[WIP] Run the ROMFS through a CPP with the boardconfig

px4/v6x: remove AUAV differential pressure to save flash
Signed-off-by: Silvan <silvan@auterion.com>
2026-05-24 08:57:34 +08:00 · 2026-01-22 15:38:49 +01:00 · 2026-01-22 15:14:54 +01:00 · 2026-01-22 15:02:30 +01:00 · 2026-01-22 15:02:30 +01:00 · 2026-01-22 10:03:24 +01:00
138 changed files with 1265 additions and 484 deletions
@@ -146,6 +146,11 @@ add_custom_command(
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+	# Preprocess ROMFS files with KConfig definitions
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_preprocess.py
+		--romfs-dir ${romfs_gen_root_dir}
+		--kconfig-header ${PX4_BINARY_DIR}/px4_boardconfig.h
+		--cpp ${CMAKE_C_COMPILER}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -159,8 +164,10 @@ add_custom_command(
 		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
-	COMMENT "ROMFS: copying, generating airframes"
+	DEPENDS
+		${romfs_tar_file}
+		${PX4_BINARY_DIR}/px4_boardconfig.h
+	COMMENT "ROMFS: copying, preprocessing, generating airframes"
 	)

 # copy extras into ROMFS
@@ -1,35 +0,0 @@
-#!/bin/sh
-#
-# @name Boat
-#
-
-. ${R}etc/init.d/rc.uuv_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=ocean}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=boat}
-
-param set-default SIM_GZ_EN 1
-
-param set-default CA_AIRFRAME 9
-
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AZ 0
-param set-default CA_ROTOR0_KM 0
-param set-default CA_ROTOR0_PX -2
-param set-default CA_ROTOR0_PY -1
-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AZ 0
-param set-default CA_ROTOR1_KM 0
-param set-default CA_ROTOR1_PX -2
-param set-default CA_ROTOR1_PY 1
-param set-default CA_R_REV 3
-
-param set-default CA_SV_CS_COUNT 1
-param set-default CA_SV_CS0_TYPE 4
-param set-default CA_SV_CS0_TRQ_Y 1
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_SV_FUNC1 201
@@ -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
@@ -111,8 +111,6 @@ px4_add_romfs_files(
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2

-	40000_gz_boat
-
 	50000_gz_rover_differential
 	51000_gz_rover_ackermann
 	52000_gz_rover_mecanum
@@ -8,17 +8,24 @@
 #                           Begin Optional drivers                            #
 ###############################################################################

+%ifdef CONFIG_DRIVERS_BATT_SMBUS
 if param compare -s SENS_EN_BATT 1
 then
 	batt_smbus start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_SMART_BATTERY_BATMON
 # Start batmon driver if enabled using BATMON_DRIVER_EN
 if param compare -s BATMON_DRIVER_EN 1
 then
 	batmon start -X  #start on external bus
 fi
+%endif

+
+%ifdef CONFIG_DRIVERS_PWM_INPUT
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS
 # Sensors on the PWM interface bank
 if param compare -s SENS_EN_LL40LS 1
 then
@@ -27,92 +34,121 @@ then
 		ll40ls_pwm start
 	fi
 fi
+%endif

 # External automatic trigger system
 if param compare FD_EXT_ATS_EN 1
 then
 	pwm_input start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS
 # Lidar-Lite on I2C
 if param compare -s SENS_EN_LL40LS 2
 then
 	ll40ls start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_MAPPYDOT
 # mappydot lidar sensor
 if param compare -s SENS_EN_MPDT 1
 then
 	mappydot start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_MB12XX
 # mb12xx sonar sensor
 if param greater -s SENS_EN_MB12XX 0
 then
 	mb12xx start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_PGA460
 # pga460 sonar sensor
 if param greater -s SENS_EN_PGA460 0
 then
 	pga460 start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C
 # Lightware i2c lidar sensor
 if param greater -s SENS_EN_SF1XX 0
 then
 	lightware_laser_i2c start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05
 # Sensor HY-SRF05 or HC-SR05 ultrasonic sensor
 if param compare -s SENS_EN_SR05 1
 then
 	srf05 start
 fi
+%endif


+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_TERARANGER
 # Teraranger one tof sensor
 if param greater -s SENS_EN_TRANGER 0
 then
 	teraranger start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905
 # paa3905 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PAA3905 0
 then
 	paa3905 -S start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902
 # paw3902 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PAW3902 0
 then
 	paw3902 -S start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901
 # pmw3901 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PMW3901 0
 then
 	pmw3901 -S start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X
 # vl53l0x i2c distance sensor
 if param compare -s SENS_EN_VL53L0X 1
 then
 	vl53l0x start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X
 # vl53l1x i2c distance sensor
 if param compare -s SENS_EN_VL53L1X 1
 then
 	vl53l1x start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_TF02PRO
 # tf02 pro i2c distance sensor
 if param compare -s SENS_EN_TF02PRO 1
 then
 	tf02pro start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then
@@ -125,25 +161,33 @@ then
 		adis16448 -S start -R 4
 	fi
 fi
+%endif

+%ifdef CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507
 # ADIS16507 spi external IMU
 if param greater -s SENS_EN_ADIS165X 0
 then
 	adis16507 -S start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_IMU_MURATA_SCH16T
 # SCH16T spi external IMU
 if param compare -s SENS_EN_SCH16T 1
 then
 	sch16t -S start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then
 	ets_airspeed start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_SDP3X
 # Sensirion SDP3X differential pressure sensor external I2C
 if param compare -s SENS_EN_SDP3X 1
 then
@@ -153,116 +197,171 @@ then
 		sdp3x start -X -a 0x22
 	fi
 fi
+%endif

+%ifdef CONFIG_DRIVERS_TEMPERATURE_SENSOR_MCP9808
 # Microchip MCP9808 temperature sensor external I2C
 if param compare -s SENS_EN_MCP9808 1
 then
 	mcp9808 start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515
 # TE MS4515 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4515 1
 then
 	ms4515 start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525DO
 # TE MS4525DO differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525DO 1
 then
 	ms4525do start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS5525DSO
 # TE MS5525DSO differential pressure sensor external I2C
 if param compare -s SENS_EN_MS5525DS 1
 then
 	ms5525dso start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033
 # TE ASP5033 differential pressure sensor external I2C
 if param compare -s SENS_EN_ASP5033 1
 then
 	asp5033 start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV
 # AUAV absolute/differential pressure sensor external I2C
 if param greater -s SENS_EN_AUAVX 0
 then
 	auav start -D -X
 	auav start -A -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_HYGROMETER_SHT3X
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
 	sht3x start -X
 	sht3x start -X -a 0x45
 fi
+%endif

+%ifdef CONFIG_DRIVERS_IRLOCK
 # IR-LOCK sensor external I2C
 if param compare -s SENS_EN_IRLOCK 1
 then
 	irlock start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_BAROMETER_GOERTEK_SPL06
 # SPL06 sensor external I2C
 if param compare -s SENS_EN_SPL06 1
 then
 	spl06 -X start
 	spl06 -X -a 0x77 start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06
 # SPA06 sensor external I2C
 if param compare -s SENS_EN_SPA06 1
 then
 	spa06 -X start
 	spa06 -X -a 0x77 start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_RPM_PCF8583
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then
 	pcf8583 start -X
 	pcf8583 start -X -a 0x51
 fi
+%endif

+%ifdef CONFIG_DRIVERS_ADC_ADS7953
 # ADC sensor ADS7953 external SPI
 if param compare -s ADC_ADS7953_EN 1
 then
 	ads7953 start -S
 fi
+%endif

+%ifdef CONFIG_DRIVERS_ADC_TLA2528
 # ADC sensor tla2528 external I2C
 if param compare -s ADC_TLA2528_EN 1
 then
 	tla2528 start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_TEMPERATURE_SENSOR_TMP102
 # Start TMP102 temperature sensor
-if param compare SENS_EN_TMP102 1
+if param compare -s SENS_EN_TMP102 1
 then
 	tmp102 start -X
 fi
+%endif

+%ifdef COMMON_MAGNETOMETER
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
+%ifdef CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948
 	icm20948_i2c_passthrough -X -q start
+%endif

 	# compasses
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_HMC5883
 	hmc5883 -T -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC
 	iis2mdc -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308
 	ist8308 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310
 	ist8310 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL
 	if ! lis3mdl -X -q start
 	then
 		lis3mdl -X -q -a 0x1c start
 	fi
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_QMC5883L
 	qmc5883l -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_QMC5883P
 	qmc5883p -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_RM3100
 	rm3100 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350
 	bmm350 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC
 	iis2mdc -X -q start
+%endif

