 only), to begin erasing.
+ *                                               This is to allow sectors to be reserved for app fw usage. That will NOT be erased
+ *                                               during a FW upgrade.
+ *                                               The default is 0, and selects the first sector to be erased, as the 0th entry in the
+ *                                               flash_sectors table. Which is the second physical sector of FLASH in the device.
+ *                                               The first physical sector of FLASH is used by the bootloader, and is not defined
+ *                                               in the table.
+ *
+ * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
+ *                                                                        BOOTLOADER_RESERVATION_SIZE  will be deducted from
+ *                                                                        BOARD_FLASH_SIZE to determine the size of the App FW
+ *                                                                        and hence the address space of FLASH to erase and program.
+ * USBMFGSTRING            "PX4 AP"            - Optional USB MFG string (default is '3D Robotics' if not defined.)
+ * SERIAL_BREAK_DETECT_DISABLED                -  Optional prevent break selection on Serial port from entering or staying in BL
+ *
+ * * Other defines are somewhat self explanatory.
+ */
+
+/* Boot device selection list*/
+#define USB0_DEV       0x01
+#define SERIAL0_DEV    0x02
+#define SERIAL1_DEV    0x04
+
+#define APP_LOAD_ADDRESS               0x08020000
+#define BOOTLOADER_DELAY               5000
+#define INTERFACE_USB                  1
+#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
+#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
+
+//#define USE_VBUS_PULL_DOWN
+// #define INTERFACE_USART                6
+#define INTERFACE_USART_CONFIG         "/dev/ttyS5,57600"
+#define BOOT_DELAY_ADDRESS             0x000001a0
+#define BOARD_TYPE                     1203
+#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
+#define BOARD_FLASH_SECTORS            (15)
+#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
+
+#define OSC_FREQ                       8
+
+#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE // BLUE
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_RED // RED
+#define BOARD_LED_ON                   1
+#define BOARD_LED_OFF                  0
+
+#define SERIAL_BREAK_DETECT_DISABLED   1
+
+#if !defined(ARCH_SN_MAX_LENGTH)
+# define ARCH_SN_MAX_LENGTH 12
+#endif
+
+#if !defined(APP_RESERVATION_SIZE)
+#  define APP_RESERVATION_SIZE 0
+#endif
+
+#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
+#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
+#endif
+
+#if !defined(USB_DATA_ALIGN)
+# define USB_DATA_ALIGN
+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#ifndef BOOT_DEVICES_FILTER_ONUSB
+#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   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/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+	initI2CBusExternal(2),
+	initI2CBusExternal(4),
+};
@@ -0,0 +1,211 @@
+/****************************************************************************
+ *
+ *   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
+ *
+ * FMU-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 initialisation.
+ */
+
+#include "board_config.h"
+
+#include <syslog.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <systemlib/px4_macros.h>
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_dma_alloc.h>
+#include <px4_platform/board_determine_hw_info.h>
+
+#include <mpu.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	UNUSED(ms);
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+	}
+
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
+	if (status >= 0) {
+		up_mdelay(100);
+	}
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* Reset PWM first thing */
+	board_on_reset(-1);
+
+	/* configure LEDs */
+	board_autoled_initialize();
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	/* configure SPI interfaces */
+	stm32_spiinitialize();
+
+	/* configure USB interfaces */
+	stm32_usbinitialize();
+
+}
+
+/****************************************************************************
+ * 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;
+ *
+ * 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)
+{
+	/* Need hrt running before using the ADC */
+	px4_platform_init();
+
+	/* configure the DMA allocator */
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_off(LED_BLUE);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_BLUE);
+	}
+
+#ifdef CONFIG_MMCSD
+	int ret = stm32_sdio_initialize();
+
+	if (ret != OK) {
+		led_on(LED_BLUE);
+		return ret;
+	}
+
+#endif
+
+// TODO：internal flash store parameters
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{15, 128 * 1024, 0x081E0000},
+		{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);
+		led_on(LED_RED);
+	}
+
+#endif
+
+	/* Configure the HW based on the manifest */
+	px4_platform_configure();
+
+	return OK;
+}
@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   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>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+#  define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
+	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
+	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
+};
+
+__EXPORT void led_init(void)
+{
+	/* Configure LED GPIOs for output */
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		if (g_ledmap[l] != 0) {
+			stm32_configgpio(g_ledmap[l]);
+		}
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive Low to switch on */
+	if (g_ledmap[led] != 0) {
+		stm32_gpiowrite(g_ledmap[led], !state);
+	}
+}
+
+static bool phy_get_led(int led)
+{
+	/* If Low it is on */
+	if (g_ledmap[led] != 0) {
+		return !stm32_gpioread(g_ledmap[led]);
+	}
+
+	return false;
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(xlat(led), true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(xlat(led), false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+//TODO:Prepare for NxtDual
+
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+//                                                              KiB BS    nB
+static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
+	.bus_type = px4_mft_device_t::SPI,
+	.devid    = SPIDEV_FLASH(0)
+};
+
+static const px4_mtd_entry_t fmum_fram = {
+	.device = &spi5,
+	.npart = 1,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/fs/mtd_params",
+			.nblocks = 32
+		}
+	},
+};
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs   = 1,
+	.entries = {
+		&fmum_fram
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = {
+		&mtd_mft
+	}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}
@@ -0,0 +1,177 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+
+#include "chip.h"
+#include "board_config.h"
+#include "stm32_gpio.h"
+#include "stm32_sdmmc.h"
+
+#ifdef CONFIG_MMCSD
+
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Card detections requires card support and a card detection GPIO */
+
+#define HAVE_NCD   1
+#if !defined(GPIO_SDMMC1_NCD)
+#  undef HAVE_NCD
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static FAR struct sdio_dev_s *sdio_dev;
+#ifdef HAVE_NCD
+static bool g_sd_inserted = 0xff; /* Impossible value */
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_ncd_interrupt
+ *
+ * Description:
+ *   Card detect interrupt handler.
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_NCD
+static int stm32_ncd_interrupt(int irq, FAR void *context)
+{
+	bool present;
+
+	present = !stm32_gpioread(GPIO_SDMMC1_NCD);
+
+	if (sdio_dev && present != g_sd_inserted) {
+		sdio_mediachange(sdio_dev, present);
+		g_sd_inserted = present;
+	}
+
+	return OK;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void)
+{
+	int ret;
+
+#ifdef HAVE_NCD
+	/* Card detect */
+
+	bool cd_status;
+
+	/* Configure the card detect GPIO */
+
+	stm32_configgpio(GPIO_SDMMC1_NCD);
+
+	/* Register an interrupt handler for the card detect pin */
+
+	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
+#endif
+
+	/* Mount the SDIO-based MMC/SD block driver */
+	/* First, get an instance of the SDIO interface */
+
+	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
+
+	sdio_dev = sdio_initialize(SDIO_SLOTNO);
+
+	if (!sdio_dev) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
+		return -ENODEV;
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+
+	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
+
+	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
+	}
+
+	finfo("Successfully bound SDIO to the MMC/SD driver\n");
+
+#ifdef HAVE_NCD
+	/* Use SD card detect pin to check if a card is g_sd_inserted */
+
+	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
+	finfo("Card detect : %d\n", cd_status);
+
+	sdio_mediachange(sdio_dev, cd_status);
+#else
+	/* Assume that the SD card is inserted.  What choice do we have? */
+
+	sdio_mediachange(sdio_dev, true);
+#endif
+
+	return OK;
+}
+
+#endif /* CONFIG_MMCSD */
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   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::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin2}, SPI::DRDY{GPIO::PortA, GPIO::Pin4}),
+		initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortA, GPIO::Pin2}, SPI::DRDY{GPIO::PortA, GPIO::Pin4})
+	}),
+	initSPIBus(SPI::Bus::SPI3, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4})
+	}),
+	initSPIBus(SPI::Bus::SPI4, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
+		initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin4})
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   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/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0})
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   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 usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+#include "board_config.h"
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+#include <stm32_otg.h>
+#include <debug.h>
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32H7_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
@@ -35,7 +35,7 @@
    - [Static Pressure Buildup](advanced_config/static_pressure_buildup.md)
  - [Flying (Basics)](flying/basic_flying_mc.md)
  - [Complete Vehicles](complete_vehicles_mc/index.md)
-    - [ModalAI Starling (PX4 Dev Kit)](complete_vehicles_mc/modalai_starling.md)
+    - [ModalAI Starling](complete_vehicles_mc/modalai_starling.md)
    - [PX4 Vision Kit](complete_vehicles_mc/px4_vision_kit.md)
    - [MindRacer BNF & RTF](complete_vehicles_mc/mindracer_BNF_RTF.md)
      - [MindRacer 210](complete_vehicles_mc/mindracer210.md)
@@ -194,6 +194,7 @@
      - [SVehicle E2](flight_controller/svehicle_e2.md)
      - [ThePeach FCC-K1](flight_controller/thepeach_k1.md)
      - [ThePeach FCC-R1](flight_controller/thepeach_r1.md)
+      - [AP-H743-R1](flight_controller/x-mav_ap-h743r1.md)
    - [Experimental Autopilots](flight_controller/autopilot_experimental.md)
      - [BeagleBone Blue](flight_controller/beaglebone_blue.md)
      - [Raspberry Pi 2/3 Navio2](flight_controller/raspberry_pi_navio2.md)
@@ -228,7 +229,6 @@
    - [Bootloader Update](advanced_config/bootloader_update.md)
      - [Bootloader Update FMUv6X-RT via USB](advanced_config/bootloader_update_v6xrt.md)
      - [Bootloader Flashing onto Betaflight Systems](advanced_config/bootloader_update_from_betaflight.md)
-      - [Secure Boot and Firmware Signature Verification](advanced_config/bootloader_secure_boot.md)
  - [Airframe Selection](config/airframe.md)
  - [Sensors](sensor/index.md)
    - [Accelerometer](sensor/accelerometer.md)
@@ -245,18 +245,22 @@
      - [TFSlot Airspeed Sensor](sensor/airspeed_tfslot.md)
    - [Barometers](sensor/barometer.md)
    - [Distance Sensors \(Rangefinders\)](sensor/rangefinders.md)
+      - [Ainstein US-D1 Standard Radar Altimeter](sensor/ulanding_radar.md)
+      - [ARK DIST SR (CAN/UART)](dronecan/ark_dist.md)
+      - [ARK DIST MR (CAN/UART)](dronecan/ark_dist_mr.md)
+      - [Benewake TFmini Lidar](sensor/tfmini.md)
+      - [LeddarOne Lidar](sensor/leddar_one.md)
+      - [Lidar-Lite](sensor/lidar_lite.md)
      - [Lightware Lidars (SF/LW)](sensor/sfxx_lidar.md)
        - [Lightware SF45 Rotary Lidar](sensor/sf45_rotating_lidar.md)
-      - [Ainstein US-D1 Standard Radar Altimeter](sensor/ulanding_radar.md)
-      - [LeddarOne Lidar](sensor/leddar_one.md)
-      - [Benewake TFmini Lidar](sensor/tfmini.md)
-      - [Lidar-Lite](sensor/lidar_lite.md)
      - [TeraRanger](sensor/teraranger.md)
      - [✘ Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md)
      - [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](dronecan/avanon_laser_interface.md)
    - [GNSS (GPS)](gps_compass/index.md)
      - [ARK GPS (CAN)](dronecan/ark_gps.md)
+      - [ARK DAN GPS](gps_compass/ark_dan_gps.md)
      - [ARK SAM GPS](gps_compass/ark_sam_gps.md)
+      - [ARK SAM GPS MINI](gps_compass/ark_sam_gps_mini.md)
      - [ARK TESEO GPS](dronecan/ark_teseo_gps.md)
      - [CUAV NEO 3 GPS](gps_compass/gps_cuav_neo_3.md)
      - [CUAV NEO 3 Pro GPS (CAN)](gps_compass/gps_cuav_neo_3pro.md)
@@ -268,6 +272,8 @@
      - [Sky-Drones SmartAP GPS](gps_compass/gps_smartap.md)
    - [RTK GNSS](gps_compass/rtk_gps.md)
      - [ARK RTK GPS (CAN)](dronecan/ark_rtk_gps.md)
+      - [ARK RTK GPS L1 L5 (CAN)](dronecan/ark_rtk_gps_l1_l2.md)
+      - [ARK X20 RTK GPS (CAN)](dronecan/ark_x20_rtk_gps.md)
      - [ARK MOSAIC-X5 RTK GPS (CAN)](dronecan/ark_mosaic__rtk_gps.md)
      - [RTK GPS Heading with Dual u-blox F9P](gps_compass/u-blox_f9p_heading.md)
      - [CUAV C-RTK](gps_compass/rtk_gps_cuav_c-rtk.md)
@@ -345,13 +351,14 @@
    - [Battery Estimation Tuning](config/battery.md)
    - [Battery Chemistry Overview](power_systems/battery_chemistry.md)
    - [Power Modules/PDB](power_module/index.md)
+      - [ARK PAB Power Module](power_module/ark_pab_power_module.md)
+      - [ARK 12S PAB Power Module](power_module/ark_12s_pab_power_module.md)
+      - [ARK 12S Payload Power Module](power_module/ark_12s_payload_power_module.md)
