Doh

Co-Authored-By: PX4 BuildBot <bot@px4.io>

.clang-tidy

@@ -141,8 +141,6 @@ Checks:          '*,
                   -cppcoreguidelines-avoid-goto,
                   -hicpp-avoid-goto,
                   -bugprone-branch-clone,
-                  -bugprone-unhandled-self-assignment,
-                  -cert-oop54-cpp,
                   -performance-enum-size,
                   -readability-avoid-nested-conditional-operator,
                   -cppcoreguidelines-prefer-member-initializer,
@@ -150,7 +148,6 @@ Checks:          '*,
                   -readability-convert-member-functions-to-static,
                   -readability-make-member-function-const,
                   -bugprone-implicit-widening-of-multiplication-result,
-                  -bugprone-macro-parentheses,
                   -bugprone-multi-level-implicit-pointer-conversion,
                   -bugprone-signed-char-misuse,
                   -cppcoreguidelines-avoid-non-const-global-variables,

.claude/skills/commit/SKILL.md

@@ -0,0 +1,28 @@
+---
+name: commit
+description: Create a conventional commit for PX4 changes
+disable-model-invocation: true
+argument-hint: "[optional: description of changes]"
+allowed-tools: Bash, Read, Glob, Grep
+---
+
+# PX4 Conventional Commit
+
+Create a git commit: `type(scope): description`
+
+**NEVER add Co-Authored-By lines. No Claude attribution in commits.**
+
+Follow [CONTRIBUTING.md](../../CONTRIBUTING.md) for full project conventions.
+
+## Steps
+
+1. **Read [CONTRIBUTING.md](../../CONTRIBUTING.md)** for commit message format, types, scopes, and conventions.
+2. Check branch (`git branch --show-current`). If on `main`, create a feature branch. Use `<username>/<description>` format where `<username>` comes from `gh api user --jq .login`. If unavailable, just use `<description>`.
+3. Run `git status` and `git diff --staged`. If nothing staged, ask what to stage.
+4. Follow the commit message convention from CONTRIBUTING.md: pick the correct **type** and **scope**, write a concise imperative description.
+5. Body (if needed): explain **why**, not what.
+6. Run `make format` or `./Tools/astyle/fix_code_style.sh <file>` on changed C/C++ files before committing.
+7. Check if GPG signing is available: `git config --get user.signingkey`. If set, use `git commit -S -s`. Otherwise, use `git commit -s`.
+8. Stage and commit. No `Co-Authored-By`.
+
+If the user provided arguments, use them as context: $ARGUMENTS

.claude/skills/pr/SKILL.md

@@ -0,0 +1,24 @@
+---
+name: pr
+description: Create a pull request with conventional commit title and description
+disable-model-invocation: true
+argument-hint: "[optional: target branch or description]"
+allowed-tools: Bash, Read, Glob, Grep
+---
+
+# PX4 Pull Request
+
+**No Claude attribution anywhere (no Co-Authored-By, no "Generated with Claude").**
+
+Follow [CONTRIBUTING.md](../../CONTRIBUTING.md) for full project conventions.
+
+## Steps
+
+1. Check branch. If on `main`, create a feature branch. Use `<username>/<description>` format where `<username>` comes from `gh api user --jq .login`. If unavailable, just use `<description>`.
+2. Gather context: `git status`, `git log --oneline main..HEAD`, `git diff main...HEAD --stat`, check if remote tracking branch exists.
+3. PR **title**: `type(scope): description` — under 72 chars, describes the overall change across all commits. This becomes the squash-merge commit message.
+4. PR **body**: brief summary + bullet points for key changes. No filler.
+5. Push with `-u` if needed, then `gh pr create`. Default base is `main` unless user says otherwise.
+6. Return the PR URL.
+
+If the user provided arguments, use them as context: $ARGUMENTS

.claude/skills/rebase-onto-main/SKILL.md

@@ -0,0 +1,73 @@
+---
+name: rebase-onto-main
+description: Rebase a branch onto main, handling squash-merged parent branches cleanly
+argument-hint: "[optional: branch name, defaults to current branch]"
+allowed-tools: Bash, Read, Glob, Grep, Agent
+---
+
+# Rebase Branch onto Main
+
+Rebase the current (or specified) branch onto `main`, correctly handling the case where the branch was built on top of another branch that has since been squash-merged into `main`.
+
+## Background
+
+When a parent branch is squash-merged, its individual commits become a single new commit on `main` with a different hash. A normal `git rebase main` will try to replay the parent's original commits, causing messy conflicts. The fix is to **cherry-pick only the commits unique to this branch** onto a fresh branch from `main`.
+
+## Steps
+
+1. **Identify the branch.** Use `$ARGUMENTS` if provided, otherwise use the current branch.
+
+2. **Fetch and update main:**
+   ```
+   git fetch origin main:main
+   ```
+
+3. **Find the merge base** between the branch and `main`:
+   ```
+   git merge-base <branch> main
+   ```
+
+4. **List all commits** on the branch since the merge base:
+   ```
+   git log --oneline <merge-base>..<branch>
+   ```
+
+5. **Identify which commits are unique to this branch** vs. inherited from a parent branch. Look for:
+   - Squash-merged commits on `main` that correspond to a group of commits at the bottom of the branch's history (check PR titles, commit message keywords).
+   - The boundary commit: the first commit that belongs to *this* branch's work, not the parent's.
+   - If ALL commits are unique (no parent branch), just do a normal `git rebase main` and skip the rest.
+
+6. **Create a fresh branch from `main`:**
+   ```
+   git checkout -b <branch>-rebase main
+   ```
+
+7. **Cherry-pick only the unique commits** (oldest first):
+   ```
+   git cherry-pick <first-unique-commit>^..<branch>
+   ```
+   The `A^..B` range means "from the parent of A through B inclusive."
+
+8. **Handle conflicts** if any arise during cherry-pick. Resolve and `git cherry-pick --continue`.
+
+9. **Replace the old branch:**
+   ```
+   git branch -m <branch> <branch>-old
+   git branch -m <branch>-rebase <branch>
+   ```
+
+10. **Verify** the result:
+    ```
+    git log --oneline main..<branch>
+    ```
+    Confirm only the expected commits are present.
+
+11. **Ask the user** before force-pushing. When approved:
+    ```
+    git push origin <branch> --force-with-lease
+    ```
+
+12. **Clean up** the old branch:
+    ```
+    git branch -D <branch>-old
+    ```

.github/workflows/build_all_targets.yml

@@ -265,5 +265,7 @@ jobs:
         with:
           draft: true
           prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
-          files: artifacts/*.px4
+          files: |
+            artifacts/*.px4
+            artifacts/*.deb
           name: ${{ steps.upload-location.outputs.uploadlocation }}

.github/workflows/dev_container.yml

@@ -130,8 +130,8 @@ jobs:
           load: false
           push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
           provenance: false
-          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
-          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}
+          cache-from: type=gha,scope=${{ matrix.arch }}
+          cache-to: type=gha,mode=max,scope=${{ matrix.arch }}
 
   deploy:
     name: Deploy To Registry

.github/workflows/ros_integration_tests.yml

@@ -89,7 +89,15 @@ jobs:
         . /opt/ros/galactic/setup.bash
         mkdir -p /opt/px4_ws/src
         cd /opt/px4_ws/src
-        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
+        BRANCH="${GITHUB_HEAD_REF:-$GITHUB_REF_NAME}"
+        REPO_URL="https://github.com/Auterion/px4-ros2-interface-lib.git"
+        if git ls-remote --heads "$REPO_URL" "$BRANCH" | grep -q "$BRANCH"; then
+          echo "Cloning px4-ros2-interface-lib with matching branch: $BRANCH"
+          git clone --recursive --branch "$BRANCH" "$REPO_URL"
+        else
+          echo "Branch '$BRANCH' not found in px4-ros2-interface-lib, using default (main)"
+          git clone --recursive "$REPO_URL"
+        fi
         # Ignore python packages due to compilation issue (can be enabled when updating ROS)
         touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
         touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true

.github/workflows/sync_release_to_ros2_interface_lib.yml

@@ -0,0 +1,43 @@
+name: Sync release branch to px4-ros2-interface-lib
+
+on:
+  create:
+  workflow_dispatch:
+    inputs:
+      branch:
+        description: 'Release branch name (e.g. release/1.18)'
+        required: true
+        type: string
+
+permissions: {}
+
+jobs:
+  notify-interface-lib:
+    if: >-
+      github.repository == 'PX4/PX4-Autopilot' &&
+      (
+        (github.event_name == 'create' && github.ref_type == 'branch' && startsWith(github.ref_name, 'release/')) ||
+        github.event_name == 'workflow_dispatch'
+      )
+    runs-on: ubuntu-latest
+    steps:
+      - name: Determine branch name
+        id: params
+        run: |
+          if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
+            BRANCH="${{ inputs.branch }}"
+          else
+            BRANCH="${{ github.ref_name }}"
+          fi
+          echo "branch=$BRANCH" >> "$GITHUB_OUTPUT"
+          echo "Dispatching for branch: $BRANCH"
+
+      - name: Dispatch release branch creation
+        run: |
+          BRANCH="${{ steps.params.outputs.branch }}"
+          curl -s -f -X POST \
+            -H "Authorization: token ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}" \
+            -H "Accept: application/vnd.github.v3+json" \
+            https://api.github.com/repos/Auterion/px4-ros2-interface-lib/dispatches \
+            -d "{\"event_type\":\"px4_release_branch\",\"client_payload\":{\"branch\":\"$BRANCH\"}}"
+          echo "Dispatched px4_release_branch event for $BRANCH"

CITATION.cff

@@ -0,0 +1,27 @@
+cff-version: 1.2.0
+title: "PX4 Autopilot"
+message: "If you use PX4 in your research, please cite it using this metadata."
+type: software
+authors:
+  - family-names: Meier
+    given-names: Lorenz
+  - name: "The PX4 Contributors"
+repository-code: "https://github.com/PX4/PX4-Autopilot"
+url: "https://px4.io"
+abstract: >-
+  PX4 is an open-source autopilot stack for drones and
+  unmanned vehicles. It supports multirotors, fixed-wing,
+  VTOL, rovers, and many more platforms. PX4 runs on both
+  RTOS and POSIX-compatible operating systems.
+keywords:
+  - autopilot
+  - drone
+  - uav
+  - flight-controller
+  - robotics
+  - ros2
+license: BSD-3-Clause
+identifiers:
+  - type: doi
+    value: "10.5281/zenodo.595432"
+    description: "Zenodo concept DOI (resolves to latest version)"

CONTRIBUTING.md

@@ -16,7 +16,13 @@ git checkout -b mydescriptivebranchname
 
 ## Edit and build the code
 
-The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
+The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows.
+
+### Coding standards
+
+All C/C++ code must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html). Formatting is enforced by [astyle](http://astyle.sourceforge.net/) in CI (`make check_format`). Code quality checks run via [clang-tidy](https://clang.llvm.org/extra/clang-tidy/). Pull requests that fail either check will not be merged.
+
+Python code is checked with [mypy](https://mypy-lang.org/) and [flake8](https://flake8.pycqa.org/).
 
