mpc: add acceleration control filter and gain

mpc: generate tilt based on specific force feedback
2026-05-26 05:27:35 +08:00 · 2025-04-22 15:26:26 +02:00 · 2025-04-02 14:03:03 +02:00
238 changed files with 2847 additions and 6761 deletions
@@ -48,7 +48,7 @@ jobs:
      - name: Run link checker
        id: link-check
        run: |
-          npm -g install markdown_link_checker_sc@0.0.138
+          npm -g install markdown_link_checker_sc@0.0.137
          markdown_link_checker_sc -r ${{ github.workspace }} -d docs -e en -f ./logs/prFiles.json -i assets -u docs.px4.io/main/ > ./logs/errorsFilteredByPrPages.md
          mkdir -p ./pr
          cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
@@ -1,123 +0,0 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
-#   and comment the "runs-on: [runs-on,runner=..." lines.
-# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-
-name: ROS Integration Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-    - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  build:
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev-ros2-galactic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Git Ownership Workaround
-      run: git config --system --add safe.directory '*'
-
-    - name: Install gazebo
-      run: |
-        apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v4
-      with:
-        path: ~/.ccache
-        key: ros_integration_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ros_integration_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 300M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
-
-    - name: Get and build micro-xrce-dds-agent
-      run: |
-        cd /opt
-        git clone --recursive https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
-        cd Micro-XRCE-DDS-Agent
-        git checkout v2.2.1 # recent versions require cmake 3.22, but px4-dev-ros2-galactic:2021-09-08 is on 3.16
-        sed -i 's/_fastdds_tag 2.8.x/_fastdds_tag 2.8.2/g' CMakeLists.txt
-        mkdir build
-        cd build
-        cmake ..
-        make -j2
-    - name: ccache post-run micro-xrce-dds-agent
-      run: ccache -s
-
-    - name: Get and build the ros2 interface library
-      shell: bash
-      run: |
-        PX4_DIR="$(pwd)"
-        . /opt/ros/galactic/setup.bash
-        mkdir -p /opt/px4_ws/src
-        cd /opt/px4_ws/src
-        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
-        cd ..
-        # Copy messages to ROS workspace
-        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
-        rm -rf src/translation_node src/px4_msgs_old
-        colcon build --symlink-install
-    - name: ccache post-run ros workspace
-      run: ccache -s
-
-    - name: Build PX4
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      run: make px4_sitl_default sitl_gazebo-classic
-    - name: ccache post-run sitl_gazebo-classic
-      run: ccache -s
-
-    - name: Core dump settings
-      run: |
-        ulimit -c unlimited
-        echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run tests
-      shell: bash
-      run: |
-        . /opt/px4_ws/install/setup.bash
-        /opt/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 localhost -p 8888 -v 0 &
-        test/ros_test_runner.py --verbose --model iris --upload --force-color
-      timeout-minutes: 45
-
-    - name: Upload failed logs
-      if: failure()
-      uses: actions/upload-artifact@v4
-      with:
-        name: failed-logs.zip
-        path: |
-          logs/**/**/**/*.log
-          logs/**/**/**/*.ulg
-          build/px4_sitl_default/tmp_ros_tests/rootfs/log/**/*.ulg
@@ -116,7 +116,7 @@ jobs:
          PX4_HOME_LON: ${{matrix.config.longitude}}
          PX4_HOME_ALT: ${{matrix.config.altitude}}
          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose --force-color
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
        timeout-minutes: 45

      - name: Upload failed logs
@@ -108,4 +108,3 @@ src/systemcmds/topic_listener/listener_generated.cpp

 # colcon
 log/
-keys/
@@ -231,11 +231,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: bitcraze_crazyflie_default
-    bluerobotics_navigator_default:
-      short: bluerobotics_navigator
-      buildType: MinSizeRel
-      settings:
-        CONFIG: bluerobotics_navigator_default
    cuav_can-gps-v1_default:
      short: cuav_can-gps-v1_default
      buildType: MinSizeRel
@@ -20,7 +20,7 @@ param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
 param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?

 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 7  # Using Airship
+param set-default MAV_TYPE 99

 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0
@@ -126,15 +126,6 @@ then
 	set AUTOCNF yes
 fi

-# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
-env | while IFS='=' read -r line; do
-  value=${line#*=}
-  name=${line%%=*}
-  case $name in
-    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
-  esac
-done
-
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
@@ -30,12 +30,12 @@ param set-default RO_JERK_LIM 20
 param set-default RO_MAX_THR_SPEED 2.8

 # Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
-param set-default RO_YAW_RATE_P 0.1
-param set-default RO_YAW_RATE_LIM 120
+param set-default RO_YAW_RATE_I 0
+param set-default RO_YAW_RATE_P 0
+param set-default RO_YAW_RATE_LIM 0

 # Rover Attitude Control Parameters
-param set-default RO_YAW_P 2.5
+param set-default RO_YAW_P 0

 # Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2.5
@@ -11,7 +11,7 @@
 . ${R}etc/init.d/rc.sc_defaults

 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 7
+param set-default MAV_TYPE 99

 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0
@@ -5,8 +5,8 @@

 set VEHICLE_TYPE sc

-# MAV_TYPE_SPACECRAFT
-param set-default MAV_TYPE 7
+# MAV_TYPE_QUADROTOR 2
+#param set-default MAV_TYPE 12

 # Set micro-dds-client to use ethernet and IP-address 192.168.0.1
 param set-default UXRCE_DDS_AG_IP -1062731775
@@ -71,6 +71,12 @@ then
 fi


+# Heater driver for temperature regulated IMUs.
+if param compare -s SENS_EN_THERMAL 1
+then
+	heater start
+fi
+
 # Teraranger one tof sensor
 if param greater -s SENS_EN_TRANGER 0
 then
@@ -226,7 +232,10 @@ then

 	# compasses
 	hmc5883 -T -X -q start
-	iis2mdc -X -q start
+	if ! iis2mdc -X -q start
+	then
+		lis2mdl -X -q start
+	fi
 	ist8308 -X -q start
 	ist8310 -X -q start
 	if ! lis3mdl -X -q start
@@ -32,15 +32,6 @@ then
 	. ${R}etc/init.d/rc.rover_apps
 fi

-#
-# Spapcecraft setup.
-#
-if [ $VEHICLE_TYPE = sc ]
-then
-	# Start standard multicopter apps.
-	. ${R}etc/init.d/rc.sc_apps
-fi
-
 #
 # Differential Rover setup.
 #
@@ -404,14 +404,6 @@ else
 		fi
 	fi