      - [CUAV HV pm](power_module/cuav_hv_pm.md)
      - [CUAV CAN PMU](dronecan/cuav_can_pmu.md)
      - [Holybro PM02](power_module/holybro_pm02.md)
      - [Holybro PM07](power_module/holybro_pm07_pixhawk4_power_module.md)
      - [Holybro PM06 V2](power_module/holybro_pm06_pixhawk4mini_power_module.md)
-      - [ARK PAB Power Module](power_module/ark_pab_power_module.md)
-      - [ARK 12S PAB Power Module](power_module/ark_12s_pab_power_module.md)
      - [Holybro PM02D (digital)](power_module/holybro_pm02d.md)
      - [Holybro PM03D (digital)](power_module/holybro_pm03d.md)
      - [Pomegranate Systems Power Module](dronecan/pomegranate_systems_pm.md)
@@ -586,6 +593,7 @@
        - [FollowTargetEstimator](msg_docs/FollowTargetEstimator.md)
        - [FollowTargetStatus](msg_docs/FollowTargetStatus.md)
        - [FuelTankStatus](msg_docs/FuelTankStatus.md)
+        - [GainCompression](msg_docs/GainCompression.md)
        - [GeneratorStatus](msg_docs/GeneratorStatus.md)
        - [GeofenceResult](msg_docs/GeofenceResult.md)
        - [GeofenceStatus](msg_docs/GeofenceStatus.md)
@@ -736,8 +744,11 @@
        - [ArmingCheckReplyV0](msg_docs/ArmingCheckReplyV0.md)
        - [ArmingCheckRequestV0](msg_docs/ArmingCheckRequestV0.md)
        - [BatteryStatusV0](msg_docs/BatteryStatusV0.md)
+        - [ConfigOverridesV0](msg_docs/ConfigOverridesV0.md)
        - [EventV0](msg_docs/EventV0.md)
        - [HomePositionV0](msg_docs/HomePositionV0.md)
+        - [RegisterExtComponentReplyV0](msg_docs/RegisterExtComponentReplyV0.md)
+        - [RegisterExtComponentRequestV0](msg_docs/RegisterExtComponentRequestV0.md)
        - [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md)
        - [VehicleLocalPositionV0](msg_docs/VehicleLocalPositionV0.md)
        - [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
@@ -37,7 +37,7 @@
    - [Static Pressure Buildup](/advanced_config/static_pressure_buildup.md)
  - [Flying (Basics)](/flying/basic_flying_mc.md)
  - [Complete Vehicles](/complete_vehicles_mc/index.md)
-    - [ModalAI Starling (PX4 Dev Kit)](/complete_vehicles_mc/modalai_starling.md)
+    - [ModalAI Starling](/complete_vehicles_mc/modalai_starling.md)
    - [PX4 Vision Kit](/complete_vehicles_mc/px4_vision_kit.md)
    - [MindRacer BNF & RTF](/complete_vehicles_mc/mindracer_BNF_RTF.md)
      - [MindRacer 210](/complete_vehicles_mc/mindracer210.md)
@@ -58,11 +58,14 @@
    - [DJI F450 (CUAV v5 nano)](/frames_multicopter/dji_f450_cuav_5nano.md)

 - [Planes (Fixed-Wing)](/frames_plane/index.md)
+  - [Features](/features_fw/index.md)
+    - [Gain compression](/features_fw/gain_compression.md)
  - [Assembly](/assembly/assembly_fw.md)
  - [Config/Tuning](/config_fw/index.md)
    - [Auto-tune](/config/autotune_fw.md)
    - [Rate/Attitude Controller Tuning Guide](/config_fw/pid_tuning_guide_fixedwing.md)
    - [Altitude/Position Controller Tuning Guide](/config_fw/position_tuning_guide_fixedwing.md)
+    - [Airspeed Scale Estimate Handling](/config_fw/airspeed_scale_handling.md)
    - [Weight & Altitude Tuning](/config_fw/weight_and_altitude_tuning.md)
    - [Trimming Guide](/config_fw/trimming_guide_fixedwing.md)
  - [Flying (Basics)](/flying/basic_flying_fw.md)
@@ -184,11 +187,13 @@
        - [Wiring Quickstart](/assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md)
+      - [MicoAir H743 Lite](/flight_controller/micoair743-lite.md)
      - [ModalAI VOXL 2](/flight_controller/modalai_voxl_2.md)
      - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md)
      - [Radiolink PIX6](/flight_controller/radiolink_pix6.md)
      - [Sky-Drones AIRLink](/flight_controller/airlink.md)
      - [SPRacing SPRacingH7EXTREME](/flight_controller/spracingh7extreme.md)
+      - [SVehicle E2](/flight_controller/svehicle_e2.md)
      - [ThePeach FCC-K1](/flight_controller/thepeach_k1.md)
      - [ThePeach FCC-R1](/flight_controller/thepeach_r1.md)
    - [Experimental Autopilots](/flight_controller/autopilot_experimental.md)
@@ -241,18 +246,22 @@
      - [TFSlot Airspeed Sensor](/sensor/airspeed_tfslot.md)
    - [Barometers](/sensor/barometer.md)
    - [Distance Sensors \(Rangefinders\)](/sensor/rangefinders.md)
+      - [Ainstein US-D1 Standard Radar Altimeter](/sensor/ulanding_radar.md)
+      - [ARK DIST SR (CAN/UART)](/dronecan/ark_dist.md)
+      - [ARK DIST MR (CAN/UART)](/dronecan/ark_dist_mr.md)
+      - [Benewake TFmini Lidar](/sensor/tfmini.md)
+      - [LeddarOne Lidar](/sensor/leddar_one.md)
+      - [Lidar-Lite](/sensor/lidar_lite.md)
      - [Lightware Lidars (SF/LW)](/sensor/sfxx_lidar.md)
        - [Lightware SF45 Rotary Lidar](/sensor/sf45_rotating_lidar.md)
-      - [Ainstein US-D1 Standard Radar Altimeter](/sensor/ulanding_radar.md)
-      - [LeddarOne Lidar](/sensor/leddar_one.md)
-      - [Benewake TFmini Lidar](/sensor/tfmini.md)
-      - [Lidar-Lite](/sensor/lidar_lite.md)
      - [TeraRanger](/sensor/teraranger.md)
      - [✘ Lanbao PSK-CM8JL65-CC5](/sensor/cm8jl65_ir_distance_sensor.md)
      - [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](/dronecan/avanon_laser_interface.md)
    - [GNSS (GPS)](/gps_compass/index.md)
      - [ARK GPS (CAN)](/dronecan/ark_gps.md)
+      - [ARK DAN GPS](/gps_compass/ark_dan_gps.md)
      - [ARK SAM GPS](/gps_compass/ark_sam_gps.md)
+      - [ARK SAM GPS MINI](/gps_compass/ark_sam_gps_mini.md)
      - [ARK TESEO GPS](/dronecan/ark_teseo_gps.md)
      - [CUAV NEO 3 GPS](/gps_compass/gps_cuav_neo_3.md)
      - [CUAV NEO 3 Pro GPS (CAN)](/gps_compass/gps_cuav_neo_3pro.md)
@@ -264,6 +273,8 @@
      - [Sky-Drones SmartAP GPS](/gps_compass/gps_smartap.md)
    - [RTK GNSS](/gps_compass/rtk_gps.md)
      - [ARK RTK GPS (CAN)](/dronecan/ark_rtk_gps.md)
+      - [ARK RTK GPS L1 L5 (CAN)](/dronecan/ark_rtk_gps_l1_l2.md)
+      - [ARK X20 RTK GPS (CAN)](/dronecan/ark_x20_rtk_gps.md)
      - [ARK MOSAIC-X5 RTK GPS (CAN)](/dronecan/ark_mosaic__rtk_gps.md)
      - [RTK GPS Heading with Dual u-blox F9P](/gps_compass/u-blox_f9p_heading.md)
      - [CUAV C-RTK](/gps_compass/rtk_gps_cuav_c-rtk.md)
@@ -286,6 +297,7 @@
      - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md)
    - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md)
      - [InertialLabs](/sensor/inertiallabs.md)
+      - [MicroStrain](/sensor/microstrain.md)
      - [sbgECom](/sensor/sbgecom.md)
      - [VectorNav](/sensor/vectornav.md)
    - [Optical Flow](/sensor/optical_flow.md)
@@ -340,13 +352,14 @@
    - [Battery Estimation Tuning](/config/battery.md)
    - [Battery Chemistry Overview](/power_systems/battery_chemistry.md)
    - [Power Modules/PDB](/power_module/index.md)
+      - [ARK PAB Power Module](/power_module/ark_pab_power_module.md)
+      - [ARK 12S PAB Power Module](/power_module/ark_12s_pab_power_module.md)
+      - [ARK 12S Payload Power Module](/power_module/ark_12s_payload_power_module.md)
      - [CUAV HV pm](/power_module/cuav_hv_pm.md)
      - [CUAV CAN PMU](/dronecan/cuav_can_pmu.md)
      - [Holybro PM02](/power_module/holybro_pm02.md)
      - [Holybro PM07](/power_module/holybro_pm07_pixhawk4_power_module.md)
      - [Holybro PM06 V2](/power_module/holybro_pm06_pixhawk4mini_power_module.md)
-      - [ARK PAB Power Module](/power_module/ark_pab_power_module.md)
-      - [ARK 12S PAB Power Module](/power_module/ark_12s_pab_power_module.md)
      - [Holybro PM02D (digital)](/power_module/holybro_pm02d.md)
      - [Holybro PM03D (digital)](/power_module/holybro_pm03d.md)
      - [Pomegranate Systems Power Module](/dronecan/pomegranate_systems_pm.md)
@@ -484,6 +497,7 @@
      - [UART/Serial Ports](/uart/index.md)
        - [Port-Configurable Serial Drivers](/uart/user_configurable_serial_driver.md)
    - [RTK GPS (Integration)](/advanced/rtk_gps.md)
+    - [PPS Time Synchronization](/advanced/pps_time_sync.md)
  - [Middleware](/middleware/index.md)
    - [uORB Messaging](/middleware/uorb.md)
    - [uORB Graph](/middleware/uorb_graph.md)
@@ -580,6 +594,7 @@
        - [FollowTargetEstimator](/msg_docs/FollowTargetEstimator.md)
        - [FollowTargetStatus](/msg_docs/FollowTargetStatus.md)
        - [FuelTankStatus](/msg_docs/FuelTankStatus.md)
+        - [GainCompression](/msg_docs/GainCompression.md)
        - [GeneratorStatus](/msg_docs/GeneratorStatus.md)
        - [GeofenceResult](/msg_docs/GeofenceResult.md)
        - [GeofenceStatus](/msg_docs/GeofenceStatus.md)
@@ -670,8 +685,6 @@
        - [RoverSpeedStatus](/msg_docs/RoverSpeedStatus.md)
        - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md)
        - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md)
-        - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md)
-        - [RoverVelocityStatus](/msg_docs/RoverVelocityStatus.md)
        - [Rpm](/msg_docs/Rpm.md)
        - [RtlStatus](/msg_docs/RtlStatus.md)
        - [RtlTimeEstimate](/msg_docs/RtlTimeEstimate.md)
@@ -683,6 +696,7 @@
        - [SensorCombined](/msg_docs/SensorCombined.md)
        - [SensorCorrection](/msg_docs/SensorCorrection.md)
        - [SensorGnssRelative](/msg_docs/SensorGnssRelative.md)
+        - [SensorGnssStatus](/msg_docs/SensorGnssStatus.md)
        - [SensorGps](/msg_docs/SensorGps.md)
        - [SensorGyro](/msg_docs/SensorGyro.md)
        - [SensorGyroFft](/msg_docs/SensorGyroFft.md)
@@ -692,6 +706,7 @@
        - [SensorOpticalFlow](/msg_docs/SensorOpticalFlow.md)
        - [SensorPreflightMag](/msg_docs/SensorPreflightMag.md)
        - [SensorSelection](/msg_docs/SensorSelection.md)
+        - [SensorTemp](/msg_docs/SensorTemp.md)
        - [SensorUwb](/msg_docs/SensorUwb.md)
        - [SensorsStatus](/msg_docs/SensorsStatus.md)
        - [SensorsStatusImu](/msg_docs/SensorsStatusImu.md)
@@ -730,8 +745,11 @@
        - [ArmingCheckReplyV0](/msg_docs/ArmingCheckReplyV0.md)
        - [ArmingCheckRequestV0](/msg_docs/ArmingCheckRequestV0.md)
        - [BatteryStatusV0](/msg_docs/BatteryStatusV0.md)
+        - [ConfigOverridesV0](/msg_docs/ConfigOverridesV0.md)
        - [EventV0](/msg_docs/EventV0.md)
        - [HomePositionV0](/msg_docs/HomePositionV0.md)
+        - [RegisterExtComponentReplyV0](/msg_docs/RegisterExtComponentReplyV0.md)
+        - [RegisterExtComponentRequestV0](/msg_docs/RegisterExtComponentRequestV0.md)
        - [VehicleAttitudeSetpointV0](/msg_docs/VehicleAttitudeSetpointV0.md)
        - [VehicleLocalPositionV0](/msg_docs/VehicleLocalPositionV0.md)
        - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
@@ -744,6 +762,7 @@
        - [Standard Modes Protocol](/mavlink/standard_modes.md)
    - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
      - [UORB Bridged to ROS 2](/middleware/dds_topics.md)
+    - [Zenoh (PX4 ROS 2)](/middleware/zenoh.md)
  - [Modules & Commands](/modules/modules_main.md)
    - [Autotune](/modules/modules_autotune.md)
    - [Commands](/modules/modules_command.md)
@@ -761,6 +780,7 @@
      - [Rpm Sensor](/modules/modules_driver_rpm_sensor.md)
      - [Radio Control](/modules/modules_driver_radio_control.md)
      - [Transponder](/modules/modules_driver_transponder.md)
+      - [adc](/modules/modules_driver_adc.md)
    - [Estimators](/modules/modules_estimator.md)
    - [Simulations](/modules/modules_simulation.md)
    - [System](/modules/modules_system.md)
@@ -26,6 +26,10 @@ If you are looking for more resources to learn about the module, a website has b

 ## Neural Network PX4 Firmware

+::: warning
+This module requires Ubuntu 24.04 or newer (it is not supported in Ubuntu 22.04).
+:::
+
 The module has been tested on a number of configurations, which can be build locally using the commands:

 ```sh
@@ -1,323 +0,0 @@
-# Secure Boot and Firmware Signature Verification
-
-PX4 includes support for secure boot, which prevents unauthorized or tampered firmware from running on the flight controller.
-This feature uses cryptographic signature verification to ensure only trusted firmware can be executed.
-
-::: warning
-Secure boot is an advanced feature primarily intended for commercial applications and OEM manufacturers who need to protect their firmware from tampering.
-Improper configuration can brick your device.
-:::
-
-## Overview
-
-The PX4 secure boot implementation provides:
-
- **Firmware signature verification**: The bootloader verifies cryptographic signatures before executing firmware.
- **Tamper protection**: Unsigned or improperly signed firmware will not be executed.
- **Key-based authentication**: Uses cryptographic keys stored in the device.
- **Table of Contents (TOC)**: A structured format for organizing firmware components with security metadata.
-
-The secure boot feature is available on NuttX-based flight controllers.
-
-## Enabling Secure Boot
-
-### Prerequisites
-
-Before enabling secure boot, you need:
-
-1. A board configuration that supports secure boot (NuttX-based flight controllers)
-2. Understanding of the build system and firmware signing process
-3. Secure storage for your private keys
-4. A workflow for signing firmware images
-
-### Board Configuration
-
-To enable secure boot on your board:
-
-1. **Enable security in bootloader**: Add to your board's bootloader configuration file (e.g., `boards/[vendor]/[board]/nuttx-config/bootloader/defconfig`):
-
-   ```sh
-   CONFIG_BOOTLOADER_USE_SECURITY=y
-   ```
-
-2. **Set crypto algorithm**: Define the signing algorithm in your board's `hw_config.h`:
-
-   ```c
-   #define BOOTLOADER_SIGNING_ALGORITHM CRYPTO_ED25519
-   ```
-
-3. **Configure key storage**: Implement or configure the keystore backend for your board
-4. **Build bootloader with crypto support**: Ensure `PX4_CRYPTO` is defined in your board's CMake configuration
-
-### Key Management
-
-::: warning CRITICAL
-Keep your private keys secure! If private keys are lost, you cannot sign new firmware. If private keys are compromised, unauthorized firmware can be created.
-:::
-
-Key management involves:
-
-1. **Key generation**: Generate cryptographic key pairs (public and private keys)
-2. **Key storage**:
-   - Private keys: Store securely on your build/signing server (never on the device)
-   - Public keys: Store in the device's keystore (accessible to bootloader)
-3. **Key indices**: Each key has an index (0-15) used to reference it in the TOC
-
-#### Generating ED25519 Keys
-
-You can use various tools to generate ED25519 keys.