 	# start last (wait for possible icm20948 passthrough mode)
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916
 	ak09916 -X -q start
+%endif
 fi
+%endif
@@ -265,12 +265,15 @@ else
 	# Start the tone_alarm driver.
 	# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
 	#
+%ifdef CONFIG_DRIVERS_TONE_ALARM
 	tone_alarm start
+%endif

 	#
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
 	#
+%ifdef CONFIG_MODULES_DATAMAN
 	if param compare -s SYS_DM_BACKEND 1
 	then
 		dataman start -r
@@ -281,11 +284,14 @@ else
 			dataman start
 		fi
 	fi
+%endif

 	#
 	# Start the socket communication send_event handler.
 	#
+%ifdef CONFIG_MODULES_SEND_EVENT
 	send_event start
+%endif

 	#
 	# Start the hardfault streamer.
@@ -298,15 +304,25 @@ else
 	#
 	# Start the resource load monitor.
 	#
+%ifdef CONFIG_MODULES_LOAD_MON
 	load_mon start
+%endif

 	#
 	# Start system state indicator.
 	#
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED
 	rgbled start -X -q
+%endif
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C
 	rgbled_ncp5623c start -X -q
+%endif
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_LP5562
 	rgbled_lp5562 start -X -q
+%endif
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_IS31FL3195
 	rgbled_is31fl3195 start -X -q
+%endif

 	#
 	# Override parameters from user configuration file.
@@ -331,11 +347,21 @@ else
 		# start the simulator in hardware if needed
 		if param compare SYS_HITL 2
 		then
+%ifdef CONFIG_MODULES_SIMULATION_SIMULATOR_SIH
 			simulator_sih start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM
 			sensor_baro_sim start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM
 			sensor_mag_sim start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM
 			sensor_gps_sim start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM
 			sensor_agp_sim start
+%endif
 		fi

 	else
@@ -352,43 +378,58 @@ else

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

+%ifdef CONFIG_MODULES_SENSORS
+%ifdef CONFIG_MODULES_ESC_BATTERY
 		if param compare -s BAT1_SOURCE 2
 		then
 			esc_battery start
 		fi
+%endif

+%ifdef CONFIG_MODULES_BATTERY_STATUS
 		if ! param compare BAT1_SOURCE 1
 		then
 			battery_status start
 		fi
+%endif
+%endif

+%ifdef CONFIG_MODULES_SENSORS
 		sensors start
+%endif
 	fi

 	#
 	# state estimator selection
 	#
+%ifdef CONFIG_MODULES_EKF2
 	if param compare -s EKF2_EN 1
 	then
 		ekf2 start &
 	fi
+%endif

+%ifdef CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR
 	if param compare -s LPE_EN 1
 	then
 		local_position_estimator start
 	fi
+%endif

+%ifdef CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q
 	if param compare -s ATT_EN 1
 	then
 		attitude_estimator_q start
 	fi
+%endif

+%ifdef CONFIG_DRIVERS_PX4IO
 	#
 	# px4io
 	#
 	if px4io supported
 	then
-	# Check if PX4IO present and update firmware if needed.
+		# Check if PX4IO present and update firmware if needed.
 		if [ -f $IOFW ]
 		then
 			if ! px4io checkcrc ${IOFW}
@@ -418,40 +459,56 @@ else
 			fi
 		fi
 	fi
+%endif

 	# Heater driver for temperature regulated IMUs.
 	# The heater needs to start after px4io.
+%ifdef CONFIG_DRIVERS_HEATER
 	if param compare -s SENS_EN_THERMAL 1
 	then
 		heater start
 	fi
+%endif


 	#
 	# RC update (map raw RC input to calibrate manual control)
 	#  start before commander
 	#
+%ifdef CONFIG_MODULES_RC_UPDATE
 	rc_update start
+%endif
+%ifdef CONFIG_MODULES_MANUAL_CONTROL
 	manual_control start
+%endif

 	# Start camera trigger, capture and PPS before pwm_out as they might access
 	# pwm pins
+%ifdef CONFIG_DRIVERS_CAMERA_TRIGGER
 	if param greater -s TRIG_MODE 0
 	then
 		camera_trigger start
+%ifdef CONFIG_MODULES_CAMERA_FEEDBACK
 		camera_feedback start
+%endif
 	fi
+%endif
 	# PPS capture driver
+%ifdef CONFIG_DRIVERS_PPS_CAPTURE
 	if param greater -s PPS_CAP_ENABLE 0
 	then
 		pps_capture start
 	fi
+%endif
 	# RPM capture driver
+%ifdef CONFIG_DRIVERS_RPM_CAPTURE
 	if param greater -s RPM_CAP_ENABLE 0
 	then
 		rpm_capture start
 	fi
+%endif
 	# Camera capture driver
+%ifdef CONFIG_DRIVERS_CAMERA_CAPTURE
 	if param greater -s CAM_CAP_FBACK 0
 	then
 		if camera_capture start
@@ -459,25 +516,34 @@ else
 			camera_capture on
 		fi
 	fi
+%endif

 	#
 	# Commander
 	#
+%ifdef CONFIG_MODULES_COMMANDER
 	if param greater SYS_HITL 0
 	then
 		commander start -h

+%ifdef CONFIG_MODULES_SIMULATION_PWM_OUT_SIM
 		if ! pwm_out_sim start -m hil
 		then
 			tune_control play error
 		fi
+%endif

 	else
 		commander start

+%ifdef CONFIG_DRIVERS_DSHOT
 		dshot start
+%endif
+%ifdef CONFIG_DRIVERS_PWM_OUT
 		pwm_out start
+%endif
 	fi
+%endif

 	#
 	# Configure vehicle type specific parameters.
@@ -485,10 +551,12 @@ else
 	. ${R}etc/init.d/rc.vehicle_setup

 	# Pre-takeoff continuous magnetometer calibration
+%ifdef CONFIG_MODULES_MAG_BIAS_ESTIMATOR
 	if param compare -s MBE_ENABLE 1
 	then
 		mag_bias_estimator start
 	fi
+%endif

 	#
 	# Optional board mavlink streams: rc.board_mavlink
@@ -533,54 +601,67 @@ else
 	#
 	# Start the navigator.
 	#
+%ifdef CONFIG_MODULES_NAVIGATOR
 	navigator start
+%endif

+%ifdef CONFIG_MODULES_TEMPERATURE_COMPENSATION
 	#
 	# Start a thermal calibration if required.
 	#
-	set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal
-	if [ -f ${RC_THERMAL_CAL} ]
-	then
-		. ${RC_THERMAL_CAL}
-	fi
-	unset RC_THERMAL_CAL
+	. ${R}etc/init.d/rc.thermal_cal
+%endif

 	#
 	# Start gimbal to control mounts such as gimbals, disabled by default.
 	#
+%ifdef CONFIG_MODULES_GIMBAL
 	if param greater -s MNT_MODE_IN -1
 	then
 		gimbal start
 	fi
+%endif

 	# Blacksheep telemetry
+%ifdef CONFIG_DRIVERS_TELEMETRY_BST
 	if param compare -s TEL_BST_EN 1
 	then
 		bst start -X
 	fi
+%endif

+%ifdef CONFIG_MODULES_GYRO_FFT
 	if param compare -s IMU_GYRO_FFT_EN 1
 	then
 		gyro_fft start
 	fi
+%endif

+%ifdef CONFIG_MODULES_GYRO_CALIBRATION
 	if param compare -s IMU_GYRO_CAL_EN 1
 	then
 		gyro_calibration start
 	fi
+%endif

 	# Check for px4flow sensor
+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW
 	if param compare -s SENS_EN_PX4FLOW 1
 	then
 		px4flow start -X &
 	fi
+%endif

+%ifdef CONFIG_MODULES_PAYLOAD_DELIVERER
 	payload_deliverer start
+%endif

+%ifdef CONFIG_MODULES_INTERNAL_COMBUSTION_ENGINE_CONTROL
 	if param compare -s ICE_EN 1
 	then
 		internal_combustion_engine_control start
 	fi
+%endif

 	#
 	# Optional board supplied extras: rc.board_extras
@@ -602,15 +683,12 @@ else
 		. $FEXTRAS
 	fi

+%ifdef CONFIG_MODULES_LOGGER
 	#
 	# Start the logger.
 	#
-	set RC_LOGGING ${R}etc/init.d/rc.logging
-	if [ -f ${RC_LOGGING} ]
-	then
-		. ${RC_LOGGING}
-	fi
-	unset RC_LOGGING
+	. ${R}etc/init.d/rc.logging
+%endif

