ci: remove ignores

ci: fix syntax
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
2026-06-01 06:50:05 +08:00 · 2025-04-28 10:38:56 -07:00 · 2025-04-28 10:34:56 -07:00 · 2025-04-28 10:24:56 -07:00 · 2025-04-28 13:34:04 +02:00 · 2025-04-28 13:17:53 +02:00
104 changed files with 3786 additions and 368 deletions
@@ -6,23 +6,18 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  build:
    runs-on: macos-latest
    strategy:
      matrix:
-        config: [
-          px4_fmu-v5_default,
-          px4_sitl
-          ]
+        config: [px4_fmu-v5_default, px4_sitl]
    steps:
    - name: install Python 3.10
      uses: actions/setup-python@v5
@@ -62,3 +57,7 @@ jobs:
          ccache -z
          make ${{matrix.config}}
          ccache -s
+
+    - name: Setup tmate session
+      if: ${{ failure() }}
+      uses: mxschmitt/action-tmate@v3
@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""
@@ -0,0 +1,49 @@
+############################################################################
+#
+#   Copyright (c) 2023 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.
+#
+############################################################################
+
+
+set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
+
+add_custom_target(upload_skynode_usb
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME}
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)
+
+add_custom_target(upload_skynode_wifi
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)
@@ -0,0 +1,94 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
+CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+CONFIG_BMI088_ACCELEROMETER_INT2=y
+CONFIG_COMMON_INS=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DATAMAN_PERSISTENT_STORAGE=n
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_FIGURE_OF_EIGHT=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_LOGGER_STACK_SIZE=4100
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TIME_PERSISTOR=y
+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_I2C_LAUNCHER=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MFT_CFG=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NETMAN=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -0,0 +1,13 @@
+{
+    "board_id": 60,
+    "magic": "AutFWv1",
+    "description": "Firmware for the AutFMUv6S board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AutFMUv6S",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1966080,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,28 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# Set the backend of the dataman to SRAM
+param set-default SYS_DM_BACKEND 1
+# Set TELEM1 as default mavlink connection
+param set-default MAV_0_CONFIG 0
+# Disable logger writing to FRAM, only stream over MAVLINK
+set LOGGER_ARGS "-m mavlink"
+
+# 200kOhm/10kOhm voltage divider on V_BAT
+param set-default BAT1_V_DIV 21
+
+# Skynode: use the "custom participant", IP=10.41.10.1 config for uxrce_dds_client
+param set-default UXRCE_DDS_PTCFG 2
+param set-default UXRCE_DDS_AG_IP 170461697
+param set-default UXRCE_DDS_CFG 1000
+
+# Update default IP config if needed
+netman update_default -i eth0
+
+# Start a second NSH connected to the debug port
+nshterm /dev/ttyS3 &
+
+# Start the time_persistor to cyclically store the RTC in FRAM
+time_persistor start
@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# Auterion FMUv6s specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+if param compare MAV_S_FORWARD 1
+then
+	set S_FORWARD "-f"
+else
+	set S_FORWARD ""
+fi
+
+# TELEM1 is mapped to USART1 with flow control
+mavlink start -d /dev/ttyS0 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z $S_FORWARD
+
+# Ensure nothing else starts on TEL1
+set PRT_TEL1_ 1
+
+unset S_FORWARD
@@ -0,0 +1,30 @@
+#!/bin/sh
+#
+# Forward is where the MIPI and ESC connectors are
+#
+# Auterion FMUv6S specific board sensors init
+#------------------------------------------------------------------------------
+
+# For system_power and battery_status
+board_adc start
+
+# IMU3 on SPI3, ROTATION_NONE=0
+bmi088 -A -R 0 -s start
+bmi088 -G -R 0 -s start
+
+if ver hwtypecmp V6S013 V6S015
+then
+	# Revision(s) with BMM150
+	# MAG on I2C4, ROTATION_ROLL_180=8
+	bmm150 -I -R 8 start
+else
+	# Revision(s) with BMM350
+	# MAG on I2C4, ROTATION_ROLL_180=8
+	bmm350 -I -R 8 start
+fi
+
+# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
+ist8310 -X -b 1 -R 10 start
+
+# BARO on I2C4
+bmp388 -I -b 4 -a 0x77 start
@@ -0,0 +1,12 @@
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_COMMON_RC=y
+CONFIG_EKF2_AUX_GLOBAL_POSITION=y
+# CONFIG_EKF2_SIDESLIP is not set
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
@@ -0,0 +1,17 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.
@@ -0,0 +1,79 @@
+#
+# 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_DISABLE_PTHREAD is not set
+# CONFIG_SPI_EXCHANGE is not set
+# CONFIG_STM32H7_SYSCFG is not set
+# CONFIG_STM32H7_USE_LEGACY_PINMAP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/auterion/fmu-v6s/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="auterion"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_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_MUTEX_ROBUST=y
+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_DMA2=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_USART1=y
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,494 @@
+/************************************************************************************
+ * nuttx-configs/auterion_fmu-v6s/include/board.h
+ *
+ *   Copyright (C) 2016-2024 Gregory Nutt. All rights reserved.
+ *   Authors: David Sidrane <david.sidrane@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+#ifndef __NUTTX_CONFIG_PX4_FMU_V6S_INCLUDE_BOARD_H
+#define __NUTTX_CONFIG_PX4_FMU_V6S_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The auterion_fmu-v6s  board provides the following clock sources:
+ *
+ *   XTAL4: 24 MHz crystal for HSE
+ *
+ * So we have these clock source available within the STM32
+ *
+ *   HSI: 16 MHz RC factory-trimmed
+ *   HSE: 24 MHz crystal for HSE
+ */
+
+#define STM32_BOARD_XTAL        24000000ul
+
+#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 = 24,000,000
+ *
+ * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ * Subject to:
+ *
+ *     1 <= PLLM <= 63
+ *     4 <= PLLN <= 512
+ *   150 MHz <= PLL_VCOL <= 420MHz
+ *   192 MHz <= PLL_VCOH <= 836MHz
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * CPUCLK  = SYSCLK / D1CPRE
+ * Subject to
+ *
+ *   PLLP1   = {2, 4, 6, 8, ..., 128}
+ *   PLLP2,3 = {2, 3, 4, ..., 128}
+ *   CPUCLK <= 480 MHz
+ */
+
+#define STM32_BOARD_USEHSE
+
+#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
+
+/* PLL1, wide 2 - 4 MHz input, enable DIVP, DIVQ, DIVR
+ *
+ *   PLL1_VCO = (24,000,000 / 12) * 450 = 900 MHz
+ *
+ *   PLL1P = PLL1_VCO/2  = 900 MHz /  2  = 450   MHz
+ *   PLL1Q = PLL1_VCO/9  = 900 MHz /  9  = 100   MHz **used for ETH REF CLK via MCO1/2**
+ *   PLL1R = PLL1_VCO/8  = 900 MHz /  8  = 112.5 MHz
+ */
+
+#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL1RGE_2_4_MHZ | \
+				 RCC_PLLCFGR_DIVP1EN | \
+				 RCC_PLLCFGR_DIVQ1EN | \
+				 RCC_PLLCFGR_DIVR1EN)
+#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(12)
+#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(450)
+#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(9)
+#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
+
+#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 12) * 450)
+#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 9)
+#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(6)
+#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 / 6) * 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(6)
+#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 / 6) * 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 = 450MHz
+ * CPUCLK = SYSCLK / 1 = 450 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 = 225
+ */
+
+#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 (112.5 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 (112.5 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 (112.5 MHz) */
+
+#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
+#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB4 clock (PCLK4) is HCLK/4 (112.5 MHz) */
+
+#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
+#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* Timer clock frequencies */
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Kernel Clock Configuration
+ *
+ * Note: look at Table 54 in ST Manual
+ */
+
+/* I2C123 clock source */
+
+#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
+
+/* I2C4 clock source */
+
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
+
+/* SPI123 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
+
+/* SPI45 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
+
+/* SPI6 clock source */
+
+#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
+
+/* USB 1 and 2 clock source */
+
+#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
+
+/* ADC 1 2 3 clock source */
+
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
+
+/* FDCAN 1 2 clock source */
+
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
+/* FLASH wait states
+ *
+ *  ------------ ---------- -----------
+ *  Vcore        MAX ACLK   WAIT STATES
+ *  ------------ ---------- -----------
+ *  1.15-1.26 V     70 MHz    0
+ *  (VOS1 level)   140 MHz    1
+ *                 210 MHz    2
+ *  1.05-1.15 V     55 MHz    0
+ *  (VOS2 level)   110 MHz    1
+ *                 165 MHz    2
+ *                 220 MHz    3
+ *  0.95-1.05 V     45 MHz    0
+ *  (VOS3 level)    90 MHz    1
+ *                 135 MHz    2
+ *                 180 MHz    3
+ *                 225 MHz    4
+ *  ------------ ---------- -----------
+ */
+
+#define BOARD_FLASH_WAITSTATES 2
+
+
+/* LED definitions ******************************************************************/
+/* The Auterion FMUV6S board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+ * LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+#define BOARD_LED3_BIT    (1 << BOARD_LED3)
+
+/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
+ * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
+ * events as follows:
+ *
+ *
+ *   SYMBOL                     Meaning                      LED state
+ *                                                        Red   Green  Blue
+ *   ----------------------  --------------------------  ------ ------ ----*/
+
+#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
+#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
+#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
+#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
+#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
+#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
+#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
+#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
+#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
+
+/* Thus if the Green LED is statically on, NuttX has successfully booted and
+ * is, apparently, running normally.  If the Red LED is flashing at
+ * approximately 2Hz, then a fatal error has been detected and the system
+ * has halted.
+ */
+
+/* Alternate function pin selections ************************************************/
+
+/* ADC1 */
+
+#define GPIO_ADC1_INP16      GPIO_ADC1_INP16_0                     /* PA0 */
+#define GPIO_ADC123_INP10    GPIO_ADC123_INP10_0                   /* PC0 */
+#define GPIO_ADC12_INP15     GPIO_ADC12_INP15_0                    /* PA3 */
+#define GPIO_ADC12_INP13     GPIO_ADC12_INP13_0                    /* PC3 */
+#define GPIO_ADC12_INP5      GPIO_ADC12_INP5_0                     /* PB1 */
+#define GPIO_ADC12_INP18     GPIO_ADC12_INP18_0                    /* PA4 */
+
+/* Trace */
+
+#define GPIO_TRACESWO GPIO_TRACESWO_0
+
+/* U[S]ARTs */
+
+
+#define GPIO_USART1_RX   GPIO_USART1_RX_2                          /* PA10 */
+#define GPIO_USART1_TX  (GPIO_USART1_TX_2 | GPIO_SPEED_25MHz)      /* PA9 */
+#define GPIO_USART1_RTS  GPIO_USART1_RTS_0                         /* PA12 */
+#define GPIO_USART1_CTS  GPIO_USART1_CTS_NSS_0                     /* PA11 */
+
+#define GPIO_USART2_RX   GPIO_USART2_RX_2                          /* PD6 */
+#define GPIO_USART2_TX  (GPIO_USART2_TX_2 | GPIO_SPEED_25MHz)      /* PD5 */
+#define GPIO_USART2_RTS  0                                         /* PD4 */
+#define GPIO_USART2_CTS  0                                         /* PD3 */
+
+#define GPIO_USART3_RX   GPIO_USART3_RX_3                          /* PD9 */
+#define GPIO_USART3_TX  (GPIO_USART3_TX_3 | GPIO_SPEED_2MHz)       /* PD8 */
+
+#define GPIO_UART4_RX    GPIO_UART4_RX_5                           /* PD0 */
+#define GPIO_UART4_TX   (GPIO_UART4_TX_5 | GPIO_SPEED_2MHz)        /* PD1 */
+
+#define GPIO_UART5_RX   (GPIO_UART5_RX_3 | GPIO_SPEED_2MHz)        /* PD2 */
+#define GPIO_UART5_TX    0    /* We did not route out the TX pin of UART5 */
+
+#define GPIO_UART7_RX    0    /* We did not route out the RX pin of UART7 */
+#define GPIO_UART7_TX   (GPIO_UART7_TX_3 | GPIO_SPEED_2MHz)        /* PE8 */
+
+#define GPIO_UART8_RX    GPIO_UART8_RX_1                           /* PE0 */
+#define GPIO_UART8_TX   (GPIO_UART8_TX_1 | GPIO_SPEED_2MHz)        /* PE1 */
+
+
+/* CAN
+ *
+ * CAN1 is routed to transceiver.
+ */
+#define GPIO_CAN1_RX     (GPIO_CAN1_RX_2 | GPIO_SPEED_50MHz)       /* PB8 */
+#define GPIO_CAN1_TX     (GPIO_CAN1_TX_2 | GPIO_SPEED_50MHz)       /* PB9 */
+
+/* SPI
+ * SPI1 is sensors1
+ * SPI2 is sensors2
+ * SPI3 is sensors3
+ * SPI4 is FRAM
+ *
+ */
+
+#define GPIO_SPI1_MISO      (GPIO_SPI1_MISO_1 | GPIO_SPEED_50MHz)  /* PA6 */
+#define GPIO_SPI1_MOSI      (GPIO_SPI1_MOSI_3 | GPIO_SPEED_50MHz)  /* PD7 */
+#define GPIO_SPI1_SCK       (GPIO_SPI1_SCK_1  | GPIO_SPEED_50MHz)  /* PA5 */
+
+#define GPIO_SPI2_MISO      (GPIO_SPI2_MISO_2 | GPIO_SPEED_50MHz)  /* PC2 */
+#define GPIO_SPI2_MOSI      (GPIO_SPI2_MOSI_1 | GPIO_SPEED_50MHz)  /* PB15 */
+#define GPIO_SPI2_SCK       (GPIO_SPI2_SCK_3  | GPIO_SPEED_50MHz)  /* PB10 */
+
+
+#define GPIO_SPI3_MISO      (GPIO_SPI3_MISO_2 | GPIO_SPEED_50MHz)  /* PC11 */
+#define GPIO_SPI3_MOSI      (GPIO_SPI3_MOSI_3 | GPIO_SPEED_50MHz)  /* PB2 */
+#define GPIO_SPI3_SCK       (GPIO_SPI3_SCK_2  | GPIO_SPEED_50MHz)  /* PC10 */
+
+
+#define GPIO_SPI4_MISO     (GPIO_SPI4_MISO_2 | GPIO_SPEED_50MHz)  /* PE5 */
+#define GPIO_SPI4_MOSI     (GPIO_SPI4_MOSI_2 | GPIO_SPEED_50MHz)  /* PE6 */
+#define GPIO_SPI4_SCK      (GPIO_SPI4_SCK_2  | GPIO_SPEED_50MHz)  /* PE2 */
+
+/* I2C
+ *
+ *   The optional _GPIO configurations allow the I2C driver to manually
+ *   reset the bus to clear stuck slaves.  They match the pin configuration,
+ *   but are normally-high GPIOs.
+ *
+ */
+
+#define GPIO_I2C1_SCL        (GPIO_I2C1_SCL_1 | GPIO_SPEED_2MHz)         /* PB6 */
+#define GPIO_I2C1_SDA        (GPIO_I2C1_SDA_1 | GPIO_SPEED_2MHz)         /* PB7 */
+#define GPIO_I2C1_SCL_GPIO   (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO   (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+
+#define GPIO_I2C4_SCL        (GPIO_I2C4_SCL_1 | GPIO_SPEED_2MHz)         /* PD12 */
+#define GPIO_I2C4_SDA        (GPIO_I2C4_SDA_1 | GPIO_SPEED_2MHz)         /* PD13 */
+#define GPIO_I2C4_SCL_GPIO   (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
+#define GPIO_I2C4_SDA_GPIO   (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
+
+
+/* The STM32H7 connects MAC-to-MAC to iMX8MP
+ *
+ *   STM32H7  BOARD
+ *   GPIO     SIGNAL       PIN NAME
+ *   -------- ------------ -------------
+ *   PA7     ETH_CRS_DV    CRS_DV
+ *   PC1     ETH_MDC       MDC
+ *   PA2     ETH_MDIO      MDIO
+ *   PA1     ETH_REF_CL    X1
+ *   PC4     ETH_RXD0      RX_D0
+ *   PC5     ETH_RXD1      RX_D1
+ *   PB11    ETH_TX_EN     TX_EN
+ *   PB12    ETH_TXD0      TX_D0
+ *   PB13    ETH_TXD1      TX_D1
+ *
+ * The PHY address is 1, since COL/PHYAD0 features a pull up.
+ */
+
+#define GPIO_ETH_MDC              GPIO_ETH_MDC_0                              /* PC1 */
+#define GPIO_ETH_MDIO             GPIO_ETH_MDIO_0                             /* PA2 */
+#define GPIO_ETH_RMII_CRS_DV      GPIO_ETH_RMII_CRS_DV_0                      /* PA7 */
+#define GPIO_ETH_RMII_REF_CLK     GPIO_ETH_RMII_REF_CLK_0                     /* PA1 */
+
+#define GPIO_ETH_RMII_RXD0        GPIO_ETH_RMII_RXD0_0                        /* PC4 */
+#define GPIO_ETH_RMII_RXD1        GPIO_ETH_RMII_RXD1_0                        /* PC5 */
+
+#define GPIO_ETH_RMII_TX_EN      (GPIO_ETH_RMII_TX_EN_1 | GPIO_SPEED_100MHz)  /* PB11 */
+#define GPIO_ETH_RMII_TXD0       (GPIO_ETH_RMII_TXD0_1 | GPIO_SPEED_100MHz)   /* PB12 */
+#define GPIO_ETH_RMII_TXD1       (GPIO_ETH_RMII_TXD1_1 | GPIO_SPEED_100MHz)   /* PB13 */
+
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# include "stm32_gpio.h"
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)   /* PE9  AUX1 */
+# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)  /* PE11 AUX2 */
+# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)  /* PE13 AUX3 */
+# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)  /* PE14 AUX4 */
+# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)   /* PC6  AUX5 */
+# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)   /* PB5  AUX6 */
+# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)   /* PB0  AUX7 */
+# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN9)   /* PC9  AUX8 */
+# define PROBE_9    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN7)   /* PC7  CAP1 */
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
+		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
+		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
+		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
+		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
+		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
+		if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \
+	} while(0)
+
+# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
+
+#endif  /*__NUTTX_CONFIG_PX4_FMU_V6S_INCLUDE_BOARD_H  */
@@ -0,0 +1,126 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/*
+FDCAN2 => no DMA, but dedicated message RAM
+ETH => has its own DMA engine
+I2C => has its own DMA engine
+
+The rest are general DMA engines:
+
+MDMA (D1): not supported by NuttX
+
+DMA1 (D2): 8 streams, mapped to DMAMUX1 requests 0-7
+
+DMA2 (D2): 8 streams, mapped to DMAMUX1 requests 8-15
+
+BDMA (D3): 8 streams, mapped to DMAMUX2 requests 0-7
+
+I2C1_RX => DMAMUX1:33 (EXT)
+I2C1_TX => DMAMUX1:34 (EXT)
+I2C4_RX => DMAMUX2:29 (BARO + MAG + EEPROM)
+I2C4_TX => DMAMUX2:30 (BARO + MAG + EEPROM)
+
+SPI3_RX => DMAMUX1:61 (IMU3 BMI088)
+SPI3_TX => DMAMUX1:62 (IMU3 BMI088)
+SPI4_RX => DMAMUX1:83 (FRAM)
+SPI4_TX => DMAMUX1:84 (FRAM)
+
+UART4_RX => DMAMUX1:63 (NSH DEBUG)
+UART4_TX => DMAMUX1:64 (NSH DEBUG)
+UART7_RX => DMAMUX1:79 (SBUS INPUT)
+UART7_RX => DMAMUX1:79 (ESC RX)
+UART8_RX => DMAMUX1:81 (GPS)
+UART8_TX => DMAMUX1:82 (GPS)
+USART3_RX => DMAMUX1:45 (EXTRAS)
+USART3_TX => DMAMUX1:46 (EXTRAS)
+
+USART1_RX => DMAMUX1:41 (MAVLINK)
+USART1_TX => DMAMUX1:42 (MAVLINK)
+USART2_RX => DMAMUX1:43 (NSH IMX)
+USART2_TX => DMAMUX1:44 (NSH IMX)
+
+(TIM1_CH1 => DMAMUX1:11)
+(TIM1_CH2 => DMAMUX1:12)
+(TIM1_CH3 => DMAMUX1:13)
+(TIM1_CH4 => DMAMUX1:14)
+TIM1_UP => DMAMUX1:15 (PWM)
+
+(TIM3_CH1 => DMAMUX1:23)
+(TIM3_CH2 => DMAMUX1:24)
+(TIM3_CH3 => DMAMUX1:25)
+(TIM3_CH4 => DMAMUX1:26)
+TIM3_UP => DMAMUX1:27 (PWM)
+
+TIM8_CH2 => DMAMUX1:48 (PPM INPUT)
+(TIM8_UP => DMAMUX1:51)
+
+*/
+
+
+
+// DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
+//                                                     V
+
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0   /* 1 TELEM1 (MAVLINK) */
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0   /* 2 TELEM1 (MAVLINK) */
+
+#define DMAMAP_UART8_RX   DMAMAP_DMA12_UART8RX_0    /* 3 GPS1 */
+#define DMAMAP_UART8_TX   DMAMAP_DMA12_UART8TX_0    /* 4 GPS1 */
+
+#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0   /* 5 NSH IMX TX */
+#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0    /* 6 NSH DBG TX */
+
+// Assigned in timer_config.cpp
+
+// Timer 1                                          /* 7 TIM1UP */
+// Timer 3                                          /* 8 TIM3UP */
+
+
+
+// DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 BMI088 */
+#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 BMI088 */
+
+#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1     /* 3 FRAM */
+#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1     /* 4 FRAM */
+
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 5 TELEM2 */
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 6 TELEM2 */
+
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 7 SBUS IN */
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 8 ESC IN */
@@ -0,0 +1,301 @@
+#
+# 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_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_ARP 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_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_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_IFUPDOWN 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_NSLOOKUP 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_TELNETD 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_STM32H7_USE_LEGACY_PINMAP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/auterion/fmu-v6s/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="auterion"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=4096
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=95751
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_ETH0_PHY_LAN8742A=y
+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_FSUTILS_IPCFG=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=4
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=64
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=4000
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_THROTTLE=0
+CONFIG_IPCFG_BINARY=y
+CONFIG_IPCFG_CHARDEV=y
+CONFIG_IPCFG_PATH="/fs/mtd_net"
+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_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NET=y
+CONFIG_NETDB_DNSCLIENT=y
+CONFIG_NETDB_DNSCLIENT_ENTRIES=8
+CONFIG_NETDB_DNSSERVER_NOADDR=y
+CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NETINIT_DNS=y
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
+CONFIG_NETINIT_IPADDR=0xA290A02
+CONFIG_NETINIT_MONITOR=n
+CONFIG_NETINIT_THREAD=y
+CONFIG_NETINIT_THREAD_PRIORITY=49
+CONFIG_NET_ARP_IPIN=y
+CONFIG_NET_ARP_SEND=y
+CONFIG_NET_BROADCAST=y
+CONFIG_NET_ETH_PKTSIZE=1518
+CONFIG_NET_ICMP=y
+CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_NACTIVESOCKETS=16
+CONFIG_NET_SOLINGER=y
+CONFIG_NET_UDP=y
+CONFIG_NET_UDP_CHECKSUMS=y
+CONFIG_NET_UDP_WRITE_BUFFERS=y
+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_PIPES=y
