px4_fmuv5:Establish reset state of GPIO_VDD_3V3_SENSORS_EN

Set up landing gear logic for tiltrotor and tailsitter VTOL. Gear is set down when in hover mode, esle gear is set up.
Set up landing gear logic for standard VTOL. Gear is set down when in hover mode, else gear is set up.
2026-05-25 22:07:34 +08:00 · 2022-03-22 10:50:29 -07:00 · 2022-03-21 09:30:04 +01:00 · 2022-03-21 09:30:04 +01:00 · 2022-03-19 14:43:45 -04:00 · 2022-03-19 14:38:04 -04:00
187 changed files with 5210 additions and 2090 deletions
@@ -412,6 +412,7 @@ endif()
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
+add_library(kernel_parameters_interface INTERFACE)

 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -434,7 +435,13 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)

 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
+
+if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
+target_link_libraries(parameters_interface INTERFACE usr_parameters)
+target_link_libraries(kernel_parameters_interface INTERFACE parameters)
+else()
 target_link_libraries(parameters_interface INTERFACE parameters)
+endif()

 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})
@@ -8,8 +8,5 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -8,8 +8,5 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -67,4 +67,3 @@ param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108

 set MIXER skip
-
@@ -80,7 +80,5 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

-set MAV_TYPE 22
-
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -7,6 +7,8 @@

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

+param set-default MAV_TYPE 20
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4

@@ -78,7 +80,5 @@ param set-default VT_TYPE 0

 param set-default WV_EN 0

-set MAV_TYPE 20
-
 set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
 set MIXER custom
@@ -7,6 +7,8 @@

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

+param set-default MAV_TYPE 21
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3

@@ -88,7 +90,5 @@ param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1

-set MAV_TYPE 21
-
 set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
 set MIXER custom
@@ -51,7 +51,5 @@ param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10

-set MAV_TYPE 22
-
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -37,6 +37,4 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101

-set MAV_TYPE 10
-
 set MIXER_FILE skip
@@ -37,6 +37,4 @@ param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102

-set MAV_TYPE 10
-
 set MIXER_FILE skip
@@ -10,6 +10,8 @@

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

+param set-default MAV_TYPE 10
+
 param set-default GND_L1_DIST 5
 param set-default GND_SP_CTRL_MODE 1
 param set-default GND_SPEED_D 3
@@ -33,6 +35,4 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0

-set MAV_TYPE 10
-
 set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -47,6 +47,4 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

-set MAV_TYPE 11
-
 set MIXER skip
@@ -9,6 +9,8 @@

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

+param set-default MAV_TYPE 13
+
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCH_P 6.0
@@ -24,6 +26,4 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2

-set MAV_TYPE 13
-
 set MIXER hexa_x
@@ -7,6 +7,8 @@

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

+param set-default MAV_TYPE 13
+
 param set-default MC_PITCHRATE_P 0.0800
 param set-default MC_PITCHRATE_I 0.0400
 param set-default MC_PITCHRATE_D 0.0010
@@ -26,6 +28,4 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2

-set MAV_TYPE 13
-
 set MIXER hexa_x
@@ -7,6 +7,8 @@

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

+param set-default MAV_TYPE 13
+
 param set-default SYS_CTRL_ALLOC 1

 param set-default MC_PITCHRATE_P 0.0800
@@ -58,7 +60,5 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106

-set MAV_TYPE 13
-
 set MIXER skip
 set MIXER_AUX none
@@ -24,7 +24,6 @@ fi

 # initialize script variables
 set IO_PRESENT                  no
-set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
@@ -36,4 +36,5 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
+
 set MIXER quad_w
@@ -104,7 +104,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

-set MAV_TYPE 22
+param set-default MAV_TYPE 22

 set MIXER standard_vtol_hitl

@@ -47,7 +47,7 @@ param set-default HIL_ACT_FUNC6 201
 param set-default HIL_ACT_REV 32

 param set-default MAV_TYPE 19
-set MAV_TYPE 19
+
 set MIXER vtol_tailsitter_duo_sat

 set PWM_OUT 1234
@@ -54,7 +54,8 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22
+
+param set-default MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -19,7 +19,6 @@

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

-
 param set-default MAV_TYPE 19

 param set-default MC_ROLL_P 6
@@ -38,7 +37,6 @@ param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_ID 12
 param set-default VT_TYPE 0
-set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo

@@ -23,6 +23,7 @@

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

+param set-default MAV_TYPE 21

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@@ -45,7 +46,6 @@ param set-default VT_TILT_TRANS 0.5
 param set-default VT_TILT_FW 0.9
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21

 set MIXER firefly6
 set MIXER_AUX firefly6
@@ -13,6 +13,8 @@

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

+param set-default MAV_TYPE 20
+
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.15
@@ -38,7 +40,6 @@ param set-default PWM_MAIN_MAX 2000
 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
-set MAV_TYPE 20

 set MIXER quad_x_vtol

@@ -22,13 +22,13 @@

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

+param set-default MAV_TYPE 20
+
 param set-default PWM_MAIN_MAX 2000

 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0

-set MAV_TYPE 20
-
 set MIXER quad_+_vtol

 set PWM_OUT 1234
@@ -52,7 +52,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -41,7 +41,6 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_delta
@@ -33,7 +33,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAVVT
@@ -46,7 +46,6 @@ param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -77,8 +77,6 @@ param set-default VT_TRANS_MIN_TM 5
 param set-default VT_TRANS_TIMEOUT    30
 param set-default VT_TYPE 2

-set MAV_TYPE 22
-
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

@@ -13,6 +13,8 @@

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

+param set-defualt MAV_TYPE 21
+
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
@@ -28,7 +30,6 @@ param set-default VT_TILT_MC 0.08
 param set-default VT_TILT_TRANS 0.5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21

 set MIXER claire
 set MIXER_AUX claire
@@ -22,6 +22,8 @@

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

+param set-defualt MAV_TYPE 21
+
 param set-default CBRK_AIRSPD_CHK 162128

 param set-default FW_ARSP_MODE 1
@@ -64,7 +66,6 @@ param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21

 set MIXER vtol_convergence

@@ -22,6 +22,8 @@

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

+param set-default MAV_TYPE 22
+
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
@@ -134,7 +136,6 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0
-set MAV_TYPE 22

 set MIXER deltaquad
 set MIXER_AUX pass
@@ -23,6 +23,8 @@

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

+param set-default MAV_TYPE 22
+
 param set-default BAT1_N_CELLS 6

 param set-default FW_AIRSPD_MAX 30
@@ -94,8 +96,6 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

-set MAV_TYPE 22
-
 set MIXER babyshark
 set MIXER_AUX pass

@@ -27,6 +27,8 @@

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

+param set-default MAV_TYPE 21
+
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
@@ -57,8 +59,6 @@ param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_TL_COUNT 4

-set MAV_TYPE 21
-
 set MIXER quad_x
 set MIXER_AUX vtol_TTTTAAER

@@ -31,7 +31,6 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
 param set-default VT_FW_MOT_OFFID 12345678
-set MAV_TYPE 22

 set MIXER octo_cox
 set MIXER_AUX vtol_AAERT
@@ -19,6 +19,8 @@

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

+param set-default MAV_TYPE 19
+
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
@@ -37,8 +39,6 @@ param set-default CA_SV_CS1_TRQ_P 0.5
 param set-default CA_SV_CS1_TRQ_Y -0.5
 param set-default CA_SV_CS1_TYPE 6

-param set-default MAV_TYPE 19
-set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo

 set PWM_OUT 1234
@@ -18,4 +18,7 @@

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

+# MAV_TYPE_TRICOPTER 15
+param set-default MAV_TYPE 15
+
 set MIXER tri_y_yaw+
@@ -18,4 +18,7 @@

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

+# MAV_TYPE_TRICOPTER 15
+param set-default MAV_TYPE 15
+
 set MIXER tri_y_yaw-
@@ -17,7 +17,9 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-set MIXER coax
+
+# MAV_TYPE_COAXIAL 3
+param set-default MAV_TYPE 3

 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
@@ -36,6 +38,9 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
+
+set MIXER coax
+
 # This is the gimbal pass mixer
 set MIXER_AUX pass

@@ -20,7 +20,7 @@
 . ${R}etc/init.d/rc.mc_defaults

 # Configure as helicopter (number 4 defined in commander_helper.cpp)
-set MAV_TYPE 4
+param set-default MAV_TYPE 4

 set MIXER blade130

@@ -41,5 +41,6 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
+
 set MIXER TF-G2
 set MIXER_AUX pass
@@ -24,8 +24,5 @@ param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

