Merge branch 'pr-MCP23017' of github.com:PX4/PX4-Autopilot into pr-MCP23017

Merge branch 'main' into pr-MCP23017
PPS time corection capability for GNSS measurements (#25838 )
2026-05-30 15:10:22 +08:00 · 2025-11-12 15:01:55 +01:00 · 2025-11-12 14:26:39 +01:00 · 2025-11-11 20:56:56 +01:00 · 2025-11-11 00:59:59 -05:00 · 2025-11-10 16:28:19 +01:00
921 changed files with 38805 additions and 7127 deletions
@@ -0,0 +1,24 @@
+runners:
+  x86-small-runner:
+    cpu: [1, 2]
+    ram: [1, 4]
+    disk: default
+    spot: price-capacity-optimized
+    image: ubuntu24-full-x64
+    extras: s3-cache
+  x86-firmware-builder:
+    cpu: [4, 8]
+    ram: [8, 16]
+    disk: default
+    family: ["c7i", "m7i", "r7i"]
+    spot: price-capacity-optimized
+    image: ubuntu24-full-x64
+    extras: s3-cache
+  arm64-firmware-builder:
+    cpu: [4, 8]
+    ram: [8, 16]
+    disk: default
+    family: ["c7g", "m7g", "r7g"]
+    spot: price-capacity-optimized
+    image: ubuntu24-full-arm64
+    extras: s3-cache
@@ -26,11 +26,15 @@ concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

+permissions:
+  contents: write
+  actions: read
+
 jobs:
  group_targets:
    name: Scan for Board Targets
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
@@ -38,6 +42,14 @@ jobs:
    steps:
      - uses: actions/checkout@v4

+      - name: Cache Python pip
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-${{ hashFiles('**./Tools/setup/requirements.txt') }}
+          restore-keys: |
+            ${{ runner.os }}-pip-
+
      - name: Update python packaging to avoid canonicalize_version() error
        run: |
            pip3 install -U packaging
@@ -48,12 +60,15 @@ jobs:
          path: "./Tools/setup/requirements.txt"

      - id: set-matrix
-        run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"
+        name: Generate Build Matrix
+        run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT

      - id: set-timestamp
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+        name: Save Current Timestamp
+        run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT

      - id: set-branch
+        name: Save Current Branch Name
        run: |
          echo "branchname=${{
            github.event_name == 'pull_request' &&
@@ -70,7 +85,7 @@ jobs:
          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"

  setup:
-    name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
+    name: Build [${{ matrix.runner }}][${{ matrix.group }}]
    # runs-on: ubuntu-latest
    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
    needs: group_targets
@@ -80,6 +95,7 @@ jobs:
    container:
      image: ${{ matrix.container }}
    steps:
+      - uses: runs-on/action@v2
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
@@ -87,14 +103,24 @@ jobs:
      - name: Git ownership workaround
        run: git config --system --add safe.directory '*'

-      - name: Setup ccache
-        uses: actions/cache@v4
+      # ccache key breakdown:
+      # ccache-<system os>-<system arch>-<builder group>-
+      # ccache-<linux>-<arm64>-<aarch64-0>-
+      # ccache-<linux>-<x64>-<nuttx-0>-
+      - name: Cache Restore from Key
+        id: cc_restore
+        uses: actions/cache/restore@v4
        with:
          path: ~/.ccache
-          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+          key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
+          restore-keys: |
+            ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
+            ccache-${{ runner.os }}-${{ matrix.runner }}-
+            ccache-${{ runner.os }}-${{ matrix.runner }}-
+            ccache-${{ runner.os }}-
+            ccache-

-      - name: Configure ccache
+      - name: Cache Config and Stats
        run: |
            mkdir -p ~/.ccache
            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
@@ -102,10 +128,11 @@ jobs:
            echo "compression_level = 6" >> ~/.ccache/ccache.conf
            echo "max_size = 120M" >> ~/.ccache/ccache.conf
            echo "hash_dir = false" >> ~/.ccache/ccache.conf
+            echo "compiler_check = content" >> ~/.ccache/ccache.conf
            ccache -s
            ccache -z

-      - name: Building [${{ matrix.group }}]
+      - name: Building Artifacts for [${{ matrix.targets }}]
        run: |
            ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}

@@ -119,15 +146,27 @@ jobs:
          name: px4_${{matrix.group}}_build_artifacts
          path: artifacts/

+      - name: Cache Post Build Stats
+        if: always()
+        run: |
+            ccache -s
+            ccache -z
+
      - name: Cache Save
-        run: ccache -s
+        if: always()
+        uses: actions/cache/save@v4
+        with:
+          path: ~/.ccache
+          key: ${{ steps.cc_restore.outputs.cache-primary-key }}

  artifacts:
-    name: Upload Artifacts to S3
+    name: Upload Artifacts
    # runs-on: ubuntu-latest
    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: [setup, group_targets]
-    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
+    if: startsWith(github.ref, 'refs/tags/v') || contains(fromJSON('["main","stable","beta"]'), needs.group_targets.outputs.branchname)
+    outputs:
+      uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
    steps:
      - name: Download Artifacts
        uses: actions/download-artifact@v4
@@ -135,11 +174,36 @@ jobs:
          path: artifacts/
          merge-multiple: true

-      - name: Branch Name
+      - name: Choose Upload Location
+        id: upload-location
        run: |
-          echo "${{ needs.group_targets.outputs.branchname }}"
+          # Determine upload location based on branch or tag with the following considerations:
+          # Destination: AWS S3 bucket px4-travis in folder Firmware/
+          # - If branch is main -> upload to master/
+          #   - Older versions of QGC are hardocded to look for master/
+          # - If branch is stable or beta -> upload to stable/ or beta/
+          # - If a tag vX.Y.Z -> upload to vX.Y.Z/
+          #   - Also update stable/ to point to the same version
+          #.  - Older versions of QGC are hardocded to look for stable/
+          # - If a pull request -> do not upload
+          set -euo pipefail

-      - name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
+          ref="${GITHUB_REF}"
+          branch=${{ needs.group_targets.outputs.branchname  }}
+          location="$branch"
+
+          if [[ "$branch" == "main" ]]; then
+            location="master"
+          fi
+
+          if [[ "$ref" == refs/tags/v[0-9]* ]]; then
+            tag="${ref#refs/tags/}"
+            location="$tag"
+          fi
+
+          echo "uploadlocation=$location" >> $GITHUB_OUTPUT
+
+      - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
        uses: jakejarvis/s3-sync-action@master
        with:
          args: --acl public-read
@@ -149,25 +213,30 @@ jobs:
          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
          AWS_REGION: 'us-west-1'
          SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/
+          DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/

-  release:
-    name: Create Release and Upload Artifacts
-    permissions:
-      contents: write
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/')
-    steps:
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
+      # if we are uploading artifacts to a versioned folder
+      # we should also update the stable folder in the s3 bucket
+      - name: Uploading Artifacts to S3 [stable]
+        uses: jakejarvis/s3-sync-action@master
+        if: startsWith(github.ref, 'refs/tags/v')
        with:
-          path: artifacts/
-          merge-multiple: true
+          args: --acl public-read
+        env:
+          AWS_S3_BUCKET: 'px4-travis'
+          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+          AWS_REGION: 'us-west-1'
+          SOURCE_DIR: artifacts/
+          DEST_DIR: Firmware/stable/