 ## Commit message convention
 
@@ -141,6 +147,20 @@ git push --force-with-lease
 
 ## Test your changes
 
+PX4 is safety-critical software. All contributions must include adequate testing where practical:
+
+- **New features** must include unit tests and/or integration tests that exercise the new functionality, where practical. Hardware-dependent changes that cannot be tested in SITL should include bench test or flight test evidence.
+- **Bug fixes** must include a regression test where practical. When automated testing is not feasible (hardware-specific issues, race conditions, etc.), provide a link to a flight log demonstrating the fix and the reproduction steps for the original bug.
+- **Reviewers** will verify that tests or test evidence exist before approving a pull request.
+
+### Types of tests
+
+| Test type | When to use | How to run |
+|-----------|-------------|------------|
+| **Unit tests** (gtest) | Module-level logic, math, parsing | `make tests` |
+| **SITL integration tests** (MAVSDK) | Flight behavior, failsafes, missions | `test/mavsdk_tests/` |
+| **Bench tests / flight logs** | Hardware-dependent changes | Upload logs to [Flight Review](https://logs.px4.io) |
+
 Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the log file from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
 
 ## Push your changes

Jenkinsfile

@@ -0,0 +1,268 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+
+    stage('Analysis') {
+      when {
+        anyOf {
+          branch 'main'
+          branch 'master' // should be removed, but in case there is something going on...
+          branch 'pr-jenkins' // for testing
+        }
+      }
+      parallel {
+
+        stage('Airframe') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh 'make distclean; git clean -ff -x -d .'
+            sh 'git fetch --all --tags'
+            sh 'make airframe_metadata'
+            dir('build/px4_sitl_default/docs') {
+              archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
+              stash includes: 'airframes.md, airframes.xml', name: 'metadata_airframes'
+            }
+          }
+          post {
+            always {
+              sh 'make distclean; git clean -ff -x -d .'
+            }
+          }
+        }
+
+        stage('Parameter') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh 'make distclean; git clean -ff -x -d .'
+            sh 'git fetch --all --tags'
+            sh 'make parameters_metadata'
+            dir('build/px4_sitl_default/docs') {
+              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
+              stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
+            }
+          }
+          post {
+            always {
+              sh 'make distclean; git clean -ff -x -d .'
+            }
+          }
+        }
+
+        stage('Module') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh 'make distclean; git clean -ff -x -d .'
+            sh 'git fetch --all --tags'
+            sh 'make module_documentation'
+            dir('build/px4_sitl_default/docs') {
+              archiveArtifacts(artifacts: 'modules/*.md')
+              stash includes: 'modules/*.md', name: 'metadata_module_documentation'
+            }
+          }
+          post {
+            always {
+              sh 'make distclean; git clean -ff -x -d .'
+            }
+          }
+        }
+
+        stage('msg file docs') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
+            dir('build') {
+              archiveArtifacts(artifacts: 'msg_docs/*.md')
+              stash includes: 'msg_docs/*.md', name: 'msg_documentation'
+            }
+          }
+          post {
+            always {
+              sh 'make distclean; git clean -ff -x -d .'
+            }
+          }
+        }
+
+        stage('failsafe docs') {
+          agent {
+            docker { image 'px4io/px4-dev-nuttx-focal:2022-08-12' }
+          }
+          steps {
+            sh '''#!/bin/bash -l
+            echo $0;
+            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
+            cd _emscripten_sdk;
+            git checkout 4.0.15;
+            ./emsdk install latest;
+            ./emsdk activate latest;
+            cd ..;
+            . ./_emscripten_sdk/emsdk_env.sh;
+            git fetch --all --tags;
+            make failsafe_web;
+            cd build/px4_sitl_default_failsafe_web;
+            mkdir -p failsafe_sim;
+            cp index.* parameters.json failsafe_sim;
+            '''
+            dir('build/px4_sitl_default_failsafe_web') {
+              archiveArtifacts(artifacts: 'failsafe_sim/*')
+              stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
+            }
+          }
+          post {
+            always {
+              sh 'make distclean; git clean -ff -x -d .'
+            }
+          }
+        }
+
+        stage('uORB graphs') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean; git clean -ff -x -d .'
+            sh 'git fetch --all --tags'
+            sh 'make uorb_graphs'
+            dir('Tools/uorb_graph') {
+              archiveArtifacts(artifacts: 'graph_*.json')
+              stash includes: 'graph_*.json', name: 'uorb_graph'
+            }
+          }
+          post {
+            always {
+              sh 'make distclean; git clean -ff -x -d .'
+            }
+          }
+        }
+
+      } // parallel
+    } // stage: Generate Metadata
+
+    stage('Deploy') {
+
+      parallel {
+
+        stage('Userguide') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            unstash 'metadata_airframes'
+            unstash 'metadata_parameters'
+            unstash 'metadata_module_documentation'
+            unstash 'msg_documentation'
+            unstash 'failsafe_sim'
+            unstash 'uorb_graph'
+            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-user_guide.git')
+              sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
+              sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
+              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
+              sh('cp -R graph_*.json PX4-user_guide/public/middleware/')  // vitepress
+              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
+              sh('cp -R failsafe_sim/* PX4-user_guide/public/config/failsafe')  // vitepress
+              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
+              sh('cd PX4-user_guide; git push origin main || true')
+              sh('rm -rf PX4-user_guide')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
+              branch 'pr-jenkins' // for testing
+            }
+          }
+          options {
+            skipDefaultCheckout()
+          }
+        }
+
+        stage('QGroundControl') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            unstash 'metadata_airframes'
+            unstash 'metadata_parameters'
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/mavlink/qgroundcontrol.git')
+              sh('cp airframes.xml qgroundcontrol/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml')
+              sh('cp parameters.xml qgroundcontrol/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml')
+              sh('cd qgroundcontrol; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
+              sh('cd qgroundcontrol; git push origin master || true')
+              sh('rm -rf qgroundcontrol')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
+              branch 'pr-jenkins' // for testing
+            }
+          }
+          options {
+            skipDefaultCheckout()
+          }
+        }
+
+        stage('S3') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            unstash 'metadata_airframes'
+            unstash 'metadata_parameters'
+            sh('ls')
+            withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
+              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
+              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
+              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
+              branch 'pr-jenkins' // for testing
+            }
+          }
+          options {
+            skipDefaultCheckout()
+          }
+        }
+
+      } // parallel
+    } // stage: Generate Metadata
+
+  } // stages
+
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+    GIT_AUTHOR_EMAIL = "bot@px4.io"
+    GIT_AUTHOR_NAME = "PX4BuildBot"
+    GIT_COMMITTER_EMAIL = "bot@px4.io"
+    GIT_COMMITTER_NAME = "PX4BuildBot"
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
+    timeout(time: 90, unit: 'MINUTES')
+  }
+}

Makefile

@@ -226,9 +226,22 @@ CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG
 $(CONFIG_TARGETS_DEFAULT):
 	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
 
+# Multi-processor boards: build all processor targets together
+# VOXL2 apps processor (default) depends on SLPI DSP being built first
+modalai_voxl2_default: modalai_voxl2_slpi
+modalai_voxl2: modalai_voxl2_slpi
+modalai_voxl2_deb: modalai_voxl2_slpi
+
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
 
+# DEB package targets: builds _default config, then runs cpack.
+# Multi-processor boards (e.g. VOXL2) chain companion builds automatically
+# via existing cmake prerequisites.
+%_deb:
+	@$(call cmake-build,$(subst _deb,_default,$@)$(BUILD_DIR_SUFFIX))
+	@cd "$(SRC_DIR)/build/$(subst _deb,_default,$@)" && cpack -G DEB
+
 updateconfig:
 	@./Tools/kconfig/updateconfig.py
 
@@ -535,7 +548,8 @@ validate_module_configs:
 	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
-	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" \
+	-not -path "$(SRC_DIR)/src/lib/tensorflow_lite_micro/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 
 # Cleanup

README.md

@@ -10,6 +10,7 @@
 
 <p align="center">
   <a href="https://github.com/PX4/PX4-Autopilot/releases"><img src="https://img.shields.io/github/release/PX4/PX4-Autopilot.svg" alt="Releases"></a>
+  <a href="https://www.bestpractices.dev/projects/6520"><img src="https://www.bestpractices.dev/projects/6520/badge" alt="OpenSSF Best Practices"></a>
   <a href="https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
   <a href="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml"><img src="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main" alt="Build Targets"></a>
   <a href="https://discord.gg/dronecode"><img src="https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield" alt="Discord"></a>

ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx

@@ -34,6 +34,7 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
-param set-default EKF2_GPS_DELAY 0
+param set-default SENS_GPS0_DELAY 0
+param set-default SENS_GPS1_DELAY 0
 
 param set SIH_VEHICLE_TYPE 0

ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane

@@ -44,7 +44,8 @@ param set-default PWM_MAIN_FUNC2 202
 param set-default PWM_MAIN_FUNC3 203
 param set-default PWM_MAIN_FUNC4 101
 
-param set-default EKF2_GPS_DELAY 0
+param set-default SENS_GPS0_DELAY 0
+param set-default SENS_GPS1_DELAY 0
 
 # Rate controllers
 param set-default FW_RR_P 0.0500

ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert

@@ -11,7 +11,8 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
 
-param set-default EKF2_GPS_DELAY 0
+param set-default SENS_GPS0_DELAY 0
+param set-default SENS_GPS1_DELAY 0
 param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
 
 param set-default SENS_EN_GPSSIM 1

ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol

@@ -27,7 +27,8 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
-param set-default EKF2_GPS_DELAY 0
+param set-default SENS_GPS0_DELAY 0
+param set-default SENS_GPS1_DELAY 0
 
 param set-default VT_TYPE 2
 param set-default MPC_MAN_Y_MAX 60

ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex

@@ -44,4 +44,5 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106
 
-param set-default EKF2_GPS_DELAY 0
+param set-default SENS_GPS0_DELAY 0
+param set-default SENS_GPS1_DELAY 0

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -44,8 +44,6 @@ param set-default FW_T_SINK_MIN 3
 
 param set-default FW_W_EN 1
 
-param set-default FD_ESCS_EN 0
-
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -104,4 +104,3 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_PITCH_MIN -5
 param set-default VT_F_TRANS_THR 1
 param set-default VT_TYPE 2
-param set-default FD_ESCS_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -20,8 +20,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
+param set-default SENS_GPS0_OFFX 0.055
+param set-default SENS_GPS0_OFFZ -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055

ROMFS/px4fmu_common/init.d-posix/airframes/60002_gz_uuv_bluerov2_heavy

@@ -26,7 +26,6 @@ param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
 
 # Set proper failsafes
 param set-default COM_ACT_FAIL_ACT 0

ROMFS/px4fmu_common/init.d-posix/airframes/70000_gz_atmos

@@ -28,7 +28,6 @@ param set-default SIM_GZ_EN 1
 
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0
 
 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45

ROMFS/px4fmu_common/init.d-posix/airframes/70001_gz_atmos_dual

@@ -28,7 +28,6 @@ param set-default SIM_GZ_EN 1
 
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0
 
 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45

ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlinksim

@@ -2,7 +2,8 @@
 # shellcheck disable=SC2154
 
 # EKF2 specifics
-param set-default EKF2_GPS_DELAY 10
+param set-default SENS_GPS0_DELAY 10
+param set-default SENS_GPS1_DELAY 10
 param set-default EKF2_MULTI_IMU 3
 param set-default SENS_IMU_MODE 0
 

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -119,10 +119,11 @@ else
 	param set SYS_AUTOCONFIG 1
 fi
 
-if param compare SYS_AUTOCONFIG 1
+# To trigger a parameter reset during boot SYS_AUTOCONFIG was set to 1 before
+if param greater SYS_AUTOCONFIG 0
 then
-	# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
-	param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
+	# Reset parameters except airframe, parameter version, sensor calibration, total flight time, flight UUID
+	param reset_all SYS_AUTOSTART SYS_PARAM_VER CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
 	set AUTOCNF yes
 fi
 

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -19,8 +19,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
+param set-default SENS_GPS0_OFFX 0.055
+param set-default SENS_GPS0_OFFZ -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055

ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5

@@ -19,8 +19,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
+param set-default SENS_GPS0_OFFX 0.055
+param set-default SENS_GPS0_OFFZ -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -47,8 +47,9 @@ param set-default EKF2_BCOEF_Y 25.5
 
 param set-default EKF2_DRAG_CTRL 1
 
-param set-default EKF2_GPS_DELAY 100
-param set-default EKF2_GPS_POS_X 0.06
+param set-default SENS_GPS0_DELAY 100
+param set-default SENS_GPS1_DELAY 100
+param set-default SENS_GPS0_OFFX 0.06
 param set-default EKF2_GPS_V_NOISE 0.5
 
 param set-default EKF2_IMU_POS_X 0.06

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -238,7 +238,7 @@ then
 fi
 
 # Start TMP102 temperature sensor
-if param compare SENS_EN_TMP102 1
+if param compare -s SENS_EN_TMP102 1
 then
 	tmp102 start -X
 fi

ROMFS/px4fmu_common/init.d/rcS

@@ -188,11 +188,11 @@ else
 		netman update -i eth0
 	fi
 
-	# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
+	# To trigger a parameter reset during boot SYS_AUTOCONFIG was set to 1 before
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, flight modes, total flight time, flight UUID
-		param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
+		# Reset parameters except airframe, parameter version, sensor calibration, total flight time, flight UUID
+		param reset_all SYS_AUTOSTART SYS_PARAM_VER CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
 	fi
 
 	#
@@ -633,12 +633,15 @@ else
 	#
 	# Start the VTX services.
 	#
-	set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
-	if [ -f ${RC_VTXTABLE} ]
+	if ! param compare VTX_SER_CFG 0
 	then
-		. ${RC_VTXTABLE}
+		set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
+		if [ -f ${RC_VTXTABLE} ]
+		then
+			. ${RC_VTXTABLE}
+		fi
+		unset RC_VTXTABLE
 	fi
-	unset RC_VTXTABLE
 
 	#
 	# Set additional parameters and env variables for selected AUTOSTART.

SECURITY.md

@@ -2,24 +2,40 @@
 
 ## Supported Versions
 
-The following is a list of versions the development team is currently supporting.
+The following versions receive security updates:
 
 | Version | Supported          |
 | ------- | ------------------ |
-| 1.4.x   | :white_check_mark: |
-| 1.3.3   | :white_check_mark: |
-| < 1.3   | :x:                |
+| 1.16.x  | :white_check_mark: |
+| < 1.16  | :x:                |
 
 ## Reporting a Vulnerability
 
-We currently only receive security vulnerability reports through GitHub.
+We receive security vulnerability reports through GitHub Security Advisories.
 
-To begin a report, please go to the top-level repository, for example, PX4/PX4-Autopilot,
-and click on the Security tab. If you are on mobile, click the ... dropdown menu, and then click Security.
+To begin a report, go to the [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository
+and click on the **Security** tab. If you are on mobile, click the **...** dropdown menu, then click **Security**.
 
-Click Report a Vulnerability to open the advisory form. Fill in the advisory details form.
-Make sure your title is descriptive, and the development team can find all of the relevant details needed
-to verify on the description box. We recommend you add as much data as possible. We welcome logs,
-screenshots, photos, and videos, anything that can help us verify and identify the issues being reported.
+Click **Report a Vulnerability** to open the advisory form. Fill in the advisory details form.
+Make sure your title is descriptive and the description contains all relevant details needed
+to verify the issue. We welcome logs, screenshots, photos, and videos.
 
-At the bottom of the form, click Submit report. The maintainer team will be notified and will get back to you ASAP.
+At the bottom of the form, click **Submit report**.
+
+## Response Process
+
+1. **Acknowledgment**: The maintainer team will acknowledge your report within **7 days**.
+2. **Triage**: We will assess severity and impact and communicate next steps.
+3. **Disclosure**: We coordinate disclosure with the reporter. We follow responsible disclosure practices and will credit reporters in the advisory unless they request anonymity.
+
+If you do not receive acknowledgment within 7 days, please follow up by emailing the [release managers](MAINTAINERS.md).
+
+## Secure Development Practices
+
+The PX4 development team applies the following practices to reduce security risk:
+
+- **Code review**: All changes require peer review before merging.
+- **Static analysis**: [clang-tidy](https://clang.llvm.org/extra/clang-tidy/) runs on every pull request with warnings treated as errors.
+- **Fuzzing**: A daily fuzzing pipeline using [Google fuzztest](https://github.com/google/fuzztest) tests MAVLink message handling and GNSS driver protocol parsing.
+- **Input validation**: All external inputs (MAVLink messages, RC signals, sensor data) are validated against expected ranges before use.
+- **Compiler hardening**: Builds use `-Wall -Werror`, stack protectors, and other hardening flags where supported by the target platform.

Tools/Matlab/motors.m

@@ -0,0 +1,58 @@
+clear all;
+close all;
+
+% Measurement data
+% 1045 propeller
+% Robbe Roxxy Motor (1100 kV, data collected in 2010)
+data = [ 45, 7.4;...
+         38, 5.6;...
+         33, 4.3;...
+         26, 3.0;...
+         18, 2.0;...
+         10, 1.0 ];
+
+% Normalize the data, as we're operating later
+% anyways in normalized units
+data(:,1) = data(:,1) ./ max(data(:,1));
+data(:,2) = data(:,2) ./ max(data(:,2));
+
+% Fit a 2nd degree polygon to the data and
+% print the x2, x1, x0 coefficients
+p = polyfit(data(:,2), data(:,1),2)
+
+% Override the first coffefficient for testing
+% purposes
+pf = 0.62;
+
+% Generate plotting data
+px1 = linspace(0, max(data(:,2)));
+py1 = polyval(p, px1);
+
+pyt = zeros(size(data, 1), 1);
+corr = zeros(size(data, 1), 1);
+
+% Actual code test
+% the two lines below are the ones needed to be ported to C:
+%   pf: Power factor parameter.
+%   px1(i): The current normalized motor command (-1..1)
+%   corr(i): The required correction. The motor speed is:
+%            px1(i) 
+for i=1:size(px1, 2)
+    
+    % The actual output throttle
+    pyt(i) = -pf * (px1(i) * px1(i)) + (1 + pf) * px1(i);
+    
+    % Solve for input throttle
+    % y = -p * x^2 + (1+p) * x;
+    % 
+end
+
+plot(data(:,2), data(:,1), '*r');
+hold on;
+plot(px1, py1, '*b');
+hold on;
+plot([0 px1(end)], [0 py1(end)], '-k');
+hold on;
+plot(px1, pyt, '-b');
+hold on;
+plot(px1, corr, '-m');

Tools/Matlab/plot_mag.m

@@ -0,0 +1,77 @@
+%
+% Tool for plotting mag data
+%
+% Reference values:
+% telem> [cal] mag #0 off: x:0.15    y:0.07     z:0.14 Ga
+%                  MATLAB: x:0.1581  y: 0.0701  z: 0.1439 Ga
+% telem> [cal] mag #0 scale: x:1.10 y:0.97 z:1.02
+%                  MATLAB: 0.5499, 0.5190, 0.4907
+%
+% telem> [cal] mag #1 off: x:-0.18    y:0.11    z:-0.09 Ga
+%                  MATLAB: x:-0.1827  y:0.1147  z:-0.0848 Ga
+% telem> [cal] mag #1 scale: x:1.00 y:1.00 z:1.00
+%                  MATLAB: 0.5122, 0.5065, 0.4915
+%
+%
+% User-guided values:
+%
+% telem> [cal] mag #0 off: x:0.12 y:0.09 z:0.14 Ga
+% telem> [cal] mag #0 scale: x:0.88 y:0.99 z:0.95
+% telem> [cal] mag #1 off: x:-0.18 y:0.11 z:-0.09 Ga
+% telem> [cal] mag #1 scale: x:1.00 y:1.00 z:1.00
+
+close all;
+clear all;
+
+plot_scale = 0.8;
+
+xmax = plot_scale;
+xmin = -xmax;
+ymax = plot_scale;
+ymin = -ymax;
+zmax = plot_scale;
+zmin = -zmax;
+
+mag0_raw = load('../../mag0_raw3.csv');
+mag1_raw = load('../../mag1_raw3.csv');
+
+mag0_cal = load('../../mag0_cal3.csv');
+mag1_cal = load('../../mag1_cal3.csv');
+
+fm0r = figure();
+
+mag0_x_scale = 0.88;
+mag0_y_scale = 0.99;
+mag0_z_scale = 0.95;
+
+plot3(mag0_raw(:,1), mag0_raw(:,2), mag0_raw(:,3), '*r');
+[mag0_raw_center, mag0_raw_radii, evecs, pars ] = ellipsoid_fit( [mag0_raw(:,1) mag0_raw(:,2) mag0_raw(:,3)] );
+mag0_raw_center
+mag0_raw_radii
+axis([xmin xmax ymin ymax zmin zmax])
+viscircles([mag0_raw_center(1), mag0_raw_center(2)], [mag0_raw_radii(1)]);
+
+fm1r = figure();
+plot3(mag1_raw(:,1), mag1_raw(:,2), mag1_raw(:,3), '*r');
+[center, radii, evecs, pars ] = ellipsoid_fit( [mag1_raw(:,1) mag1_raw(:,2) mag1_raw(:,3)] );
+center
+radii
+axis([xmin xmax ymin ymax zmin zmax])
+
+fm0c = figure();
+plot3(mag0_cal(:,1) .* mag0_x_scale, mag0_cal(:,2) .* mag0_y_scale, mag0_cal(:,3) .* mag0_z_scale, '*b');
+[mag0_cal_center, mag0_cal_radii, evecs, pars ] = ellipsoid_fit( [mag1_raw(:,1) .* mag0_x_scale mag1_raw(:,2) .* mag0_y_scale mag1_raw(:,3) .* mag0_z_scale] );
+mag0_cal_center
+mag0_cal_radii
+axis([xmin xmax ymin ymax zmin zmax])
+viscircles([0, 0], [mag0_cal_radii(3)]);
+
+fm1c = figure();
+plot3(mag1_cal(:,1), mag1_cal(:,2), mag1_cal(:,3), '*b');
+axis([xmin xmax ymin ymax zmin zmax])
+[center, radii, evecs, pars ] = ellipsoid_fit( [mag1_raw(:,1) mag1_raw(:,2) mag1_raw(:,3)] );
+viscircles([0, 0], [radii(3)]);
+
+mag0_x_scale_matlab = 1 / (mag0_cal_radii(1) / mag0_raw_radii(1))
+mag0_y_scale_matlab = 1 / (mag0_cal_radii(2) / mag0_raw_radii(2))
+mag0_z_scale_matlab = 1 / (mag0_cal_radii(3) / mag0_raw_radii(3))

Tools/ci/generate_board_targets_json.py

@@ -189,6 +189,65 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
                 if target is not None:
                     build_configs.append(target)
 
+# Remove companion targets from CI groups (parent target builds them via Make prerequisite)
+for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
+    if not manufacturer.is_dir():
+        continue
+    for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
+        if not board.is_dir():
+            continue
+        companion_file = os.path.join(board.path, 'companion_targets')
+        if os.path.exists(companion_file):
+            with open(companion_file) as f:
+                companions = {l.strip() for l in f if l.strip() and not l.startswith('#')}
+            for arch in grouped_targets:
+                for man in grouped_targets[arch]['manufacturers']:
+                    grouped_targets[arch]['manufacturers'][man] = [
+                        t for t in grouped_targets[arch]['manufacturers'][man]
+                        if t not in companions
+                    ]
+
+# Append _deb targets for boards that have cmake/package.cmake
+for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
+    if not manufacturer.is_dir():
+        continue
+    if manufacturer.name in excluded_manufacturers:
+        continue
+    for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
+        if not board.is_dir():
+            continue
+        board_name = manufacturer.name + '_' + board.name
+        if board_name in excluded_boards:
+            continue
+        package_cmake = os.path.join(board.path, 'cmake', 'package.cmake')
+        if os.path.exists(package_cmake):
+            deb_target = board_name + '_deb'
+            if target_filter and not any(deb_target.startswith(f) for f in target_filter):
+                continue
+            # Determine the container and group for this board
+            container = default_container
+            if board_name in board_container_overrides:
+                container = board_container_overrides[board_name]
+            target_entry = {'target': deb_target, 'container': container}
+            if args.group:
+                # Find the group where this board's _default target already lives
+                default_target = board_name + '_default'
+                group = None
+                for g in grouped_targets:
+                    targets_in_group = grouped_targets[g].get('manufacturers', {}).get(manufacturer.name, [])
+                    if default_target in targets_in_group:
+                        group = g
+                        break
+                if group is None:
+                    group = 'base'
+                target_entry['arch'] = group
+                if group not in grouped_targets:
+                    grouped_targets[group] = {'container': container, 'manufacturers': {}}
+                if manufacturer.name not in grouped_targets[group]['manufacturers']:
+                    grouped_targets[group]['manufacturers'][manufacturer.name] = []
+                grouped_targets[group]['manufacturers'][manufacturer.name].append(deb_target)
+            build_configs.append(target_entry)
+
 if(verbose):
     import pprint
     print("============================")