 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
@@ -631,6 +709,7 @@ else
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#
+%ifdef CONFIG_DRIVERS_UAVCAN
 	if param greater -s UAVCAN_ENABLE 0
 	then
 		# Start core UAVCAN module.
@@ -639,15 +718,27 @@ else
 			tune_control play error
 		fi
 	else
+%ifdef CONFIG_DRIVERS_CYPHAL
 		if param greater -s CYPHAL_ENABLE 0
 		then
 			cyphal start
 		fi
+%endif
 	fi
+%else
+%ifdef CONFIG_DRIVERS_CYPHAL
+	if param greater -s CYPHAL_ENABLE 0
+	then
+		cyphal start
+	fi
+%endif
+%endif
+%ifdef CONFIG_MODULES_ZENOH
 	if param greater -s ZENOH_ENABLE 0
 	then
 		zenoh start
 	fi
+%endif

 #
 # End of autostart.
@@ -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 \
@@ -0,0 +1,188 @@
+#!/usr/bin/env python3
+"""
+Preprocesses ROMFS files with C preprocessor to enable KConfig support.
+
+This script processes all rc* files in the ROMFS directory through the C preprocessor,
+allowing use of #ifdef, #ifndef, #if, #else, #endif directives with KConfig definitions.
+"""
+
+import argparse
+import os
+import subprocess
+import sys
+import tempfile
+from pathlib import Path
+
+
+def preprocess_file(file_path, kconfig_header, cpp_command):
+    """
+    Preprocess a single file through the C preprocessor.
+
+    Uses % as the preprocessor directive symbol (instead of #) to avoid conflicts
+    with shell comments. Converts %ifdef, %ifndef, %if, %else, %endif to
+    #ifdef, #ifndef, #if, #else, #endif before preprocessing.
+
+    Args:
+        file_path: Path to the file to preprocess
+        kconfig_header: Path to the px4_boardconfig.h header
+        cpp_command: C preprocessor command (usually the C compiler)
+    """
+    # Read original file
+    with open(file_path, 'r') as f:
+        original_content = f.read()
+
+    # Process the file line by line:
+    # 1. Remove shell comment lines (to avoid conflicts with CPP)
+    # 2. Convert % preprocessor directives to # directives
+    lines = original_content.split('\n')
+    converted_lines = []
+
+    for line in lines:
+        stripped = line.lstrip()
+
+        # Check if line starts with % followed by a preprocessor keyword
+        if stripped.startswith('%ifdef ') or stripped.startswith('%ifdef\t'):
+            # Preserve leading whitespace, convert %ifdef to #ifdef
+            converted_lines.append(line.replace('%ifdef', '#ifdef', 1))
+        elif stripped.startswith('%ifndef ') or stripped.startswith('%ifndef\t'):
+            converted_lines.append(line.replace('%ifndef', '#ifndef', 1))
+        elif stripped.startswith('%if '):
+            converted_lines.append(line.replace('%if', '#if', 1))
+        elif stripped.startswith('%elif '):
+            converted_lines.append(line.replace('%elif', '#elif', 1))
+        elif stripped.startswith('%else'):
+            converted_lines.append(line.replace('%else', '#else', 1))
+        elif stripped.startswith('%endif'):
+            converted_lines.append(line.replace('%endif', '#endif', 1))
+        elif stripped.startswith('#') and not stripped.startswith('#!'):
+            # Remove shell comment lines (but keep shebang)
+            # This prevents "# if ..." comments from being interpreted as "#if" by CPP
+            continue
+        else:
+            converted_lines.append(line)
+    converted_content = '\n'.join(converted_lines)
+
+    # Create temporary file with include directive and converted content
+    with tempfile.NamedTemporaryFile(mode='w', suffix='.in', delete=False) as tmp:
+        tmp.write(f'#include "{kconfig_header}"\n')
+        tmp.write(converted_content)
+        tmp_path = tmp.name
+
+    try:
+        # Run C preprocessor
+        # -P: don't generate #line directives
+        # -E: preprocess only
+        # -undef: don't predefine any non-standard macros
+        # -nostdinc: don't search standard include directories
+        # -x assembler-with-cpp: treat input as assembly (allows # comments to pass through)
+        result = subprocess.run(
+            [cpp_command, '-P', '-E', '-undef', '-nostdinc', '-x', 'assembler-with-cpp', tmp_path],
+            capture_output=True,
+            text=True,
+            check=True
+        )
+
+        preprocessed = result.stdout
+
+        # Clean up the output:
+        # 1. Remove empty lines at the beginning
+        # 2. Remove lines that are just whitespace
+        lines = preprocessed.split('\n')
+        cleaned_lines = []
+        started = False
+
+        for line in lines:
+            # Skip empty lines at the beginning
+            if not started and not line.strip():
+                continue
+            started = True
+            cleaned_lines.append(line)
+
+        # Remove trailing empty lines
+        while cleaned_lines and not cleaned_lines[-1].strip():
+            cleaned_lines.pop()
+
+        # Write preprocessed content back
+        with open(file_path, 'w') as f:
+            f.write('\n'.join(cleaned_lines))
+            if cleaned_lines:  # Add final newline if file is not empty
+                f.write('\n')
+
+        return True
+
+    except subprocess.CalledProcessError as e:
+        print(f"Error preprocessing {file_path}: {e}")
+        print(f"stderr: {e.stderr}")
+        return False
+    finally:
+        # Clean up temporary file
+        try:
+            os.unlink(tmp_path)
+        except:
+            pass
+
+
+def main():
+    parser = argparse.ArgumentParser(description='Preprocess ROMFS files with KConfig definitions')
+    parser.add_argument('--romfs-dir', required=True, help='ROMFS root directory')
+    parser.add_argument('--kconfig-header', required=True, help='Path to px4_boardconfig.h')
+    parser.add_argument('--cpp', required=True, help='C preprocessor command')
+    parser.add_argument('--pattern', default='rc*', help='File pattern to preprocess (default: rc*)')
+
+    args = parser.parse_args()
+
+    # Verify inputs
+    romfs_dir = Path(args.romfs_dir)
+    kconfig_header = Path(args.kconfig_header)
+
+    if not romfs_dir.exists():
+        print(f"Error: ROMFS directory not found: {romfs_dir}")
+        return 1
+
+    if not kconfig_header.exists():
+        print(f"Error: KConfig header not found: {kconfig_header}")
+        return 1
+
+    # Find all files to preprocess in init.d directory
+    init_d_dir = romfs_dir / 'init.d'
+    if not init_d_dir.exists():
+        print(f"Warning: init.d directory not found in {romfs_dir}")
+        return 0
+
+    # Find all rc* files (shell scripts)
+    files_to_process = []
+    for pattern in ['rc*', 'rcS']:
+        files_to_process.extend(init_d_dir.glob(pattern))
+
+    # Also check subdirectories like airframes
+    for subdir in init_d_dir.iterdir():
+        if subdir.is_dir():
+            for pattern in ['rc*']:
+                files_to_process.extend(subdir.glob(pattern))
+
+    # Remove duplicates and filter only files
+    files_to_process = list(set([f for f in files_to_process if f.is_file()]))
+
+    if not files_to_process:
+        print(f"Warning: No files matching pattern '{args.pattern}' found in {init_d_dir}")
+        return 0
+
+    print(f"Preprocessing {len(files_to_process)} ROMFS files with KConfig definitions...")
+
+    # Process each file
+    success_count = 0
+    for file_path in sorted(files_to_process):
+        rel_path = file_path.relative_to(romfs_dir)
+        print(f"  Processing: {rel_path}")
+        if preprocess_file(file_path, kconfig_header.absolute(), args.cpp):
+            success_count += 1
+        else:
+            print(f"  Warning: Failed to preprocess {rel_path}")
+
+    print(f"Successfully preprocessed {success_count}/{len(files_to_process)} files")
+
+    return 0 if success_count == len(files_to_process) else 1
+
+
+if __name__ == '__main__':
+    sys.exit(main())
@@ -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
@@ -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
@@ -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
@@ -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
@@ -22,6 +22,7 @@ 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
@@ -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" ]
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -26,7 +26,6 @@ CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
@@ -28,7 +28,6 @@ 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_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -26,7 +26,6 @@ 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
@@ -25,7 +25,6 @@ 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_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -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_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -77,8 +76,6 @@ CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_UUV_ATT_CONTROL=y
-CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
@@ -34,12 +34,11 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
 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_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
@@ -72,8 +72,8 @@ then
 	# Internal magnetometer on I2c
 	bmm150 -I -R 6 start