-set MAV_TYPE 8
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER IO_pass
 set MIXER_AUX pass
@@ -26,7 +26,7 @@
 # @board px4_fmu-v2 exclude
 #

-set VEHICLE_TYPE mc
+. ${R}etc/init.d/rc.mc_defaults

 param set-default NAV_ACC_RAD 2

@@ -39,6 +39,7 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
+
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox

@@ -41,9 +41,6 @@ param set-default FW_RR_P 0.04

 param set-default PWM_MAIN_DISARM 1000

-# Configure this as plane.
-set MAV_TYPE 1
-
 # Set mixer.
 set MIXER fw_generic_wing

@@ -24,8 +24,6 @@

 set MIXER quad_s250aq

-set MAV_TYPE 2
-
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
@@ -21,10 +21,7 @@
 # @board cuav_x7pro exclude
 #

-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_defaults

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -21,10 +21,7 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #

-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_defaults

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -24,10 +24,6 @@

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

-
-# Configure this as Quadrotor
-# set MAV_TYPE 14
-
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
@@ -48,8 +48,6 @@ param set-default NAV_ACC_RAD 0.5
 param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_MAX 2000
 param set-default PWM_MAIN_MIN 1000
-# Configure this as rover
-set MAV_TYPE 10

 # Set mixer
 set MIXER rover_generic
@@ -76,9 +76,6 @@ param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
 # roboclaw start /dev/ttyS3

-# Configure this as rover
-set MAV_TYPE 10
-
 # Set mixer
 set MIXER generic_diff_rover

@@ -65,9 +65,6 @@ param set-default PWM_MAIN_MIN4 970
 # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-# Configure this as rover
-set MAV_TYPE 10
-
 # Set mixer
 set MIXER rover_diff_and_servo

@@ -16,7 +16,4 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER uuv_x
@@ -16,7 +16,4 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER uuv_x
@@ -23,6 +23,9 @@

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

+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
+
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.0
 param set-default CA_ROTOR0_PY 0.5
@@ -27,9 +27,8 @@

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

-set MIXER hexa_x
-set PWM_OUT 12345678
-
+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13

 ###############################################
 # Attitude & rate gains
@@ -120,3 +119,7 @@ param set-default MAV_1_MODE 2
 param set-default MAV_1_FORWARD 1
 param set-default MAV_1_RATE 800000
 param set-default SER_TEL2_BAUD 921600
+
+
+set MIXER hexa_x
+set PWM_OUT 12345678
@@ -23,6 +23,9 @@

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

+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
+
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.5
 param set-default CA_ROTOR0_PY 0.0
@@ -25,6 +25,9 @@

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

+# MAV_TYPE_OCTOROTOR 14
+param set-default MAV_TYPE 14
+
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_ROTOR0_KM -0.05
 param set-default CA_ROTOR0_PX 0.46
@@ -25,6 +25,9 @@

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

+# MAV_TYPE_OCTOROTOR 14
+param set-default MAV_TYPE 14
+
 set MIXER octo_+

 set PWM_OUT 12345678
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE airship

+# MAV_TYPE_AIRSHIP 7
+param set-default MAV_TYPE 7
+
 #
 # This is the gimbal pass mixer.
 #
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE fw

+# MAV_TYPE_FREE_BALLOON 8
+param set-default MAV_TYPE 8
+
 #
 # Default parameters for balloon UAVs.
 #
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE rover

+# MAV_TYPE_SURFACE_BOAT 11
+param set-default MAV_TYPE 11
+
 #
 # Default parameters for UGVs.
 #
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE fw

+# MAV_TYPE_FIXED_WING 1
+param set-default MAV_TYPE 1
+
 #
 # Default parameters for fixed wing UAVs.
 #
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE mc

+# MAV_TYPE_QUADROTOR 2
+param set-default MAV_TYPE 2
+
 if param compare IMU_GYRO_RATEMAX 400
 then
 	param set-default IMU_GYRO_RATEMAX 800
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE rover

+# MAV_TYPE_GROUND_ROVER 10
+param set-default MAV_TYPE 10
+
 #
 # Default parameters for UGVs.
 #
@@ -155,6 +155,13 @@ then
 	irlock start -X
 fi

+# SPL06 sensor external I2C
+if param compare -s SENS_EN_SPL06 1
+then
+	spl06 -X start
+	spl06 -X -a 0x77 start
+fi
+
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE uuv

+# MAV_TYPE_SUBMARINE 12
+param set-default MAV_TYPE 12
+
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1050
 param set-default PWM_MAIN_DISARM 1500
@@ -12,19 +12,9 @@ if [ $VEHICLE_TYPE = fw ]
 then
 	if [ $MIXER = none ]
 	then
-		# Set default mixer for fixed wing if not defined.
-		set MIXER AERT
+		echo "FW mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 1 if not defined.
-		set MAV_TYPE 1
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -42,41 +32,6 @@ then
 		echo "MC mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 2 if not defined.
-		set MAV_TYPE 2
-
-		# Use mixer to detect vehicle type
-		if [ $MIXER = coax ]
-		then
-			set MAV_TYPE 3
-		fi
-		if [ $MIXER = hexa_x -o $MIXER = hexa_+ ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER = hexa_cox ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER = octo_x -o $MIXER = octo_+ ]
-		then
-			set MAV_TYPE 14
-		fi
-		if [ $MIXER = octo_cox -o $MIXER = octo_cox_w ]
-		then
-			set MAV_TYPE 14
-		fi
-		if [ $MIXER = tri_y_yaw- -o $MIXER = tri_y_yaw+ ]
-		then
-			set MAV_TYPE 15
-		fi
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -91,19 +46,9 @@ if [ $VEHICLE_TYPE = rover ]
 then
 	if [ $MIXER = none ]
 	then
-		# Set default mixer for UGV if not defined.
-		set MIXER rover_generic
+		echo "rover mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 10 if not defined.
-		set MAV_TYPE 10
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -121,25 +66,6 @@ then
 		echo "VTOL mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 19 if not defined.
-		set MAV_TYPE 19
-
-		# Use mixer to detect vehicle type.
-		if [ $MIXER = firefly6 ]
-		then
-			set MAV_TYPE 21
-		fi
-		if [ $MIXER = quad_x_pusher_vtol ]
-		then
-			set MAV_TYPE 22
-		fi
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -157,15 +83,6 @@ then
 		echo "Airship mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 7 if not defined.
-		set MAV_TYPE 7
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -183,19 +100,11 @@ then
 		echo "UUV mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set default MAV_TYPE to submarine if not defined
-		set MAV_TYPE 12
-	fi
-
-	param set MAV_TYPE ${MAV_TYPE}
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.uuv_apps
-
 fi


@@ -7,6 +7,9 @@

 set VEHICLE_TYPE vtol

+# MAV_TYPE_VTOL_RESERVED2 22
+param set-default MAV_TYPE 22
+
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10

@@ -29,7 +29,6 @@ set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
-set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
 set MIXER_FILE none
@@ -573,7 +572,6 @@ unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
-unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
@@ -1,5 +1,7 @@
 Mixer for Tailsitter with x motor configuration and elevons
 ===========================================================
+# @board px4_fmu-v2 exclude
+# @board omnibus_f4sd exclude