-	# Heater driver for temperature regulated IMUs.
-	# The heater needs to start after px4io.
-	if param compare -s SENS_EN_THERMAL 1
-	then
-		heater start
-	fi
-
-
 	#
 	# RC update (map raw RC input to calibrate manual control)
 	#  start before commander
@@ -0,0 +1,172 @@
+#!/usr/bin/env python3
+
+import nacl.encoding
+import nacl.signing
+import nacl.hash
+import struct
+import binascii
+import json
+import time
+import argparse
+from pathlib import Path
+import sys
+
+def make_public_key_h_file(signing_key,key_name):
+    """
+    This file generate the public key header file
+    to be included into the bootloader build.
+    """
+    public_key_c='\n'
+    for i,c in enumerate(signing_key.verify_key.encode(encoder=nacl.encoding.RawEncoder)):
+        public_key_c+= hex(c)
+        public_key_c+= ', '
+        if((i+1)%8==0):
+            public_key_c+= '\n'
+    with open(key_name+'.pub' ,mode='w') as f:
+        f.write("//Public key to verify signed binaries")
+        f.write(public_key_c)
+
+def make_key_file(signing_key, key_name):
+    """
+    Writes the key.json file.
+    Attention do not override your existing key files.
+    Do not publish your private key!!
+    """
+
+    key_file = Path(key_name+'.json')
+    if key_file.is_file():
+        print("ATTENTION: key.json already exists, are you sure you want to overwrite it?")
+        print("Remove file and run script again.")
+        print("Script aborted!")
+        sys.exit(1)
+
+    keys={}
+    keys["date"] = time.asctime()
+    keys["public"] = (signing_key.verify_key.encode(encoder=nacl.encoding.HexEncoder)).decode()
+    keys["private"] = binascii.hexlify(signing_key._seed).decode()
+    #print (keys)
+    with open(key_name+'.json', "w") as write_file:
+        json.dump(keys, write_file)
+    return keys
+
+def ed25519_sign(private_key, signee_bin):
+    """
+    This function creates the signature. It takes the private key and the binary file
+    and returns the tuple (signature, public key)
+    """
+
+    signing_key = nacl.signing.SigningKey(private_key, encoder=nacl.encoding.HexEncoder)
+
+    # Sign a message with the signing key
+    signed = signing_key.sign(signee_bin,encoder=nacl.encoding.RawEncoder)
+
+    # Obtain the verify key for a given signing key
+    verify_key = signing_key.verify_key
+
+    # Serialize the verify key to send it to a third party
+    verify_key_hex = verify_key.encode(encoder=nacl.encoding.HexEncoder)
+
+    return signed.signature, verify_key_hex
+
+
+def sign(bin_file_path, key_file_path=None, generated_key_file=None):
+    """
+    reads the binary file and the key file.
+    If the key file does not exist, it generates a
+    new key file.
+    """
+
+    with open(bin_file_path,mode='rb') as f:
+        signee_bin = f.read()
+        # Align to 4 bytes. Signature always starts at
+        # 4 byte aligned address, but the signee size
+        # might not be aligned
+        if len(signee_bin)%4 != 0:
+            signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)
+
+    try:
+        with open(key_file_path,mode='r') as f:
+            keys = json.load(f)
+        #print(keys)
+    except:
+        print('ERROR: Key file',key_file_path,'not  found')
+        sys.exit(1)
+
+    signature, public_key = ed25519_sign(keys["private"], signee_bin)
+
+    # Do a sanity check. This type of signature is always 64 bytes long
+    assert len(signature) == 64
+
+    # Print out the signing information
+    print("Binary \"%s\" signed."%bin_file_path)
+    print("Signature:",binascii.hexlify(signature))
+    print("Public key:",binascii.hexlify(public_key))
+
+    return signee_bin + signature, public_key
+
+def generate_key(key_file):
+    """
+    Generate two files:
+      "key_file.pub" containing the public key in C-format to be included in the bootloader build
+      "key_file.json, containt both private and public key.
+    Do not leak or loose the key file. This is mandatory for signing
+    all future binaries you want to deploy!
+    """
+
+    # Generate a new random signing key
+    signing_key = nacl.signing.SigningKey.generate()
+     # Serialize the verify key to send it to a third party
+    verify_key_hex = signing_key.verify_key.encode(encoder=nacl.encoding.HexEncoder)
+    print("public key :",verify_key_hex)
+
+    private_key_hex=binascii.hexlify(signing_key._seed)
+    print("private key :",private_key_hex)
+
+    keys = make_key_file(signing_key,key_file)
+    make_public_key_h_file(signing_key,key_file)
+    return keys
+
+if(__name__ == "__main__"):
+
+    parser = argparse.ArgumentParser(description="""CLI tool to calculate and add signature to px4. bin files\n
+                                                  if given it takes an existing key file, else it generate new keys""",
+                                    epilog="Output: SignedBin.bin and a key.json file")
+    parser.add_argument("signee", help=".bin file to add signature", nargs='?', default=None)
+    parser.add_argument("signed", help="signed output .bin", nargs='?', default=None)
+
+    parser.add_argument("--key", help="key.json file", default="Tools/test_keys/test_keys.json")
+    parser.add_argument("--rdct", help="binary R&D certificate file", default=None)
+    parser.add_argument("--genkey", help="new generated key", default=None)
+    args = parser.parse_args()
+
+    # Only generate a key pair, don't sign
+    if args.genkey:
+        # Only create a key file, don't sign
+        generate_key(args.genkey)
+        print('New key file generated:',args.genkey)
+        sys.exit(0);
+
+    # Check that both signee and signed exist
+    if not args.signee or not args.signed:
+        print("ERROR: Must either provide file names for both signee and signed")
+        print("       or --genkey [key] to generate a new key pair")
+        sys.exit(1)
+
+    # Issue a warning when signing with testing key
+    if args.key=='Tools/test_keys/test_keys.json':
+        print("WARNING: Signing with PX4 test key")
+
+    # Sign the binary
+    signed, public_key = sign(args.signee, args.key, args.genkey)
+
+    with open(args.signed, mode='wb') as fs:
+        # Write signed binary
+        fs.write(signed)
+
+    # Append rdcert if given
+    try:
+        with open(args.rdct ,mode='rb') as f:
+            with open(args.signed, mode='ab') as fs:
+                fs.write(f.read())
+    except:
+        pass
@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+
+import sys
+
+try:
+    from Crypto.Cipher import ChaCha20
+except ImportError as e:
+    print("Failed to import crypto: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pycryptodome")
+    print("")
+    sys.exit(1)
+
+from Crypto.PublicKey import RSA
+from Crypto.Cipher import PKCS1_OAEP
+from Crypto.Hash import SHA256
+from pathlib import Path
+import argparse
+
+
+if __name__ == "__main__":
+
+    parser = argparse.ArgumentParser(description="""CLI tool to decrypt an ulog file\n""")
