Copilot Review instructions: Drivers

If the measured temperature exceeds the fixed threshold of 100 degC, a
fault is declared, causing batteryCheck to show a failsafe warning to
the user.

.github/instructions/src.drivers.instructions.md

@@ -0,0 +1,212 @@
+---
+applyTo: "src/drivers/**"
+---
+
+# PX4 Driver Review Instructions
+
+This file provides guidelines for reviewing driver files in the `src/drivers/` directory.
+
+## Copyright Statements
+
+### Required Files
+
+All source files (`.cpp`, `.c`, `.hpp`, `.h`, `CMakeLists.txt`) MUST include a copyright statement at the top.
+
+**Exceptions:** 
+- `Kconfig` files
+- `module.yaml` files
+
+### Copyright Format
+
+**For new files (created in 2026):**
+```cpp
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 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.
+ *
+ ****************************************************************************/
+```
+
+**For updated files (originally created in 2015, updated in 2026):**
+```cpp
+/****************************************************************************
+ *
+ *   Copyright (c) 2015-2026 PX4 Development Team. All rights reserved.
+ *
+ * [... rest of copyright text ...]
+ *
+ ****************************************************************************/
+```
+
+### Key Points
+- First year should be the original creation year
+- When updating an existing file, update the year range: `YYYY-2026`
+- Use the current year (2026 in this case) for new files
+- Maintain consistent formatting with other PX4 driver files
+
+---
+
+## Driver Self-Documentation
+
+All drivers MUST be self-documenting through the `print_usage()` method.
+
+### Required Implementation
+
+Every driver `.cpp` file must implement a `print_usage()` method that includes:
+
+1. **PRINT_MODULE_DESCRIPTION macro** - Contains markdown documentation
+2. **Module identification** - Using PRINT_MODULE_USAGE_NAME and optionally PRINT_MODULE_USAGE_SUBCATEGORY
+3. **Parameter documentation** - Relevant parameters, especially enablement parameters
+
+### PRINT_MODULE_DESCRIPTION Structure
+
+The description should follow this markdown format:
+
+```cpp
+PRINT_MODULE_DESCRIPTION(
+    R"DESCR_STR(
+### Description
+[Clear description of what the driver does and its primary functionality]
+
+### Implementation
+[Optional: High-level overview of how the driver works]
+
+### Examples
+[Optional: CLI usage examples if non-trivial]
+$ module_name start -d /dev/ttyS1
+$ module_name stop
+
+)DESCR_STR");
+```
+
+### Required Sections
+
+#### 1. Description Section
+- Brief explanation of the driver's purpose
+- Key features/capabilities
+- Important parameters (especially enable parameters like `SENS_XX_CFG`)
+
+#### 2. Documentation Links
+When applicable, include links to user documentation:
+```cpp
+Setup/usage information: https://docs.px4.io/main/en/sensor/[sensor-name].html
+```
+
+#### 3. Examples Section (when relevant)
+Provide CLI usage examples for non-trivial commands:
+```cpp
+### Examples
+Attempt to start driver on a specified serial device.
+$ vectornav start -d /dev/ttyS1
+Stop driver
+$ vectornav stop
+```
+
+### Complete Example
+
+```cpp
+int MyDriver::print_usage(const char *reason)
+{
+    if (reason) {
+        PX4_WARN("%s\n", reason);
+    }
+
+    PRINT_MODULE_DESCRIPTION(
+        R"DESCR_STR(
+### Description
+This driver interfaces with the XYZ sensor via I2C/SPI. It provides
+distance measurements and is automatically started when SENS_XYZ_CFG
+is set to the appropriate value.
+
+Key features:
+- Distance range: 0.2m to 50m
+- Update rate: up to 100Hz
+- I2C and SPI support
+
+Setup/usage information: https://docs.px4.io/main/en/sensor/xyz_sensor.html
+
+### Examples
+Start driver on I2C bus 1 with address 0x29:
+$ xyz_sensor start -X -b 1 -a 0x29
+)DESCR_STR");
+
+    PRINT_MODULE_USAGE_NAME("xyz_sensor", "driver");
+    PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
+    PRINT_MODULE_USAGE_COMMAND("start");
+    PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
+    PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x29);
+    PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+    return 0;
+}
+```
+
+### Common Patterns by Driver Type
+
+**For UART/Serial Drivers:**
+```cpp
+PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "Serial device", true);
+```
+
+**For I2C/SPI Drivers:**
+```cpp
+PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
+PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
+```
+
+**For Sensor Drivers:**
+```cpp
+PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");  // or imu, magnetometer, etc.
+```
+
+---
+
+## Review Checklist
+
+When reviewing driver files, verify:
+
+- [ ] Copyright header is present (except Kconfig and module.yaml)
+- [ ] Copyright year is correct (current year for new files, year range for updates)
+- [ ] `print_usage()` method exists
+- [ ] `PRINT_MODULE_DESCRIPTION` macro is present with markdown content
+- [ ] Description section explains driver purpose clearly
+- [ ] Relevant parameters are documented (especially enable parameters)
+- [ ] Documentation links are included when available
+- [ ] Examples are provided for complex CLI usage
+- [ ] Module name and category are correctly specified
+- [ ] Standard commands (start, stop, status) are documented
+
+---
+
+## Additional Resources
+
+- Driver template examples: `src/drivers/*/` (various sensor types)
+- Module macros: `platforms/common/include/px4_platform_common/module.h`
+- Similar drivers for reference patterns (DShot, VectorNav, CrsfRc, etc.)

.github/workflows/ros_integration_tests.yml

@@ -90,6 +90,9 @@ jobs:
         mkdir -p /opt/px4_ws/src
         cd /opt/px4_ws/src
         git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
+        # 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
         cd ..
         # Copy messages to ROS workspace
         "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"

CTestConfig.cmake

@@ -1,15 +0,0 @@
-## This file should be placed in the root directory of your project.
-## Then modify the CMakeLists.txt file in the root directory of your
-## project to incorporate the testing dashboard.
-##
-## # The following are required to submit to the CDash dashboard:
-##   ENABLE_TESTING()
-##   INCLUDE(CTest)
-
-set(CTEST_PROJECT_NAME "PX4 Firmware")
-set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
-
-set(CTEST_DROP_METHOD "http")
-set(CTEST_DROP_SITE "my.cdash.org")
-set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
-set(CTEST_DROP_SITE_CDASH TRUE)

Jenkinsfile

@@ -101,6 +101,7 @@ pipeline {
             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 ..;

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

@@ -101,6 +101,6 @@ param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
 
 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.3
+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/4019_gz_x500_gimbal

@@ -19,5 +19,6 @@ param set-default MNT_MAN_PITCH 2
 param set-default MNT_MAN_YAW 3
 
 param set-default MNT_RANGE_ROLL 180
-param set-default MNT_RANGE_PITCH 180
+param set-default MNT_MAX_PITCH 45
+param set-default MNT_MIN_PITCH -135
 param set-default MNT_RANGE_YAW 720

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -123,3 +123,9 @@ if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
 		rc.thermal_cal
 	)
 endif()
+
+if(CONFIG_DRIVERS_VTXTABLE)
+	px4_add_romfs_files(
+		rc.vtxtable
+	)
+endif()

ROMFS/px4fmu_common/init.d/rc.vtxtable

@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# VTX table loading script.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+vtxtable load

ROMFS/px4fmu_common/init.d/rcS

@@ -479,6 +479,19 @@ else
 		pwm_out start
 	fi
 
+	#
+	# Optional UAVCAN/DroneCAN or Cyphal
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		uavcan start
+	else
+		if param greater -s CYPHAL_ENABLE 0
+		then
+			cyphal start
+		fi
+	fi
+
 	#
 	# Configure vehicle type specific parameters.
 	# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
@@ -507,6 +520,11 @@ else
 	#
 	. ${R}etc/init.d/rc.serial
 
+	if param greater -s ZENOH_ENABLE 0
+	then
+		zenoh start
+	fi
+
 	# Must be started after the serial config is read
 	rc_input start $RC_INPUT_ARGS
 
@@ -612,6 +630,16 @@ else
 	fi
 	unset RC_LOGGING
 
+	#
+	# Start the VTX services.
+	#
+	set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
+	if [ -f ${RC_VTXTABLE} ]
+	then
+		. ${RC_VTXTABLE}
+	fi
+	unset RC_VTXTABLE
+
 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
 	#
@@ -628,27 +656,6 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE
 
-	#
-	# Check if UAVCAN is enabled, default to it for ESCs.
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		# Start core UAVCAN module.
-		if ! uavcan start
-		then
-			tune_control play error
-		fi
-	else
-		if param greater -s CYPHAL_ENABLE 0
-		then
-			cyphal start
-		fi
-	fi
-	if param greater -s ZENOH_ENABLE 0
-	then
-		zenoh start
-	fi
-
 #
 # End of autostart.
 #

Tools/astyle/files_to_check_code_style.sh

@@ -21,11 +21,13 @@ exec find boards msg src platforms test \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/events/libevents -prune -o \
     -path src/lib/parameters/uthash -prune -o \
+    -path src/lib/rl_tools/rl_tools -prune -o \
     -path src/lib/wind_estimator/python/generated -prune -o \
     -path src/modules/ekf2/EKF/python/ekf_derivation/generated -prune -o \
     -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
     -path src/modules/mavlink/mavlink -prune -o \
+    -path src/modules/mc_raptor/blob -prune -o \
     -path test/fuzztest -prune -o \
     -path test/mavsdk_tests/catch2 -prune -o \
     -path src/lib/crypto/monocypher -prune -o \

