WIP: drivers/imu/bosch output data changes

.ci/Jenkinsfile-hardware

@@ -73,8 +73,10 @@ pipeline {
                 }
               }
               post {
-                always {
+                failure {
                   sh 'cat /tmp/pyserial_spy_file.txt || true'
+                }
+                always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                 }
               }
@@ -143,8 +145,10 @@ pipeline {
                 }
               }
               post {
-                always {
+                failure {
                   sh 'cat /tmp/pyserial_spy_file.txt || true'
+                }
+                always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                 }
               }
@@ -213,8 +217,10 @@ pipeline {
                 }
               }
               post {
-                always {
+                failure {
                   sh 'cat /tmp/pyserial_spy_file.txt || true'
+                }
+                always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                 }
               }
@@ -282,8 +288,10 @@ pipeline {
                 }
               }
               post {
-                always {
+                failure {
                   sh 'cat /tmp/pyserial_spy_file.txt || true'
+                }
+                always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                 }
               }
@@ -352,8 +360,10 @@ pipeline {
                 }
               }
               post {
-                always {
+                failure {
                   sh 'cat /tmp/pyserial_spy_file.txt || true'
+                }
+                always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                 }
               }
@@ -442,8 +452,10 @@ pipeline {
                 }
               }
               post {
-                always {
+                failure {
                   sh 'cat /tmp/pyserial_spy_file.txt || true'
+                }
+                always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                 }
               }
@@ -524,8 +536,10 @@ pipeline {
                 }
               }
               post {
-                always {
+                failure {
                   sh 'cat /tmp/pyserial_spy_file.txt || true'
+                }
+                always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                 }
               }
@@ -594,8 +608,10 @@ pipeline {
                 }
               }
               post {
-                always {
+                failure {
                   sh 'cat /tmp/pyserial_spy_file.txt || true'
+                }
+                always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                 }
               }
@@ -664,8 +680,10 @@ pipeline {
                 }
               }
               post {
-                always {
+                failure {
                   sh 'cat /tmp/pyserial_spy_file.txt || true'
+                }
+                always {
                   sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                 }
               }
@@ -791,7 +809,7 @@ void resetParameters() {
 void runTests() {
 
   // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 4018 6001 8001 10016'
 
   resetParameters()
 
@@ -861,7 +879,7 @@ void printTopics() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'

.gitmodules

@@ -24,8 +24,8 @@
 	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/JacobCrabill/incubator-nuttx.git
-	branch = dev-h7-socketcan
+	url = https://github.com/PX4/NuttX.git
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git

ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol

@@ -10,7 +10,7 @@
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2
 
-param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.1515
 param set-default CA_ROTOR0_PY 0.245
 param set-default CA_ROTOR0_KM 0.05
@@ -23,9 +23,6 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
 
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TYPE 1

ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil

@@ -39,26 +39,6 @@ param set-default FW_RR_P 0.3
 
 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
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
-param set-default CA_SV_CS2_TYPE 4
-param set-default CA_SV_CS3_TYPE 10
-
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
-
 param set SYS_HITL 1
 
 # disable some checks to allow to fly

ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil

@@ -15,23 +15,6 @@ set MIXER quad_x
 
 param set SYS_HITL 1
 
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -61,37 +61,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
 
-param set-default CA_AIRFRAME 2
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-param set-default HIL_ACT_FUNC5 105
-param set-default HIL_ACT_FUNC6 201
-param set-default HIL_ACT_FUNC7 202
-param set-default HIL_ACT_FUNC8 203
-
 
 param set SYS_HITL 1
 

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -17,23 +17,6 @@ set PWM_OUT 1234
 
 param set UAVCAN_ENABLE 0
 
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
 

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -17,26 +17,6 @@ set PWM_OUT 1234
 
 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
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
-param set-default CA_SV_CS2_TYPE 4
-param set-default CA_SV_CS3_TYPE 10
-
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2
 

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -26,26 +26,6 @@ param set-default VT_FW_DIFTHR_SC 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5
 
-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PY 0.2
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR1_PY -0.2
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.3
-param set-default CA_SV_CS0_TRQ_Y 0.3
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS1_TRQ_P 0.3
-param set-default CA_SV_CS1_TRQ_Y -0.3
-param set-default CA_SV_CS1_TYPE 6
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC5 202
-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

ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard

@@ -24,30 +24,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-param set-default CA_AIRFRAME 2
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
 
 param set-default PWM_AUX_DIS5 950
 

ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter

@@ -13,25 +13,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y 0.5
-param set-default CA_SV_CS0_TYPE 5
-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 PWM_MAIN_MAX 2000
 

ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor

@@ -31,32 +31,6 @@ param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 24
-
-param set-default CA_AIRFRAME 3
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_TILT 2
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR3_TILT 4
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-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

ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter

@@ -23,20 +23,6 @@ param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
 
-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PY 0.2
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR1_PY -0.2
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y 0.5
-param set-default CA_SV_CS0_TYPE 5
-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

ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane

@@ -23,18 +23,6 @@
 
 . ${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
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50
 

ROMFS/px4fmu_common/init.d/airframes/4001_quad_x

@@ -21,16 +21,3 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-

ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc

@@ -0,0 +1,39 @@
+#!/bin/sh
+#
+# @name S500 with control allocation
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Silvan Fuhrer
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER skip
+set MIXER_AUX none
+
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.177
+param set-default CA_ROTOR0_PY 0.177
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.177
+param set-default CA_ROTOR1_PY -0.177
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.177
+param set-default CA_ROTOR2_PY -0.177
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.177
+param set-default CA_ROTOR3_PY 0.177
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -46,7 +46,7 @@ param set-default COM_RC_LOSS_T 3
 
 
 # ekf2
-param set-default EKF2_AID_MASK 33
+param set-default EKF2_AID_MASK 35
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0
 
@@ -164,8 +164,6 @@ param set-default RC_MAP_AUX2       5
 param set-default RC_MAP_AUX3       10
 param set-default RC_MAP_AUX4       8
 param set-default RC_MAP_FLTMODE    6
-param set-default RC_MAP_RETURN_SW  7
-
 param set-default RC1_TRIM          1000
 
 

ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x

@@ -23,23 +23,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 0.5
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -0.5
-param set-default CA_ROTOR2_PX 0.43
-param set-default CA_ROTOR2_PY -0.25
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.43
-param set-default CA_ROTOR3_PY 0.25
-param set-default CA_ROTOR4_PX 0.43
-param set-default CA_ROTOR4_PY 0.25
-param set-default CA_ROTOR5_PX -0.43
-param set-default CA_ROTOR5_PY -0.25
-param set-default CA_ROTOR5_KM -0.05
-
 set MIXER hexa_x
 
 # Need to set all 8 channels

ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc

@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name Hex X with control allocation
+#
+# @type Hexarotor x
+# @class Copter
+#
+# @maintainer Silvan Fuhrer
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 6
+
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 0.275
+param set-default CA_ROTOR0_KM -0.05
+
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -0.275
+param set-default CA_ROTOR1_KM 0.05
+
+param set-default CA_ROTOR2_PX 0.238
+param set-default CA_ROTOR2_PY -0.1375
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.238
+param set-default CA_ROTOR3_PY 0.1375
+param set-default CA_ROTOR3_KM 0.05
+
+param set-default CA_ROTOR4_PX 0.238
+param set-default CA_ROTOR4_PY 0.1375
+param set-default CA_ROTOR4_KM 0.05
+
+param set-default CA_ROTOR5_PX -0.238
+param set-default CA_ROTOR5_PY -0.1375
+param set-default CA_ROTOR5_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+
+set MIXER skip
+set MIXER_AUX none

ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+

@@ -23,23 +23,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.5
-param set-default CA_ROTOR0_PY 0.0
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX -0.5
-param set-default CA_ROTOR1_PY 0.0
-param set-default CA_ROTOR2_PX -0.25
-param set-default CA_ROTOR2_PY -0.43
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX 0.25
-param set-default CA_ROTOR3_PY 0.43
-param set-default CA_ROTOR4_PX 0.25
-param set-default CA_ROTOR4_PY -0.43
-param set-default CA_ROTOR5_PX -0.25
-param set-default CA_ROTOR5_PY 0.43
-param set-default CA_ROTOR5_KM -0.05
-
 set MIXER hexa_+
 