-Example using Python with the `cryptography` library:
-
-```python
-from cryptography.hazmat.primitives.asymmetric.ed25519 import Ed25519PrivateKey
-from cryptography.hazmat.primitives import serialization
-
-# Generate private key
-private_key = Ed25519PrivateKey.generate()
-
-# Get public key
-public_key = private_key.public_key()
-
-# Serialize private key
-private_bytes = private_key.private_bytes(
-    encoding=serialization.Encoding.Raw,
-    format=serialization.PrivateFormat.Raw,
-    encryption_algorithm=serialization.NoEncryption()
-)
-
-# Serialize public key
-public_bytes = public_key.public_bytes(
-    encoding=serialization.Encoding.Raw,
-    format=serialization.PublicFormat.Raw
-)
-
-# Save keys to files
-with open('private_key.bin', 'wb') as f:
-    f.write(private_bytes)
-
-with open('public_key.bin', 'wb') as f:
-    f.write(public_bytes)
-```
-
-#### Installing Public Keys on Device
-
-Public keys must be installed in the device's keystore. The exact method depends on your board's keystore implementation:
-
- Some boards use One-Time Programmable (OTP) memory
- Some boards use secure flash storage
- Some implementations use a stub keystore for development/testing
-
-Refer to your board's keystore implementation in `src/drivers/stub_keystore/` or board-specific keystore drivers.
-
-### Firmware Signing Process
-
-The firmware signing process involves:
-
-1. **Build firmware**: Build your PX4 firmware as usual
-2. **Create TOC**: Generate the Table of Contents structure
-3. **Sign firmware**: Sign the firmware image with your private key
-4. **Append signature**: Add the signature to the firmware image according to TOC structure
-5. **Flash to device**: Upload the signed firmware to the device
-
-::: info
-The exact tooling for firmware signing depends on your board and security requirements. Custom scripts are typically needed for production use.
-:::
-
-### TOC Creation Example
-
-The TOC structure typically looks like this:
-
-```
-[TOC Start Magic]
-[TOC Version]
-[TOC Entry 0: Firmware]
-  - Name: "APP"
-  - Start: <firmware start address>
-  - End: <firmware end address>
-  - Signature Index: 1
-  - Key Index: 0
-  - Flags: TOC_FLAG1_BOOT | TOC_FLAG1_CHECK_SIGNATURE
-[TOC Entry 1: Signature]
-  - Name: "SIG"
-  - Start: <signature start address>
-  - End: <signature end address>
-  - Flags: 0
-[TOC End Magic]
-[Firmware Binary Data]
-[Signature Data]
-```
-
-## Security Considerations
-
-### Best Practices
-
-1. **Key Management**:
-   - Use hardware security modules (HSM) for key storage when possible
-   - Never commit private keys to version control
-   - Use separate keys for development and production
-   - Implement key rotation policies
-
-2. **Build Security**:
-   - Sign firmware in a secure, controlled environment
-   - Verify signatures before distribution
-   - Use checksums for firmware integrity verification
-   - Maintain an audit log of signed firmware versions
-
-3. **Device Security**:
-   - Use OTP or secure flash for storing public keys
-   - Consider using R&D certificates for development devices (allows unsigned boot)
-   - Implement secure firmware update mechanisms
-   - Monitor for signature verification failures
-
-### Development vs Production
-
-For development, you can use the R&D Certificate feature:
-
-```c
-// In TOC, mark entry with RDCT flag
-toc_entry.flags1 |= TOC_FLAG1_RDCT;
-
-// R&D certificate capabilities
-#define RDCT_CAPS0_ALLOW_UNSIGNED_BOOT 0x1
-```
-
-R&D certificates allow specific devices (identified by UUID) to boot unsigned firmware, useful during development without compromising production security.
-
-::: warning
-Never deploy R&D certificates to production devices!
-:::
-
-## Firmware Updates
-
-### Updating Signed Firmware
-
-When using secure boot, firmware updates must:
-
-1. Be properly signed with the correct private key
-2. Include a valid TOC structure
-3. Use the same key index that matches the public key in the device
-
-The update process through QGroundControl or other tools works the same way, but the firmware file must be properly signed before upload.
-
-### Signature Verification Failures
-
-If signature verification fails:
-
- The bootloader will not execute the firmware.
- The bootloader remains active and accepts new firmware uploads.
- The device will not be bricked (bootloader always runs).
- You can upload a correctly signed firmware to recover.
-
-Check bootloader logs (if available) to diagnose signature failures.
-
-## Troubleshooting
-
-### Common Issues
-
-#### Firmware won't boot after enabling secure boot
-
- Ensure the firmware is properly signed
- Verify the TOC structure is correct
- Check that the key index in TOC matches the keystore
-
-#### Signature verification always fails
-
- Confirm public key is correctly installed in keystore
- Verify the signature was created with the matching private key
- Check that the signature algorithm matches (e.g., ED25519)
- Ensure the signature covers the correct data range
-
-#### Device appears bricked
-
- The bootloader should always be accessible
- Use a debug probe to reprogram the bootloader if needed
- Check that BOOTLOADER_USE_SECURITY is defined correctly
-
-### Debug Information
-
-To debug secure boot issues:
-
-1. Enable bootloader debug output (if supported by your board)
-2. Use a debug probe to examine memory and execution flow
-3. Verify TOC parsing with debug tools
-4. Check return values from `verify_app()` function
-
-## How It Works
-
-### Boot Process
-
-1. **Bootloader starts**: The secure bootloader runs first after power-on or reset.
-2. **TOC validation**: Locates and validates the Firmware Table of Contents (TOC) structure in flash.
-3. **Signature verification**: Verifies the cryptographic signature of the firmware using stored keys.
-4. **Boot decision**:
-   - If verification succeeds, the firmware is executed.
-   - If verification fails, the bootloader remains active and waits for a valid firmware upload.
-
-### Firmware Table of Contents (TOC)
-
-The firmware TOC is a data structure embedded in the firmware that describes:
-
- Firmware components and their locations in flash memory
- Signature information for each component
- Encryption settings (if used)
- Boot flags indicating which component should be executed
-
-The TOC format is defined in `src/include/image_toc.h`:
-
-```c
-typedef struct image_toc_entry {
-    unsigned char name[4];      // Name of the section
-    const void *start;          // Start address in flash
-    const void *end;            // End address in flash
-    void *target;               // Copy target address (for RAM execution)
-    uint8_t signature_idx;      // Index to signature in TOC
-    uint8_t signature_key;      // Key index for signature verification
-    uint8_t encryption_key;     // Key index for encryption (future)
-    uint8_t flags1;             // Control flags
-    uint32_t reserved;          // Reserved for future use
-} image_toc_entry_t;
-```
-
-### Supported Cryptographic Algorithms
-
-PX4's crypto backend supports multiple algorithms (defined in `platforms/common/include/px4_platform_common/crypto_algorithms.h`):
-
- **ED25519**: EdDSA signatures using Curve25519 (recommended for signatures)
- **RSA-OAEP**: RSA with Optimal Asymmetric Encryption Padding
- **XCHACHA20**: Stream cipher for encryption (future use)
- **AES**: Block cipher for encryption (future use)
-
-The bootloader uses ED25519 by default for signature verification due to its security, performance, and small signature size.
-
-## Implementation Details
-
-The secure boot implementation consists of:
-
- **Bootloader**: `platforms/nuttx/src/bootloader/common/`
-  - `bl.c`: Main bootloader logic
-  - `image_toc.c`: TOC parsing and validation
-  - `crypto.c`: Cryptographic operation wrappers
-
- **Crypto Backend**: `src/drivers/sw_crypto/`
-  - `crypto.c`: Software crypto implementation using monocypher and libtomcrypt
-
- **Keystore**: `src/drivers/stub_keystore/` (or board-specific implementations)
-  - Key storage and retrieval
-
- **Headers**:
-  - `src/include/image_toc.h`: TOC structure definitions
-  - `platforms/common/include/px4_platform_common/crypto_backend.h`: Crypto API
-  - `platforms/common/include/px4_platform_common/crypto_algorithms.h`: Algorithm definitions
-
-## Related Topics
-
- [Bootloader Update](bootloader_update.md) - Updating the bootloader itself
- [Building PX4 Software](../dev_setup/building_px4.md) - Build system information
- [Board Support Guide](../hardware/board_support_guide.md) - Creating custom boards
-
-## References
-
- Original implementation: [PR #17672](https://github.com/PX4/PX4-Autopilot/pull/17672)
- Contributor: Technology Innovation Institute
- Monocypher library: https://monocypher.org/
- LibTomCrypt library: https://www.libtom.net/LibTomCrypt/
@@ -32,7 +32,6 @@ This topic lists configuration topics that are not particularly vehicle specific

 - [Bootloader Update](../advanced_config/bootloader_update.md)
  - [Bootloader Update FMUv6X-RT via USB](../advanced_config/bootloader_update_v6xrt.md)
-  - [Secure Boot and Firmware Signature Verification](../advanced_config/bootloader_secure_boot.md)

 ## See Also

@@ -486,6 +486,16 @@ The integer refers to the I2C bus number where PCA9685 is connected.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 10       |           | 0       |

+### PCA9685_I2C_ADDR (`INT32`) {#PCA9685_I2C_ADDR}
+
+I2C address of PCA9685.
+
+The default address is 0x40 (64).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 127      |           | 64      |
+
 ### PCA9685_FAIL1 (`INT32`) {#PCA9685_FAIL1}

 PCA9685 Output Channel 1 Failsafe Value.
@@ -2177,6 +2187,116 @@ output latency, or completely block I2C bus.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 50.0     | 400.0    |           | 50.0    |

+### PWM_AUX_CENT1 (`INT32`) {#PWM_AUX_CENT1}
+
+PWM Aux 1 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 2200     |           | -1      |
+
+### PWM_AUX_CENT10 (`INT32`) {#PWM_AUX_CENT10}
+
+PWM Capture 2 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 2200     |           | -1      |
+
+### PWM_AUX_CENT11 (`INT32`) {#PWM_AUX_CENT11}
+
+PWM Capture 3 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 2200     |           | -1      |
+
+### PWM_AUX_CENT2 (`INT32`) {#PWM_AUX_CENT2}
+
+PWM Aux 2 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 2200     |           | -1      |
+
+### PWM_AUX_CENT3 (`INT32`) {#PWM_AUX_CENT3}
+
+PWM Aux 3 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 2200     |           | -1      |
+
+### PWM_AUX_CENT4 (`INT32`) {#PWM_AUX_CENT4}
+
+PWM Aux 4 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 2200     |           | -1      |
+
+### PWM_AUX_CENT5 (`INT32`) {#PWM_AUX_CENT5}
+
+PWM Aux 5 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 2200     |           | -1      |
+
+### PWM_AUX_CENT6 (`INT32`) {#PWM_AUX_CENT6}
+
+PWM Aux 6 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 2200     |           | -1      |
+
+### PWM_AUX_CENT7 (`INT32`) {#PWM_AUX_CENT7}
+
+PWM Aux 7 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 2200     |           | -1      |
+
+### PWM_AUX_CENT8 (`INT32`) {#PWM_AUX_CENT8}
+
+PWM Aux 8 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 2200     |           | -1      |
+
+### PWM_AUX_CENT9 (`INT32`) {#PWM_AUX_CENT9}
+
+PWM Capture 1 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 2200     |           | -1      |
+
 ### PWM_AUX_DIS1 (`INT32`) {#PWM_AUX_DIS1}

 PWM Aux 1 Disarmed Value.
@@ -14247,22 +14367,6 @@ Defines which RC_MAP_AUXn parameter maps the manual control channel used to enab
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 6        |           | 0       |

-### FW_AT_START (`INT32`) {#FW_AT_START}
-
-Start the autotuning sequence.
-
-WARNING: this will inject steps to the rate controller
-and can be dangerous. Only activate if you know what you
-are doing, and in a safe environment.
-Any motion of the remote stick will abort the signal
-injection and reset this parameter
-Best is to perform the identification in position or
-hold mode.
-
-| Reboot | minValue | maxValue | increment | default      | unit |
-| ------ | -------- | -------- | --------- | ------------ | ---- |
-| &nbsp; |          |          |           | Disabled (0) |
-
 ### FW_AT_SYSID_F0 (`FLOAT`) {#FW_AT_SYSID_F0}

 Start frequency of the injected signal.
@@ -14346,24 +14450,6 @@ Desired angular rate closed-loop rise time.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0.01     | 0.5      |           | 0.14    | s    |

-### MC_AT_START (`INT32`) {#MC_AT_START}
-
-Start the autotuning sequence.
-
-WARNING: this will inject steps to the rate controller
-and can be dangerous. Only activate if you know what you
-are doing, and in a safe environment.
-Any motion of the remote stick will abort the signal
-injection and reset this parameter
-Best is to perform the identification in position or
-hold mode.
-Increase the amplitude of the injected signal using
-MC_AT_SYSID_AMP for more signal/noise ratio
-
-| Reboot | minValue | maxValue | increment | default      | unit |
-| ------ | -------- | -------- | --------- | ------------ | ---- |
-| &nbsp; |          |          |           | Disabled (0) |
-
 ### MC_AT_SYSID_AMP (`FLOAT`) {#MC_AT_SYSID_AMP}

 Amplitude of the injected signal.
@@ -15346,8 +15432,7 @@ disabled, warn only or deny arming.
 Arm switch is a momentary button.

 0: Arming/disarming triggers on switch transition.
-1: Arming/disarming triggers when holding the momentary button down
-for COM_RC_ARM_HYST like the stick gesture.
+1: Arming/disarming triggers when holding the momentary button down like the stick gesture.

 | Reboot | minValue | maxValue | increment | default      | unit |
 | ------ | -------- | -------- | --------- | ------------ | ---- |
@@ -15355,15 +15440,17 @@ for COM_RC_ARM_HYST like the stick gesture.

 ### COM_ARM_WO_GPS (`INT32`) {#COM_ARM_WO_GPS}

-GPS preflight check.
+Arming without GNSS configuration.

-Measures taken when a check defined by EKF2_GPS_CHECK is failing.
+Configures whether arming is allowed without GNSS, for modes that require a global position
+(specifically, in those modes when a check defined by EKF2_GPS_CHECK fails).
+The settings deny arming and warn, allow arming and warn, or silently allow arming.

 **Values:**

 - `0`: Deny arming
- `1`: Warning only
- `2`: Disabled
+- `1`: Allow arming (with warning)
+- `2`: Allow arming (no warning)

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -16152,16 +16239,6 @@ External modes requiring stick input will still failsafe.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 31       |           | 0       |

-### COM_RC_ARM_HYST (`INT32`) {#COM_RC_ARM_HYST}
-
-Manual control input arm/disarm command duration.
-
-The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 100      | 1500     |           | 1000    | ms   |
-
 ### COM_RC_IN_MODE (`INT32`) {#COM_RC_IN_MODE}

 Manual control input source configuration.
@@ -16996,6 +17073,16 @@ EKF2 enable.
 | ------ | -------- | -------- | --------- | ----------- | ---- |
 | &nbsp; |          |          |           | Enabled (1) |

+### EKF2_ENGINE_WRM (`INT32`) {#EKF2_ENGINE_WRM}
+
+Enable constant position fusion during engine warmup.