Tools/msg/generate_msg_docs.py

@@ -8,6 +8,803 @@ Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
 import os
 import argparse
 import sys
+import re
+
+VALID_FIELDS = { #Note, also have to add the message types as those can be fields
+    'uint64',
+    'uint16',
+    'uint8',
+    'uint32'
+}
+
+ALLOWED_UNITS = set(["m", "m/s", "m/s^2", "(m/s)^2", "deg", "deg/s", "rad", "rad/s", "rad^2", "rpm" ,"V", "A", "mA", "mAh", "W", "dBm", "h", "s", "ms", "us", "Ohm", "MB", "Kb/s", "degC","Pa","%","-"])
+invalid_units = set()
+ALLOWED_FRAMES = set(["NED","Body"])
+ALLOWED_INVALID_VALUES = set(["NaN", "0"])
+ALLOWED_CONSTANTS_NOT_IN_ENUM = set(["ORB_QUEUE_LENGTH","MESSAGE_VERSION"])
+
+class Error:
+    def __init__(self, type, message, linenumber=None, issueString = None, field = None):
+        self.type = type
+        self.message = message
+        self.linenumber = linenumber
+        self.issueString = issueString
+        self.field = field
+
+    def display_error(self):
+        #print(f"Debug: Error: display_error")
+
+
+        if 'trailing_whitespace' == self.type:
+            if self.issueString.strip():    
+                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber}): {self.issueString}")
+            else:
+                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber})")
+        elif 'leading_whitespace_field_or_constant' == self.type:
+            print(f"NOTE: Whitespace before field or constant ({self.message}: {self.linenumber}): {self.issueString}")             
+        elif 'field_or_constant_has_multiple_whitepsace' == self.type:
+            print(f"NOTE: Field/constant has more than one sequential whitespace character ({self.message}: {self.linenumber}): {self.issueString}") 
+        elif 'empty_start_line' == self.type:
+            print(f"NOTE: Empty line at start of file ({self.message}: {self.linenumber})")
+        elif 'internal_comment' == self.type:
+            print(f"NOTE: Internal Comment ({self.message}: {self.linenumber})\n {self.issueString}")
+        elif 'internal_comment_empty' == self.type:
+            print(f"NOTE: Empty Internal Comment ({self.message}: {self.linenumber})")
+        elif 'summary_missing' == self.type:
+            print(f"WARNING: No message description ({self.message})")
+        elif 'topic_error' == self.type:
+            print(f"NOTE: TOPIC ISSUE: {self.issueString}")
+        elif 'unknown_unit' == self.type:
+            print(f"WARNING: Unknown Unit: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
+        elif 'constant_not_in_assigned_enum' == self.type:
+            print(f"WARNING: `{self.issueString}` constant: Prefix not in `@enum` field metadata ({self.message}: {self.linenumber})")
+        elif 'unknown_invalid_value' == self.type:
+            print(f"WARNING: Unknown @invalid value: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
+        elif 'unknown_frame' == self.type:
+            print(f"WARNING: Unknown @frame: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
+        elif 'command_no_params_pipes' == self.type:
+            print(f"WARNING: `{self.field}` command has no parameters (pipes): [{self.issueString}] ({self.message}: {self.linenumber})")
+        elif 'command_missing_params' == self.type:
+            print(f"WARNING: `{self.field}` command missing params - should be 7 params surrounded by 8 pipes: [{self.issueString}] ({self.message}: {self.linenumber})")
+        elif 'command_too_many_params' == self.type:
+            print(f"WARNING: `{self.field}` command too many params (should be 7). Extras: [{self.issueString}] ({self.message}: {self.linenumber})")
+
+
+        else:
+            self.display_info()
+
+    def display_info(self):
+        """
+        Display info about an error.
+        Used as a fallback if error does not have specific printout in display_error()
+        """
+        #print(f"Debug: Error: display_info")
+        print(f" type: {self.type}, message: {self.message}, linenumber: {self.linenumber}, issueString: {self.issueString}, field: {self.field}")
+
+class Enum:
+    def __init__(self, name, parentMessage):
+        self.name = name
+        self.parent = parentMessage
+        self.enumValues = dict()
+
+    def display_info(self):
+        """
+        Display info about an enum
+        """
+        print(f"Debug: Enum: display_info")
+        print(f" name: {self.name}")
+        for key, value in self.enumValues.items():
+            value.display_info()
+
+class ConstantValue:
+    def __init__(self, name, type, value, comment, line_number):
+        self.name = name.strip()
+        self.type = type.strip()
+        self.value = value.strip()
+        self.comment = comment
+        self.line_number = line_number
+
+        if not self.value:
+            print(f"Debug WARNING: NO VALUE in ConstantValue: {self.name}")  ## TODO make into ERROR
+            exit()
+
+        # TODO if value or name are empty, error
+
+    def display_info(self):
+        print(f"Debug: ConstantValue: display_info")
+        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
+
+
+class CommandParam:
+    """
+    Represents an individual param in a command constant
+    Encapsulates parsing of the param to extract units etc.
+    """
+
+    def __init__(self, num, paramText, line_number, parentCommand):
+        self.paramNum = num
+        self.paramText = paramText.strip()
+        self.enum = None
+        self.range = None
+        #self.type = type
+        self.units = []
+        self.enums = []
+        self.minValue = None
+        self.maxValue = None
+        self.invalidValue = None
+        self.frameValue = None
+        self.lineNumber = line_number
+        self.parent = parentCommand
+        self.parentMessage = self.parent.parent
+
+        match = None
+        if self.paramText:
+            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', paramText)
+        self.description = paramText
+        bracketed_part = None
+        if match:
+            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
+            self.description = match.group(2).strip()
+        if bracketed_part:
+          # get units
+            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
+            #print(f"DEBUG: bracket_content_matches: {bracket_content_matches}")
+            for item in bracket_content_matches:
+                item = item.strip()
+                if item.startswith('@'): # Not a unit:
+                    if item.startswith('@enum'):
+                        item = item.split(" ")
+                        enum = item[1].strip()
+                        if enum and enum not in self.enums:
+                            self.enums.append(enum)
+
+                        # Create parent enum objects for any enums created in this step
+                        for enumName in self.enums:
+                            if not enumName in self.parentMessage.enums:
+                                self.parentMessage.enums[enumName]=Enum(enumName,self.parentMessage)
+
+                    elif item.startswith('@range'):
+                        item = item[6:].strip().split(",")
+                        self.range = item
+                        self.minValue = item[0].strip()
+                        self.maxValue = item[1].strip()
+                    elif item.startswith('@invalid'):
+                        self.invalidValue = item[8:].strip()
+                        #TODO: Do we require a description? (not currently)
+                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
+                            print(f"TODO: Command param do not support @invalid: {self.invalidValue}")
+                            """
+                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
+                            #error.display_error()
+                            if not "unknown_invalid_value" in self.parent.errors:
+                                self.parent.errors["unknown_invalid_value"] = []
+                            self.parent.errors["unknown_invalid_value"].append(error)
+                            """
+
+                    elif item.startswith('@frame'):
+                        self.frameValue = item[6:].strip()
+                        print(f"TODO: Command param do not support @frame: {self.frameValue}")
+                        """
+                        if self.frameValue not in ALLOWED_FRAMES:
+                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
+                            #error.display_error()
+                            if not "unknown_frame" in self.parent.errors:
+                                self.parent.errors["unknown_frame"] = []
+                            self.parent.errors["unknown_frame"].append(error)
+                        """    
+                    else:
+                        print(f"WARNING: Unhandled metadata in message comment: {item}")
+                        # TODO - report errors for different kinds of metadata
+                        exit()
+
+                else: # bracket is a unit
+                    unit = item.strip()
+
+                    if item == "-":
+                        unit = ""
+                    
+                    if unit and unit not in self.units:
+                        self.units.append(unit) 
+
+                    if unit not in ALLOWED_UNITS:
+                        invalid_units.add(unit)
+                        error = Error("unknown_unit", self.parentMessage.filename, self.lineNumber, unit, self.parent.name)
+                        #error.display_error()
+                        if not "unknown_unit" in self.parentMessage.errors:
+                            self.parentMessage.errors["unknown_unit"] = []
+                        self.parentMessage.errors["unknown_unit"].append(error)
+
+
+    def display_info(self):
+        print(f"Debug: CommandParam: display_info")
+        print(f" id: {self.paramNum}")
+        print(f"   paramText: {self.paramText}\n  unit:  {self.units}\n  enums: {self.enums}\n  lineNumber: {self.lineNumber}\n  range: {self.range}\n  minValue: {self.minValue}\n  maxValue: {self.maxValue}\n  invalidValue: {self.invalidValue}\n  frameValue: {self.frameValue}\n  parent: {self.parent}\n  ")
+
+
+        
+class CommandConstant:
+    """
+    Represents a constant that is a command definition.
+    Encapsulates parsing of the command format.
+    The individual params are further parsed in CommandParam
+    """
+    def __init__(self, name, type, value, comment, line_number, parentMessage):
+        self.name = name.strip()
+        self.type = type.strip()
+        self.value = value.strip()
+        self.comment = comment
+        self.line_number = line_number
+        self.parent = parentMessage
+
+        self.description = self.comment
+        self.param1 = None
+        self.param2 = None
+        self.param3 = None
+        self.param4 = None
+        self.param5 = None
+        self.param6 = None
+        self.param7 = None
+
+        if not self.value:
+            print(f"Debug WARNING: NO VALUE in CommandConstant: {self.name}")  ## TODO make into ERROR
+            exit()
+
+        if not self.comment: # This is an bug for a command
+            #print(f"Debug WARNING: NO COMMENT in CommandConstant: {self.name}")  ## TODO make into ERROR
+            return
+            
+        # Parse command comment to get the description and parameters.
+        # print(f"Debug CommandConstant: {self.comment}") 
+        if not "|" in self.comment:
+            # This is an error for a command constant
+            error = Error("command_no_params_pipes", self.parent.filename, self.line_number, self.comment, self.name)
+            #error.display_error()
+            if not "command_no_params_pipes" in self.parent.errors:
+                self.parent.errors["command_no_params_pipes"] = []
+            self.parent.errors["command_no_params_pipes"].append(error)
+            return
+        
+        # Split on pipes
+        commandSplit = self.comment.split("|")
+        if len(commandSplit) < 9:
+            # Should 7 pipes, so each command is fully surrounded
+            error = Error("command_missing_params", self.parent.filename, self.line_number, self.comment, self.name)
+            #error.display_error()
+            if not "command_missing_params" in self.parent.errors:
+                self.parent.errors["command_missing_params"] = []
+            self.parent.errors["command_missing_params"].append(error)
+
+        self.description = commandSplit[0].strip()
+        self.description = self.description if self.description else None
+
+        params_to_update = commandSplit[1:8]
+
+        for i, value in enumerate(params_to_update, start=1):
+            if value.strip():
+                # parse the param
+                param = CommandParam(i, value, self.line_number, self)
+                #param.display_info() # DEBUG CODE XXX
+                setattr(self, f"param{i}", param)
+                # parse the param
+
+        if len(commandSplit) > 8:
+            extras = commandSplit[8:]
+            error = Error("command_too_many_params", self.parent.filename, self.line_number, extras, self.name)
+            if not "command_too_many_params" in self.parent.errors:
+                self.parent.errors["command_too_many_params"] = []
+            self.parent.errors["command_too_many_params"].append(error)
+
+
+        # TODO if value or name are empty, error
+
+    def markdown_out(self):
+        #print("DEBUG: CommandConstant.markdown_out")
+        output = f"""### {self.name} ({self.value})
+
+{self.description}
+
+Param | Units | Range/Enum | Description
+--- | --- | --- | ---
+"""
+        for i in range(1, 8):
+            attr_name = f"param{i}"
+            # getattr returns None if the attribute doesn't exist
+            val = getattr(self, attr_name, None)
+
+            if val is not None:
+                rangeVal = ""
+                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"
+            else:
+                output+=f"{i} | | | ?\n"                
+
+        output+=f"\n"
+        return output
+
+
+    def display_info(self):
+        print(f"Debug: CommandConstant: display_info")
+        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
+        print(f"   description: {self.description}\n  param1: {self.param1}\n  param2: {self.param2}\n  param3: {self.param3}\n  param4: {self.param4}\n  param5: {self.param5}\n  param6: {self.param6}\n  param7: {self.param7}")
+
+class MessageField:
+    """
+    Represents a field.
+    Encapsulates parsing of the field information.
+    """
+    def __init__(self, name, type, comment, line_number, parentMessage):
+        self.name = name
+        self.type = type
+        self.comment = comment
+        self.unit = None
+        self.enums = None
+        self.minValue = None
+        self.maxValue = None
+        self.invalidValue = None
+        self.frameValue = None
+        self.lineNumber = line_number
+        self.parent = parentMessage
+
+        #print(f"MessageComment: {comment}")
+        match = None
+        if self.comment:
+            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', comment)
+        self.description = comment
+        bracketed_part = None
+        if match:
+            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
+            self.description = match.group(2).strip()
+        if bracketed_part:
+          # get units
+            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
+            #print(f"bracket_content_matches: {bracket_content_matches}")
+            for item in bracket_content_matches:
+                item = item.strip()
+                if item.startswith('@'): # Not a unit:
+                    if item.startswith('@enum'):
+                        item = item.split(" ")
+                        self.enums = item[1:]
+                        # Create parent enum objects
+                        for enumName in self.enums:
+                            if not enumName in parentMessage.enums:
+                                parentMessage.enums[enumName]=Enum(enumName,parentMessage)
+                    elif item.startswith('@range'):
+                        item = item[6:].strip().split(",")
+                        self.minValue = item[0].strip()
+                        self.maxValue = item[1].strip()
+                    elif item.startswith('@invalid'):
+                        self.invalidValue = item[8:].strip()
+                        #TODO: Do we require a description? (not currently)
+                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
+                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
+                            #error.display_error()
+                            if not "unknown_invalid_value" in self.parent.errors:
+                                self.parent.errors["unknown_invalid_value"] = []
+                            self.parent.errors["unknown_invalid_value"].append(error)
+                    elif item.startswith('@frame'):
+                        self.frameValue = item[6:].strip()
+                        if self.frameValue not in ALLOWED_FRAMES:
+                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
+                            #error.display_error()
+                            if not "unknown_frame" in self.parent.errors:
+                                self.parent.errors["unknown_frame"] = []
+                            self.parent.errors["unknown_frame"].append(error)
+                    else:
+                        print(f"WARNING: Unhandled metadata in message comment: {item}")
+                        # TODO - report errors for different kinds of metadata
+                        exit()
+
+                else: # bracket is a unit
+                    self.unit = item
+
+                    if self.unit not in ALLOWED_UNITS:
+                        invalid_units.add(self.unit)
+                        error = Error("unknown_unit", self.parent.filename, self.lineNumber, self.unit, self.name)
+                        #error.display_error()
+                        if not "unknown_unit" in self.parent.errors:
+                            self.parent.errors["unknown_unit"] = []
+                        self.parent.errors["unknown_unit"].append(error)
+
+                    if item == "-":
+                        self.unit = ""
+
+
+    def display_info(self):
+        print(f"Debug: MessageField: display_info")
+        print(f" name: {self.name}, type: {self.type}, description: {self.description}, enums: {self.enums}, minValue: {self.minValue}, maxValue: {self.maxValue}, invalidValue: {self.invalidValue}, frameValue: {self.frameValue}")
+
+
+class UORBMessage:
+    """
+    Represents a whole message, including fields, enums, commands, constants.
+    The parser function delegates the parsing of each part of the message to 
+    more appropriate classes, once the specific type of line has been identified.
+    """
+
+    def __init__(self, filename):
+
+        self.filename = filename
+        msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
+        self.msg_filename = os.path.join(msg_path, self.filename)
+        self.name = os.path.splitext(os.path.basename(msg_file))[0]
+        self.shortDescription = ""
+        self.longDescription = ""
+        self.fields = []
+        self.constantFields = dict()
+        self.commandConstants = dict()
+        self.enums = dict()
+        self.output_file = os.path.join(output_dir, f"{self.name}.md")
+        self.topics = []
+        self.errors = dict()
+
+        self.parseFile()
+
+        if args.errors:
+            #print(f"DEBUG: args.errors: {args.errors}")
+            if args.error_messages:
+                messages = args.error_messages.split(" ")
+                #print(f"DEBUG: args.errors: {messages},self.name: {self.name}")
+                if self.name in messages:
+                    self.reportErrors()
+                    #print(f"Debug: {self.name} in {messages}")
+            else:
+              self.reportErrors()
+
+    def reportErrors(self):
+        #print(f"Debug: UORBMessage: reportErrors()")
+        for errorType, errors in self.errors.items():
+            for error in errors:
+               error.display_error()
+
+    def markdown_out(self):
+        #print(f"Debug: UORBMessage: markdown_out()")
+
+        # Add page header (forces wide pages)
+        markdown = f"""---
+pageClass: is-wide-page
+---
+
+# {self.name} (UORB message)
+
+"""
+        ## Append description info if present
+        markdown += f"{self.shortDescription}\n\n" if self.shortDescription else ""
+        markdown += f"{self.longDescription}\n\n" if self.longDescription else ""
+
+        topicList = " ".join(self.topics)
+        markdown += f"**TOPICS:** {topicList}\n\n"
+
+        # Generate field docs
+        markdown += f"## Fields\n\n"
+        markdown += "Name | Type | Unit [Frame] | Range/Enum | Description\n"
+        markdown += "--- | --- | --- | --- | ---\n"
+        for field in self.fields:
+            unit = f"{field.unit}" if field.unit else ""
+            frame = f"[{field.frameValue}]" if field.frameValue else ""
+            unit = f"{unit} {frame}"
+            unit.strip()
+            unit = f" {unit}"
+
+            value = " "
+            if field.enums:
+                value = ""
+                for enum in field.enums:
+                    value += f"[{enum}](#{enum})"
+                value = value.strip()
+                value = f"{value}"
+            elif field.minValue or field.maxValue:
+                value = f"[{field.minValue if field.minValue else '-'} : {field.maxValue if field.maxValue else '-' }]"
+
+            description = f" {field.description}" if field.description else ""
+            invalid = f" (Invalid: {field.invalidValue}) " if field.invalidValue else ""
+            markdown += f"{field.name} | `{field.type}` |{unit}|{value}|{description}{invalid}\n"
+
+        # Generate table for command docs
+        if len(self.commandConstants) > 0:
+            #print("DEBUGCOMMAND")
+            markdown += f"\n## Commands\n\n"
+
+            """
+            markdown += "Name | Type | Value | Description\n"
+            markdown += "--- | --- | --- |---\n"
+            for name, command in self.commandConstants.items():
+                description = f" {command.comment} " if enum.comment else " "
+                markdown += f'<a href="#{name}"></a> {name} | `{command.type}` | {command.value} |{description}\n'            
+            """
+            for commandConstant in self.commandConstants.values():
+                #print(commandConstant)
+                markdown += commandConstant.markdown_out()     
+
+        # Generate enum docs
+        if len(self.enums) > 0:
+            markdown += f"\n## Enums\n"
+
+            for name, enum in self.enums.items():
+                markdown += f"\n### {name} {{#{name}}}\n\n"
+
+                markdown += "Name | Type | Value | Description\n"
+                markdown += "--- | --- | --- | ---\n"
+
+                for enumValueName, enumValue in enum.enumValues.items():
+                    description = f" {enumValue.comment} " if enumValue.comment else " "
+                    markdown += f'<a href="#{enumValueName}"></a> {enumValueName} | `{enumValue.type}` | {enumValue.value} |{description}\n'
+
+        # Generate table for constants docs
+        if len(self.constantFields) > 0:
+            markdown += f"\n## Constants\n\n"
+            markdown += "Name | Type | Value | Description\n"
+            markdown += "--- | --- | --- |---\n"
+            for name, enum in self.constantFields.items():
+                description = f" {enum.comment} " if enum.comment else " "
+                markdown += f'<a href="#{name}"></a> {name} | `{enum.type}` | {enum.value} |{description}\n'
+
+
+
+        # Append msg contents to the end
+        with open(self.msg_filename, 'r') as source_file:
+            msg_contents = source_file.read()
+            msg_contents = msg_contents.strip()
+
+        #Format markdown using msg name, comment, url, contents.
+        markdown += f"""
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/{self.filename})
+
+::: details Click here to see original file
+
+```c
+{msg_contents}
+```
+
+:::
+"""
+
+        with open(self.output_file, 'w') as content_file:
+            content_file.write(markdown)
+
+        #exit()
+
+
+    def display_info(self):
+        print(f"UORBMessage: display_info")
+        print(f" name: {self.name}")
+        print(f" filename: {self.filename}, ")
+        print(f" msg_filename: {self.msg_filename}, ")
+        print(f"self.shortDescription: {self.shortDescription}")
+        print(f"self.longDescription: {self.longDescription}")
+        print(f"self.enums: {self.enums}")
+
+        for enum, enumObject in self.enums.items():
+            enumObject.display_info()
+
+        # Output our data so far
+        for field in self.fields:
+            field.display_info()
+
+        for enumvalue in self.constantFields:
+            print(enumvalue)
+            self.constantFields[enumvalue].display_info()
+
+    def handleField(self, line, line_number, parentMessage):
+        #print(f"debug: handleField: (line): \n {line}")
+        # Note, here we know we don't have a comment or a topic.
+        # We expect it to be a field.
+
+        # Check field doesn't have leading whitespace (trailing spaces already checked)
+        if line[:1].isspace(): # Returns True for ' ', '\t', '\n', '\r', etc.
+            #print("First character is whitespace")
+            error = Error("leading_whitespace_field_or_constant", self.filename, line_number, line)
+            if not "leading_whitespace_field_or_constant" in self.errors:
+                self.errors["leading_whitespace_field_or_constant"] = []
+                self.errors["leading_whitespace_field_or_constant"].append(error)
+
+        # Now we can parse the stripped line
+        fieldOrConstant = line.strip()
+
+        # Check that the field or constant has only single whitespace separators
+        stripped_fieldOrConstant = re.sub(r'\s+', ' ', fieldOrConstant) # Collapse all spaces to a single space (LHS already stripped).
+        if stripped_fieldOrConstant != fieldOrConstant:
+            #print("Field/Constant has multiple whitespace characters") # Since the collapsed version shows them.
+            error = Error("field_or_constant_has_multiple_whitepsace", self.filename, line_number, line)
+            if not "field_or_constant_has_multiple_whitepsace" in self.errors:
+                self.errors["field_or_constant_has_multiple_whitepsace"] = []
+                self.errors["field_or_constant_has_multiple_whitepsace"].append(error)
+
+        fieldOrConstant = stripped_fieldOrConstant
+
+
+
+        comment = None
+        if "#" in line:
+            commentExtract = line.split("#", 1) # Split once on left-most '#'
+            fieldOrConstant = commentExtract[0].strip()
+            comment = commentExtract[-1].strip()
+
+        if "=" not in fieldOrConstant:
+            # Is a field:
+            field = fieldOrConstant.split(" ")
+            type = field[0].strip()
+            name = field[1].strip()
+            field = MessageField(name, type, comment, line_number, parentMessage)
+            self.fields.append(field)
+        else:
+            temp = fieldOrConstant.split("=")
+            value = temp[-1]
+            typeAndName = temp[0].split(" ")
+            type = typeAndName[0]
+            name = typeAndName[1]
+            if name.startswith("VEHICLE_CMD_") and parentMessage.name == 'VehicleCommand': #it's a command.
+                #print(f"DEBUG: startswith VEHICLE_CMD_ {name}")
+                commandConstant = CommandConstant(name, type, value, comment, line_number, parentMessage)
+                #commandConstant.display_info()
+                self.commandConstants[name]=commandConstant
+            else: #it's a constant (or part of an enum)
+                constantField = ConstantValue(name, type, value, comment, line_number)
+                self.constantFields[name]=constantField
+
+
+    def parseFile(self):
+        initial_block_lines = []
+        #stopping_token = None
+        found_first_relevant_content = False
+        gettingInitialComments = False
+        gettingFields = False
+
+        with open(self.msg_filename, 'r', encoding='utf-8') as uorbfile:
+            lines = uorbfile.read().splitlines()
+            for line_number, line in enumerate(lines, 1):
+
+                if line != line.rstrip():
+                    #print(f"[{self.filename}] Trailing whitespace on line {line_number}: XX{line}YY")
+                    error = Error("trailing_whitespace", self.filename, line_number, line)
+                    if not "trailing_whitespace" in self.errors:
+                        self.errors["trailing_whitespace"] = []
+                    self.errors["trailing_whitespace"].append(error)
+
+                #print(f"line: {line}")
+                stripped_line = re.sub(r'\s+', ' ', line).strip() # Collapse all spaces to a single space and strip stuff off end.
+                #print(f"stripped_line: {stripped_line}")
+                # TODO? Perhaps report whitespace if the size of those two is different and it is empty
+                # Or perhaps we just fix it on request
+
+                isEmptyLine = False if line.strip() else True
+                if not found_first_relevant_content and isEmptyLine: #Empty line
+                    #print(f"{self.filename}: Empty line at start of file: [{line_number}]\n {line}")
+                    error = Error("empty_start_line", self.filename, line_number, line)
+                    if not "empty_start_line" in self.errors:
+                        self.errors["empty_start_line"] = []
+                    self.errors["empty_start_line"].append(error)
+                    #error.display_error()
+                    continue
+                if not found_first_relevant_content and not isEmptyLine:
+                    found_first_relevant_content = True
+
+                    if stripped_line.startswith("#"):
+                        gettingInitialComments = True
+                    else:
+                        gettingInitialComments = False
+                        gettingFields = True
+
+                if gettingInitialComments and stripped_line.startswith("#"):
+                    stripped_line=stripped_line[1:].strip()
+                    #print(f"DEBUG: gettingInitialComments: comment line: {stripped_line}")
+                    initial_block_lines.append(stripped_line)
+                else:
+                    gettingInitialComments = False
+                    gettingFields = True #Getting fields and constants
+                if gettingFields:
+                    if isEmptyLine:
+                        continue # empty line
+                    if stripped_line.startswith("# TOPICS "):
+                        stripped_line = stripped_line[9:]
+                        stripped_line = stripped_line.split(" ")
+                        self.topics+= stripped_line
+                        # Note, default topic and topic errors handled after all lines parsed
+                        continue
+                    if stripped_line.startswith("#"):
+                        # Its an internal comment
+                        stripped_line=stripped_line[1:].strip()
+                        
+                        if stripped_line:
+                            #print(f"{self.filename}: Internal comment: [{line_number}]\n {line}")
+                            error = Error("internal_comment", self.filename, line_number, line)
+                            if not "internal_comment" in self.errors:
+                                self.errors["internal_comment"] = []
+                            self.errors["internal_comment"].append(error)
+                        else:
+                            #print(f"{self.filename}: Empty internal comment: [{line_number}]\n {line}")
+                            error = Error("internal_comment_empty", self.filename, line_number, line)
+                            if not "internal_comment_empty" in self.errors:
+                                self.errors["internal_comment_empty"] = []
+                            self.errors["internal_comment_empty"].append(error)
+                            #pass # Empty comment
+                        continue
+                    
+                    # Must be a field or a comment.
+                    self.handleField(line, line_number, parentMessage=self)
+
+            # Fix up topics if the topic is empty
+            def camel_to_snake(name):
+                # Match upper case not at start of string
+                s1 = re.sub('(.)([A-Z][a-z]+)', r'\1_\2', name)
+                # Handle cases with multiple capital first letter
+                return re.sub('([A-Z]+)([A-Z][a-z]*)', r'\1_\2', s1).lower()
+
+            defaultTopic = camel_to_snake(self.name)
+            if len(self.topics) == 0:
+                # We have no topic declared, so set the default topic
+                self.topics.append(defaultTopic)
+            elif len(self.topics) == 1:
+                # We have 1 topic declared - either it is default or there is some issue.
+                if defaultTopic in self.topics:
+                    # Declared topic is default topic
+                    error = Error("topic_error", self.filename, "", f"WARNING: TOPIC {defaultTopic} unnecessarily declared for {self.name}")
+                else:
+                    # Declared topic is not default topic
+                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[1]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
+                if not "topic_error" in self.errors:
+                    self.errors["topic_error"] = []
+                    self.errors["topic_error"].append(error)
+            elif len(self.topics) > 1:
+                if defaultTopic not in self.topics:
+                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC - Default topic {defaultTopic} for {self.name} not in {self.topics}")
+
+            # Parse our short and long description
+            #print(f"DEBUG: initial_block_lines: {initial_block_lines}")
+            doingLongDescription = False
+            for summaryline in initial_block_lines:
+                if not self.shortDescription and summaryline.strip() == '':
+                    continue
+                if not doingLongDescription and not summaryline.strip() == '':
+                   self.shortDescription += f" {summaryline}"
+                   self.shortDescription = self.shortDescription.strip()
+                   if not self.shortDescription[-1:] == ".": # Add terminating fullstop if not present.
+                       self.shortDescription += "."
+                if not doingLongDescription and summaryline.strip() == '':
+                   doingLongDescription = True
+                   continue
+                if doingLongDescription:
+                    self.longDescription += f"{summaryline}\n"
+
+            if self.longDescription:
+                self.longDescription.strip()
+
+            if not self.shortDescription:
+                # Summary has not been defined
+                error = Error("summary_missing", self.filename)
+                if not "summary_missing" in self.errors:
+                    self.errors["summary_missing"] = []
+                self.errors["summary_missing"].append(error)
+
+
+            # TODO Parse our constantValues into enums, leaving only constants
+            constantValuesToRemove = []
+            #print(f"DEBUG: Self.enums: {self.enums}")
+            for enumName, enumObject in self.enums.items():
+                for enumValueName, enumValueObject in self.constantFields.items():
+                    if enumValueName.startswith(enumName):
+                        # Copy this value into the object (cant be duplicate because parent is dict)
+                        enumObject.enumValues[enumValueName]=enumValueObject
+                        constantValuesToRemove.append(enumValueName)
+            # Now delete the original enumvalues
+            for enumValName in constantValuesToRemove:
+                del self.constantFields[enumValName]
+            constantsNotAssignedToEnums = len(self.constantFields)
+            if constantsNotAssignedToEnums > 0:
+                #print(f"Debug: WARNING constantsNotAssignedToEnums: {constantsNotAssignedToEnums}")
+                for enumValueName, enumValue in self.constantFields.items():
+                    if enumValueName in ALLOWED_CONSTANTS_NOT_IN_ENUM: # Ignore constants
+                        pass
+                    else:
+                        error = Error("constant_not_in_assigned_enum", self.filename, enumValue.line_number, enumValueName)
+                        if not "constant_not_in_assigned_enum" in self.errors:
+                            self.errors["constant_not_in_assigned_enum"] = []
+                        self.errors["constant_not_in_assigned_enum"].append(error)
+                # TODO Maybe present as list of possible enums.
 