+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
+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_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_ETHMAC=y
+CONFIG_STM32H7_FLASH_OVERRIDE_I=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_PHY_POLLING=y
+CONFIG_STM32H7_NO_PHY=y
+CONFIG_STM32H7_AUTONEG=n
+CONFIG_STM32H7_ETHFD=y
+CONFIG_STM32H7_ETH100MBPS=y
+CONFIG_STM32H7_RMII_EXTCLK=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=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_SPI3=y
+CONFIG_STM32H7_SPI3_DMA=y
+CONFIG_STM32H7_SPI3_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI4=y
+CONFIG_STM32H7_SPI4_DMA=y
+CONFIG_STM32H7_SPI4_DMA_BUFFER=4096
+CONFIG_STM32H7_TIM12=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM3=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_DHCPC_RENEW=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_PING=y
+CONFIG_SYSTEM_SYSTEM=y
+CONFIG_TASK_NAME_SIZE=24
+
+CONFIG_USART1_BAUD=3000000
+CONFIG_USART1_IFLOWCONTROL=y
+CONFIG_USART1_OFLOWCONTROL=y
+CONFIG_USART1_RXBUFSIZE=1500
+CONFIG_USART1_TXBUFSIZE=10000
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXDMA=y
+
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=500
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART2_TXDMA=y
+CONFIG_USART2_SERIAL_CONSOLE=y
+
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXDMA=y
+
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=500
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART4_TXDMA=y
+
+CONFIG_UART5_BAUD=100000
+CONFIG_UART5_RXBUFSIZE=600
+CONFIG_UART5_RXDMA=y
+
+CONFIG_UART7_BAUD=115200
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_RXDMA=y
+
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_UART8_RXDMA=y
+CONFIG_UART8_TXDMA=y
+
+CONFIG_USEC_PER_TICK=1000
+CONFIG_WATCHDOG=y
@@ -0,0 +1,215 @@
+/****************************************************************************
+ * 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 Auterion FMUV6S uses an STM32H743VI 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 STM32H743VI, 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 Auterion FMUV6S has a test point on board, the BOOT0 pin is at ground so by
+ * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
+ * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743VI 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.
+ *
+ * The bootloader uses the first sector of the flash, which is 128K in length.
+ */
+
+MEMORY
+{
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08000000, LENGTH =  128K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,229 @@
+/****************************************************************************
+ * 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 Auterion FMUV6S uses an STM32H743VI 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 STM32H743VI, 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 Auterion FMUV6S has a test point on board, the BOOT0 pin is at ground so by
+ * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
+ * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743VI also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ */
+
+MEMORY
+{
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+EXTERN(board_get_manifest)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > FLASH
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > FLASH
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > FLASH
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > FLASH
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > AXI_SRAM
+
+	/* Emit the the D3 power domain section for locating BDMA data */
+
+	.sram4_reserve (NOLOAD) :
+	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
+	} > SRAM4
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,29 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
+CONFIG_BOARD_ROMFSROOT="performance-test"
+CONFIG_DRIVERS_ADC_BOARD_ADC=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_MFT_CFG=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -0,0 +1,16 @@
+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_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=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_EKF2_AUX_GLOBAL_POSITION=y
+# CONFIG_EKF2_WIND is not set
+CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
@@ -0,0 +1,72 @@
+############################################################################
+#
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
+	add_compile_definitions(BOOTLOADER)
+	add_library(drivers_board
+		bootloader_main.c
+		init.c
+		timer_config.cpp
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer #gpio
+			arch_io_pins # iotimer
+			bootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		init.c
+		led.c
+		mtd.cpp
+		spi.cpp
+		timer_config.cpp
+	)
+	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 # drv_led_start
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer
+	)
+endif()
@@ -0,0 +1,209 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016-2022 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
+ *
+ * Auterion FMU-v6s 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
+ ****************************************************************************************************/
+
+/* Configuration ************************************************************************************/
+
+/* FIXME: remove with BOARD_HAS_SIMPLE_HW_VERSIONING */
+#define BOARD_HAS_HW_SPLIT_VERSIONING
+#define BOARD_HAS_ONLY_EEPROM_VERSIONING
+
+#define HW_INFO_INIT_PREFIX    "V6S"
+
+
+/* Auterion FMU GPIOs ***********************************************************************************/
+/* LEDs are driven with push pull */
+#define GPIO_nLED_RED        /* PB14 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
+#define GPIO_nLED_BLUE       /* PC13 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_nLED_GREEN      /* PE3  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS 1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_STATE_LED  LED_BLUE
+
+
+/* SPI */
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 1
+
+
+/* I2C busses
+ * Devices on the onboard buses.
+ *
+ * Note that these are unshifted addresses.
+ */
+#define BOARD_MTD_NUM_EEPROM 1 /* MTD: imu_eeprom */
+#define PX4_I2C_BUS_MTD      4
+
+
+/* CAN */
+#define UAVCAN_NUM_IFACES_RUNTIME  1
+
+
+/*
+ * 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
+ */
+#define ADC1_CH(n)                  (n)
+#define SYSTEM_ADC_BASE STM32_ADC1_BASE
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below  */
+/* PC3_C connected to PC3 internally, which connects to GPIO_ADC12_INP13 */
+
+#define PX4_ADC_GPIO \
+	/* PB1 */ GPIO_ADC12_INP5, \
+	/* PC0 */ GPIO_ADC123_INP10, \
+	/* PC3 */ GPIO_ADC12_INP13, \
+	/* PA3 */ GPIO_ADC12_INP15, \
+	/* PA0 */ GPIO_ADC1_INP16, \
+	/* PA4 */ GPIO_ADC12_INP18
+
+/* Define Channel numbers must match above GPIO pin IN(n)
+ * Note: These channel names are special, see board_common.h */
+#define ADC_BATTERY_CURRENT_CHANNEL             /* PB1 = 0 */  ADC1_CH(5)
+#define ADC_SCALED_V5_EXTERNAL_CHANNEL          /* PC0 = 1 */  ADC1_CH(10)
+#define ADC_BATTERY_VOLTAGE_CHANNEL             /* PC3 = 2 */  ADC1_CH(13)
+#define ADC_SCALED_V5_CHANNEL                   /* PA3 = 3 */  ADC1_CH(15)
+#define ADC_EXTRAS_CHANNEL                      /* PA0 = 4 */  ADC1_CH(16)
+#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL     /* PA4 = 5 */  ADC1_CH(18)
+
+#define ADC_CHANNELS \
+	((1 << ADC_EXTRAS_CHANNEL) | \
+	 (1 << ADC_SCALED_V5_EXTERNAL_CHANNEL) | \
+	 (1 << ADC_SCALED_V5_CHANNEL) | \
+	 (1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
+	 (1 << ADC_BATTERY_CURRENT_CHANNEL) | \
+	 (1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL))
+
+// Definitions for drivers/adc/board_adc
+#define BOARD_ADC_USB_CONNECTED 0
+// a hack to also measure the external 5V rail
+#define ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL ADC_SCALED_V5_EXTERNAL_CHANNEL
+
+
+/* PWM Timers */
+#define BOARD_NUM_IO_TIMERS 2
+#define DIRECT_PWM_OUTPUT_CHANNELS   8
+
+/* High-resolution timer */
+#define HRT_TIMER               8  /* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
+
+#define HRT_PPM_CHANNEL         /* T8C2 */  2  /* use capture/compare channel 1 */
+#define GPIO_PPM_IN             /* PC7  */ GPIO_TIM8_CH2IN_1
+
+/* RC Serial port (input only) */
+#define RC_SERIAL_PORT          "/dev/ttyS4"
+
+/* 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
+
+/* PD4 is ARMED
+ * The GPIO will be set as input while not armed with internal pull DOWN.
+ * While armed it shall be configured at a GPIO OUT set HIGH
+ */
+#define GPIO_ARMED_INIT  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN4)
+#define GPIO_ARMED       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN4)
+#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_ARMED : GPIO_ARMED_INIT)
+#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_ARMED)
+
+/* All pins to initialize on boot */
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_ARMED_INIT, \
+		PX4_ADC_GPIO,    \
+		GPIO_CAN1_TX,    \
+		GPIO_CAN1_RX,    \
+	}
+
+/* Enable the buffer for the dmesg command */
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the Auterion FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,59 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file bootloader_main.c
+ *
+ * FMU-specific early startup code for bootloader
+*/
+
+#include "board_config.h"
+#include "bl.h"
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+#include <px4_platform_common/init.h>
+
+void board_late_initialize(void)
+{
+}
+
+extern void sys_tick_handler(void);
+void board_timerhook(void)
+{
+	sys_tick_handler();
+}
@@ -0,0 +1,136 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu_can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+#if !defined(CONFIG_CAN)
+
+#include <stdint.h>
+
+#include "board_config.h"
+
+
+__EXPORT
+uint16_t board_get_can_interfaces(void)
+{
+	return 0b01;
+}
+
+#else
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "chip.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+#endif /* CONFIG_CAN */
@@ -0,0 +1,126 @@
+/*
+ * hw_config.h
+ *
+ *  Created on: May 17, 2015
+ *      Author: david_s5
+ */
+
+#ifndef HW_CONFIG_H_
+#define HW_CONFIG_H_
+
+/****************************************************************************
+ * 10-8--2016:
+ *  To simplify the ripple effect on the tools, we will be using
+ *  /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
+ *  moving forward all Bootloaders must contain the prefix "PX4 BL "
+ *  in the USBDEVICESTRING
+ *  This Change will be made in an upcoming BL release
+ ****************************************************************************/
+/*
+ * Define usage to configure a bootloader
+ *
+ *
+ * Constant                example          Usage
+ * APP_LOAD_ADDRESS     0x08004000            - The address in Linker Script, where the app fw is org-ed
+ * BOOTLOADER_DELAY     5000                  - Ms to wait while under USB pwr or bootloader request
+ * BOARD_FMUV2
+ * INTERFACE_USB        1                     - (Optional) Scan and use the USB interface for bootloading
+ * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
+ * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
+ * USBPRODUCTID         0x0011                - PID Should match defconfig
+ * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
+ *                                               delay provided by an APP FW
+ * BOARD_TYPE           9                     - Must match .prototype boad_id
+ * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
+ * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
+ * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
+ * BOARD_FLASH_SIZE     (_FLASH_KBYTES*1024)-   Total Flash size of device, determined at run time.
+ *                         (1024 * 1024)      - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
+ *                                              programmatically
+ *
+ * BOARD_FIRST_FLASH_SECTOR_TO_ERASE  2        - Optional sectors index in the flash_sectors table  (F4 only), to begin erasing.
+ *                                               This is to allow sectors to be reserved for app fw usage. That will NOT be erased
+ *                                               during a FW upgrade.
+ *                                               The default is 0, and selects the first sector to be erased, as the 0th entry in the
+ *                                               flash_sectors table. Which is the second physical sector of FLASH in the device.
+ *                                               The first physical sector of FLASH is used by the bootloader, and is not defined
+ *                                               in the table.
+ *
+ * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
+ *                                                                        BOOTLOADER_RESERVATION_SIZE  will be deducted from
+ *                                                                        BOARD_FLASH_SIZE to determine the size of the App FW
+ *                                                                        and hence the address space of FLASH to erase and program.
+ * USBMFGSTRING            "PX4 AP"            - Optional USB MFG string (default is '3D Robotics' if not defined.)
+ * SERIAL_BREAK_DETECT_DISABLED                -  Optional prevent break selection on Serial port from entering or staying in BL
+ *
+ * * Other defines are somewhat self explanatory.
+ */
+
+/* Boot device selection list*/
+#define SERIAL0_DEV    0x01
+
+#define APP_LOAD_ADDRESS               0x08020000
+#define BOOTLOADER_DELAY               5000
+#define INTERFACE_USB                  0
+#define INTERFACE_USART                1
+#define INTERFACE_USART_CONFIG         "/dev/ttyS0,1500000"
+#define BOOT_DELAY_ADDRESS             0x000001a0
+#define BOARD_TYPE                     60
+#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
+#define BOARD_FLASH_SECTORS            (15)
+#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
+
+#define OSC_FREQ                       24
+
+#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE  // BLUE
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_GREEN // GREEN
+#define BOARD_LED_ON                   1
+#define BOARD_LED_OFF                  0
+
+#define SERIAL_BREAK_DETECT_DISABLED   1
+
+// Connected to SAI3_RXC on i.MX8MP side, has a pulldown by default
+#define BOARD_FORCE_BL_PIN             (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN3)
+#define BOARD_FORCE_BL_STATE           1
+
+/*
+ * Uncommenting this allows to force the bootloader through
+ * a PWM output pin. As this can accidentally initialize
+ * an ESC prematurely, it is not recommended. This feature
+ * has not been used and hence defaults now to off.
+ *
+ * # define BOARD_FORCE_BL_PIN_OUT         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
+ * # define BOARD_FORCE_BL_PIN_IN          (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
+ *
+ * # define BOARD_POWER_PIN_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
+ * # define BOARD_POWER_ON                 1
+ * # define BOARD_POWER_OFF                0
+ * # undef  BOARD_POWER_PIN_RELEASE        // Leave pin enabling Power - un comment to release (disable power)
+ *
+*/
+
+#if !defined(ARCH_SN_MAX_LENGTH)
+# define ARCH_SN_MAX_LENGTH 12
+#endif
+
+#if !defined(APP_RESERVATION_SIZE)
+#  define APP_RESERVATION_SIZE 0
+#endif
+
+#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
+#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
+#endif
+
+#if !defined(USB_DATA_ALIGN)
+# define USB_DATA_ALIGN
+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION SERIAL0_DEV
+#endif
+
+#ifndef BOOT_DEVICES_FILTER_ONUSB
+#  define BOOT_DEVICES_FILTER_ONUSB SERIAL0_DEV
+#endif
+
+#endif /* HW_CONFIG_H_ */
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(1),
+	initI2CBusInternal(4),
+};
@@ -0,0 +1,244 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2022 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
+ *
+ * Auterion FMU-specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "board_config.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+#include <chip.h>
+#include <stm32_uart.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_common/px4_manifest.h>
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <px4_platform/board_dma_alloc.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	usleep(ms * 1000);
+	syslog(LOG_DEBUG, "reset done, %d ms\n", 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(io_timer_channel_get_gpio_output(i));
+	}
+
+	if (status >= 0) {
+		up_mdelay(6);
+	}
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	board_on_reset(-1); /* Reset PWM first thing */
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure Ethernet Reference Clock */
+	/* PLLQ1 is 100MHz, we need 50MHz on MCO1 => /2 */
+	/* stm32_mco1config(RCC_CFGR_MCO1_PLL1Q, RCC_CFGR_MCO1PRE(2)); */
+
+	/* configure pins */
+
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+#if !defined(BOOTLOADER)
+	/* Need hrt running before using the ADC */
+
+	px4_platform_init();
+
+	// Use the default HW_VER_REV(0x0,0x0) for Ramtron
+
+	stm32_spiinitialize();
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	if (OK == board_determine_hw_info()) {
+		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
+		       board_get_hw_type_name());
+
+	} else {
+		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
+	}
+
+	/* Configure the Actual SPI interfaces (after we determined the HW version)  */
+
+	stm32_spiinitialize();
+
+	board_spi_reset(10, 0xffff);
+
+	/* Configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+#  if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#  endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_on(LED_GREEN); // Indicate Power.
+	led_off(LED_BLUE);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+	if (nx_mount("/dev/mtdblock0", "/fs/microsd", "littlefs", 0, "autoformat") != 0) {
+		led_on(LED_RED);
+	}
+
+#endif /* !defined(BOOTLOADER) */
+
+	return OK;
+}
@@ -0,0 +1,235 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * PX4FMU LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+#ifdef CONFIG_ARCH_LEDS
+static bool nuttx_owns_leds = true;
+//                                B  R  S  G
+//                                0  1  2  3
+static const uint8_t xlatpx4[] = {1, 2, 4, 0};
+#  define xlat(p) xlatpx4[(p)]
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
+	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
+	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
+	GPIO_nSAFETY_SWITCH_LED_OUT,  // Indexed by LED_SAFETY by xlatpx4
+};
+
+#else
+
+#  define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
+	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
+	0,                                  // Indexed by LED_SAFETY (defaulted to an input)
+	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
+};
+
+#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 High to switch on */
+
+	if (g_ledmap[led] != 0) {
+		stm32_gpiowrite(g_ledmap[led], state);
+	}
+}
+
+static bool phy_get_led(int led)
+{
+	/* If High it is on */
+	if (g_ledmap[led] != 0) {
+		return stm32_gpioread(g_ledmap[led]);
+	}
+
+	return false;
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(xlat(led), true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(xlat(led), false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}
+
+#ifdef CONFIG_ARCH_LEDS
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_autoled_initialize
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	led_init();
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+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 : /* IDLE */
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+	}
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+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 : /* IDLE */
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */
@@ -0,0 +1,123 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+
+static const px4_mft_device_t spi4 = {             // FM25V02A on FMUM native: 128K X 8, emulated as (1024 Blocks of 32)
+	.bus_type = px4_mft_device_t::SPI,
+	.devid    = SPIDEV_FLASH(0)
+};
+static const px4_mft_device_t i2c4 = {             // 24LC64T   8K 32 X 256
+	.bus_type =  px4_mft_device_t::I2C,
+	.devid    =  PX4_MK_I2C_DEVID(4, 0x50)
+};
+
+
+static const px4_mtd_entry_t fmum_fram = {
+	.device = &spi4,
+	.npart = 1,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/mnt/microsd",
+			.nblocks = (131072 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT))
+		}
+	},
+};
+
+static const px4_mtd_entry_t fmum_eeprom = {
+	.device = &i2c4,
+	.npart = 5,
+	.partd = {
+		{
+			.type = MTD_CALDATA,
+			.path = "/fs/mtd_caldata",
+			.nblocks = 224
+		},
+		{
+			.type = MTD_MFT_VER,
+			.path = "/fs/mtd_mft_ver",
+			.nblocks = 8
+		},
+		{
+			.type = MTD_MFT_REV,
+			.path = "/fs/mtd_mft_rev",
+			.nblocks = 8
+		},
+		{
+			.type = MTD_ID,
+			.path = "/fs/mtd_id",
+			.nblocks = 8 // 256 = 32 * 8
+		},
+		{
+			.type = MTD_NET,
+			.path = "/fs/mtd_net",
+			.nblocks = 8 // 256 = 32 * 8
+		}
+	},
+};
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs   = 2,
+	.entries = {
+		&fmum_fram,
+		&fmum_eeprom
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_entry_s mft_mft = {
+	.type = MFT,
+	.pmft = (void *) system_query_manifest,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 2,
+	.mfts = {
+		&mtd_mft,
+		&mft_mft,
+	}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}
@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020, 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI3, {
+		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin12}, SPI::DRDY{GPIO::PortD, GPIO::Pin14}),
+		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortE, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin10}),
+	}),
+	initSPIBus(SPI::Bus::SPI4, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortE, GPIO::Pin4})
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,66 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+/* Timer allocation
+ *
+ * TIM1_CH1  T FMU_CH1
+ * TIM1_CH2  T FMU_CH2
+ * TIM1_CH3  T FMU_CH3
+ * TIM1_CH4  T FMU_CH4
+ *
+ * TIM3_CH1  T FMU_CH5
+ * TIM3_CH2  T FMU_CH6
+ * TIM3_CH3  T FMU_CH7
+ * TIM3_CH4  T FMU_CH8
+ */
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortC, GPIO::Pin6}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortB, GPIO::Pin5}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortC, GPIO::Pin9}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -0,0 +1,4 @@
+# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_DRIVERS_UAVCAN=n
+CONFIG_MODULES_UXRCE_DDS_CLIENT=n
+CONFIG_MODULES_ZENOH=y
@@ -15,3 +15,8 @@ config BOARD_USE_PROBES