+    parser.add_argument("ulog_file", help=".ulge/.ulgc, encrypted log file", nargs='?', default=None)
+    parser.add_argument("ulog_key", help=".ulgk, legacy encrypted key (give empty string '' to ignore for .ulge)", nargs='?', default=None)
+    parser.add_argument("rsa_key", help=".pem format key for decrypting the ulog key", nargs='?', default=None)
+
+    args = parser.parse_args()
+
+    # Check all arguments are given
+    if not args.rsa_key:
+        print('Need all arguments, the encrypted ulog file, key file (or empty string if not needed) and the key decryption key (.pem)')
+        sys.exit(1)
+
+    # Read the private RSA key to decrypt the cahcha key
+    with open(args.rsa_key, 'rb') as f:
+        r = RSA.importKey(f.read(), passphrase='')
+
+    if args.ulog_key == "":
+        key_data_filename = args.ulog_file
+        magic = "ULogEnc"
+    else:
+        key_data_filename = args.ulog_key
+        magic = "ULogKey"
+
+    with open(key_data_filename, 'rb') as f:
+        # Read the encrypted xchacha key and the nonce
+        ulog_key_header = f.read(22)
+
+        # Parse the header
+        try:
+            # magic
+            if not ulog_key_header.startswith(bytearray(magic.encode())):
+                print("Incorrect header magic")
+                raise Exception()
+            # version
+            if ulog_key_header[7] != 1:
+                print("Unsupported header version")
+                raise Exception()
+            # expected key exchange algorithm (RSA_OAEP)
+            if ulog_key_header[16] != 4:
+                print("Unsupported key algorithm")
+                raise Exception()
+            key_size = ulog_key_header[19] << 8 | ulog_key_header[18]
+            nonce_size = ulog_key_header[21] << 8 | ulog_key_header[20]
+            ulog_key_cipher = f.read(key_size)
+            nonce = f.read(nonce_size)
+        except:
+            print("Keydata format error")
+            sys.exit(1)
+
+    if magic == "ULogEnc":
+        data_offset = 22 + key_size + nonce_size
+    else:
+        data_offset = 0
+
+    # Decrypt the xchacha key
+    cipher_rsa = PKCS1_OAEP.new(r,SHA256)
+    ulog_key = cipher_rsa.decrypt(ulog_key_cipher)
+    #print(binascii.hexlify(ulog_key))
+
+    # Read and decrypt the ulog data
+    cipher = ChaCha20.new(key=ulog_key, nonce=nonce)
+
+    outfilename = Path(args.ulog_file).stem + ".ulog"
+    with open(args.ulog_file, 'rb') as f:
+        if data_offset > 0:
+            f.seek(data_offset)
+        with open(outfilename, 'wb') as out:
+            out.write(cipher.decrypt(f.read()))
@@ -5,8 +5,8 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
 		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]] || [[ $@ =~ .*navigator.* ]]; then
-		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default, bluerobotics_navigator_default
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
+		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64
@@ -1,86 +0,0 @@
-# PX4 Log Encryption Tools
-
-Tools for generating encryption keys, building PX4 firmware with encrypted logs, downloading logs, and decrypting them.
-
-For more information see: https://docs.px4.io/main/en/dev_log/log_encryption.html
-
-## Usage
-
-1. **Get the board file**:
-   In order to use these tools you need to create an `encrypted_logs` target in your target board directory. For example:
-   ```bash
-   encrypted_logs.px4board
-   ```
-   Using `make menuconfig` you should enable these settings: `Blake2s hash algorithm`, `entropy pool` and `strong random number generator` and select `use interrupts` to feed timing randomness to the entropy pool.
-   Once you have generated the keys make sure you add them to the boardconfig.
-
-   ```bash
-   make <your_board_name>_encrypted_logs menuconfig
-   ```
-
-2. **Generate Keys**:
-   ```bash
-   cd PX4-Autopilot/Tools/log_encryption
-   python3 generate_keys.py
-   ```
-
-   Make sure you have the right key in your board file
-   ```CONFIG_PUBLIC_KEY1="../../../keys/public/public_key.pub"```
-
-3. **Build Firmware**:
-   ```bash
-   cd PX4-Autopilot
-
-   AND
-
-   make <your_board_name>_encrypted_logs
-
-   FOR INSTANCE
-   make_ark_fpv_encrypted_logs
-
-   Upload the custom firmware on your flight controller and record some logs
-   ```
-
-4. **Download Logs**:
-   ```bash
-   cd PX4-Autopilot/Tools/log_encryption
-
-   python3 download_logs.py /dev/ttyACM0 --baudrate 57600
-
-   OR
-
-   python3 download_logs.py udp:0.0.0.0:14550
-   ```
-
-   Addresses might need to be adjusted
-
-5. **Decrypt Logs**:
-   The easiest way to run this is to have your private key and encrypted logs in the following folders respectively:
-   ```bash
-   PX4-Autopilot/keys/private
-   PX4-Autopilot/logs/encrypted
-   ```
-   Then run:
-   ```bash
-   cd PX4-Autopilot/Tools/log_encryption
-
-   AND
-   # Uses default key + default folder
-   python3 decrypt_logs.py
-
-   OR
-   # Use --help to get all the options
-   python3 decrypt_logs.py --help
-   ```
-
-   Your decrypted logs can be found in:
-   ```bash
-   PX4-Autopilot/logs/decrypted
-   ```
-   Otherwise
-
-## Directory Structure
-
- **`keys/`**: Encryption keys.
- **`logs/encrypted/`**: Downloaded encrypted logs.
- **`logs/decrypted/`**: Decrypted logs.
@@ -1,135 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import argparse
-from pathlib import Path
-
-try:
-    from Crypto.Cipher import ChaCha20
-    from Crypto.PublicKey import RSA
-    from Crypto.Cipher import PKCS1_OAEP
-    from Crypto.Hash import SHA256
-except ImportError as e:
-    print("Failed to import crypto: " + str(e))
-    print("You may need to install it using:")
-    print("    pip3 install --user pycryptodome")
-    sys.exit(1)
-
-PX4_MAIN_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../.."))
-ENCRYPTED_LOGS_DIR = os.path.join(PX4_MAIN_DIR, "logs/encrypted")
-DECRYPTED_LOGS_DIR = os.path.join(PX4_MAIN_DIR, "logs/decrypted")
-DEFAULT_PRIVATE_KEY = os.path.join(PX4_MAIN_DIR, "keys/private/private_key.pem")
-
-def decrypt_log_file(ulog_file, private_key, output_folder):
-    """Decrypts a single encrypted log file (.ulge) and saves it as .ulg in the output folder."""
-
-    try:
-        # Read the private RSA key
-        with open(private_key, 'rb') as f:
-            key = RSA.import_key(f.read())
-
-        magic = "ULogEnc"
-        header_size = 22
-
-        with open(ulog_file, 'rb') as f:
-            # Encrypted .ulge file contains following sections:
-            # -------------------------
-            # | Header                |
-            # -------------------------
-            # | Wrapped symmetric key |
-            # -------------------------
-            # | Encrypted ulog data   |
-            # -------------------------
-            header = f.read(header_size)
-
-            # Parse the header
-            if not header.startswith(bytearray(magic.encode())):
-                print(f"Skipping {ulog_file}: Incorrect header magic")
-                return
-            if header[7] != 1:
-                print(f"Skipping {ulog_file}: Unsupported header version")
-                return
-            if header[16] != 4:
-                print(f"Skipping {ulog_file}: Unsupported key algorithm")
-                return
-
-            key_size = header[19] << 8 | header[18]
-            nonce_size = header[21] << 8 | header[20]
-            cipher = f.read(key_size)
-            nonce = f.read(nonce_size)
-
-        data_offset = header_size + key_size + nonce_size
-
-        # Try to decrypt the ChaCha key
-        cipher_rsa = PKCS1_OAEP.new(key, SHA256)
-        try:
-            ulog_key = cipher_rsa.decrypt(cipher)
-        except ValueError:
-            print(f"Skipping {ulog_file}: Incorrect decryption (wrong key)")
-            return
-
-        # Read and decrypt the log data
-        cipher = ChaCha20.new(key=ulog_key, nonce=nonce)
-
-        # Save decrypted log with .ulg extension
-        output_path = os.path.join(output_folder, Path(ulog_file).stem + ".ulg")
-        with open(ulog_file, 'rb') as f:
-            if data_offset > 0:
-                f.seek(data_offset)
-            with open(output_path, 'wb') as out:
-                out.write(cipher.decrypt(f.read()))
-
-        print(f"{output_path}")
-
-    except Exception as e:
-        print(f"Skipping {ulog_file}: Error occurred - {e}")
-
-
-def decrypt_all_logs(private_key_path, log_source_path=None):
-    """Decrypts all logs in the given folder or a single file."""
-
-    if log_source_path and os.path.isfile(log_source_path):
-        logs = [log_source_path]
-    else:
-        # Use default encrypted logs directory if not provided
-        folder = log_source_path if log_source_path else ENCRYPTED_LOGS_DIR
-        logs = [os.path.join(folder, f) for f in os.listdir(folder) if f.endswith(".ulge")]
-
-    if not logs:
-        print("No encrypted logs found.")
-        return
-
-    print(f"Found {len(logs)} encrypted log(s). Decrypting...")
-
-    os.makedirs(DECRYPTED_LOGS_DIR, exist_ok=True)
-
-    for log_path in logs:
-        decrypt_log_file(log_path, private_key_path, DECRYPTED_LOGS_DIR)
-
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser(
-    description="Decrypt PX4 encrypted log files (.ulge) using a ChaCha20+RSA scheme.\n\n"
-                "Usage examples:\n"
-                "  python3 decrypt_logs.py /path/to/private_key.pem /path/to/custom_log.ulge\n"
-                "  python3 decrypt_logs.py /path/to/private_key.pem /path/to/folder_with_ulge_files\n"
-                "  python3 decrypt_logs.py                  # Uses default key + default log folder\n",
-    formatter_class=argparse.RawTextHelpFormatter
-    )
-
-    parser.add_argument("private_key", nargs="?", default=None,
-                        help="Path to the private RSA key (.pem). If omitted, uses default key.")
-    parser.add_argument("log_file_or_folder", nargs="?", default=None,
-                        help="Path to a single .ulge file or folder containing them. If omitted, uses default encrypted log folder.")
-
-
-    args = parser.parse_args()
-
-    private_key_path = args.private_key if args.private_key else DEFAULT_PRIVATE_KEY
-
-    if not os.path.exists(private_key_path):
-        print(f"Error: Private key file not found at {private_key_path}")
-        sys.exit(1)
-
-    decrypt_all_logs(private_key_path, args.log_file_or_folder)
@@ -1,190 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import time
-import shutil
-import threading
-from pymavlink import mavutil
-from argparse import ArgumentParser
-
-class MavlinkLogDownloader:
-    def __init__(self, connection_url, output_dir, baudrate=57600, source_system=254):
-        self.connection_url = connection_url
-        self.output_dir = output_dir
-        self.encrypted_dir = os.path.join(output_dir, "encrypted")
-        self.running = True
-
-        # Ensure directories exist
-        os.makedirs(self.output_dir, exist_ok=True)
-        os.makedirs(self.encrypted_dir, exist_ok=True)
-
-        # # Handle serial or UDP connections
-        if os.path.exists(connection_url):  # likely a serial device
-            self.mav = mavutil.mavlink_connection(connection_url, baud=baudrate, source_system=source_system)
-        else:
-            self.mav = mavutil.mavlink_connection(connection_url, source_system=source_system)
-
-
-        self.mav.WIRE_PROTOCOL_VERSION = "2.0"
-
-        # Start heartbeat thread
-        self.heartbeat_thread = threading.Thread(target=self.send_heartbeat_thread)
-        self.heartbeat_thread.daemon = True
-        self.heartbeat_thread.start()
-
-        self.mav.wait_heartbeat()
-        print(f"Heartbeat received from system {self.mav.target_system}, component {self.mav.target_component}")
-
-        # Waking up the autopilot, it is needed to ensure we get answer for log request
-        self.mav.mav.command_long_send(
-            self.mav.target_system,
-            self.mav.target_component,
-            mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE,  # Command ID 512
-            0,  # Confirmation
-            mavutil.mavlink.MAVLINK_MSG_ID_AUTOPILOT_VERSION,  # param1: Message ID 148
-            0, 0, 0, 0, 0, 0  # params 2–7 are not used for this message
-        )
-
-        # Allow heartbeats to establish connection
-        time.sleep(3)
-
-
-    def send_heartbeat_thread(self):
-        while self.running:
-            self.mav.mav.heartbeat_send(
-                mavutil.mavlink.MAV_TYPE_GCS,
-                mavutil.mavlink.MAV_AUTOPILOT_GENERIC,
-                0, 0, 0
-            )
-            time.sleep(1)
-
-
-    def download_logs(self):
-        """Downloads logs to the output_dir."""
-        print("Request logs...")
-        self.mav.mav.log_request_list_send(self.mav.target_system, self.mav.target_component, 0, 0xFFFF)
-
-        log_entries = {}
-        total_logs = None
-        start_time = time.time()
-        last_entry_time = None
-
-        while True:
-            current_time = time.time()
-
-            # Case 1: If we haven't received any entries yet and we've waited more than 5 seconds
-            if not log_entries and current_time > start_time + 5:
-                print("Timed out waiting for first log entry (5s)")
-                break
-
-            # Case 2: If we have received at least one entry and it's been more than 3 seconds since the last one
-            if last_entry_time and current_time - last_entry_time > 3:
-                print(f"No new log entries received for 3 seconds. Moving on.")
-                break
-
-            # Case 3: If we've received all expected logs
-            if total_logs is not None and len(log_entries) >= total_logs:
-                print(f"Received all {total_logs} log entries.")
-                break
-
-            msg = self.mav.recv_match(type='LOG_ENTRY', blocking=True, timeout=1)
-
-            if msg and msg.id not in log_entries:
-                last_entry_time = time.time()
-                log_entries[msg.id] = msg