-	# Auto start power monitors
-	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
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -10,7 +10,6 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_ACTUATORS_VERTIQ_IO=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=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
@@ -16,7 +16,6 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
@@ -189,6 +189,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -18,7 +18,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=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_PX4IO=y
@@ -23,7 +23,6 @@ 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_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -13,7 +13,6 @@ 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_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -31,7 +31,6 @@ 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_COMMON_RC=y
@@ -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_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -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_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -21,7 +21,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883P=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
@@ -23,4 +23,4 @@ then
 fi

 # internal mag
-ist8310 -I -R 6 start
+qmc5883p -I -R 2 start
@@ -42,20 +42,20 @@
 #define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0		/* DMA1:39 */
 #define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 	/* DMA1:40 */

-#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_0		/* 3 DMA1:83 IMU */
-#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_0		/* 4 DMA1:84 IMU */
+#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1		/* 3 DMA2:83 IMU */
+#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1		/* 4 DMA2:84 IMU */

-#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0	/*  DMA1:41  GPS1 */
-#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0	/*  DMA1:42  GPS1 */
+// #define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0	/*  DMA1:41  GPS1 */
+// #define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0	/*  DMA1:42  GPS1 */

-#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0	/*  DMA1:43 GPS2 */
-#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0	/*  DMA1:44 GPS2 */
+// #define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0	/*  DMA1:43 GPS2 */
+// #define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0	/*  DMA1:44 GPS2 */

 #define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0	/*  DMA1:45 TELEM1 */
 #define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0	/*  DMA1:46 TELEM1 */

-#define DMAMAP_UART4_RX    DMAMAP_DMA12_UART4RX_1	/*  DMA1:63 TELEM2 */
-#define DMAMAP_UART4_TX    DMAMAP_DMA12_UART4TX_1	/*  DMA1:64 TELEM2 */
+#define DMAMAP_UART4_RX    DMAMAP_DMA12_UART4RX_1	/*  DMA2:63 TELEM2 */
+#define DMAMAP_UART4_TX    DMAMAP_DMA12_UART4TX_1	/*  DMA2:64 TELEM2 */

 #define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0	/*  DMA1:71 PX4IO */
 #define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0	/*  DMA1:72 PX4IO */
@@ -247,14 +247,10 @@ CONFIG_UART8_SERIAL_CONSOLE=y
 CONFIG_UART8_TXBUFSIZE=3000
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
 CONFIG_USART2_TXBUFSIZE=3000
-CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_RXDMA=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=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
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=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
@@ -29,7 +29,6 @@ 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
@@ -25,7 +25,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
  - 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
 - On-board sensors
  - Accel/Gyro: ICM-42688-P\*2(Version1), BMI270\*2(Version2)
-  - Mag: IST8310
+  - Mag: QMC5883P
  - Barometer: DPS310(Version1),SPL06(Version2)

 ### Interfaces
@@ -321,9 +321,11 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
  - [UXRCE_DDS_SYNCT](../advanced_config/parameter_reference.md#UXRCE_DDS_SYNCT): Bridge time synchronization enable.
    The uXRCE-DDS client module can synchronize the timestamp of the messages exchanged over the bridge.
    This is the default configuration. In certain situations, for example during [simulations](../ros2/user_guide.md#ros-gazebo-and-px4-time-synchronization), this feature may be disabled.
-  - [UXRCE_DDS_NS_IDX](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) <Badge type="tip" text="PX4 v1.17" />: Index-based namespace definition
+  - [UXRCE_DDS_NS_IDX](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) <Badge type="tip" text="PX4 v1.17" />: Index-based namespace definition.
    Setting this parameter to any value other than `-1` creates a namespace with the prefix `uav_` and the specified value, e.g. `uav_0`, `uav_1`, etc.
    See [namespace](#customizing-the-namespace) for methods to define richer or arbitrary namespaces.
+  - [`UXRCE_DDS_FLCTRL`](../advanced_config/parameter_reference.md#UXRCE_DDS_FLCTRL) <Badge type="tip" text="PX4 main" />: Serial port hardware flow control enable.
+    To use hardware flow control, a custom MicroXRCE Agent needs to be adopted. Please refer to [this PR](https://github.com/eProsima/Micro-XRCE-DDS-Agent/pull/407) for the required changes, cherry-pick them on top of the [agent version](#build-run-within-ros-2-workspace) you need to use and then run the agent with the additional `--flow-control` option.

 ::: info
 Many ports are already have a default configuration.
@@ -25,7 +25,7 @@ It brings you ultimate performance, stability, and reliability in every aspect.
  - 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
 - 내장 센서 :
  - Accel/Gyro: ICM-42688-P\*2(Version1), BMI270\*2(Version2)
-  - 자력계: IST8310
+  - 자력계: QMC5883P
  - Barometer: DPS310(Version1),SPL06(Version2)

 ### 인터페이스
@@ -25,7 +25,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
  - 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
 - Сенсори на платі
  - Accel/Gyro: ICM-42688-P\*2(Version1), BMI270\*2(Version2)
-  - Mag: IST8310
+  - Mag: QMC5883P
  - Barometer: DPS310(Version1),SPL06(Version2)

 ### Інтерфейси
@@ -25,7 +25,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
  - 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
 - On-board sensors
  - Accel/Gyro: ICM-42688-P\*2(Version1), BMI270\*2(Version2)
-  - Mag: IST8310
+  - Mag: QMC5883P
  - Barometer: DPS310(Version1),SPL06(Version2)

 ### 接口
@@ -4,4 +4,4 @@ uint8 INDEX_PITCH = 1
 uint8 INDEX_YAW = 2

 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
-float32[3] control
+float32[3] control	# Normalized output. 1 means maximum positive position. -1 maximum negative position. 0 means no deflection. NaN maps to disarmed.
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   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
@@ -35,26 +35,26 @@
 * Automatic handling power monitors
 */

-#include "PowerMonitorSelectorAuterion.h"
-#include "../ina226/ina226.h"
+#include "AuterionAutostarter.h"
+#include "../power_monitor/ina226/ina226.h"

 #include <builtin/builtin.h>
 #include <sys/wait.h>

-PowerMonitorSelectorAuterion::PowerMonitorSelectorAuterion() :
+AuterionAutostarter::AuterionAutostarter() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
 }

-PowerMonitorSelectorAuterion::~PowerMonitorSelectorAuterion() = default;
+AuterionAutostarter::~AuterionAutostarter() = default;

-bool PowerMonitorSelectorAuterion::init()
+bool AuterionAutostarter::init()
 {
 	ScheduleNow();
 	return true;
 }

-void PowerMonitorSelectorAuterion::Run()
+void AuterionAutostarter::Run()
 {
 	if (should_exit()) {
 		exit_and_cleanup();
@@ -83,33 +83,48 @@ void PowerMonitorSelectorAuterion::Run()
 	ScheduleDelayed(RUN_INTERVAL);
 }

-void PowerMonitorSelectorAuterion::try_eeprom_start()
+void AuterionAutostarter::try_eeprom_start()
 {
 	static_assert(sizeof(_buses) / sizeof(Buses) == BUSES_NUMBERS, "Unexpected number of buses");
-	static_assert(sizeof(_eeprom_blocks_pm) / sizeof(EepromBlockPm) == EEPROM_MAX_BLOCKS,
+	static_assert(sizeof(_eeprom_decoded_blocks) / sizeof(DecodedBlock) == EEPROM_MAX_BLOCKS,
 		      "Unexpected number of EEPROM PM blocks");

 	for (uint32_t i = 0U; i < BUSES_NUMBERS; i++) {
 		if (!_buses[i].started) {
 			if (eeprom_read(i) == PX4_OK) {
-				for (int ii = 0U; ii < _eeprom_valid_blocks_pm && ii < EEPROM_MAX_BLOCKS; ii++) {
-					EepromBlockPm eeprom_block_pm = _eeprom_blocks_pm[ii];
+				int ret_val = PX4_OK;

-					uint16_t dev_type = eeprom_block_pm.dev_type;
-					set_max_current(dev_type, eeprom_block_pm.max_current);
-					set_shunt_value(dev_type, eeprom_block_pm.shunt_value);
-					int ret_val = start_pm(_buses[i].bus_number, dev_type, eeprom_block_pm.i2c_addr, _buses[i].id);
+				for (uint32_t ii = 0U; ii < _eeprom_num_decoded_blocks && ii < EEPROM_MAX_BLOCKS; ii++) {
+					DecodedBlock decoded_block = _eeprom_decoded_blocks[ii];