 This file defines a single mixer for tailsitter with motors in X configuration.  All controls
 are mixed 100%.
@@ -1,20 +1,17 @@
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS5525=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_SDP3X=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_VER=y
@@ -1,16 +1,7 @@
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=n
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL_L1=n
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
-CONFIG_DRIVERS_CAMERA_CAPTURE=n
-CONFIG_DRIVERS_CAMERA_TRIGGER=n
-CONFIG_DRIVERS_DISTANCE_SENSOR_CM8JL65=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_LEDDAR_ONE=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -0,0 +1,251 @@
+#
+# 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_FS_PROCFS_EXCLUDE_ENVIRON is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v5/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32f7"
+CONFIG_ARCH_CHIP_STM32F765II=y
+CONFIG_ARCH_CHIP_STM32F7=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_ARM_MPU_NREGIONS=8
+CONFIG_BOARDCTL_IOCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=22114
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILD_PROTECTED=y
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0032
+CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="3D Robotics"
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_USRWORK=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_KERNEL_HEAPSIZE=131072
+CONFIG_MM_REGIONS=3
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_NUTTX_USERSPACE=0x08100000
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SDMMC1_SDIO_MODE=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32F7_ADC1=y
+CONFIG_STM32F7_BBSRAM=y
+CONFIG_STM32F7_BBSRAM_FILES=5
+CONFIG_STM32F7_BKPSRAM=y
+CONFIG_STM32F7_DMA1=y
+CONFIG_STM32F7_DMA2=y
+CONFIG_STM32F7_DMACAPABLE=y
+CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32F7_I2C1=y
+CONFIG_STM32F7_I2C2=y
+CONFIG_STM32F7_I2C3=y
+CONFIG_STM32F7_I2C4=y
+CONFIG_STM32F7_I2C_DYNTIMEO=y
+CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32F7_OTGFS=y
+CONFIG_STM32F7_PROGMEM=y
+CONFIG_STM32F7_PWR=y
+CONFIG_STM32F7_RTC=y
+CONFIG_STM32F7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
+CONFIG_STM32F7_RTC_MAGIC_REG=1
+CONFIG_STM32F7_SAVE_CRASHDUMP=y
+CONFIG_STM32F7_SDMMC1=y
+CONFIG_STM32F7_SDMMC_DMA=y
+CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32F7_SPI1=y
+CONFIG_STM32F7_SPI1_DMA=y
+CONFIG_STM32F7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32F7_SPI2=y
+CONFIG_STM32F7_SPI4=y
+CONFIG_STM32F7_SPI5=y
+CONFIG_STM32F7_SPI6=y
+CONFIG_STM32F7_SPI_DMA=y
+CONFIG_STM32F7_SPI_DMATHRESHOLD=8
+CONFIG_STM32F7_TIM10=y
+CONFIG_STM32F7_TIM11=y
+CONFIG_STM32F7_UART4=y
+CONFIG_STM32F7_UART7=y
+CONFIG_STM32F7_UART8=y
+CONFIG_STM32F7_USART1=y
+CONFIG_STM32F7_USART2=y
+CONFIG_STM32F7_USART3=y
+CONFIG_STM32F7_USART6=y
+CONFIG_STM32F7_USART_BREAKS=y
+CONFIG_STM32F7_USART_INVERT=y
+CONFIG_STM32F7_USART_SINGLEWIRE=y
+CONFIG_STM32F7_USART_SWAP=y
+CONFIG_STM32F7_WWDG=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYS_RESERVED=9
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_RXDMA=y
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_SERIAL_CONSOLE=y
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_RXDMA=y
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_IFLOWCONTROL=y
+CONFIG_USART3_OFLOWCONTROL=y
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART3_TXDMA=y
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_RXDMA=y
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="px4_entry"
@@ -0,0 +1,44 @@
+CONFIG_BOARD_PROTECTED=y
+CONFIG_COMMON_BAROMETERS=n
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
+CONFIG_COMMON_DISTANCE_SENSOR=n
+CONFIG_COMMON_OPTICAL_FLOW=n
+CONFIG_COMMON_TELEMETRY=n
+CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
+CONFIG_DRIVERS_OSD=n
+CONFIG_DRIVERS_ROBOCLAW=n
+CONFIG_DRIVERS_RPM=n
+CONFIG_DRIVERS_UAVCAN=n
+CONFIG_EXAMPLES_FAKE_GPS=n
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_CAMERA_FEEDBACK=n
+CONFIG_MODULES_ESC_BATTERY=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL_L1=n
+CONFIG_MODULES_ROVER_POS_CONTROL=n
+CONFIG_MODULES_SIH=n
+CONFIG_MODULES_UUV_ATT_CONTROL=n
+CONFIG_MODULES_UUV_POS_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
+CONFIG_SYSTEMCMDS_BL_UPDATE=n
+CONFIG_SYSTEMCMDS_DMESG=n
+CONFIG_SYSTEMCMDS_DUMPFILE=n
+CONFIG_SYSTEMCMDS_ESC_CALIB=n
+CONFIG_SYSTEMCMDS_GPIO=n
+CONFIG_SYSTEMCMDS_I2CDETECT=n
+CONFIG_SYSTEMCMDS_LED_CONTROL=n
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=n
+CONFIG_SYSTEMCMDS_MOTOR_TEST=n
+CONFIG_SYSTEMCMDS_MTD=n
+CONFIG_SYSTEMCMDS_NSHTERM=n
+CONFIG_SYSTEMCMDS_REFLECT=n
+CONFIG_SYSTEMCMDS_SD_BENCH=n
+CONFIG_SYSTEMCMDS_SD_STRESS=n
+CONFIG_SYSTEMCMDS_SERIAL_TEST=n
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=n
+CONFIG_SYSTEMCMDS_USB_CONNECTED=n
@@ -31,19 +31,23 @@
 #
 ############################################################################

+add_library(board_bus_info
+	i2c.cpp
+	spi.cpp
+)
+add_dependencies(board_bus_info nuttx_context)
+
 add_library(drivers_board
 	can.c
-	i2c.cpp
 	init.c
 	led.c
 	manifest.c
 	sdio.c
-	spi.cpp
 	timer_config.cpp
 	usb.c
 	toc.c
 )
-add_dependencies(drivers_board arch_board_hw_info)
+add_dependencies(drivers_board nuttx_context)

 target_link_libraries(drivers_board
 	PRIVATE
@@ -52,5 +56,16 @@ target_link_libraries(drivers_board
 		drivers__led # drv_led_start
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
-		px4_layer
 )
+
+if (NOT DEFINED CONFIG_BUILD_FLAT)
+	target_link_libraries(drivers_board PRIVATE px4_kernel_layer)
+else()
+	target_link_libraries(drivers_board PRIVATE px4_layer board_bus_info)
+endif()
+
+add_library(drivers_userspace
+	stm32_userspace.c
+)
+
+add_dependencies(drivers_userspace nuttx_context)
@@ -49,6 +49,11 @@

 #include <stm32_gpio.h>

+#if !defined(CONFIG_BUILD_FLAT)
+#include <sys/boardctl.h>
+#include <px4_platform/board_ctrl.h>
+#endif
+
 /****************************************************************************************************
 * Definitions
 ****************************************************************************************************/
@@ -211,8 +216,26 @@
 #define GPIO_nARMED_INIT     /* PI0 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN0)
 #define GPIO_nARMED          /* PI0 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)

+/* For protected build, define the LOCKOUT_STATE macros as function calls */
+#ifdef CONFIG_BUILD_FLAT
 #define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
 #define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
+#else
+static inline void board_indicate_external_lockout_state(bool enable)
+{
+	platformioclockoutstate_t state = {enable};
+	boardctl(PLATFORMIOCINDICATELOCKOUT, (uintptr_t)&state);
+}
+
+static inline bool board_get_external_lockout_state(void)
+{
+	platformioclockoutstate_t state = {false};
+	boardctl(PLATFORMIOCGETLOCKOUT, (uintptr_t)&state);
+	return state.enabled;
+}
+#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) board_indicate_external_lockout_state(enabled)
+#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() board_get_external_lockout_state()
+#endif

 /* PWM
 */
@@ -241,13 +264,13 @@
 #define GPIO_nVDD_5V_PERIPH_OC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_nVDD_5V_HIPOWER_EN         /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
 #define GPIO_nVDD_5V_HIPOWER_OC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
+#define GPIO_VDD_3V3_SENSORS_EN         /* PE3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
 #define GPIO_VDD_3V3_SPEKTRUM_PASSIVE   /* PE4  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN4)
 #define GPIO_VDD_5V_RC_EN               /* PG5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
 #define GPIO_VDD_5V_WIFI_EN             /* PG6  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PG7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)