-      - name: Upload Binaries to Release
+      # if build is a release triggered by a versioned tag then create a github release
+      # and upload the build artifacts. A draft release is created so that the release
+      # can be reviewed before publishing
+      - name: Upload Artifacts to GitHub Release
        uses: softprops/action-gh-release@v2
+        if: startsWith(github.ref, 'refs/tags/v')
        with:
          draft: true
          files: artifacts/*.px4
+          name: ${{ steps.upload-location.outputs.uploadlocation }}
@@ -29,7 +29,7 @@ jobs:
      fail-fast: false
      matrix:
        version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
    container:
      image: ${{ matrix.version }}
      volumes:
@@ -39,7 +39,7 @@ jobs:
    name: Set Tags and Variables
    permissions:
      contents: read
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    outputs:
      px4_version: ${{ steps.px4_version.outputs.px4_version }}
      meta_tags: ${{ steps.meta.outputs.tags }}
@@ -87,7 +87,7 @@ jobs:
          - platform: linux/amd64
            arch: amd64
            runner: x64
-    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    steps:
      - uses: runs-on/action@v1
      - uses: actions/checkout@v4
@@ -130,15 +130,15 @@ jobs:
          load: false
          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
          provenance: false
-          cache-from: type=gha,version=1
-          cache-to: type=gha,version=1,mode=max
+          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
+          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}

  deploy:
    name: Deploy To Registry
    permissions:
      contents: read
      packages: write
-    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,"runner=4cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    needs: [build, setup]
    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
    steps:
@@ -1,19 +1,6 @@
-name: Docs - Deploy PX4 User Guide
+name: Docs - Deploy PX4 User Guide to Github pages (Manual)

 on:
-  push:
-    branches:
-      - 'main'
-      - 'release/**'
-    paths:
-      - 'docs/en/**'
-  pull_request:
-    branches:
-      - '**'
-    paths:
-      - 'docs/en/**'
-
-  # Allows you to run this workflow manually from the Actions tab
  workflow_dispatch:

 # Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
@@ -33,7 +20,7 @@ env:

 jobs:
  build:
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    steps:
      - uses: runs-on/action@v1
      - name: Checkout
@@ -68,7 +55,7 @@ jobs:
  deploy:
    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
    needs: build
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]

    steps:
      - name: Download Artifact
@@ -7,42 +7,52 @@ on:
      - "release/**"
    paths:
      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
  pull_request:
-    branches:
-      - "**"
    paths:
      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"

  workflow_dispatch:

 permissions:
  contents: read
+  actions: read
  id-token: write # for AWS OIDC

 concurrency:
  group: docs-deploy
  cancel-in-progress: false

-env:
-  BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
-
 jobs:
  build:
-    runs-on:
-      [
-        runs-on,
-        runner=8cpu-linux-x64,
-        image=ubuntu24-full-x64,
-        "run-id=${{ github.run_id }}",
-        spot=false,
-        extras=s3-cache,
-      ]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    outputs:
+      branchname: ${{ steps.set-branch.outputs.branchname }}
+      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
    steps:
      - uses: runs-on/action@v1

      - name: Checkout
        uses: actions/checkout@v4

+      - id: set-branch
+        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
+
+      - id: set-version
+        run: |
+          branch="${{ steps.set-branch.outputs.branchname }}"
+          if [[ "$branch" == "main" ]]; then
+            version="main"
+          else
+            version="v${branch#release/}"
+          fi
+          echo "releaseversion=$version" >> $GITHUB_OUTPUT
+
      - name: Setup Node
        uses: actions/setup-node@v4
        with:
@@ -55,6 +65,8 @@ jobs:

      - name: Build with VitePress
        working-directory: ./docs
+        env:
+          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
        run: |
          npm run docs:build_ubuntu
          touch .vitepress/dist/.nojekyll
@@ -91,14 +103,14 @@ jobs:

      - name: Upload HTML with short cache
        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ env.BRANCH_NAME }}/ \
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
            --delete \
            --exclude "*" --include "*.html" \
            --cache-control "public, max-age=60"

      - name: Upload assets with long cache
        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ env.BRANCH_NAME }}/ \
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
            --delete \
            --exclude "*.html" \
            --cache-control "public, max-age=86400, immutable"
@@ -48,6 +48,7 @@ jobs:
        run: |
          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
          cd _emscripten_sdk
+          git checkout 4.0.15
          ./emsdk install latest
          ./emsdk activate latest

@@ -24,7 +24,7 @@ env:
 jobs:
  analyze_flash:
    name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
    strategy:
@@ -97,7 +97,7 @@ jobs:
  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
  post_pr_comment:
    name: Publish Results
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
    needs: [analyze_flash]
    env:
      V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
@@ -22,7 +22,7 @@ concurrency:
 jobs:
  check_itcm:
    name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
    strategy:
@@ -41,6 +41,10 @@ jobs:
            scripts: >
              boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
              boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
+          - target: nxp_mr-tropic
+            scripts: >
+              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
+              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
    steps:
      - uses: actions/checkout@v4
        with:
@@ -23,7 +23,7 @@ concurrency:

 jobs:
  build:
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
      image: px4io/px4-dev-ros2-galactic:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -21,7 +21,7 @@ concurrency:
 jobs:
  build_and_test:
    name: Build and test
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    strategy:
      fail-fast: false
      matrix:
@@ -24,7 +24,7 @@ concurrency:
 jobs:
  build:
    name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
      image: px4io/px4-dev-simulation-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -7,10 +7,15 @@ jobs:
  stale:
    runs-on: ubuntu-latest
    steps:
-      - uses: actions/stale@v8
+      - uses: actions/stale@v10
        with:
-          days-before-stale: 30
-          days-before-close: -1
+          operations-per-run: 250
+          days-before-stale: 90
+          days-before-close: 30
          stale-issue-label: 'stale'
          stale-pr-label: 'stale'
          remove-stale-when-updated: true
+          stale-issue-message: 'This issue has been marked as stale due to 90 days of inactivity. If no further activity occurs, it will be automatically closed in 30 days. Please leave a comment, add a reaction, make an update, or remove the stale label if you’d like to keep it open.'
+          close-issue-message: 'This issue has been closed due to prolonged inactivity after being marked as stale. If you believe this was closed in error or the topic is still relevant, please feel free to reopen it or create a new issue.'
+          stale-pr-message: 'This PR was identified as stale and it will be closed in 30 days unless any activity is detected.'
+          close-pr-message: 'This pull request has been closed after being marked as stale with no further activity. Thank you for the time and effort you put into this contribution. If you’d like to continue the discussion or update the work, please feel free to reopen it or submit a new PR.'
@@ -141,6 +141,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-flow_canbootloader
+    ark_can-flow-mr_default:
+      short: ark_can-flow-mr_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-flow-mr_default
    ark_can-flow-mr_canbootloader:
      short: ark_can-flow-mr_canbootloader
      buildType: MinSizeRel
@@ -236,6 +241,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_fpv_default
+    ark_mag_canbootloader:
+      short: ark_mag_canbootloader
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: ark_mag_canbootloader
+    ark_mag_default:
+      short: ark_mag_default
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: ark_mag_default
    ark_pi6x_bootloader:
      short: ark_pi6x_bootloader
      buildType: MinSizeRel
@@ -406,6 +421,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: micoair_h743-v2_default
+    micoair_h743-lite_bootloader:
+      short: micoair_h743-lite_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-lite_bootloader
+    micoair_h743-lite_default:
+      short: micoair_h743-lite
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-lite_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -456,6 +481,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: nxp_mr-canhubk3_fmu
+    nxp_mr-tropic_default:
+      short: nxp_mr-tropic_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_mr-tropic_default
+    nxp_mr-tropic_bootloader:
+      short: nxp_mr-tropic_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_mr-tropic_bootloader
    nxp_tropic-community_default:
      short: nxp_tropic-community_default
      buildType: MinSizeRel
@@ -486,3 +521,13 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: x-mav_ap-h743v2_default
+    svehicle_e2_bootloader:
+      short: svehicle_e2_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: svehicle_e2_bootloader
+    svehicle_e2_default:
+      short: svehicle_e2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: svehicle_e2_default
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2023, PX4 Development Team
+Copyright (c) 2012 - 2025, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -325,6 +325,8 @@ bootloaders_update: \
 	ark_fmu-v6x_bootloader \
 	ark_fpv_bootloader \
 	ark_pi6x_bootloader \
+	auterion_fmu-v6s_bootloader \
+	auterion_fmu-v6x_bootloader \
 	cuav_nora_bootloader \
 	cuav_x7pro_bootloader \
 	cuav_7-nano_bootloader \
@@ -344,6 +346,7 @@ bootloaders_update: \
        micoair_h743_bootloader \
        micoair_h743-aio_bootloader \
 	micoair_h743-v2_bootloader \
+	micoair_h743-lite_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \
@@ -85,10 +85,32 @@ endif()
 if(PX4_ETHERNET)
 	set(added_arguments ${added_arguments} --ethernet)
 endif()
+# Check if board has an rc.board_airframes file to filter airframes
+set(board_airframes_file "${PX4_BOARD_DIR}/init/rc.board_airframes")
+set(airframes_whitelist "")
+if(EXISTS "${board_airframes_file}")
+	message(STATUS "ROMFS: Using board-specific airframes list: ${board_airframes_file}")
+	file(STRINGS "${board_airframes_file}" airframes_whitelist)
+	# Remove comments and empty lines
+	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*#")
+	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*$")
+endif()
+
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)
 	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
+
+	# If we have an airframes whitelist, filter airframe files
+	if(airframes_whitelist AND romfs_file_rel MATCHES "^init.d/airframes/")
+		# Extract just the filename
+		get_filename_component(airframe_name "${romfs_file_rel}" NAME)
+		# Check if it's in the whitelist
+		if(NOT "${airframe_name}" IN_LIST airframes_whitelist)
+			continue()
+		endif()
+	endif()
+
 	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
 endforeach()
 # copy the ROMFS files by creating a tar and extracting it to the build
@@ -27,7 +27,6 @@ param set-default SIH_KDV 0.2
 param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)

-param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -44,8 +44,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -46,8 +46,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -46,8 +46,6 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -31,8 +31,6 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -31,8 +31,6 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -30,8 +30,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -31,8 +31,6 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -38,8 +38,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -44,8 +44,6 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -35,8 +35,6 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -35,8 +35,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -46,8 +46,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -43,8 +43,6 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -48,8 +48,6 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -53,8 +53,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-
 param set-default COM_PREARM_MODE 2

 param set-default CA_ROTOR_COUNT 1
@@ -48,8 +48,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1

 param set-default CA_SV_CS_COUNT 6
@@ -17,6 +17,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default RD_WHEEL_TRACK 0.6
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.174533
+param set-default RD_YAW_STK_GAIN 0.6

 # Rate Control Parameters
 param set-default RO_YAW_RATE_I 0.01
@@ -25,6 +26,8 @@ param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 400
 param set-default RO_YAW_DECEL_LIM 800
 param set-default RO_YAW_RATE_CORR 1
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3

 # Attitude Control Parameters
 param set-default RO_YAW_P 5
@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Rover Ackermann
+# @name Generic Ackermann Rover
 # @type Rover
 # @class Rover

@@ -14,30 +14,32 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default NAV_ACC_RAD 0.5

 # Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
+param set-default RA_WHEEL_BASE 0.5
 param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
+param set-default RA_ACC_RAD_MAX 1.5
 param set-default RA_MAX_STR_ANG 0.5236
 param set-default RA_STR_RATE_LIM 360

-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 15
-param set-default RO_MAX_THR_SPEED 3.1
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
-param set-default RO_YAW_RATE_P 1
-param set-default RO_YAW_RATE_LIM 180
+# Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 130
+param set-default RO_YAW_ACCEL_LIM 800
+param set-default RO_YAW_DECEL_LIM 800
 param set-default RO_YAW_RATE_CORR 1
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3

-# Rover Attitude Control Parameters
+# Attitude Control Parameters
 param set-default RO_YAW_P 3

-# Rover Velocity Control Parameters
-param set-default RO_SPEED_LIM 3
-param set-default RO_SPEED_I 0.1
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.1
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 1
 param set-default RO_SPEED_RED 1

@@ -48,8 +50,8 @@ param set-default PP_LOOKAHD_MIN 1

 # Wheels
 param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_MIN1 70
+param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100

 # Steering
@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Aion Robotics R1 Rover
+# @name Generic Mecanum Rover
 # @type Rover
 # @class Rover

@@ -7,14 +7,15 @@

 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_mecanum}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

 param set-default NAV_ACC_RAD 0.5

 # Mecanum Parameters
-param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_WHEEL_TRACK 0.6
+param set-default RM_YAW_STK_GAIN 0.6

 # Rover Control Parameters
 param set-default RO_ACCEL_LIM 3
@@ -29,15 +30,21 @@ param set-default RO_YAW_RATE_LIM 120
 param set-default RO_YAW_ACCEL_LIM 240
 param set-default RO_YAW_DECEL_LIM 1000
 param set-default RO_YAW_RATE_CORR 1.75
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3

 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5

-# Rover Velocity Control Parameters
-param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.5
-param set-default RO_SPEED_P 1
-param set-default RO_SPEED_RED 1
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.1
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 0.5

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 0.5
@@ -48,24 +55,24 @@ param set-default PP_LOOKAHD_MIN 1
 param set-default SENS_EN_MAGSIM 1

 # Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
+param set-default SIM_GZ_WH_FUNC1 104 # left wheel back
 param set-default SIM_GZ_WH_MIN1 70
 param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100

-param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
+param set-default SIM_GZ_WH_FUNC2 103 # right wheel back
 param set-default SIM_GZ_WH_MIN2 70
 param set-default SIM_GZ_WH_MAX2 130
 param set-default SIM_GZ_WH_DIS2 100

-param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
+param set-default SIM_GZ_WH_FUNC3 102 # left wheel front
 param set-default SIM_GZ_WH_MIN3 70
 param set-default SIM_GZ_WH_MAX3 130
 param set-default SIM_GZ_WH_DIS3 100

-param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
+param set-default SIM_GZ_WH_FUNC4 101 # right wheel front
 param set-default SIM_GZ_WH_MIN4 70
 param set-default SIM_GZ_WH_MAX4 130
 param set-default SIM_GZ_WH_DIS4 100

-param set-default SIM_GZ_WH_REV 10
+param set-default SIM_GZ_WH_REV 0
@@ -26,7 +26,6 @@ param set-default TRIG_INTERFACE 3
 param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
-param set-default MAV_PROTO_VER 2