+
+When enabled, constant position fusion is enabled when the vehicle is landed and armed. This is intended for IC engine warmup (e.g., fuel engines on catapult) to allow mode transitions to auto/takeoff despite vibrations from running engines.
+
+| Reboot | minValue | maxValue | increment | default      | unit |
+| ------ | -------- | -------- | --------- | ------------ | ---- |
+| &nbsp; |          |          |           | Disabled (0) |
+
 ### EKF2_EVA_NOISE (`FLOAT`) {#EKF2_EVA_NOISE}

 Measurement noise for vision angle measurements.
@@ -19347,6 +19434,24 @@ This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | -0.5     | 0.5      | 0.01      | 0.0     |

+### FW_GC_EN (`INT32`) {#FW_GC_EN}
+
+Enable rate gain compression.
+
+| Reboot | minValue | maxValue | increment | default     | unit |
+| ------ | -------- | -------- | --------- | ----------- | ---- |
+| &nbsp; |          |          |           | Enabled (1) |
+
+### FW_GC_GAIN_MIN (`FLOAT`) {#FW_GC_GAIN_MIN}
+
+Compression gain lower limit.
+
+The range of the compression gain is between this parameter and 1.0
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.0      | 1.0      | 0.01      | 0.3     |
+
 ### FW_MAN_P_SC (`FLOAT`) {#FW_MAN_P_SC}

 Manual pitch scale.
@@ -21989,6 +22094,8 @@ Control Surface 0 configuration as spoiler.
 Control Surface 0 trim.

 Can be used to add an offset to the servo control.
+NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+This parameter can only be set if all PWM Center parameters are set to default.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22069,6 +22176,8 @@ Control Surface 1 configuration as spoiler.
 Control Surface 1 trim.

 Can be used to add an offset to the servo control.
+NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+This parameter can only be set if all PWM Center parameters are set to default.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22149,6 +22258,8 @@ Control Surface 2 configuration as spoiler.
 Control Surface 2 trim.

 Can be used to add an offset to the servo control.
+NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+This parameter can only be set if all PWM Center parameters are set to default.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22229,6 +22340,8 @@ Control Surface 3 configuration as spoiler.
 Control Surface 3 trim.

 Can be used to add an offset to the servo control.
+NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+This parameter can only be set if all PWM Center parameters are set to default.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22309,6 +22422,8 @@ Control Surface 4 configuration as spoiler.
 Control Surface 4 trim.

 Can be used to add an offset to the servo control.
+NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+This parameter can only be set if all PWM Center parameters are set to default.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22389,6 +22504,8 @@ Control Surface 5 configuration as spoiler.
 Control Surface 5 trim.

 Can be used to add an offset to the servo control.
+NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+This parameter can only be set if all PWM Center parameters are set to default.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22469,6 +22586,8 @@ Control Surface 6 configuration as spoiler.
 Control Surface 6 trim.

 Can be used to add an offset to the servo control.
+NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+This parameter can only be set if all PWM Center parameters are set to default.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22549,6 +22668,8 @@ Control Surface 7 configuration as spoiler.
 Control Surface 7 trim.

 Can be used to add an offset to the servo control.
+NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+This parameter can only be set if all PWM Center parameters are set to default.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -23162,6 +23283,7 @@ Engine start/stop input source.
 - `0`: On arming - disarming
 - `1`: Aux1
 - `2`: Aux2
+- `3`: On Vtol Transitions

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -1,126 +1,39 @@
-# ModalAI Starling (PX4 Autonomy Developer Kit)
+# ModalAI Starling 2

-The [Starlings](https://www.modalai.com/pages/starlings) are SLAM development drones supercharged by [VOXL 2](../flight_controller/modalai_voxl_2.md) and PX4 with SWAP-optimized sensors and payloads optimized for indoor and outdoor autonomous navigation.
-Powered by Blue UAS Framework autopilot, VOXL 2, the Starling weighs only 275g and boasts an impressive 30 minutes of autonomous indoor flight time.
+The [Starlings](https://www.modalai.com/pages/starlings) are NDAA-compliant SLAM development drones based on the [VOXL 2](../flight_controller/modalai_voxl_2.md) and PX4 with SWAP-optimized sensors and payloads optimized for indoor and outdoor autonomous navigation.

-![Overview](../../assets/hardware/complete_vehicles/modalai_starling/starling_front_hero.jpg)
+## Overview

-The ModalAI PX4 Autonomy Developer Kit is a Starling-based development drone.
-It houses a [VOXL 2](../flight_controller/modalai_voxl_2.md), which is a powerful companion computer and PX4 flight controller in one small package, image sensors, GPS, and connectivity modem, and is ready-to-fly out-of-the-box.
-The Starling features ModalAI's [open SDK](https://docs.modalai.com/voxl-developer-bootcamp/) that has pre-configured autonomy models for computer vision assisted flight.
-This development drone is meant to help you get to market faster and accelerate your application development and prototyping.
+Starling drones house _VOXL 2_, which is a powerful companion computer, a PX4 flight controller, image sensors, GPS, and connectivity modem, in one small package.
+The Starlings feature ModalAI's open source [VOXL SDK](https://gitlab.com/voxl-public/voxl-sdk) that has pre-configured autonomy models for computer vision assisted flight.

-This guide explains the minimal additional setup required to get the UAV ready to fly.
-It also covers a hardware overview, first flight, setting up WiFi, and more.
-
-::: info
-For complete and regularly updated documentation, please visit <https://docs.modalai.com/starling-v2>.
-:::
+These development drones are ready-to-fly out-of-the-box.
+They are designed to help you get to market faster and accelerate your application development and prototyping.

 ::: info
 If you are new to VOXL, be sure to familiarize yourself with the core features of VOXL hardware and software by reviewing the [VOXL Bootcamp](https://docs.modalai.com/voxl-developer-bootcamp/).
 :::

+::: info
+For complete and regularly updated documentation, please visit <https://docs.modalai.com/starling-2/> and <https://docs.modalai.com/starling-2-max/>.
+:::
+
+## Starling 2
+
+The [Starling 2](https://www.modalai.com/products/starling-2) is an NDAA-compliant development drone supercharged by the VOXL SDK and equipped with a new image sensor suite for precise, indoor visual navigation and SLAM. Powered by the Blue UAS Framework autopilot, VOXL 2, the Starling 2 weighs 280g and boasts an impressive 40 minutes of autonomous flight time.
+
+![Image of the front of Starling 2](../../assets/hardware/complete_vehicles/modalai_starling/d0014_front_1920x800.png)
+
+## Starling 2 Max
+
+The [Starling 2 Max](https://www.modalai.com/products/starling-2-max) is VOXL 2-powered, NDAA-compliant development drone supercharged by VOXL SDK specifically designed for computer vision-based, long-range dead reckoning with a 500g payload capacity. Powered by the Blue UAS Framework autopilot, VOXL 2, the Starling 2 Max weighs 500g and boasts an impressive 55 minutes of autonomous flight time.
+
+![Image of front of a Starling 2 Max](../../assets/hardware/complete_vehicles/modalai_starling/d0012_front_1920x800.png)
+
 ## Where to Buy

-[ModalAI PX4 Autonomy Developer Kit](https://www.modalai.com/products/px4-autonomy-developer-kit?variant=46969885950256)
+[ModalAI Starling 2](https://www.modalai.com/products/starling-2)

-## Hardware Overview
-
-![Hardware Overview](../../assets/hardware/complete_vehicles/modalai_starling/mrb_d0005_4_v2_c6_m22__callouts_a.jpg)
-
-| Callout | Description                           | MPN              |
-| ------- | ------------------------------------- | ---------------- |
-| A       | VOXL 2                                | MDK-M0054-1      |
-| B       | VOXL 4-in-1 ESC                       | MDK-M0117-1      |
-| C       | Barometer Shield Cap                  | M10000533        |
-| D       | ToF Image Sensor (PMD)                | MDK-M0040        |
-| E       | Tracking Image Sensor (OV7251)        | M0014            |
-| F       | Hires Image Sensor (IMX214)           | M0025-2          |
-| G       | AC600 WiFi Dongle                     | AWUS036EACS      |
-| H       | GNSS GPS Module & Compass             | M10-5883         |
-| I       | 915MHz ELRS Receiver                  | BetaFPV Nano RX  |
-| J       | USB C Connector on VOXL 2 (not shown) |                  |
-| K       | VOXL Power Module                     | MCCA-M0041-5-B-T |
-| L       | 4726FM Propellor                      | M10000302        |
-| M       | Motor 1504                            |                  |
-| N       | XT30 Power Connector                  |                  |
-
-## Datasheet
-
-### Specifications
-
-| Component       | Specification                                                     |
-| --------------- | ----------------------------------------------------------------- |
-| Autopilot       | VOXL2                                                             |
-| Take-off Weight | 275g (172g without battery)                                       |
-| Diagonal Size   | 211mm                                                             |
-| Flight Time     | >30 minutes                                                       |
-| Motors          | 1504                                                              |
-| Propellers      | 120mm                                                             |
-| Frame           | 3mm Carbon Fiber                                                  |
-| ESC             | ModalAI VOXL 4-in-1 ESC V2                                        |
-| GPS             | UBlox M10                                                         |
-| RC Receiver     | 915mhz ELRS                                                       |
-| Power Module    | ModalAI Power Module v3 - 5V/6A                                   |
-| Battery         | Sony VTC6 3000mah 2S, or any 2S 18650 battery with XT30 connector |
-| Height          | 83mm                                                              |
-| Width           | 187mm (Props folded)                                              |
-| Length          | 142mm (Props folded)                                              |
-
-### Hardware Wiring Diagram
-
-![Hardware Overview](../../assets/hardware/complete_vehicles/modalai_starling/d0005_compute_wiring_d.jpg)
-
-## Tutorials
-
-### ELRS Set Up
-
-Binding your ELRS (ExpressLRS) receiver to a transmitter is a crucial step in preparing your VOXL 2 based PX4 Autonomy Developer Kit by ModalAI for flight.
-This process ensures a secure and responsive connection between your drone and its control system.
-
-Follow this guide to bind your ELRS receiver to your transmitter.
-
-#### Setting up the Receiver
-
-1. **Power On the Receiver**: Once your drone is powered on, you'll notice the ELRS receiver's blue LED flashing.
-   This is an indication that the receiver is on but has not yet established a connection with a transmitter.
-
-   ![Starling Receiver](../../assets/hardware/complete_vehicles/modalai_starling/starling-photo.png)
-
-2. **Enter Binding Mode**: To initiate binding, open a terminal and execute the `adb shell` and `voxl-elrs -bind` commands.
-   You'll observe the receiver's LED switch to a flashing in a heartbeat pattern, signaling that it is now in binding mode.
-
-   ![Boot Screenshot](../../assets/hardware/complete_vehicles/modalai_starling/screenshot-boot.png)
-
-#### Setting up the Transmitter
-
-1. **Access the Menu**: On your Commando 8 radio transmitter included in the kit, press the left mode button to open the menu system.
-
-   ![Press Menu on RC](../../assets/hardware/complete_vehicles/modalai_starling/radio-1.png)
-
-2. **Navigate to ExpressLRS**: Use the right button to select the first menu entry, which should be "ExpressLRS."
-3. **Find the Bind Option**: With the "ExpressLRS" option selected, scroll down to the bottom of the menu to locate the "Bind" section. This can be done by pressing the right button downwards until you reach the "Bind" option.
-
-   ![Press Binding on RC](../../assets/hardware/complete_vehicles/modalai_starling/radio-2.png)
-
-4. **Initiate Binding**: Select "Bind" to put the transmitter into binding mode. You will know the process has been successful when the transmitter emits a beep, indicating a successful bind.
-
-#### Completing the Binding Process
-
-Once the transmitter is set to bind mode, the ELRS receiver on the drone will change its LED from flashing to a steady light, signifying a successful connection between the receiver and the transmitter.
-
- **Power Cycle**: After the binding process is complete, it's essential to power cycle the VOXL 2 before attempting to fly.
-  This means turning off the VOXL 2 and then turning it back on.
-  This step ensures that all settings are properly applied and that the system recognizes the newly established connection.
-
-You should now have a successfully bound ELRS receiver to your transmitter, ready for use with the PX4 Autonomy Kit by ModalAI.
-A secure connection is vital for the reliable operation of your drone, so always confirm the binding status before flight.
-
-### Videos
-
- [VOXL 2 Starling Hardware Overview](https://youtu.be/M9OiMpbEYOg)
- [VOXL 2 Starling First Flight Tutorial](https://youtu.be/Cpbbye3Z6co)
- [VOXL 2 Starling ELRS Set Up](https://youtu.be/7OwGS-kcFVg)
+[ModalAI Starling 2 Max](https://www.modalai.com/products/starling-2-max)

 <!--  @katzfey - ModalAI reviewer -->
@@ -10,7 +10,7 @@ If you have [mounted the compass](../assembly/mount_gps_compass.md#compass-orien

 ## Overview

-You will need to calibrate your compass(es) when you first setup your vehicle, and you may need to recalibrate it if the vehicles is ever exposed to a very strong magnetic field, or if it is used in an area with abnormal magnetic characteristics.
+You will need to calibrate your compass(es) when you first setup your vehicle, and you may need to [recalibrate](#recalibration) it if the vehicles is ever exposed to a very strong magnetic field, or if it is used in an area with abnormal magnetic characteristics.

 :::tip
 Indications of a poor compass calibration include multicopter circling during hover, toilet bowling (circling at increasing radius/spiraling-out, usually constant altitude, leading to fly-way), or veering off-path when attempting to fly straight.
@@ -20,13 +20,16 @@ _QGroundControl_ should also notify the error `mag sensors inconsistent`.
 The process calibrates all compasses and autodetects the orientation of any external compasses.
 If any external magnetometers are available, it then disables the internal magnetometers (these are primarily needed for automatic rotation detection of external magnetometers).

+### Types of Calibration
+
 Several types of compass calibration are available:

 1. [Complete](#complete-calibration): This calibration is required after installing the autopilot on an airframe for the first time or when the configuration of the vehicle has changed significantly.
   It compensates for hard and soft iron effects by estimating an offset and a scale factor for each axis.
 1. [Partial](#partial-quick-calibration): This calibration can be performed as a routine when preparing the vehicle for a flight, after changing the payload, or simply when the compass rose seems inaccurate.
   This type of calibration only estimates the offsets to compensate for a hard iron effect.
-1. [Large vehicle](#large-vehicle-calibration): This calibration can be performed when the vehicle is too large or heavy to perform a complete calibration. This type of calibration only estimates the offsets to compensate for a hard iron effect.
+1. [Large vehicle](#large-vehicle-calibration): This calibration can be performed when the vehicle is too large or heavy to perform a complete calibration.
+   This type of calibration only estimates the offsets to compensate for a hard iron effect.

 ## Performing the Calibration

@@ -48,23 +51,27 @@ Before starting the calibration:
 The calibration steps are:

 1. Start _QGroundControl_ and connect the vehicle.
-1. Select **"Q" icon > Vehicle Setup > Sensors** (sidebar) to open _Sensor Setup_.
-1. Click the **Compass** sensor button.