 
 import yaml
@@ -127,83 +924,50 @@ if __name__ == "__main__":
 
     parser = argparse.ArgumentParser(description='Generate docs from .msg files')
     parser.add_argument('-d', dest='dir', help='output directory', required=True)
+    parser.add_argument('-e', dest='errors', action='store_true', help='Report errors')
+    parser.add_argument('-m', dest='error_messages', help='Message to report errors against (by default all)')
     args = parser.parse_args()
 
     output_dir = args.dir
     if not os.path.isdir(output_dir):
+        print(f"making output_dir {output_dir}")
         os.mkdir(output_dir)
 
     msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
     msg_files = get_msgs_list(msg_path)
+
     msg_files.sort()
 
     versioned_msgs_list = ''
     unversioned_msgs_list = ''
+    msgTypes = set()
 
     for msg_file in msg_files:
+        # Add messages to set of allowed types (compound types)
+        #msg_type = msg_file.rsplit('/')[-1]
+        #msg_type = msg_type.rsplit('\\')[-1]
+        #msg_type = msg_type.rsplit('.')[0]
         msg_name = os.path.splitext(os.path.basename(msg_file))[0]
-        output_file = os.path.join(output_dir, msg_name+'.md')
-        msg_filename = os.path.join(msg_path, msg_file)
-        print("{:} -> {:}".format(msg_filename, output_file))
+        msgTypes.add(msg_name)
 
-        #Format msg url
-        msg_url="[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/%s)" % msg_file
-
-        msg_description = ""
-        summary_description = ""
-
-        #Get msg description (first non-empty comment line from top of msg)
-        with open(msg_filename, 'r') as lineparser:
-            line = lineparser.readline()
-            while line.startswith('#') or (line.strip() == ''):
-                print('DEBUG: line: %s' % line)
-                line=line[1:].strip()+'\n'
-                stripped_line=line.strip()
-                if msg_description and not summary_description and stripped_line=='':
-                    summary_description = msg_description.strip()
-
-                msg_description+=line
-                line = lineparser.readline()
-            msg_description=msg_description.strip()
-            if not summary_description and msg_description:
-                summary_description = msg_description
-            print('msg_description: Z%sZ' % msg_description)
-            print('summary_description: Z%sZ' % summary_description)
-            summary_description
-        msg_contents = ""
-        #Get msg contents (read the file)
-        with open(msg_filename, 'r') as source_file:
-            msg_contents = source_file.read()
-
-        #Format markdown using msg name, comment, url, contents.
-        markdown_output="""# %s (UORB message)
-
-%s
-
-%s
-
-```c
-%s
-```
-""" % (msg_name, msg_description, msg_url, msg_contents)
-
-        with open(output_file, 'w') as content_file:
-            content_file.write(markdown_output)
+    for msg_file in msg_files:
+        message = UORBMessage(msg_file)
+        # Any additional tests that can't be in UORBMessage parser go here.
+        message.markdown_out()
 