 # Need to set all 8 channels

ROMFS/px4fmu_common/init.d/airframes/8001_octo_x

@@ -25,28 +25,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PX 0.46
-param set-default CA_ROTOR0_PY 0.19
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR1_PX -0.46
-param set-default CA_ROTOR1_PY -0.19
-param set-default CA_ROTOR2_PX 0.19
-param set-default CA_ROTOR2_PY 0.46
-param set-default CA_ROTOR3_PX -0.46
-param set-default CA_ROTOR3_PY 0.19
-param set-default CA_ROTOR4_PX 0.46
-param set-default CA_ROTOR4_PY -0.19
-param set-default CA_ROTOR5_PX -0.19
-param set-default CA_ROTOR5_PY -0.46
-param set-default CA_ROTOR6_KM -0.05
-param set-default CA_ROTOR6_PX 0.19
-param set-default CA_ROTOR6_PY -0.46
-param set-default CA_ROTOR7_KM -0.05
-param set-default CA_ROTOR7_PX -0.19
-param set-default CA_ROTOR7_PY 0.46
-
 set MIXER octo_x
 
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -72,6 +72,7 @@ px4_add_romfs_files(
 	4015_holybro_s500
 	4016_holybro_px4vision
 	4017_nxp_hovergames
+	4018_s500_ctrlalloc
 	4019_x500_v2
 	4030_3dr_solo
 	4031_3dr_quad
@@ -99,6 +100,7 @@ px4_add_romfs_files(
 	# [6000, 6999] Hexarotor x"
 	6001_hexa_x
 	6002_draco_r
+	6003_hexa_x_ctrlalloc
 
 	# [7000, 7999] Hexarotor +"
 	7001_hexa_+

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -149,19 +149,6 @@ then
 	ms5525_airspeed start -X
 fi
 
-# IR-LOCK sensor external I2C
-if param compare -s SENS_EN_IRLOCK 1
-then
-	irlock start -X
-fi
-
-# PCF8583 counter (RPM sensor)
-if param compare -s SENS_EN_PCF8583 1
-then
-	pcf8583 start -X
-	pcf8583 start -X -a 0x51
-fi
-
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then

Tools/flightgear_bridge

@@ -1 +1 @@
-Subproject commit f47ce7b5fbbb3aa43d33d2be1f6cd3746b13d5bf
+Subproject commit ea9b6cb5b93365928190864a6592c0a280e101ea

Tools/module_config/generate_actuators_metadata.py

@@ -330,11 +330,9 @@ def get_mixers(yaml_config, output_functions, verbose):
         option = select_param + '==' + str(type_index)
         mixer_config = {
                 'option': option,
-                'help-url': 'https://docs.px4.io/master/en/config/actuators.html',
             }
-        for optional in ['type', 'title']:
-            if optional in current_type:
-                mixer_config[optional] = current_type[optional]
+        if 'type' in current_type:
+            mixer_config['type'] = current_type['type']
         actuators = []
         for actuator_conf in current_type['actuators']:
             actuator = {

Tools/process_sensor_caldata.py

@@ -7,8 +7,7 @@ import os
 import math
 import matplotlib.pyplot as plt
 import numpy as np
-
-from scipy.signal import medfilt
+import scipy as sp
 
 from pyulog import *
 
@@ -66,7 +65,7 @@ def resampleWithDeltaX(x,y):
     return resampledX,resampledY
 
 def median_filter(data):
-    return medfilt(data, 31)
+    return sp.signal.medfilt(data, 31)
 
 parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
 parser.add_argument('filename', metavar='file.ulg', help='ULog input file')

Tools/px4moduledoc/srcparser.py

@@ -16,7 +16,7 @@ class ModuleDocumentation(object):
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation', 'autotune']
     valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor']
+                           'magnetometer', 'baro', 'optical_flow']
 
     max_line_length = 80 # wrap lines that are longer than this
 

Tools/serial/generate_config.py

@@ -268,14 +268,10 @@ for serial_command in serial_commands:
                 default_port_str = port_config['default'][i]
             else:
                 default_port_str = port_config['default']
-
             if default_port_str != "":
                 if default_port_str not in serial_ports:
                     raise Exception("Default Port {:} not found for {:}".format(default_port_str, serial_command['label']))
-
-                if default_port_str in dict(board_ports).keys():
-                    default_port = serial_ports[default_port_str]['index']
-
+                default_port = serial_ports[default_port_str]['index']
 
         commands.append({
             'command': serial_command['command'],

Tools/sitl_gazebo

@@ -1 +1 @@
-Subproject commit 25138e803ee8525ee5fe4e6d511506e88e3f819c
+Subproject commit 2750fe233c6a38dbe60e545ac0ec878d6ac20b1e