+2. Select **"Q" icon > Vehicle Setup > Sensors** (sidebar) to open _Sensor Setup_.
+3. Click the **Compass** sensor button.

   ![Select Compass calibration PX4](../../assets/qgc/setup/sensor/sensor_compass_select_px4.png)

   ::: info
-   You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md). If not, you can also set it here.
+   You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md).
+   If not, you can also set it here.
   :::

-1. Click **OK** to start the calibration.
-1. Place the vehicle in any of the orientations shown in red (incomplete) and hold it still. Once prompted (the orientation-image turns yellow) rotate the vehicle around the specified axis in either/both directions. Once the calibration is complete for the current orientation the associated image on the screen will turn green.
+4. Click **OK** to start the calibration.
+5. Place the vehicle in any of the orientations shown in red (incomplete) and hold it still.
+   Once prompted (the orientation-image turns yellow) rotate the vehicle around the specified axis in either/both directions.
+   Once the calibration is complete for the current orientation the associated image on the screen will turn green.

   ![Compass calibration steps on PX4](../../assets/qgc/setup/sensor/sensor_compass_calibrate_px4.png)

-1. Repeat the calibration process for all vehicle orientations.
+6. Repeat the calibration process for all vehicle orientations.

-Once you've calibrated the vehicle in all the positions _QGroundControl_ will display _Calibration complete_ (all orientation images will be displayed in green and the progress bar will fill completely). You can then proceed to the next sensor.
+Once you've calibrated the vehicle in all the positions _QGroundControl_ will display _Calibration complete_ (all orientation images will be displayed in green and the progress bar will fill completely).
+You can then proceed to the next sensor.

 ### Partial "Quick" Calibration

@@ -87,7 +94,8 @@ Notes:

 This calibration process leverages external knowledge of vehicle's orientation and location, and a World Magnetic Model (WMM) to calibrate the hard iron biases.

-1. Ensure GNSS Fix. This is required to find the expected Earth magnetic field in WMM tables.
+1. Ensure GNSS Fix.
+   This is required to find the expected Earth magnetic field in WMM tables.
 2. Align the vehicle to face True North.
   Be as accurate as possible for best results.
 3. Open the [QGroundControl MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html) and send the following command:
@@ -107,6 +115,30 @@ Notes:

 After the calibration is complete, check that the heading indicator and the heading of the arrow on the map are stable and match the orientation of the vehicle when turning it e.g. to the cardinal directions.

+## Recalibration
+
+Recalibration is recommended whenever the magnetic environment of the vehicle has changed or when heading behavior appears unreliable.
+
+You can use either complete calibration or mag quick calibration depending on the size of the vehicle and your ability to rotate it through the required orientations.
+Complete calibration provides the most accurate soft-iron compensation.
+
+Recalibrate the compass when:
+
+- _The compass module or its mounting orientation has changed._
+  This includes replacing the GPS or mag unit, rotating the mast, or altering how the module is fixed to the airframe.
+- _The vehicle has been exposed to a strong magnetic disturbance._
+  Examples include transport or storage near large steel structures, welding operations near the airframe, or operation close to high-current equipment.
+- _Structural, wiring, or payload changes may have altered the magnetic field around the sensors._
+  New payloads, rerouted wires, additional batteries, or metal fasteners can introduce soft-iron effects that affect heading accuracy.
+- _The vehicle is operated in a region with significantly different magnetic characteristics._
+  Large changes in latitude, longitude, or magnetic inclination can require re-estimation of offsets.
+- _QGroundControl reports magnetometer inconsistencies_.
+  For example, if you see the error `mag sensors inconsistent`.
+- _Heading behavior does not match the vehicle’s observed orientation._
+  Symptoms include drifting yaw, sudden heading jumps when attempting to fly straight, and toilet bowling
+- _QGroundControl_ sends the error `mag sensors inconsistent`.
+  This indicates that multiple magnetometers are reporting different headings.
+
 ## Additional Calibration/Configuration

 The process above will autodetect, [set default rotations](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT), calibrate, and prioritise, all available magnetometers.
@@ -77,13 +77,18 @@ Follow these steps:

 1. **Set an Initial Scale**

-   Use a conservative starting point: set the CAS scale (`ASPD_SCALE_n`) slightly under 1.0 (for example 0.95).
-   This biases the system toward over-speed rather than under-speed, reducing stall risk.
+   Set the CAS scale (`ASPD_SCALE_n`) to 1.0 (the default value).
+   When the scale is at exactly 1.0, PX4 automatically accelerates the learning process during the first 5 minutes of flight, allowing faster convergence to the correct scale value.

 2. **Perform a Flight**

   After takeoff, place the vehicle in loiter for about 15 minutes to allow the scale estimation to converge.

+   ::: tip
+   Flying in circles (loiter/hold mode) is important as the scale-validation algorithm requires the aircraft to pass through multiple heading segments (12 segments covering all compass directions).
+   If these heading segments aren’t completed, PX4 cannot validate the estimated scale.
+   :::
+
 3. **Check Scale Convergence**

   After the flight, review the estimated scale in logs.
@@ -0,0 +1,98 @@
+# ARK DIST SR
+
+ARK DIST SR is a low range, open source [DroneCAN](index.md) [distance sensor](../sensor/rangefinders.md).
+It has an approximate range of between 8cm to 30m.
+
+![ARK DIST SR](../../assets/hardware/sensors/optical_flow/ark_dist.jpg)
+
+## Where to Buy
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-dist-sr/) (US)
+
+## Hardware Specifications
+
+- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_DIST)
+- Sensors
+  - [Broadcom AFBR-S50LV85D Time-of-Flight Distance Sensor](https://www.broadcom.com/products/optical-sensors/time-of-flight-3d-sensors/afbr-s50lv85d)
+    - Typical distance range up to 30m
+    - Integrated 850 nm laser light source
+    - Field-of-View (FoV) of 12.4° x 6.2° with 32 pixels
+    - Operation of up to 200k Lux ambient light
+    - Reference Pixel for system health monitoring
+    - Works well on all surface conditions
+    - Transmitter beam of 2° x 2° to illuminate between 1 and 3 pixels
+- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
+- Pixhawk Standard UART Connector (6 Pin JST SH)
+- Pixhawk Standard Debug Connector (6 Pin JST SH)
+- Small Form Factor
+  - 2.0cm x 2.8cm x 1.4cm
+  - 4g
+- LED Indicators
+- USA Built
+- NDAA Compliant
+- Power Requirements
+  - 5v
+    - 84mA Average
+    - 86mA Max
+
+## Hardware Setup
+
+### Wiring
+
+The ARK DIST is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable.
+For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
+
+The ARK DIST can also be connected with UART and communicates over MAVLink sending the [DISTANCE_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) message.
+
+## Firmware Setup
+
+ARK DIST SR runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md).
+As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
+
+## PX4 Configuration
+
+### DroneCAN
+
+#### Enable DroneCAN
+
+The steps are:
+
+- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)) and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
+- Connect ARK DIST SR CAN to the Pixhawk CAN.
+
+Once enabled, the module will be detected on boot.
+Distance sensor data should arrive at 40Hz.
+
+DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
+
+#### CAN Configuration
+
+First set the parameters to [Enable DroneCAN](#enable-dronecan) (as shown above).
+
+Set the following parameters in _QGroundControl_:
+
+- Enable [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to 2 for dynamic node allocation.
+- Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
+- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `30`.
+- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
+- Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
+- Set [UAVCAN_RNG_MAX](../advanced_config/parameter_reference.md#UAVCAN_RNG_MAX) to `30`.
+
+See also [Distance Sensor/Range Finder in _DroneCAN > Subscriptions and Publications_](../dronecan/#distance-sensor-range-finder).
+
+### UART/MAVLink Configuration
+
+If connecting via a UART set the following parameters in _QGroundControl_:
+
+- Set [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) to the port the sensor is connected to.
+- Set [MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_0_FORWARD) to `0` (off).
+- Set [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) to `7` or `13` to (Minimal or Low Bandwidth) to reduce memory usage.
+- Set `SER_XXX_BAUD` to `115200`, where `XXX` is specific to the port you are using (such as [SER_GPS2_BAUD](../advanced_config/parameter_reference.md#SER_GPS2_BAUD)).
+- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `30`.
+- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
+
+## See Also
+
+- [ARK DIST SR](https://docs.arkelectron.com/sensor/ark-dist) (ARK Docs)
@@ -0,0 +1,97 @@
+# ARK DIST MR
+
+ARK DIST MR is a mid range, open source [DroneCAN](index.md) [distance sensor](../sensor/rangefinders.md).
+
+![ARK DIST MR](../../assets/hardware/sensors/optical_flow/ark_dist.jpg)
+
+## Where to Buy
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-dist-mr/) (US)
+
+## Hardware Specifications
+
+- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_DIST)
+- Sensors
+  - [Broadcom AFBR-S50LX85D Time-of-Flight Distance Sensor](https://www.broadcom.com/products/optical-sensors/time-of-flight-3d-sensors/afbr-s50lx85d)
+    - Typical distance range up to 50m
+    - Integrated 850 nm laser light source
+    - Field-of-View (FoV) of 12.4° x 6.2° with 32 pixels
+    - Operation of up to 200k Lux ambient light
+    - Reference Pixel for system health monitoring
+    - Works well on all surface conditions
+    - Transmitter beam of 2° x 2° to illuminate between 1 and 3 pixels
+- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
+- Pixhawk Standard UART Connector (6 Pin JST SH)
+- Pixhawk Standard Debug Connector (6 Pin JST SH)
+- Small Form Factor
+  - 2.0cm x 2.8cm x 1.4cm
+  - 4g
+- LED Indicators
+- USA Built
+- NDAA Compliant
+- Power Requirements
+  - 5v
+    - 78mA Average
+    - 84mA Max
+
+## Hardware Setup
+
+### Wiring
+
+The ARK DIST is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable.
+For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
+
+The ARK DIST can also be connected with UART and communicates over MAVLink sending the [DISTANCE_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) message.
+
+## Firmware Setup
+
+ARK DIST MR runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md).
+As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
+
+## PX4 Configuration
+
+### DroneCAN
+
+#### Enable DroneCAN
+
+The steps are:
+
+- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)) and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
+- Connect ARK DIST SR CAN to the Pixhawk CAN.
+
+Once enabled, the module will be detected on boot.
+Distance sensor data should arrive at 40Hz.
+
+DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
+
+#### CAN Configuration
+
+First set the parameters to [Enable DroneCAN](#enable-dronecan) (as shown above).
+
+Set the following parameters in _QGroundControl_:
+
+- Enable [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to 2 for dynamic node allocation.
+- Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
+- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `50`.
+- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
+- Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
+- Set [UAVCAN_RNG_MAX](../advanced_config/parameter_reference.md#UAVCAN_RNG_MAX) to `50`.
+
+See also [Distance Sensor/Range Finder in _DroneCAN > Subscriptions and Publications_](../dronecan/#distance-sensor-range-finder).
+
+### UART/MAVLink Configuration
+
+If connecting via a UART set the following parameters in _QGroundControl_:
+
+- Set [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) to the port the sensor is connected to.
+- Set [MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_0_FORWARD) to `0` (off).
+- Set [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) to `7` or `13` to (Minimal or Low Bandwidth) to reduce memory usage.
+- Set `SER_XXX_BAUD` to `115200`, where `XXX` is specific to the port you are using (such as [SER_GPS2_BAUD](../advanced_config/parameter_reference.md#SER_GPS2_BAUD)).
+- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `50`.
+- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
+
+## See Also
+
+- [ARK DIST MR](https://docs.arkelectron.com/sensor/ark-dist) (ARK Docs)
@@ -20,6 +20,7 @@ Order this module from:
    - Multi-band RTK with fast convergence times and reliable performance
    - High update rate for highly dynamic applications
    - Centimetre accuracy in a small and energy efficient module
+    - Moving Base for Heading
  - Bosch BMM150 Magnetometer
  - Bosch BMP388 Barometer
  - Invensense ICM-42688-P 6-Axis IMU
@@ -0,0 +1,163 @@
+# ARK RTK GPS L1 L5
+
+[ARK RTK GPS L1 L5](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-rtk-gps) is an open source [DroneCAN](index.md) [RTK GPS](../gps_compass/rtk_gps.md), [u-blox F9P](https://www.u-blox.com/en/product/zed-f9p-module), magnetometer, barometer, IMU, buzzer, and safety switch module.
+
+![ARK RTK GPS L1 L5](../../assets/hardware/gps/ark/ark_rtk_gps_l1_l5.jpg)
+
+## Where to Buy
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-rtk-gps-l1-l5/) (US)
+
+## Hardware Specifications
+
+- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_RTK_GPS)
+- Sensors
+  - Ublox F9P GPS
+    - Multi-band GNSS receiver delivers centimetre level accuracy in seconds
+    - Concurrent reception of GPS, GLONASS, Galileo and BeiDou
+    - Multi-band RTK with fast convergence times and reliable performance
+    - High update rate for highly dynamic applications
+    - Centimetre accuracy in a small and energy efficient module
+    - Does not Support Moving Base for Heading
+  - Bosch BMM150 Magnetometer
+  - Bosch BMP388 Barometer
+  - Invensense ICM-42688-P 6-Axis IMU
+- STM32F412CEU6 MCU
+- Safety Button
+- Buzzer
+- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
+- F9P `UART 2` Connector
+  - 3 Pin JST GH
+  - TX, RX, GND
+- Pixhawk Standard Debug Connector (6 Pin JST SH)
+- LED Indicators
+  - Safety LED
+  - GPS Fix
+  - RTK Status
+  - RGB system status
+- USA Built
+- Power Requirements
+  - 5V
+  - 170mA Average
+  - 180mA Max
+
+## Hardware Setup
+
+### Wiring
+
+The ARK RTK GPS L1 L5 is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
+
+### Mounting
+
+The recommended mounting orientation is with the connectors on the board pointing towards the **back of vehicle**.
+
+The sensor can be mounted anywhere on the frame, but you will need to specify its position, relative to vehicle centre of gravity, during [PX4 configuration](#px4-configuration).
+
+## Firmware Setup
+
+ARK RTK GPS L1 L5 runs the [PX4 cannode firmware](px4_cannode_fw.md). As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
+
+ARK RTK GPS L1 L5 boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself, refer to the [cannode firmware build instructions](px4_cannode_fw.md#building-the-firmware).
+
+Firmware target: `ark_can-rtk-gps_default`
+Bootloader target: `ark_can-rtk-gps_canbootloader`
+
+## Flight Controller Setup
+
+### Enabling DroneCAN
+
+In order to use the ARK RTK GPS L1 L5, connect it to the Pixhawk CAN bus and enable the DroneCAN driver by setting parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)).
+
+The steps are:
+
+- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` or `3` and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
+- Connect ARK RTK GPS L1 L5 CAN to the Pixhawk CAN.
+
+Once enabled, the module will be detected on boot.
+GPS data should arrive at 10Hz.
+
+### PX4 Configuration
+
+You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle:
+
+- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
+- Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
+- Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
+- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS L1 L5 from the vehicles centre of gravity.