Tools/ci/package_build_artifacts.sh

@@ -3,35 +3,46 @@
 mkdir artifacts
 cp **/**/*.px4 artifacts/ 2>/dev/null || true
 cp **/**/*.elf artifacts/ 2>/dev/null || true
+cp **/**/*.deb artifacts/ 2>/dev/null || true
 for build_dir_path in build/*/ ; do
   build_dir_path=${build_dir_path::${#build_dir_path}-1}
   build_dir=${build_dir_path#*/}
-  mkdir artifacts/$build_dir
+  mkdir -p artifacts/$build_dir
   find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
-  # Airframe
-  cp $build_dir_path/airframes.xml artifacts/$build_dir/
+  # Airframe (NuttX: build root, SITL: docs/ subdirectory)
+  airframes_src=""
+  if [ -f "$build_dir_path/airframes.xml" ]; then
+    airframes_src="$build_dir_path/airframes.xml"
+  elif [ -f "$build_dir_path/docs/airframes.xml" ]; then
+    airframes_src="$build_dir_path/docs/airframes.xml"
+  fi
+  if [ -n "$airframes_src" ]; then
+    cp "$airframes_src" "artifacts/$build_dir/"
+  fi
   # Parameters
-  cp $build_dir_path/parameters.xml artifacts/$build_dir/
-  cp $build_dir_path/parameters.json artifacts/$build_dir/
-  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/
+  cp $build_dir_path/parameters.xml artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/parameters.json artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/ 2>/dev/null || true
   # Actuators
-  cp $build_dir_path/actuators.json artifacts/$build_dir/
-  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/
+  cp $build_dir_path/actuators.json artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/ 2>/dev/null || true
   # Events
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
-  # ROS 2 msgs
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
-  # Module Docs
+  mkdir -p artifacts/$build_dir/events/
+  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/events/ 2>/dev/null || true
   ls -la artifacts/$build_dir
   echo "----------"
 done
 
 if [ -d artifacts/px4_sitl_default ]; then
-  # general metadata
-  mkdir artifacts/_general/
-  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  # general metadata (used by Flight Review and other downstream consumers)
+  mkdir -p artifacts/_general/
   # Airframe
-  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  if [ -f artifacts/px4_sitl_default/airframes.xml ]; then
+    cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  else
+    echo "Error: expected 'artifacts/px4_sitl_default/airframes.xml' not found." >&2
+    exit 1
+  fi
   # Parameters
   cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
   cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
@@ -40,9 +51,11 @@ if [ -d artifacts/px4_sitl_default ]; then
   cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
   cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
   # Events
-  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  # ROS 2 msgs
-  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  # Module Docs
+  if [ -f artifacts/px4_sitl_default/events/all_events.json.xz ]; then
+    cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  else
+    echo "Error: expected 'artifacts/px4_sitl_default/events/all_events.json.xz' not found." >&2
+    exit 1
+  fi
   ls -la artifacts/_general/
 fi

Tools/dist/vehicle_configs.xml

@@ -0,0 +1,23 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<vehicle_configs>
+	<vehicle class="multirotor" rotors="4" geometry="x" propeller_diameter="8" weight="1.0" id="4010">
+		<title>Standard 8" Prop Quadrotor (x)</title>
+		<short_desc>Standard quadrotor configuration in x configuration for 8-" propellers</short_desc>
+		<mixer>/etc/mixers/quad_x.main.mix</mixer>
+	</vehicle>
+	<vehicle class="multirotor" rotors="4" geometry="+" propeller_diameter="8" weight="1.0" id="5001">
+		<title>Standard 8" Prop Quadrotor (+)</title>
+		<short_desc>Standard quadrotor configuration in + configuration for 8-" propellers</short_desc>
+		<mixer>/etc/mixers/quad_+.main.mix</mixer>
+	</vehicle>
+	<vehicle class="multirotor" rotors="4" geometry="x" propeller_diameter="10" weight="1.5" id="4011">
+		<title>Standard 8" Prop Quadrotor (x)</title>
+		<short_desc>Standard quadrotor configuration in x configuration for 8-" propellers</short_desc>
+		<mixer>/etc/mixers/quad_x.main.mix</mixer>
+	</vehicle>
+	<vehicle class="fixed_wing" wingspan="0.85" elevons="yes" ailerons="no" rudder="no" weight="1.5" id="3033">
+		<title>Zeta Science Wing Wing Z-84</title>
+		<short_desc>Configuration for a small flying wing.</short_desc>
+		<mixer>/etc/mixers/wingwing.main.mix</mixer>
+	</vehicle>
+</vehicle_configs>

Tools/migrate_c_params.py

@@ -128,6 +128,9 @@ class SourceParser:
                         # start waiting for the next part - long comment.
                         if state == "wait-short-end":
                             state = "wait-long"
+                        elif state == "wait-long-end":
+                            # Preserve paragraph breaks in long description
+                            long_desc += "\n"
                     else:
                         m = self.re_comment_tag.match(comment_content)
                         if m:
@@ -208,8 +211,7 @@ class SourceParser:
                                 raise Exception('short description too long (150 max, is {:}, parameter: {:})'.format(len(short_desc), name))
                             param.fields["short_desc"] = self.re_remove_dots.sub('', short_desc)
                         if long_desc is not None:
-                            long_desc = self.re_remove_carriage_return.sub(' ', long_desc)
-                            param.fields["long_desc"] = long_desc
+                            param.fields["long_desc"] = long_desc.rstrip('\n')
                         for tag in tags:
                             if tag == "group":
                                 group = tags[tag]
@@ -407,7 +409,15 @@ def generate_yaml(filename: str, groups: list[ParameterGroup]) -> str:
             g["definitions"][parameter.name] = p
         data["parameters"].append(g)
 
-    return yaml.dump(data, sort_keys=False)
+    # Use block scalar style for multi-line strings
+    class BlockStyleDumper(yaml.SafeDumper):
+        pass
+    def str_representer(dumper, data):
+        if '\n' in data:
+            return dumper.represent_scalar('tag:yaml.org,2002:str', data, style='|')
+        return dumper.represent_scalar('tag:yaml.org,2002:str', data)
+    BlockStyleDumper.add_representer(str, str_representer)
+    return yaml.dump(data, Dumper=BlockStyleDumper, sort_keys=False)
 
 
 def main():

Tools/models/sdp3x_pitot_model.py

@@ -0,0 +1,110 @@
+"""
+Copyright (c) 2017, Sensirion AG
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* 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.
+
+* Neither the name of Sensirion AG 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 HOLDER 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.
+"""
+
+
+
+# formula for metal pitot tube with round tip as here: https://drotek.com/shop/2986-large_default/sdp3x-airspeed-sensor-kit-sdp31.jpg
+# and tubing as provided by px4/drotek (1.5 mm diameter)
+
+
+
+import numpy as np
+import matplotlib.pyplot as plt
+
+P_cal=96600. #Pa
+P_amb=96600. #dummy-value, use absolute pressure sensor!!
+
+
+## differential pressure, sensor values in Pascal
+dp_SDP33_raw=np.linspace(0,80,100)
+
+
+
+
+dp_SDP33=dp_SDP33_raw*P_cal/P_amb
+
+
+## total length tube in mm = length dynamic port+ length static port; compensation only valid for inner diameter of 1.5mm
+l_tube=450
+
+## densitiy air in kg/m3
+rho_air=1.29
+
+
+## flow through sensor
+flow_SDP33=(300.805 - 300.878/(0.00344205*dp_SDP33**0.68698 + 1))*1.29/rho_air
+
+
+
+## additional dp through pitot tube
+dp_Pitot=(0.0032*flow_SDP33**2 + 0.0123*flow_SDP33+1.)*1.29/rho_air
+
+## pressure drop through tube
+dp_Tube=(flow_SDP33*0.674)/450*l_tube*rho_air/1.29
+
+## speed at pitot-tube tip due to flow through sensor
+dv=0.125*flow_SDP33
+
+## sum of all pressure drops
+dp_tot=dp_SDP33+dp_Tube+dp_Pitot
+
+
+## computed airspeed without correction for inflow-speed at tip of pitot-tube
+airspeed_uncorrected=np.sqrt(2*dp_tot/rho_air)
+
+## corrected airspeed
+airspeed_corrected=airspeed_uncorrected+dv
+
+
+## just to compare to value without compensation
+airspeed_raw=np.sqrt(2*dp_SDP33/rho_air)
+
+
+plt.figure()
+plt.plot(dp_SDP33,airspeed_corrected)
+plt.xlabel('differential pressure raw value [Pa]')
+plt.ylabel('airspeed_corrected [m/s]')
+plt.show()
+
+
+
+##plt.figure()
+##plt.plot(dp_SDP33,airspeed_corrected/airspeed_raw)
+##plt.xlabel('differential pressure raw value [Pa]')
+##plt.ylabel('correction factor [-]')
+##plt.show()
+##
+##
+##
+##plt.figure()
+##plt.plot(airspeed_corrected,(airspeed_corrected-airspeed_raw)/airspeed_corrected)
+##plt.xlabel('airspeed [m/s]')
+##plt.ylabel('relative error [-]')
+##plt.show()

Tools/module_config/generate_params.py

@@ -108,7 +108,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                 tags = '@group {:}'.format(param_group)
                 if param['type'] == 'enum':
                     param_type = 'INT32'
-                    for key in param['values']:
+                    for key in sorted(param['values'], key=float):
                         tags += '\n * @value {:} {:}'.format(key, param['values'][key])
                 elif param['type'] == 'bitmask':
                     param_type = 'INT32'
@@ -124,6 +124,9 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                     param_type = 'INT32'
                 elif param['type'] == 'float':
                     param_type = 'FLOAT'
+                    if 'values' in param:
+                        for key in sorted(param['values'], key=float):
+                            tags += '\n * @value {:} {:}'.format(key, param['values'][key])
                 else:
                     raise Exception("unknown param type {:}".format(param['type']))
 

Tools/msg/generate_msg_docs.py

@@ -316,7 +316,9 @@ Param | Units | Range/Enum | Description
                 if val.minValue or val.maxValue:
                     rangeVal = f"[{val.minValue if val.minValue else '-'} : {val.maxValue if val.maxValue else '-' }]"
 
-                output+=f"{i} | {", ".join(val.units)}|{', '.join(f"[{e}](#{e})" for e in val.enums)}{rangeVal} | {val.description}\n"
+                units_str = ", ".join(val.units)
+                enums_str = ', '.join("[{}](#{})".format(e, e) for e in val.enums)
+                output+=f"{i} | {units_str}|{enums_str}{rangeVal} | {val.description}\n"
             else:
                 output+=f"{i} | | | ?\n"
 