-					if (ret_val == PX4_OK) {
-						_buses[i].started = true;
+					switch (decoded_block.block_type) {
+					case TYPE_PM: {
+							EepromBlockPm block_pm = decoded_block.block_pm;
+							uint16_t dev_type = block_pm.dev_type;
+							set_max_current(dev_type, block_pm.max_current);
+							set_shunt_value(dev_type, block_pm.shunt_value);
+							ret_val |= start_pm(_buses[i].bus_number, dev_type, block_pm.i2c_addr, _buses[i].id);
+							break;
+						}
+
+					case TYPE_PWM_EXPANDER: {
+							EepromBlockPwmExpander block_pwm_expader = decoded_block.block_pwm_expander;
+							uint16_t dev_type = block_pwm_expader.dev_type;
+							ret_val |= start_i2c_driver(_buses[i].bus_number, dev_type, block_pwm_expader.i2c_addr);
+							break;
+						}
 					}
 				}
+
+				if (ret_val == PX4_OK) {
+					_buses[i].started = true;
+				}
 			}
 		}
 	}
 }

-void PowerMonitorSelectorAuterion::try_probe_start()
+void AuterionAutostarter::try_probe_start()
 {
 	static_assert(sizeof(_sensors) / sizeof(Sensor) == SENSORS_NUMBER, "Unexpected number of sensors");

@@ -133,7 +148,7 @@ void PowerMonitorSelectorAuterion::try_probe_start()
 	}
 }

-int PowerMonitorSelectorAuterion::ina226_probe(const uint32_t instance) const
+int AuterionAutostarter::ina226_probe(const uint32_t instance) const
 {
 	I2CWrapper i2c{_sensors[instance].bus_number};
 	int ret = PX4_ERROR;
@@ -177,10 +192,10 @@ int PowerMonitorSelectorAuterion::ina226_probe(const uint32_t instance) const
 	return ret;
 }

-int PowerMonitorSelectorAuterion::eeprom_read(const uint32_t instance)
+int AuterionAutostarter::eeprom_read(const uint32_t instance)
 {
 	I2CWrapper i2c{_buses[instance].bus_number};
-	_eeprom_valid_blocks_pm = 0;
+	_eeprom_num_decoded_blocks = 0;
 	EepromHeader eeprom_header;

 	if (i2c.is_valid()) {
@@ -228,7 +243,7 @@ int PowerMonitorSelectorAuterion::eeprom_read(const uint32_t instance)
 			return PX4_ERROR;
 		}

-		_eeprom_valid_blocks_pm = transferred_blocks;
+		_eeprom_num_decoded_blocks = transferred_blocks;
 		return PX4_OK;

 	} else {
@@ -236,7 +251,7 @@ int PowerMonitorSelectorAuterion::eeprom_read(const uint32_t instance)
 	}
 }

-bool PowerMonitorSelectorAuterion::is_eeprom_header_valid(EepromHeader *eeprom_header) const
+bool AuterionAutostarter::is_eeprom_header_valid(EepromHeader *eeprom_header) const
 {
 	if (eeprom_header->magic != EEPROM_MAGIC
 	    || eeprom_header->version != EEPROM_VERSION
@@ -247,8 +262,8 @@ bool PowerMonitorSelectorAuterion::is_eeprom_header_valid(EepromHeader *eeprom_h
 	return true;
 }

-int PowerMonitorSelectorAuterion::eeprom_read_block(struct i2c_master_s *i2c, const uint32_t instance,
-		const uint16_t transferred_blocks, uint16_t &crc)
+int AuterionAutostarter::eeprom_read_block(struct i2c_master_s *i2c, const uint32_t instance, const uint16_t transferred_blocks,
+		uint16_t &crc)
 {
 	int ret = PX4_ERROR;
 	EepromBlockHeader eeprom_block_header;
@@ -263,44 +278,76 @@ int PowerMonitorSelectorAuterion::eeprom_read_block(struct i2c_master_s *i2c, co

 	ret = I2C_TRANSFER(i2c, &msg, 1);

-	if (ret == PX4_OK && is_eeprom_block_header_valid(&eeprom_block_header)) {
-		EepromBlockPm &eeprom_block_pm = _eeprom_blocks_pm[transferred_blocks];
-		eeprom_block_pm.block_header = eeprom_block_header;
+	if (ret == PX4_OK) {
+		DecodedBlock &block = _eeprom_decoded_blocks[transferred_blocks];

-		/* Already read the header, so just need to read the block itself now */
-		uint8_t *data_ptr = reinterpret_cast<uint8_t *>(&eeprom_block_pm) + offsetof(EepromBlockPm, dev_type);
-		size_t data_size = sizeof(EepromBlockPm) - offsetof(EepromBlockPm, dev_type);
+		switch (eeprom_block_header.block_type) {
+		case TYPE_PM: {
+				if (!is_eeprom_block_header_valid<TYPE_PM, EepromBlockPm>(&eeprom_block_header)) { return PX4_ERROR; }

-		/* Read the actual block data from the EEPROM */
-		msg.buffer = data_ptr;
-		msg.length = data_size;
+				EepromBlockPm *block_pm = &block.block_pm;
+				block.block_type = TYPE_PM;
+				block_pm->block_header = eeprom_block_header;
+				ret |= eeprom_read_block_data<EepromBlockPm>(i2c, instance, crc, block_pm);
+				break;
+			}

-		ret = I2C_TRANSFER(i2c, &msg, 1);
+		case TYPE_PWM_EXPANDER: {
+				if (!is_eeprom_block_header_valid<TYPE_PWM_EXPANDER, EepromBlockPwmExpander>(&eeprom_block_header)) { return PX4_ERROR; }

-		if (ret == PX4_OK) {
-			crc = crc16_update(crc, reinterpret_cast<uint8_t *>(&eeprom_block_pm), sizeof(EepromBlockPm));
+				EepromBlockPwmExpander *block_pwm_expander = &block.block_pwm_expander;
+				block.block_type = TYPE_PWM_EXPANDER;
+				block_pwm_expander->block_header = eeprom_block_header;
+				ret |= eeprom_read_block_data<EepromBlockPwmExpander>(i2c, instance, crc, block_pwm_expander);
+				break;
+			}
+
+		default:
+			return PX4_ERROR;
 		}
-
-	} else {
-		ret = PX4_ERROR;
 	}

 	return ret;
 }

-bool PowerMonitorSelectorAuterion::is_eeprom_block_header_valid(EepromBlockHeader *eeprom_block_header) const
+template <typename T>
+int AuterionAutostarter::eeprom_read_block_data(struct i2c_master_s *i2c, const uint32_t instance, uint16_t &crc, T *block)
 {
-	if (eeprom_block_header->block_type != BlockType::TYPE_PM
+	/* Already read the header, so just need to read the block itself now */
+	uint8_t *data_ptr = reinterpret_cast<uint8_t *>(block) + offsetof(T, dev_type);
+	size_t data_size = sizeof(T) - offsetof(T, dev_type);
+
+	/* Read the actual block data from the EEPROM */
+	struct i2c_msg_s msg;
+	msg.frequency = I2C_SPEED_STANDARD;
+	msg.addr = _buses[instance].eeprom_i2c_addr;
+	msg.flags = I2C_M_READ;
+	msg.buffer = data_ptr;
+	msg.length = data_size;
+
+	int ret = I2C_TRANSFER(i2c, &msg, 1);
+
+	if (ret == PX4_OK) {
+		crc = crc16_update(crc, reinterpret_cast<uint8_t *>(block), sizeof(T));
+	}
+
+	return ret;
+}
+
+template <AuterionAutostarter::BlockType ExpectedBlockType, typename T>
+bool AuterionAutostarter::is_eeprom_block_header_valid(EepromBlockHeader *eeprom_block_header) const
+{
+	if (eeprom_block_header->block_type != ExpectedBlockType
 	    || eeprom_block_header->block_type_version != EEPROM_BLOCK_TYPE_VERSION
-	    || eeprom_block_header->block_length != sizeof(EepromBlockPm)) {
+	    || eeprom_block_header->block_length != sizeof(T)) {
 		return false;
 	}

 	return true;
 }

-int PowerMonitorSelectorAuterion::start_pm(const uint8_t bus_number, const uint16_t dev_type,
-		const uint16_t i2c_addr, const uint16_t id) const
+int AuterionAutostarter::start_pm(const uint8_t bus_number, const uint16_t dev_type,
+				  const uint16_t i2c_addr, const uint16_t id) const
 {
 	char bus_number_str[BUS_MAX_LEN];
 	snprintf(bus_number_str, sizeof(bus_number_str), "%u", bus_number);
@@ -312,33 +359,51 @@ int PowerMonitorSelectorAuterion::start_pm(const uint8_t bus_number, const uint1
 	snprintf(id_str, sizeof(id_str), "%u", id);

 	const char *start_command = get_start_command(dev_type);
-
-	if (start_command == nullptr) {
-		return PX4_ERROR;
-	}
-
 	const char *start_argv[] {
 		start_command,
 		"-X", "-b", bus_number_str, "-a", i2c_addr_str,
 		"-t", id_str, "-q", "start", NULL
 	};