         # Categorize as versioned or unversioned
         if "versioned" in msg_file:
-            versioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
-            if summary_description:
-                versioned_msgs_list += " — %s" % summary_description
+            versioned_msgs_list += f"- [{message.name}]({message.name}.md)"
+            if message.shortDescription:
+                versioned_msgs_list += f" — {message.shortDescription}"
             versioned_msgs_list += "\n"
         else:
-            unversioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
-            if summary_description:
-                unversioned_msgs_list += " — %s" % summary_description
+            unversioned_msgs_list += f"- [{message.name}]({message.name}.md)"
+            if message.shortDescription:
+                unversioned_msgs_list += f" — {message.shortDescription}"
             unversioned_msgs_list += "\n"
-
     # Write out the index.md file
-    index_text="""# uORB Message Reference
+    index_text=f"""# uORB Message Reference
 
 ::: info
 This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
@@ -218,14 +982,14 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 ## Versioned Messages
 
-%s
+{versioned_msgs_list}
 
 ## Unversioned Messages
 
-%s
-    """ % (versioned_msgs_list, unversioned_msgs_list)
+{unversioned_msgs_list}
+    """
     index_file = os.path.join(output_dir, 'index.md')
-    with open(index_file, 'w') as content_file:
+    with open(index_file, 'w', encoding='utf-8') as content_file:
             content_file.write(index_text)
 
     generate_dds_yaml_doc(msg_files)

Tools/process_sensor_caldata.py

@@ -1138,6 +1138,8 @@ if num_mags >= 1:
 
     if not math.isnan(sensor_mag_0['temperature'][0]):
 
+        mag_0_params['TC_M0_ID'] = int(np.median(sensor_mag_0['device_id']))
+
         # find the min, max and reference temperature
         mag_0_params['TC_M0_TMIN'] = np.amin(sensor_mag_0['temperature'])
         mag_0_params['TC_M0_TMAX'] = np.amax(sensor_mag_0['temperature'])