Tools/stack_usage/avstack.pl

@@ -0,0 +1,251 @@
+#!/usr/bin/perl -w
+# avstack.pl: AVR stack checker
+# Copyright (C) 2013 Daniel Beer <dlbeer@gmail.com>
+#
+# Permission to use, copy, modify, and/or distribute this software for
+# any purpose with or without fee is hereby granted, provided that the
+# above copyright notice and this permission notice appear in all
+# copies.
+#
+# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
+# WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE
+# AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL
+# DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR
+# PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
+# TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
+# PERFORMANCE OF THIS SOFTWARE.
+#
+# Usage
+# -----
+#
+# This script requires that you compile your code with -fstack-usage.
+# This results in GCC generating a .su file for each .o file. Once you
+# have these, do:
+#
+#    ./avstack.pl <object files>
+#
+# This will disassemble .o files to construct a call graph, and read
+# frame size information from .su. The call graph is traced to find, for
+# each function:
+#
+#    - Call height: the maximum call height of any callee, plus 1
+#      (defined to be 1 for any function which has no callees).
+#
+#    - Inherited frame: the maximum *inherited* frame of any callee, plus
+#      the GCC-calculated frame size of the function in question.
+#
+# Using these two pieces of information, we calculate a cost (estimated
+# peak stack usage) for calling the function. Functions are then listed
+# on stdout in decreasing order of cost.
+#
+# Functions which are recursive are marked with an 'R' to the left of
+# them. Their cost is calculated for a single level of recursion.
+#
+# The peak stack usage of your entire program can usually be estimated
+# as the stack cost of "main", plus the maximum stack cost of any
+# interrupt handler which might execute.
+
+use strict;
+
+# Configuration: set these as appropriate for your architecture/project.
+
+my $objdump = "arm-none-eabi-objdump";
+my $call_cost = 4;
+
+# First, we need to read all object and corresponding .su files. We're
+# gathering a mapping of functions to callees and functions to frame
+# sizes. We're just parsing at this stage -- callee name resolution
+# comes later.
+
+my %frame_size;     # "func@file" -> size
+my %call_graph;     # "func@file" -> {callees}
+my %addresses;      # "addr@file" -> "func@file"
+
+my %global_name;    # "func" -> "func@file"
+my %ambiguous;      # "func" -> 1
+
+foreach (@ARGV) {
+    # Disassemble this object file to obtain a callees. Sources in the
+    # call graph are named "func@file". Targets in the call graph are
+    # named either "offset@file" or "funcname". We also keep a list of
+    # the addresses and names of each function we encounter.
+    my $objfile = $_;
+    my $source;
+
+    open(DISASSEMBLY, "$objdump -dr $objfile|") ||
+	die "Can't disassemble $objfile";
+    while (<DISASSEMBLY>) {
+	chomp;
+
+	if (/^([0-9a-fA-F]+) <(.*)>:/) {
+	    my $a = $1;
+	    my $name = $2;
+
+	    $source = "$name\@$objfile";
+	    $call_graph{$source} = {};
+	    $ambiguous{$name} = 1 if defined($global_name{$name});
+	    $global_name{$name} = "$name\@$objfile";
+
+	    $a =~ s/^0*//;
+	    $addresses{"$a\@$objfile"} = "$name\@$objfile";
+	}
+
+	if (/: R_[A-Za-z0-9_]+_CALL[ \t]+(.*)/) {
+	    my $t = $1;
+
+	    if ($t eq ".text") {
+		$t = "\@$objfile";
+	    } elsif ($t =~ /^\.text\+0x(.*)$/) {
+		$t = "$1\@$objfile";
+	    }
+
+	    $call_graph{$source}->{$t} = 1;
+	}
+    }
+    close(DISASSEMBLY);
+
+    # Extract frame sizes from the corresponding .su file.
+    if ($objfile =~ /^(.*).obj$/) {
+	my $sufile = "$1.su";
+
+	open(SUFILE, "<$sufile") || die "Can't open $sufile";
+	while (<SUFILE>) {
+	    $frame_size{"$1\@$objfile"} = $2 + $call_cost
+		if /^.*:([^\t ]+)[ \t]+([0-9]+)/;
+	}
+	close(SUFILE);
+    }
+}
+
+# In this step, we enumerate each list of callees in the call graph and
+# try to resolve the symbols. We omit ones we can't resolve, but keep a
+# set of them anyway.
+
+my %unresolved;
+
+foreach (keys %call_graph) {
+    my $from = $_;
+    my $callees = $call_graph{$from};
+    my %resolved;
+
+    foreach (keys %$callees) {
+	my $t = $_;
+
+	if (defined($addresses{$t})) {
+	    $resolved{$addresses{$t}} = 1;
+	} elsif (defined($global_name{$t})) {
+	    $resolved{$global_name{$t}} = 1;
+	    warn "Ambiguous resolution: $t" if defined ($ambiguous{$t});
+	} elsif (defined($call_graph{$t})) {
+	    $resolved{$t} = 1;
+	} else {
+	    $unresolved{$t} = 1;
+	}
+    }
+
+    $call_graph{$from} = \%resolved;
+}
+
+# Create fake edges and nodes to account for dynamic behaviour.
+$call_graph{"INTERRUPT"} = {};
+
+foreach (keys %call_graph) {
+    $call_graph{"INTERRUPT"}->{$_} = 1 if /^__vector_/;
+}
+
+# Trace the call graph and calculate, for each function:
+#
+#    - inherited frames: maximum inherited frame of callees, plus own
+#      frame size.
+#    - height: maximum height of callees, plus one.
+#    - recursion: is the function called recursively (including indirect
+#      recursion)?
+
+my %has_caller;
+my %visited;
+my %total_cost;
+my %call_depth;
+
+sub trace {
+    my $f = shift;
+
+    if ($visited{$f}) {
+	$visited{$f} = "R" if $visited{$f} eq "?";
+	return;
+    }
+
+    $visited{$f} = "?";
+
+    my $max_depth = 0;
+    my $max_frame = 0;
+
+    my $targets = $call_graph{$f} || die "Unknown function: $f";
+    if (defined($targets)) {
+	foreach (keys %$targets) {
+	    my $t = $_;
+
+	    $has_caller{$t} = 1;
+	    trace($t);
+
+	    my $is = $total_cost{$t};
+	    my $d = $call_depth{$t};
+
+	    $max_frame = $is if $is > $max_frame;
+	    $max_depth = $d if $d > $max_depth;
+	}
+    }
+
+    $call_depth{$f} = $max_depth + 1;
+    $total_cost{$f} = $max_frame + ($frame_size{$f} || 0);
+    $visited{$f} = " " if $visited{$f} eq "?";
+}
+
+foreach (keys %call_graph) { trace $_; }
+
+# Now, print results in a nice table.
+printf "  %-30s %8s %8s %8s\n",
+    "Func", "Cost", "Frame", "Height";
+print "------------------------------------";
+print "------------------------------------\n";
+
+my $max_iv = 0;
+my $main = 0;
+
+foreach (sort { $total_cost{$b} <=> $total_cost{$a} } keys %visited) {
+    my $name = $_;
+
+    if (/^(.*)@(.*)$/) {
+	$name = $1 unless $ambiguous{$name};
+    }
+
+    my $tag = $visited{$_};
+    my $cost = $total_cost{$_};
+
+    $name = $_ if $ambiguous{$name};
+    $tag = ">" unless $has_caller{$_};
+
+    if (/^__vector_/) {
+	$max_iv = $cost if $cost > $max_iv;
+    } elsif (/^main@/) {
+	$main = $cost;
+    }
+
+    if ($ambiguous{$name}) { $name = $_; }
+
+    printf "%s %-30s %8d %8d %8d\n", $tag, $name, $cost,
+	$frame_size{$_} || 0, $call_depth{$_};
+}
+
+print "\n";
+
+print "Peak execution estimate (main + worst-case IV):\n";
+printf "  main = %d, worst IV = %d, total = %d\n",
+      $total_cost{$global_name{"main"}},
+      $total_cost{"INTERRUPT"},
+      $total_cost{$global_name{"main"}} + $total_cost{"INTERRUPT"};
+
+print "\n";
+
+print "The following functions were not resolved:\n";
+foreach (keys %unresolved) { print "  $_\n"; }

Tools/usb_serialload.py

@@ -0,0 +1,55 @@
+import serial, time
+
+
+port = serial.Serial('/dev/ttyACM0', baudrate=57600, timeout=2)
+
+data = '01234567890123456789012345678901234567890123456789'
+#data = 'hellohello'
+outLine = 'echo %s\n' % data
+
+port.write('\n\n\n')
+port.write('free\n')
+line = port.readline(80)
+while line != '':
+    print(line)
+    line = port.readline(80)
+    
+
+i = 0
+bytesOut = 0
+bytesIn = 0
+
+startTime = time.time()
+lastPrint = startTime
+while True:
+    bytesOut += port.write(outLine)
+    line = port.readline(80)
+    bytesIn += len(line)
+    # check command line echo
+    if (data not in line):
+        print('command error %d: %s' % (i,line))
+        #break
+    # read echo output
+    line = port.readline(80)
+    if (data not in line):
+        print('echo output error %d: %s' % (i,line))
+        #break
+    bytesIn += len(line)
+    #print('%d: %s' % (i,line))
+    #print('%d: bytesOut: %d, bytesIn: %d' % (i, bytesOut, bytesIn))
+    
+    elapsedT = time.time() - lastPrint
+    if (time.time() - lastPrint >= 5):
+        outRate = bytesOut / elapsedT
+        inRate = bytesIn / elapsedT
+        usbRate = (bytesOut + bytesIn) / elapsedT
+        lastPrint = time.time()
+        print('elapsed time: %f' % (time.time() - startTime))
+        print('data rates (bytes/sec): out: %f, in: %f, total: %f' % (outRate, inRate, usbRate))
+        
+        bytesOut = 0
+        bytesIn = 0
+        
+    i += 1    
+    #if (i > 2): break
+    

boards/accton-godwit/ga1/src/board_config.h

@@ -259,7 +259,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -286,7 +286,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -452,7 +452,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \

boards/accton-godwit/ga1/src/init.cpp

@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
+	VDD_3V3_SENSORS_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -219,7 +219,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/accton-godwit/ga1/src/spi.cpp

@@ -48,7 +48,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/ark/fmu-v6x/mavlink-dev.px4board

@@ -0,0 +1 @@
+CONFIG_MAVLINK_DIALECT="development"

boards/ark/fmu-v6x/src/board_config.h

@@ -273,7 +273,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -295,7 +295,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -421,9 +421,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
-/* This board has 4 DMA channels available for bidirectional dshot */
-#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
-
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1
@@ -455,7 +452,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \

boards/ark/fmu-v6x/src/init.c

@@ -108,7 +108,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_5V_HIPOWER_EN(false);
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
+	VDD_3V3_SENSORS_EN(false);
 	SPI6_RESET(true);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
@@ -124,7 +124,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
@@ -221,7 +221,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	/* Power on Interfaces */
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	SPI6_RESET(false);

boards/ark/fmu-v6x/src/spi.cpp

@@ -48,7 +48,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -71,7 +71,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/ark/fpv/init/rc.board_airframes

@@ -0,0 +1,19 @@
+4001_quad_x
+4050_generic_250
+6001_hexa_x
+12001_octo_cox
+13100_generic_vtol_tiltrotor
+5001_quad_+
+24001_dodeca_cox
+2100_standard_plane
+13000_generic_vtol_standard
+4601_droneblocks_dexi_5
+11001_hexa_cox
+14001_generic_mc_with_tilt
+16001_helicopter
+9001_octo_+
+7001_hexa_+
+3000_generic_wing
+2106_albatross
+13200_generic_vtol_tailsitter
+13030_generic_vtol_quad_tiltrotor

boards/ark/fpv/mavlink-dev.px4board

@@ -0,0 +1 @@
+CONFIG_MAVLINK_DIALECT="development"

boards/ark/fpv/src/board_config.h

@@ -306,9 +306,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
-/* This board has 3 DMA channels available for bidirectional dshot */
-#define BOARD_DMA_NUM_DSHOT_CHANNELS 3
-
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/ark/pi6x/mavlink-dev.px4board