 	---help---
 		Select to use GPIO FMU-CH1-8, CAP1  to provide timing signals from selected drivers.
+
+config BOARD_USE_RAMFUNCS
+	bool "Allow the usage of RAM functions on this board"
+	default n
+	select ARCH_HAVE_RAMFUNCS
@@ -67,6 +67,7 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_ITCM=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
@@ -75,6 +76,7 @@ CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BOARD_USE_RAMFUNCS=y
 CONFIG_BUILTIN=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
@@ -0,0 +1,15 @@
+*(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
+*(.text._ZN4uORB7Manager13orb_data_copyEPvS1_Rjb)
+*(.text._ZN7Mavlink16update_rate_multEv)
+*(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
+*(.text._ZN3Ekf20controlGravityFusionERKN9estimator9imuSampleE)
+*(.text._ZN7sensors22VehicleAngularVelocity21FilterAngularVelocityEiPfi)
+*(.text._ZN39ControlAllocationSequentialDesaturation23computeDesaturationGainERKN6matrix6VectorIfLj16EEES4_)
+*(.text._Z32param_get_default_value_internaltPv)
+*(.text._ZL19param_get_cplusplustPf.isra.0)
+*(.text.param_get_index)
+*(.text.param_get_system_default_value)
+*(.text.param_get)
+*(.text.param_get_default_value)
+*(.text._Z12get_orb_meta6ORB_ID)
+*(.text._ZN3Ekf17measurementUpdateERN6matrix6VectorIfLj24EEERKS2_ff)
@@ -0,0 +1,82 @@
+/* Static */
+*(.text.hrt_absolute_time)
+*(.text.arm_ack_irq)
+*(.text.arm_doirq)
+*(.text.arm_svcall)
+*(.text.arm_switchcontext)
+*(.text.clock_timer)
+*(.text.exception_common)
+*(.text.hrt_call_enter)
+*(.text.hrt_tim_isr)
+*(.text.stm32_configwaitints)
+*(.text.stm32_dmainterrupt)
+*(.text.stm32_dmaresidual)
+*(.text.stm32_dmasetup)
+*(.text.stm32_dmastart)
+*(.text.stm32_endwait)
+*(.text.stm32_endtransfer)
+*(.text.stm32_i2c_isr)
+*(.text.stm32_i2c_transfer)
+*(.text.stm32_interrupt)
+*(.text.stm32_interrupt_work)
+*(.text.stm32_ioctl)
+*(.text.stm32_receive)
+*(.text.stm32_sdmmc_interrupt)
+*(.text.stm32_txpoll)
+*(.text.stm32_usbinterrupt)
+*(.text.irq_dispatch)
+*(.text.ioctl)
+*(.text.memcpy)
+*(.text.memset)
+*(.text.nxsched_add_blocked)
+*(.text.nxsched_add_prioritized)
+*(.text.nxsched_add_readytorun)
+*(.text.nxsched_get_files)
+*(.text.nxsched_get_tcb)
+*(.text.nxsched_merge_pending)
+*(.text.nxsched_process_timer)
+*(.text.nxsched_remove_blocked)
+*(.text.nxsched_remove_readytorun)
+*(.text.nxsched_resume_scheduler)
+*(.text.nxsched_suspend_scheduler)
+*(.text.nxsem_add_holder)
+*(.text.nxsem_add_holder_tcb)
+*(.text.nxsem_clockwait)
+*(.text.nxsem_foreachholder)
+*(.text.nxsem_freecount0holder)
+*(.text.nxsem_freeholder)
+*(.text.nxsem_post)
+*(.text.nxsem_release_holder)
+*(.text.nxsem_restore_baseprio)
+*(.text.nxsem_tickwait)
+*(.text.nxsem_timeout)
+*(.text.nxsem_trywait)
+*(.text.nxsem_wait)
+*(.text.nxsem_wait_uninterruptible)
+*(.text.nxsig_timedwait)
+*(.text.perf_set_elapsed)
+*(.text.sched_lock)
+*(.text.sched_note_resume)
+*(.text.sched_note_suspend)
+*(.text.sched_unlock)
+*(.text.spi_exchange)
+*(.text.spi_exchange_nodma)
+*(.text.spi_send)
+*(.text.strcmp)
+*(.text.sq_addafter)
+*(.text.sq_addlast)
+*(.text.sq_rem)
+*(.text.sq_remafter)
+*(.text.sq_remfirst)
+*(.text.uart_connected)
+*(.text.up_block_task)
+*(.text.up_dma_receive)
+*(.text.up_dma_send)
+*(.text.up_dma_rxcallback)
+*(.text.up_dma_txcallback)
+*(.text.up_rxint)
+*(.text.up_txint)
+*(.text.up_unblock_task)
+*(.text.wd_timer)
+*(.text.wd_start)
+*(.text._do_memcpy)
@@ -94,9 +94,23 @@ EXTERN(board_get_manifest)

 SECTIONS
 {
+	.vectors : {
+		KEEP(*(.vectors))
+		*(.vectors)
+	} > FLASH_AXIM
+
+	.ramfunc : {
+		_sramfuncs = .;
+		INCLUDE "itcm_static_functions.ld"
+		INCLUDE "itcm_gen_functions.ld"
+		. = ALIGN(4);
+		_eramfuncs = .;
+	} > ITCM_RAM AT > FLASH_AXIM
+
+	_framfuncs = LOADADDR(.ramfunc);
+
 	.text : {
 		_stext = ABSOLUTE(.);
-		*(.vectors)
 		. = ALIGN(32);
 		/*
 		This signature provides the bootloader with a way to delay booting
@@ -115,7 +129,6 @@ SECTIONS
 		*(.gcc_except_table)
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);
-
 	} > FLASH_AXIM

 	/*
@@ -178,13 +191,4 @@ SECTIONS
 	.debug_line 0 : { *(.debug_line) }
 	.debug_pubnames 0 : { *(.debug_pubnames) }
 	.debug_aranges 0 : { *(.debug_aranges) }
-
-	.ramfunc : {
-		_sramfuncs = .;
-		*(.ramfunc  .ramfunc.*)
-		. = ALIGN(4);
-		_eramfuncs = .;
-	} > ITCM_RAM AT > FLASH_AXIM
-
-	_framfuncs = LOADADDR(.ramfunc);
 }
@@ -24244,12 +24244,13 @@ Reboot | minValue | maxValue | increment | default | unit

 Thrust curve mapping in Stabilized Mode.

-Defines how the throttle stick is mapped to collective thrust in Stabilized mode. Rescale to hover thrust: Stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). No Rescale: Directly map the stick 1:1 to the output. Can be useful with very low hover thrust which leads to much distortion and the upper half getting sensitive. With MPC_THR_HOVER 0.5 both modes are the same.
+Defines how the throttle stick is mapped to collective thrust in Stabilized mode. Rescale to hover thrust estimate: Stick input is linearly rescaled, such that a centered throttle stick corresponds to the hover thrust estimator's output. No rescale: Directly map the stick 1:1 to the output. Can be useful with very low hover thrust which leads to much distortion and the upper half getting sensitive. Rescale to hover thrust parameter: Similar to rescaling to the hover thrust estimate, but it uses the hover thrust parameter value (see MPC_THR_HOVER) instead of estimated value. With MPC_THR_HOVER 0.5 it's equivalent to No rescale.