Tools/px_uploader.py

@@ -1,947 +0,0 @@
-#!/usr/bin/env python3
-############################################################################
-#
-#   Copyright (c) 2012-2024 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.
-#
-############################################################################
-
-#
-# Serial firmware uploader for the PX4FMU bootloader
-#
-# The PX4 firmware file is a JSON-encoded Python object, containing
-# metadata fields and a zlib-compressed base64-encoded firmware image.
-#
-# The uploader uses the following fields from the firmware file:
-#
-# image
-#       The firmware that will be uploaded.
-# image_size
-#       The size of the firmware in bytes.
-# board_id
-#       The board for which the firmware is intended.
-# board_revision
-#       Currently only used for informational purposes.
-#
-
-import sys
-import argparse
-import binascii
-import socket
-import struct
-import json
-import zlib
-import base64
-import time
-import array
-import os
-
-from sys import platform as _platform
-
-try:
-    import serial
-except ImportError as e:
-    print(f"Failed to import serial: {e}")
-    print("")
-    print("You may need to install it using:")
-    print("    python -m pip install pyserial")
-    print("")
-    sys.exit(1)
-
-
-# Detect python version
-if sys.version_info[0] < 3:
-    raise RuntimeError("Python 2 is not supported. Please try again using Python 3.")
-    sys.exit(1)
-
-
-# Use monotonic time where available
-def _time():
-    try:
-        return time.monotonic()
-    except Exception:
-        return time.time()
-
-class FirmwareNotSuitableException(Exception):
-    def __init__(self, message):
-        super(FirmwareNotSuitableException, self).__init__(message)
-
-
-class firmware(object):
-    '''Loads a firmware file'''
-
-    desc = {}
-    image = bytes()
-
-    def __init__(self, path):
-
-        # read the file
-        f = open(path, "r")
-        self.desc = json.load(f)
-        f.close()
-
-        self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
-
-        # pad image to 4-byte length
-        while ((len(self.image) % 4) != 0):
-            self.image.extend(b'\xff')
-
-    def property(self, propname):
-        return self.desc[propname]
-
-    def crc(self, padlen):
-        state = 0xFFFFFFFF
-        state = zlib.crc32(self.image, state)
-        padding_length = padlen - len(self.image)
-        if padding_length > 0:
-            padding = b'\xff' * padding_length
-            state = zlib.crc32(padding, state)
-
-        return (state ^ 0xFFFFFFFF) & 0xFFFFFFFF
-
-
-class uploader:
-    '''Uploads a firmware file to the PX4 bootloader'''
-
-    # protocol bytes
-    INSYNC          = b'\x12'
-    EOC             = b'\x20'
-
-    # reply bytes
-    OK              = b'\x10'
-    FAILED          = b'\x11'
-    INVALID         = b'\x13'     # rev3+
-    BAD_SILICON_REV = b'\x14'     # rev5+
-
-    # command bytes
-    NOP             = b'\x00'     # guaranteed to be discarded by the bootloader
-    GET_SYNC        = b'\x21'
-    GET_DEVICE      = b'\x22'
-    CHIP_ERASE      = b'\x23'
-    CHIP_VERIFY     = b'\x24'     # rev2 only
-    PROG_MULTI      = b'\x27'
-    READ_MULTI      = b'\x28'     # rev2 only
-    GET_CRC         = b'\x29'     # rev3+
-    GET_OTP         = b'\x2a'     # rev4+  , get a word from OTP area
-    GET_SN          = b'\x2b'     # rev4+  , get a word from SN area
-    GET_CHIP        = b'\x2c'     # rev5+  , get chip version
-    SET_BOOT_DELAY  = b'\x2d'     # rev5+  , set boot delay
-    GET_CHIP_DES    = b'\x2e'     # rev5+  , get chip description in ASCII
-    GET_VERSION     = b'\x2f'     # rev5+  , get bootloader version in ASCII
-    CHIP_FULL_ERASE = b'\x40'     # full erase of flash, rev6+
-    MAX_DES_LENGTH  = 20
-
-    REBOOT          = b'\x30'
-
-    INFO_BL_REV     = b'\x01'        # bootloader protocol revision
-    BL_REV_MIN      = 2              # minimum supported bootloader protocol
-    BL_REV_MAX      = 5              # maximum supported bootloader protocol
-    INFO_BOARD_ID   = b'\x02'        # board type
-    INFO_BOARD_REV  = b'\x03'        # board revision
-    INFO_FLASH_SIZE = b'\x04'        # max firmware size in bytes
-
-    PROG_MULTI_MAX  = 252            # protocol max is 255, must be multiple of 4
-    READ_MULTI_MAX  = 252            # protocol max is 255
-
-    NSH_INIT        = bytearray(b'\x0d\x0d\x0d')
-    NSH_REBOOT_BL   = b"reboot -b\n"
-    NSH_REBOOT      = b"reboot\n"
-    MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x53\x6b')
-    MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xcc\x37')
-
-    MAX_FLASH_PRGRAM_TIME  = 0.001  # Time on an F7 to send SYNC, RESULT from last data in multi RXed
-
-    def __init__(self, portname, baudrate_bootloader, baudrate_flightstack):
-        # Open the port, keep the default timeout short so we can poll quickly.
-        # On some systems writes can suddenly get stuck without having a
-        # write_timeout > 0 set.
-        # chartime 8n1 * bit rate is us
-        self.chartime = 10 * (1.0 / baudrate_bootloader)
-
-        # we use a window approche to SYNC,<result> gathring
-        self.window = 0
-        self.window_max = 256
-        self.window_per = 2  # Sync,<result>
-        self.ackWindowedMode = False  # Assume Non Widowed mode for all USB CDC
-        self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5, write_timeout=0)
-        self.otp = b''
-        self.sn = b''
-        self.baudrate_bootloader = baudrate_bootloader
-        self.baudrate_flightstack = baudrate_flightstack
-        self.baudrate_flightstack_idx = -1
-        self.force_erase = False
-
-    def close(self):
-        if self.port is not None:
-            self.port.close()
-
-    def open(self):
-        # upload timeout
-        timeout = _time() + 0.2
-
-        # attempt to open the port while it exists and until timeout occurs
-        while self.port is not None:
-            portopen = True
-            try:
-                portopen = self.port.is_open
-            except AttributeError:
-                portopen = self.port.isOpen()
-
-            if not portopen and _time() < timeout:
-                try:
-                    self.port.open()
-                except OSError:
-                    # wait for the port to be ready
-                    time.sleep(0.04)
-                except serial.SerialException:
-                    # if open fails, try again later
-                    time.sleep(0.04)
-            else:
-                break
-
-    # debugging code
-    def __probe(self, state):
-        # self.port.setRTS(state)
-        return
-
-    def __send(self, c):
-        # print("send " + binascii.hexlify(c))
-        self.port.write(c)
-
-    def __recv(self, count=1):
-        c = self.port.read(count)
-        if len(c) < 1:
-            raise RuntimeError("timeout waiting for data (%u bytes)" % count)
-        # print("recv " + binascii.hexlify(c))
-        return c
-
-    def __recv_int(self):
-        raw = self.__recv(4)
-        val = struct.unpack("<I", raw)
-        return val[0]
-
-    def __getSync(self, doFlush=True):
-        if (doFlush):
-            self.port.flush()
-        c = bytes(self.__recv())
-        if c != self.INSYNC:
-            raise RuntimeError("unexpected %s instead of INSYNC" % c)
-        c = self.__recv()
-        if c == self.INVALID:
-            raise RuntimeError("bootloader reports INVALID OPERATION")
-        if c == self.FAILED:
-            raise RuntimeError("bootloader reports OPERATION FAILED")
-        if c != self.OK:
-            raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
-
-    # The control flow for receiving Sync is on the order of 16 Ms per Sync
-    # This will validate all the SYNC,<results> for a window of programing
-    # in about 13.81 Ms for 256 blocks written
-    def __ackSyncWindow(self, count):
-        if (count > 0):
-            data =  bytearray(bytes(self.__recv(count)))
-            if (len(data) != count):
-                raise RuntimeError("Ack Window %i not %i " % (len(data), count))
-            for i in range(0, len(data), 2):
-                if bytes([data[i]]) != self.INSYNC:
-                    raise RuntimeError("unexpected %s instead of INSYNC" % data[i])
-                if bytes([data[i+1]]) == self.INVALID:
-                    raise RuntimeError("bootloader reports INVALID OPERATION")
-                if bytes([data[i+1]]) == self.FAILED:
-                    raise RuntimeError("bootloader reports OPERATION FAILED")
-                if bytes([data[i+1]]) != self.OK:
-                    raise RuntimeError("unexpected response 0x%x instead of OK" % ord(data[i+1]))
-
-    # attempt to get back into sync with the bootloader
-    def __sync(self):
-        # send a stream of ignored bytes longer than the longest possible conversation
-        # that we might still have in progress
-        # self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
-        self.port.flushInput()
-        self.__send(uploader.GET_SYNC +
-                    uploader.EOC)
-        self.__getSync()
-
-    def __trySync(self):
-        try:
-            self.port.flush()
-            if (self.__recv() != self.INSYNC):
-                # print("unexpected 0x%x instead of INSYNC" % ord(c))
-                return False
-            c = self.__recv()
-            if (c == self.BAD_SILICON_REV):
-                raise NotImplementedError()
-            if (c != self.OK):
-                # print("unexpected 0x%x instead of OK" % ord(c))
-                return False
-            return True
-
-        except NotImplementedError:
-            raise RuntimeError("Programing not supported for this version of silicon!\n"
-                               "See https://docs.px4.io/main/en/flight_controller/silicon_errata.html")
-        except RuntimeError:
-            # timeout, no response yet
-            return False
-
-    # attempt to determins if the device is CDCACM or A FTDI
-    def __determineInterface(self):
-        self.port.flushInput()
-        # Set a baudrate that can not work on a real serial port
-        # in that it is 233% off.
-        try:
-            self.port.baudrate = self.baudrate_bootloader * 2.33
-        except NotImplementedError as e:
-            # This error can occur because pySerial on Windows does not support odd baudrates
-            print(f"{e} -> could not check for FTDI device, assuming USB connection")
-            return
-
-        self.__send(uploader.GET_SYNC +
-                    uploader.EOC)
-        try:
-            self.__getSync(False)
-        except RuntimeError:
-            # if it fails we are on a real serial port - only leave this enabled on Windows
-            if sys.platform.startswith('win'):
-                self.ackWindowedMode = True
-        finally:
-            try:
-                self.port.baudrate = self.baudrate_bootloader
-            except Exception:
-                pass
-
-    # send the GET_DEVICE command and wait for an info parameter
-    def __getInfo(self, param):
-        self.__send(uploader.GET_DEVICE + param + uploader.EOC)
-        value = self.__recv_int()
-        self.__getSync()
-        return value
-
-    # send the GET_OTP command and wait for an info parameter
-    def __getOTP(self, param):
-        t = struct.pack("I", param)  # int param as 32bit ( 4 byte ) char array.
-        self.__send(uploader.GET_OTP + t + uploader.EOC)
-        value = self.__recv(4)
-        self.__getSync()
-        return value
-
-    # send the GET_SN command and wait for an info parameter
-    def __getSN(self, param):
-        t = struct.pack("I", param)  # int param as 32bit ( 4 byte ) char array.
-        self.__send(uploader.GET_SN + t + uploader.EOC)
-        value = self.__recv(4)
-        self.__getSync()
-        return value
-
-    # send the GET_CHIP command
-    def __getCHIP(self):
-        self.__send(uploader.GET_CHIP + uploader.EOC)
-        value = self.__recv_int()
-        self.__getSync()
-        return value
-
-    # send the GET_CHIP command
-    def __getCHIPDes(self):
-        self.__send(uploader.GET_CHIP_DES + uploader.EOC)
-        length = self.__recv_int()
-        value = self.__recv(length)
-        self.__getSync()
-        pieces = value.split(b",")
-        return pieces
-
-    def __getVersion(self):
-        self.__send(uploader.GET_VERSION + uploader.EOC)
-        try:
-            length = self.__recv_int()
-            value = self.__recv(length)
-            self.__getSync()
-        except RuntimeError:
-            # Bootloader doesn't support version call
-            return "unknown"
-        return value.decode()
-
-    def __drawProgressBar(self, label, progress, maxVal):
-        if maxVal < progress:
-            progress = maxVal
-
-        percent = (float(progress) / float(maxVal)) * 100.0
-
-        redraw = "\r" if sys.stdout.isatty() else "\n"
-        sys.stdout.write("%s%s: [%-20s] %.1f%%" % (redraw, label, '='*int(percent/5.0), percent))
-        sys.stdout.flush()
-
-    # send the CHIP_ERASE command and wait for the bootloader to become ready
-    def __erase(self, label):
-        print(f"Windowed mode: {self.ackWindowedMode}")
-        print("\n", end='')
-
-        if self.force_erase:
-            print("Trying force erase of full chip...\n")
-            self.__send(uploader.CHIP_FULL_ERASE +
-                        uploader.EOC)
-        else:
-            self.__send(uploader.CHIP_ERASE +
-                        uploader.EOC)
-
-        # erase is very slow, give it 30s
-        deadline = _time() + 30.0
-        while _time() < deadline:
-
-            usualEraseDuration = 15.0
-            estimatedTimeRemaining = deadline-_time()
-            if estimatedTimeRemaining >= usualEraseDuration:
-                self.__drawProgressBar(label, 30.0-estimatedTimeRemaining, usualEraseDuration)
-            else:
-                self.__drawProgressBar(label, 10.0, 10.0)
-                sys.stdout.write(" (timeout: %d seconds) " % int(deadline-_time()))
-                sys.stdout.flush()
-
-            if self.__trySync():
-                self.__drawProgressBar(label, 10.0, 10.0)
-                if self.force_erase:
-                    print("\nForce erase done.\n")
-                return
-
-        if self.force_erase:
-            raise RuntimeError("timed out waiting for erase, force erase is likely not supported by bootloader!")
-        else:
-            raise RuntimeError("timed out waiting for erase")
-
-    # send a PROG_MULTI command to write a collection of bytes
-    def __program_multi(self, data, windowMode):
-
-        length = len(data).to_bytes(1, byteorder='big')
-
-        self.__send(uploader.PROG_MULTI)
-        self.__send(length)
-        self.__send(data)
-        self.__send(uploader.EOC)
-        if (not windowMode):
-            self.__getSync(False)
-        else:
-            # The following is done to have minimum delay on the transmission
-            # of the ne fw. The per block cost of __getSync was about 16 mS per.
-            # Passively wait on Sync and Result using board rates and
-            # N.B. attempts to activly wait on InWating still carried 8 mS of overhead
-            self.__probe(False)
-            self.__probe(True)
-            time.sleep((ord(length) * self.chartime) + uploader.MAX_FLASH_PRGRAM_TIME)
-            self.__probe(False)
-
-    # verify multiple bytes in flash
-    def __verify_multi(self, data):
-
-        length = len(data).to_bytes(1, byteorder='big')
-
-        self.__send(uploader.READ_MULTI)
-        self.__send(length)
-        self.__send(uploader.EOC)
-        self.port.flush()
-        programmed = self.__recv(len(data))
-        if programmed != data:
-            print("got    " + binascii.hexlify(programmed))
-            print("expect " + binascii.hexlify(data))
-            return False
-        self.__getSync()
-        return True
-
-    # send the reboot command
-    def __reboot(self):
-        self.__send(uploader.REBOOT +
-                    uploader.EOC)
-        self.port.flush()
-
-        # v3+ can report failure if the first word flash fails
-        if self.bl_rev >= 3:
-            self.__getSync()
-
-    # split a sequence into a list of size-constrained pieces
-    def __split_len(self, seq, length):
-        return [seq[i:i+length] for i in range(0, len(seq), length)]
-
-    # upload code
-    def __program(self, label, fw):
-        self.__probe(False)
-        print("\n", end='')
-        code = fw.image
-        groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
-        # Give imedate feedback
-        self.__drawProgressBar(label, 0, len(groups))
-        uploadProgress = 0
-        for bytes in groups:
-            self.__program_multi(bytes, self.ackWindowedMode)
-            # If in Window mode, extend the window size for the __ackSyncWindow
-            if self.ackWindowedMode:
-                self.window += self.window_per
-
-            # Print upload progress (throttled, so it does not delay upload progress)
-            uploadProgress += 1
-            if uploadProgress % 256 == 0:
-                self.__probe(True)
-                self.__probe(False)
-                self.__probe(True)
-                self.__ackSyncWindow(self.window)
-                self.__probe(False)
-                self.window = 0
-                self.__drawProgressBar(label, uploadProgress, len(groups))
-
-        # Do any remaining fragment
-        self.__ackSyncWindow(self.window)
-        self.window = 0
-        self.__drawProgressBar(label, 100, 100)
-
-    # verify code
-    def __verify_v2(self, label, fw):
-        print("\n", end='')
-        self.__send(uploader.CHIP_VERIFY +
-                    uploader.EOC)
-        self.__getSync()
-        code = fw.image
-        groups = self.__split_len(code, uploader.READ_MULTI_MAX)
-        verifyProgress = 0
-        for bytes in groups:
-            verifyProgress += 1
-            if verifyProgress % 256 == 0:
-                self.__drawProgressBar(label, verifyProgress, len(groups))
-            if (not self.__verify_multi(bytes)):
-                raise RuntimeError("Verification failed")
-        self.__drawProgressBar(label, 100, 100)
-
-    def __verify_v3(self, label, fw):
-        print("\n", end='')
-        self.__drawProgressBar(label, 1, 100)
-        expect_crc = fw.crc(self.fw_maxsize)
-        self.__send(uploader.GET_CRC + uploader.EOC)
-        time.sleep(0.5)
-        report_crc = self.__recv_int()
-        self.__getSync()
-        if report_crc != expect_crc:
-            print("Expected 0x%x" % expect_crc)
-            print("Got      0x%x" % report_crc)
-            raise RuntimeError("Program CRC failed")
-        self.__drawProgressBar(label, 100, 100)
-
-    def __set_boot_delay(self, boot_delay):
-        self.__send(uploader.SET_BOOT_DELAY +
-                    struct.pack("b", boot_delay) +
-                    uploader.EOC)
-        self.__getSync()
-
-    # get basic data about the board
-    def identify(self):
-        self.__determineInterface()
-        # make sure we are in sync before starting
-        self.__sync()
-
-        # get the bootloader protocol ID first
-        self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
-        if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
-            print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
-            raise RuntimeError("Bootloader protocol mismatch")
-
-        self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
-        self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
-        self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
-
-        self.version = self.__getVersion()
-
-    # upload the firmware
-    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False, force_erase=False):
-        self.force_erase = force_erase
-        # select correct binary
-        found_suitable_firmware = False
-        for file in fw_list:
-            fw = firmware(file)
-            if self.board_type == fw.property('board_id'):
-                if len(fw_list) > 1: print("using firmware binary {}".format(file))
-                found_suitable_firmware = True
-                break
-
-        if not found_suitable_firmware:
-            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
-                self.board_type, fw.property('board_id'))
-            print("WARNING: %s" % msg)
-            if force:
-                if len(fw_list) > 1:
-                    raise FirmwareNotSuitableException("force flashing failed, more than one file provided, none suitable")
-                print("FORCED WRITE, FLASHING ANYWAY!")
-            else:
-                raise FirmwareNotSuitableException(msg)
-
-        percent = fw.property('image_size') / fw.property('image_maxsize')
-        binary_size = float(fw.property('image_size'))
-        binary_max_size = float(fw.property('image_maxsize'))
-        percent = (binary_size / binary_max_size) * 100
-
-        print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
-        print()
-
-        print(f"Bootloader version: {self.version}")
-
-        # Make sure we are doing the right thing
-        start = _time()
-        if self.board_type != fw.property('board_id'):
-            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
-                self.board_type, fw.property('board_id'))
-            print("WARNING: %s" % msg)
-            if force:
-                print("FORCED WRITE, FLASHING ANYWAY!")
-            else:
-                raise FirmwareNotSuitableException(msg)
-
-        # Prevent uploads where the image would overflow the flash
-        if self.fw_maxsize < fw.property('image_size'):
-            raise RuntimeError("Firmware image is too large for this board")
-
-        # OTP added in v4:
-        if self.bl_rev >= 4:
-            for byte in range(0, 32*6, 4):
-                x = self.__getOTP(byte)
-                self.otp = self.otp + x
-                # print(binascii.hexlify(x).decode('Latin-1') + ' ', end='')
-            # see src/modules/systemlib/otp.h in px4 code:
-            self.otp_id = self.otp[0:4]
-            self.otp_idtype = self.otp[4:5]
-            self.otp_vid = self.otp[8:4:-1]
-            self.otp_pid = self.otp[12:8:-1]
-            self.otp_coa = self.otp[32:160]
-            # show user:
-            try:
-                print("Sn: ", end='')
-                for byte in range(0, 12, 4):
-                    x = self.__getSN(byte)
-                    x = x[::-1]  # reverse the bytes
-                    self.sn = self.sn + x
-                    print(binascii.hexlify(x).decode('Latin-1'), end='')  # show user
-                print('')
-                print("Chip: %08x" % self.__getCHIP())
-
-                otp_id = self.otp_id.decode('Latin-1')
-                if ("PX4" in otp_id):
-                    print("OTP id: " + otp_id)
-                    print("OTP idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
-                    print("OTP vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
-                    print("OTP pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1'))
-                    print("OTP coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
-
-            except Exception as e:
-                # ignore bad character encodings
-                print(f"Exception ignored: {e}")
-                pass
-
-        # Silicon errata check was added in v5
-        if (self.bl_rev >= 5):
-            des = self.__getCHIPDes()
-            if (len(des) == 2):
-                family, revision = des
-                print(f"Family: {family.decode()}")
-                print(f"Revision: {revision.decode()}")
-                print(f"Flash: {self.fw_maxsize} bytes")
-
-                # Prevent uploads where the maximum image size of the board config is smaller than the flash
-                # of the board. This is a hint the user chose the wrong config and will lack features
-                # for this particular board.
-
-                # This check should also check if the revision is an unaffected revision
-                # and thus can support the full flash, see
-                # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144
-
-                if self.fw_maxsize > fw.property('image_maxsize') and not force:
-                    print(f"WARNING: Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes)")
-        else:
-            # If we're still on bootloader v4 on a Pixhawk, we don't know if we
-            # have the silicon errata and therefore need to flash px4_fmu-v2
-            # with 1MB flash or if it supports px4_fmu-v3 with 2MB flash.
-            if fw.property('board_id') == 9 \
-                    and fw.property('image_size') > 1032192 \
-                    and not force:
-                raise RuntimeError("\nThe Board uses bootloader revision 4 and can therefore not determine\n"
-                                   "if flashing more than 1 MB (px4_fmu-v3_default) is safe, chances are\n"
-                                   "high that it is not safe! If unsure, use px4_fmu-v2_default.\n"
-                                   "\n"
-                                   "If you know you that the board does not have the silicon errata, use\n"
-                                   "this script with --force, or update the bootloader. If you are invoking\n"
-                                   "upload using make, you can use force-upload target to force the upload.\n")
-        self.__erase("Erase  ")
-        self.__program("Program", fw)
-
-        if self.bl_rev == 2:
-            self.__verify_v2("Verify ", fw)
-        else:
-            self.__verify_v3("Verify ", fw)
-
-        if boot_delay is not None:
-            self.__set_boot_delay(boot_delay)
-
-        print("\nRebooting.", end='')
-        self.__reboot()
-        self.port.close()
-        print(" Elapsed Time %3.3f\n" % (_time() - start))
-
-    def __next_baud_flightstack(self):
-        if self.baudrate_flightstack_idx + 1 >= len(self.baudrate_flightstack):
-            return False
-        try:
-            self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx + 1]
-            self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1
-        except serial.SerialException:
-            # Sometimes _configure_port fails
-            time.sleep(0.04)
-
-        return True
-
-    def send_protocol_splitter_format(self, data):
-        # Header Structure:
-        #      bits:   1 2 3 4 5 6 7 8
-        # header[0] - |     Magic     | (='S')
-        # header[1] - |T|   LenH      | (T - 0: mavlink; 1: rtps)
-        # header[2] - |     LenL      |
-        # header[3] - |   Checksum    |
-
-        MAGIC = 83
-
-        len_bytes = len(data).to_bytes(2, "big")
-        LEN_H = len_bytes[0] & 127
-        LEN_L = len_bytes[1] & 255
-        CHECKSUM = MAGIC ^ LEN_H ^ LEN_L
-
-        header_ints = [MAGIC, LEN_H, LEN_L, CHECKSUM]
-        header_bytes = struct.pack("{}B".format(len(header_ints)), *header_ints)
-
-        self.__send(header_bytes)
-        self.__send(data)
-
-    def send_reboot(self, use_protocol_splitter_format=False):
-        if (not self.__next_baud_flightstack()):
-            return False
-
-        print("Attempting reboot on %s with baudrate=%d..." % (self.port.port, self.port.baudrate), file=sys.stderr)
-        if "ttyS" in self.port.port:
-            print("If the board does not respond, check the connection to the Flight Controller")
-        else:
-            print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
-
-        try:
-            send_fct = self.__send
-            if use_protocol_splitter_format:
-                send_fct = self.send_protocol_splitter_format
-
-            # try MAVLINK command first
-            self.port.flush()
-            send_fct(uploader.MAVLINK_REBOOT_ID1)
-            send_fct(uploader.MAVLINK_REBOOT_ID0)
-            # then try reboot via NSH
-            send_fct(uploader.NSH_INIT)
-            send_fct(uploader.NSH_REBOOT_BL)
-            send_fct(uploader.NSH_INIT)
-            send_fct(uploader.NSH_REBOOT)
-            self.port.flush()
-            self.port.baudrate = self.baudrate_bootloader
-        except Exception:
-            try:
-                self.port.flush()
-                self.port.baudrate = self.baudrate_bootloader
-            except Exception:
-                pass
-
-        return True
-
-
-def main():
-    # Parse commandline arguments
-    parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
-    parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
-    parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
-    parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
-    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
-    parser.add_argument('--force-erase', action="store_true", help="Do not perform the blank check, always erase every sector of the application space")
-    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
-    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
-    parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
-    args = parser.parse_args()
-
-    if args.use_protocol_splitter_format:
-        print("Using protocol splitter format to reboot pixhawk!")
-
-    # warn people about ModemManager which interferes badly with Pixhawk
-    if os.path.exists("/usr/sbin/ModemManager"):
-        print("==========================================================================================================")
-        print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
-        print("==========================================================================================================")
-
-    print("Waiting for bootloader...")
-    # tell any GCS that might be connected to the autopilot to give up
-    # control of the serial port
-
-    # send to localhost and default GCS port
-    ipaddr = '127.0.0.1'
-    portnum = 14550
-
-    # COMMAND_LONG in MAVLink 1
-    heartbeatpacket = bytearray.fromhex('fe097001010000000100020c5103033c8a')
-    commandpacket = bytearray.fromhex('fe210101014c00000000000000000000000000000000000000000000803f00000000f6000000008459')
-
-    # initialize an UDP socket
-    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-
-    # send heartbeat to initialize connection and command to free the link
-    s.sendto(heartbeatpacket, (ipaddr, portnum))
-    s.sendto(commandpacket, (ipaddr, portnum))
-
-    # close the socket
-    s.close()
-
-    # Spin waiting for a device to show up
-    try:
-        while True:
-            portlist = []
-            patterns = args.port.split(",")
-            # on unix-like platforms use glob to support wildcard ports. This allows
-            # the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
-            # causing modem hangups etc
-            if "linux" in _platform or "darwin" in _platform or "cygwin" in _platform:
-                import glob
-                for pattern in patterns:
-                    portlist += glob.glob(pattern)
-            else:
-                portlist = patterns
-
-            baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]
-
-            successful = False
-            unsuitable_board = False
-            for port in portlist:
-
-                # print("Trying %s" % port)
-
-                # create an uploader attached to the port
-                try:
-                    if "linux" in _platform:
-                        # Linux, don't open Mac OS and Win ports
-                        if "COM" not in port and "tty.usb" not in port:
-                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                    elif "darwin" in _platform:
-                        # OS X, don't open Windows and Linux ports
-                        if "COM" not in port and "ACM" not in port:
-                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                    elif "cygwin" in _platform:
-                        # Cygwin, don't open native Windows COM and Linux ports
-                        if "COM" not in port and "ACM" not in port:
-                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                    elif "win" in _platform:
-                        # Windows, don't open POSIX ports
-                        if "/" not in port:
-                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                except Exception as e:
-                    # open failed, rate-limit our attempts
-                    time.sleep(0.05)
-                    print(f"Exception ignored: {e}")
-
-                    # and loop to the next port
-                    continue
-
-                found_bootloader = False
-                while True:
-                    up.open()
-
-                    # port is open, try talking to it
-                    try:
-                        # identify the bootloader
-                        up.identify()
-                        found_bootloader = True
-                        print()
-                        print(f"Found board id: {up.board_type},{up.board_rev} bootloader protocol revision {up.bl_rev} on {port}")
-                        break
-
-                    except (RuntimeError, serial.SerialException):
-
-                        if not up.send_reboot(args.use_protocol_splitter_format):
-                            break
-
-                        # wait for the reboot, without we might run into Serial I/O Error 5
-                        time.sleep(0.25)
-
-                        # always close the port
-                        up.close()
-
-                        # wait for the close, without we might run into Serial I/O Error 6
-                        time.sleep(0.3)
-
-                if not found_bootloader:
-                    # Go to the next port
-                    continue
-
-                try:
-                    # ok, we have a bootloader, try flashing it
-                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay, force_erase=args.force_erase)
-
-                    # if we made this far without raising exceptions, the upload was successful
-                    successful = True
-
-                except RuntimeError as e:
-                    # print the error
-                    print(f"\n\nError: {e}")
-
-                except FirmwareNotSuitableException:
-                    unsuitable_board = True
-                    up.close()
-                    continue
-
-                except IOError:
-                    up.close()
-                    continue
-
-                finally:
-                    # always close the port
-                    up.close()
-
-                # we could loop here if we wanted to wait for more boards...
-                if successful:
-                    sys.exit(0)
-                else:
-                    sys.exit(1)
-
-            if unsuitable_board:
-                # If we land here, we went through all ports, did not flash any
-                # board and found at least one unsuitable board.
-                # Exit with 2, so a caller can distinguish from other errors
-                sys.exit(2)
-
-            # Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
-            time.sleep(0.05)
-
-    # CTRL+C aborts the upload/spin-lock by interrupt mechanics
-    except KeyboardInterrupt:
-        print("\n Upload aborted by user.")
-        sys.exit(0)
-
-
-if __name__ == '__main__':
-    main()
-
-# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4