+
+### ARK RTK GPS L1 L5 Configuration
+
+You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS L1 L5 itself:
+
+| Parameter                                                                                                | Description                                                                                                                           |
+| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)          | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                     |
+
+### Setting Up Rover and Fixed Base
+
+Position of the rover is established using RTCM messages from the RTK base module (the base module is connected to QGC, which sends the RTCM information to PX4 via MAVLink).
+
+PX4 DroneCAN parameters:
+
+- [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM):
+  - Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
+
+Rover module parameters (also [set using QGC](../dronecan/index.md#qgc-cannode-parameter-configuration)):
+
+- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
+
+::: info
+Use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) instead if you want to implement moving base (see below) at the same time.
+:::
+
+For more information see [Rover and Fixed Base](../dronecan/index.md#rover-and-fixed-base) in the DroneCAN guide.
+
+## LED Meanings
+
+- The GPS status lights are located to the right of the connectors
+  - Blinking green is GPS fix
+  - Blinking blue is received corrections and RTK Float
+  - Solid blue is RTK Fixed
+
+- The CAN status lights are located top the left of the connectors
+  - Slow blinking green is waiting for CAN connection
+  - Fast blinking green is normal operation
+  - Slow blinking green and blue is CAN enumeration
+  - Fast blinking blue and red is firmware update in progress
+  - Blinking red is error
+    - If you see a red LED there is an error and you should check the following
+      - Make sure the flight controller has an SD card installed
+      - Make sure the ARK RTK GPS L1 L5 has `ark_can-rtk-gps_canbootloader` installed prior to flashing `ark_can-rtk-gps_default`
+      - Remove binaries from the root and ufw directories of the SD card and try to build and flash again
+
+### Updating Ublox F9P Module
+
+ARK RTK GPS L1 L5 comes with the Ublox F9P module up to date with version 1.13 or newer. However, you can check the version and update the firmware if desired.
+
+The steps are:
+
+1. [Download u-center from u-blox.com](https://www.u-blox.com/en/product/u-center) and install on your PC (Windows only)
+2. Open the [u-blox ZED-F9P website](https://www.u-blox.com/en/product/zed-f9p-module#tab-documentation-resources)
+3. Scroll down and click on the "Show Legacy Documents" box
+4. Scroll down again to Firmware Update and download your desired firmware (at least version 1.13 is needed)
+5. While holding down the safety switch on the ARK RTK GPS L1 L5, connect it to power via one of its CAN ports and hold until all 3 LEDs blink rapidly
+6. Connect the ARK RTK GPS L1 L5 to your PC via its debug port with a cable such as the Black Magic Probe or an FTDI
+7. Open u-center, select the COM port for the ARK RTK GPS L1 L5 and connect
+   ![U-Center Connect](../../assets/hardware/gps/ark/ark_rtk_gps_ucenter_connect.png)
+8. Check the current firmware version by selecting View, Messages View, UBX, MON, VER
+   ![Check Version](../../assets/hardware/gps/ark/ark_rtk_gps_ublox_version.png)
+9. To update the firmware:
+   1. Select Tools, Firmware Update
+   2. The Firmware image field should be the .bin file downloaded from the u-blox ZED-F9P website
+   3. Check the "Use this baudrate for update" checkbox and select 115200 from the drop-down
+   4. Ensure the other checkboxes are as shown below
+   5. Push the green GO button on the bottom left
+   6. "Firmware Update SUCCESS" should be displayed if it updated successfully
+      ![Firmware Update](../../assets/hardware/gps/ark/ark_rtk_gps_ublox_f9p_firmware_update.png)
+
+## See Also
+
+- [ARK RTK GPS L1 L5 Documentation](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-rtk-gps) (ARK Docs)
@@ -0,0 +1,141 @@
+# ARK X20 RTK GPS
+
+[ARK X20 RTK GPS](https://docs.arkelectron.com/gps/ark-x20-rtk-gps) is an open source [DroneCAN](index.md) [RTK GPS](../gps_compass/rtk_gps.md), [u-blox ZED-X20P all-band high precision GNSS module](https://www.u-blox.com/en/product/zed-x20p-module), magnetometer, barometer, IMU, buzzer, and safety switch module.
+
+![ARK X20 RTK GPS](../../assets/hardware/gps/ark/ark_x20_rtk_gps.jpg)
+
+## Where to Buy
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-x20-rtk-gps/) (US)
+
+## Hardware Specifications
+
+- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_RTK_GPS)
+- Sensors
+  - Ublox ZED-X20P
+    - All-band all constellation GNSS receiver
+    - Best position accuracy and availability in different environments
+    - RTK, PPP-RTK and PPP algorithms expanding the limits of performance
+    - Highest quality GNSS raw data
+    - u-blox end-to-end hardened security
+    - 25Hz update rate
+  - ST IIS2MDC Magnetometer
+  - Bosch BMP390 Barometer
+  - Invensense ICM-42688-P 6-Axis IMU
+- STM32F412VGH6 MCU
+- Safety Button
+- Buzzer
+- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
+- X20 “UART 2” Connector
+  - 4 Pin JST GH
+  - TX, RX, PPS, GND
+- I2C Expansion Connector
+  - 4 Pin JST-GH
+  - 5.0V, SCL, SDA, GND
+- Pixhawk Standard Debug Connector (6 Pin JST SH)
+- LED Indicators
+  - Safety LED
+  - GPS Fix
+  - RTK Status
+  - RGB system status
+- USA Built
+- Power Requirements
+  - 5V
+  - 144mA Average
+  - 157mA Max
+
+## Hardware Setup
+
+### Wiring
+
+The ARK X20 RTK GPS is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
+
+### Mounting
+
+The recommended mounting orientation is with the connectors on the board pointing towards the **back of vehicle**.
+
+The sensor can be mounted anywhere on the frame, but you will need to specify its position, relative to vehicle centre of gravity, during [PX4 configuration](#px4-configuration).
+
+## Firmware Setup
+
+ARK X20 RTK GPS runs the [PX4 cannode firmware](px4_cannode_fw.md). As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
+
+ARK X20 RTK GPS boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself, refer to the [cannode firmware build instructions](px4_cannode_fw.md#building-the-firmware).
+
+Firmware target: `ark_can-rtk-gps_default`
+Bootloader target: `ark_can-rtk-gps_canbootloader`
+
+## Flight Controller Setup
+
+### Enabling DroneCAN
+
+In order to use the ARK X20 RTK GPS, connect it to the Pixhawk CAN bus and enable the DroneCAN driver by setting parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)).
+
+The steps are:
+
+- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` or `3` and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
+- Connect ARK X20 RTK GPS CAN to the Pixhawk CAN.
+
+Once enabled, the module will be detected on boot.
+GPS data should arrive at 10Hz.
+
+### PX4 Configuration
+
+You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle:
+
+- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
+- Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
+- Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
+- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK X20 RTK GPS from the vehicles centre of gravity.
+
+### ARK X20 RTK GPS Configuration
+
+You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK X20 RTK GPS itself:
+
+| Parameter                                                                                                | Description                                                                                                                           |
+| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)          | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                     |
+
+### Setting Up Rover and Fixed Base
+
+Position of the rover is established using RTCM messages from the RTK base module (the base module is connected to QGC, which sends the RTCM information to PX4 via MAVLink).
+
+PX4 DroneCAN parameters:
+
+- [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM):
+  - Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
+
+Rover module parameters (also [set using QGC](../dronecan/index.md#qgc-cannode-parameter-configuration)):
+
+- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
+
+::: info
+Use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) instead if you want to implement moving base (see below) at the same time.
+:::
+
+For more information see [Rover and Fixed Base](../dronecan/index.md#rover-and-fixed-base) in the DroneCAN guide.
+
+## LED Meanings
+
+- The GPS status lights are located to the right of the connectors
+  - Blinking green is GPS fix
+  - Blinking blue is received corrections and RTK Float
+  - Solid blue is RTK Fixed
+
+- The CAN status lights are located top the left of the connectors
+  - Slow blinking green is waiting for CAN connection
+  - Fast blinking green is normal operation
+  - Slow blinking green and blue is CAN enumeration
+  - Fast blinking blue and red is firmware update in progress
+  - Blinking red is error
+    - If you see a red LED there is an error and you should check the following
+      - Make sure the flight controller has an SD card installed
+      - Make sure the ARK X20 RTK GPS has `ark_can-rtk-gps_canbootloader` installed prior to flashing `ark_can-rtk-gps_default`
+      - Remove binaries from the root and ufw directories of the SD card and try to build and flash again
+
+## See Also
+
+- [ARK X20 RTK GPS Documentation](https://docs.arkelectron.com/gps/ark-x20-rtk-gps) (ARK Docs)
@@ -62,6 +62,8 @@ Supported hardware includes (this is not an exhaustive list):
  - [Holybro RM3100 Professional Grade Compass](https://holybro.com/products/dronecan-rm3100-compass)
  - [RaccoonLab RM3100 Magnetometer](https://docs.raccoonlab.co/guide/gps_mag_baro/mag_rm3100.html)
 - Distance sensors
+  - [ARK Dist](ark_dist.md)
+  - [Ark Dist MR](ark_dist_mr.md)
  - [ARK Flow](ark_flow.md)
  - [Ark Flow MR](ark_flow_mr.md)
  - [Avionics Anonymous Laser Altimeter UAVCAN Interface](../dronecan/avanon_laser_interface.md)
@@ -39,3 +39,4 @@ The boards in this category are:
 - [Svehicle E2](../flight_controller/svehicle_e2.md)
 - [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)
 - [ThePeach FCC-R1](../flight_controller/thepeach_r1.md)
+- [X-MAV AP-H743-R1](../flight_controller/x-mav_ap-h743r1.md)
@@ -74,7 +74,6 @@ This board supported in QGroundControl 4.0 and later.

 ## Availability

- [PX4 Autonomy Developer Kit](https://www.modalai.com/products/px4-autonomy-developer-kit)
 - [Starling 2](https://www.modalai.com/products/starling-2)
 - [Starling 2 MAX](https://www.modalai.com/products/starling-2-max)
 - [Sentinel Development Drone powered by VOXL 2](https://www.modalai.com/pages/sentinel)
@@ -0,0 +1,145 @@
+# AP-H743-R1
+
+<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+:::
+
+The AP-H743-R1 is an advanced autopilot manufactured by X-MAV<sup>&reg;</sup>.
+
+The autopilot is recommended for commercial system integration, but is also suitable for academic research and any other applications.
+It brings you ultimate performance, stability, and reliability in every aspect.
+
+![AP-H743-R1](../../assets/flight_controller/x-mav_ap-h743r1/ap-h743r1-main.png)
+
+::: info
+These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+### Processors & Sensors
+
+- FMU Processor: STM32H743VIT6
+  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
+- IO Processor: STM32F103
+  - 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
+- On-board sensors
+  - Accel/Gyro: ICM-42688-P\*2(Version1), BMI270\*2(Version2)
+  - Mag: IST8310
+  - Barometer: DPS310(Version1),SPL06(Version2)
+
+### Interfaces
+
+- 15x PWM Servo Outputs
+- 1x Dedicated S.Bus Input
+- 3x TELEM Ports
+- 1x SERIAL4 Port
+- 2x GPS Ports
+- 1x USB Port (TYPE-C)
+- 3x I2C Bus Ports
+- 2x CAN Ports
+- 2x Power Input Ports
+  - ADC Power Input
+  - DroneCAN/UAVCAN Power Input
+- 2x Dedicated Debug Port
+  - FMU Debug
+  - IO Debug
+
+## Purchase Channels
+
+Order from [X-MAV](https://www.x-mav.cn/).
+
+## Radio Control
+A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
+
+You will need to select a compatible transmitter/receiver and then bind them so that they communicate (read the instructions that come with your specific transmitter/receiver).
+
+SBUS receivers connect to the SBUS-IN input port.
+CRSF receiver must be wired to a spare port (UART) on the Flight Controller. Then you can bind the transmitter and receiver together.
+
+## Serial Port Mapping
+
+| UART   | Device     | Port          |
+| ------ | ---------- | ------------- |
+| USART1 | /dev/ttyS0 | GPS           |
+| USART2 | /dev/ttyS1 | GPS2          |
+| USART3 | /dev/ttyS2 | TELEM1        |
+| UART4  | /dev/ttyS3 | TELEM2        |
+| UART7  | /dev/ttyS4 | TELEM3        |
+| UART8  | /dev/ttyS5 | SERIAL4       |
+
+## PWM Output
+
+The AP-H743-R1 flight controller supports up to 15 PWM outputs.
+The first 8 outputs (labelled M1 to M8) are controlled by a dedicated STM32F103 IOMCU controller.
+The remaining 7 outputs (labelled A1 to A7) are the "auxiliary" outputs.
+These are directly attached to the STM32H743 FMU controller .
+
+The 15 PWM outputs are:
+
+M1 - M8 are connected to the IOMCU.
+A1 - A7 are connected to the FMU.
+
+M1 - M8 support DShot and are in 3 groups:
+
+- M1, M2 in group 1
+- M3, M4 in group 2
+- M5, M6, M7, M8 in group 3
+
+The 7 FMU PWM outputs are in 3 groups:
+
+- A1 - A4 are in one group.
+- A5, A6 are in a 2nd group.
+- A7 is in a 3nd group.
+
+Channels within the same group need to use the same output rate.
+If any channel in a group uses DShot then all channels in the group need to use DShot.
+
+### Electrical data
+
+- Voltage Ratings:
+  - Max input voltage: 5.4V
+  - USB Power Input: 4.75\~5.25V
+  - Servo Rail Input: 0\~9.9V
+
+## Battery Monitoring
+
+The board has connectors for 2 power monitors.
+
+- POWER1 -- ADC
+- POWER2 -- DroneCAN
+
+The board is configure by default for a analog power monitor, and also has DroneCAN power monitor configured which is enabled.
+
+## Building Firmware
+
+To [build PX4](../dev_setup/building_px4.md) for this target, execute:
+
+```sh
+make x-mav_ap-h743r1_default
+```
+
+## Pinouts and Size
+
+![AP-H743-R1 pinouts](../../assets/flight_controller/x-mav_ap-h743r1/ap-h743r1-pinouts.png)
+
+![AP-H743-R1](../../assets/flight_controller/x-mav_ap-h743r1/ap-h743r1-size.png)
+
+## Supported Platforms / Airframes
+
+Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos.
+The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).
+
+## Debug Port
+
+### SWD
+The [SWD interface](../debug/swd_debug.md) operate on the **FMU-DEBUG** port (`FMU-DEBUG`).
+
+The debug port (`FMU-DEBUG`) uses a [JST SM04B-GHS-TB](https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM04B-GHS-TB/807788) connector and has the following pinout:
+
+| Pin     | Signal         | Volt  |
+| ------- | -------------- | ----- |
+| 1 (red) | 5V+            | +5V   |
+| 2 (blk) | FMU_SWDIO      | +3.3V |
+| 3 (blk) | FMU_SWCLK      | +3.3V |
+| 4 (blk) | GND            | GND   |
@@ -162,6 +162,10 @@ Mission Items:
 - [MAV_CMD_OBLIQUE_SURVEY](https://mavlink.io/en/messages/common.html#MAV_CMD_OBLIQUE_SURVEY)
 - [MAV_CMD_DO_SET_CAMERA_ZOOM](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAMERA_ZOOM)
 - [MAV_CMD_DO_SET_CAMERA_FOCUS](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAMERA_FOCUS)
+- [MAV_CMD_DO_AUTOTUNE_ENABLE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_AUTOTUNE_ENABLE)
+   - Disabling autotune by setting `param1` to zero is currently not supported. To abort autotune during a mission, switch to another flight mode.