 **Values:**

- `0`: Rescale to hover thrust
- `1`: No Rescale
+- `0`: Rescale to estimate
+- `1`: No rescale
+- `2`: Rescale to parameter


 Reboot | minValue | maxValue | increment | default | unit
@@ -24338,7 +24339,7 @@ Reboot | minValue | maxValue | increment | default | unit

 Hover thrust estimator.

-Disable to use the fixed parameter MPC_THR_HOVER Enable to use the hover thrust estimator
+Disable to use the fixed parameter MPC_THR_HOVER. Enable to use the hover thrust estimator. This parameter does not influence Stabilized mode throttle curve (see MPC_THR_CURVE).

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
@@ -89,7 +89,7 @@ This protocol is commonly use is for connecting [optical flow](../sensor/optical
 | SCK    | ![black][blkcircle] Black | ![yellow][ycircle] Yellow |
 | MISO   | ![black][blkcircle] Black | ![blue][bluecircle] Blue  |
 | MOSI   | ![black][blkcircle] Black | ![green][gcircle] Green   |
-| CS!    | ![black][blkcircle] Black | ![white][wcircle] White   |
+| CS1    | ![black][blkcircle] Black | ![white][wcircle] White   |
 | CS2    | ![black][blkcircle] Black | ![blue][bluecircle] Blue  |
 | GND    | ![black][blkcircle] Black | ![black][blkcircle] Black |

@@ -88,9 +88,9 @@ Commands supported in missions, including camera commands, are shown in these me
  - Mission items are executed when set active.
  - `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
    - [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
-      - Creates a vehicle command for the mission item then calls `publish_vehicle_cmd` to publish it (`_navigator->publish_vehicle_cmd(&vcmd);`)
-        - [`void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
-          - For some camera commands it sets the component ID to the camera component id (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
+      - Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(vehicle_command);`)
+        - [`void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395)
+          - For some camera commands it sets the component ID to the camera component id (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
          - All others just get published to default component ID.
          - The `VehicleCommand` UORB topic is published.

@@ -83,11 +83,11 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
 Issuing command:
 MissionBlock::issue_command(const mission_item_s &item) =>  https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
  At end this publishes the current vehicle command
-  _navigator->publish_vehicle_cmd(&vcmd);
+  _navigator.publish_vehicle_command(vehicle_command);

 Publishing command:
-void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
-  For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
+void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395
+  For camera commands set to vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
  All others just get published as-is
 -->

@@ -7,10 +7,10 @@ Contact the [manufacturer](https://holybro.com/) for hardware support or complia

 _Pixhawk 6C Mini_<sup>&reg;</sup> is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with Holybro<sup>&reg;</sup> and the PX4 team.

-It is equipped with a high performance H7 Processor, and comes with IMU redundancy, temperature-controlled IMU board, and cost effective design, delivering incredible performance and reliability.
+It is equipped with a high performance H7 Processor and comes with IMU redundancy, temperature-controlled IMU board, and cost effective design, delivering incredible performance and reliability.
 It complies with the Pixhawk [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).

-![Pixhawk6c mini Upright Image](../../assets/flight_controller/pixhawk6c_mini/pixhawk6c_mini_hero.jpg)
+![Pixhawk6c mini A&B Image](../../assets/flight_controller/pixhawk6c_mini/HB_6C_MINI-A_B.jpg)

 :::tip
 This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
@@ -22,13 +22,13 @@ The Pixhawk® 6C Mini is the latest update to the successful family of Pixhawk®

 Inside the Pixhawk® 6C Mini, you can find an STMicroelectronics® based STM32H743, paired with sensor technology from Bosch® & InvenSense®, giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications.

-The Pixhawk® 6C Mini's H7 microcontroller contain the Arm® Cortex®-M7 core running up to 480 MHz, has 2MB flash memory and 1MB RAM.
+The Pixhawk® 6C Mini's H7 microcontroller contain the Arm® Cortex®-M7 core running up to 480 MHz, and has 2MB flash memory and 1MB RAM.
 Thanks to the updated processing power, developers can be more productive and efficient with their development work, allowing for complex algorithms and models.

 The Pixhawk 6C Mini includes high-performance, low-noise IMUs on board, designed to be cost effective while having IMU redundancy.
 A vibration isolation System to filter out high-frequency vibration and reduce noise to ensure accurate readings, allowing vehicles to reach better overall flight performances.

-The Pixhawk® 6C Mini is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application.
+The Pixhawk® 6C Mini is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial applications.

 **Key Design Points**

@@ -64,7 +64,7 @@ The Pixhawk® 6C Mini is perfect for developers at corporate research labs, star
 ### **Mechanical data**

 - Dimensions: 53.3 x 39 x 16.2 mm
- Weight : 39.2g
+- Weight: 39.2g

 ### **Interfaces**

@@ -116,7 +116,8 @@ Please refer to the [Pixhawk 4 Mini Wiring Quick Start](../assembly/quick_start_

 ## Dimensions

-![Pixhawk6c Mini Dimensions](../../assets/flight_controller/pixhawk6c_mini/pixhawk_6c_mini_dimension.jpg)
+![Pixhawk6c Mini A Dimensions](../../assets/flight_controller/pixhawk6c_mini/pixhawk_6c_mini_dimension.jpg)
+![Pixhawk6c Mini B Dimensions](../../assets/flight_controller/pixhawk6c_mini/pixhawk_6c_mini_b_dimensions.jpg)

 ## Voltage Ratings

@@ -124,14 +125,14 @@ _Pixhawk 6C Mini_ can be double-redundant on the power supply if two power sourc

 **Normal Operation Maximum Ratings**

-Under these conditions all power sources will be used in this order to power the system:
+Under these conditions, all power sources will be used in this order to power the system:

 1. **POWER1** inputs (4.9V to 5.5V)
 1. **USB** input (4.75V to 5.25V)

 **Absolute Maximum Ratings**

-Under these conditions the system will not draw any power (will not be operational), but will remain intact.
+Under these conditions, the system will not draw any power (will not be operational), but will remain intact.

 1. **POWER1** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
 1. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
@@ -9,31 +9,44 @@ _Pixhawk 6X_<sup>&reg;</sup> is the latest update to the successful family of Pi

 It is based on the [Pixhawk® Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf), [Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf), and [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).

-Equipped with a high performance H7 Processor, modular design, triple redundancy, temperature-controlled IMU board, isolated sensor domains, delivering incredible performance, reliability, and flexibility.
+Equipped with a high-performance H7 Processor, modular design, triple redundancy, temperature-controlled IMU board, and isolated sensor domains, delivering incredible performance, reliability, and flexibility.

-### Pixhawk 6X (Rev 3)
+### Pixhawk 6X (Rev 8)

-<img src="../../assets/flight_controller/pixhawk6x/pixhawk6x_hero_upright.png" width="230px" title="Pixhawk6X Upright Image" /> <img src="../../assets/flight_controller/pixhawk6x/pixhawk6x_exploded_diagram.png" width="400px" title="Pixhawk6X Exploded Image" />
+<img src="../../assets/flight_controller/pixhawk6x/HB_6X_rev8_V2A.png" width="420px"/><img src="../../assets/flight_controller/pixhawk6x/hb_6x_internal_v2.png" width="320px"/>

+#### Pixhawk 6X (Rev 3/4, discontinued)

-### Pixhawk 6X (ICM-45686)
+<img src="../../assets/flight_controller/pixhawk6x/pixhawk6x_hero_upright.png" width="150px" title="Pixhawk6X Upright Image" /> <img src="../../assets/flight_controller/pixhawk6x/pixhawk6x_exploded_diagram.png" width="280px" title="Pixhawk6X Exploded Image" />
+
+### Pixhawk 6X Baseboards Options

 :::: tabs

 ::: tab Standard v2A

-![Pixhawk 6X Standard v2A](../../assets/flight_controller/pixhawk6x/pixhawk6x_icm_v2a.webp)
+![Pixhawk 6X Standard v2A](../../assets/flight_controller/pixhawk6x/HB_PH6X_V2A.jpg)

 :::

 ::: tab Standard v2B

-![Pixhawk 6X Standard v2B](../../assets/flight_controller/pixhawk6x/pixhawk6x_icm_v2b.webp)
+![Pixhawk 6X Standard v2B](../../assets/flight_controller/pixhawk6x/HB_PH6X_V2B.jpg)
 :::

 ::: tab Mini

-![Pixhawk 6X Mini](../../assets/flight_controller/pixhawk6x/pixhawk6x_icm_mini.webp)
+![Pixhawk 6X Mini](../../assets/flight_controller/pixhawk6x/HB_PH6X_Mini.jpg)
+:::
+
+::: tab Jetson Baseboard
+
+![Jetson Baseboard](../../assets/flight_controller/pixhawk6x/HB_Jetson_BB.jpg)
+:::
+
+::: tab CM4 Baseboard
+
+![Pixhawk 6X CM4](../../assets/flight_controller/pixhawk6x/HB_PH6X_CM4.jpg)
 :::

 ::::
@@ -54,15 +67,15 @@ An independent LDO powers every sensor set with independent power control. A vib

 External sensor bus (SPI5) has two chip select lines and data-ready signals for additional sensors and payload with SPI-interface, and with an integrated Microchip Ethernet PHY, high-speed communication with mission computers via ethernet is now possible.

-The Pixhawk® 6X is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial application.
+The Pixhawk® 6X is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial applications.

 ## Key Design Points

- High performance STM32H753 Processor
+- High-performance STM32H753 Processor
 - Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector.
 - Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses
 - Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control
- Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
+- Newly designed vibration isolation system to filter out high-frequency vibration and reduce noise to ensure accurate readings
 - Ethernet interface for high-speed mission computer integration
 - IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20;

@@ -72,7 +85,11 @@ The Pixhawk® 6X is perfect for developers at corporate research labs, startu
  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
 - IO Processor: STM32F100
  - 32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM
- On-board sensors
+- On-board sensors (Shipping Currently, Rev 8)
+  - Accel/Gyro: 3x ICM-45686 (with BalancedGyro™ Technology)
+  - Barometer: ICP20100 & BMP388
+  - Mag: BMM150
+- On-board sensors (Rev 3/4, discontinued)
  - Accel/Gyro: ICM-20649 or BMI088
  - Accel/Gyro: ICM-42688-P
  - Accel/Gyro: ICM-42670-P
@@ -182,14 +199,14 @@ The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm P

 **Normal Operation Maximum Ratings**

-Under these conditions all power sources will be used in this order to power the system:
+Under these conditions, all power sources will be used in this order to power the system:

 1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
 1. **USB** input (4.75V to 5.25V)

 **Absolute Maximum Ratings**

-Under these conditions the system will not draw any power (will not be operational), but will remain intact.
+Under these conditions, the system will not draw any power (will not be operational) but will remain intact.

 1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
 1. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
@@ -200,7 +217,7 @@ Under these conditions the system will not draw any power (will not be operation
 Digital I2C battery monitoring is enabled by default (see [Quickstart > Power](../assembly/quick_start_pixhawk6x.md#power)).

 ::: info
-Analog battery monitoring via an ADC is not supported on this particular board, but may be supported in variations of this flight controller with a different baseboard.
+Analog battery monitoring via an ADC is not supported on this particular board but may be supported in variations of this flight controller with a different baseboard.
 :::

 ## Building Firmware
@@ -88,9 +88,9 @@ Commands supported in missions, including camera commands, are shown in these me
  - Mission items are executed when set active.
  - `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
    - [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
-      - Creates a vehicle command for the mission item then calls `publish_vehicle_cmd` to publish it (`_navigator->publish_vehicle_cmd(&vcmd);`)
-        - [`void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
-          - For some camera commands it sets the component ID to the camera component id (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
+      - Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(vehicle_command);`)
+        - [`void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395)
+          - For some camera commands it sets the component ID to the camera component id (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
          - All others just get published to default component ID.
          - The `VehicleCommand` UORB topic is published.

@@ -83,11 +83,11 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
 Issuing command:
 MissionBlock::issue_command(const mission_item_s &item) =>  https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
  At end this publishes the current vehicle command
-  _navigator->publish_vehicle_cmd(&vcmd);
+  _navigator->publish_vehicle_command(vehicle_command);

 Publishing command:
-void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
-  For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
+void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395
+  For camera commands set to vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
  All others just get published as-is
 -->

@@ -88,9 +88,9 @@ PX4 повторно видає пункти камери, знайдені в
  - Предмети місії виконуються, коли вони активовані.
  - `issue_command(_mission_item)` викликається в кінці цього, щоб відправити поточну непунктову команду
    - [`MissionBlock::видача_команди(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
-      - Створює команду для місії транспортного засобу, а потім викликає `publish_vehicle_cmd` для публікації її (`_navigator->publish_vehicle_cmd(&vcmd);`)
-        - [`void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
-          - Для деяких команд камери це встановлює ідентифікатор компонента на ідентифікатор компонента камери (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
+      - Створює команду для місії транспортного засобу, а потім викликає `publish_vehicle_command` для публікації її (`_navigator->publish_vehicle_command(vehicle_command);`)
+        - [`void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395)
+          - Для деяких команд камери це встановлює ідентифікатор компонента на ідентифікатор компонента камери (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
          - Усі інші просто публікуються під стандартний компонент ID.
          - Тема UORB `VehicleCommand` публікується.

@@ -83,11 +83,11 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
 Issuing command:
 MissionBlock::issue_command(const mission_item_s &item) =>  https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
  At end this publishes the current vehicle command
-  _navigator->publish_vehicle_cmd(&vcmd);
+  _navigator->publish_vehicle_command(&vehicle_command);

 Publishing command:
-void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
-  For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
+void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395
+  For camera commands set to vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
  All others just get published as-is
 -->

@@ -88,9 +88,9 @@ Commands supported in missions, including camera commands, are shown in these me
  - Mission items are executed when set active.
  - `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
    - [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
-      - Creates a vehicle command for the mission item then calls `publish_vehicle_cmd` to publish it (`_navigator->publish_vehicle_cmd(&vcmd);`)
-        - [`void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
-          - For some camera commands it sets the component ID to the camera component id (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
+      - Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(vehicle_command);`)
+        - [`void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395)
+          - For some camera commands it sets the component ID to the camera component id (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
          - All others just get published to default component ID.
          - The `VehicleCommand` UORB topic is published.

@@ -83,11 +83,11 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
 Issuing command:
 MissionBlock::issue_command(const mission_item_s &item) =>  https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
  At end this publishes the current vehicle command
-  _navigator->publish_vehicle_cmd(&vcmd);
+  _navigator->publish_vehicle_command(vehicle_command);

 Publishing command:
-void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
-  For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
+void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395
+  For camera commands set to vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
  All others just get published as-is
 -->

@@ -210,6 +210,7 @@ set(msg_files
 	TelemetryStatus.msg
 	TiltrotorExtraControls.msg
 	TimesyncStatus.msg
+	TrajectorySetpoint6dof.msg
 	TransponderReport.msg
 	TuneControl.msg
 	UavcanParameterRequest.msg
@@ -0,0 +1,13 @@
+# Trajectory setpoint in NED frame
+# Input to position controller.
+
+uint64 timestamp # time since system start (microseconds)
+
+# NED local world frame
+float32[3] position               # in meters
+float32[3] velocity               # in meters/second
+float32[3] acceleration           # in meters/second^2
+float32[3] jerk                   # in meters/second^3 (for logging only)
+
+float32[4] quaternion             # unit quaternion
+float32[3] angular_velocity       # angular velocity in radians/second
@@ -89,7 +89,7 @@ static constexpr wq_config_t ttyS9{"wq:ttyS9", 1728, -30};
 static constexpr wq_config_t ttyACM0{"wq:ttyACM0", 1728, -31};
 static constexpr wq_config_t ttyUnknown{"wq:ttyUnknown", 1728, -32};

-static constexpr wq_config_t lp_default{"wq:lp_default", 2350, -50};
+static constexpr wq_config_t lp_default{"wq:lp_default", 3500, -50};

 static constexpr wq_config_t test1{"wq:test1", 2000, 0};
 static constexpr wq_config_t test2{"wq:test2", 2000, 0};
@@ -156,8 +156,17 @@
 # if CONFIG_STM32_TIM11
 #  error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11
 # endif
+#elif HRT_TIMER == 12
+# define HRT_TIMER_BASE		STM32_TIM12_BASE
+# define HRT_TIMER_POWER_REG	STM32_RCC_APB1ENR
+# define HRT_TIMER_POWER_BIT	RCC_APB1LENR_TIM12EN
+# define HRT_TIMER_VECTOR	STM32_IRQ_TIM12
+# define HRT_TIMER_CLOCK	STM32_APB1_TIM12_CLKIN
+# if CONFIG_STM32_TIM12
+#  error must not set CONFIG_STM32_TIM12=y and HRT_TIMER=12
+# endif
 #else
-# error HRT_TIMER must be a value between 1 and 11
+# error HRT_TIMER must be a value between 1 and 12
 #endif