Tools/sitl_run.sh

@@ -192,7 +192,7 @@ elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
 		ignition_headless=""
 	fi
 	source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
-	ign gazebo --force-version 5 ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
+	ign gazebo ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"
 	cd "${src_path}/Tools/flightgear_bridge/"

boards/cubepilot/cubeorange/nuttx-config/socketcan/defconfig

@@ -1,245 +0,0 @@
-#
-# 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_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_NET_CAN_CANFD is not set
-# CONFIG_NET_ETHERNET is not set
-# CONFIG_NET_IPv4 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_REBOOT is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SHUTDOWN is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743ZI=y
-CONFIG_ARCH_CHIP_STM32H7=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_EARLY_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=79954
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CANUTILS_CANDUMP=y
-CONFIG_CANUTILS_CANSEND=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x1016
-CONFIG_CDCACM_PRODUCTSTR="CubeOrange"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x2DAE
-CONFIG_CDCACM_VENDORSTR="CubePilot"
-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_EXAMPLES_CALIB_UDELAY=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_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_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NET=y
-CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
-CONFIG_NETDEV_IFINDEX=y
-CONFIG_NETDEV_PHY_IOCTL=y
-CONFIG_NET_CAN=y
-CONFIG_NET_CAN_RAW_TX_DEADLINE=y
-CONFIG_NET_CAN_SOCK_OPTS=y
-CONFIG_NET_TIMESTAMP=y
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=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_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_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_STM32H7_ADC1=y
-CONFIG_STM32H7_ADC3=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_FDCAN1=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C2=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_HSECLOCK=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SDMMC1=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI4=y
-CONFIG_STM32H7_SPI4_DMA=y
-CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
-CONFIG_STM32H7_USART6=y
-CONFIG_STM32H7_USART_BREAKS=y
-CONFIG_STM32H7_USART_INVERT=y
-CONFIG_STM32H7_USART_SINGLEWIRE=y
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGTSTP=y
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-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_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_TXBUFSIZE=3000
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-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="nsh_main"
-CONFIG_WATCHDOG=y

boards/cubepilot/cubeorange/socketcan.px4board

@@ -1,22 +0,0 @@
-CONFIG_DRIVERS_ADC_ADS1115=n
-CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
-CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_PCA9685=n
-CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_RPM=n
-CONFIG_DRIVERS_UAVCAN=n
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
-CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
-CONFIG_DRIVERS_UAVCAN_V1=y
-CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
-CONFIG_UAVCAN_V1_ESC_CONTROLLER=y
-CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y
-CONFIG_UAVCAN_V1_GNSS_PUBLISHER=y
-CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y
-CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y
-CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y
-CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
-CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER=y
-CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y

boards/holybro/kakutef7/default.px4board

@@ -15,6 +15,7 @@ CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
@@ -26,6 +27,7 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y

boards/holybro/kakutef7/nuttx-config/nsh/defconfig

@@ -90,7 +90,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_LIBC_STRERROR_SHORT=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y

boards/holybro/kakuteh7/src/board_config.h

@@ -133,8 +133,6 @@
 
 #define GPIO_RSSI_IN                       /* PC5  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN5)
 
-#define GPIO_RF_SWITCH                     /* PE13  */ (GPIO_OUTPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN13)
-
 /* Power switch controls ******************************************************/
 
 #define SDIO_SLOTNO                    0  /* Only one slot */
@@ -177,7 +175,6 @@
 		PX4_ADC_GPIO,                     \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_RSSI_IN,                     \
-		GPIO_RF_SWITCH,                   \
 	}
 
 #define BOARD_ENABLE_CONSOLE_BUFFER

boards/holybro/kakuteh7/src/init.c

@@ -160,9 +160,6 @@ stm32_boardinitialize(void)
 
 	board_control_spi_sensors_power_configgpio();
 