-
 /* Define True logic Power Control in arch agnostic form */

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
@@ -402,6 +425,7 @@
 		PX4_ADC_GPIO,                     \
 		GPIO_HW_REV_DRIVE,                \
 		GPIO_HW_VER_DRIVE,                \
+		GPIO_VDD_3V3_SENSORS_EN,          \
 		GPIO_CAN1_TX,                     \
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN2_TX,                     \
@@ -0,0 +1,146 @@
+/****************************************************************************
+ * boards/px4/fmu-v5/src/stm32_userspace.c
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdlib.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/mm/mm.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/userspace.h>
+#include <sys/boardctl.h>
+
+#if !defined(CONFIG_BUILD_FLAT) && !defined(__KERNEL__)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+#ifndef CONFIG_NUTTX_USERSPACE
+#  error "CONFIG_NUTTX_USERSPACE not defined"
+#endif
+
+#if CONFIG_NUTTX_USERSPACE != 0x08100000
+#  error "CONFIG_NUTTX_USERSPACE must be 0x08100000 to match memory.ld"
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* These 'addresses' of these values are setup by the linker script. They are
+ * not actual uint32_t storage locations! They are only used meaningfully in
+ * the following way:
+ *
+ *  - The linker script defines, for example, the symbol_sdata.
+ *  - The declaration extern uint32_t _sdata; makes C happy.  C will believe
+ *    that the value _sdata is the address of a uint32_t variable _data (it
+ *    is not!).
+ *  - We can recover the linker value then by simply taking the address of
+ *    of _data.  like:  uint32_t *pdata = &_sdata;
+ */
+
+extern uint32_t _stext;           /* Start of .text */
+extern uint32_t _etext;           /* End_1 of .text + .rodata */
+extern const uint32_t _eronly;    /* End+1 of read only section (.text + .rodata) */
+extern uint32_t _sdata;           /* Start of .data */
+extern uint32_t _edata;           /* End+1 of .data */
+extern uint32_t _sbss;            /* Start of .bss */
+extern uint32_t _ebss;            /* End+1 of .bss */
+
+/* This is the user space entry point */
+
+int CONFIG_USER_ENTRYPOINT(int argc, char *argv[]);
+int nsh_main(int argc, char *argv[]);
+
+const struct userspace_s userspace __attribute__((section(".userspace"))) = {
+	/* General memory map */
+
+	.us_entrypoint    = (main_t)CONFIG_USER_ENTRYPOINT,
+	.us_textstart     = (uintptr_t) &_stext,
+	.us_textend       = (uintptr_t) &_etext,
+	.us_datasource    = (uintptr_t) &_eronly,
+	.us_datastart     = (uintptr_t) &_sdata,
+	.us_dataend       = (uintptr_t) &_edata,
+	.us_bssstart      = (uintptr_t) &_sbss,
+	.us_bssend        = (uintptr_t) &_ebss,
+
+	/* Memory manager heap structure */
+
+	.us_heap          = &g_mmheap,
+
+	/* Task/thread startup routines */
+
+	.task_startup     = nxtask_startup,
+
+	/* Signal handler trampoline */
+
+	.signal_handler   = up_signal_handler,
+
+	/* User-space work queue support (declared in include/nuttx/wqueue.h) */
+
+#ifdef CONFIG_LIB_USRWORK
+	.work_usrstart    = work_usrstart,
+#endif
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+void px4_userspace_init(void);
+
+int CONFIG_USER_ENTRYPOINT(int argc, char *argv[])
+{
+
+#ifdef CONFIG_NSH_ARCHINIT
+#error CONFIG_NSH_ARCHINIT must not be defined!
+#endif
+
+	boardctl(BOARDIOC_INIT, 0);
+
+	px4_userspace_init();
+
+	return nsh_main(argc, argv);
+}
+
+#endif /* !CONFIG_BUILD_FLAT && !__KERNEL__ */
@@ -31,6 +31,8 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
+CONFIG_MODULES_UUV_ATT_CONTROL=n
+CONFIG_MODULES_UUV_POS_CONTROL=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
@@ -166,12 +166,12 @@ function(px4_add_module)
 	endif()

 	if(NOT DYNAMIC)
-		target_link_libraries(${MODULE} PRIVATE prebuild_targets parameters_interface px4_platform systemlib perf)
+		target_link_libraries(${MODULE} PRIVATE prebuild_targets px4_platform systemlib perf)
 		if (${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT AND KERNEL)
-			target_link_libraries(${MODULE} PRIVATE px4_kernel_layer uORB_kernel)
+			target_link_libraries(${MODULE} PRIVATE kernel_parameters_interface px4_kernel_layer uORB_kernel)
 			set_property(GLOBAL APPEND PROPERTY PX4_KERNEL_MODULE_LIBRARIES ${MODULE})
 		else()
-			target_link_libraries(${MODULE} PRIVATE px4_layer uORB)
+			target_link_libraries(${MODULE} PRIVATE parameters_interface px4_layer uORB)
 			set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})
 		endif()
 		set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
@@ -502,7 +502,14 @@ static inline bool board_rc_invert_input(const char *device, bool invert) { retu
 *
 ************************************************************************************/

-#if defined(GPIO_OTGFS_VBUS)
+#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT)
+inline static int board_read_VBUS_state(void)
+{
+	platformiocvbusstate_t state = {false};
+	boardctl(PLATFORMIOCVBUSSTATE, (uintptr_t)&state);
+	return state.ret;
+}
+#elif defined(GPIO_OTGFS_VBUS)
 #  define board_read_VBUS_state() (px4_arch_gpioread(GPIO_OTGFS_VBUS) ? 0 : 1)
 #else
 int board_read_VBUS_state(void);
@@ -79,7 +79,7 @@ public:
 	 * @param config The WorkQueue configuration (see WorkQueueManager.hpp).
 	 * @return true if initialization was successful
 	 */
-	bool ChangeWorkQeue(const wq_config_t &config) { return Init(config); }
+	bool ChangeWorkQueue(const wq_config_t &config) { return Init(config); }

 	const char *ItemName() const { return _item_name; }

@@ -105,11 +105,8 @@ int board_ioctl(unsigned int cmd, uintptr_t arg)
 *
 ************************************************************************************/

-int launch_kernel_builtin(unsigned int cmd, unsigned long arg)
+static int launch_kernel_builtin(int argc, char **argv)
 {
-	builtinioclaunch_t *kcmd = (builtinioclaunch_t *)arg;
-	int argc = kcmd->argc;
-	char **argv = kcmd->argv;
 	int i;
 	FAR const struct builtin_s *builtin = NULL;

@@ -123,13 +120,58 @@ int launch_kernel_builtin(unsigned int cmd, unsigned long arg)
 	if (builtin) {
 		/* This is running in the userspace thread, created by nsh, and
 		   called via boardctl. Call the main directly */
-		kcmd->ret = builtin->main(argc, argv);
-		return OK;
+		return builtin->main(argc, argv);
 	}

 	return ENOENT;
 }

+/************************************************************************************
+ * Name: platform_ioctl
+ *
+ * Description:
+ *   handle all miscellaneous platform level ioctls
+ *
+ ************************************************************************************/
+
+static int platform_ioctl(unsigned int cmd, unsigned long arg)
+{
+	int ret = PX4_OK;
+
+	switch (cmd) {
+	case PLATFORMIOCLAUNCH: {
+			platformioclaunch_t *data = (platformioclaunch_t *)arg;
+			data->ret = launch_kernel_builtin(data->argc, data->argv);
+		}
+		break;
+
+	case PLATFORMIOCVBUSSTATE: {
+			platformiocvbusstate_t *data = (platformiocvbusstate_t *)arg;
+			data->ret = px4_arch_gpioread(GPIO_OTGFS_VBUS) ? 0 : 1;
+		}
+		break;
+
+	case PLATFORMIOCINDICATELOCKOUT: {
+			platformioclockoutstate_t *data = (platformioclockoutstate_t *)arg;
+			px4_arch_configgpio(data->enabled ? GPIO_nARMED : GPIO_nARMED_INIT);
+		}
+		break;
+
+	case PLATFORMIOCGETLOCKOUT: {
+			platformioclockoutstate_t *data = (platformioclockoutstate_t *)arg;
+			data->enabled = px4_arch_gpioread(GPIO_nARMED);
+		}
+		break;
+
+	default:
+		ret = -ENOTTY;
+		break;
+	}
+
+	return ret;
+}
+
+
 /************************************************************************************
 * Name: kernel_ioctl_initialize
 *
@@ -144,5 +186,5 @@ void kernel_ioctl_initialize(void)
 		ioctl_ptrs[i].ioctl_func = NULL;
 	}

-	px4_register_boardct_ioctl(_BUILTINIOCBASE, launch_kernel_builtin);
+	px4_register_boardct_ioctl(_PLATFORMIOCBASE, platform_ioctl);
 }
@@ -34,6 +34,8 @@

 #pragma once

+#include <px4_platform_common/defines.h>
+
 /* Encode the px4 boardctl ioctls in the following way:
 * the highest 4-bits identifies the boardctl's used by this if
 * the next 4-bits identifies the module which handles the ioctl
@@ -47,20 +49,43 @@
 #define _ORBIOCDEVBASE				IOCTL_IDX_TO_BASE(0)
 #define _HRTIOCBASE				IOCTL_IDX_TO_BASE(1)
 #define _CRYPTOIOCBASE			IOCTL_IDX_TO_BASE(2)
-#define _BUILTINIOCBASE			IOCTL_IDX_TO_BASE(3)
-#define MAX_IOCTL_PTRS 4
+#define _PARAMIOCBASE			IOCTL_IDX_TO_BASE(3)
+#define _PLATFORMIOCBASE			IOCTL_IDX_TO_BASE(4)
+#define MAX_IOCTL_PTRS 5