Tools/setup/ubuntu.sh

@@ -176,8 +176,10 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 
 		echo
 		echo "Fetching Xtensa compilers"
-		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
-		sudo tar -xf $DIR/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz -C /opt
+		XTENSA_FILE_NAME=xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
+		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/$XTENSA_FILE_NAME
+		sudo tar -xf $DIR/$XTENSA_FILE_NAME -C /opt
+		rm $DIR/$XTENSA_FILE_NAME
 		echo 'export PATH=$PATH:/opt/xtensa-esp-elf/bin/' >> /home/$USER/.bashrc
 	fi
 

boards/3dr/ctrl-zero-h7-oem-revg/default.px4board

@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/accton-godwit/ga1/default.px4board

@@ -34,7 +34,6 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y

boards/airmind/mindpx-v2/default.px4board

@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_ST_LSM303D=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y

boards/ark/cannode/default.px4board

@@ -31,6 +31,7 @@ CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
 CONFIG_UAVCANNODE_ESC_STATUS=y
 CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
 CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_HARDPOINT_COMMAND=y
 CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y

boards/ark/pi6x/rover.px4board

@@ -0,0 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y

boards/auterion/fmu-v6s/default.px4board

@@ -15,6 +15,8 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
+CONFIG_DRIVERS_VTX=y
+CONFIG_VTX_CRSF_MSP_SUPPORT=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_BMI088_ACCELEROMETER_INT2=y
 CONFIG_COMMON_LIGHT=y
@@ -22,6 +24,7 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
@@ -91,3 +94,4 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_WQ_TTY_STACKSIZE=2500

boards/auterion/fmu-v6s/init/rc.board_sensors

@@ -60,6 +60,9 @@ then
 	set INA_CONFIGURED yes
 fi
 
+# Auterion auto starter
+auterion_autostarter start
+
 if param compare BAT1_V_CHANNEL -2
 then
 	if [ "$INA_CONFIGURED" != "yes" ]

boards/auterion/fmu-v6s/nuttx-config/nsh/defconfig

@@ -160,7 +160,7 @@ CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_MAXARGUMENTS=24
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y

boards/auterion/fmu-v6x/default.px4board

@@ -26,10 +26,10 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y

boards/auterion/fmu-v6x/init/rc.board_sensors

@@ -55,8 +55,8 @@ then
 	set INA_CONFIGURED yes
 fi
 
-#Start Auterion Power Module selector for Skynode boards
-pm_selector_auterion start
+# Auterion auto starter
+auterion_autostarter start
 
 # Auterion's INA238 uses a shunt value of 0.0003 instead of 0.0005.
 param set-default INA238_SHUNT 0.0003

boards/auterion/fmu-v6x/zenoh.px4board

@@ -1,4 +1,6 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_UXRCE_DDS_CLIENT=n
+CONFIG_SYSTEMCMDS_SD_BENCH=n
+CONFIG_SYSTEMCMDS_I2CDETECT=n
 CONFIG_MODULES_ZENOH=y

boards/av/x-v1/default.px4board

@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/cuav/fmu-v6x/default.px4board

@@ -30,7 +30,6 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y

boards/cuav/nora/default.px4board

@@ -27,7 +27,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/cuav/x25-evo/default.px4board

@@ -28,7 +28,6 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y

boards/cuav/x7pro/default.px4board

@@ -27,7 +27,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/cubepilot/cubeorange/default.px4board

@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y

boards/cubepilot/cubeorangeplus/default.px4board

@@ -25,7 +25,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y

boards/cubepilot/cubeyellow/default.px4board

@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/gearup/airbrainh743/bootloader.px4board

@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""

boards/gearup/airbrainh743/default.px4board

@@ -0,0 +1,86 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROOT_PATH="/fs/flash"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS1"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
+# CONFIG_EKF2_AUXVEL is not set
+# CONFIG_EKF2_BARO_COMPENSATION is not set
+# CONFIG_EKF2_DRAG_FUSION is not set
+# CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_SIDESLIP is not set
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/gearup/airbrainh743/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 1209,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the AirBrainH743 by Gear Up",
+    "image": "",
+    "build_time": 0,
+    "summary": "AirBrainH743",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1966080,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/gearup/airbrainh743/init/rc.board_defaults

@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# AirBrainH743 board specific defaults
+#------------------------------------------------------------------------------
+
+# Battery voltage divider and current scale
+param set-default BAT1_V_DIV 15.0
+param set-default BAT1_A_PER_V 101.0
+
+# system_power unavailable
+param set-default CBRK_SUPPLY_CHK 894281
+
+param set-default IMU_GYRO_RATEMAX 2000
+
+# W25N NAND flash with littlefs (128 MB): larger buffer, auto-rotate
+set LOGGER_BUF 32
+param set-default SDLOG_DIRS_MAX 3

boards/gearup/airbrainh743/init/rc.board_extras

@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# AirBrainH743 specific board extras init
+#------------------------------------------------------------------------------
+
+# No extras configured by default

boards/gearup/airbrainh743/init/rc.board_sensors

@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# AirBrainH743 specific board sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# Internal SPI bus IMU - ICM42688P (Invensensev3)
+icm42688p -R 2 -b 1 -s start
+
+# Internal I2C bus barometer - DPS310 @ 0x76 (118 decimal)
+dps310 -I -a 118 start
+
+# Internal I2C bus magnetometer - LIS2MDL @ 0x1E (30 decimal)
+# Using iis2mdc driver (functionally equivalent to LIS2MDL)
+iis2mdc -I -R 2 -a 30 start

boards/gearup/airbrainh743/nuttx-config/Kconfig

@@ -0,0 +1,3 @@
+#
+# Board-specific Kconfig for AirBrainH743
+#

boards/gearup/airbrainh743/nuttx-config/bootloader/defconfig

@@ -0,0 +1,89 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DEV_CONSOLE is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_SPI_EXCHANGE is not set
+# CONFIG_STM32H7_SYSCFG is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/gearup/airbrainh743/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=22114
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_CDCACM=y
+CONFIG_CDCACM_PRODUCTID=0x004b
+CONFIG_CDCACM_PRODUCTSTR="AirBrainH743 BL"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3162
+CONFIG_CDCACM_VENDORSTR="Gear Up"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SPI=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_USART1=y
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=300
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000

boards/gearup/airbrainh743/nuttx-config/include/board.h

@@ -0,0 +1,346 @@
+/************************************************************************************
+ * nuttx-config/include/board.h
+ *
+ *   Copyright (C) 2026 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 NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+#ifndef __NUTTX_CONFIG_AIRBRAINH743_INCLUDE_BOARD_H
+#define __NUTTX_CONFIG_AIRBRAINH743_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdmmc.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The AirBrainH743 board provides the following clock sources:
+ *
+ *   X1: 8 MHz crystal for HSE
+ */
+
+#define STM32_BOARD_XTAL        8000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE = 8,000,000
+ *
+ * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * CPUCLK  = SYSCLK / D1CPRE
+ */
+
+#define STM32_BOARD_USEHSE
+
+#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
+
+/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
+ *
+ *   PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
+ *
+ *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
+ *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
+ *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
+ */
+
+#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVP1EN | \
+				 RCC_PLLCFGR_DIVQ1EN | \
+				 RCC_PLLCFGR_DIVR1EN)
+#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
+#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(120)
+#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(5)
+#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
+
+#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 120)
+#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 5)
+#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
+
+/* PLL2 */
+
+#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
+				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
+				  RCC_PLLCFGR_DIVP2EN | \
+				  RCC_PLLCFGR_DIVQ2EN | \
+				  RCC_PLLCFGR_DIVR2EN)
+#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(2)
+#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
+#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
+#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
+#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
+
+#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 2) * 48)
+#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+
+/* PLL3 */
+
+#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVQ3EN)
+#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(2)
+#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
+#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
+#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
+#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
+
+#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 2) * 48)
+#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
+#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+
+/* SYSCLK = PLL1P = 480MHz
+ * CPUCLK = SYSCLK / 1 = 480 MHz
+ */
+
+#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
+#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
+#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
+
+/* Configure Clock Assignments */
+
+/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
+ * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
+ */
+
+#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
+#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
+#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
+#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB4 clock (PCLK4) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
+#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* Timer clock frequencies */
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Kernel Clock Configuration */
+
+/* I2C123 clock source */
+
+#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
+
+/* I2C4 clock source */
+
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
+
+/* SPI123 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
+
+/* SPI45 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
+
+/* SPI6 clock source */
+
+#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
+
+/* USB 1 and 2 clock source */
+
+#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
+
+/* ADC 1 2 3 clock source */
+
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
+
+/* FDCAN 1 clock source */
+
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
+/* FLASH wait states */
+
+#define BOARD_FLASH_WAITSTATES 2
+
+/* LED definitions ******************************************************************/
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+#define BOARD_LED3_BIT    (1 << BOARD_LED3)
+
+#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
+#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
+#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
+#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
+#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
+#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
+#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
+#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
+#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
+
+/* Alternate function pin selections ************************************************/
+
+/* USART1 - Debug (PA9 TX, PA10 RX) */
+#define GPIO_USART1_RX   GPIO_USART1_RX_2   /* PA10 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_2   /* PA9  */
+
+/* USART2 - RC input (PD5 TX, PD6 RX) */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6  */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5  */
+
+/* USART3 - DJI/MSP (PD8 TX, PD9 RX) */
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9  */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8  */
+
+/* UART4 - General (PB9 TX, PB8 RX) */
+#define GPIO_UART4_RX    GPIO_UART4_RX_3    /* PB8  */
+#define GPIO_UART4_TX    GPIO_UART4_TX_3    /* PB9  */
+
+/* UART5 - Companion (PB13 TX, PB12 RX) */
+#define GPIO_UART5_RX    GPIO_UART5_RX_1    /* PB12 */
+#define GPIO_UART5_TX    GPIO_UART5_TX_1    /* PB13 */
+
+/* UART7 - ESC telemetry (PE8 TX, PE7 RX) */
+#define GPIO_UART7_RX    GPIO_UART7_RX_3    /* PE7  */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
+
+/* UART8 - GPS (PE1 TX, PE0 RX) */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0  */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1  */
+
+
+/* SPI
+ *
+ * SPI1: IMU (PA5 SCK, PA6 MISO, PA7 MOSI)
+ * SPI2: W25N Flash (PD3 SCK, PB14 MISO, PC3 MOSI)
+ * SPI4: External (PE12 SCK, PE5 MISO, PE6 MOSI)
+ */
+
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1   /* PA7  */
+#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1    /* PA5  */
+
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1   /* PB14 */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_3   /* PC3  */
+#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_5    /* PD3  */
+
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_2   /* PE5  */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2   /* PE6  */
+#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_1    /* PE12 */
+
+/* I2C
+ *
+ * I2C1: Internal (PB6 SCL, PB7 SDA)
+ * I2C4: External (PD12 SCL, PD13 SDA)
+ */
+
+#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1       /* PB6  */
+#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */
+
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_1       /* PD12 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_1       /* PD13 */
+
+#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
+#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
+
+
+/* USB
+ *
+ *      OTG_FS_DM                           PA11
+ *      OTG_FS_DP                           PA12
+ *      VBUS                                PD0
+ */
+
+
+#endif  /*__NUTTX_CONFIG_AIRBRAINH743_INCLUDE_BOARD_H  */