 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 6
@@ -80,10 +80,8 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
-	4012_gz_rover_ackermann
 	4013_gz_x500_lidar_2d
 	4014_gz_x500_mono_cam_down
-	4015_gz_r1_rover_mecanum
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
 	4018_gz_quadtailsitter
@@ -114,6 +112,8 @@ px4_add_romfs_files(
 	17002_flightgear_tf-g2

 	50000_gz_rover_differential
+	51000_gz_rover_ackermann
+	52000_gz_rover_mecanum

 	60002_gz_uuv_bluerov2_heavy

@@ -173,7 +173,6 @@ param set-default COM_RC_IN_MODE 1
 param set-default EKF2_REQ_GPS_H 0.5

 param set-default IMU_GYRO_FFT_EN 1
-param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets

 param set-default -s MC_AT_EN 1

@@ -14,7 +14,6 @@

 param set UAVCAN_ENABLE 0

-param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -40,8 +40,6 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -37,8 +37,6 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -10,7 +10,6 @@

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

-param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 param set-default CA_SV_CS_COUNT 4
@@ -32,7 +32,6 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0

-param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 7
 param set-default CA_SV_CS0_TRQ_R -0.5
@@ -10,8 +10,6 @@

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

-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.15
 param set-default CA_SV_CS_COUNT 2
@@ -7,6 +7,10 @@
 #
 # @board px4_fmu-v2 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6s exclude
+# @board ark_fmu-v6x exclude
+# @board auterion_fmu-v6x exclude
+# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>
@@ -7,6 +7,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 #

@@ -13,6 +13,11 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6s exclude
+# @board ark_fmu-v6x exclude
+# @board auterion_fmu-v6x exclude
+# @board px4_fmu-v6x exclude
+# @board px4_fmu-v6xrt exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -10,6 +10,7 @@
 # @board cuav_x7pro exclude
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 #

@@ -12,6 +12,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
@@ -10,6 +10,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
@@ -14,6 +14,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board diatone_mamba-f405-mk2 exclude
@@ -13,6 +13,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board diatone_mamba-f405-mk2 exclude
 #
@@ -0,0 +1,31 @@
+#!/bin/sh
+#
+# @name NXP B3RB Rover Ackermann
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+param set-default BAT1_N_CELLS 3
+
+# Set geometry & output configration
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC3 101
+param set-default PWM_MAIN_DIS1 1500
+param set-default PWM_MAIN_DIS2 0
+param set-default PWM_MAIN_DIS3 1500
+param set-default PWM_MAIN_MIN1 1000
+param set-default PWM_MAIN_MIN2 2500
+param set-default PWM_MAIN_MIN3 0
+param set-default PWM_MAIN_MAX1 2000
+param set-default PWM_MAIN_MAX2 2500
+param set-default PWM_MAIN_MAX3 50
+param set-default PWM_MAIN_TIM0 400
+param set-default PWM_MAIN_TIM1 400
+param set-default PWM_MAIN_TIM2 20000
@@ -153,6 +153,7 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 		# [51000, 51999] Ackermann rovers
 		51000_generic_rover_ackermann
 		51001_axial_scx10_2_trail_honcho
+		51002_nxp_b3rb
 	)
 endif()

@@ -10,6 +10,8 @@ set VEHICLE_TYPE fw
 # MAV_TYPE_FIXED_WING 1
 param set-default MAV_TYPE 1

+param set-default CA_AIRFRAME 1
+
 #
 # Default parameters for fixed wing UAVs.
 #
@@ -26,6 +28,7 @@ param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
+param set-default EKF2_REQ_PDOP 4
 param set-default EKF2_REQ_SACC 1
 param set-default EKF2_REQ_VDRIFT 1
 param set-default EKF2_RNG_QLTY_T 3
@@ -154,6 +154,12 @@ then
 	fi
 fi

+# Microchip MCP9808 temperature sensor external I2C
+if param compare -s SENS_EN_MCP9808 1
+then
+	mcp9808 start -X
+fi
+
 # TE MS4515 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4515 1
 then
@@ -219,6 +225,12 @@ then
 	pcf8583 start -X -a 0x51
 fi

+# ADC sensor ADS7953 external SPI
+if param compare -s ADC_ADS7953_EN 1
+then
+	ads7953 start -S
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -228,30 +228,26 @@ else
 	fi
 	unset BOARD_RC_ADDITIONAL_INIT

-	# Load airframe configuration based on SYS_AUTOSTART parameter
-	if ! param compare SYS_AUTOSTART 0
+	# Load airframe configuration based on SYS_AUTOSTART parameter if successful VEHICLE_TYPE gets set
+	# Run autogenerated ROMFS airframe script
+	. ${R}etc/init.d/rc.autostart
+
+	if [ ${VEHICLE_TYPE} = none ]
 	then
-		# rc.autostart directly run the right airframe script which sets the VEHICLE_TYPE
-		# Look for airframe in ROMFS
-		. ${R}etc/init.d/rc.autostart
-
-		if [ ${VEHICLE_TYPE} = none ]
+		# Run external airframe script on SD card
+		if [ $STORAGE_AVAILABLE = yes ]
 		then
-			# Use external startup file
-			if [ $STORAGE_AVAILABLE = yes ]
-			then
-				. ${R}etc/init.d/rc.autostart_ext
-			else
-				echo "ERROR [init] SD card not mounted - can't load external airframe"
-			fi
+			. ${R}etc/init.d/rc.autostart_ext
+		else
+			echo "ERROR [init] SD not mounted, skipping external airframe"
 		fi
+	fi

-		if [ ${VEHICLE_TYPE} = none ]
-		then
-			echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
-			param set SYS_AUTOSTART 0
-			tune_control play error
-		fi
+	if [ ${VEHICLE_TYPE} = none ]
+	then
+		echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
+		param set SYS_AUTOSTART 0
+		tune_control play error
 	fi

 	# Check parameter version and reset upon airframe configuration version mismatch.
@@ -15,4 +15,4 @@ ignore-exclude-errors-x
 lineend=linux
 exclude=EASTL
 add-brackets
-max-code-length=120
+max-code-length=140
@@ -7,6 +7,7 @@ fi

 ssh_port=22
 ssh_user=root
+ssh_opts="-o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no"

 while getopts ":f:c:d:p:u:r" opt; do
 	case ${opt} in
@@ -67,7 +68,7 @@ target_file_name="update-dev.tar"
 if [ "$revert" == true ]; then
 	# revert to the release version which was originally deployed
 	cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
-	ssh -t -p $ssh_port $ssh_user@$device "$cmd"
+	ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"
 else
 	# create custom update-dev.tar
 	tmp_dir="$(mktemp -d)"
@@ -105,11 +106,11 @@ else
 	$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path

 	# send it to the target to start flashing
-	scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
+	scp $ssh_opts -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
 	popd &>/dev/null
 	rm -rf "$tmp_dir"
 fi