+   - Axis selection specified in the MAVLink message is ignored (`param2` must be set to 0).
+     Instead, the axis bitmask defined by [`FW_AT_AXES`](../advanced_config/parameter_reference.md#FW_AT_AXES) is used.

 GeoFence Definitions

@@ -166,6 +166,9 @@ Mission Items:
 - [MAV_CMD_NAV_VTOL_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_TAKEOFF)
  - `MAV_CMD_NAV_VTOL_TAKEOFF.param2` (transition heading) is ignored.
    Instead the heading to the next waypoint is used for the transition heading. <!-- at LEAST until PX4 v1.13: https://github.com/PX4/PX4-Autopilot/issues/12660 -->
+- [MAV_CMD_DO_AUTOTUNE_ENABLE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_AUTOTUNE_ENABLE)
+   - Disabling autotune by setting `param1` to zero is currently not supported. To abort autotune during a mission, switch to another flight mode.
+   - Axis selection specified in the MAVLink message is ignored (`param2` must be set to 0) .

 GeoFence Definitions

@@ -0,0 +1,62 @@
+# ARK DAN GPS
+
+[ARK DAN GPS](https://arkelectron.gitbook.io/ark-documentation/gps/ark-dan-gps) is a made in the USA and NDAA-compliant [GNSS/GPS](../gps_compass/index.md) u-blox DAN-F10N GPS and industrial magnetometer.
+
+![ARK DAN GPS](../../assets/hardware/gps/ark/ark_dan_gps.jpg)
+
+## Where to Buy
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-dan-gps/) (US)
+
+## Hardware Specifications
+
+- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_DAN_GPS)
+- Sensors
+  - [u-blox DAN-F10N](https://www.u-blox.com/en/product/dan-f10n-module)
+    - L1/L5/E5a/B2a bands
+    - Consistently strong performance regardless of installation
+    - Integrated SAW-LNA-SAW for exceptional out-of-band jamming immunity
+    - u-blox F10 proprietary dual-band multipath mitigation technology
+  - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
+- Pixhawk Standard UART/I2C Connector (6 Pin JST SH)
+- Power Requirements
+  - 5V
+  - 25mA Average
+  - 44mA Max
+- LED Indicators
+  - GPS Fix
+- USA Built
+- NDAA Compliant
+- 6 Pin Pixhawk Standard UART/I2C Cable
+
+## Hardware setup
+
+The module comes with a Pixhawk-standard 6pin connector that will plug into the `GPS2` port on recent Pixhawk flight controllers.
+It should be mounted front facing, as far away from the flight controller and other electronics as possible.
+
+For more information see [Mounting the GNSS/Compass](../gps_compass/index.md#mounting-the-gnss-compass) and [Hardware Setup](../gps_compass/index.md#hardware-setup).
+
+## PX4 Configuration
+
+The module should be plug-n-play when used with the `GPS2` port on most flight controllers.
+
+[Secondary GPS Configuration (UART)](../gps_compass/index.md#secondary-gps-configuration-uart) explains how you can configure the port if the GPS is not detected (note, that the configuration is the same, even if you are using GPS 2 as the primary compass).
+
+## Pinout
+
+### Pixhawk Standard UART/I2C Connector - 6 Pin JST-SH
+
+| Pin Number | Signal Name | Voltage |
+| ---------- | ----------- | ------- |
+| 1          | 5V          | 5.0V    |
+| 2          | RX          | 3.3V    |
+| 3          | TX          | 3.3V    |
+| 4          | SCL         | 3.3V    |
+| 5          | SDA         | 3.3V    |
+| 6          | GND         | GND     |
+
+## See Also
+
+- [ARK DAN GPS Documentation](https://arkelectron.gitbook.io/ark-documentation/gps/ark-dan-gps) (ARK Docs)
@@ -1,6 +1,6 @@
 # ARK SAM GPS

-[ARK SAM GPS](https://arkelectron.gitbook.io/ark-documentation/gps/ark-sam-gps>) is a made in the USA and NDAA-compliant [GNSS/GPS](../gps_compass/index.md) u-blox SAM-M10Q GPS and industrial magnetometer.
+[ARK SAM GPS](https://arkelectron.gitbook.io/ark-documentation/gps/ark-sam-gps) is a made in the USA and NDAA-compliant [GNSS/GPS](../gps_compass/index.md) u-blox SAM-M10Q GPS and industrial magnetometer.

 ![ARK SAM GPS](../../assets/hardware/gps/ark/ark_sam_gps.jpg)

@@ -33,7 +33,7 @@ Order this module from:
 ## Hardware setup

 The module comes with a Pixhawk-standard 6pin connector that will plug into the `GPS2` port on recent Pixhawk flight controllers.
-It should be mounted front facing, as far away from the flight controller and other electronics as possible. 
+It should be mounted front facing, as far away from the flight controller and other electronics as possible.

 For more information see [Mounting the GNSS/Compass](../gps_compass/index.md#mounting-the-gnss-compass) and [Hardware Setup](../gps_compass/index.md#hardware-setup).

@@ -0,0 +1,61 @@
+# ARK SAM GPS MINI
+
+[ARK SAM GPS MINI](https://arkelectron.gitbook.io/ark-documentation/gps/ark-sam-gps) is a made in the USA and NDAA-compliant [GNSS/GPS](../gps_compass/index.md) u-blox SAM-M10Q GPS and industrial magnetometer.
+
+![ARK SAM GPS MINI](../../assets/hardware/gps/ark/ark_sam_gps_mini.jpg)
+
+## Where to Buy
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-sam-gps-mini/) (US)
+
+## Hardware Specifications
+
+- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_SAM_GPS/tree/main)
+- Sensors
+  - [u-blox SAM-M10Q](https://www.u-blox.com/en/product/sam-m10q-module)
+    - Less than 38 mW power consumption without compromising GNSS performance
+    - Maximum position availability with 4 concurrent GNSS reception
+    - Advanced spoofing and jamming detection
+  - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
+- Pixhawk Standard UART/I2C Connector (6 Pin JST SH)
+- Power Requirements
+  - 5V
+  - 15mA Average
+  - 20mA Max
+- LED Indicators
+  - GPS Fix
+- USA Built
+- NDAA Compliant
+- 6 Pin Pixhawk Standard UART/I2C Cable
+
+## Hardware setup
+
+The module comes with a Pixhawk-standard 6pin connector that will plug into the `GPS2` port on recent Pixhawk flight controllers.
+It should be mounted front facing, as far away from the flight controller and other electronics as possible.
+
+For more information see [Mounting the GNSS/Compass](../gps_compass/index.md#mounting-the-gnss-compass) and [Hardware Setup](../gps_compass/index.md#hardware-setup).
+
+## PX4 Configuration
+
+The module should be plug-n-play when used with the `GPS2` port on most flight controllers.
+
+[Secondary GPS Configuration (UART)](../gps_compass/index.md#secondary-gps-configuration-uart) explains how you can configure the port if the GPS is not detected (note, that the configuration is the same, even if you are using GPS 2 as the primary compass).
+
+## Pinout
+
+### Pixhawk Standard UART/I2C Connector - 6 Pin JST-SH
+
+| Pin Number | Signal Name | Voltage |
+| ---------- | ----------- | ------- |
+| 1          | 5V          | 5.0V    |
+| 2          | RX          | 3.3V    |
+| 3          | TX          | 3.3V    |
+| 4          | SCL         | 3.3V    |
+| 5          | SDA         | 3.3V    |
+| 6          | GND         | GND     |
+
+## See Also
+
+- [ARK SAM GPS MINI Documentation](https://arkelectron.gitbook.io/ark-documentation/gps/ark-sam-gps) (ARK Docs)
@@ -25,7 +25,9 @@ These have been tested by the PX4 dev team, or which are popular within the PX4
 | Device                                                       |     GPS     |          Compass          | [CAN](../dronecan/index.md) | Buzzer / SafeSw / LED | Notes                       |
 | :----------------------------------------------------------- | :---------: | :-----------------------: | :-------------------------: | :-------------------: | :-------------------------- |
 | [ARK GPS](../dronecan/ark_gps.md)                            |     M9N     |          BMM150           |              ✓              |           ✓           | + Baro, IMU                 |
+| [ARK DAN GPS](../gps_compass/ark_dan_gps.md)                 |  DAN-F10N   |          IIS2MDC          |                             |           ✓           |                             |
 | [ARK SAM GPS](../gps_compass/ark_sam_gps.md)                 |  SAM-M10Q   |          IIS2MDC          |                             |           ✓           |                             |
+| [ARK SAM GPS MINI ](../gps_compass/ark_sam_gps_mini.md)      |  SAM-M10Q   |          IIS2MDC          |                             |           ✓           |                             |
 | [ARK TESEO GPS](../dronecan/ark_teseo_gps.md)                | Teseo-LIV4F |          BMM150           |              ✓              |           ✓           | + Baro, IMU                 |
 | [Avionics Anonymous UAVCAN GNSS/Mag][avionics_anon_can_gnss] |   SAM-M8Q   |         MMC5983MA         |              ✓              |           ✘           |                             |
 | [CUAV NEO 3 GPS](../gps_compass/gps_cuav_neo_3.md)           |     M9N     |          IST8310          |                             |           ✓           |                             |
@@ -23,7 +23,9 @@ It also highlights devices that connect via the CAN bus, and those which support
 | Device                                                                                                    |                             GPS                             | Compass  | [DroneCAN](../dronecan/index.md) | [GPS Yaw](#configuring-gps-as-yaw-heading-source) | PPK |
 | :-------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------: | :------: | :------------------------------: | :-----------------------------------------------: | :-: |
 | [ARK RTK GPS](../dronecan/ark_rtk_gps.md)                                                                 |                             F9P                             |  BMM150  |                ✓                 |                [Dual F9P][DualF9P]                |
+| [ARK RTK GPS L1 L5](../dronecan/ark_rtk_gps_l1_l2.md)                                                     |                             F9P                             |  BMM150  |                ✓                 |                              |
 | [ARK MOSAIC-X5 RTK GPS](../dronecan/ark_mosaic__rtk_gps.md)                                               |                          Mosaic-X5                          | IIS2MDC  |                ✓                 |      [Septentrio Dual Antenna][SeptDualAnt]       |
+| [ARK X20 RTK GPS](../dronecan/ark_x20_rtk_gps.md)                                                         |                             X20P                            |  BMP390  |                ✓                 |                                |
 | [CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md)                                                    |                           M8P/M8N                           |    ✓     |                                  |                                                   |
 | [CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md)                                                      |                             F9P                             |    ✓     |                                  |                [Dual F9P][DualF9P]                |
 | [CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md)                                            |                             F9P                             |  RM3100  |                                  |                [Dual F9P][DualF9P]                |
@@ -2,7 +2,7 @@

 <Badge type="tip" text="PX4 v1.15" />

-PX4 implements the MAVLink [Standard Modes Protocol](https://mavlink.io/en/services/standard_modes.md) from PX4 v1.15, with a corresponding implementation in QGroundControl Daily builds (and future release builds).
+PX4 implements the MAVLink [Standard Modes Protocol](https://mavlink.io/en/services/standard_modes.html) from PX4 v1.15, with a corresponding implementation in QGroundControl Daily builds (and future release builds).

 The protocol allows you to discover all flight modes available to the vehicle, including PX4 External modes created using the [PX4 ROS 2 Control Interface](../ros2/px4_ros2_control_interface.md), and get or set the current mode.

@@ -321,7 +321,7 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
  - [UXRCE_DDS_SYNCT](../advanced_config/parameter_reference.md#UXRCE_DDS_SYNCT): Bridge time synchronization enable.
    The uXRCE-DDS client module can synchronize the timestamp of the messages exchanged over the bridge.
    This is the default configuration. In certain situations, for example during [simulations](../ros2/user_guide.md#ros-gazebo-and-px4-time-synchronization), this feature may be disabled.
-  - [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX): Index-based namespace definition
+  - <Badge type="tip" text="PX4 v1.17" /> [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX): Index-based namespace definition
    Setting this parameter to any value other than `-1` creates a namespace with the prefix `uav_` and the specified value, e.g. `uav_0`, `uav_1`, etc.
    See [namespace](#customizing-the-namespace) for methods to define richer or arbitrary namespaces.

@@ -540,7 +540,7 @@ Each (`topic`,`type`) pairs defines:
 4. The message type (`VehicleOdometry`, `VehicleStatus`, `OffboardControlMode`, etc.) and the ROS 2 package (`px4_msgs`) that is expected to provide the message definition.
 5. **(Optional)**: An additional `rate_limit` field (only for publication entries), which specifies the maximum rate (Hz) at which messages will be published on this topic by PX4 to ROS 2.
   If left unspecified, the maximum publication rate limit is set to 100 Hz.
-6. **(Optional)**: An additional `instance` field (only for publication entries), which lets you select which instance of a [multi-instance topic](./uorb.md#multi-instance) you want to be published to ROS 2.
+6. <Badge type="tip" text="main (planned for: PX4 v1.18)" /> **(Optional)**: An additional `instance` field (only for publication entries), which lets you select which instance of a [multi-instance topic](./uorb.md#multi-instance) you want to be published to ROS 2.
   If provided, this option changes the ROS 2 topic name of the advertised uORB topic appending the instance number: `fmu/out/[uorb topic name][instance]` (plus eventual namespace and message version).
   In the example above the final topic name would be `/fmu/out/vehicle_imu1`.

@@ -899,6 +899,8 @@ fetching the latest mixing result and write them to PCA9685 at its scheduling ti
 It can do full 12bits output as duty-cycle mode, while also able to output precious pulse width
 that can be accepted by most ESCs and servos.

+The I2C bus and address can be configured via parameters `PCA9685_EN_BUS` and `PCA9685_I2C_ADDR`, or via command line arguments.