boards/gearup/airbrainh743/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/* DMA mapping for SPI1 (IMU) */
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
+
+/* DMA mapping for SPI2 (W25N Flash) */
+#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
+#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */

boards/gearup/airbrainh743/nuttx-config/nsh/defconfig

@@ -0,0 +1,258 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_SPI_CALLBACK is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/gearup/airbrainh743/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0050
+CONFIG_CDCACM_PRODUCTSTR="AirBrainH743"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3162
+CONFIG_CDCACM_VENDORSTR="Gear Up"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
+CONFIG_FS_LITTLEFS_READ_SIZE_FACTOR=1
+CONFIG_FS_LITTLEFS_CACHE_SIZE_FACTOR=1
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=4
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_W25N=y
+CONFIG_W25N_SPIFREQUENCY=104000000
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_DMAMUX1=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C4=y
+CONFIG_STM32H7_I2C_DYNTIMEO=y
+CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_HSECLOCK=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=4096
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI2_DMA=y
+CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
+CONFIG_STM32H7_SPI4=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM2=y
+CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM5=y
+CONFIG_STM32H7_TIM8=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART5=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGTSTP=y
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART5_BAUD=57600
+CONFIG_UART5_RXBUFSIZE=600
+CONFIG_UART5_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_SERIAL_CONSOLE=y
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_WATCHDOG=y

boards/gearup/airbrainh743/nuttx-config/scripts/bootloader_script.ld

@@ -0,0 +1,213 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743II, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
+ * drepresed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743ZI also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ */
+
+MEMORY
+{
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08000000, LENGTH = 2048K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/gearup/airbrainh743/nuttx-config/scripts/script.ld

@@ -0,0 +1,228 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743II, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * There's a switch on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
+ * drepresed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743ZI also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ */
+
+MEMORY
+{
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > FLASH
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > FLASH
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > FLASH
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > FLASH
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > AXI_SRAM
+
+	/* Emit the the D3 power domain section for locating BDMA data */
+
+	.sram4_reserve (NOLOAD) :
+	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
+	} > SRAM4
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/gearup/airbrainh743/src/CMakeLists.txt

@@ -0,0 +1,67 @@
+############################################################################
+#
+#   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
+	add_library(drivers_board
+		bootloader_main.c
+		usb.c
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			bootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
+
+else()
+	add_library(drivers_board
+		i2c.cpp
+		init.c
+		led.c
+		spi.cpp
+		timer_config.cpp
+		usb.c
+	)
+	add_dependencies(drivers_board arch_board_hw_info)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_io_pins
+			arch_spi
+			arch_board_hw_info
+			drivers__led
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+	)
+endif()

boards/gearup/airbrainh743/src/board_config.h

@@ -0,0 +1,223 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * AirBrainH743 (Gear Up) internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+#include <stm32_gpio.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+/* Enable small flash logging support (for W25N NAND flash) */
+#ifdef CONFIG_MTD_W25N
+#  define BOARD_SMALL_FLASH_LOGGING 1
+#endif
+
+/* LEDs are active low
+ * STAT RGB LED:
+ *   PB15 = Blue
+ *   PD11 = Green
+ *   PD15 = Red
+ * BAT LED (orange): hardwired to power input
+ */
+#define GPIO_nLED_BLUE       /* PB15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
+#define GPIO_nLED_GREEN      /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
+#define GPIO_nLED_RED        /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN15)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS   1
+#define BOARD_OVERLOAD_LED              LED_RED
+#define BOARD_ARMED_STATE_LED           LED_GREEN
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that
+ * can be used by the Px4 Firmware in the adc driver
+ */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+#define ADC1_CH(n)                  (n)
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
+#define PX4_ADC_GPIO  \
+	/* PC4 */  GPIO_ADC12_INP4, \
+	/* PC5 */  GPIO_ADC12_INP8
+
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+#define ADC_BATTERY_VOLTAGE_CHANNEL     /* PC4 */  ADC1_CH(4)
+#define ADC_BATTERY_CURRENT_CHANNEL     /* PC5 */  ADC1_CH(8)
+
+#define ADC_CHANNELS \
+	((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
+	 (1 << ADC_BATTERY_CURRENT_CHANNEL))
+
+
+/* Define Battery Voltage Divider and A per V
+ */
+#define BOARD_BATTERY1_V_DIV         (15.0f)
+#define BOARD_BATTERY1_A_PER_V       (101.0f)
+
+
+/* PWM
+ * 8 PWM outputs for motors + 1 for LED strip
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS   9
+#define DIRECT_INPUT_TIMER_CHANNELS  9
+
+#define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
+
+
+/* Tone alarm output (directly connected to transistor switch of external buzzer)
+ *
+ * GPIO mode only (active buzzer) - passive buzzer with different tones is not
+ * supported because PA15 can only use TIM2, which is also used for motor outputs
+ * M7 (PB10, TIM2_CH3) and M8 (PB11, TIM2_CH4). The PWM tone alarm driver changes
+ * the timer's prescaler and auto-reload registers (shared across all channels),
+ * which would affect M7/M8 PWM frequency during tone playback.
+ */
+#define GPIO_TONE_ALARM_IDLE    /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
+#define GPIO_TONE_ALARM_GPIO    /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
+
+
+/* ICM42688P FSYNC - directly connected to IMU via GPIO (no timer).
+ * The driver clears TMST_FSYNC_EN and FIFO_TMST_FSYNC_EN, so FSYNC is unused.
+ * This GPIO is kept low to prevent spurious triggers.
+ */
+#define GPIO_42688P_FSYNC       /* PC7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN7)
+
+
+/* USB OTG FS
+ *
+ * PD0 VBUS sensing (active high input)
+ */
+#define GPIO_OTGFS_VBUS         /* PD0 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTD|GPIO_PIN0)
+
+
+/* High-resolution timer */
+#define HRT_TIMER               8  /* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
+
+
+/*
+ * Serial Port Mapping:
+ *
+ *   UART    Device    Pins          Function
+ *   ----    ------    ----          --------
+ *   USART1  /dev/ttyS0  PA9/PA10    Console/Debug
+ *   USART2  /dev/ttyS1  PD5/PD6     RC Input
+ *   USART3  /dev/ttyS2  PD8/PD9     TEL4 (DJI/MSP)
+ *   UART4   /dev/ttyS3  PA0/PA1     TEL1
+ *   UART5   /dev/ttyS4  PB13/PB12   TEL2
+ *   UART7   /dev/ttyS5  PE8/PE7     TEL3 (ESC Telemetry)
+ *   UART8   /dev/ttyS6  PE1/PE0     GPS1
+ */
+
+/* RC Serial port - USART2 (PD5/PD6) */
+#define RC_SERIAL_PORT          "/dev/ttyS1"
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
+
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+#define BOARD_HAS_ON_RESET 1
+
+
+#define PX4_GPIO_INIT_LIST { \
+		PX4_ADC_GPIO, \
+		GPIO_nLED_RED, \
+		GPIO_nLED_GREEN, \
+		GPIO_nLED_BLUE, \
+		GPIO_TONE_ALARM_IDLE, \
+		GPIO_42688P_FSYNC, \
+	}
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+#define BOARD_NUM_IO_TIMERS 4
+
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the board.
+ *
+ ****************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+/* Parameters stored in internal flash */
+#define FLASH_BASED_PARAMS
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

boards/gearup/airbrainh743/src/bootloader_main.c

@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file bootloader_main.c
+ *
+ * AirBrainH743-specific early startup code for bootloader
+ */
+
+#include "board_config.h"
+#include "bl.h"
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+#include <px4_platform_common/init.h>
+
+extern int sercon_main(int c, char **argv);
+
+__EXPORT void board_on_reset(int status) {}
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* configure USB interfaces */
+	stm32_usbinitialize();
+}
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	return 0;
+}
+
+void board_late_initialize(void)
+{
+	sercon_main(0, NULL);
+}
+
+extern void sys_tick_handler(void);
+void board_timerhook(void)
+{
+	sys_tick_handler();
+}

boards/gearup/airbrainh743/src/hw_config.h

@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#define APP_LOAD_ADDRESS               0x08020000
+#define BOOTLOADER_DELAY               5000
+#define INTERFACE_USB                  1
+#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
+#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
+
+#define INTERFACE_USART                1
+#define INTERFACE_USART_CONFIG         "/dev/ttyS0,57600"
+#define BOOT_DELAY_ADDRESS             0x000001a0
+#define BOARD_TYPE                     1209
+#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
+#define BOARD_FLASH_SECTORS            (14)
+#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
+
+#define OSC_FREQ                       8
+
+#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_GREEN
+#define BOARD_LED_ON                   0
+#define BOARD_LED_OFF                  1
+
+#define SERIAL_BREAK_DETECT_DISABLED   1
+
+#if !defined(ARCH_SN_MAX_LENGTH)
+# define ARCH_SN_MAX_LENGTH 12
+#endif
+
+/* Reserve 128KB (1 sector) at end of flash for parameters */
+#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
+
+#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
+#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
+#endif
+
+#if !defined(USB_DATA_ALIGN)
+# define USB_DATA_ALIGN
+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#ifndef BOOT_DEVICES_FILTER_ONUSB
+#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+/* Boot device selection list*/
+#define USB0_DEV       0x01
+#define SERIAL0_DEV    0x02
+#define SERIAL1_DEV    0x04

boards/gearup/airbrainh743/src/i2c.cpp

@@ -0,0 +1,47 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+/*
+ * I2C bus configuration for AirBrainH743
+ *
+ * I2C1: Internal bus - PB6 (SCL), PB7 (SDA)
+ *       Devices: DPS310 baro @ 0x76, LIS2MDL compass @ 0x1E
+ * I2C4: External bus - PD12 (SCL), PD13 (SDA)
+ */
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+	initI2CBusExternal(4),
+};

boards/gearup/airbrainh743/src/init.c

@@ -0,0 +1,249 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * AirBrainH743-specific early startup code.
+ */
+
+#include "board_config.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/mtd/mtd.h>
+#include <nuttx/fs/fs.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <systemlib/px4_macros.h>
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_dma_alloc.h>
+
+#if defined(FLASH_BASED_PARAMS)
+#include <parameters/flashparams/flashfs.h>
+#endif
+
+#ifdef CONFIG_MTD_W25N
+extern FAR struct mtd_dev_s *w25n_initialize(FAR struct spi_dev_s *dev, uint32_t spi_devid);
+#endif
+
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	UNUSED(ms);
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+	}
+
+	if (status >= 0) {
+		up_mdelay(100);
+	}
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.
+ *
+ ************************************************************************************/
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* Reset PWM first thing */
+	board_on_reset(-1);
+
+	/* configure LEDs */
+	board_autoled_initialize();
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	/* configure USB interfaces */
+	stm32_usbinitialize();
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.
+ *
+ ****************************************************************************/
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	/* Need hrt running before using the ADC */
+	px4_platform_init();
+
+	/* configure SPI interfaces */
+	stm32_spiinitialize();
+
+	/* configure the DMA allocator */
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_off(LED_GREEN);
+	led_off(LED_BLUE);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+#ifdef CONFIG_MTD_W25N
+	/* Initialize W25N01GV NAND Flash on SPI2 */
+	struct spi_dev_s *spi2 = stm32_spibus_initialize(2);
+
+	if (!spi2) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI2 for W25N\n");
+		led_on(LED_RED);
+
+	} else {
+		struct mtd_dev_s *mtd = w25n_initialize(spi2, 0);
+
+		if (!mtd) {
+			syslog(LOG_ERR, "[boot] FAILED to initialize W25N MTD driver\n");
+			led_on(LED_RED);
+
+		} else {
+			int ret = register_mtddriver("/dev/mtd0", mtd, 0755, NULL);
+
+			if (ret < 0) {
+				syslog(LOG_ERR, "[boot] FAILED to register MTD driver: %d\n", ret);
+				led_on(LED_RED);
+
+			} else {
+				syslog(LOG_INFO, "[boot] W25N MTD registered at /dev/mtd0\n");
+
+#ifdef CONFIG_FS_LITTLEFS
+				ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, NULL);
+
+				if (ret == 0) {
+					/* Verify the filesystem is usable by creating a test file */
+					int fd = open(CONFIG_BOARD_ROOT_PATH "/.mount_test", O_CREAT | O_WRONLY | O_TRUNC);
+
+					if (fd >= 0) {
+						close(fd);
+						unlink(CONFIG_BOARD_ROOT_PATH "/.mount_test");
+
+					} else {
+						syslog(LOG_WARNING, "[boot] littlefs mounted but not usable, reformatting\n");
+						nx_umount2(CONFIG_BOARD_ROOT_PATH, 0);
+						ret = -1;
+					}
+				}
+
+				if (ret < 0) {
+					ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, "forceformat");
+				}
+
+				if (ret < 0) {
+					syslog(LOG_ERR, "[boot] FAILED to mount littlefs: %d\n", ret);
+					led_on(LED_RED);
+
+				} else {
+					syslog(LOG_INFO, "[boot] LittleFS mounted at %s\n", CONFIG_BOARD_ROOT_PATH);
+				}
+
+#endif
+			}
+		}
+	}
+
+#endif
+
+#if defined(FLASH_BASED_PARAMS)
+	/* Initialize parameters in internal flash (sector 15, 128KB at 0x081E0000) */
+	static sector_descriptor_t params_sector_map[] = {
+		{15, 128 * 1024, 0x081E0000},
+		{0, 0, 0},
+	};
+
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		led_on(LED_RED);
+	}
+
+#endif
+
+	/* Configure the HW based on the manifest */
+	px4_platform_configure();
+
+	return OK;
+}