 # grab status output for flashing progress
 cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
-ssh -t -p $ssh_port $ssh_user@$device "$cmd"
+ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"
@@ -191,7 +191,7 @@ def main():
                        cur_history_index = len(command_history)
                    mav_serialport.write(cur_line+'\n')
                    cur_line = ''
-                elif ord(ch) == 127: # backslash
+                elif ord(ch) == 8: # backspace
                    if len(cur_line) > 0:
                        erase_last_n_chars(1)
                        cur_line = cur_line[:-1]
@@ -15,7 +15,7 @@ class ModuleDocumentation(object):
    # TOC in https://github.com/PX4/PX4-Autopilot/blob/main/docs/en/SUMMARY.md
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
-    valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
+    valid_subcategories = ['', 'adc', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
                           'magnetometer', 'baro', 'optical_flow', 'radio_control','rpm_sensor', 'transponder']

    max_line_length = 80 # wrap lines that are longer than this
@@ -6,6 +6,7 @@ future
 jinja2>=2.8
 jsonschema
 kconfiglib
+lark
 lxml
 matplotlib>=3.0
 numpy>=1.13
@@ -14,8 +15,8 @@ packaging
 pandas>=0.21
 pkgconfig
 psutil
+pycryptodome
 pygments
-wheel>=0.31.1
 pymavlink
 pyros-genmsg
 pyserial
@@ -24,7 +25,6 @@ pyyaml
 requests
 setuptools>=39.2.0
 six>=1.12.0
-toml>=0.9
 sympy>=1.10.1
-pycryptodome
-lark
+toml>=0.9
+wheel>=0.31.1
@@ -25,10 +25,6 @@ except ImportError as e:
    sys.exit(1)


-SERVER = 'https://logs.px4.io'
-#SERVER = 'http://localhost:5006' # for testing locally
-UPLOAD_URL = SERVER+'/upload'
-
 quiet = False

 def ask_value(text, default=None):
@@ -60,6 +56,8 @@ def main():
    parser = ArgumentParser(description=__doc__)
    parser.add_argument('--quiet', '-q', dest='quiet', action='store_true', default=False,
            help='Quiet mode: do not ask for values which were not provided as parameters')
+    parser.add_argument('--server', dest='server', type=str, default='https://logs.px4.io',
+                      help='Server URL (default: https://logs.px4.io), use http://localhost:5006 for testing locally')
    parser.add_argument("--description", dest="description", type=str,
                      help="Log description", default=None)
    parser.add_argument("--feedback", dest="feedback", type=str,
@@ -99,6 +97,9 @@ def main():
    else:
        email = args.email

+    server = args.server
+    upload_url = server + '/upload'
+
    payload = {'type': args.type, 'description': description,
               'feedback': feedback, 'email': email, 'source': args.source}

@@ -113,13 +114,13 @@ def main():
            print('Uploading '+file_name+'...')

        with open(file_name, 'rb') as f:
-            r = requests.post(UPLOAD_URL, data=payload, files={'filearg': f},
+            r = requests.post(upload_url, data=payload, files={'filearg': f},
                    allow_redirects=False)
            if r.status_code == 302: # redirect
                if 'Location'  in r.headers:
                    plot_url = r.headers['Location']
                    if len(plot_url) > 0 and plot_url[0] == '/':
-                        plot_url = SERVER + plot_url
+                        plot_url = server + plot_url
                    print('URL: '+plot_url)


@@ -0,0 +1,30 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
+CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
+CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
+CONFIG_UAVCANNODE_RAW_IMU=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_ACCELERATION is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
+# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -8,9 +8,8 @@ param set-default SENS_FLOW_RATE 150
 param set-default SENS_IMU_CLPNOTI 0

 param set-default SENS_AFBR_S_RATE 25
-param set-default SENS_AFBR_L_RATE 10
-param set-default SENS_AFBR_THRESH 8
-param set-default SENS_AFBR_HYSTER 2
+param set-default SENS_AFBR_L_RATE 5
+param set-default SENS_AFBR_MODE 1

 # Internal SPI
 paa3905 -s start -Y 180
@@ -11,7 +11,6 @@ param set-default SENS_AFBR_HYSTER 1

 param set-default MAV_SYS_ID 158
 param set-default MAV_COMP_ID 158
-param set-default MAV_PROTO_VER 2

 param set-default MAV_0_MODE 14
 param set-default MAV_0_FORWARD 0
@@ -19,6 +19,7 @@ CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# ARK FMUARKV6X specific board sensors init
+# ARK FMU V6X specific board sensors init
 #------------------------------------------------------------------------------
 set HAVE_PM2 yes
 set HAVE_PM3 yes
@@ -69,28 +69,25 @@ fi

 if ver hwtypecmp ARKV6X000
 then
-	# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
-	iim42652 -R 3 -s -b 1 -C 32051 start
+	# Internal SPI bus IIM42652
+	iim42652 -R 3 -s -b 1 start

-	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
-	icm42688p -R 9 -s -b 2 -C 32051 start
+	# Internal SPI bus ICM42688p
+	icm42688p -R 9 -s -b 2 start

-	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
-	icm42688p -R 6 -s -b 3 -C 32051 start
+	# Internal SPI bus ICM42688p
+	icm42688p -R 6 -s -b 3 start
 fi

 if ver hwtypecmp ARKV6X001
 then
-	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
-	#iim42653 -R 3 -s -b 1 -C 32051 start
+	# Internal SPI bus IIM42653
 	iim42653 -R 3 -s -b 1 start

-	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
-	#iim42653 -R 9 -s -b 2 -C 32051 start
+	# Internal SPI bus IIM42653
 	iim42653 -R 9 -s -b 2 start

-	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
-	#iim42653 -R 6 -s -b 3 -C 32051 start
+	# Internal SPI bus IIM42653
 	iim42653 -R 6 -s -b 3 start
 fi

@@ -57,8 +57,6 @@ else()
 		mtd.cpp
 		sdio.c
 		spi.cpp
-		spix_sync.c
-		spix_sync.h
 		timer_config.cpp
 		usb.c
 	)
@@ -241,7 +241,7 @@

 /* PWM
 */
-#define DIRECT_PWM_OUTPUT_CHANNELS   8
+#define DIRECT_PWM_OUTPUT_CHANNELS   9

 #define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
 #define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
@@ -482,7 +482,7 @@
 #define PX4_I2C_BUS_MTD      4,5


-#define BOARD_NUM_IO_TIMERS  3
+#define BOARD_NUM_IO_TIMERS  4
 #define BOARD_SPIX_SYNC_FREQ 32000

 __BEGIN_DECLS
@@ -46,7 +46,6 @@
 ****************************************************************************/

 #include "board_config.h"
-#include "spix_sync.h"

 #include <stdbool.h>
 #include <stdio.h>
@@ -290,9 +289,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif /* CONFIG_MMCSD */