+
 ### Examples

 It is typically started with:
@@ -16,8 +16,6 @@ crsf_rc <command> [arguments...]
   start
     [-d <val>]  RC device
                 values: <file:dev>, default: /dev/ttyS3
-     [-b <val>]  RC baudrate
-                 default: 420000

   inject        Inject frame data bytes (for testing)

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
copilot-swe-agent[bot]	fe7bf8472b	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>	2025-12-15 21:50:04 +00:00
copilot-swe-agent[bot]	ca336fb299	Use LOG_FILEPATH_SCANF_WIDTH macro for format specifier - Define LOG_FILEPATH_SCANF_WIDTH macro for the sscanf width specifier - Replace hardcoded '255' with the named macro in both sscanf calls - Improves maintainability and makes the relationship between buffer size and width explicit - Addresses final code review feedback about magic numbers Co-authored-by: dakejahl <37091262+dakejahl@users.noreply.github.com>	2025-12-15 21:49:01 +00:00
copilot-swe-agent[bot]	5cdc783b05	Remove duplicate constant and use header LOG_FILEPATH_SIZE - Remove duplicate LOG_FILEPATH_SIZE macro from cpp file - Use MavlinkLogHandler::LOG_FILEPATH_SIZE consistently throughout - Update local filepath buffer to use the same size as LogEntry.filepath - Addresses code review feedback about duplication and consistency Co-authored-by: dakejahl <37091262+dakejahl@users.noreply.github.com>	2025-12-15 21:47:25 +00:00
copilot-swe-agent[bot]	5037a96376	Define LOG_FILEPATH_SIZE constant for maintainability - Add LOG_FILEPATH_SIZE constant (256) in both header and cpp - Update LogEntry.filepath to use the constant - Improve comments explaining width specifier relationship - Addresses code review feedback about magic numbers Co-authored-by: dakejahl <37091262+dakejahl@users.noreply.github.com>	2025-12-15 21:45:09 +00:00
copilot-swe-agent[bot]	8e0cabaeb7	Add static_assert and use consistent %255s width specifier - Add static_assert to ensure PX4_MAX_FILEPATH >= 256 at compile time - Use %255s consistently for both sscanf calls to prevent overflow - Add explanatory comments for the width specifier choice - Addresses code review feedback about potential overflow on NuttX Co-authored-by: dakejahl <37091262+dakejahl@users.noreply.github.com>	2025-12-15 21:43:00 +00:00
copilot-swe-agent[bot]	338595edd1	Fix stack buffer overflow in mavlink_log_handler sscanf calls - Increase LogEntry.filepath buffer from 60 to 256 bytes - Add width specifiers to sscanf calls (%255s and %1023s) to prevent buffer overflow - Prevents remote DoS vulnerability when parsing logdata.txt with excessively long filenames Co-authored-by: dakejahl <37091262+dakejahl@users.noreply.github.com>	2025-12-15 21:37:29 +00:00
copilot-swe-agent[bot]	f219c9f3b9	Initial plan	2025-12-15 21:33:02 +00:00
Brandon W. Banks	1345b3500a	Vehicle command for Prearm Safety button (#26079 ) * added vehicle command and support to remotely activate/deactivate the safety system (#26078) * added print_status support for prearm safety status * updated safety button to map to MAV_CMD_DO_SET_SAFETY_SWITCH_STATE = '5300' * safety switch cmd: fixed incorrect catch-all and added commanded_state variable for easier reading	2025-12-15 11:25:32 -09:00
Balduin	8604604a5b	logged_topics: clean up old commented-out topics (#26120 )	2025-12-15 09:53:24 -09:00
bresch	d62f112017	ekf2: prevent false mag fault detection A false positive could be triggered if velocity fusion started, then stopped after takeoff and only position fusion started again (because velocity fusion timed out and had a timestamp > time_last_on_ground). We now also check if the fusion timeout is due to the innovation being rejected (and not just a temporary check failure or data interruption).	2025-12-15 14:06:04 +01:00
Farhang	14186cf74f	[Tests] [CI] fix flaky altitude SITL test (#26106 ) * test: increase altitude tolerance to fix flaky test Altitude tolerance increased from 0.1f to 0.15f to handle simulation timing variations. Test was failing at 0.201m with 0.2m tolerance. * test: increase altitude tolerance further to 0.3m * ci: re-add branch trigger for SITL tests * Revert "ci: re-add branch trigger for SITL tests" This reverts commit `e5e4c9637b`.	2025-12-13 09:13:23 -09:00
Julian Oes	5fe82aa485	[Sponsored by CubePilot] Try to fix potential mavlink segfaults on USB disconnect (#26083 ) * mavlink: fix potential use-after-free If a mavlink instance is force stopped, the main thread might be out of scope and the receiver thread would be doing a use-after-free. Instead the receiver thread needs to check its own _should_exit flag. * mavlink: protect shared data by mutex in dtor I'm not sure if this potentially fixes any of the segfaults we have seen on stopping mavlink instances but it potentially could matter if the mavlink_receiver thread is killed after a timeout and tries to send any messages as a zombie.	2025-12-12 12:24:02 -09:00
Jacob Dahl	b92d21bd31	serial: add txSpaceAvailable function (#26069 ) * serial: add txSpaceAvailable function * serial: txSpaceAvailable and bytesAvailable fixups	2025-12-12 09:31:33 -09:00
Alex Klimaj	12745baf6c	Adds configurable I2C address for PCA9685 PWM driver (#26051 ) * Adds configurable I2C address for PCA9685 PWM driver Introduces a parameter to set the I2C address for the PCA9685 PWM output driver, enhancing flexibility for hardware variations. Updates documentation and board initialization scripts to support the new configuration and streamline device startup. * Update src/drivers/pca9685_pwm_out/module.yaml Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update src/drivers/pca9685_pwm_out/module.yaml --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-12-12 09:31:19 -09:00
Jacob Dahl	c25fcabcc6	esc_battery: fix current reporting	2025-12-12 11:17:24 -07:00
Jacob Dahl	67d62cb371	Revert "gps: fix RTCM injection to use inject-before-read pattern as before. Add RTCM parser to frame-align injection. Drain GpsInjectData uORB queue into RTCM parser buffer and then inject. Add GPS_UBX_PPK parameter to enable MSM7 output from the GPS module (rather than the default of MSM4) which is required for PPK workflows." This reverts commit `0704580a30`.	2025-12-11 21:32:26 -09:00
Jacob Dahl	0704580a30	gps: fix RTCM injection to use inject-before-read pattern as before. Add RTCM parser to frame-align injection. Drain GpsInjectData uORB queue into RTCM parser buffer and then inject. Add GPS_UBX_PPK parameter to enable MSM7 output from the GPS module (rather than the default of MSM4) which is required for PPK workflows.	2025-12-11 20:10:22 -09:00
Farhang	38eaa8b1d3	Add UAVCAN interfaces numbers board default (#26066 )	2025-12-11 08:43:07 -05:00
Hamish Willee	16eac303de	docs: Add a magnetometer recalibration section (#26081 )	2025-12-11 12:19:57 +11:00
Ryan Johnston	aadb83a220	Enhance quick magnetometer calibration feature (#26073 ) Added support for specifying an arbitrary initial heading in quick magnetometer calibration.	2025-12-11 11:42:13 +11:00
Hamish Willee	3a2ce0925d	Metadata update 20251210 (#26070 )	2025-12-10 15:49:47 +11:00
Sindre Meyer Hegre	29ba83109c	Update neural_networks.md with Ubuntu version warning (#26029 ) * Update neural_networks.md with Ubuntu version warning Added warning about Ubuntu version requirement for PX4 firmware. * Update docs/en/advanced/neural_networks.md * Update docs/en/advanced/neural_networks.md --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-12-10 10:31:01 +11:00
Antonio Sanjurjo C	7919959f5a	Update standard_modes.md. Fix broken Mavlink link (#26059 )	2025-12-10 10:22:39 +11:00
Beat Küng	703d66e605	ci: move px4_msgs sync from jenkins to github actions (#26061 ) * ci: move px4_msgs sync from jenkins to github actions I noticed it has not synced in a while, the last time was here: https://github.com/PX4/px4_msgs/commit/49a0f6c52cf86948e46e5df8a7b61e33319c9ed2 The difference to before is that now also the release branches will be synced instead of only 'main'. --------- Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>	2025-12-09 18:16:18 +00:00
Alexander Lerach	73a8fc8fb0	boards: v6s, save flash by disabling serial_test	2025-12-09 17:15:39 +01:00
ff-lukas	9b106f71a0	fix: correct baro units in tempcal script	2025-12-09 11:01:06 +01:00
PX4 Build Bot	b06094c737	New Crowdin translations - zh-CN (#26057 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-12-09 08:41:34 +11:00
PX4 Build Bot	96e5862d88	New Crowdin translations - uk (#26056 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-12-09 08:41:26 +11:00
PX4 Build Bot	98d8090458	New Crowdin translations - ko (#26055 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-12-09 08:40:51 +11:00
Kyle Fitzpatrick	3ebb47d53f	TemperatureCompensationModule: fix order of temp cal args	2025-12-05 08:49:23 -09:00
Matthias Grob	b0008e99ff	generate_board_target_json: allow to specify individual targets or entire boards in filter	2025-12-05 08:47:11 -09:00
mahima-yoga	c962c6a2c1	docs: update airspeed scale docs to include accelerated learning when ASPD_SCALE_n=1	2025-12-05 16:26:11 +01:00
mahima-yoga	18477554e0	wind-estimator: learn airspeed scale faster at beginning of flight Multiply TAS scale process noise by 100 during the first 5 minutes when ASPD_SCALE_n = 1.0 (default), enabling faster convergence on first flights.	2025-12-05 16:26:11 +01:00
Mahima Yoga	bcd67b7bad	ekf: enable constant position fusion during engine warm-up (#26041 ) In cold weather, fuel engines need to be warmed up. Currently, this is done by switching to stabilized mode and throttle up. The issue is that when not using GNSS data, the vehicle is not detected as "at rest" due to vibrations and cannot switch into auto/takeoff modes. If EKF2_ENGINE_WRM is enabled, and if the vehicle is armed and landed, constant position fusion is enabled.	2025-12-05 15:08:37 +01:00
mahima-yoga	fcddea4410	v6s: remove rover to free up flash	2025-12-05 14:03:10 +01:00
mahima-yoga	ca83b8330d	autotune: enable autotune in mission mode When operating fully autonomously (i.e., without manual control or a guaranteed link to the ground station), tuning a vehicle can be difficult since the current autotune process requires either RC input or a GCS command. For these scenarios, it it useful to be able to start autotune inside a mission.	2025-12-05 14:03:10 +01:00
Farhang	a7de5d176f	Permission error gz build fix (#25921 )	2025-12-04 07:52:02 -05:00
dependabot[bot]	3e1c499d5d	build(deps): bump mdast-util-to-hast from 13.2.0 to 13.2.1 in /docs (#26026 ) Bumps [mdast-util-to-hast](https://github.com/syntax-tree/mdast-util-to-hast) from 13.2.0 to 13.2.1. - [Release notes](https://github.com/syntax-tree/mdast-util-to-hast/releases) - [Commits](https://github.com/syntax-tree/mdast-util-to-hast/compare/13.2.0...13.2.1) --- updated-dependencies: - dependency-name: mdast-util-to-hast dependency-version: 13.2.1 dependency-type: indirect ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>	2025-12-04 14:32:19 +11:00
PX4 Build Bot	1d00e4e8aa	New Crowdin translations - uk (#26038 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-12-04 14:31:01 +11:00
PX4 Build Bot	f90b1b375c	New Crowdin translations - ko (#26037 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-12-04 14:30:49 +11:00
PX4 Build Bot	73e71feb47	New Crowdin translations - zh-CN (#26039 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-12-04 14:29:51 +11:00
Eric Katzfey	45f9fb45c1	Replace ModalAI PX4 Autonomy Developer Kit with Starling 2 and Starling 2 Max (#26035 )	2025-12-04 14:13:05 +11:00
Hamish Willee	e3f05f1bbe	Metadata update 20251203 (#26031 ) * Metadata update 20251203 * Deleted translated removed msg * _sidebar update to current	2025-12-04 08:34:07 +11:00
tompsontan	c0e0d9a080	boards: add new board X-MAV AP-H743r1 (#25967 ) Author: @TompsonTan	2025-12-03 15:03:22 -05:00
Beniamino Pozzan	87c05c9181	docs: clarify PX4 versions associated to latest UXRCE_DDS features (#26005 ) * docs: clarify PX4 versions associated to latest UXRCE_DDS features Signed-off-by: Beniamino Pozzan <b.pozzan@archangelautonomy.com> * Update docs/en/middleware/uxrce_dds.md --------- Signed-off-by: Beniamino Pozzan <b.pozzan@archangelautonomy.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-12-03 12:18:35 +11:00
PX4 Build Bot	c41aab6ddf	New Crowdin translations - zh-CN (#26017 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-12-03 10:07:49 +11:00
PX4 Build Bot	45cad9f85c	New Crowdin translations - uk (#26016 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-12-03 10:07:38 +11:00
PX4 Build Bot	00509d540d	New Crowdin translations - ko (#26015 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-12-03 10:07:32 +11:00
Jaeyoung Lim	789babae8e	Update gz submodule (#26025 )	2025-12-01 14:31:22 -08:00
Julian Oes	1de6001163	mavsdk_tests: bump MAVSDK version to v3.11.2 (#26024 ) This should hopefully fix the annoying segfaults on destruction that we have been seeing.	2025-12-01 13:30:08 -08:00
Hamish Willee	a2b1795236	ark_rtk_gps_l1_l2 - numbering hints	2025-12-01 09:20:17 -09:00
Hamish Willee	f7679dc576	Power supply tweaks	2025-12-01 09:20:17 -09:00
patrikpordi	817951b86b	Removed Power Module No connector version, included it in Power Module.	2025-12-01 09:20:17 -09:00
Hamish Willee	e7be62a342	Prettier and minor fixes	2025-12-01 09:20:17 -09:00
Hamish Willee	8c2a25edf8	Add to sidebar except no connector	2025-12-01 09:20:17 -09:00
Hamish Willee	c83d8e807f	Shrink all images	2025-12-01 09:20:17 -09:00
Hamish Willee	07f1ac682c	pm no connector - prettier and fix heading	2025-12-01 09:20:17 -09:00
patrikpordi	204d82a5c1	Add ARK documentation for GPS modules, distance sensors, and power modules - Added DAN, SAM, SAM Mini, X20, RTK L1 L5 GPS modules - Added ARK distance sensors documentation - Added ARK power modules documentation	2025-12-01 09:20:17 -09:00
Jaeyoung Lim	ac2f2cf2c8	Follow camera with gz topic (#26023 ) * Follow camera with gz topic * Set follow pgain as well	2025-12-01 09:19:04 -08:00
Jaeyoung Lim	5df20b8e9b	Add custom gz airspeed plugin and add wind effects (#26018 ) * Add px4 custom airspeed sensor * Format fix	2025-12-01 08:56:40 -08:00
MarkieMark	980956496b	ICE Control Module: Added option for VTOL state (FW/Transition to FW) to start engine (#25948 ) * ICE Control Module: Added option to use VTOL transition state to trigger ICE on/off states Signed-off-by: Mf-ff99 <force.j.mark@gmail.com> * ran make format Signed-off-by: Mf-ff99 <force.j.mark@gmail.com> * Update src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.cpp to initialize vtol_vehicle_status_s correctly Initialize appropriately Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * ICE Module: adjusted VTOL logic to use vehicle_status Signed-off-by: Mf-ff99 <force.j.mark@gmail.com> --------- Signed-off-by: Mf-ff99 <force.j.mark@gmail.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-12-01 16:46:51 +01:00
mahima-yoga	0985c22701	[fix] autotune: fix indentation on _state_start_time in abort logic	2025-11-28 09:31:37 +01:00
Julian Oes	0618b0b529	mavlink: GNSS_INTEGRITY and GLOBAL_POSITION are WIP (#26012 ) These two messages are still work in progress, only defined in the development.xml MAVLink dialect. Therefore, we need to ifdef them.	2025-11-28 11:41:38 +13:00