boards/gearup/airbrainh743/src/led.c

@@ -0,0 +1,205 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+#ifdef CONFIG_ARCH_LEDS
+static bool nuttx_owns_leds = true;
+static const uint8_t xlatpx4[] = {1, 2, 4, 0};
+#  define xlat(p) xlatpx4[(p)]
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
+	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
+	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
+};
+
+#else
+
+#  define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_RED,     // LED_RED
+	GPIO_nLED_GREEN,   // LED_GREEN
+	GPIO_nLED_BLUE,    // LED_BLUE
+};
+
+#endif
+
+__EXPORT void led_init(void)
+{
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		if (g_ledmap[l] != 0) {
+			stm32_configgpio(g_ledmap[l]);
+		}
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive Low to switch on (active low LEDs) */
+	if (led < (int)(sizeof(g_ledmap) / sizeof(g_ledmap[0])) && g_ledmap[led] != 0) {
+		stm32_gpiowrite(g_ledmap[led], !state);
+	}
+}
+
+static bool phy_get_led(int led)
+{
+	/* If Low it is on */
+	if (led < (int)(sizeof(g_ledmap) / sizeof(g_ledmap[0])) && g_ledmap[led] != 0) {
+		return !stm32_gpioread(g_ledmap[led]);
+	}
+
+	return false;
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(xlat(led), true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(xlat(led), false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}
+
+#ifdef CONFIG_ARCH_LEDS
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	led_init();
+}
+
+void board_autoled_on(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_HEAPALLOCATE:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_IRQSENABLED:
+		phy_set_led(BOARD_LED_BLUE, false);
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_STACKCREATED:
+		phy_set_led(BOARD_LED_GREEN, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+
+	case LED_IDLE:
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+	}
+}
+
+void board_autoled_off(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, false);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, false);
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+
+	case LED_IDLE:
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */

boards/gearup/airbrainh743/src/spi.cpp

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+/*
+ * SPI bus configuration for AirBrainH743
+ *
+ * SPI1: IMU (Invensensev3/ICM42688P) - PA5 SCK, PA6 MISO, PA7 MOSI, PA3 CS
+ * SPI2: W25N Flash - PD3 SCK, PB14 MISO, PC3 MOSI, PD4 CS
+ * SPI4: External/AUX - PE12 SCK, PE5 MISO, PE6 MOSI
+ */
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin3}),
+	}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4}),  // W25N Flash
+	}),
+	initSPIBusExternal(SPI::Bus::SPI4, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin3}), // User 1 GPIO as chip select
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/gearup/airbrainh743/src/timer_config.cpp

@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+/*
+ * PWM output configuration for AirBrainH743
+ *
+ * M1: PE14 (TIM1_CH4)
+ * M2: PE13 (TIM1_CH3)
+ * M3: PE11 (TIM1_CH2)
+ * M4: PE9  (TIM1_CH1)
+ * M5: PB0  (TIM3_CH3)
+ * M6: PB1  (TIM3_CH4)
+ * M7: PB10 (TIM2_CH3)
+ * M8: PB11 (TIM2_CH4)
+ * M9: PA2  (TIM5_CH3) - LED strip
+ *
+ * Note: TIM2 is shared with buzzer pin PA15 (TIM2_CH1). The buzzer is disabled
+ * by default because the tone alarm driver would change the timer prescaler/ARR
+ * which affects M7/M8 PWM frequency. See board_config.h for details.
+ */
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer1, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream6, DMA::Channel3}),
+	initIOTimer(Timer::Timer5),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),  // M1
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),  // M2
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),  // M3
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),   // M4
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),   // M5
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),   // M6
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),  // M7
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),  // M8
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),   // M9 (LED)
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);

boards/gearup/airbrainh743/src/usb.c

@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+#include "board_config.h"
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+#include <stm32_otg.h>
+#include <debug.h>
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO */
+#ifdef CONFIG_STM32H7_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *
+ ************************************************************************************/
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}

boards/hkust/nxt-dual/default.px4board

@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y

boards/hkust/nxt-v1/default.px4board

@@ -23,7 +23,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y

boards/holybro/durandal-v1/default.px4board

@@ -23,7 +23,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/holybro/kakutef7/nuttx-config/nsh/defconfig

@@ -16,36 +16,36 @@
 # CONFIG_NSH_DISABLE_CAT is not set
 # CONFIG_NSH_DISABLE_CD is not set
 # CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
-# CONFIG_NSH_DISABLE_DF is not set
+CONFIG_NSH_DISABLE_DATE=y
+CONFIG_NSH_DISABLE_DF=y
 # CONFIG_NSH_DISABLE_ECHO is not set
 # CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_GET is not set
+CONFIG_NSH_DISABLE_EXPORT=y
+CONFIG_NSH_DISABLE_FREE=y
+CONFIG_NSH_DISABLE_GET=y
 # CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
+CONFIG_NSH_DISABLE_MKDIR=y
 # CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_MOUNT is not set
 # CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
+CONFIG_NSH_DISABLE_PRINTF=y
+CONFIG_NSH_DISABLE_PS=y
+CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
+CONFIG_NSH_DISABLE_PWD=y
 # CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
+CONFIG_NSH_DISABLE_RMDIR=y
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_SET is not set
 # CONFIG_NSH_DISABLE_SLEEP is not set
 # CONFIG_NSH_DISABLE_SOURCE is not set
 # CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_TIME is not set
+CONFIG_NSH_DISABLE_TIME=y
 # CONFIG_NSH_DISABLE_UMOUNT is not set
 # CONFIG_NSH_DISABLE_UNSET is not set
 # CONFIG_NSH_DISABLE_USLEEP is not set

boards/holybro/kakuteh7/default.px4board

@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y

boards/holybro/kakuteh7dualimu/default.px4board

@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y

boards/holybro/kakuteh7mini/default.px4board

@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y

boards/holybro/kakuteh7v2/default.px4board

@@ -1,5 +1,6 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROOT_PATH="/fs/flash"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
@@ -19,7 +20,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y

boards/holybro/kakuteh7v2/init/rc.board_defaults

@@ -38,5 +38,6 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0
 
-# Disable logging
-param set-default SDLOG_BACKEND 0
+# W25N NAND flash with littlefs (128 MB): larger buffer, auto-rotate
+set LOGGER_BUF 32
+param set-default SDLOG_DIRS_MAX 3

boards/holybro/kakuteh7v2/nuttx-config/include/board.h

@@ -99,7 +99,7 @@
  *   PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
  *
  *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
- *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
+ *   PLL1Q = PLL1_VCO/5  = 960 MHz / 5   = 192 MHz (SPI123 clock, max 200 MHz)
  *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
  */
 
@@ -111,12 +111,12 @@
 #define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
 #define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(120)
 #define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
-#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(5)
 #define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
 
 #define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 120)
 #define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
-#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 5)
 #define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
 
 /* PLL2 */
@@ -227,9 +227,9 @@
 
 #define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
 
-/* SPI123 clock source */
+/* SPI123 clock source - PLL1Q = 192 MHz for W25N NAND flash (max 104 MHz) */
 
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL1
 
 /* SPI45 clock source */
 
@@ -281,17 +281,17 @@
 
 #define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 
-/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
- * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
+/* 25 MHz Max for now, 25 mHz = PLL1Q/(2*div), div = PLL1Q/(2*freq)
+ * PLL1Q = 192 MHz, div = 192 / 50 = 3.84, round up to 4 for 24 MHz
  */
 
 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (4 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (4 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif

boards/holybro/kakuteh7v2/nuttx-config/include/board_dma_map.h

@@ -33,6 +33,10 @@
 
 #pragma once
 
+/* SPI1 DMA for W25N NAND Flash */
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1 */
+
 #define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1 /* DMA2 */
 #define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1 /* DMA2 */
 

boards/holybro/kakuteh7v2/nuttx-config/nsh/defconfig

@@ -104,6 +104,10 @@ CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
+CONFIG_FS_LITTLEFS_READ_SIZE_FACTOR=1
+CONFIG_FS_LITTLEFS_CACHE_SIZE_FACTOR=1
 CONFIG_GRAN=y
 CONFIG_GRAN_INTR=y
 CONFIG_HAVE_CXX=y
@@ -126,7 +130,9 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
+# CONFIG_MTD_RAMTRON is not set
+CONFIG_MTD_W25N=y
+CONFIG_W25N_SPIFREQUENCY=104000000
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARGCAT=y
@@ -135,7 +141,7 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_MMCSDSPIPORTNO=1
+# CONFIG_NSH_MMCSDSPIPORTNO is not set
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
@@ -148,9 +154,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
-CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -188,6 +191,7 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_DMAMUX1=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
@@ -202,6 +206,8 @@ CONFIG_STM32H7_SDMMC1=y
 CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=4096
 CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y

boards/holybro/kakuteh7v2/src/board_config.h

@@ -59,6 +59,11 @@
 #  define BOARD_HAS_NBAT_V              1
 #  define BOARD_HAS_NBAT_I              1
 
+/* Enable small flash logging support (for W25N NAND flash) */
+#ifdef CONFIG_MTD_W25N
+#  define BOARD_SMALL_FLASH_LOGGING 1
+#endif
+
 /* Holybro KakuteH7 GPIOs ************************************************************************/
 
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */

boards/holybro/kakuteh7v2/src/init.c

@@ -59,6 +59,8 @@
 #include <nuttx/spi/spi.h>
 #include <nuttx/analog/adc.h>
 #include <nuttx/mm/gran.h>
+#include <nuttx/mtd/mtd.h>
+#include <nuttx/fs/fs.h>
 #include <chip.h>
 #include <stm32_uart.h>
 #include <arch/board/board.h>
@@ -79,6 +81,10 @@
 #  include <parameters/flashparams/flashfs.h>
 #endif
 
+#ifdef CONFIG_MTD_W25N
+extern FAR struct mtd_dev_s *w25n_initialize(FAR struct spi_dev_s *dev, uint32_t spi_devid);
+#endif
+
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -231,14 +237,49 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		led_on(LED_RED);
 	}
 
-	/* Get the SPI port for the microSD slot */
-	struct spi_dev_s *spi_dev = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
+#ifdef CONFIG_MTD_W25N
+	/* Initialize W25N01GV NAND Flash on SPI1 */
+	struct spi_dev_s *spi1 = stm32_spibus_initialize(1);
 
-	if (!spi_dev) {
-		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
-		led_on(LED_BLUE);
+	if (!spi1) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI1 for W25N\n");
+		led_on(LED_RED);
+
+	} else {
+		struct mtd_dev_s *mtd = w25n_initialize(spi1, 0);
+
+		if (!mtd) {
+			syslog(LOG_ERR, "[boot] FAILED to initialize W25N MTD driver\n");
+			led_on(LED_RED);
+
+		} else {
+			int ret = register_mtddriver("/dev/mtd0", mtd, 0755, NULL);
+
+			if (ret < 0) {
+				syslog(LOG_ERR, "[boot] FAILED to register MTD driver: %d\n", ret);
+				led_on(LED_RED);
+
+			} else {
+				syslog(LOG_INFO, "[boot] W25N MTD registered at /dev/mtd0\n");
+
+#ifdef CONFIG_FS_LITTLEFS
+				ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, "autoformat");
+
+				if (ret < 0) {
+					syslog(LOG_ERR, "[boot] FAILED to mount littlefs: %d\n", ret);
+					led_on(LED_RED);
+
+				} else {
+					syslog(LOG_INFO, "[boot] LittleFS mounted at %s\n", CONFIG_BOARD_ROOT_PATH);
+				}
+
+#endif
+			}
+		}
 	}
 
+#endif
+
 	up_udelay(20);
 
 

boards/holybro/kakuteh7v2/src/spi.cpp

@@ -37,7 +37,7 @@
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortA, GPIO::Pin4})
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortA, GPIO::Pin4})  // W25N01GV NAND Flash
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),

boards/holybro/pix32v5/default.px4board

@@ -25,7 +25,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y

boards/matek/h743-mini/default.px4board

@@ -14,7 +14,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y

boards/matek/h743-slim/default.px4board

@@ -17,7 +17,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y

boards/matek/h743/default.px4board

@@ -16,7 +16,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y

boards/micoair/h743-aio/default.px4board

@@ -26,13 +26,11 @@ CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/micoair/h743-lite/default.px4board

@@ -24,12 +24,10 @@ CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/micoair/h743-v2/default.px4board

@@ -25,13 +25,11 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/micoair/h743/default.px4board

@@ -27,13 +27,11 @@ CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/modalai/fc-v1/default.px4board

@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y

boards/modalai/fc-v2/default.px4board

@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y

boards/mro/ctrl-zero-classic/default.px4board

@@ -23,7 +23,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/mro/ctrl-zero-f7-oem/default.px4board

@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/mro/ctrl-zero-f7/default.px4board

@@ -20,7 +20,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/mro/ctrl-zero-h7-oem/default.px4board

@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/mro/ctrl-zero-h7/default.px4board

@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/mro/pixracerpro/default.px4board

@@ -26,7 +26,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/mro/pixracerpro/neural.px4board

@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/mro/x21-777/default.px4board

@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y

boards/mro/x21/default.px4board

@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y

boards/narinfc/h7/default.px4board

@@ -27,7 +27,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/nxp/fmuk66-e/default.px4board

@@ -23,7 +23,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/nxp/fmuk66-v3/default.px4board

@@ -24,7 +24,6 @@ CONFIG_DRIVERS_LIGHTS_RGBLED=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/nxp/mr-canhubk3/fmu.px4board

@@ -14,7 +14,6 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_CYPHAL_BMS_SUBSCRIBER=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_CYPHAL=y

boards/nxp/mr-tropic/default.px4board

@@ -29,7 +29,6 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y