-	/* Configure the SPIX_SYNC output */
-	spix_sync_servo_init(BOARD_SPIX_SYNC_FREQ);
-	spix_sync_servo_set(0, 150);
-
 	return OK;
 }
@@ -1,309 +0,0 @@
-/****************************************************************************
- *
- *   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 Airmind 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 spix_sync.c
-*
-*
-*/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <board_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <string.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <ctype.h>
-
-
-#include <perf/perf_counter.h>
-#include <systemlib/err.h>
-#include <systemlib/px4_macros.h>
-
-#include <px4_arch/io_timer.h>
-
-#include "spix_sync.h"
-
-#define REG(_tmr, _reg) (*(volatile uint32_t *)(spix_sync_timers[_tmr].base + _reg))
-
-#define rCR1(_tmr)      REG(_tmr, STM32_GTIM_CR1_OFFSET)
-#define rCR2(_tmr)      REG(_tmr, STM32_GTIM_CR2_OFFSET)
-#define rSMCR(_tmr)     REG(_tmr, STM32_GTIM_SMCR_OFFSET)
-#define rDIER(_tmr)     REG(_tmr, STM32_GTIM_DIER_OFFSET)
-#define rSR(_tmr)       REG(_tmr, STM32_GTIM_SR_OFFSET)
-#define rEGR(_tmr)      REG(_tmr, STM32_GTIM_EGR_OFFSET)
-#define rCCMR1(_tmr)    REG(_tmr, STM32_GTIM_CCMR1_OFFSET)
-#define rCCMR2(_tmr)    REG(_tmr, STM32_GTIM_CCMR2_OFFSET)
-#define rCCER(_tmr)     REG(_tmr, STM32_GTIM_CCER_OFFSET)
-#define rCNT(_tmr)      REG(_tmr, STM32_GTIM_CNT_OFFSET)
-#define rPSC(_tmr)      REG(_tmr, STM32_GTIM_PSC_OFFSET)
-#define rARR(_tmr)      REG(_tmr, STM32_GTIM_ARR_OFFSET)
-#define rCCR1(_tmr)     REG(_tmr, STM32_GTIM_CCR1_OFFSET)
-#define rCCR2(_tmr)     REG(_tmr, STM32_GTIM_CCR2_OFFSET)
-#define rCCR3(_tmr)     REG(_tmr, STM32_GTIM_CCR3_OFFSET)
-#define rCCR4(_tmr)     REG(_tmr, STM32_GTIM_CCR4_OFFSET)
-#define rDCR(_tmr)      REG(_tmr, STM32_GTIM_DCR_OFFSET)
-#define rDMAR(_tmr)     REG(_tmr, STM32_GTIM_DMAR_OFFSET)
-#define rBDTR(_tmr)     REG(_tmr, STM32_ATIM_BDTR_OFFSET)
-
-#define BOARD_SPIX_SYNC_PWM_FREQ 1024000
-
-unsigned
-spix_sync_timer_get_period(unsigned timer)
-{
-	return (rARR(timer));
-}
-
-static void spix_sync_timer_init_timer(unsigned timer, unsigned rate)
-{
-	if (spix_sync_timers[timer].base) {
-
-		irqstate_t flags = px4_enter_critical_section();
-
-		/* enable the timer clock before we try to talk to it */
-
-		modifyreg32(spix_sync_timers[timer].clock_register, 0, spix_sync_timers[timer].clock_bit);
-
-		/* disable and configure the timer */
-		rCR1(timer) = 0;
-		rCR2(timer) = 0;
-		rSMCR(timer) = 0;
-		rDIER(timer) = 0;
-		rCCER(timer) = 0;
-		rCCMR1(timer) = 0;
-		rCCMR2(timer) = 0;
-		rCCR1(timer) = 0;
-		rCCR2(timer) = 0;
-		rCCR3(timer) = 0;
-		rCCR4(timer) = 0;
-		rCCER(timer) = 0;
-		rDCR(timer) = 0;
-
-		if ((spix_sync_timers[timer].base == STM32_TIM1_BASE) || (spix_sync_timers[timer].base == STM32_TIM8_BASE)) {
-
-			/* master output enable = on */
-
-			rBDTR(timer) = ATIM_BDTR_MOE;
-		}
-
-		/* If the timer clock source provided as clock_freq is the STM32_APBx_TIMx_CLKIN
-		 * then configure the timer to free-run at 1MHz.
-		 * Otherwise, other frequencies are attainable by adjusting .clock_freq accordingly.
-		 */
-
-		rPSC(timer) = (spix_sync_timers[timer].clock_freq / BOARD_SPIX_SYNC_PWM_FREQ) - 1;
-
-		/* configure the timer to update at the desired rate */
-
-		rARR(timer) = (BOARD_SPIX_SYNC_PWM_FREQ / rate) - 1;
-
-		/* generate an update event; reloads the counter and all registers */
-		rEGR(timer) = GTIM_EGR_UG;
-
-		px4_leave_critical_section(flags);
-	}
-
-}
-
-void spix_sync_channel_init(unsigned channel)
-{
-	/* Only initialize used channels */
-
-	if (spix_sync_channels[channel].timer_channel) {
-
-		unsigned timer = spix_sync_channels[channel].timer_index;
-
-		/* configure the GPIO first */
-		px4_arch_configgpio(spix_sync_channels[channel].gpio_out);
-
-		uint16_t polarity = spix_sync_channels[channel].masks;
-
-		/* configure the channel */
-		switch (spix_sync_channels[channel].timer_channel) {
-		case 1:
-			rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC1M_SHIFT) | GTIM_CCMR1_OC1PE;
-			rCCER(timer) |= polarity | GTIM_CCER_CC1E;
-			break;
-
-		case 2:
-			rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC2M_SHIFT) | GTIM_CCMR1_OC2PE;
-			rCCER(timer) |= polarity | GTIM_CCER_CC2E;
-			break;
-
-		case 3:
-			rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC3M_SHIFT) | GTIM_CCMR2_OC3PE;
-			rCCER(timer) |= polarity | GTIM_CCER_CC3E;
-			break;
-
-		case 4:
-			rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC4M_SHIFT) | GTIM_CCMR2_OC4PE;
-			rCCER(timer) |= polarity | GTIM_CCER_CC4E;
-			break;
-		}
-	}
-}
-
-int
-spix_sync_servo_set(unsigned channel, uint8_t  cvalue)
-{
-	if (channel >= arraySize(spix_sync_channels)) {
-		return -1;
-	}
-
-	unsigned timer = spix_sync_channels[channel].timer_index;
-
-	/* test timer for validity */
-	if ((spix_sync_timers[timer].base == 0) ||
-	    (spix_sync_channels[channel].gpio_out == 0)) {
-		return -1;
-	}
-
-	unsigned period = spix_sync_timer_get_period(timer);
-
-	unsigned value = (unsigned)cvalue * period / 255;
-
-	/* configure the channel */
-	if (value > 0) {
-		value--;
-	}
-
-
-	switch (spix_sync_channels[channel].timer_channel) {
-	case 1:
-		rCCR1(timer) = value;
-		break;
-
-	case 2:
-		rCCR2(timer) = value;
-		break;
-
-	case 3:
-		rCCR3(timer) = value;
-		break;
-
-	case 4:
-		rCCR4(timer) = value;
-		break;
-
-	default:
-		return -1;
-	}
-
-	return 0;
-}
-
-unsigned spix_sync_servo_get(unsigned channel)
-{
-	if (channel >= 3) {
-		return 0;
-	}
-
-	unsigned timer = spix_sync_channels[channel].timer_index;
-	uint16_t value = 0;
-
-	/* test timer for validity */
-	if ((spix_sync_timers[timer].base == 0) ||
-	    (spix_sync_channels[channel].timer_channel == 0)) {
-		return 0;
-	}
-
-	/* configure the channel */
-	switch (spix_sync_channels[channel].timer_channel) {
-	case 1:
-		value = rCCR1(timer);
-		break;
-
-	case 2:
-		value = rCCR2(timer);
-		break;
-
-	case 3:
-		value = rCCR3(timer);
-		break;
-
-	case 4:
-		value = rCCR4(timer);
-		break;
-	}
-
-	unsigned period = spix_sync_timer_get_period(timer);
-	return ((value + 1) * 255 / period);
-}
-
-int spix_sync_servo_init(unsigned rate)
-{
-	/* do basic timer initialisation first */
-	for (unsigned i = 0; i < arraySize(spix_sync_timers); i++) {
-		spix_sync_timer_init_timer(i, rate);
-	}
-
-	/* now init channels */
-	for (unsigned i = 0; i < arraySize(spix_sync_channels); i++) {
-		spix_sync_channel_init(i);
-	}
-
-	spix_sync_servo_arm(true);
-	return OK;
-}
-
-void
-spix_sync_servo_deinit(void)
-{
-	/* disable the timers */
-	spix_sync_servo_arm(false);
-}
-void
-spix_sync_servo_arm(bool armed)
-{
-	/* iterate timers and arm/disarm appropriately */
-	for (unsigned i = 0; i < arraySize(spix_sync_timers); i++) {
-		if (spix_sync_timers[i].base != 0) {
-			if (armed) {
-				/* force an update to preload all registers */
-				rEGR(i) = GTIM_EGR_UG;
-
-				/* arm requires the timer be enabled */
-				rCR1(i) |= GTIM_CR1_CEN | GTIM_CR1_ARPE;
-
-			} else {
-				rCR1(i) = 0;
-			}
-		}
-	}
-}
@@ -60,8 +60,7 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer12),
-	//initIOTimer(Timer::Timer1),
-	//initIOTimer(Timer::Timer2),
+	initIOTimer(Timer::Timer1),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -73,18 +72,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
 	initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
 	initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
-	//initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
-	//initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
 	initIOTimerChannelMapping(io_timers, timer_io_channels);
-
-
-constexpr io_timers_t spix_sync_timers[MAX_SPIX_SYNC_TIMERS] = {
-	initIOTimer(Timer::Timer1),
-};
-
-constexpr timer_io_channels_t spix_sync_channels[MAX_SPIX_SYNC_TIMERS] = {
-	initIOTimerChannel(spix_sync_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
-};
@@ -0,0 +1,5 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT=""
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y
@@ -0,0 +1,22 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y
+CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -0,0 +1,13 @@
+{
+    "board_id": 93,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ARK MAG board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ARKMAG",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+
+rm3100 -s -b 2 start
@@ -0,0 +1,57 @@
+#
+# 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_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/mag/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BINFMT_DISABLE=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=0
+CONFIG_NUNGET_CHARS=0
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_FLASH_CONFIG_G=y
+CONFIG_STM32_NOEXT_VECTORS=y
+CONFIG_STM32_TIM8=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,132 @@
+/************************************************************************************
+ * configs/px4fmu/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 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.
+ *
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/* HSI - 8 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - 8  MHz Crystal
+ * LSE - not installed
+ */
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+
+/* Main PLL Configuration */
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
+#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
+
+#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
+
+#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
+#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
+#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
+
+#define STM32_SYSCLK_FREQUENCY  96000000ul
+
+/* AHB clock (HCLK) is SYSCLK (96MHz) */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
+#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_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK (96MHz) */
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* Timers driven from APB2 will be PCLK2 since no prescale division */
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
+#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
+
+/* Alternate function pin selections ************************************************/
+
+/* UARTs */
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
+
+/* CAN */
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
+
+/* SPI */
+#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1 /* PB14 */
+#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1 /* PB15 */
+#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_1  /* PB10 */
+
+#endif /* __ARCH_BOARD_BOARD_H */
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX   // DMA1, Stream 3, Channel 0
+#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX   // DMA1, Stream 4, Channel 0
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
@@ -0,0 +1,149 @@
+#
+# 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_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_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_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/mag/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=254
+CONFIG_SCHED_HPWORKSTACKSIZE=3000
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_WAITPID=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=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_CONFIG_G=y
+CONFIG_STM32_FLASH_PREFETCH=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI2=y
+CONFIG_STM32_SPI2_DMA=y
+CONFIG_STM32_SPI2_DMA_BUFFER=2048
+CONFIG_STM32_TIM8=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USART2_TXBUFSIZE=1100
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,134 @@
+/****************************************************************************
+ * nuttx-config/scripts/canbootloader_script.ld
+ *
+ *   Copyright (C) 2015 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 STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * 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 first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * 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)
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.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 +1,146 @@
+/****************************************************************************
+ * scripts/ld.script