-
-                if total_logs is None:
-                    total_logs = msg.num_logs
-
-                print(f"Log ID: {msg.id}, Size: {msg.size} bytes, Date: {msg.time_utc} ({len(log_entries)}/{total_logs})")
-
-        if not log_entries:
-            print("No log entries found.")
-            return
-
-        for entry in log_entries.values():
-            self.download_log_file(entry)
-
-        self.classify_logs()
-
-
-    def download_log_file(self, log_entry):
-        """Downloads a log file to the output_dir."""
-        log_id = log_entry.id
-        log_size = log_entry.size
-        log_date = time.strftime("%Y-%m-%d_%H-%M-%S", time.gmtime(log_entry.time_utc))
-        output_filename = os.path.join(self.output_dir, f"log-{log_date}_{log_id}.ulg")
-
-        print(f"Downloading log {log_id} ({log_size} bytes) to {output_filename}...")
-
-        with open(output_filename, 'wb') as f:
-            self.mav.mav.log_request_data_send(self.mav.target_system, self.mav.target_component, log_id, 0, 0xFFFFFFFF)
-
-            bytes_received = 0
-            while bytes_received < log_size:
-                msg = self.mav.recv_match(type='LOG_DATA', blocking=True, timeout=5)
-                if msg:
-                    data_bytes = bytes(msg.data[:msg.count])
-                    f.write(data_bytes)
-                    bytes_received += msg.count
-                else:
-                    print("Timeout waiting for log data.")
-                    break
-
-        print(f"Finished downloading log {log_id}.")
-
-    def classify_logs(self):
-        """Classifies logs as encrypted (.ulge) based on file content."""
-        for log_file in os.listdir(self.output_dir):
-            log_path = os.path.join(self.output_dir, log_file)
-
-            if not os.path.isfile(log_path):
-                continue
-
-            # Read first 10 bytes to check for "ULogEnc"
-            with open(log_path, 'rb') as f:
-                first_bytes = f.read(10)
-
-            if b'ULogEnc' in first_bytes:
-                new_filename = log_file.replace(".ulg", ".ulge")
-                new_path = os.path.join(self.encrypted_dir, new_filename)
-                print(f"Found encrypted log: {new_path}")
-                shutil.move(log_path, new_path)
-
-
-    def cleanup(self):
-        """Stop the heartbeat thread and clean up resources."""
-        self.running = False
-        if self.heartbeat_thread.is_alive():
-            self.heartbeat_thread.join(timeout=2.0)
-
-
-def main():
-    parser = ArgumentParser(description="Download PX4 log files over MAVLink.")
-    parser.add_argument('connection_url', help="MAVLink connection URL (e.g., udp:0.0.0.0:14550, /dev/ttyACM0 --baudrate 57600)")
-    parser.add_argument('--output', '-o', default=os.path.join(os.path.dirname(__file__), "../..", "logs"), help="Output directory for log files (default: ../../logs)")
-    parser.add_argument('--baudrate', type=int, default=57600, help="Baudrate for serial connection (default: 57600)")
-    parser.add_argument('--source-system', type=int, default=254, help="MAVLink source system ID (default: 254)")
-
-
-    args = parser.parse_args()
-
-    output_dir = os.path.abspath(args.output)
-
-    print(f"Connecting to {args.connection_url}...")
-    log_downloader = MavlinkLogDownloader(
-        args.connection_url,
-        output_dir,
-        baudrate=args.baudrate,
-        source_system=args.source_system
-    )
-
-
-    try:
-        log_downloader.download_logs()
-    finally:
-        log_downloader.cleanup()
-
-if __name__ == '__main__':
-    main()
@@ -1,59 +0,0 @@
-import os
-import subprocess
-
-# Define the main PX4 directory (one level up from Tools)
-PX4_MAIN_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../.."))
-
-# Define the key folder paths
-KEY_FOLDER = os.path.join(PX4_MAIN_DIR, "keys")
-PUBLIC_KEY_FOLDER = os.path.join(KEY_FOLDER, "public")
-PRIVATE_KEY_FOLDER = os.path.join(KEY_FOLDER, "private")
-
-# Define the key file paths
-PRIVATE_KEY_PATH = os.path.join(PRIVATE_KEY_FOLDER, "private_key.pem")
-PUBLIC_KEY_DER_PATH = os.path.join(PUBLIC_KEY_FOLDER, "public_key.der")
-PUBLIC_KEY_PUB_PATH = os.path.join(PUBLIC_KEY_FOLDER, "public_key.pub")
-
-def create_key_folders():
-    """Creates key, public, and private folders if they do not exist."""
-    for folder in [KEY_FOLDER, PUBLIC_KEY_FOLDER, PRIVATE_KEY_FOLDER]:
-        if not os.path.exists(folder):
-            os.makedirs(folder)
-            print(f"Created '{folder}' directory.")
-        else:
-            print(f"'{folder}' directory already exists.")
-
-def generate_private_key():
-    """Generates a private key if it does not exist."""
-    if not os.path.exists(PRIVATE_KEY_PATH):
-        print("Generating private key...")
-        subprocess.run(["openssl", "genpkey", "-algorithm", "RSA", "-out", PRIVATE_KEY_PATH, "-pkeyopt", "rsa_keygen_bits:2048"])
-        print(f"Private key generated at: {PRIVATE_KEY_PATH}")
-    else:
-        print("Private key already exists.")
-
-def generate_public_key():
-    """Generates a public key in DER and PUB formats if they do not exist."""
-    if not os.path.exists(PUBLIC_KEY_DER_PATH):
-        print("Generating public key in DER format...")
-        subprocess.run(["openssl", "rsa", "-pubout", "-in", PRIVATE_KEY_PATH, "-outform", "DER", "-out", PUBLIC_KEY_DER_PATH])
-        print(f"Public key (DER) generated at: {PUBLIC_KEY_DER_PATH}")
-    else:
-        print("Public key (DER) already exists.")
-
-    if not os.path.exists(PUBLIC_KEY_PUB_PATH):
-        print("Generating public key in hex format...")
-        with open(PUBLIC_KEY_PUB_PATH, "w") as pub_file:
-            process = subprocess.Popen(["xxd", "-p", PUBLIC_KEY_DER_PATH], stdout=subprocess.PIPE)
-            output, _ = process.communicate()
-            hex_string = output.decode().strip().replace("\n", "")
-            formatted_hex = ", ".join(f"0x{hex_string[i:i+2]}" for i in range(0, len(hex_string), 2))
-            pub_file.write(formatted_hex)
-        print(f"Public key (hex) generated at: {PUBLIC_KEY_PUB_PATH}")
-    else:
-        print("Public key (hex) already exists.")
-
-if __name__ == "__main__":
-    create_key_folders()
-    generate_private_key()
-    generate_public_key()
@@ -30,12 +30,12 @@ def find_matching_brackets(brackets, s, verbose):

 def extract_timer(line):
    # Try format: initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
-    search = re.search('Timer::([0-9a-zA-Z_]+)[,)]', line, re.IGNORECASE)
+    search = re.search('Timer::([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
    if search:
        return search.group(1), 'generic'

    # NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
-    search = re.search('PWM::Flex([0-9a-zA-Z_]+)..PWM::Submodule([0-9])[,)]', line, re.IGNORECASE)
+    search = re.search('PWM::Flex([0-9a-zA-Z_]+)..PWM::Submodule([0-9])[,\)]', line, re.IGNORECASE)
    if search:
        return (search.group(1) + '_' +  search.group(2)), 'imxrt'