-	int status = PX4_ERROR;
-	int pid = exec_builtin(start_command, (char **)start_argv, NULL, 0);
+	return start(start_command, start_argv);
+}

-	if (pid != -1) {
-		waitpid(pid, &status, WUNTRACED);
+int AuterionAutostarter::start_i2c_driver(const uint8_t bus_number, const uint16_t dev_type, const uint16_t i2c_addr) const
+{
+	char bus_number_str[BUS_MAX_LEN];
+	snprintf(bus_number_str, sizeof(bus_number_str), "%u", bus_number);
+
+	char i2c_addr_str[I2C_ADDR_MAX_LEN];
+	snprintf(i2c_addr_str, sizeof(i2c_addr_str), "%u", i2c_addr);
+
+	const char *start_command = get_start_command(dev_type);
+	const char *start_argv[] {
+		start_command,
+		"-X", "-b", bus_number_str, "-a", i2c_addr_str,
+		"-q", "start", NULL
+	};
+
+	return start(start_command, start_argv);
+}
+
+int AuterionAutostarter::start(const char *start_command, const char **start_argv) const
+{
+	int status = PX4_ERROR;
+
+	if (start_command != nullptr) {
+		int pid = exec_builtin(start_command, (char **)start_argv, NULL, 0);
+
+		if (pid != -1) {
+			waitpid(pid, &status, WUNTRACED);
+		}
 	}

 	return status;
 }

-const char *PowerMonitorSelectorAuterion::get_start_command(const uint16_t dev_type) const
+const char *AuterionAutostarter::get_start_command(const uint16_t dev_type) const
 {
 	switch (dev_type) {
-	case DRV_POWER_DEVTYPE_INA220:
-		return "ina220";
-
 	case DRV_POWER_DEVTYPE_INA226:
 		return "ina226";

@@ -348,12 +413,15 @@ const char *PowerMonitorSelectorAuterion::get_start_command(const uint16_t dev_t
 	case DRV_POWER_DEVTYPE_INA238:
 		return "ina238";

+	case DRV_PWM_DEVTYPE_PCA9685:
+		return "pca9685_pwm_out";
+
 	default:
 		return nullptr;
 	}
 }

-bool PowerMonitorSelectorAuterion::is_user_configured(const uint16_t dev_type) const
+bool AuterionAutostarter::is_user_configured(const uint16_t dev_type) const
 {
 	const char *ina_type = get_ina_type(dev_type);

@@ -369,7 +437,7 @@ bool PowerMonitorSelectorAuterion::is_user_configured(const uint16_t dev_type) c
 	return sens_en != 0;
 }

-void PowerMonitorSelectorAuterion::set_max_current(const uint16_t dev_type, const float max_current) const
+void AuterionAutostarter::set_max_current(const uint16_t dev_type, const float max_current) const
 {
 	const char *ina_type = get_ina_type(dev_type);

@@ -382,7 +450,7 @@ void PowerMonitorSelectorAuterion::set_max_current(const uint16_t dev_type, cons
 	set_float_param(param_name, max_current);
 }

-void PowerMonitorSelectorAuterion::set_shunt_value(const uint16_t dev_type, const float shunt_value) const
+void AuterionAutostarter::set_shunt_value(const uint16_t dev_type, const float shunt_value) const
 {
 	const char *ina_type = get_ina_type(dev_type);

@@ -395,7 +463,7 @@ void PowerMonitorSelectorAuterion::set_shunt_value(const uint16_t dev_type, cons
 	set_float_param(param_name, shunt_value);
 }

-void PowerMonitorSelectorAuterion::set_float_param(const char *param_name, const float param_val) const
+void AuterionAutostarter::set_float_param(const char *param_name, const float param_val) const
 {
 	float current_param_value = 0;
 	param_get(param_find(param_name), &current_param_value);
@@ -405,12 +473,9 @@ void PowerMonitorSelectorAuterion::set_float_param(const char *param_name, const
 	}
 }

-const char *PowerMonitorSelectorAuterion::get_ina_type(const uint16_t dev_type) const
+const char *AuterionAutostarter::get_ina_type(const uint16_t dev_type) const
 {
 	switch (dev_type) {
-	case DRV_POWER_DEVTYPE_INA220:
-		return "220";
-
 	case DRV_POWER_DEVTYPE_INA226:
 		return "226";

@@ -425,7 +490,7 @@ const char *PowerMonitorSelectorAuterion::get_ina_type(const uint16_t dev_type)
 	}
 }

-uint16_t PowerMonitorSelectorAuterion::crc16_update(const uint16_t current_crc, const uint8_t *data_p,
+uint16_t AuterionAutostarter::crc16_update(const uint16_t current_crc, const uint8_t *data_p,
 		size_t length) const
 {
 	uint8_t x;
@@ -440,9 +505,9 @@ uint16_t PowerMonitorSelectorAuterion::crc16_update(const uint16_t current_crc,
 	return crc;
 }

-int PowerMonitorSelectorAuterion::task_spawn(int argc, char *argv[])
+int AuterionAutostarter::task_spawn(int argc, char *argv[])
 {
-	PowerMonitorSelectorAuterion *instance = new PowerMonitorSelectorAuterion();
+	AuterionAutostarter *instance = new AuterionAutostarter();

 	if (instance) {
 		_object.store(instance);
@@ -463,12 +528,12 @@ int PowerMonitorSelectorAuterion::task_spawn(int argc, char *argv[])
 	return PX4_ERROR;
 }

-int PowerMonitorSelectorAuterion::custom_command(int argc, char *argv[])
+int AuterionAutostarter::custom_command(int argc, char *argv[])
 {
 	return print_usage("unknown command");
 }

-int PowerMonitorSelectorAuterion::print_usage(const char *reason)
+int AuterionAutostarter::print_usage(const char *reason)
 {
 	if (reason) {
 		PX4_WARN("%s\n", reason);
@@ -481,14 +546,14 @@ Driver for starting and auto-detecting different power monitors.

 )DESCR_STR");

-	PRINT_MODULE_USAGE_NAME("pm_selector_auterion", "driver");
+	PRINT_MODULE_USAGE_NAME("auterion_autostarter", "driver");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();

 	return 0;
 }

-extern "C" __EXPORT int pm_selector_auterion_main(int argc, char *argv[])
+extern "C" __EXPORT int auterion_autostarter_main(int argc, char *argv[])
 {
-	return PowerMonitorSelectorAuterion::main(argc, argv);
+	return AuterionAutostarter::main(argc, argv);
 }
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *   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
@@ -71,12 +71,12 @@ private:
 	struct i2c_master_s *_i2c {nullptr};
 };

-class PowerMonitorSelectorAuterion : public ModuleBase<PowerMonitorSelectorAuterion>, public px4::ScheduledWorkItem
+class AuterionAutostarter : public ModuleBase<AuterionAutostarter>, public px4::ScheduledWorkItem
 {

 public:
-	PowerMonitorSelectorAuterion();
-	virtual ~PowerMonitorSelectorAuterion();
+	AuterionAutostarter();
+	virtual ~AuterionAutostarter();

 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
@@ -89,7 +89,14 @@ public:

 private:
 	enum BlockType : uint8_t {
-		TYPE_PM = 0
+		TYPE_PM = 0,
+		TYPE_PWM_EXPANDER = 1,
+	};
+
+	enum ClockType : uint8_t {
+		CLOCK_NONE = 0,
+		CLOCK_INTERNAL = 1,
+		CLOCK_EXTERNAL_GENERIC = 2,
 	};

 	struct Buses {
@@ -117,7 +124,7 @@ private:
 		uint16_t flags; /**< offset 6 */
 		uint16_t num_blocks; /**< offset 8 */
 		uint8_t _reserved1[2]; /**< offset 10 */
-	};
+	} __attribute__((aligned(4)));
 #pragma pack(pop)

 #pragma pack(push, 1)
@@ -125,11 +132,11 @@ private:
 		uint8_t block_type; /**< offset 0 */
 		uint8_t block_type_version; /**< offset 1 */
 		uint16_t block_length; /**< offset 2 */
-	};
+	} __attribute__((aligned(4)));
 #pragma pack(pop)

 #pragma pack(push, 1)
-	/* Block n starts at 12 + (n * 20) */
+	/* Block n starts at 12 + (n * 20), each block needs to contain a block_header and dev_type! */
 	struct EepromBlockPm {
 		EepromBlockHeader block_header; /**< offset 0 */
 		uint16_t dev_type; /**< offset 4 */
@@ -138,9 +145,33 @@ private:
 		uint8_t _padding1[2]; /**< offset 10 */
 		float max_current; /**< offset 12 */
 		float shunt_value; /**< offset 16 */
-	};
+	} __attribute__((aligned(4)));
 #pragma pack(pop)