+ *
+ *   Copyright (C) 2011 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 STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * 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 first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 928K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * 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(8);
+		/*
+		* This section positions the app_descriptor_t used
+		* by the make_can_boot_descriptor.py tool to set
+		* the application image's descriptor so that the
+		* uavcan bootloader has the ability to validate the
+		* image crc, size etc
+		*/
+		KEEP(*(.app_descriptor))
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.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 +1,65 @@
+############################################################################
+#
+#   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("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		boot_config.h
+		boot.c
+		led.c
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+	add_library(drivers_board
+		can.c
+		init.c
+		led.c
+		spi.cpp
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_spi
+			drivers__led # drv_led_start
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+	)
+endif()
@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 board_config.h
+ *
+ * board internal definitions
+ */
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* CAN  Silent mode control */
+#define GPIO_CAN1_SILENT_S0   /* PB11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
+
+/* CAN termination software control */
+#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
+#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION
+
+/* Boot config */
+#define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
+
+/* LEDs are driven with open drain to support Anode to 5V or 3.3V */
+#define GPIO_TIM1_CH1         /* PA8  */ (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH2         /* PA9  */ (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH3         /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+
+#define FLASH_BASED_PARAMS
+
+/* High-resolution timer */
+#define HRT_TIMER                    3  /* use timer 3 for the HRT */
+#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
+
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_BOOT_CONFIG,                 \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_CAN1_TERMINATION,            \
+	}
+
+__BEGIN_DECLS
+
+#define BOARD_HAS_N_S_RGB_LED       1
+#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
+
+#ifndef __ASSEMBLY__
+
+extern void stm32_spiinitialize(void);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@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 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <stdint.h>
+#include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include <nuttx/board.h>
+#include "led.h"
+
+/************************************************************************************
+ * 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)
+{
+	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+	stm32_configgpio(GPIO_CAN1_SILENT_S0);
+	stm32_configgpio(GPIO_CAN1_TERMINATION);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+
+#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
+	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
+#endif
+
+}
+
+/************************************************************************************
+ * Name: board_deinitialize
+ *
+ * Description:
+ *   This function is called by the bootloader code prior to booting
+ *   the application. Is should place the HW into an benign initialized state.
+ *
+ ************************************************************************************/
+
+void board_deinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
+
+/****************************************************************************
+ * Name: board_get_product_name
+ *
+ * Description:
+ *   Called to retrieve the product name. The returned value is a assumed
+ *   to be written to a pascal style string that will be length prefixed
+ *   and not null terminated
+ *
+ * Input Parameters:
+ *    product_name - A pointer to a buffer to write the name.
+ *    maxlen       - The maximum number of charter that can be written
+ *
+ * Returned Value:
+ *   The length of characters written to the buffer.
+ *
+ ****************************************************************************/
+
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
+	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
+}
+
+/****************************************************************************
+ * Name: board_get_hardware_version
+ *
+ * Description:
+ *   Called to retrieve the hardware version information. The function
+ *   will first initialize the the callers struct to all zeros.
+ *
+ * Input Parameters:
+ *    hw_version - A pointer to a uavcan_hardwareversion_t.
+ *
+ * Returned Value:
+ *   Length of the unique_id
+ *
+ ****************************************************************************/
+
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
+	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
+
+	hw_version->major = HW_VERSION_MAJOR;
+	hw_version->minor = HW_VERSION_MINOR;
+
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
+}
+
+/****************************************************************************
+ * Name: board_indicate
+ *
+ * Description:
+ *   Provides User feedback to indicate the state of the bootloader
+ *   on board specific  hardware.
+ *
+ * Input Parameters:
+ *    indication - A member of the uiindication_t
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
+
+typedef begin_packed_struct struct led_t {
+	uint8_t red;
+	uint8_t green;
+	uint8_t blue;
+	uint8_t hz;
+} end_packed_struct led_t;
+
+static const  led_t i2l[] = {
+
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),
+
+};
+
+void board_indicate(uiindication_t indication)
+{
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
+		i2l[indication].hz);
+}
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 boot_config.h
+ *
+ * bootloader definitions that configures the behavior and options
+ * of the Boot loader
+ * This file is relies on the parent folder's boot_config.h file and defines
+ * different usages of the hardware for bootloading
+ */
+
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+/* Bring in the board_config.h definitions
+ * todo:make this be pulled in from a targed's build
+ * files in nuttx*/
+
+#include "board_config.h"
+#include "uavcan.h"
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+#include <stm32_flash.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
+
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS                    3000
+#define OPT_NODE_STATUS_RATE_MS         800
+#define OPT_NODE_INFO_RATE_MS           50
+#define OPT_BL_NUMBER_TIMERS            7
+
+/*
+ *  This Option set is set to 1 ensure a provider of firmware has an
+ *  opportunity update the node's firmware.
+ *  This Option is the default policy and can be overridden by
+ *  a jumper
+ *  When this Policy is set, the node will ignore tboot and
+ *  wait indefinitely for a GetNodeInfo request before booting.
+ *
+ *  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
+ *  the polarity of the jumper to be True Active
+ *
+ *  wait  OPT_WAIT_FOR_GETNODEINFO  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
+ *                                                 Jumper
+ *   yes           1                       0         x
+ *   yes           1                       1       Active
+ *   no            1                       1       Not Active
+ *   no            0                       0         X
+ *   yes           0                       1       Active
+ *   no            0                       1       Not Active
+ *
+ */
+#define OPT_WAIT_FOR_GETNODEINFO                    0
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1
+
+#define OPT_ENABLE_WD           1
+
+#define OPT_RESTART_TIMEOUT_MS          20000
+
+/* Reserved for the Booloader */
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
+
+/* Reserved for the application out of the total
+ * system flash minus the BOOTLOADER_SIZE_IN_K
+ */
+#define OPT_APPLICATION_RESERVER_IN_K    0
+
+#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
+#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
+
+
+#define FLASH_BASE              STM32_FLASH_BASE
+#define FLASH_SIZE              STM32_FLASH_SIZE
+
+#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
+
+/* If this board uses big flash that have large sectors */
+
+#define OPT_USE_YIELD
+
+/* Bootloader Option*****************************************************************
+ *
+ */
+#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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 can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * 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
@@ -0,0 +1,147 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 init.c
+ *
+ * board 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.
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include "led.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <drivers/drv_watchdog.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+/************************************************************************************
+ * 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)
+{
+	watchdog_init();
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	// Configure SPI all interfaces GPIO & enable power.
+	stm32_spiinitialize();
+}
+
+/****************************************************************************
+ * 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)
+{
+	px4_platform_init();
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{2, 16 * 1024, 0x08008000},
+		{3, 16 * 1024, 0x0800C000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+	}
+
+#endif // FLASH_BASED_PARAMS
+
+	/* Configure the HW based on the manifest */
+	//px4_platform_configure();
+
+	return OK;
+}
@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 led.c
+ *
+ * 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>
+
+#include "led.h"
+
+#define TMR_BASE        STM32_TIM1_BASE
+#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
+#define TMR_REG(o)      (TMR_BASE+(o))
+
+void rgb_led(int r, int g, int b, int freqs)
+{
+
+	long fosc = TMR_FREQUENCY;
+	long prescale = 2048;
+	long p1s = fosc / prescale;
+	long p0p5s  = p1s / 2;
+	uint16_t val;
+	static bool once = 0;
+
+	if (!once) {
+		once = 1;
+
+		/* Enable Clock to Block */
+		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
+
+		/* Reload */
+
+		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
+		val |= ATIM_EGR_UG;
+		putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
+
+		/* Set Prescaler STM32_TIM_SETCLOCK */
+
+		putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
+
+		/* Enable STM32_TIM_SETMODE*/
+
+		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
+			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
+		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
+			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
+			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
+
+
+		stm32_configgpio(GPIO_TIM1_CH1);
+		stm32_configgpio(GPIO_TIM1_CH2);
+		stm32_configgpio(GPIO_TIM1_CH3);
+
+		/* master output enable = on */
+		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
+	}
+
+	long p  = freqs == 0 ? p1s : p1s / freqs;
+	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
+
+	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+
+	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
+	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
+	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
+
+	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+	if (freqs == 0) {
+		val &= ~ATIM_CR1_CEN;
+
+	} else {
+		val |= ATIM_CR1_CEN;
+	}
+
+	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+}
@@ -1,6 +1,7 @@
 /****************************************************************************
 *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -32,11 +33,5 @@
 ****************************************************************************/