@@ -26,4 +26,3 @@ setuptools>=39.2.0
 six>=1.12.0
 toml>=0.9
 sympy>=1.10.1
-pycryptodome
@@ -129,7 +129,7 @@ __EXPORT void board_on_reset(int status)
 *
 * 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
+ *   is called early in the intitialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -107,7 +107,7 @@ icm20948_i2c_passthrough -X -q start
 hmc5883 -T -X -q start
 ist8308 -X -q start
 ist8310 -X -q start
-iis2mdc -X -q start
+lis2mdl -X -q start
 lis3mdl -X -q start
 qmc5883l -X -q start
 rm3100 -X -q start
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -25,16 +25,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
-CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
-CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
-CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
-CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
+CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -1,8 +0,0 @@
-CONFIG_DRIVERS_BATT_SMBUS=n
-CONFIG_DRIVERS_PX4IO=n
-CONFIG_BOARD_CRYPTO=y
-CONFIG_DRIVERS_STUB_KEYSTORE=y
-CONFIG_DRIVERS_SW_CRYPTO=y
-# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
-CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
-CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
@@ -84,8 +84,6 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x3185
 CONFIG_CDCACM_VENDORSTR="ARK"
-CONFIG_CRYPTO=y
-CONFIG_CRYPTO_RANDOM_POOL=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
@@ -296,7 +294,6 @@ CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART5_IFLOWCONTROL=y
 CONFIG_UART5_OFLOWCONTROL=y
-CONFIG_UART5_RXBUFSIZE=800
 CONFIG_UART5_RXDMA=y
 CONFIG_UART5_TXBUFSIZE=10000
 CONFIG_UART5_TXDMA=y
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_UAVCAN=y
 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
@@ -1,7 +0,0 @@
-
-CONFIG_BOARD_CRYPTO=y
-CONFIG_DRIVERS_STUB_KEYSTORE=y
-CONFIG_DRIVERS_SW_CRYPTO=y
-# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
-CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
-CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
@@ -82,8 +82,6 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x3185
 CONFIG_CDCACM_VENDORSTR="ARK"
-CONFIG_CRYPTO=y
-CONFIG_CRYPTO_RANDOM_POOL=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
@@ -1,6 +0,0 @@
-CONFIG_BOARD_CRYPTO=y
-CONFIG_DRIVERS_STUB_KEYSTORE=y
-CONFIG_DRIVERS_SW_CRYPTO=y
-# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
-CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
-CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
@@ -82,8 +82,6 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x3185
 CONFIG_CDCACM_VENDORSTR="ARK"
-CONFIG_CRYPTO=y
-CONFIG_CRYPTO_RANDOM_POOL=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -100,7 +100,7 @@ __END_DECLS
 *
 * 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
+ *   is called early in the intitialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -100,7 +100,7 @@ __END_DECLS
 *
 * 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
+ *   is called early in the intitialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -1,34 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_subdirectory(neopixel)
@@ -1,53 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-if(DEFINED ENV{AUTOPILOT_HOST})
-	set(AUTOPILOT_HOST $ENV{AUTOPILOT_HOST})
-else()
-	set(AUTOPILOT_HOST "raspberrypi")
-endif()
-
-if(DEFINED ENV{AUTOPILOT_USER})
-	set(AUTOPILOT_USER $ENV{AUTOPILOT_USER})
-else()
-	set(AUTOPILOT_USER "pi")
-endif()
-
-add_custom_target(upload
-	COMMAND rsync -arh --progress
-			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/navigator/*.config ${PX4_BINARY_DIR}/etc # source
-			"${AUTOPILOT_USER}@${AUTOPILOT_HOST}:/home/${AUTOPILOT_USER}/px4" # destination
-	DEPENDS px4
-	COMMENT "uploading px4"
-	USES_TERMINAL
-)
@@ -1,78 +0,0 @@
-CONFIG_PLATFORM_POSIX=y
-CONFIG_BOARD_LINUX_TARGET=y
-CONFIG_BOARD_TESTING=y
-CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
-CONFIG_BOARD_ARCHITECTURE="cortex-a53"
-CONFIG_DRIVERS_ADC_ADS1115=y
-CONFIG_DRIVERS_BATT_SMBUS=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_LIGHTS_NEOPIXEL=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_BAROMETER_BMP280=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
-CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
-CONFIG_PCA9685_USE_EXTERNAL_CRYSTAL=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
-CONFIG_COMMON_RC=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=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_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_GIMBAL=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_UUV_ATT_CONTROL=y
-CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
-CONFIG_MODULES_FW_RATE_CONTROL=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
-CONFIG_SYSTEMCMDS_DYN=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SHUTDOWN=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_DYN_HELLO=y
-CONFIG_EXAMPLES_FAKE_GPS=y
-CONFIG_EXAMPLES_HELLO=y
-CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
-CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
-CONFIG_EXAMPLES_WORK_ITEM=y
@@ -1,13 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-# system_power not implemented
-param set CBRK_SUPPLY_CHK 894281
-
-# 1K + 4.7K
-param set BAT1_V_DIV 5.7
-
-# Always keep current config
-param set SYS_AUTOCONFIG 0
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# board specific extras init
-#------------------------------------------------------------------------------
-
-rc_input start -d /dev/ttyAMA1
-rc_update start
@@ -1,39 +0,0 @@
-#!/bin/sh
-#
-# Navigator specific board sensors init
-#------------------------------------------------------------------------------
-
-if ! mmc5983ma start -s -m 0 -R 4
-then
-	echo "mmc5983ma not found."
-fi
-
-if ! ak09916 start -I -R 6
-then
-	echo "AK09916 not found."
-fi
-
-if ! icm20602 start -s -m 0 -R 14
-then
-	echo "ICM20602 not found."
-fi
-
-if ! bmp280 start -I
-then
-	echo "bmp280 not found."
-fi
-
-if ! ads1115 start -I
-then
-	echo "ads1115 not found."
-fi
-
-if ! pca9685_pwm_out start -a 0x40 -b 4
-then
-	echo "pca9685_pwm_out not found."
-fi
-
-if ! neopixel start
-then
-	echo "neopixel not found."
-fi
@@ -1,157 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file srgbled_impl.cpp
- *
- * Implementation of functions to control NeoPixel LEDs on the BlueRobotics Navigator for the neopixel driver.
- *
- * Definitions:
- * - BOARD_HAS_N_S_RGB_LED: Number of NeoPixel LEDs on the Navigator.
- * - BOARD_RGB_SPI_BUS: SPI bus connected to the NeoPixel data line.
- * - BOARD_RGB_SPI_FREQ: SPI bus frequency for the NeoPixel connection.
- */
-
-#include <board_config.h>
-#include <drivers/drv_neopixel.h>
-#include <px4_platform_common/i2c_spi_buses.h>
-#include <px4_platform_common/log.h>
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/sem.h>
-
-#if defined(BOARD_HAS_N_S_RGB_LED)
-
-#if !defined(BOARD_RGB_SPI_BUS)
-#  error  BOARD_RGB_SPI_BUS must be defined to use the NeoPixel driver implementation for the BlueRobotics Navigator