 /*
@@ -33,6 +33,7 @@

 #include "TFMINI.hpp"

+#include <lib/parameters/param.h>
 #include <lib/drivers/device/Device.hpp>
 #include <fcntl.h>

@@ -72,7 +73,8 @@ TFMINI::~TFMINI()
 int
 TFMINI::init()
 {
-	int32_t hw_model = 1; // only one model so far...
+	int32_t hw_model = 1;
+	param_get(param_find("SENS_TFMINI_HW"), &hw_model);

 	switch (hw_model) {
 	case 1: // TFMINI (12m, 100 Hz)
@@ -83,8 +85,19 @@ TFMINI::init()
 		// So we set 0.4 as valid minimum.
 		_px4_rangefinder.set_min_distance(0.4f);
 		_px4_rangefinder.set_max_distance(12.0f);
-		_px4_rangefinder.set_fov(math::radians(1.15f));
+		_px4_rangefinder.set_fov(math::radians(2.3f));
+		break;

+	case 2: // ISTRA24 (50m, 100 Hz)
+		_px4_rangefinder.set_min_distance(0.3f);
+		_px4_rangefinder.set_max_distance(50.0f);
+		_px4_rangefinder.set_fov(math::radians(20));
+		break;
+
+	case 3: // ISTRA24 (100m, 100 Hz)
+		_px4_rangefinder.set_min_distance(0.3f);
+		_px4_rangefinder.set_max_distance(100.0f);
+		_px4_rangefinder.set_fov(math::radians(20));
 		break;

 	default:
@@ -4,3 +4,20 @@ serial_config:
      port_config_param:
        name: SENS_TFMINI_CFG
        group: Sensors
+
+parameters:
+    - group: Sensors
+      definitions:
+        SENS_TFMINI_HW:
+            description:
+                short: Hardware Model
+                long: Models differ in range and FoV.
+            type: enum
+            values:
+                1: TFMINI
+                2: ISTRA24
+                3: ISTRA24_100m
+            min: 1
+            max: 3
+            default: 1
+            reboot_required: true
@@ -132,7 +132,6 @@ $ tfmini stop
 	PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("status","Driver status");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop driver");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("test","Test driver (basic functional tests)");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("status","Print driver status");
 	return PX4_OK;
 }
@@ -72,6 +72,7 @@ add_subdirectory(rover_control EXCLUDE_FROM_ALL)
 add_subdirectory(rtl EXCLUDE_FROM_ALL)
 add_subdirectory(sensor_calibration EXCLUDE_FROM_ALL)
 add_subdirectory(slew_rate EXCLUDE_FROM_ALL)
+add_subdirectory(stick_yaw EXCLUDE_FROM_ALL)
 add_subdirectory(systemlib EXCLUDE_FROM_ALL)
 add_subdirectory(system_identification EXCLUDE_FROM_ALL)
 add_subdirectory(tecs EXCLUDE_FROM_ALL)
@@ -0,0 +1,37 @@
+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(StickYaw
+	StickYaw.cpp
+)
+target_include_directories(StickYaw PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -113,7 +113,7 @@ float StickYaw::updateYawLock(const float yaw, const float yawspeed_setpoint, co
 		return NAN;

 	} else {
-		// break down and hold the current heading when no more rotation commanded
+		// slow down and hold the current heading when no more rotation commanded
 		if (!PX4_ISFINITE(yaw_setpoint)) {
 			return yaw;

@@ -61,7 +61,7 @@ void GeofenceChecks::checkAndReport(const Context &context, Report &reporter)
 						    events::Log::Error, "Geofence violation: exceeding maximum distance to Home");

 			if (reporter.mavlink_log_pub()) {
-				mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence violation: exceeding maximum distance to Home");
+				mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence: exceeding maximum distance to Home");
 			}
 		}

@@ -77,7 +77,7 @@ void GeofenceChecks::checkAndReport(const Context &context, Report &reporter)
 						    events::Log::Error, "Geofence violation: exceeding maximum altitude above Home");

 			if (reporter.mavlink_log_pub()) {
-				mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence violation: exceeding maximum altitude above Home");
+				mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence: exceeding maximum altitude above Home");
 			}
 		}

@@ -93,7 +93,7 @@ void GeofenceChecks::checkAndReport(const Context &context, Report &reporter)
 						    events::Log::Error, "Geofence violation: approaching or outside geofence");

 			if (reporter.mavlink_log_pub()) {
-				mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence violation: approaching or outside geofence");
+				mavlink_log_critical(reporter.mavlink_log_pub(), "Geofence: approaching or outside geofence");
 			}
 		}
 	}
@@ -661,8 +661,9 @@ FailsafeBase::Action Failsafe::checkModeFallback(const failsafe_flags_s &status_
 	switch (position_control_navigation_loss_response(_param_com_posctl_navl.get())) {
 	case position_control_navigation_loss_response::Altitude_Manual: // AltCtrl/Manual

-		// PosCtrl -> AltCtrl
-		if (user_intended_mode == vehicle_status_s::NAVIGATION_STATE_POSCTL
+		// PosCtrl/PositionSlow -> AltCtrl
+		if ((user_intended_mode == vehicle_status_s::NAVIGATION_STATE_POSCTL ||
+		     user_intended_mode == vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW)
 		    && !modeCanRun(status_flags, user_intended_mode)) {
 			action = Action::FallbackAltCtrl;
 			user_intended_mode = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
@@ -679,8 +680,9 @@ FailsafeBase::Action Failsafe::checkModeFallback(const failsafe_flags_s &status_

 	case position_control_navigation_loss_response::Land_Descend: // Land/Terminate

-		// PosCtrl -> Land
-		if (user_intended_mode == vehicle_status_s::NAVIGATION_STATE_POSCTL
+		// PosCtrl/PositionSlow -> Land
+		if ((user_intended_mode == vehicle_status_s::NAVIGATION_STATE_POSCTL ||
+		     user_intended_mode == vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW)
 		    && !modeCanRun(status_flags, user_intended_mode)) {
 			action = Action::Land;
 			user_intended_mode = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
@@ -35,6 +35,7 @@

 using matrix::AxisAnglef;
 using matrix::Dcmf;
+using matrix::Eulerf;
 using matrix::Quatf;
 using matrix::Vector2f;
 using matrix::Vector3f;
@@ -196,6 +197,7 @@ void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector
 	const Quatf dq(AxisAnglef{delta_angle_corrected});

 	// rotate the previous INS quaternion by the delta quaternions
+	const Quatf quat_nominal_before_update = _output_new.quat_nominal;
 	_output_new.quat_nominal = _output_new.quat_nominal * dq;

 	// the quaternions must always be normalised after modification
@@ -244,9 +246,14 @@ void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector
 	}

 	// update auxiliary yaw estimate
-	const Vector3f unbiased_delta_angle = delta_angle - delta_angle_bias_scaled;
-	const float spin_del_ang_D = unbiased_delta_angle.dot(Vector3f(_R_to_earth_now.row(2)));
-	_unaided_yaw = matrix::wrap_pi(_unaided_yaw + spin_del_ang_D);
+	// rotate the state quternion by the delta quaternion only corrected for bias without EKF corrections
+	const Vector3f delta_angle_unaided = delta_angle - delta_angle_bias_scaled;
+	const float yaw_state = Eulerf(quat_nominal_before_update).psi();
+	const Quatf quat_unaided = quat_nominal_before_update * Quatf(AxisAnglef(delta_angle_unaided));
+	const float yaw_without_aiding = Eulerf(quat_unaided).psi();
+	// Yaw before delta quaternion applied and yaw after. The difference is the delta yaw. Accumulate it.
+	const float unaided_delta_yaw = yaw_without_aiding - yaw_state;
+	_unaided_yaw = matrix::wrap_pi(_unaided_yaw + unaided_delta_yaw);
 }

 void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us,
@@ -35,5 +35,5 @@ px4_add_library(FlightTaskAuto
 	FlightTaskAuto.cpp
 )

-target_link_libraries(FlightTaskAuto PUBLIC FlightTask FlightTaskUtility WeatherVane)
+target_link_libraries(FlightTaskAuto PUBLIC FlightTask FlightTaskUtility StickYaw WeatherVane)
 target_include_directories(FlightTaskAuto PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -235,7 +235,7 @@ void FlightTaskAuto::_prepareLandSetpoints()
 	bool range_dist_available = PX4_ISFINITE(_dist_to_bottom);

 	if (range_dist_available && _dist_to_bottom <= _param_mpc_land_alt3.get()) {
-		vertical_speed = _param_mpc_land_crawl_speed.get();
+		vertical_speed = _param_mpc_land_crwl.get();
 	}

 	if (_type_previous != WaypointType::land) {
@@ -46,12 +46,12 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
 #include <lib/geo/geo.h>
-#include <lib/weather_vane/WeatherVane.hpp>
 #include <lib/mathlib/math/filter/AlphaFilter.hpp>
 #include <lib/motion_planning/PositionSmoothing.hpp>
+#include <lib/stick_yaw/StickYaw.hpp>
+#include <lib/weather_vane/WeatherVane.hpp>
 #include "Sticks.hpp"
 #include "StickAccelerationXY.hpp"
-#include "StickYaw.hpp"

 /**
 * This enum has to agree with position_setpoint_s type definition
@@ -165,20 +165,16 @@ protected:
 					(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
 					(ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max,
 					(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
-					(ParamFloat<px4::params::MPC_LAND_CRWL>) _param_mpc_land_crawl_speed,
+					(ParamFloat<px4::params::MPC_LAND_CRWL>) _param_mpc_land_crwl,
 					(ParamInt<px4::params::MPC_LAND_RC_HELP>) _param_mpc_land_rc_help,
 					(ParamFloat<px4::params::MPC_LAND_RADIUS>) _param_mpc_land_radius,
-					(ParamFloat<px4::params::MPC_LAND_ALT1>)
-					_param_mpc_land_alt1, // altitude at which we start ramping down speed
-					(ParamFloat<px4::params::MPC_LAND_ALT2>)
-					_param_mpc_land_alt2, // altitude at which we descend at land speed
-					(ParamFloat<px4::params::MPC_LAND_ALT3>)
-					_param_mpc_land_alt3, // altitude where we switch to crawl speed, if LIDAR available
+					(ParamFloat<px4::params::MPC_LAND_ALT1>) _param_mpc_land_alt1,
+					(ParamFloat<px4::params::MPC_LAND_ALT2>) _param_mpc_land_alt2,
+					(ParamFloat<px4::params::MPC_LAND_ALT3>) _param_mpc_land_alt3,
 					(ParamFloat<px4::params::MPC_Z_V_AUTO_UP>) _param_mpc_z_v_auto_up,
 					(ParamFloat<px4::params::MPC_Z_V_AUTO_DN>) _param_mpc_z_v_auto_dn,
 					(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
-					(ParamFloat<px4::params::MPC_TKO_RAMP_T>)
-					_param_mpc_tko_ramp_t // time constant for smooth takeoff ramp
+					(ParamFloat<px4::params::MPC_TKO_RAMP_T>) _param_mpc_tko_ramp_t
 				       );

 private:
@@ -35,5 +35,5 @@ px4_add_library(FlightTaskDescend
 	FlightTaskDescend.cpp
 )

-target_link_libraries(FlightTaskDescend PUBLIC FlightTask FlightTaskUtility)
+target_link_libraries(FlightTaskDescend PUBLIC FlightTask FlightTaskUtility StickYaw)
 target_include_directories(FlightTaskDescend PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -37,10 +37,10 @@

 #pragma once

+#include <lib/stick_yaw/StickYaw.hpp>
 #include "FlightTask.hpp"
 #include "Sticks.hpp"
 #include "StickTiltXY.hpp"
-#include "StickYaw.hpp"

 class FlightTaskDescend : public FlightTask
 {
@@ -33,10 +33,9 @@

 #pragma once

+#include <lib/weather_vane/WeatherVane.hpp>
 #include "FlightTaskManualAltitudeSmoothVel.hpp"
 #include "StickAccelerationXY.hpp"
-#include "StickYaw.hpp"
-#include <lib/weather_vane/WeatherVane.hpp>

 class FlightTaskManualAcceleration : public FlightTaskManualAltitudeSmoothVel
 {
@@ -35,5 +35,5 @@ px4_add_library(FlightTaskManualAltitude
 	FlightTaskManualAltitude.cpp
 )

-target_link_libraries(FlightTaskManualAltitude PUBLIC FlightTask FlightTaskUtility)
+target_link_libraries(FlightTaskManualAltitude PUBLIC FlightTask FlightTaskUtility StickYaw)
 target_include_directories(FlightTaskManualAltitude PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -39,10 +39,10 @@

 #pragma once

+#include <lib/stick_yaw/StickYaw.hpp>
 #include "FlightTask.hpp"
 #include "Sticks.hpp"
 #include "StickTiltXY.hpp"
-#include "StickYaw.hpp"
 #include <uORB/Subscription.hpp>

 class FlightTaskManualAltitude : public FlightTask
@@ -35,7 +35,6 @@ px4_add_library(FlightTaskUtility
 	Sticks.cpp
 	StickAccelerationXY.cpp
 	StickTiltXY.cpp
-	StickYaw.cpp
 	Gimbal.cpp
 )

@@ -123,13 +123,14 @@ FixedwingRateControl::vehicle_manual_poll()

 			} else {
 				// Manual/direct control, filled in FW-frame. Note that setpoints will get transformed to body frame prior publishing.
+				const float airspeed_scaling_sq = _airspeed_scaling * _airspeed_scaling;

 				_vehicle_torque_setpoint.xyz[0] = math::constrain(_manual_control_setpoint.roll * _param_fw_man_r_sc.get() +
-								  _param_trim_roll.get(), -1.f, 1.f);
+								  _param_trim_roll.get() * airspeed_scaling_sq, -1.f, 1.f);
 				_vehicle_torque_setpoint.xyz[1] = math::constrain(-_manual_control_setpoint.pitch * _param_fw_man_p_sc.get() +
-								  _param_trim_pitch.get(), -1.f, 1.f);
+								  _param_trim_pitch.get() * airspeed_scaling_sq, -1.f, 1.f);
 				_vehicle_torque_setpoint.xyz[2] = math::constrain(_manual_control_setpoint.yaw * _param_fw_man_y_sc.get() +
-								  _param_trim_yaw.get(), -1.f, 1.f);
+								  _param_trim_yaw.get() * airspeed_scaling_sq, -1.f, 1.f);

 				_vehicle_thrust_setpoint.xyz[0] = math::constrain((_manual_control_setpoint.throttle + 1.f) * .5f, 0.f, 1.f);
 			}
@@ -325,6 +326,7 @@ void FixedwingRateControl::Run()

 			/* bi-linear interpolation over airspeed for actuator trim scheduling */
 			Vector3f trim(_param_trim_roll.get(), _param_trim_pitch.get(), _param_trim_yaw.get());
+			trim *= _airspeed_scaling * _airspeed_scaling;

 			if (airspeed < _param_fw_airspd_trim.get()) {
 				trim(0) += interpolate(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(),
@@ -121,7 +121,9 @@ bool FixedwingLandDetector::_get_landed_state()
 		const float vel_xy_max_threshold   = airspeed_invalid ? 0.7f * _param_lndfw_vel_xy_max.get() :
 						     _param_lndfw_vel_xy_max.get();

-		const float max_rotation_threshold = math::radians(_param_lndfw_rot_max.get()) ;
+		// only use the max rotational threshold if neither airspeed nor groundspeed can be used for landing detection
+		const float max_rotation_threshold = (!_vehicle_local_position.v_xy_valid
+						      && airspeed_invalid) ? math::radians(_param_lndfw_rot_max.get()) : INFINITY;

 		// Crude land detector for fixedwing.
 		landDetected = _airspeed_filtered         < _param_lndfw_airspd.get()
@@ -40,7 +40,7 @@
 *
 * @unit m/s
 * @min 0.5
- * @max 10
+ * @max 20
 * @decimal 1
 *
 * @group Land Detector
@@ -68,7 +68,7 @@ PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 1.0f);
 *
 * @unit m/s^2
 * @min 2
- * @max 15
+ * @max 30
 * @decimal 1
 *
 * @group Land Detector
@@ -82,7 +82,7 @@ PARAM_DEFINE_FLOAT(LNDFW_XYACC_MAX, 8.0f);
 *
 * @unit m/s
 * @min 2
- * @max 20
+ * @max 30
 * @decimal 1
 *
 * @group Land Detector
@@ -107,6 +107,7 @@ PARAM_DEFINE_FLOAT(LNDFW_TRIG_TIME, 2.f);
 * Fixed-wing land detector: max rotational speed
 *
 * Maximum allowed norm of the angular velocity in the landed state.
+ * Only used if neither airspeed nor groundspeed can be used for landing detection.
 *
 * @unit deg/s
 * @decimal 1
@@ -35,7 +35,6 @@
 #define GLOBAL_POSITION_INT_HPP