-/* The BUILTINIOCLAUNCH IOCTL is used to launch kernel side modules
+/* The PLATFORMIOCLAUNCH IOCTL is used to launch kernel side modules
 * from the user side code
 */

-#define BUILTINIOCLAUNCH               (_PX4_IOC(_BUILTINIOCBASE, 1))
+#define PLATFORMIOCLAUNCH		(_PX4_IOC(_PLATFORMIOCBASE, 1))

-typedef struct builtinioclaunch {
+typedef struct platformioclaunch {
 	int argc;
 	char **argv;
 	int ret;
-} builtinioclaunch_t;
+} platformioclaunch_t;
+
+/* The PLATFORMIOCVBUSSTATE IOCTL is used to read USB VBUS state
+ * from the user side code
+ */
+
+#define PLATFORMIOCVBUSSTATE	(_PX4_IOC(_PLATFORMIOCBASE, 2))
+
+typedef struct platformiocvbusstate {
+	int ret;
+} platformiocvbusstate_t;
+
+
+/* These IOCTLs are used to set and read external lockout state
+ * from the user side code
+ */
+#define PLATFORMIOCINDICATELOCKOUT	(_PX4_IOC(_PLATFORMIOCBASE, 3))
+#define PLATFORMIOCGETLOCKOUT		(_PX4_IOC(_PLATFORMIOCBASE, 4))
+
+typedef struct platformioclockoutstate {
+	bool enabled;
+} platformioclockoutstate_t;
+

 typedef int (*ioctl_ptr_t)(unsigned int, unsigned long);

@@ -62,12 +62,42 @@

 extern void cdcacm_init(void);

+#if !defined(CONFIG_BUILD_FLAT)
+typedef CODE void (*initializer_t)(void);
+extern initializer_t _sinit;
+extern initializer_t _einit;
+extern uint32_t _stext;
+extern uint32_t _etext;
+
+static void cxx_initialize(void)
+{
+	initializer_t *initp;
+
+	/* Visit each entry in the initialization table */
+
+	for (initp = &_sinit; initp != &_einit; initp++) {
+		initializer_t initializer = *initp;
+
+		/* Make sure that the address is non-NULL and lies in the text
+		* region defined by the linker script.  Some toolchains may put
+		* NULL values or counts in the initialization table.
+		*/
+
+		if ((FAR void *)initializer >= (FAR void *)&_stext &&
+		    (FAR void *)initializer < (FAR void *)&_etext) {
+			initializer();
+		}
+	}
+}
+#endif
+
 int px4_platform_init()
 {

 #if !defined(CONFIG_BUILD_FLAT)
-	/* initialize userspace-kernelspace call gate interface */
+	cxx_initialize();

+	/* initialize userspace-kernelspace call gate interface */
 	kernel_ioctl_initialize();
 #endif

@@ -2,6 +2,8 @@
 # Build the user side px4_layer

 add_library(px4_layer
+	board_dma_alloc.c
+	board_fat_dma_alloc.c
 	tasks.cpp
 	console_buffer_usr.cpp
 	usr_mcu_version.cpp
@@ -9,6 +11,7 @@ add_library(px4_layer
 	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/print_load.cpp
 	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/cpuload.cpp
 	usr_hrt.cpp
+	px4_userspace_init.cpp
 )

 target_link_libraries(px4_layer
@@ -26,6 +29,11 @@ add_library(px4_board_ctrl

 add_dependencies(px4_board_ctrl nuttx_context px4_kernel_builtin_list_target)

+target_link_libraries(px4_layer
+	PUBLIC
+		board_bus_info
+)
+
 # Build the kernel side px4_kernel_layer

 add_library(px4_kernel_layer
@@ -40,6 +48,11 @@ target_link_libraries(px4_kernel_layer
 		nuttx_kmm
 )

+target_link_libraries(px4_kernel_layer
+	PUBLIC
+		board_bus_info
+)
+
 if (DEFINED PX4_CRYPTO)
 	target_link_libraries(px4_kernel_layer PUBLIC crypto_backend)
 endif()
@@ -0,0 +1,59 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2022 Technology Innovation Institute. 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 px4_userspace_init.cpp
+ *
+ * Initialize px4 userspace in NuttX protected build
+ */
+
+#include <drivers/drv_hrt.h>
+#include <lib/parameters/param.h>
+#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
+#include <uORB/uORB.h>
+#include <sys/boardctl.h>
+
+extern void cdcacm_init(void);
+
+extern "C" void px4_userspace_init(void)
+{
+	hrt_init();
+
+	px4::WorkQueueManagerStart();
+
+	uorb_start();
+
+#if defined(CONFIG_SYSTEM_CDCACM)
+	cdcacm_init();
+#endif
+}
@@ -116,7 +116,6 @@ void print_load(int fd, struct print_load_s *print_state)
 	mach_msg_type_number_t thread_info_count;

 	thread_basic_info_t basic_info_th;
-	uint32_t stat_thread = 0;

 	// get all threads of the PX4 main task
 	kr = task_threads(task_handle, &thread_list, &th_cnt);
@@ -126,10 +125,6 @@ void print_load(int fd, struct print_load_s *print_state)
 		return;
 	}

-	if (th_cnt > 0) {
-		stat_thread += th_cnt;
-	}
-
 	long tot_sec = 0;
 	long tot_usec = 0;
 	long tot_cpu = 0;
@@ -18,6 +18,7 @@ param set IMU_GYRO_FFT_EN 1
 param set IMU_GYRO_FFT_MIN 10
 param set IMU_GYRO_FFT_MAX 1000
 param set IMU_GYRO_FFT_LEN 512
+param set IMU_GYRO_FFT_SNR 10

 # dynamic notches ESC/FFT/both
 #param set IMU_GYRO_DNF_EN 1
@@ -27,8 +28,8 @@ param set IMU_GYRO_DNF_EN 3
 # test values
 param set IMU_GYRO_CUTOFF 60
 param set IMU_DGYRO_CUTOFF 40
-#param set IMU_GYRO_NF_FREQ 60
-#param set IMU_GYRO_NF_BW 5
+#param set IMU_GYRO_NF0_FRQ 60
+#param set IMU_GYRO_NF0_BW 5