@@ -0,0 +1 @@
+CONFIG_MAVLINK_DIALECT="development"

boards/ark/pi6x/src/board_config.h

@@ -311,9 +311,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
-/* This board has 4 DMA channels available for bidirectional dshot */
-#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
-
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/ark/pi6x/src/spi.cpp

@@ -48,7 +48,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		// initSPIBus(SPI::Bus::SPI5, {
 		// 	initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -69,7 +69,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		// initSPIBus(SPI::Bus::SPI5, {
 		// 	initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/auterion/fmu-v6x/src/board_config.h

@@ -262,7 +262,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -289,7 +289,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -453,7 +453,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \

boards/auterion/fmu-v6x/src/init.cpp

@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
+	VDD_3V3_SENSORS_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -215,7 +215,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/auterion/fmu-v6x/src/spi.cpp

@@ -48,7 +48,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/bitcraze/crazyflie/syslink/CMakeLists.txt

@@ -42,6 +42,8 @@ px4_add_module(
 		syslink_bridge.cpp
 		syslink_memory.cpp
 		syslink.c
+	MODULE_CONFIG
+		syslink_params.yaml
 	DEPENDS
 		battery
 	)

boards/bitcraze/crazyflie/syslink/syslink_params.c

@@ -1,72 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file syslink_params.c
- *
- * Parameters defined by the syslink module and the exposed NRF51 radio
- *
- * @author Dennis Shtatnov <densht@gmail.com>
- */
-
-/**
- * Operating channel of the NRF51
- *
- * @min 0
- * @max 125
- * @group Syslink
- */
-PARAM_DEFINE_INT32(SLNK_RADIO_CHAN, 80);
-
-/**
- * Operating datarate of the NRF51
- *
- * @min 0
- * @max 2
- * @group Syslink
- */
-PARAM_DEFINE_INT32(SLNK_RADIO_RATE, 2);
-
-/**
- * Operating address of the NRF51 (most significant byte)
- *
- * @group Syslink
- */
-PARAM_DEFINE_INT32(SLNK_RADIO_ADDR1, 231); // 0xE7
-
-/**
- * Operating address of the NRF51 (least significant 4 bytes)
- *
- * @group Syslink
- */
-PARAM_DEFINE_INT32(SLNK_RADIO_ADDR2, 3890735079); // 0xE7E7E7E7

boards/bitcraze/crazyflie/syslink/syslink_params.yaml

@@ -0,0 +1,28 @@
+module_name: syslink
+parameters:
+- group: Syslink
+  definitions:
+    SLNK_RADIO_CHAN:
+      description:
+        short: Operating channel of the NRF51
+      type: int32
+      default: 80
+      min: 0
+      max: 125
+    SLNK_RADIO_RATE:
+      description:
+        short: Operating datarate of the NRF51
+      type: int32
+      default: 2
+      min: 0
+      max: 2
+    SLNK_RADIO_ADDR1:
+      description:
+        short: Operating address of the NRF51 (most significant byte)
+      type: int32
+      default: 231
+    SLNK_RADIO_ADDR2:
+      description:
+        short: Operating address of the NRF51 (least significant 4 bytes)
+      type: int32
+      default: -404232217

boards/corvon/743v1/src/hw_config.h

@@ -104,7 +104,7 @@
 #define OSC_FREQ                       8
 
 #define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE // BLUE
-#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_GREEN // GREEN
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_RED  // RED
 #define BOARD_LED_ON                   0
 #define BOARD_LED_OFF                  1
 

boards/corvon/743v1/src/init.c

@@ -169,6 +169,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	drv_led_start();
 	led_off(LED_RED);
 	led_off(LED_BLUE);
+	led_off(LED_GREEN);
 
 	if (board_hardfault_init(2, true) != 0) {
 		led_on(LED_BLUE);

boards/corvon/743v1/src/led.c

@@ -63,12 +63,23 @@ extern void led_toggle(int led);
 __END_DECLS
 
 #  define xlat(p) (p)
+// index: 0=BLUE, 1=RED, 2=SAFETY, 3=GREEN
 static uint32_t g_ledmap[] = {
-	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
-	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
-	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
+	GPIO_nLED_BLUE,    // LED_BLUE (0)
+	GPIO_nLED_RED,     // LED_RED (1)
+	0,                 // LED_SAFETY (2) - no independent safety LED, use 0 placeholder
+	GPIO_nLED_GREEN,   // LED_GREEN (3)
 };
 
+#ifndef arraySize
+#define arraySize(a) (sizeof((a))/sizeof(((a)[0])))
+#endif
+
+static inline bool valid_led_index(int led)
+{
+	return (led >= 0) && ((size_t)led < arraySize(g_ledmap));
+}
+
 __EXPORT void led_init(void)
 {
 	/* Configure LED GPIOs for output */
@@ -81,6 +92,10 @@ __EXPORT void led_init(void)
 
 static void phy_set_led(int led, bool state)
 {
+	if (!valid_led_index(led)) {
+		return;
+	}
+
 	/* Drive Low to switch on */
 	if (g_ledmap[led] != 0) {
 		stm32_gpiowrite(g_ledmap[led], !state);
@@ -89,6 +104,10 @@ static void phy_set_led(int led, bool state)
 
 static bool phy_get_led(int led)
 {
+	if (!valid_led_index(led)) {
+		return false;
+	}
+
 	/* If Low it is on */
 	if (g_ledmap[led] != 0) {
 		return !stm32_gpioread(g_ledmap[led]);

boards/cuav/7-nano/pwm_voltage/CMakeLists.txt

@@ -37,6 +37,8 @@ px4_add_module(
 
 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)

boards/cuav/7-nano/pwm_voltage/parameters.c

@@ -1,44 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2024 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
- *
- * Enable:  PWM output voltage 5V
- * Disable: PWM output voltage 3.3V
- *
- * @boolean
- * @reboot_required true
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_LEVEL_CONT, 0);

boards/cuav/7-nano/pwm_voltage/parameters.yaml

@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_LEVEL_CONT:
+      description:
+        short: Control PWM output voltage
+        long: |-
+          Enable:  PWM output voltage 5V
+          Disable: PWM output voltage 3.3V
+      type: boolean
+      default: 0
+      reboot_required: true

boards/cuav/fmu-v6x/pwm_voltage/CMakeLists.txt

@@ -37,6 +37,8 @@ px4_add_module(
 
 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)

boards/cuav/fmu-v6x/pwm_voltage/parameters.c

@@ -1,43 +0,0 @@
-/****************************************************************************
- *
- *   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);

boards/cuav/fmu-v6x/pwm_voltage/parameters.yaml

@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_VOLT_SEL:
+      description:
+        short: Control PWM output voltage
+      type: enum
+      values:
+        0: 3.3V
+        1: 5.0V
+      default: 0
+      reboot_required: true

boards/cuav/fmu-v6x/src/board_config.h

@@ -271,7 +271,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -297,7 +297,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -463,7 +463,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_SYNC,                        \

boards/cuav/fmu-v6x/src/init.cpp

@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
+	VDD_3V3_SENSORS_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -219,7 +219,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/cuav/fmu-v6x/src/spi.cpp

@@ -49,7 +49,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/cuav/x25-evo/pwm_voltage/CMakeLists.txt

@@ -37,6 +37,8 @@ px4_add_module(
 
 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)

boards/cuav/x25-evo/pwm_voltage/parameters.c

@@ -1,43 +0,0 @@
-/****************************************************************************
- *
- *   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);

boards/cuav/x25-evo/pwm_voltage/parameters.yaml

@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_VOLT_SEL:
+      description:
+        short: Control PWM output voltage
+      type: enum
+      values:
+        0: 3.3V
+        1: 5.0V
+      default: 0
+      reboot_required: true

boards/cuav/x25-super/pwm_voltage/CMakeLists.txt

@@ -37,6 +37,8 @@ px4_add_module(
 
 	SRCS
 		pwm_voltage.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)

boards/cuav/x25-super/pwm_voltage/parameters.yaml

@@ -0,0 +1,13 @@
+module_name: pwm_voltage
+parameters:
+- group: PWM Outputs
+  definitions:
+    PWM_VOLT_SEL:
+      description:
+        short: Control PWM output voltage
+      type: enum
+      values:
+        0: 3.3V
+        1: 5.0V
+      default: 0
+      reboot_required: true

boards/holybro/kakuteh7-wing/nuttx-config/include/board_dma_map.h

@@ -58,11 +58,13 @@
 //#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
 //#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */
 
-// Assigned in timer_config.cpp
-
-// TODO
-// Timer 4                                          /* 7 DMA1:32 TIM4UP */
-// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+// Dynamically assigned in timer_config.cpp for DShot (allocated/freed per cycle):
+// Timer 1 TIM1UP (burst) + TIM1CH1-4 (capture)
+// Timer 2 TIM2UP (burst) + TIM2CH1-4 (capture)
+// Timer 3 TIM3UP (burst) + TIM3CH1-4 (capture)
+// Timer 4 TIM4UP (burst) + TIM4CH1-3 (capture, CH4 has no DMA)
+// Timer 5 TIM5UP (burst) + TIM5CH1-4 (capture)
+// Timer 15 - no TIM15UP DMA, cannot do DShot
 
 // DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
 //                                                     V

boards/holybro/kakuteh7-wing/src/timer_config.cpp

@@ -38,18 +38,20 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer15),
-	initIOTimer(Timer::Timer3),
-	initIOTimer(Timer::Timer2),
+	initIOTimer(Timer::Timer15), // Note: Timer15 has no TIM_UP DMA on STM32H7, cannot do DShot
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
 };
 
+// Note: Timer4 Channel4 has no DMAMUX mapping on STM32H7, so BDShot telemetry capture
+// is not available on that channel. DShot output still works (uses TIM_UP DMA for burst).
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
 	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::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}), // no BDShot telemetry readback
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
 	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),

boards/modalai/voxl2-slpi/src/CMakeLists.txt

@@ -1,84 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2022 ModalAI, Inc. 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.
-#
-############################################################################
-
-# Need to make sure that the DSP processor on VOXL2
-# knows about all parameters since some modules need parameters
-# from other modules that are not running on the DSP.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
-
-add_library(drivers_board
-	board_config.h
-	i2c.cpp
-	init.c
-	spi.cpp
-    )
-
-# Generate MAVLink common headers for SLPI drivers (dsp_hitl, mavlink_rc_in)
-# Replicates the generation from src/modules/mavlink/CMakeLists.txt so the
-# SLPI build is self-contained and does not depend on voxl2-default.
-set(MAVLINK_GIT_DIR "${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink")
-set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
-
-px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${MAVLINK_GIT_DIR}")
-
-add_custom_command(
-	OUTPUT ${MAVLINK_LIBRARY_DIR}/common/common.h
-	COMMAND ${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
-		--lang C --wire-protocol 2.0
-		--output ${MAVLINK_LIBRARY_DIR}
-		${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
-		> ${CMAKE_BINARY_DIR}/mavgen_common.log
-	DEPENDS
-		git_mavlink_v2
-		${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
-		${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
-	COMMENT "Generating MAVLink common headers for SLPI"
-)
-add_custom_target(mavlink_common_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/common/common.h)
-
-add_library(mavlink_common_headers INTERFACE)
-add_dependencies(mavlink_common_headers mavlink_common_generate)
-target_compile_options(mavlink_common_headers INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
-target_include_directories(mavlink_common_headers INTERFACE
-	${MAVLINK_LIBRARY_DIR}
-	${MAVLINK_LIBRARY_DIR}/common
-)
-
-# Add custom drivers for SLPI
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/elrs_led)