 #include <uORB/topics/home_position.h>
-#include <uORB/topics/vehicle_air_data.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_local_position.h>

@@ -61,7 +60,6 @@ private:
 	uORB::Subscription _gpos_sub{ORB_ID(vehicle_global_position)};
 	uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
 	uORB::Subscription _home_sub{ORB_ID(home_position)};
-	uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)};

 	bool send() override
 	{
@@ -45,4 +45,5 @@ px4_add_module(
 		AttitudeControl
 		mathlib
 		px4_work_queue
+		StickYaw
 	)
@@ -57,6 +57,7 @@
 #include <uORB/topics/vehicle_status.h>
 #include <lib/mathlib/math/filter/AlphaFilter.hpp>
 #include <lib/slew_rate/SlewRate.hpp>
+#include <lib/stick_yaw/StickYaw.hpp>

 #include <AttitudeControl.hpp>

@@ -93,9 +94,10 @@ private:
 	/**
 	 * Generate & publish an attitude setpoint from stick inputs
 	 */
-	void generate_attitude_setpoint(const matrix::Quatf &q, float dt, bool reset_yaw_sp);
+	void generate_attitude_setpoint(const matrix::Quatf &q, float dt);

 	AttitudeControl _attitude_control; /**< class for attitude control calculations */
+	StickYaw _stick_yaw{this};

 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};

@@ -120,9 +122,12 @@ private:

 	matrix::Vector3f _thrust_setpoint_body; /**< body frame 3D thrust vector */

-	float _hover_thrust{NAN};
+	float _hover_thrust_estimate{NAN};
+	SlewRate<float> _hover_thrust_slew_rate{.5f};

-	float _man_yaw_sp{0.f};				/**< current yaw setpoint in manual mode */
+	float _yaw_setpoint_stabilized{0.f};
+	bool _heading_good_for_control{true}; // initialized true to have heading lock when local position never published
+	float _unaided_heading{NAN}; // initialized NAN to not distract heading lock when local position never published
 	float _man_tilt_max{0.f};			/**< maximum tilt allowed for manual flight [rad] */

 	SlewRate<float> _manual_throttle_minimum{0.f}; ///< 0 when landed and ramped to MPC_MANTHR_MIN in air
@@ -135,8 +140,6 @@ private:

 	bool _spooled_up{false}; ///< used to make sure the vehicle cannot take off during the spoolup time
 	bool _landed{true};
-	bool _reset_yaw_sp{true};
-	bool _heading_good_for_control{true}; ///< initialized true to have heading lock when local position never published
 	bool _vehicle_type_rotary_wing{true};
 	bool _vtol{false};
 	bool _vtol_tailsitter{false};
@@ -158,12 +161,13 @@ private:
 		(ParamFloat<px4::params::MC_YAWRATE_MAX>)   _param_mc_yawrate_max,

 		/* Stabilized mode params */
-		(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _param_mpc_man_tilt_max,    /**< maximum tilt allowed for manual flight */
-		(ParamFloat<px4::params::MPC_MAN_Y_MAX>)    _param_mpc_man_y_max,       /**< scaling factor from stick to yaw rate */
-		(ParamFloat<px4::params::MPC_MANTHR_MIN>)   _param_mpc_manthr_min,      /**< minimum throttle for stabilized */
-		(ParamFloat<px4::params::MPC_THR_MAX>)      _param_mpc_thr_max,         /**< maximum throttle for stabilized */
-		(ParamFloat<px4::params::MPC_THR_HOVER>)    _param_mpc_thr_hover,       /**< throttle at stationary hover */
-		(ParamInt<px4::params::MPC_THR_CURVE>)      _param_mpc_thr_curve,       /**< throttle curve behavior */
+		(ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz,
+		(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _param_mpc_man_tilt_max,
+		(ParamFloat<px4::params::MPC_MANTHR_MIN>) _param_mpc_manthr_min,
+		(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max,
+		(ParamFloat<px4::params::MPC_THR_HOVER>) _param_mpc_thr_hover,
+		(ParamInt<px4::params::MPC_THR_CURVE>) _param_mpc_thr_curve,
+		(ParamFloat<px4::params::MPC_YAW_EXPO>) _param_mpc_yaw_expo,

 		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time
 	)
@@ -65,6 +65,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl(bool vtol) :
 	_manual_throttle_minimum.setSlewRate(0.05f);
 	// Rate of change 50% per second -> 2 seconds to ramp to 100%
 	_manual_throttle_maximum.setSlewRate(0.5f);
+	// Rate of change 5% per second -> 6 seconds to ramp 30% if hover thrust parameter is off
+	_hover_thrust_slew_rate.setSlewRate(0.05f);
 }

 MulticopterAttitudeControl::~MulticopterAttitudeControl()
@@ -95,6 +97,11 @@ MulticopterAttitudeControl::parameters_updated()
 	_attitude_control.setRateLimit(Vector3f(radians(_param_mc_rollrate_max.get()), radians(_param_mc_pitchrate_max.get()),
 						radians(_param_mc_yawrate_max.get())));

+	// Update from hover thrust parameter if there's no valid estimate in use
+	if (!PX4_ISFINITE(_hover_thrust_estimate)) {
+		_hover_thrust_slew_rate.setForcedValue(_param_mpc_thr_hover.get());
+	}
+
 	_man_tilt_max = math::radians(_param_mpc_man_tilt_max.get());
 }

@@ -103,31 +110,23 @@ MulticopterAttitudeControl::throttle_curve(float throttle_stick_input)
 {
 	float thrust = 0.f;

-	{
-		hover_thrust_estimate_s hte;
-
-		if (_hover_thrust_estimate_sub.update(&hte)) {
-			if (hte.valid) {
-				_hover_thrust = hte.hover_thrust;
-			}
-		}
-	}
-
-	if (!PX4_ISFINITE(_hover_thrust)) {
-		_hover_thrust = _param_mpc_thr_hover.get();
-	}
-
 	// throttle_stick_input is in range [-1, 1]
 	switch (_param_mpc_thr_curve.get()) {
-	case 1: // no rescaling to hover throttle
+	case 1: // no rescaling
 		thrust = math::interpolate(throttle_stick_input, -1.f, 1.f,
 					   _manual_throttle_minimum.getState(), _param_mpc_thr_max.get());
 		break;

-	default: // 0 or other: rescale to hover throttle at 0 stick input
+	case 2: // rescale to hover thrust param at 0 stick input
 		thrust = math::interpolateNXY(throttle_stick_input,
 		{-1.f, 0.f, 1.f},
-		{_manual_throttle_minimum.getState(), _hover_thrust, _param_mpc_thr_max.get()});
+		{_manual_throttle_minimum.getState(), _param_mpc_thr_hover.get(), _param_mpc_thr_max.get()});
+		break;
+
+	default: // 0 or other: rescale to HTE value
+		thrust = math::interpolateNXY(throttle_stick_input,
+		{-1.f, 0.f, 1.f},
+		{_manual_throttle_minimum.getState(), _hover_thrust_slew_rate.getState(), _param_mpc_thr_max.get()});
 		break;
 	}

@@ -135,25 +134,22 @@ MulticopterAttitudeControl::throttle_curve(float throttle_stick_input)
 }

 void
-MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt, bool reset_yaw_sp)
+MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt)
 {
 	vehicle_attitude_setpoint_s attitude_setpoint{};
+
+	// Avoid accumulating absolute yaw error with arming stick gesture
+	const bool arming_gesture = (_manual_control_setpoint.throttle < -.9f) && (_param_mc_airmode.get() != 2);
+
+	if (arming_gesture || !_heading_good_for_control) {
+		_yaw_setpoint_stabilized = NAN;
+	}
+
 	const float yaw = Eulerf(q).psi();
-
-	attitude_setpoint.yaw_sp_move_rate = _manual_control_setpoint.yaw * math::radians(_param_mpc_man_y_max.get());
-
-	// Avoid accumulating absolute yaw error with arming stick gesture in case heading_good_for_control stays true
-	if ((_manual_control_setpoint.throttle < -.9f) && (_param_mc_airmode.get() != 2)) {
-		reset_yaw_sp = true;
-	}
-
-	// Make sure not absolute heading error builds up
-	if (reset_yaw_sp) {
-		_man_yaw_sp = yaw;
-
-	} else {
-		_man_yaw_sp = wrap_pi(_man_yaw_sp + attitude_setpoint.yaw_sp_move_rate * dt);
-	}
+	const float yaw_stick_input = math::expo_deadzone(_manual_control_setpoint.yaw, _param_mpc_yaw_expo.get(),
+				      _param_mpc_hold_dz.get());
+	_stick_yaw.generateYawSetpoint(attitude_setpoint.yaw_sp_move_rate, _yaw_setpoint_stabilized, yaw_stick_input, yaw, dt,
+				       _unaided_heading);

 	/*
 	 * Input mapping for roll & pitch setpoints
@@ -178,11 +174,13 @@ MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt,
 	}

 	Quatf q_sp_rp = AxisAnglef(v(0), v(1), 0.f);
+	// Make sure there's a valid attitude quaternion with no yaw error when yaw is unlocked (NAN)
+	const float yaw_setpoint = PX4_ISFINITE(_yaw_setpoint_stabilized) ? _yaw_setpoint_stabilized : yaw;
 	// The axis angle can change the yaw as well (noticeable at higher tilt angles).
 	// This is the formula by how much the yaw changes:
 	//   let a := tilt angle, b := atan(y/x) (direction of maximum tilt)
 	//   yaw = atan(-2 * sin(b) * cos(b) * sin^2(a/2) / (1 - 2 * cos^2(b) * sin^2(a/2))).
-	const Quatf q_sp_yaw(cosf(_man_yaw_sp / 2.f), 0.f, 0.f, sinf(_man_yaw_sp / 2.f));
+	const Quatf q_sp_yaw(cosf(yaw_setpoint / 2.f), 0.f, 0.f, sinf(yaw_setpoint / 2.f));

 	if (_vtol) {
 		// Modify the setpoints for roll and pitch such that they reflect the user's intention even
@@ -225,6 +223,21 @@ MulticopterAttitudeControl::Run()
 		parameters_updated();
 	}

+	// Update hover thrust for stick scaling
+	if (_hover_thrust_estimate_sub.updated()) {
+		hover_thrust_estimate_s hover_thrust_estimate;
+
+		if (_hover_thrust_estimate_sub.update(&hover_thrust_estimate)) {
+			if (hover_thrust_estimate.valid) {
+				_hover_thrust_estimate = math::constrain(hover_thrust_estimate.hover_thrust, .05f, .9f);
+
+			} else {
+				// Possibly bad estimate before it got invalid, slew back to parameter
+				_hover_thrust_estimate = _param_mpc_thr_hover.get();
+			}
+		}
+	}
+
 	// run controller on attitude updates
 	vehicle_attitude_s v_att;

@@ -267,33 +280,31 @@ MulticopterAttitudeControl::Run()

 			if (_vehicle_local_position_sub.copy(&vehicle_local_position)) {
 				_heading_good_for_control = vehicle_local_position.heading_good_for_control;
+				_unaided_heading = vehicle_local_position.unaided_heading;
 			}
 		}

-		bool attitude_setpoint_generated = false;
-
+		// during transitions VTOL module generates attitude setpoints
 		const bool is_hovering = (_vehicle_type_rotary_wing && !_vtol_in_transition_mode);
-
-		// vehicle is a tailsitter in transition mode
 		const bool is_tailsitter_transition = (_vtol_tailsitter && _vtol_in_transition_mode);

-		const bool run_att_ctrl = _vehicle_control_mode.flag_control_attitude_enabled && (is_hovering
-					  || is_tailsitter_transition);
+		const bool run_att_ctrl = _vehicle_control_mode.flag_control_attitude_enabled
+					  && (is_hovering || is_tailsitter_transition);

 		if (run_att_ctrl) {
-
 			// Generate the attitude setpoint from stick inputs if we are in Manual/Stabilized mode
 			if (_vehicle_control_mode.flag_control_manual_enabled &&
 			    !_vehicle_control_mode.flag_control_altitude_enabled &&
 			    !_vehicle_control_mode.flag_control_velocity_enabled &&
 			    !_vehicle_control_mode.flag_control_position_enabled) {

-				generate_attitude_setpoint(q, dt, _reset_yaw_sp);
-				attitude_setpoint_generated = true;
+				generate_attitude_setpoint(q, dt);

 			} else {
 				_man_roll_input_filter.reset(0.f);
 				_man_pitch_input_filter.reset(0.f);
+				_yaw_setpoint_stabilized = NAN;
+				_stick_yaw.reset(Eulerf(q).psi(), _unaided_heading);
 			}

 			// Check for new attitude setpoint
@@ -312,9 +323,14 @@ MulticopterAttitudeControl::Run()
 			// Check for a heading reset
 			if (_quat_reset_counter != v_att.quat_reset_counter) {
 				const Quatf delta_q_reset(v_att.delta_q_reset);
+				const float delta_psi = Eulerf(delta_q_reset).psi();

-				// for stabilized attitude generation only extract the heading change from the delta quaternion
-				_man_yaw_sp = wrap_pi(_man_yaw_sp + Eulerf(delta_q_reset).psi());
+				// Only offset the yaw setpoint when the heading is locked
+				if (PX4_ISFINITE(_yaw_setpoint_stabilized)) {
+					_yaw_setpoint_stabilized = wrap_pi(_yaw_setpoint_stabilized + delta_psi);
+				}
+
+				_stick_yaw.ekfResetHandler(delta_psi);

 				if (v_att.timestamp > _last_attitude_setpoint) {
 					// adapt existing attitude setpoint unless it was generated after the current attitude estimate
@@ -348,6 +364,12 @@ MulticopterAttitudeControl::Run()
 			rates_setpoint.timestamp = hrt_absolute_time();

 			_vehicle_rates_setpoint_pub.publish(rates_setpoint);
+
+		} else {
+			_man_roll_input_filter.reset(0.f);
+			_man_pitch_input_filter.reset(0.f);
+			_yaw_setpoint_stabilized = NAN;
+			_stick_yaw.reset(Eulerf(q).psi(), _unaided_heading);
 		}

 		if (_landed) {
@@ -364,9 +386,9 @@ MulticopterAttitudeControl::Run()
 			_manual_throttle_maximum.setForcedValue(0.f);
 		}

-		// reset yaw setpoint during transitions, tailsitter.cpp generates
-		// attitude setpoint for the transition
-		_reset_yaw_sp = !attitude_setpoint_generated || !_heading_good_for_control || (_vtol && _vtol_in_transition_mode);
+		if (PX4_ISFINITE(_hover_thrust_estimate)) {
+			_hover_thrust_slew_rate.update(_hover_thrust_estimate, dt);
+		}
 	}

 	perf_end(_loop_perf);
@@ -49,10 +49,10 @@
 PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);

 /**
- * Hover thrust estimator
+ * Use hover thrust estimate for altitude control
 *
- * Disable to use the fixed parameter MPC_THR_HOVER
- * Enable to use the hover thrust estimator
+ * Disable to use the fixed parameter MPC_THR_HOVER instead of the hover thrust estimate in the position controller.
+ * This parameter does not influence Stabilized mode throttle curve (see MPC_THR_CURVE).
 *
 * @boolean
 * @group Multicopter Position Control
@@ -77,17 +77,20 @@ PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
 *
 * Defines how the throttle stick is mapped to collective thrust in Stabilized mode.
 *
- * Rescale to hover thrust:
- *   Stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER).
+ * Rescale to hover thrust estimate:
+ *   Stick input is linearly rescaled, such that a centered throttle stick corresponds to the hover thrust estimator's output.
 *
- * No Rescale:
+ * No rescale:
 *   Directly map the stick 1:1 to the output.
 *   Can be useful with very low hover thrust which leads to much distortion and the upper half getting sensitive.
 *
- * With MPC_THR_HOVER 0.5 both modes are the same.
+ * Rescale to hover thrust parameter:
+ *   Similar to rescaling to the hover thrust estimate, but it uses the hover thrust parameter value (see MPC_THR_HOVER) instead of estimated value.
+ *   With MPC_THR_HOVER 0.5 it's equivalent to No rescale.
 *
- * @value 0 Rescale to hover thrust
- * @value 1 No Rescale
+ * @value 0 Rescale to estimate
+ * @value 1 No rescale
+ * @value 2 Rescale to parameter
 * @group Multicopter Position Control
 */
 PARAM_DEFINE_INT32(MPC_THR_CURVE, 0);
@@ -89,9 +89,8 @@ PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.f);
 /**
 * Altitude for 3. step of slow landing
 *
- * Below this altitude descending velocity gets
- * limited to "MPC_LAND_CRWL", if LIDAR available.
- * No effect if LIDAR not available
+ * If a valid distance sensor measurement to the ground is available,
+ * limit descending velocity to "MPC_LAND_CRWL" below this altitude.
 *
 * @unit m
 * @min 0
@@ -109,17 +109,16 @@ Land::on_active()
 	if (_navigator->abort_landing()) {