+#pragma pack(push, 1)
+	/* Block n starts at 12 + (n * 20), each block needs to contain a block_header and dev_type! */
+	struct EepromBlockPwmExpander {
+		EepromBlockHeader block_header; /**< offset 0 */
+		uint16_t dev_type; /**< offset 4 */
+		uint16_t sensor_type; /**< offset 6 */
+		uint16_t i2c_addr; /**< offset 8 */
+		uint16_t num_channels; /**< offset 10 */
+		uint16_t offset_channels; /**< offset 12 */
+		ClockType clock_type; /**< offset 14 */
+		uint8_t _padding1; /**< offset 15 */
+		float signal_level; /**< offset 16 */
+	} __attribute__((aligned(4)));
+#pragma pack(pop)
+
+	struct DecodedBlock {
+		BlockType block_type;
+
+		union {
+			EepromBlockPm block_pm;
+			EepromBlockPwmExpander block_pwm_expander;
+		};
+	};
+
 	void Run() override;

 	bool init();
@@ -152,12 +183,16 @@ private:
 	int eeprom_read(const uint32_t instance);
 	bool is_eeprom_header_valid(EepromHeader *eeprom_header) const;

-	int eeprom_read_block(struct i2c_master_s *i2c, const uint32_t instance, const uint16_t transferred_blocks,
-			      uint16_t &crc);
+	int eeprom_read_block(struct i2c_master_s *i2c, const uint32_t instance, const uint16_t transferred_blocks, uint16_t &crc);
+	template <typename T>
+	int eeprom_read_block_data(struct i2c_master_s *i2c, const uint32_t instance, uint16_t &crc, T *block);
+	template <AuterionAutostarter::BlockType ExpectedBlockType, typename T>
 	bool is_eeprom_block_header_valid(EepromBlockHeader *eeprom_block_header) const;

 	int start_pm(const uint8_t bus_number, const uint16_t dev_type, const uint16_t i2c_addr, const uint16_t id) const;
+	int start_i2c_driver(const uint8_t bus_number, const uint16_t dev_type, const uint16_t i2c_addr) const;
 	const char *get_start_command(const uint16_t dev_type) const;
+	int start(const char *start_command, const char **start_argv) const;

 	bool is_user_configured(const uint16_t dev_type) const;
 	void set_max_current(const uint16_t dev_type, const float max_current) const;
@@ -234,6 +269,6 @@ private:
 		}
 	};

-	EepromBlockPm _eeprom_blocks_pm[EEPROM_MAX_BLOCKS] = { 0 };
-	uint16_t _eeprom_valid_blocks_pm = 0;
+	DecodedBlock _eeprom_decoded_blocks[EEPROM_MAX_BLOCKS];
+	uint16_t _eeprom_num_decoded_blocks = 0;
 };
@@ -31,10 +31,10 @@
 #
 ############################################################################
 px4_add_module(
-	MODULE drivers__power_monitor_pm_selector_auterion
-	MAIN pm_selector_auterion
+	MODULE drivers__auterion_autostarter
+	MAIN auterion_autostarter
 	SRCS
-		PowerMonitorSelectorAuterion.cpp
+		AuterionAutostarter.cpp
 	DEPENDS
 		px4_work_queue
 	)
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_AUTERION_AUTOSTARTER
+	bool "auterion_autostarter"
+	default n
+	---help---
+		Enable support for auterion_autostarter
@@ -77,6 +77,10 @@ AUAV::~AUAV()
 void AUAV::RunImpl()
 {
 	switch (_state) {
+	case STATE::READ_FACTORY_DATA:
+		handle_state_read_factory_data();
+		break;
+
 	case STATE::READ_CALIBDATA:
 		handle_state_read_calibdata();
 		break;
@@ -107,23 +111,6 @@ int AUAV::init()
 		return ret;
 	}

-	int32_t hw_model = 0;
-	param_get(param_find("SENS_EN_AUAVX"), &hw_model);
-
-	switch (hw_model) {
-	case 1: /* AUAV L05D (+- 5 inH20) */
-		_cal_range = 10.0f;
-		break;
-
-	case 2: /* AUAV L10D (+- 10 inH20) */
-		_cal_range = 20.0f;
-		break;
-
-	case 3: /* AUAV L30D (+- 30 inH20) */
-		_cal_range = 60.0f;
-		break;
-	}
-
 	ScheduleClear();
 	ScheduleNow();
 	return PX4_OK;
@@ -148,6 +135,20 @@ int AUAV::probe()
 	return PX4_ERROR;
 }

+void AUAV::handle_state_read_factory_data()
+{
+	int status = read_factory_data();
+
+	if (status == PX4_OK) {
+		/* Factory data read or sensor does not have any, move to next state */
+		_state = STATE::READ_CALIBDATA;
+		ScheduleNow();
+
+	} else {
+		ScheduleDelayed(100_ms);
+	}
+}
+
 void AUAV::handle_state_read_calibdata()
 {
 	int status = PX4_OK;
@@ -61,6 +61,7 @@ public:

 protected:
 	enum class STATE : uint8_t {
+		READ_FACTORY_DATA,
 		READ_CALIBDATA,
 		REQUEST_MEASUREMENT,
 		GATHER_MEASUREMENT
@@ -107,7 +108,9 @@ protected:
 	virtual int64_t get_conversion_interval() const = 0;
 	virtual calib_eeprom_addr_t get_calib_eeprom_addr() const = 0;
 	virtual float process_pressure_dig(const float pressure_dig) const = 0;
+	virtual int read_factory_data() = 0;

+	void handle_state_read_factory_data();
 	void handle_state_read_calibdata();
 	void handle_state_request_measurement();
 	void handle_state_gather_measurement();
@@ -117,8 +120,7 @@ protected:
 	float correct_pressure(const uint32_t pressure_raw, const uint32_t temperature_raw) const;
 	float process_temperature_raw(const float temperature_raw) const;

-	float _cal_range{10.0f};
-	STATE _state{STATE::READ_CALIBDATA};
+	STATE _state{STATE::READ_FACTORY_DATA};
 	calib_data_t _calib_data {};

 	perf_counter_t _sample_perf;
@@ -77,3 +77,9 @@ float AUAV_Absolute::process_pressure_dig(const float pressure_dig) const
 	const float pressure_mbar = 250.f + 1.25f * ((pressure_dig - (0.1f * (1 << 24))) / (1 << 24)) * 1000.f;
 	return pressure_mbar * MBAR_TO_PA;
 }
+
+int AUAV_Absolute::read_factory_data()
+{
+	/* Absolute sensor doesn't need to read factory data */
+	return PX4_OK;
+}
@@ -68,6 +68,7 @@ private:
 	int64_t get_conversion_interval() const override;
 	calib_eeprom_addr_t get_calib_eeprom_addr() const override;
 	float process_pressure_dig(const float pressure_dig) const override;
+	int read_factory_data() override;

 	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
 };
@@ -33,10 +33,38 @@

 #include "AUAV_Differential.hpp"
 #include <parameters/param.h>
+#include <cctype>

 AUAV_Differential::AUAV_Differential(const I2CSPIDriverConfig &config) :
 	AUAV(config)
 {
+	/* Initialize cal_range from parameter as fallback value */
+	int32_t hw_model = 0;
+	param_get(param_find("SENS_EN_AUAVX"), &hw_model);
+
+	switch (hw_model) {
+	case 1: /* AUAV L05D (+- 5 inH20) */
+		_cal_range = 10;
+		break;
+
+	case 2: /* AUAV L10D (+- 10 inH20) */
+		_cal_range = 20;
+		break;
+
+	case 3: /* AUAV L30D (+- 30 inH20) */
+		_cal_range = 60;
+		break;
+
+	default:
+		_cal_range = 10; /* Default fallback */
+		break;
+	}
+}
+
+void AUAV_Differential::print_status()
+{
+	AUAV::print_status();
+	PX4_INFO("cal range: %" PRId32, _cal_range);
 }

 void AUAV_Differential::publish_pressure(const float pressure_p, const float temperature_c,
@@ -83,6 +111,52 @@ AUAV::calib_eeprom_addr_t AUAV_Differential::get_calib_eeprom_addr() const