 __BEGIN_DECLS
-void spix_sync_channel_init(unsigned channel);
-int spix_sync_servo_set(unsigned channel, uint8_t  value);
-unsigned spix_sync_servo_get(unsigned channel);
-int spix_sync_servo_init(unsigned rate);
-void spix_sync_servo_deinit(void);
-void spix_sync_servo_arm(bool armed);
-unsigned spix_sync_timer_get_period(unsigned timer);
+void rgb_led(int r, int g, int b, int freqs);
 __END_DECLS
@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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.
+ *
+ ****************************************************************************/
+
+#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::SPI2, {
+		initSPIDevice(DRV_MAG_DEVTYPE_RM3100, SPI::CS{GPIO::PortB, GPIO::Pin12}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,17 @@
+# UAVCAN boot loadable Module ID
+set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
+set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+)
+
+set(uavcanblid_hw_version_major 0)
+set(uavcanblid_hw_version_minor 93)
+set(uavcanblid_name "\"org.ark.mag\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
@@ -0,0 +1,2 @@
+4001_quad_x
+4601_droneblocks_dexi_5
@@ -226,8 +226,8 @@ CONFIG_STM32H7_PHY_POLLING=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_RTC=y
 CONFIG_STM32H7_RTC_HSECLOCK=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
 CONFIG_STM32H7_RTC_MAGIC=0xA5A5A5A5
+CONFIG_STM32H7_RTC_MAGIC_REG=1
 CONFIG_STM32H7_RTC_MAGIC_TIME_SET=0xA6A6A6A6
 CONFIG_STM32H7_SAVE_CRASHDUMP=y
 CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
@@ -171,6 +171,10 @@
 /* Enable the buffer for the dmesg command */
 #define BOARD_ENABLE_CONSOLE_BUFFER

+/* No CDCACM driver for this board, so this is manually defined for version.c
+ * so that the px4_board_version reports the correct board id to the companion */
+#define CONFIG_CDCACM_PRODUCTID 60
+
 __BEGIN_DECLS

 /****************************************************************************************************
--- a/Show More
+++ b/Show More