 # log nearly everything
 param set SDLOG_PROFILE 859
@@ -42,3 +42,4 @@ add_subdirectory(maiertek)
 add_subdirectory(ms5611)
 #add_subdirectory(tcbp001ta) # only for users who really need this
 add_subdirectory(invensense)
+add_subdirectory(goertek)
@@ -9,6 +9,7 @@ menu "barometer"
        select DRIVERS_BAROMETER_LPS33HW
        select DRIVERS_BAROMETER_MS5611
        select DRIVERS_BAROMETER_MAIERTEK_MPC2520
+	select DRIVERS_BAROMETER_GOERTEK_SPL06 
        ---help---
            Enable default set of barometer drivers
    rsource "*/Kconfig"
@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(spl06)
@@ -0,0 +1,3 @@
+menu "Goertek"
+rsource "*/Kconfig"
+endmenu #Goertek
@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE drivers__barometer__spl06
+	MAIN spl06
+	SRCS
+		SPL06.cpp
+		SPL06.hpp
+		SPL06_I2C.cpp
+		SPL06_SPI.cpp
+		spl06_main.cpp
+	DEPENDS
+		drivers_barometer
+		px4_work_queue
+	)
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_BAROMETER_GOERTEK_SPL06
+	bool "spl06"
+	default n
+	---help---
+		Enable support for spl06
@@ -0,0 +1,243 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "SPL06.hpp"
+
+SPL06::SPL06(const I2CSPIDriverConfig &config, spl06::ISPL06 *interface) :
+	I2CSPIDriver(config),
+	_px4_baro(interface->get_device_id()),
+	_interface(interface),
+	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
+	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
+	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
+{
+}
+
+SPL06::~SPL06()
+{
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_measure_perf);
+	perf_free(_comms_errors);
+
+	delete _interface;
+}
+
+/*
+float
+SPL06::scale_factor(int oversampling_rate)
+{
+	float k;
+
+	switch (oversampling_rate) {
+	case 1:
+		k = 524288.0f;
+		break;
+
+	case 2:
+		k = 1572864.0f;
+		break;
+
+	case 4:
+		k = 3670016.0f;
+		break;
+
+	case 8:
+		k = 7864320.0f;
+		break;
+
+	case 16:
+		k = 253952.0f;
+		break;
+
+	case 32:
+		k = 516096.0f;
+		break;
+
+	case 64:
+		k = 1040384.0f;
+		break;
+
+	case 128:
+		k = 2088960.0f;
+		break;
+
+	default:
+		k = 0;
+		break;
+	}
+
+	return k;
+}
+*/
+
+int
+SPL06::calibrate()
+{
+	uint8_t buf[18];
+
+	_interface->read(SPL06_ADDR_CAL, buf, sizeof(buf));
+
+	_cal.c0 = (uint16_t)buf[0] << 4 | (uint16_t)buf[1] >> 4;
+	_cal.c0 = (_cal.c0 & 1 << 11) ? (0xf000 | _cal.c0) : _cal.c0;
+
+	_cal.c1 = (uint16_t)(buf[1] & 0x0f) << 8 | (uint16_t)buf[2];
+	_cal.c1 = (_cal.c1 & 1 << 11) ? (0xf000 | _cal.c1) : _cal.c1;
+
+	_cal.c00 = (uint32_t)buf[3] << 12 | (uint32_t)buf[4] << 4 | (uint16_t)buf[5] >> 4;
+	_cal.c00 = (_cal.c00 & 1 << 19) ? (0xfff00000 | _cal.c00) : _cal.c00;
+
+	_cal.c10 = (uint32_t)(buf[5] & 0x0f) << 16 | (uint32_t)buf[6] << 8 | (uint32_t)buf[7];
+	_cal.c10 = (_cal.c10 & 1 << 19) ? (0xfff00000 | _cal.c10) : _cal.c10;
+
+	_cal.c01 = (uint16_t)buf[8] << 8 | buf[9];
+	_cal.c11 = (uint16_t)buf[10] << 8 | buf[11];
+	_cal.c20 = (uint16_t)buf[12] << 8 | buf[13];
+	_cal.c21 = (uint16_t)buf[14] << 8 | buf[15];
+	_cal.c30 = (uint16_t)buf[16] << 8 | buf[17];
+
+	// PX4_INFO("c0:%d \nc1:%d \nc00:%d \nc10:%d \nc01:%d \nc11:%d \nc20:%d \nc21:%d \nc30:%d\n",
+	// _cal.c0,_cal.c1,
+	// _cal.c00,_cal.c10,
+	// _cal.c01,_cal.c11,_cal.c20,_cal.c21,_cal.c30
+	// );
+	//PX4_DEBUG("c0:%f",_cal.c0);
+	return OK;
+}
+int
+SPL06::init()
+{
+	int8_t tries = 5;
+	// reset sensor
+	_interface->set_reg(SPL06_VALUE_RESET, SPL06_ADDR_RESET);
+	usleep(10000);
+
+	// check id
+	if (_interface->get_reg(SPL06_ADDR_ID) != SPL06_VALUE_ID) {
+		PX4_DEBUG("id of your baro is not: 0x%02x", SPL06_VALUE_ID);
+		return -EIO;
+	}
+
+	while (tries--) {
+		uint8_t meas_cfg = _interface->get_reg(SPL06_ADDR_MEAS_CFG);
+
+		if (meas_cfg & (1 << 7) && meas_cfg & (1 << 6)) {
+			break;
+		}
+
+		usleep(10000);
+	}
+
+	if (tries < 0) {
+		PX4_DEBUG("spl06 cal failed");
+		return -EIO;
+	}
+
+	// get calibration and pre process them
+	calibrate();
+
+	// set config, recommended settings
+	_interface->set_reg(_curr_prs_cfg, SPL06_ADDR_PRS_CFG);
+	kp = 253952.0f; // refer to scale_factor()
+	_interface->set_reg(_curr_tmp_cfg, SPL06_ADDR_TMP_CFG);
+	kt = 524288.0f;
+
+
+	_interface->set_reg(1 << 2, SPL06_ADDR_CFG_REG);
+	_interface->set_reg(7, SPL06_ADDR_MEAS_CFG);
+
+	Start();
+
+	return OK;
+}
+
+void
+SPL06::Start()
+{
+	// schedule a cycle to start things
+	ScheduleNow();
+}
+
+void
+SPL06::RunImpl()
+{
+	collect();
+
+	ScheduleDelayed(_measure_interval);
+}
+int
+SPL06::collect()
+{
+	perf_begin(_sample_perf);
+
+	// this should be fairly close to the end of the conversion, so the best approximation of the time
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
+
+	if (_interface->read(SPL06_ADDR_DATA, (uint8_t *)&_data, sizeof(_data)) != OK) {
+		perf_count(_comms_errors);
+		perf_cancel(_sample_perf);
+		return -EIO;
+	}
+
+	int32_t temp_raw = (uint32_t)_data.t_msb << 16 | (uint32_t)_data.t_lsb << 8 | (uint32_t)_data.t_xlsb;
+	temp_raw = (temp_raw & 1 << 23) ? (0xff000000 | temp_raw) : temp_raw;
+
+	int32_t press_raw = (uint32_t)_data.p_msb << 16 | (uint32_t) _data.p_lsb << 8 | (uint32_t) _data.p_xlsb;
+	press_raw = (press_raw & 1 << 23) ? (0xff000000 | press_raw) : press_raw;
+
+	// calculate
+	float ftsc = (float)temp_raw / kt;
+	float fpsc = (float)press_raw / kp;
+	float qua2 = (float)_cal.c10 + fpsc * ((float)_cal.c20 + fpsc * (float)_cal.c30);
+	float qua3 = ftsc * fpsc * ((float)_cal.c11 + fpsc * (float)_cal.c21);
+
+	float fp = (float)_cal.c00 + fpsc * qua2 + ftsc * (float)_cal.c01 + qua3;
+	float temperature = (float)_cal.c0 * 0.5f + (float)_cal.c1 * ftsc;
+
+	_px4_baro.set_error_count(perf_event_count(_comms_errors));
+	_px4_baro.set_temperature(temperature);
+	_px4_baro.update(timestamp_sample, fp / 100.0f);   // to millbar
+	//PX4_DEBUG("%d",(int)fp);
+	perf_end(_sample_perf);
+
+	return OK;
+}
+
+void
+SPL06::print_status()
+{
+	I2CSPIDriverBase::print_status();
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_measure_perf);
+	perf_print_counter(_comms_errors);
+}
@@ -0,0 +1,119 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "spl06.h"
+
+#include <drivers/drv_hrt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <lib/perf/perf_counter.h>
+
+class SPL06 : public I2CSPIDriver<SPL06>
+{
+public:
+	SPL06(const I2CSPIDriverConfig &config, spl06::ISPL06 *interface);
+	virtual ~SPL06();
+
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
+	static void print_usage();
+
+	int			init();
+	void			print_status();
+
+	void			RunImpl();
+private:
+	void			Start();
+	// float scale_factor(int oversampling_rate);
+
+	int			collect(); //get results and publish
+	int			calibrate();
+
+	PX4Barometer		_px4_baro;
+
+	spl06::ISPL06		*_interface;
+	spl06::data_s		_data;
+	spl06::calibration_s	_cal{};
+
+	// set config, recommended settings
+	//
+	// oversampling rate  : single | 2       | 4       | 8       | 16     | 32     | 64      | 128
+	// scale factor(KP/KT): 524288 | 1572864 | 3670016 | 7864320 | 253952 | 516096 | 1040384 | 2088960
+
+	// configuration of pressure measurement rate (PM_RATE) and resolution (PM_PRC)
+	//
+	// bit[7]: reserved
+	//
+	// PM_RATE[6:4]    : 0 | 1 | 2 | 3 | 4  | 5  | 6  | 7
+	// measurement rate: 1 | 2 | 4 | 8 | 16 | 32 | 64 | 128
+	// note: applicable for measurements in background mode only
+	//
+	// PM_PRC[3:0]         : 0      | 1   | 2   | 3    | 4    | 5    | 6     | 7
+	// oversampling (times): single | 2   | 4   | 8    | 16   | 32   | 64    | 128
+	// measurement time(ms): 3.6    | 5.2 | 8.4 | 14.8 | 27.6 | 53.2 | 104.4 | 206.8
+	// precision(PaRMS)    : 5.0    |     | 2.5 |      | 1.2  | 0.9  | 0.5   |
+	// note: use in combination with a bit shift when the oversampling rate is > 8 times. see CFG_REG(0x19) register
+	static constexpr uint8_t	_curr_prs_cfg{4 << 4 | 4};
+
+	// configuration of temperature measurment rate (TMP_RATE) and resolution (TMP_PRC)