boards/modalai/voxl2-slpi/src/board_config.h

@@ -1,82 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022-2026 ModalAI, Inc. 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
- *
- * VOXL2 internal definitions
- */
-
-#pragma once
-
-#define CONFIG_BOARDCTL_RESET
-#define BOARD_HAS_NO_BOOTLOADER
-/*
- * I2C buses
- */
-#define CONFIG_I2C 1
-#define PX4_NUMBER_I2C_BUSES    4
-
-/*
- * SPI buses
- */
-#define CONFIG_SPI 1
-#define BOARD_SPI_BUS_MAX_BUS_ITEMS 1
-
-/*
- * Include these last to make use of the definitions above
- */
-#include <system_config.h>
-#include <px4_platform_common/board_common.h>
-
-/*
- *  Default port for the ESC
- */
-#define VOXL_ESC_DEFAULT_PORT 	"2"
-
-/*
- *  Default port for the GHST RC
- */
-#define GHST_RC_DEFAULT_PORT 	"7"
-
-/*
- * Default port for M0065
-*/
-#define VOXL2_IO_DEFAULT_PORT 	"2"
-
-
-/*
- * M0065 PWM
- */
-#define DIRECT_PWM_OUTPUT_CHANNELS 4
-#define MAX_IO_TIMERS 3

boards/modalai/voxl2-slpi/src/init.c

@@ -1,35 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2022 ModalAI, Inc. 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 "board_config.h"
-
-// Place holder for VOXL2-specific early startup code

boards/modalai/voxl2/README.md

@@ -13,6 +13,10 @@ critical applications such as Mavlink, and logging are running on the
 ARM CPU cluster (aka apps proc). The DSP and ARM CPU cluster communicate via a
 Qualcomm proprietary shared memory interface.
 
+Both processors are built from this single board directory:
+- `default.px4board` - POSIX apps processor (ARM64)
+- `slpi.px4board` - QURT DSP (Hexagon)
+
 ## Build environment
 
 In order to build for this platform both the Qualcomm Hexagon (DSP) toolchain and the Linaro ARM64 toolchain need to be installed. The (nearly) complete setup including the ARM64 toolchain is provided in the base Docker image provided by ModalAI, but since ModalAI is not allowed to redistribute the Qualcomm Hexagon DSP SDK this must be added by the end user.
@@ -22,17 +26,21 @@ The full instructions are available here:
 
 ## Build overview
 
+A single `make modalai_voxl2` command builds both the DSP and apps processor
+firmware. The Makefile chains the SLPI build as a prerequisite of the default
+(apps) build.
+
 - Clone the repo (Don't forget to update and initialize all submodules)
 - In the top level directory
 ```
 px4$ boards/modalai/voxl2/scripts/run-docker.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/clean.sh
-root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-deps.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-apps.sh
-root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-slpi.sh
 root@9373fa1401b8:/usr/local/workspace# exit
 ```
 
+For DSP-only rebuilds: `make modalai_voxl2_slpi`
+
 ## Install and run on VOXL 2
 
 Once the DSP and Linux images have been built they can be installed on a VOXL 2

boards/modalai/voxl2/cmake/init.cmake

@@ -31,6 +31,10 @@
 #
 ############################################################################
 
+if(NOT "${PX4_PLATFORM}" STREQUAL "posix")
+	return()
+endif()
+
 # Initialize libfc-sensor-api submodule (fetches from GitLab if not present)
 execute_process(
 	COMMAND Tools/check_submodules.sh boards/modalai/voxl2/libfc-sensor-api

boards/modalai/voxl2/cmake/install.cmake

@@ -0,0 +1,84 @@
+############################################################################
+#
+#   Copyright (c) 2024 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.
+#
+############################################################################
+
+# VOXL2 board-specific install rules for .deb packaging
+# Included from platforms/posix/CMakeLists.txt where the px4 target exists
+
+# SLPI companion build output directory
+set(VOXL2_SLPI_BUILD_DIR "${PX4_SOURCE_DIR}/build/modalai_voxl2_slpi")
+
+# Apps processor binary
+install(TARGETS px4 RUNTIME DESTINATION bin)
+
+# px4-alias.sh (generated during build into bin/ subdirectory)
+install(PROGRAMS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/px4-alias.sh DESTINATION bin)
+
+# Startup scripts from board target directory
+install(PROGRAMS
+	${PX4_BOARD_DIR}/target/voxl-px4
+	${PX4_BOARD_DIR}/target/voxl-px4-start
+	${PX4_BOARD_DIR}/target/voxl-px4-hitl
+	${PX4_BOARD_DIR}/target/voxl-px4-hitl-start
+	${PX4_BOARD_DIR}/scripts/voxl-configure-px4
+	DESTINATION bin
+)
+
+# DSP firmware blob from companion SLPI build
+install(FILES ${VOXL2_SLPI_BUILD_DIR}/platforms/qurt/libpx4.so
+	DESTINATION lib/rfsa/adsp
+)
+
+# Configuration files
+install(FILES
+	${PX4_BOARD_DIR}/target/voxl-px4-fake-imu-calibration.config
+	${PX4_BOARD_DIR}/target/voxl-px4-hitl-set-default-parameters.config
+	DESTINATION ../etc/modalai
+)
+
+# Systemd service file
+install(FILES ${PX4_BOARD_DIR}/debian/voxl-px4.service
+	DESTINATION ../etc/systemd/system
+)
+
+# Component metadata JSON files
+install(FILES
+	${PX4_BINARY_DIR}/actuators.json.xz
+	${PX4_BINARY_DIR}/component_general.json.xz
+	${PX4_BINARY_DIR}/parameters.json.xz
+	DESTINATION ../data/px4/etc/extras
+	OPTIONAL
+)
+install(FILES ${PX4_BINARY_DIR}/events/all_events.json.xz
+	DESTINATION ../data/px4/etc/extras
+	OPTIONAL
+)

boards/modalai/voxl2/cmake/link_libraries.cmake

@@ -1,3 +1,6 @@
+if(NOT "${PX4_PLATFORM}" STREQUAL "posix")
+	return()
+endif()
 
 # Link against the public stub version of the proprietary fc sensor library
 target_link_libraries(px4 PRIVATE

boards/modalai/voxl2/cmake/package.cmake

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2024 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
@@ -31,26 +31,33 @@
 #
 ############################################################################
 
-px4_add_module(
-	MODULE modules__mavlink__mavlink_tests
-	MAIN mavlink_tests
-	STACK_MAIN 8192
-	INCLUDES
-		${MAVLINK_LIBRARY_DIR}
-		${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}
-	COMPILE_FLAGS
-		-DMAVLINK_FTP_UNIT_TEST
-		#-DMAVLINK_FTP_DEBUG
-		-DMavlinkStream=MavlinkStreamTest
-		-DMavlinkFTP=MavlinkFTPTest
-		-Wno-cast-align # TODO: fix and enable
-		-Wno-address-of-packed-member # TODO: fix in c_library_v2
-		-Wno-double-promotion # The fix has been proposed as PR upstream (2020-03-08)
-	SRCS
-		mavlink_tests.cpp
-		mavlink_ftp_test.cpp
-		../mavlink_stream.cpp
-		../mavlink_ftp.cpp
-	DEPENDS
-		mavlink_c_generate
-	)
+# VOXL2 board-specific CPack overrides
+# Loaded after cmake/package.cmake sets up CPack defaults
+
+# Derive Debian-compatible version from git tag (e.g. v1.17.0-alpha1-42-gabcdef -> 1.17.0~alpha1.42.gabcdef)
+string(REGEX REPLACE "^v" "" _deb_ver "${PX4_GIT_TAG}")
+string(REGEX REPLACE "-" "~" _deb_ver "${_deb_ver}" )
+string(REGEX REPLACE "~([0-9]+)~" ".\\1." _deb_ver "${_deb_ver}")
+
+# VOXL2 is always aarch64 regardless of build host
+set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE "arm64")
+set(CPACK_DEBIAN_PACKAGE_NAME "voxl-px4")
+set(CPACK_DEBIAN_FILE_NAME "voxl-px4_${_deb_ver}_arm64.deb")
+set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
+set(CPACK_INSTALL_PREFIX "/usr")
+set(CPACK_SET_DESTDIR true)
+
+set(CPACK_DEBIAN_PACKAGE_DEPENDS "libfc-sensor (>=1.0.10), voxl-px4-params (>=0.3.10), voxl3-system-image(>=0.0.2) | voxl2-system-image(>=1.5.4) | rb5-system-image(>=1.6.2), modalai-slpi(>=1.2.2) | modalai-adsp(>=1.0.5)")
+set(CPACK_DEBIAN_PACKAGE_CONFLICTS "px4-rb5-flight")
+set(CPACK_DEBIAN_PACKAGE_REPLACES "px4-rb5-flight")
+set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 Autopilot for ModalAI VOXL2")
+set(CPACK_DEBIAN_PACKAGE_MAINTAINER "ModalAI <support@modalai.com>")
+
+# Disable shlibdeps for cross-compiled boards
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF)
+
+set(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA
+	"${PX4_BOARD_DIR}/debian/postinst;${PX4_BOARD_DIR}/debian/prerm")
+
+# Install rules are in boards/modalai/voxl2/cmake/install.cmake,
+# included from platforms/posix/CMakeLists.txt where the px4 target exists.

boards/modalai/voxl2/companion_targets

@@ -0,0 +1,3 @@
+# Companion processor targets - built automatically by the parent (default) target
+# These are excluded from CI target lists to avoid redundant builds
+modalai_voxl2_slpi

boards/modalai/voxl2/debian/postinst

@@ -0,0 +1,36 @@
+#!/bin/bash
+set -e
+
+# Create px4-* symlinks from px4-alias.sh
+# The alias format is: alias <module>='px4-<module> --instance $px4_instance'
+# We extract the px4-<module> command name and symlink it to the px4 binary
+if [ -f /usr/bin/px4-alias.sh ]; then
+    grep "^alias " /usr/bin/px4-alias.sh | \
+        sed -n "s/.*'\(px4-[a-zA-Z0-9_]*\).*/\1/p" | while read cmd; do
+        ln -sf px4 "/usr/bin/${cmd}"
+    done
+fi
+
+# Detect platform and generate DSP test signature if needed
+if ! /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
+    echo "[INFO] Generating DSP test signature..."
+    if [ -f /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh ]; then
+        /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh || true
+    elif [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
+        /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh || true
+    else
+        echo "[WARNING] Could not find DSP signature generation script"
+    fi
+fi
+
+# Create required data directories
+mkdir -p /data/px4/param
+mkdir -p /data/px4/etc/extras
+chown -R root:root /data/px4
+
+# Reload systemd if available
+if command -v systemctl > /dev/null 2>&1; then
+    systemctl daemon-reload
+fi
+
+echo "voxl-px4 installed successfully"

boards/modalai/voxl2/debian/prerm

@@ -0,0 +1,14 @@
+#!/bin/bash
+set -e
+
+# Stop voxl-px4 service if running
+if command -v systemctl > /dev/null 2>&1; then
+    systemctl stop voxl-px4 2>/dev/null || true
+fi
+
+# Remove px4-* symlinks
+for f in /usr/bin/px4-*; do
+    if [ -L "$f" ] && [ "$(readlink "$f")" = "px4" ]; then
+        rm -f "$f"
+    fi
+done

boards/modalai/voxl2/debian/voxl-px4.service

@@ -0,0 +1,14 @@
+[Unit]
+Description=PX4 Autopilot for VOXL2
+After=sscrpcd.service
+Requires=sscrpcd.service
+
+[Service]
+Type=simple
+ExecStart=/usr/bin/voxl-px4
+ExecStopPost=/usr/bin/voxl-reset-slpi
+Restart=on-failure
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target

boards/modalai/voxl2/scripts/build-apps.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-echo "*** Starting apps processor build ***"
+echo "*** Starting unified VOXL2 build (apps + SLPI) ***"
 
 source /home/build-env.sh
 
@@ -8,4 +8,4 @@ make modalai_voxl2
 
 cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
 
-echo "*** End of apps processor build ***"
+echo "*** End of unified VOXL2 build ***"

boards/modalai/voxl2/scripts/build-pkg.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+
+echo "*** Starting unified VOXL2 build (apps + SLPI) ***"
+
+source /home/build-env.sh
+
+make modalai_voxl2_deb
+
+cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
+
+echo "*** End of unified VOXL2 build ***"

boards/modalai/voxl2/scripts/build-slpi.sh

@@ -4,6 +4,6 @@ echo "*** Starting qurt slpi build ***"
 
 source /home/build-env.sh
 
-make modalai_voxl2-slpi
+make modalai_voxl2_slpi
 
 echo "*** End of qurt slpi build ***"

boards/modalai/voxl2/scripts/install-voxl-bins.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 # Push slpi image to voxl2
-adb push build/modalai_voxl2-slpi_default/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
+adb push build/modalai_voxl2_slpi/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
 