-#endif
-#if !defined(BOARD_RGB_SPI_FREQ)
-#  error  BOARD_RGB_SPI_FREQ must be defined to use the NeoPixel driver implementation for the BlueRobotics Navigator
-#endif
-
-#define LED_T0 0b11000000
-#define LED_T1 0b11110000
-
-class NavigatorLED : public device::SPI
-{
-public:
-	NavigatorLED();
-	~NavigatorLED() override = default;
-
-	int init();
-	int write(uint8_t red, uint8_t green, uint8_t blue);
-	int deinit();
-
-protected:
-	void _setup_data(uint8_t red, uint8_t green, uint8_t blue);
-
-private:
-	uint8_t _data[24];
-	px4_sem_t _sem;
-};
-
-NavigatorLED::NavigatorLED() :
-	// By default we don't use the CS line and MODE must be 0 for compatibility with Raspberry Pi
-	SPI(DRV_DEVTYPE_UNUSED, "navigator-neopixel", BOARD_RGB_SPI_BUS, 0, SPIDEV_MODE0, BOARD_RGB_SPI_FREQ)
-{
-	px4_sem_init(&_sem, 0, 1);
-}
-
-int NavigatorLED::init()
-{
-	int ret = SPI::init();
-
-	if (ret != PX4_OK) {
-		PX4_ERR("Neopixel SPI init failed");
-		return ret;
-	}
-
-	return PX4_OK;
-}
-
-void NavigatorLED::_setup_data(uint8_t red, uint8_t green, uint8_t blue)
-{
-	for (uint8_t i = 0; i < 8; i++) {
-		_data[i] = (green & (1 << (7 - i))) ? LED_T1 : LED_T0;
-	}
-
-	for (uint8_t i = 0; i < 8; i++) {
-		_data[8 + i] = (red & (1 << (7 - i))) ? LED_T1 : LED_T0;
-	}
-
-	for (uint8_t i = 0; i < 8; i++) {
-		_data[16 + i] = (blue & (1 << (7 - i))) ? LED_T1 : LED_T0;
-	}
-}
-
-int NavigatorLED::write(uint8_t red, uint8_t green, uint8_t blue)
-{
-	_setup_data(red, green, blue);
-
-	px4_sem_wait(&_sem);
-
-	int ret = transfer(_data, nullptr, sizeof(_data));
-
-	px4_sem_post(&_sem);
-
-	if (ret != PX4_OK) {
-		PX4_ERR("Failed to write data to NeoPixel %d", ret);
-	}
-
-	return ret;
-}
-
-int NavigatorLED::deinit()
-{
-	PX4_INFO("Neopixel deinitialized");
-	return PX4_OK;
-}
-
-// Neopixel driver impl
-
-NavigatorLED navigator_led;
-
-int neopixel_init(neopixel::NeoLEDData *led_data, int number_of_packages)
-{
-	return navigator_led.init();
-}
-
-int neopixel_write(neopixel::NeoLEDData *led_data, int number_of_packages)
-{
-	return navigator_led.write(led_data->R(), led_data->G(), led_data->B());
-}
-
-int neopixel_deinit()
-{
-	return navigator_led.deinit();
-}
-#endif // defined(BOARD_HAS_N_S_RGB_LED)
@@ -1,37 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_library(drivers_board
-	i2c.cpp
-	spi.cpp
-)
@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusInternal(1),
-	initI2CBusInternal(4),
-	initI2CBusExternal(6),
-};
@@ -1,45 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(1, {
-		initSPIDevice(DRV_MAG_DEVTYPE_MMC5983MA, 1),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, 2),
-	}),
-	initSPIBus(0, {
-		initSPIDevice(DRV_DEVTYPE_UNUSED, 0),
-	}),
-};
@@ -31,7 +31,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -58,8 +58,6 @@
 #define PX4IO_SERIAL_CLOCK             STM32_PCLK2_FREQUENCY
 #define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */

-#define PX4IO_HEATER_ENABLED
-
 /* LEDs */
 #define GPIO_nLED_AMBER        /* PE12 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)

@@ -32,7 +32,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -12,4 +12,6 @@ param set-default BAT2_A_PER_V 17
 # Disable IMU thermal control
 param set-default SENS_EN_THERMAL 0

+param set-default -s SENS_TEMP_ID 2621474
+
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
@@ -17,9 +17,6 @@ ms5611 -s -b 4 start

 if icm42688p -s -b 4 -R 10 -q start -c 15
 then
-	# We need to use the temperature of the first isolated IMU for heater control.
-	param set-default SENS_TEMP_ID 2490402
-
 	if ! icm20948 -s -b 4 -R 10 -M -q start
 	then
 		icm42688p -s -b 4 -R 6 start -c 13
@@ -27,8 +24,6 @@ then
 else
 	icm45686 -s -b 4 -R 10 start -c 15
 	icm45686 -s -b 4 -R 6 start -c 13
-
-	param set-default SENS_TEMP_ID 3407906
 fi

 # SPI1, body-fixed
@@ -38,6 +33,7 @@ then
 	ak09916 start -I -R 13
 else
 	icm20649 -s -b 1 start
+
 fi

 ms5611 -s -b 1 start
@@ -68,8 +68,6 @@
 #define PX4IO_SERIAL_CLOCK             STM32_PCLK2_FREQUENCY
 #define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */

-#define PX4IO_HEATER_ENABLED
-
 /* LEDs */
 #define GPIO_nLED_AMBER        /* PE12 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)

@@ -77,7 +77,7 @@
 *
 * 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
+ *   is called early in the intitialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the length of the list */
+	uint32_t                entries;    /* the lenght of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the length of the list */
+	uint32_t                entries;    /* the lenght of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the length of the list */
+	uint32_t                entries;    /* the lenght of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the length of the list */
+	uint32_t                entries;    /* the lenght of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -71,7 +71,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the length of the list */
+	uint32_t                entries;    /* the lenght of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the length of the list */
+	uint32_t                entries;    /* the lenght of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -77,7 +77,7 @@
 *
 * 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
+ *   is called early in the intitialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -62,10 +62,6 @@ param select /data/px4/param/parameters
 # Load in all of the parameters that have been saved in the file
 param load

-# This was the default pre-v1.16.0 and for folks relying on that
-# we set it up here
-param set-default EKF2_EV_CTRL 15
-
 # IMU (accelerometer / gyroscope)
 if [ "$PLATFORM" == "M0104" ]; then
    /bin/echo "Starting IMU driver with rotation 12"
@@ -154,7 +154,7 @@ __EXPORT void board_peripheral_reset(int ms)
 *
 * 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
+ *   is called early in the intitialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -517,7 +517,7 @@ extern "C"
 *
 * Description:
 *   All kinetis architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
+ *   is called early in the intitialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -120,7 +120,7 @@ __END_DECLS
 #define GPIO_SPEKTRUM_P_EN          (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN7)

 /* For binding the Spektrum 3-pin interfaces is used with it TX (output)
- * as an input Therefore we drive are UARTx_RX (normally an input) as an
+ * as an input Therefore we drive are UARTx_RX (normaly an input) as an
 * output
 */

@@ -289,7 +289,7 @@ __END_DECLS
 #define GPIO_USB_VBUS_VALID         /* PTE8 */ (GPIO_PULLUP | PIN_PORTE | PIN8)

 /* PWM input driver. Use FMU PWM14 pin
- * todo:design this
+ * todo:desing this
 */
 #define PWMIN_TIMER		0
 #define PWMIN_TIMER_CHANNEL	2
@@ -171,7 +171,7 @@ __EXPORT void board_peripheral_reset(int ms)
 *
 * Description:
 *   All Kinetis architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