+	//
+	// temperature measurement: internal sensor (in ASIC) | external sensor (in pressure sensor MEMS element)
+	// TMP_EXT[7]             : 0                         | 1
+	// note: it is highly recommended to use the same temperature sensor as the source of the calibration coefficients wihch can be read from reg 0x28
+	//
+	// TMP_RATE[6:4]   : 0 | 1 | 2 | 3 | 4  | 5  | 6  | 7
+	// measurement rate: 1 | 2 | 4 | 8 | 16 | 32 | 64 | 128
+	// note: applicable for measurements in background mode only
+	//
+	// bit[3]: reserved
+	//
+	// TMP_PRC[2:0]        : 0      | 1 | 2 | 3 | 4  | 5  | 6  | 7
+	// oversampling (times): single | 2 | 4 | 8 | 16 | 32 | 64 | 128
+	// note: single(default) measurement time 3.6ms, other settings are optional, and may not be relevant
+	// note: use in combination with a bit shift when the oversampling rate is > 8 times. see CFG_REG(0x19) register
+	static constexpr uint8_t	_curr_tmp_cfg{1 << 7 | 4 << 4 | 0};
+
+	bool			_collect_phase{false};
+	float kp;
+	float kt;
+
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_measure_perf;
+	perf_counter_t		_comms_errors;
+
+	static constexpr uint32_t _sample_rate{16};
+	static constexpr uint32_t _measure_interval{1000000 / _sample_rate / 2};
+};
@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file spl06_i2c.cpp
+ *
+ * SPI interface for Goertek SPL06
+ */
+
+#include "spl06.h"
+
+#include <px4_platform_common/px4_config.h>
+#include <drivers/device/i2c.h>
+
+#if defined(CONFIG_I2C)
+
+class SPL06_I2C: public device::I2C, public spl06::ISPL06
+{
+public:
+	SPL06_I2C(uint8_t bus, uint32_t device, int bus_frequency);
+	virtual ~SPL06_I2C() override = default;
+
+	int init() override { return I2C::init(); }
+
+	uint8_t	get_reg(uint8_t addr) override;
+	int	set_reg(uint8_t value, uint8_t addr) override;
+
+	int read(uint8_t addr, uint8_t *buf, uint8_t len) override;
+	//spl06::data_s		*get_data(uint8_t addr) override;
+	//spl06::calibration_s	*get_calibration(uint8_t addr) override;
+
+	uint32_t get_device_id() const override { return device::I2C::get_device_id(); }
+
+	uint8_t get_device_address() const override { return device::I2C::get_device_address(); }
+private:
+	spl06::calibration_s	_cal{};
+	spl06::data_s		_data{};
+};
+
+spl06::ISPL06 *spl06_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency)
+{
+	return new SPL06_I2C(busnum, device, bus_frequency);
+}
+
+SPL06_I2C::SPL06_I2C(uint8_t bus, uint32_t device, int bus_frequency) :
+	I2C(DRV_BARO_DEVTYPE_SPL06, MODULE_NAME, bus, device, bus_frequency)
+{
+}
+
+uint8_t
+SPL06_I2C::get_reg(uint8_t addr)
+{
+	uint8_t cmd[2] = { (uint8_t)(addr), 0};
+	transfer(&cmd[0], 1, &cmd[1], 1);
+
+	return cmd[1];
+}
+
+int
+SPL06_I2C::set_reg(uint8_t value, uint8_t addr)
+{
+	uint8_t cmd[2] = { (uint8_t)(addr), value};
+	return transfer(cmd, sizeof(cmd), nullptr, 0);
+}
+
+int
+SPL06_I2C::read(uint8_t addr, uint8_t *buf, uint8_t len)
+{
+	return transfer(&addr, 1, buf, len);
+}
+
+#endif // CONFIG_I2C
@@ -0,0 +1,104 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file spl06_spi.cpp
+ *
+ * SPI interface for Goertek SPL06
+ */
+
+#include "spl06.h"
+
+#include <px4_platform_common/px4_config.h>
+#include <drivers/device/spi.h>
+
+#if defined(CONFIG_SPI)
+
+/* SPI protocol address bits */
+#define DIR_READ			(1<<7)  //for set
+#define DIR_WRITE			~(1<<7) //for clear
+
+class SPL06_SPI: public device::SPI, public spl06::ISPL06
+{
+public:
+	SPL06_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
+	virtual ~SPL06_SPI() override = default;
+
+	int init() override { return SPI::init(); }
+
+	uint8_t	get_reg(uint8_t addr) override;
+	int	set_reg(uint8_t value, uint8_t addr) override;
+
+	int read(uint8_t addr, uint8_t *buf, uint8_t len) override;
+
+	uint32_t get_device_id() const override { return device::SPI::get_device_id(); }
+
+	uint8_t get_device_address() const override { return device::SPI::get_device_address(); }
+};
+
+spl06::ISPL06 *
+spl06_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode)
+{
+	return new SPL06_SPI(busnum, device, bus_frequency, spi_mode);
+}
+
+SPL06_SPI::SPL06_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
+	SPI(DRV_BARO_DEVTYPE_SPL06, MODULE_NAME, bus, device, spi_mode, bus_frequency)
+{
+}
+
+uint8_t
+SPL06_SPI::get_reg(uint8_t addr)
+{
+	uint8_t cmd[2] = { (uint8_t)(addr | DIR_READ), 0}; // set MSB bit
+	transfer(&cmd[0], &cmd[0], 2);
+
+	return cmd[1];
+}
+
+int
+SPL06_SPI::set_reg(uint8_t value, uint8_t addr)
+{
+	uint8_t cmd[2] = { (uint8_t)(addr & DIR_WRITE), value}; // clear MSB bit
+	return transfer(&cmd[0], nullptr, 2);
+}
+
+int
+SPL06_SPI::read(uint8_t addr, uint8_t *buf, uint8_t len)
+{
+	uint8_t tx_buf[len + 1] = {(uint8_t)(addr | DIR_READ)}; // GCC support VLA, let's use it
+
+	return transfer(tx_buf, buf, len);
+}
+
+#endif // CONFIG_SPI
@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Goertek SPL06 Barometer (external I2C)
+ *
+ * @reboot_required true
+ * @group Sensors
+ * @boolean
+  */
+PARAM_DEFINE_INT32(SENS_EN_SPL06, 0);
@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file spl06.h
+ *
+ * Shared defines for the spl06 driver.
+ */
+#pragma once
+
+#include <px4_platform_common/i2c_spi_buses.h>
+
+#define SPL06_ADDR_ID	0x0d
+#define SPL06_ADDR_RESET 0x0c   // set to reset
+#define SPL06_ADDR_CAL 0x10
+#define SPL06_ADDR_PRS_CFG  0x06
+#define SPL06_ADDR_TMP_CFG  0x07
+#define SPL06_ADDR_MEAS_CFG	0x08
+#define SPL06_ADDR_CFG_REG	0x09
+#define SPL06_ADDR_DATA 0x00
+
+
+#define SPL06_VALUE_RESET 9
+#define SPL06_VALUE_ID    0x10
+
+namespace spl06
+{
+
+#pragma pack(push,1)
+struct calibration_s {
+	int16_t c0, c1;
+	int32_t c00, c10;
+	int16_t c01, c11, c20, c21, c30;
+}; //calibration data
+
+struct data_s {
+	uint8_t p_msb;
+	uint8_t p_lsb;
+	uint8_t p_xlsb;
+
+	uint8_t t_msb;
+	uint8_t t_lsb;
+	uint8_t t_xlsb;
+}; // data
+#pragma pack(pop)
+
+class ISPL06
+{
+public:
+	virtual ~ISPL06() = default;
+
+	virtual int init() = 0;
+
+	// read reg value
+	virtual uint8_t get_reg(uint8_t addr) = 0;
+
+	// write reg value
+	virtual int set_reg(uint8_t value, uint8_t addr) = 0;
+
+	// bulk read of data into buffer, return same pointer
+	virtual int read(uint8_t addr, uint8_t *buf, uint8_t len) = 0;
+	// bulk read of calibration data into buffer, return same pointer
+
+	virtual uint32_t get_device_id() const = 0;
+
+	virtual uint8_t get_device_address() const = 0;
+};
+
+} /* namespace */
+
+
+/* interface factories */
+#if defined(CONFIG_SPI)
+extern spl06::ISPL06 *spl06_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
+#endif // CONFIG_SPI
+#if defined(CONFIG_I2C)
+extern spl06::ISPL06 *spl06_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency);
+#endif // CONFIG_I2C
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
David Sidrane	e367997707	px4_fmuv5:Establish reset state of GPIO_VDD_3V3_SENSORS_EN	2022-03-22 10:50:29 -07:00
Konrad	e080fab8f6	Set up landing gear logic for tiltrotor and tailsitter VTOL. Gear is set down when in hover mode, esle gear is set up.	2022-03-21 09:30:04 +01:00
Konrad	d7de67844f	Set up landing gear logic for standard VTOL. Gear is set down when in hover mode, else gear is set up.	2022-03-21 09:30:04 +01:00
Daniel Agar	c86d5769ea	boards: px4_fmu-v2_{fixedwing,multicopter} module selection changes to save flash	2022-03-19 14:43:45 -04:00
Daniel Agar	475bd42ab8	sensors: add 2nd static notch and migrate existing parameters - new static notch filter configured via IMU_GYRO_NF1_FRQ and IMU_GYRO_NF1_BW - existing notch parameters IMU_GYRO_NF_FREQ and IMU_GYRO_NF_BW become IMU_GYRO_NF0_FRQ and IMU_GYRO_NF0_BW	2022-03-19 14:38:04 -04:00
Daniel Agar	afeab9587e	gyro_fft: peak detection exclude side FFT buckets - when estimating the peak frequency the magnitude of side buckets will be factored in, so it doesn't make sense to potentially treat them as separatey detected peaks	2022-03-19 14:37:36 -04:00