 # Push apps processor image to voxl2
 adb push build/modalai_voxl2_default/bin/px4 /usr/bin

boards/modalai/voxl2/scripts/install-voxl.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 # Push slpi image to voxl2
-adb push build/modalai_voxl2-slpi_default/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
+adb push build/modalai_voxl2_slpi/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
 
 # Push apps processor image to voxl2
 adb push build/modalai_voxl2_default/bin/px4 /usr/bin
@@ -65,7 +65,6 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-logger"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-manual_control"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink_bridge"
-adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink_tests"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mb12xx"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_att_control"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_pos_control"

boards/modalai/voxl2/scripts/voxl-configure-px4

@@ -0,0 +1,270 @@
+#!/bin/bash
+################################################################################
+# Copyright 2023 ModalAI Inc.
+#
+# 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 of the copyright holder nor the names of its contributors
+#    may be used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# 4. The Software is used solely in conjunction with devices provided by
+#    ModalAI Inc.
+#
+# 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 HOLDER 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.
+################################################################################
+
+NAME="voxl-px4"
+SERVICE_FILE="${NAME}.service"
+CONFIG_FILE="/etc/modalai/${NAME}.conf"
+USER=$(whoami)
+
+print_usage () {
+	echo ""
+	echo "Config script for voxl-px4"
+	echo "wizard coming soon. For now, call with one of the following args:"
+	echo ""
+	echo ""
+	echo "voxl-configure-px4 disable"
+	echo "voxl-configure-px4 enable"
+	echo "voxl-configure-px4 factory_enable"
+	echo "voxl-configure-px4 d0005_v2"
+	echo "voxl-configure-px4 starling_v2"
+	echo "voxl-configure-px4 d0006_v1"
+	echo "voxl-configure-px4 sentinel_v1"
+	echo "voxl-configure-px4 d0008"
+	echo "voxl-configure-px4 fpv_revB"
+	echo "voxl-configure-px4 d0010"
+	echo "voxl-configure-px4 d0011"
+	echo "voxl-configure-px4 d0013"
+	echo "voxl-configure-px4 d0015"
+	echo "voxl-configure-px4 voxl2-mini"
+	echo ""
+	echo "show this help message:"
+	echo "voxl-configure-px4 help"
+	echo ""
+	echo "Use voxl-configure-px4 factory_enable to configure default values"
+
+}
+
+## set most parameters which don't have quotes in json
+set_param () {
+	if [ "$#" != "2" ]; then
+		echo "set_param expected 2 args"
+		exit 1
+	fi
+
+	var=$1
+	val=$2
+
+	sed -i "/$var=/c $var=$val" ${CONFIG_FILE}
+}
+
+disable_service_and_exit () {
+	echo "disabling ${NAME} systemd service"
+	systemctl disable ${SERVICE_FILE}
+	echo "stopping ${NAME} systemd service"
+	systemctl stop ${SERVICE_FILE}
+	echo "Done configuring ${NAME}"
+	exit 0
+}
+
+enable_service_and_exit () {
+	echo "enabling  ${NAME} systemd service"
+	systemctl enable  ${SERVICE_FILE}
+	echo "Done configuring ${NAME}"
+	exit 0
+}
+
+reset_config_file_to_default () {
+	echo "wiping old config file"
+	rm -rf ${CONFIG_FILE}
+
+	# create config description section on top of file
+    echo -e "#!/bin/bash\n#\n# voxl-px4 Configuration File\
+    \n#\
+    \n# AIRFRAME:\
+    \n#     Tell PX4 which AIRFRAME to use.\
+    \n#     Options include: [MULTICOPTER, FIXED_WING]\
+    \n#\
+    \n# GPS:\
+    \n#     Tell PX4 which GPS to use. If there is no GPS unit use NONE. Otherwise\
+    \n#     choose AUTODETECT and the startup script will attempt to automatically\
+    \n#     configure the GPS, magnetometer, and status LED\
+    \n#     Options include: [NONE, AUTODETECT]\
+    \n#\
+    \n# RC:\
+    \n#     Tell PX4 which RC transmitter to use. \
+    \n#     Use EXTERNAL when getting RC control from external Mavlink messages (e.g Via QGC)\
+    \n#     Options include: [SPEKTRUM, CRSF_MAV, CRSF_RAW, M0065_SBUS, EXTERNAL, FAKE_RC_INPUT]\
+    \n#\
+    \n# ESC:\
+    \n#     Tell PX4 which type of ESC to use. \
+    \n#     Options include: [VOXL_ESC, VOXL2_IO_PWM_ESC]\
+    \n#\
+    \n# POWER_MANAGER:\
+    \n#     Tell PX4 which power manager to use. \
+    \n#     Use NONE for ModalAI Mini-ESC since the ESC driver handles PM.\
+    \n#     Use EXTERNAL when not using the ModalAI APM power manager to power the board\
+    \n#       This also just disables the voxlpm driver, same as the NONE option\
+    \n#     Options include: [VOXLPM, EXTERNAL, NONE]\
+    \n#\
+    \n# AIRSPEED_SENSOR:\
+    \n#     Tell PX4 which airspeed sensor peripheral to use. \
+    \n#     Note: The sensor will be started on external I2C port on voxl2\
+    \n#     Options include: [NONE, MS4525DO]\
+    \n#\
+    \n# DISTANCE_SENSOR:\
+    \n#     Tell PX4 which distance sensor peripheral to use. \
+	\n#     Note: The sensor will be started on the RC port so it is only\
+	\n#           really possible to use it when using external RC.\
+    \n#     Options include: [NONE, LIGHTWARE_SF000]\
+    \n#\
+    \n# OSD:\
+    \n#     Tell PX4 whether to enable OSD (on-screen display). \
+    \n#     Options include: [ENABLE, DISABLE]\
+    \n#\
+    \n# DAEMON_MODE:\
+    \n#     Tell PX4 whether to enable daemon mode. \
+    \n#     Options include: [ENABLE, DISABLE]\
+    \n#\
+    \n# SENSOR_CAL:\
+    \n#     Tell PX4 where to source sensor calibration information. \
+    \n#     Options include: [ACTUAL, FAKE]\
+    \n#\
+    \n# ARTIFACT_MODE:\
+    \n#     Do not allow artifacts to be saved to disk. Will not start the logging \
+    \n#     module, will delete any current log files, and will delete the data manager file. \
+    \n#     Options include: [ENABLE, DISABLE]\
+    \n#\
+    \n# EXTRA_STEPS:\
+    \n#     Optional field that allows a user to define custom commands to be run by PX4 on boot. \
+    \n#     Must be a valid bash array as seen below \
+    \n#     Example: EXTRA_STEPS=( \"qshell gps start\" \"qshell commander mode manual\" ) \
+    \n#\
+    \n#" > $CONFIG_FILE
+
+    echo "AIRFRAME=MULTICOPTER" >> $CONFIG_FILE
+    echo "GPS=NONE" >> $CONFIG_FILE
+    echo "RC=SPEKTRUM" >> $CONFIG_FILE
+    echo "ESC=VOXL_ESC" >> $CONFIG_FILE
+	echo "POWER_MANAGER=VOXLPM" >> $CONFIG_FILE
+    echo "AIRSPEED_SENSOR=NONE" >> $CONFIG_FILE
+    echo "DISTANCE_SENSOR=NONE" >> $CONFIG_FILE
+    echo "OSD=DISABLE" >> $CONFIG_FILE
+    echo "DAEMON_MODE=ENABLE" >> $CONFIG_FILE
+    echo "SENSOR_CAL=ACTUAL" >> $CONFIG_FILE
+	echo "ARTIFACT_MODE=DISABLE" >> $CONFIG_FILE
+    echo "EXTRA_STEPS=()" >> $CONFIG_FILE
+}
+
+################################################################################
+## actual start of execution, handle optional arguments first
+################################################################################
+
+## sanity checks
+if [ "${USER}" != "root" ]; then
+	echo "Please run this script as root"
+	exit 1
+fi
+
+## convert argument to lower case for robustness
+arg=$(echo "$1" | tr '[:upper:]' '[:lower:]')
+
+## parse arguments
+case ${arg} in
+	"")
+		echo "ERROR no argument given"
+		print_usage
+		exit 1
+		;;
+	"h"|"-h"|"help"|"--help")
+		print_usage
+		exit 0
+		;;
+	"disable")
+		disable_service_and_exit
+		;;
+	"enable")
+		enable_service_and_exit
+		;;
+	"factory_enable")
+		reset_config_file_to_default
+		enable_service_and_exit
+		;;
+	"crsf_gps_apm"|"d0005_v2"|"starling_v2"|"d0006_v2"|"sentinel_v2")
+		reset_config_file_to_default
+		set_param GPS AUTODETECT
+		set_param RC CRSF_RAW
+		enable_service_and_exit
+		;;
+	"spektrum_gps_apm"|"d0006_v1"|"sentinel_v1")
+		## First revision Sentinel with Holybro GPS and Spektrum Radio
+		reset_config_file_to_default
+		set_param GPS AUTODETECT
+		set_param RC SPEKTRUM
+		enable_service_and_exit
+		;;
+	"d0008"|"fpv_revb")
+		reset_config_file_to_default
+		set_param GPS NONE
+		set_param RC CRSF_RAW
+		set_param OSD ENABLE
+		enable_service_and_exit
+		;;
+	"crsf_nogps_apm"|"d0010")
+		## Starling 1 with no GPS
+		reset_config_file_to_default
+		set_param GPS NONE
+		set_param RC CRSF_RAW
+		enable_service_and_exit
+		;;
+	"crsf_gps_noapm"|"d0011"|"voxl2-mini")
+		reset_config_file_to_default
+		set_param GPS AUTODETECT
+		set_param RC CRSF_RAW
+		set_param POWER_MANAGER NONE
+		enable_service_and_exit
+		;;
+	"crsf_nogps_noapm"|"d0013")
+		reset_config_file_to_default
+		set_param GPS NONE
+		set_param RC CRSF_RAW
+		set_param POWER_MANAGER NONE
+		enable_service_and_exit
+		;;
+	"d0015")
+		reset_config_file_to_default
+		set_param GPS AUTODETECT
+		set_param ESC VOXL2_IO_PWM_ESC
+		set_param RC CRSF_RAW
+		set_param AIRFRAME FIXED_WING
+		set_param AIRSPEED_SENSOR MS4525DO
+		set_param DISTANCE_SENSOR LIGHTWARE_SF000
+		enable_service_and_exit
+		;;
+	*)
+		echo "invalid option: $arg"
+		exit 1
+esac
+
+## should never get here
+exit 1