 		// send reposition cmd to get out of land mode (will loiter at current position and altitude)
-		vehicle_command_s vcmd = {};
-
-		vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION;
-		vcmd.param1 = -1;
-		vcmd.param2 = 1;
-		vcmd.param5 = _navigator->get_global_position()->lat;
-		vcmd.param6 = _navigator->get_global_position()->lon;
+		vehicle_command_s vehicle_command{};
+		vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION;
+		vehicle_command.param1 = -1.f; // Default speed
+		vehicle_command.param2 = 1.f; // Modes should switch, not setting this is unsupported
+		vehicle_command.param5 = _navigator->get_global_position()->lat;
+		vehicle_command.param6 = _navigator->get_global_position()->lon;
 		// as we don't know the landing point altitude assume the worst case (abort at 0m above ground),
 		// and thus always climb MIS_LND_ABRT_ALT
-		vcmd.param7 = _navigator->get_global_position()->alt + _navigator->get_landing_abort_min_alt();
+		vehicle_command.param7 = _navigator->get_global_position()->alt + _navigator->get_landing_abort_min_alt();

-		_navigator->publish_vehicle_cmd(&vcmd);
+		_navigator->publish_vehicle_command(vehicle_command);
 	}
 }
@@ -915,16 +915,14 @@ MissionBase::do_abort_landing()
 	}

 	// send reposition cmd to get out of mission
-	vehicle_command_s vcmd = {};
-
-	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION;
-	vcmd.param1 = -1;
-	vcmd.param2 = 1;
-	vcmd.param5 = _mission_item.lat;
-	vcmd.param6 = _mission_item.lon;
-	vcmd.param7 = alt_sp;
-
-	_navigator->publish_vehicle_cmd(&vcmd);
+	vehicle_command_s vehicle_command{};
+	vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION;
+	vehicle_command.param1 = -1.f; // Default speed
+	vehicle_command.param2 = 1.f; // Modes should switch, not setting this is unsupported
+	vehicle_command.param5 = _mission_item.lat;
+	vehicle_command.param6 = _mission_item.lon;
+	vehicle_command.param7 = alt_sp;
+	_navigator->publish_vehicle_command(vehicle_command);
 }

 void MissionBase::publish_navigator_mission_item()
@@ -529,27 +529,27 @@ MissionBlock::issue_command(const mission_item_s &item)

 	// Mission item's NAV_CMD enums directly map to the according vehicle command
 	// So set the raw value directly (MAV_FRAME_MISSION mission item)
-	vehicle_command_s vcmd = {};
-	vcmd.command = item.nav_cmd;
-	vcmd.param1 = item.params[0];
-	vcmd.param2 = item.params[1];
-	vcmd.param3 = item.params[2];
-	vcmd.param4 = item.params[3];
-	vcmd.param5 = static_cast<double>(item.params[4]);
-	vcmd.param6 = static_cast<double>(item.params[5]);
-	vcmd.param7 = item.params[6];
+	vehicle_command_s vehicle_command{};
+	vehicle_command.command = item.nav_cmd;
+	vehicle_command.param1 = item.params[0];
+	vehicle_command.param2 = item.params[1];
+	vehicle_command.param3 = item.params[2];
+	vehicle_command.param4 = item.params[3];
+	vehicle_command.param5 = static_cast<double>(item.params[4]);
+	vehicle_command.param6 = static_cast<double>(item.params[5]);
+	vehicle_command.param7 = item.params[6];

 	if (item.nav_cmd == NAV_CMD_DO_SET_ROI_LOCATION) {
 		// We need to send out the ROI location that was parsed potentially with double precision to lat/lon because mission item parameters 5 and 6 only have float precision
-		vcmd.param5 = item.lat;
-		vcmd.param6 = item.lon;
+		vehicle_command.param5 = item.lat;
+		vehicle_command.param6 = item.lon;

 		if (item.altitude_is_relative) {
-			vcmd.param7 = item.altitude + _navigator->get_home_position()->alt;
+			vehicle_command.param7 = item.altitude + _navigator->get_home_position()->alt;
 		}
 	}

-	_navigator->publish_vehicle_cmd(&vcmd);
+	_navigator->publish_vehicle_command(vehicle_command);

 	if (item_has_timeout(item)) {
 		_timestamp_command_timeout = hrt_absolute_time();
@@ -781,11 +781,11 @@ MissionBlock::set_land_item(struct mission_item_s *item)
 	/* VTOL transition to RW before landing */
 	if (_navigator->force_vtol()) {

-		vehicle_command_s vcmd = {};
-		vcmd.command = NAV_CMD_DO_VTOL_TRANSITION;
-		vcmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
-		vcmd.param2 = 0.0f;
-		_navigator->publish_vehicle_cmd(&vcmd);
+		vehicle_command_s vehicle_command{};
+		vehicle_command.command = NAV_CMD_DO_VTOL_TRANSITION;
+		vehicle_command.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
+		vehicle_command.param2 = 0.f; // normal unforced transition
+		_navigator->publish_vehicle_command(vehicle_command);
 	}

 	/* set the land item */
@@ -132,12 +132,12 @@ public:
 	/**
 	 * @brief Publish a given specified vehicle command
 	 *
-	 * Sets the target_component of the vehicle command accordingly depending on the
-	 * vehicle command value (e.g. For Camera control, sets target system component id)
+	 * Fill in timestamp, source and target IDs.
+	 * target_component special handling (e.g. For Camera control, set camera ID)
 	 *
-	 * @param vcmd Vehicle command to execute
+	 * @param vehicle_command Vehicle command to publish
 	 */
-	void publish_vehicle_cmd(vehicle_command_s *vcmd);
+	void publish_vehicle_command(vehicle_command_s &vehicle_command);

 #if CONFIG_NAVIGATOR_ADSB
 	/**
@@ -662,10 +662,10 @@ void Navigator::run()
 				uint8_t result{vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED};

 				if (_mission.get_land_start_available()) {
-					vehicle_command_s vcmd = {};
-					vcmd.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
-					vcmd.param1 = _mission.get_land_start_index();
-					publish_vehicle_cmd(&vcmd);
+					vehicle_command_s vehicle_command{};
+					vehicle_command.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
+					vehicle_command.param1 = _mission.get_land_start_index();
+					publish_vehicle_command(vehicle_command);

 				} else {
 					PX4_WARN("planned mission landing not available");
@@ -864,10 +864,10 @@ void Navigator::run()
 		if (_vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND &&
 		    _vstatus.is_vtol && _vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING &&
 		    force_vtol()) {
-			vehicle_command_s vcmd = {};
-			vcmd.command = NAV_CMD_DO_VTOL_TRANSITION;
-			vcmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
-			publish_vehicle_cmd(&vcmd);
+			vehicle_command_s vehicle_command{};
+			vehicle_command.command = NAV_CMD_DO_VTOL_TRANSITION;
+			vehicle_command.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
+			publish_vehicle_command(vehicle_command);
 			mavlink_log_info(&_mavlink_log_pub, "Transition to hover mode and descend.\t");
 			events::send(events::ID("navigator_transition_descend"), events::Log::Critical,
 				     "Transition to hover mode and descend");
@@ -1220,28 +1220,28 @@ void Navigator::load_fence_from_file(const char *filename)
 void Navigator::take_traffic_conflict_action()
 {

-	vehicle_command_s vcmd = {};
+	vehicle_command_s vehicle_command{};

 	switch (_adsb_conflict._conflict_detection_params.traffic_avoidance_mode) {

 	case 2: {
 			_rtl.set_return_alt_min(true);
-			vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH;
-			publish_vehicle_cmd(&vcmd);
+			vehicle_command.command = vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH;
+			publish_vehicle_command(vehicle_command);
 			break;
 		}

 	case 3: {
-			vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
-			publish_vehicle_cmd(&vcmd);
+			vehicle_command.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
+			publish_vehicle_command(vehicle_command);
 			break;

 		}

 	case 4: {

-			vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LOITER_UNLIM;
-			publish_vehicle_cmd(&vcmd);
+			vehicle_command.command = vehicle_command_s::VEHICLE_CMD_NAV_LOITER_UNLIM;
+			publish_vehicle_command(vehicle_command);
 			break;

 		}
@@ -1392,34 +1392,32 @@ void Navigator::publish_navigator_status()
 	}
 }

-void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)
+void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)
 {
-	vcmd->timestamp = hrt_absolute_time();
-	vcmd->source_system = _vstatus.system_id;
-	vcmd->source_component = _vstatus.component_id;
-	vcmd->target_system = _vstatus.system_id;
-	vcmd->confirmation = false;
-	vcmd->from_external = false;
+	vehicle_command.timestamp = hrt_absolute_time();
+	vehicle_command.source_system = _vstatus.system_id;
+	vehicle_command.source_component = _vstatus.component_id;
+	vehicle_command.target_system = _vstatus.system_id;
+	vehicle_command.confirmation = false;
+	vehicle_command.from_external = false;

 	int target_camera_component_id;

 	// The camera commands are not processed on the autopilot but will be
 	// sent to the mavlink links to other components.
-	switch (vcmd->command) {
-
-
+	switch (vehicle_command.command) {
 	case NAV_CMD_IMAGE_START_CAPTURE:

-		if (static_cast<int>(vcmd->param3) == 1) {
-			// When sending a single capture we need to include the sequence number, thus camera_trigger needs to handle this cmd
-			vcmd->param1 = 0.0f;
-			vcmd->param2 = 0.0f;
-			vcmd->param3 = 0.0f;
-			vcmd->param4 = 0.0f;
-			vcmd->param5 = 1.0;
-			vcmd->param6 = 0.0;
-			vcmd->param7 = 0.0f;
-			vcmd->command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL;
+		if (static_cast<int>(vehicle_command.param3) == 1) {
+			// When sending a single capture we need to include the sequence number, thus camera_trigger needs to handle this command
+			vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL;
+			vehicle_command.param1 = 0.f; // Session control hide lens
+			vehicle_command.param2 = 0.f; // Zoom absolute position
+			vehicle_command.param3 = 0.f; // Zoom step
+			vehicle_command.param4 = 0.f; // Focus lock
+			vehicle_command.param5 = 1.; // Shoot command
+			vehicle_command.param6 = 0.; // Command identity
+			vehicle_command.param7 = 0.f; // Shot identifier

 		} else {
 			// We are only capturing multiple if param3 is 0 or > 1.
@@ -1427,65 +1425,65 @@ void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)
 			_is_capturing_images = true;
 		}

-		target_camera_component_id = static_cast<int>(vcmd->param1); // Target id from param 1
+		target_camera_component_id = static_cast<int>(vehicle_command.param1); // Target id from param 1

 		if (target_camera_component_id > 0 && target_camera_component_id < 256) {
-			vcmd->target_component = target_camera_component_id;
+			vehicle_command.target_component = target_camera_component_id;

 		} else {
-			vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
+			vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
 		}

 		break;

 	case NAV_CMD_IMAGE_STOP_CAPTURE:
 		_is_capturing_images = false;
-		target_camera_component_id = static_cast<int>(vcmd->param1); // Target id from param 1
+		target_camera_component_id = static_cast<int>(vehicle_command.param1); // Target id from param 1

 		if (target_camera_component_id > 0 && target_camera_component_id < 256) {
-			vcmd->target_component = target_camera_component_id;
+			vehicle_command.target_component = target_camera_component_id;

 		} else {
-			vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
+			vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
 		}

 		break;

 	case NAV_CMD_SET_CAMERA_MODE:
-		target_camera_component_id = static_cast<int>(vcmd->param1); // Target id from param 1
+		target_camera_component_id = static_cast<int>(vehicle_command.param1); // Target id from param 1

 		if (target_camera_component_id > 0 && target_camera_component_id < 256) {
-			vcmd->target_component = target_camera_component_id;
+			vehicle_command.target_component = target_camera_component_id;

 		} else {
-			vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
+			vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
 		}

 		break;

 	case NAV_CMD_SET_CAMERA_SOURCE:
-		target_camera_component_id = static_cast<int>(vcmd->param1); // Target id from param 1
+		target_camera_component_id = static_cast<int>(vehicle_command.param1); // Target id from param 1

 		if (target_camera_component_id > 0 && target_camera_component_id < 256) {
-			vcmd->target_component = target_camera_component_id;
+			vehicle_command.target_component = target_camera_component_id;

 		} else {
-			vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
+			vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
 		}

 		break;

 	case NAV_CMD_VIDEO_START_CAPTURE:
 	case NAV_CMD_VIDEO_STOP_CAPTURE:
-		vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
+		vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
 		break;

 	default:
-		vcmd->target_component = 0;
+		vehicle_command.target_component = 0;
 		break;
 	}

-	_vehicle_cmd_pub.publish(*vcmd);
+	_vehicle_cmd_pub.publish(vehicle_command);
 }

 void Navigator::publish_distance_sensor_mode_request()
@@ -1531,24 +1529,24 @@ void Navigator::publish_vehicle_command_ack(const vehicle_command_s &cmd, uint8_

 void Navigator::acquire_gimbal_control()
 {
-	vehicle_command_s vcmd = {};
-	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE;
-	vcmd.param1 = _vstatus.system_id;
-	vcmd.param2 = _vstatus.component_id;
-	vcmd.param3 = -1.0f; // Leave unchanged.
-	vcmd.param4 = -1.0f; // Leave unchanged.
-	publish_vehicle_cmd(&vcmd);
+	vehicle_command_s vehicle_command{};
+	vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE;
+	vehicle_command.param1 = _vstatus.system_id; // Take primary control
+	vehicle_command.param2 = _vstatus.component_id;
+	vehicle_command.param3 = -1.f; // Leave secondary control unchanged
+	vehicle_command.param4 = -1.f;
+	publish_vehicle_command(vehicle_command);
 }

 void Navigator::release_gimbal_control()
 {
-	vehicle_command_s vcmd = {};
-	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE;
-	vcmd.param1 = -3.0f; // Remove control if it had it.
-	vcmd.param2 = -3.0f; // Remove control if it had it.
-	vcmd.param3 = -1.0f; // Leave unchanged.
-	vcmd.param4 = -1.0f; // Leave unchanged.
-	publish_vehicle_cmd(&vcmd);
+	vehicle_command_s vehicle_command{};
+	vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE;
+	vehicle_command.param1 = -3.f; // Remove primary control if it was taken
+	vehicle_command.param2 = -3.f;
+	vehicle_command.param3 = -1.f; // Leave secondary control unchanged
+	vehicle_command.param4 = -1.f;
+	publish_vehicle_command(vehicle_command);
 }


@@ -1556,12 +1554,12 @@ void
 Navigator::stop_capturing_images()
 {
 	if (_is_capturing_images) {
-		vehicle_command_s vcmd = {};
-		vcmd.command = NAV_CMD_IMAGE_STOP_CAPTURE;
-		vcmd.param1 = 0.0f;
-		publish_vehicle_cmd(&vcmd);
+		vehicle_command_s vehicle_command{};
+		vehicle_command.command = NAV_CMD_IMAGE_STOP_CAPTURE;
+		vehicle_command.param1 = 0.f;
+		publish_vehicle_command(vehicle_command);

-		// _is_capturing_images is reset inside publish_vehicle_cmd.
+		// _is_capturing_images is reset inside publish_vehicle_command.
 	}
 }