Matthias Grob	9ab99a7689	MatrixHelperTest: don't rely on FLOAT_EQ accepting FLT_EPSILON inaccuracy	2022-03-18 13:35:18 +01:00
Thomas Stastny	144697bb6a	MatrixHelperTest: correct wrap compare values	2022-03-18 13:35:18 +01:00
benjinne	620f25503c	Add geofence predict param (#17795 )	2022-03-18 11:44:13 +01:00
Thomas Debrunner	5b0fc8f507	print_load: Removed unused variable to fix compilation on macos	2022-03-18 10:42:19 +01:00
Daniel Agar	36e6527013	ROMFS: MAV_TYPE cleanup - set MAV_TYPE as a parameter default per vehicle type, or airframe if necessary - cleanup MAV_TYPE param metadata and commander helper to only include what's currently used in PX4	2022-03-17 09:28:10 -04:00
Matthias Grob	cde7b1bc41	Matrix: remove deprecated minimal test framework	2022-03-17 13:02:22 +01:00
Matthias Grob	91493307b9	Matrix: convert vector test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	4b63f6b29a	Matrix: convert vector assignment test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	f4b53d2762	Matrix: convert vector3 test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	ddfd62dfc2	Matrix: convert vector2 test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	be28aeb3ee	Matrix: convert upper right triangle test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	4d43aad847	Matrix: convert transpose test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	b3cc18c6de	Matrix: convert square test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	555ed9b9d8	Matrix: convert slice test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	46df8ab60c	Matrix: convert set identity test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	831f0e9aac	Matrix: convert scalar multiplication test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	38d742f1b5	Matrix: convert pseudo inverse test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	57e443c4a4	Matrix: convert multiplication test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	719898f1e3	Matrix: convert least squares test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	fddcf342e9	Matrix: convert inverse test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	f5ec4b2339	Matrix: convert integral test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	7c9e28c168	Matrix: convert helper test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	0c4c3a917c	Matrix: convert hat vee test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	8f695a5613	Matrix: convert filter test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	79e8152f05	Matrix: convert dual test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	62571b6984	Matrix: convert copy to test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	35b035e880	Matrix: convert attitude test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	c33bf5b705	Matrix: convert assignment test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	fa35635486	Matrix: change naming of sparse vector test	2022-03-17 13:02:22 +01:00
Jukka Laitinen	3d35929f3e	Put gyro_fft in kernel by default in protected build It is a performance issue to run it on user side Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	4658a627d7	Separate i2c and spi board bus configuration into and own library for protected build target This info is needed on both kernel and user sides, and is just data. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	543c7bd0c5	uORB: Build uorb systemcmd always in kernel side in memory protected build Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	d167f91eb8	logger/watchdog: Disable watchdog for NuttX protected/kernel builds It accesses kernel internal structures directly; this needs to be worked out with some proper userspace-kernel interface Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	56c6120e83	Use IOCTL for board_read_VBUS_state in NuttX protected builds Direct gpio read is not possible from user side applications, so use boardctl interface instead. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	0cf3079401	px4_fmuv5: Implement BOARD_*_LOCKOUT_STATE in protected/kernel builds In memory protected builds these perform nuttx boardctl ioctl calls to kerenel Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	356328056a	Add px4_fmu-v5_protected target Add a target for nuttx protected build development Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	005095d199	Add gran allocator also to user side in protected build This is needed for DMA capable memory for fat also in the user side; the file system doesn't seem to work reliably without. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	49b089f149	Add a simple way to launch kernel side modules Add launch_kmod command to start/execute px4 modules in kenel space in NuttX protected build Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	c43c71f4af	platforms/nuttx/src/px4/common/board_ctrl: Add handlers for vbus & shutdown lockout Add kernel side ioctls and handlers for vbus state and managing shutdown lockout Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	4a74d266be	Initialize cxx static variables also in kernel side For protected/kernel builds the cxx static initializations needs to be done also in kernel side, since px4 creates c++ objects in kernel Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	c1a7b8df1d	Add a px4 userspace initialization in protected build The px4_userspace_init function is called from userspace entrypoint before starting NSH Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
bresch	f3f09c1344	PreFlightCheck: add data timeout detection for mag, baro accel and gyro	2022-03-16 11:46:01 +01:00
bresch	75aa11c955	PreFlightCheck: refactor sensors preflight checks	2022-03-16 11:46:01 +01:00
bresch	b1c1163ee4	PreFlightCheck: remove unused device_id argument	2022-03-16 11:46:01 +01:00
bresch	5f1b577b6d	PreFlightCheck: mark sensor required if used by an EKF2 instance	2022-03-16 11:46:01 +01:00
stmoon	6d0b11ca99	add custom target for uorb_sources_microcdr_gen	2022-03-15 17:59:22 -04:00
wangwwno1	746c16400a	Typo Fix: ChangeWorkQeue Fix the typo of 'WorkItem::ChangeWorkQeue' to 'WorkItem::ChangeWorkQueue'	2022-03-15 13:31:52 -04:00
Daniel Agar	4746a19c0c	boards: px4_fmu-v5_stackcheck disable UUV modules to save flash	2022-03-15 12:10:03 -04:00
Daniel Agar	233c7fd293	goertek/spl06: parameters.c add copyright header and fix formatting	2022-03-15 10:14:46 -04:00
Ncerzzk	cb23179c50	Add Goertek SPL06 barometer driver (#19229 ) Signed-off-by: ncer <huangzzk@bupt.edu.cn>	2022-03-15 10:13:03 -04:00
Konrad	963f6a91d9	exclude Mixer for Tailsitter with x motor configuration and elevons for fmu-v2 and omnibus to avoid flash size issues	2022-03-15 10:44:27 +01:00
KonradRudin	5f43be9d60	preflight checks: add check for distance sensor (via parameter)	2022-03-15 10:44:27 +01:00
Jukka Laitinen	0d31aadcc3	src/lib/paramters: Add a new interface library for protected build user side Implement an interface for protected build to access parameters. The implementation only does IOCTL calls to the kernel, where the parameters live. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-15 07:52:26 +01:00
Jukka Laitinen	41a7ae3db2	src/lib/parameters: Refactor common functions to an own file Put all functions which are commont to flat build and protected kernel and userspace to an own source file Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-15 07:52:26 +01:00
Daniel Agar	7ef38112d2	ekf2: return saved mag bias variance when not in 3d magnetometer fusion - the estimated mag bias was requiring > 30 seconds of continuous 3d mag fusion to be reported stable (and saved back to mag cal), this restores the original intent requiring 30 seconds of accumulated valid 3d mag fusion	2022-03-14 21:03:41 -04:00