+ *   is called early in the intitialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -513,7 +513,7 @@ extern "C"
 *
 * Description:
 *   All kinetis architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
+ *   is called early in the intitialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -120,7 +120,7 @@ __END_DECLS
 #define GPIO_SPEKTRUM_P_EN          (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN7)

 /* For binding the Spektrum 3-pin interfaces is used with it TX (output)
- * as an input Therefore we drive are UARTx_RX (normally an input) as an
+ * as an input Therefore we drive are UARTx_RX (normaly an input) as an
 * output
 */

@@ -293,7 +293,7 @@ __END_DECLS
 #define GPIO_USB_VBUS_VALID         /* PTE8 */ (GPIO_PULLUP | PIN_PORTE | PIN8)

 /* PWM input driver. Use FMU PWM14 pin
- * todo:design this
+ * todo:desing this
 */
 #define PWMIN_TIMER		0
 #define PWMIN_TIMER_CHANNEL	2
@@ -171,7 +171,7 @@ __EXPORT void board_peripheral_reset(int ms)
 *
 * Description:
 *   All Kinetis architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
+ *   is called early in the intitialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -119,7 +119,7 @@ int s32k3xx_bringup(void)
 		PX4_ERR("btn_lower_initialize() failed: %d", ret);

 	} else {
-		PX4_INFO("btn_lower_initialize() successful");
+		PX4_INFO("btn_lower_initialize() succesful");
 	}

 #endif
@@ -133,7 +133,7 @@ int s32k3xx_bringup(void)
 		PX4_ERR("userled_lower_initialize() failed: %d", ret);

 	} else {
-		PX4_INFO("userled_lower_initialize() successful");
+		PX4_INFO("userled_lower_initialize() succesful");
 	}

 #endif
@@ -224,7 +224,7 @@ int s32k3xx_bringup(void)
 				PX4_ERR("nxffs_initialize() failed: %d", ret);

 			} else {
-				PX4_INFO("nxffs_initialize() successful");
+				PX4_INFO("nxffs_initialize() succesful");

 				/* Mount the file system at /mnt/qspi */

@@ -234,7 +234,7 @@ int s32k3xx_bringup(void)
 					PX4_ERR("nx_mount() failed: %d", ret);

 				} else {
-					PX4_INFO("nx_mount() successful");
+					PX4_INFO("nx_mount() succesful");
 				}
 			}

@@ -250,7 +250,7 @@ int s32k3xx_bringup(void)
 #    ifdef CONFIG_BCH

 			else {
-				PX4_INFO("ftl_initialize() successful");
+				PX4_INFO("ftl_initialize() succesful");

 				/* Use the minor number to create device paths */

@@ -267,7 +267,7 @@ int s32k3xx_bringup(void)
 					PX4_ERR("bchdev_register %s failed: %d", chardev, ret);

 				} else {
-					PX4_INFO("bchdev_register %s successful", chardev);
+					PX4_INFO("bchdev_register %s succesful", chardev);
 				}
 			}

@@ -85,7 +85,7 @@ static int s32k3xx_selftest_se050(void)
 	lpi2c1 = s32k3xx_i2cbus_initialize(1);

 	if (lpi2c1 != NULL) {
-		_info("s32k3xx_i2cbus_initialize() successful\n");
+		_info("s32k3xx_i2cbus_initialize() succesful\n");

 	} else {
 		error = true;
@@ -105,7 +105,7 @@ static int s32k3xx_selftest_se050(void)
 	ret = I2C_TRANSFER(lpi2c1, &se050_msg, 1);

 	if (ret == 0) {
-		_info("SE050 ACK successful\n");
+		_info("SE050 ACK succesful\n");

 	} else {
 		error = true;
@@ -119,7 +119,7 @@ static int s32k3xx_selftest_se050(void)
 	ret = s32k3xx_i2cbus_uninitialize(lpi2c1);

 	if (ret == 0) {
-		_info("s32k3xx_i2cbus_uninitialize() successful\n");
+		_info("s32k3xx_i2cbus_uninitialize() succesful\n");

 		/* Return error if we had any earlier, otherwise return result of
 		 * s32k3xx_i2cbus_uninitialize()
@@ -232,7 +232,7 @@ static int s32k3xx_selftest_can(void)

 	for (i = 0; i < 4; i++) {
 		if (s32k3xx_gpioread(errn_pins[i])) {
-			_info("CAN%d flag check successful\n", i);
+			_info("CAN%d flag check succesful\n", i);

 		} else {
 			error = true;
@@ -333,7 +333,7 @@ static int s32k3xx_selftest_sct(void)

 	for (i = 4; i < 6; i++) {
 		if (s32k3xx_gpioread(rxd_pins[i - 4])) {
-			_info("CAN%d RXD high check successful\n", i);
+			_info("CAN%d RXD high check succesful\n", i);

 		} else {
 			error = true;
@@ -355,7 +355,7 @@ static int s32k3xx_selftest_sct(void)

 	for (i = 4; i < 6; i++) {
 		if (!s32k3xx_gpioread(rxd_pins[i - 4])) {
-			_info("CAN%d RXD low check successful\n", i);
+			_info("CAN%d RXD low check succesful\n", i);

 		} else {
 			error = true;
@@ -432,7 +432,7 @@ void s32k3xx_selftest(void)
 #endif

 	if (!error) {
-		_info("s32k3xx_selftest() successful\n");
+		_info("s32k3xx_selftest() succesful\n");
 	}
 }

@@ -318,7 +318,7 @@ int s32k3xx_tja1153_initialize(int bus)
 	}

 	close(sock);
-	_info("CAN%d TJA1153 configuration successful\n", bus);
+	_info("CAN%d TJA1153 configuration succesful\n", bus);
 	return 0;
 }

@@ -37,7 +37,7 @@ fi
 hmc5883 -T -X -q start
 ist8308 -X -q start
 ist8310 -X -q start
-iis2mdc -X -q start
+lis2mdl -X -q start
 lis3mdl -X -q start
 qmc5883l -X -q start
 rm3100 -X -q start
@@ -300,7 +300,7 @@ __EXPORT int board_get_hw_revision()
 *
 * 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
+ *   is called early in the intitialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -63,7 +63,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the length of the list */
+	uint32_t                entries;    /* the lenght of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -300,7 +300,7 @@ __EXPORT int board_get_hw_revision()
 *
 * 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
+ *   is called early in the intitialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -63,7 +63,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the length of the list */
+	uint32_t                entries;    /* the lenght of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the length of the list */
+	uint32_t                entries;    /* the lenght of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the length of the list */
+	uint32_t                entries;    /* the lenght of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the length of the list */
+	uint32_t                entries;    /* the lenght of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -77,7 +77,7 @@
 *
 * 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
+ *   is called early in the intitialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the length of the list */
+	uint32_t                entries;    /* the lenght of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the length of the list */
+	uint32_t                entries;    /* the lenght of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -61,7 +61,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The SP Racing H7 Extreme has a Switch on board, the BOOT0 pin is at ground so by default,
+ * The SP Racing H7 Extreme has a Swtich on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -154,7 +154,7 @@ __EXPORT void board_peripheral_reset(int ms)
 *
 * 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
+ *   is called early in the intitialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
bresch	e961a2390d	mpc: add acceleration control filter and gain	2025-04-22 15:26:26 +02:00
bresch	7360bf091f	mpc: generate tilt based on specific force feedback	2025-04-02 14:03:03 +02:00