@@ -1607,24 +1605,24 @@ void Navigator::mode_completed(uint8_t nav_state, uint8_t result)
 void Navigator::disable_camera_trigger()
 {
 	// Disable camera trigger
-	vehicle_command_s cmd {};
-	cmd.command = vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL;
+	vehicle_command_s vehicle_command{};
+	vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL;
 	// Pause trigger
-	cmd.param1 = -1.0f;
-	cmd.param3 = 1.0f;
-	publish_vehicle_cmd(&cmd);
+	vehicle_command.param1 = -1.f;
+	vehicle_command.param3 = 1.f;
+	publish_vehicle_command(vehicle_command);
 }

 void Navigator::set_gimbal_neutral()
 {
-	vehicle_command_s vcmd = {};
-	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW;
-	vcmd.param1 = NAN;
-	vcmd.param2 = NAN;
-	vcmd.param3 = NAN;
-	vcmd.param4 = NAN;
-	vcmd.param5 = gimbal_manager_set_attitude_s::GIMBAL_MANAGER_FLAGS_NEUTRAL;
-	publish_vehicle_cmd(&vcmd);
+	vehicle_command_s vehicle_command{};
+	vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW;
+	vehicle_command.param1 = NAN; // Don't set any angles
+	vehicle_command.param2 = NAN;
+	vehicle_command.param3 = NAN; // Don't set any angular velocities
+	vehicle_command.param4 = NAN;
+	vehicle_command.param5 = gimbal_manager_set_attitude_s::GIMBAL_MANAGER_FLAGS_NEUTRAL;
+	publish_vehicle_command(vehicle_command);
 }

 void Navigator::sendWarningDescentStoppedDueToTerrain()
@@ -45,6 +45,8 @@
 * @min 0
 * @max 1000
 * @unit Hz
+* @increment 0.1
+* @decimal 1
 * @reboot_required false
 * @group Sensors
 */
@@ -60,6 +62,8 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_NF0_FRQ, 0.0f);
 * @min 0
 * @max 100
 * @unit Hz
+* @increment 0.1
+* @decimal 1
 * @reboot_required false
 * @group Sensors
 */
@@ -79,6 +83,8 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_NF0_BW, 20.0f);
 * @min 0
 * @max 1000
 * @unit Hz
+* @increment 0.1
+* @decimal 1
 * @reboot_required false
 * @group Sensors
 */
@@ -94,6 +100,8 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_NF1_FRQ, 0.0f);
 * @min 0
 * @max 100
 * @unit Hz
+* @increment 0.1
+* @decimal 1
 * @reboot_required false
 * @group Sensors
 */
@@ -112,6 +120,8 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_NF1_BW, 20.0f);
 * @min 0
 * @max 1000
 * @unit Hz
+* @increment 0.1
+* @decimal 1
 * @reboot_required false
 * @group Sensors
 */
@@ -154,6 +164,8 @@ PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 400);
 * @min 0
 * @max 1000
 * @unit Hz
+* @increment 0.1
+* @decimal 1
 * @reboot_required false
 * @group Sensors
 */
@@ -179,6 +191,8 @@ PARAM_DEFINE_INT32(IMU_GYRO_DNF_EN, 0);
 *
 * @group Sensors
 * @unit Hz
+* @increment 0.1
+* @decimal 1
 * @min 5
 * @max 30
 */
@@ -202,5 +216,7 @@ PARAM_DEFINE_INT32(IMU_GYRO_DNF_HMC, 3);
 *
 * @group Sensors
 * @unit Hz
+* @increment 0.1
+* @decimal 1
 */
 PARAM_DEFINE_FLOAT(IMU_GYRO_DNF_MIN, 25.f);
@@ -37,6 +37,9 @@ else()
    find_package(gz-transport NAMES gz-transport13)
 endif()

+file(GLOB gz_worlds ${PX4_SOURCE_DIR}/Tools/simulation/gz/worlds/*.sdf)
+file(GLOB gz_airframes ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gz_*)
+
 if (gz-transport_FOUND)
 	px4_add_module(
 		MODULE modules__simulation__gz_bridge
@@ -86,15 +89,11 @@ if (gz-transport_FOUND)
 	# Below we setup the build targets for our worlds and models
 	# Syntax: gz_<model_name>_<world_name>
 	# Example: gz_x500_flow_forest
-	file(GLOB gz_worlds ${PX4_SOURCE_DIR}/Tools/simulation/gz/worlds/*.sdf)
-	file(GLOB gz_airframes ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gz_*)
-
 	foreach(gz_airframe IN LISTS gz_airframes)
 		set(model_name)
 		string(REGEX REPLACE ".*_gz_" "" model_name ${gz_airframe})

 		foreach(world ${gz_worlds})
-
 			get_filename_component("world_name" ${world} NAME_WE)

 			if(world_name STREQUAL "default")
@@ -118,4 +117,32 @@ if (gz-transport_FOUND)
 	# Setup the environment variables: PX4_GZ_MODELS, PX4_GZ_WORLDS, GZ_SIM_RESOURCE_PATH
 	configure_file(gz_env.sh.in ${PX4_BINARY_DIR}/rootfs/gz_env.sh)

+else()
+	# Create fallback targets that provide helpful error messages when Gazebo dependencies are missing
+	foreach(gz_airframe IN LISTS gz_airframes)
+		set(model_name)
+		string(REGEX REPLACE ".*_gz_" "" model_name ${gz_airframe})
+
+		foreach(world ${gz_worlds})
+			get_filename_component("world_name" ${world} NAME_WE)
+
+			if(world_name STREQUAL "default")
+				add_custom_target(gz_${model_name}
+					COMMAND ${CMAKE_COMMAND} -E echo "ERROR: Gazebo simulation dependencies not found!"
+					COMMAND ${CMAKE_COMMAND} -E echo "  - For installation instructions, see: https://gazebosim.org/docs/harmonic/install_ubuntu/"
+					COMMAND ${CMAKE_COMMAND} -E false
+					VERBATIM
+				)
+			else()
+				add_custom_target(gz_${model_name}_${world_name}
+					COMMAND ${CMAKE_COMMAND} -E echo "ERROR: Gazebo simulation dependencies not found!"
+					COMMAND ${CMAKE_COMMAND} -E echo "  - For installation instructions, see: https://gazebosim.org/docs/harmonic/install_ubuntu/"
+					COMMAND ${CMAKE_COMMAND} -E false
+					VERBATIM
+				)
+			endif()
+		endforeach()
+	endforeach()
+
+	message(STATUS "Gazebo simulation bridge module disabled: missing dependencies")
 endif()
@@ -216,7 +216,9 @@ void Sih::sensor_step()

 	reconstruct_sensors_signals(now);

-	if ((_vehicle == VehicleType::FW || _vehicle == VehicleType::TS || _vehicle == VehicleType::SVTOL)
+	if ((_vehicle == VehicleType::FixedWing
+	     || _vehicle == VehicleType::TailsitterVTOL
+	     || _vehicle == VehicleType::StandardVTOL)
 	    && now - _airspeed_time >= 50_ms) {
 		_airspeed_time = now;
 		send_airspeed(now);
@@ -304,7 +306,7 @@ void Sih::read_motors(const float dt)
 		_last_actuator_output_time = actuators_out.timestamp;

 		for (int i = 0; i < NUM_ACTUATORS_MAX; i++) { // saturate the motor signals
-			if ((_vehicle == VehicleType::FW && i < 3) || (_vehicle == VehicleType::TS && i > 3)) {
+			if ((_vehicle == VehicleType::FixedWing && i < 3) || (_vehicle == VehicleType::TailsitterVTOL && i > 3)) {
 				_u[i] = actuators_out.output[i];

 			} else {
@@ -317,7 +319,7 @@ void Sih::read_motors(const float dt)

 void Sih::generate_force_and_torques()
 {
-	if (_vehicle == VehicleType::MC) {
+	if (_vehicle == VehicleType::Multicopter) {
 		_T_B = Vector3f(0.0f, 0.0f, -_T_MAX * (+_u[0] + _u[1] + _u[2] + _u[3]));
 		_Mt_B = Vector3f(_L_ROLL * _T_MAX * (-_u[0] + _u[1] + _u[2] - _u[3]),
 				 _L_PITCH * _T_MAX * (+_u[0] - _u[1] + _u[2] - _u[3]),
@@ -325,13 +327,13 @@ void Sih::generate_force_and_torques()
 		_Fa_E = -_KDV * _v_E;   // first order drag to slow down the aircraft
 		_Ma_B = -_KDW * _w_B;   // first order angular damper

-	} else if (_vehicle == VehicleType::FW) {
+	} else if (_vehicle == VehicleType::FixedWing) {
 		_T_B = Vector3f(_T_MAX * _u[3], 0.0f, 0.0f); 	// forward thruster
 		// _Mt_B = Vector3f(_Q_MAX*_u[3], 0.0f,0.0f); 	// thruster torque
 		_Mt_B = Vector3f();
 		generate_fw_aerodynamics(_u[0], _u[1], _u[2], _u[3]);

-	} else if (_vehicle == VehicleType::TS) {
+	} else if (_vehicle == VehicleType::TailsitterVTOL) {
 		_T_B = Vector3f(0.0f, 0.0f, -_T_MAX * (_u[0] + _u[1]));
 		_Mt_B = Vector3f(_L_ROLL * _T_MAX * (_u[1] - _u[0]), 0.0f, _Q_MAX * (_u[1] - _u[0]));
 		generate_ts_aerodynamics();
@@ -339,7 +341,7 @@ void Sih::generate_force_and_torques()
 		// _Fa_E = -_KDV * _v_E;   // first order drag to slow down the aircraft
 		// _Ma_B = -_KDW * _w_B;   // first order angular damper

-	} else if (_vehicle == VehicleType::SVTOL) {
+	} else if (_vehicle == VehicleType::StandardVTOL) {

 		_T_B = Vector3f(_T_MAX * 2 * _u[7], 0.0f, -_T_MAX * (+_u[0] + _u[1] + _u[2] + _u[3]));
 		_Mt_B = Vector3f(_L_ROLL * _T_MAX * (-_u[0] + _u[1] + _u[2] - _u[3]),
@@ -427,7 +429,9 @@ void Sih::equations_of_motion(const float dt)
 	Vector3f ground_force_E;

 	if ((_lla.altitude() - _lpos_ref_alt) < 0.f && force_down > 0.f) {
-		if (_vehicle == VehicleType::MC || _vehicle == VehicleType::TS || _vehicle == VehicleType::SVTOL) {
+		if (_vehicle == VehicleType::Multicopter
+		    || _vehicle == VehicleType::TailsitterVTOL
+		    || _vehicle == VehicleType::StandardVTOL) {
 			ground_force_E = -sum_of_forces_E;

 			if (!_grounded) {
@@ -438,7 +442,7 @@ void Sih::equations_of_motion(const float dt)

 			_grounded = true;

-		} else if (_vehicle == VehicleType::FW) {
+		} else if (_vehicle == VehicleType::FixedWing) {
 			Vector3f down_u = _R_N2E.col(2);
 			ground_force_E = -down_u * sum_of_forces_E * down_u;

@@ -711,19 +715,19 @@ int Sih::print_status()
 	PX4_INFO("Achieved speedup: %.2fX", (double)_achieved_speedup);
 #endif

-	if (_vehicle == VehicleType::MC) {
+	if (_vehicle == VehicleType::Multicopter) {
 		PX4_INFO("Running MultiCopter");

-	} else if (_vehicle == VehicleType::FW) {
+	} else if (_vehicle == VehicleType::FixedWing) {
 		PX4_INFO("Running Fixed-Wing");

-	} else if (_vehicle == VehicleType::TS) {
+	} else if (_vehicle == VehicleType::TailsitterVTOL) {
 		PX4_INFO("Running TailSitter");
 		PX4_INFO("aoa [deg]: %d", (int)(degrees(_ts[4].get_aoa())));
 		PX4_INFO("v segment (m/s)");
 		_ts[4].get_vS().print();

-	} else if (_vehicle == VehicleType::SVTOL) {
+	} else if (_vehicle == VehicleType::StandardVTOL) {
 		PX4_INFO("Running Standard VTOL");
 	}

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Ramon Roche	9083573c89	ci: remove ignores	2025-04-28 10:38:56 -07:00
Ramon Roche	7e3c0673eb	ci: fix syntax Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-04-28 10:34:56 -07:00
Ramon Roche	793655e144	ci: use tmate for debugging Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-04-28 10:24:56 -07:00
Silvan Fuhrer	03c7e7aa08	FW Rate Controller: scale static trim offsets with airspeed Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-04-28 13:34:04 +02:00
Silvan	06d3331d71	mavlink streams: remove unused sub from global pos int Signed-off-by: Silvan <silvan@auterion.com>	2025-04-28 13:17:53 +02:00
Tomas Twardzik	94bbd2d69a	[fix]reducing length of Geofence vilations to prevent STATUSTEXT message length overrun (#24719 )	2025-04-25 10:20:17 -08:00
Matthias Grob	8e89906b9a	docs: update link to navigator's publish_vehicle_command function	2025-04-25 15:32:47 +02:00
Matthias Grob	dfed3970d4	navigator: use reference instead of pointer to pass the vehicle command to publish	2025-04-25 15:32:47 +02:00
Matthias Grob	672d228d79	navigator: fill vehicle_command with float literals and comment what they stand for	2025-04-25 15:32:47 +02:00
Matthias Grob	da870c4dce	navigator: refactor vcmd -> vehicle_command	2025-04-25 15:32:47 +02:00
Matthias Grob	176783dbcb	navigator: clarify publish_vehicle_command() comment	2025-04-25 15:32:47 +02:00
Matthias Grob	f07ddda344	navigator: refactor publish_vehicle_cmd() -> publish_vehicle_command()	2025-04-25 15:32:47 +02:00
Matthias Grob	5f34474ecb	FlightTaskAuto: clean up parameter description and internal variable naming	2025-04-25 15:32:47 +02:00
Silvan	2ba5a455ed	FW land detector: increase some max thresholds Signed-off-by: Silvan <silvan@auterion.com>	2025-04-25 15:21:19 +02:00
Silvan	180658c5f9	sensors: display one decimal for params Signed-off-by: Silvan <silvan@auterion.com>	2025-04-25 15:21:19 +02:00
Silvan	f7bde67f9a	VTOL: make VT_FWD_THRUST_EN more concise Signed-off-by: Silvan <silvan@auterion.com>	2025-04-25 15:21:19 +02:00
Silvan	db25101e52	VTOL: increase max for VT_FWD_THRUST_SC Signed-off-by: Silvan <silvan@auterion.com>	2025-04-25 15:21:19 +02:00
Peter Breuer	38922d10a0	fix: fallback to mode set by COM_POSCTL_NAVL upon navigation loss in pos slow mode	2025-04-25 08:16:21 +02:00
Niklas Hauser	effb9dee11	[tfmini] Configure range and FoV via parameters	2025-04-24 14:51:46 +02:00
Niklas Hauser	43ef690254	[boards] Do not start Mavlink on external connector by default	2025-04-23 15:31:58 +02:00
Peter C.	7aaaa83497	Update photos & diagrams for Pixhawk 6C Mini and 6X (#24687 )	2025-04-22 18:19:27 -07:00
Matthias Grob	9eaec534ab	mc_att_control_main: fix check for hover thrust estimate update (#24750 )	2025-04-22 15:53:51 -08:00
dawr68	f08d01b4d5	Make throttle stick scaling more predictable in mc-stabilized mode (#24710 ) * Rescale throttle curve to HTE as option * Add slew rate to hover thrust estimate * Update docs to reflect changes Fix formating * mc_att_control: suggestions for hover thrust slewing - Slower slew rate - Move update of hover thrust estimate into main loop - Make sure dt for slew rate is correct - Apply parameter updates if hover thrust estimate not used - Parameter description in metadata files * fix: Rescaling cases order * Rescale to HTE estimate by default * Update src/modules/mc_pos_control/multicopter_position_control_params.c Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com> * Fix hte sub name * Update MPC_THR_CURVE description * Swap thr curve values to make hte rescaling default for value 0 --------- Co-authored-by: Matthias Grob <maetugr@gmail.com> Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>	2025-04-22 16:36:33 +02:00
Matthias Grob	9404783c99	EKF2: more accurate unaided yaw calculation to fix the yaw unlocking in StickYaw when giving a lot of roll and pitch input	2025-04-22 15:55:38 +02:00
Matthias Grob	d514cb4903	mc_att_control: use StickYaw class for Stabilized to make yawing including reset and drift handling consistent with Altitude and Position mode.	2025-04-22 15:35:26 +02:00
Matthias Grob	174147208e	Move StickYaw class into a globally available library	2025-04-22 15:35:26 +02:00
biednick	bae6328c7b	Fix typo in SPI signal table (#24742 ) CS! to CS1	2025-04-21 09:56:43 -08:00
Alexander Lerach	937998b739	vtol: reduce schedule frequency, which causes DSHOT150 problems * vtol: reduce schedule frequency, which causes DSHOT150 problems * vtol_att_control_main: refactor callback handling --------- Co-authored-by: Matthias Grob <maetugr@gmail.com>	2025-04-17 18:31:57 +02:00
Alexander Lerach	905b6ac0ba	Use ITCM on v5x	2025-04-17 04:48:37 -04:00
Silvan	921dc67824	FW land detector: only use LNDFW_ROT_MAX if speeds are not valid The rotational speed threshold on fixed-wing vehicles is triggering easily if the plane is lifted prior to takeoff (hand-launch), and can cause issues for the auto takeoff state machine. Thus if either airspeed or groundspeed is valid, it's better to rely on these for land detection, and only use the rotational speed if they're invalid. Signed-off-by: Silvan <silvan@auterion.com>	2025-04-16 17:20:55 +02:00
Matthias Grob	fa3f255301	SIH: write out vehicle types for clarity (#24731 )	2025-04-16 14:03:34 +02:00
Jacob Dahl	ff7c636065	gz: better error message when installation is missing (#24661 )	2025-04-16 09:36:25 +02:00
Niklas Hauser	154623500e	boards: Add Auterion FMUv6s target	2025-04-15 22:31:37 -04:00
Pedro Roque	9027dc146e	feat: add 6 DoF trajectory setpoints message * feat: add attitude to trajectory setpoints * feat: proposed new trajectory message for fully actuated vehicles * fix: moved to unversioned and changed naming scheme * feat: added space between translation and attitude control * fix: change cmakelists	2025-04-15 10:24:03 +02:00
Julian Oes	43f5a713db	stm32_common: add timer 12 (#24680 )	2025-04-15 16:10:11 +12:00