 float AUAV_Differential::process_pressure_dig(const float pressure_dig) const
 {
-	const float pressure_in_h = 1.25f * ((pressure_dig - (1 << 23)) / (1 << 24)) * _cal_range;
+	const float pressure_in_h = 1.25f * ((pressure_dig - (1 << 23)) / (1 << 24)) * static_cast<float>(_cal_range);
 	return pressure_in_h * INH_TO_PA;
 }
+
+int AUAV_Differential::read_factory_data()
+{
+	/* The differential sensor needs the cal_range from the absolute sensor's EEPROM.
+	 * Temporarily switch to the absolute sensor's I2C address to read it, then switch back. */
+
+	uint8_t original_address = get_device_address();
+	set_device_address(I2C_ADDRESS_ABSOLUTE);
+
+	/* Read the calibration range from the absolute sensor's EEPROM */
+	uint16_t factory_data = 0;
+	int status = read_calibration_eeprom(EEPROM_ABS_CAL_RNG, factory_data);
+
+	set_device_address(original_address);
+
+	if (status != PX4_OK) {
+		return status;
+	}
+
+	/* If EEPROM data is 0, stop trying (sensor does not have factory data) */
+	if (factory_data == 0) {
+		PX4_INFO("Differential: cal range data is 0, using fallback value");
+		return PX4_OK;
+	}
+
+	/* Decode the two bytes as ASCII characters */
+	uint8_t char_high = (factory_data >> 8) & 0xFF;
+	uint8_t char_low = factory_data & 0xFF;
+
+	/* Validate that both characters are ASCII digits (0-9) */
+	if (!isdigit(char_high) || !isdigit(char_low)) {
+		return PX4_ERROR;
+	}
+
+	int32_t sensor_type = ((char_high - '0') * 10) + (char_low - '0');
+
+	/* Check if the detected sensor type is valid */
+	if (sensor_type != AUAV_LD_05 && sensor_type != AUAV_LD_10 && sensor_type != AUAV_LD_30) {
+		return PX4_ERROR;
+	}
+
+	_cal_range = sensor_type * 2;
+	PX4_INFO("Differential: read cal range %" PRId32 " from absolute sensor EEPROM", _cal_range);
+
+	return PX4_OK;
+}
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Niklas Hauser	c7aae96cd2	[WIP] Run the ROMFS through a CPP with the boardconfig	2026-01-22 15:38:49 +01:00
Silvan	52308735a7	px4/v6x: remove AUAV differential pressure to save flash Signed-off-by: Silvan <silvan@auterion.com>	2026-01-22 15:14:54 +01:00
alexcekay	b1c2820d69	gps: update drivers submodule	2026-01-22 15:02:30 +01:00
alexcekay	1df5e62cc3	gps: fix rate reading on UART	2026-01-22 15:02:30 +01:00
bresch	2ad25570ee	do not check pointer validity before deleting Deleting a nullptr has no effect (this addresses a clang-tidy error)	2026-01-22 10:03:24 +01:00
tompsontan	b8577c753f	board:changed ap-h743r1 dma allocation and internal mag to qmc5883p. (#26112 ) Mag Sensor changed in the docs and the board DMA Allocation changed for the board	2026-01-22 01:06:51 -05:00
Baardrw	c9e3118fea	Driver: fix mb12xx driver set address feature (#26282 ) * fixed set_address function	2026-01-22 00:45:45 -05:00
William Reynaldi Solichin	55e0810d8d	Expose u-blox min elevation, min SNR and DGNSS timeout parameters RTK Fix Improvements (#25720 ) * Exposing u-Blox min CNO, min elevation, and DGNSS timeout for RTK Fix Improvement * update gps submodule --------- Co-authored-by: Julian Oes <julian@oes.ch> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-01-21 14:50:36 -09:00
Alexander Lerach	4ac7853479	auterion autostarter: Added autostart for PWM_EXPANDER, generalized c… (#25925 ) * auterion autostarter: Added autostart for PWM_EXPANDER, generalized code, renamed module * auterion autostarter: Enable on v6s, robustify error handling * review comments	2026-01-21 19:05:09 +01:00
Jacob Dahl	06db25c078	boards: remove CONFIG_COMMON_OPTICAL_FLOW from all non-CANnode hardware (#26315 )	2026-01-21 10:51:09 -05:00
Eurus	5635d639fe	rtl_mission_fast: supplement to #24115 (#26199 ) Co-authored-by: EurusAkai <1826983968@qq.com>	2026-01-21 09:49:31 +01:00
Jacob Dahl	bbce142129	boards: ark_pi6x: add rover target (#26296 )	2026-01-20 13:35:42 -09:00
Julian Oes	475715818b	Tools: fix make format (#26298 ) These two submodules were touched when they shouldn't be.	2026-01-19 17:23:06 -09:00
Julian Oes	02103b9100	mavlink: fix deadlock on USB disconnect/reconnect (#26297 ) Commit `5fe82aa` added mutex protection in ~Mavlink() to fix a race condition when start_helper() deleted an instance without holding the mutex. However, this caused a deadlock because stop_command() and destroy_all_instances() already hold mavlink_module_mutex when calling delete, and the mutex is non-recursive. Fix by moving instance cleanup to the callers: - All callers now hold the mutex and remove the instance from mavlink_module_instances BEFORE calling delete - The destructor no longer touches mavlink_module_instances - Event handoff remains in destructor (works because `this` is already removed from the list when destructor runs) This hopefully fixes the original race condition while avoiding the deadlock that caused USB mavlink to hang on reconnect.	2026-01-19 12:25:50 -09:00
mahima-yoga	25de111a4a	FWModeManager: improve fixed-wing landing flare stability - Ramp pitch_min and pitch_max from current pitch to flare minimum - Ramp throttle from current setpoint to idle	2026-01-19 17:58:20 +01:00
mahima-yoga	9169f9cd44	Revert "FWModeManger: remove throttle spike during flaring by waiting with height rate change" This reverts commit `259e7d1d53`.	2026-01-19 17:58:20 +01:00
Alexander Lerach	273766a4ea	drivers: auav, read sensor eeprom to get cal range (#26294 ) * drivers: auav, read sensor eeprom to get cal range * added review feedback	2026-01-19 15:21:18 +01:00
Ryan Johnston	f98fdbc452	FW Takeoff: fix loiter altitude not set in some cases * Fix Takeoff mode to respect MIS_TAKEOFF_ALT Takeoff mode never transitions to hold after takeoff alt. * style: run make format	2026-01-16 17:32:15 +01:00
jonas	edc2536bdd	move EKF2 ring buffer to the lib folder	2026-01-16 11:51:37 +01:00
Silvan	e90f8b500f	v5: remove UUV to save flash Signed-off-by: Silvan <silvan@auterion.com>	2026-01-16 11:33:45 +01:00
Pernilla	fbdc31b60c	gimbal: add filter	2026-01-16 11:33:45 +01:00
Pernilla	392002f671	gimbal-bug-fix: store angle setpoints for next iteration	2026-01-16 11:33:45 +01:00
Pernilla	c0c7f6ec40	gimbal: report relative and absolute angles	2026-01-16 11:33:45 +01:00
Pernilla	8c5c4a0504	gimbal: update gz gimbal	2026-01-16 11:33:45 +01:00
Pernilla	0da6efa52d	gimbal: remove offset as it should be accounted for in PWM driver	2026-01-16 11:33:45 +01:00
Pernilla	9de10d672c	gimbal: mavlink streamed angular ranges should be radians	2026-01-16 11:33:45 +01:00
Pernilla	0fa5a83409	gimbal: account for non zero symmetrical angular ranges	2026-01-16 11:33:45 +01:00
Pernilla	aed175451a	gimbal: add pitch stabilization	2026-01-16 11:33:45 +01:00
Kimminkyu	df42ef84f1	Update NuttX fmu-v6x config use with Zenoh (#26213 )	2026-01-15 11:40:09 -09:00
Baardrw	fe30ef7f16	GZ: Update GZMixingInterfaceESC to support more than 8 ESCs (#25081 ) * Changed GZMixingInterfaceESC to GZMixingInterfaceMotor - GZMixingInterfaceMotor checks if there are more than 8 motors configured if its less than 8 it behaves exactly the same as GZMixingInterfaceESC, else it behaves as a PWM motor interface - This change allows drones with more than 8 motors to be simulated by Gazebo Fixes #25080 * code quality fix * Changed GZMixingInterfacMotor back to GZMixingInterfaceESC and changed variable names to match ESC terminology * formatting issue resolved * updated interface to support 16 ESCs, allowing the first 8 to report telemetry * rebased	2026-01-15 10:37:35 -09:00
Beniamino Pozzan	0b834dd0e7	docs(uxrce_dds): add docs for UXRCE_DDS_FLCTRL (#26242 ) Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>	2026-01-15 00:51:35 -09:00