-	/* Turn bluetooth off by default (no mavlink support yet) */
-	px4_arch_gpiowrite(GPIO_RF_SWITCH, 0);
-
 	/* configure USB interfaces */
 
 	stm32_usbinitialize();

boards/matek/gnss-m9n-f4/default.px4board

@@ -2,7 +2,6 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -16,7 +15,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y
-CONFIG_SERIAL_PASSTHRU_UBLOX=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y

boards/matek/gnss-m9n-f4/init/rc.board_sensors

@@ -3,6 +3,8 @@
 # Matek M9NF4 CAN specific board sensors init
 #------------------------------------------------------------------------------
 
+gps start -d /dev/ttyS2
+
 icm20602 -s start
 
 rm3100 -b 2 -s start

boards/matek/gnss-m9n-f4/nuttx-config/Kconfig

@@ -0,0 +1,23 @@
+menu "SERIAL_PASSTHRU Configuration"
+config SERIAL_PASSTHRU_UBLOX
+	bool "Detect and Auto Connect on U-Center messages"
+	default n
+	---help---
+		This option will enable the cdc_acm_check to launch
+		The passthru driver.
+
+config SERIAL_PASSTHRU_UBLOX_DEV
+	string "Device path of the GPS"
+	depends on SERIAL_PASSTHRU_UBLOX
+	default "/dev/ttyS2"
+	---help---
+		This is the path of the device used as the right side
+		of the passthru.
+
+config SERIAL_PASSTHRU_UBLOX_BAUDRATE
+	string "baudrate"
+	depends on SERIAL_PASSTHRU_UBLOX
+	default "115200"
+	---help---
+		This option sets the baudrate for the passthru.
+endmenu

boards/matek/h743-slim/nuttx-config/include/board.h

@@ -284,17 +284,17 @@
 
 #define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 
-/* 20 MHz Max for now - more reliable on some boards than 25 MHz
- * 20 MHz = PLL1Q/(2*div), div =  PLL1Q/(2*freq), div = 6 = 240 / 40
+/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
+ * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
  */
 
 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (6 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (6 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif

boards/matek/h743-slim/src/board_config.h

@@ -111,8 +111,8 @@
 
 /* PWM
  */
-#define DIRECT_PWM_OUTPUT_CHANNELS   10
-#define DIRECT_INPUT_TIMER_CHANNELS  10
+#define DIRECT_PWM_OUTPUT_CHANNELS   8
+#define DIRECT_INPUT_TIMER_CHANNELS  8
 
 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
 

boards/matek/h743-slim/src/timer_config.cpp

@@ -37,7 +37,7 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
 	initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
-	initIOTimer(Timer::Timer15),
+	// initIOTimer(Timer::Timer15),
 };
 
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -49,10 +49,10 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortA, GPIO::Pin3}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
-	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),
-	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel2}, {GPIO::PortE, GPIO::Pin6}),
 	// initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
 	// initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
+	// initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),
+	// initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel2}, {GPIO::PortE, GPIO::Pin6}),
 };
 
 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =

boards/mro/ctrl-zero-h7-oem/nuttx-config/socketcan/defconfig

@@ -1,249 +0,0 @@
-#
-# 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_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_NET_CAN_CANFD is not set
-# CONFIG_NET_ETHERNET is not set
-# CONFIG_NET_IPv4 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/mro/ctrl-zero-h7-oem/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743II=y
-CONFIG_ARCH_CHIP_STM32H7=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_EARLY_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x1024
-CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroH7 OEM"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="mRo"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=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_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_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_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NET=y
-CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
-CONFIG_NETDEV_IFINDEX=y
-CONFIG_NETDEV_PHY_IOCTL=y
-CONFIG_NET_CAN=y
-CONFIG_NET_CAN_RAW_TX_DEADLINE=y
-CONFIG_NET_CAN_SOCK_OPTS=y
-CONFIG_NET_TIMESTAMP=y
-CONFIG_NSH_ARCHINIT=y
-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_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_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_STM32H7_ADC1=y
-CONFIG_STM32H7_ADC3=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BDMA=y
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_FDCAN1=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C3=y
-CONFIG_STM32H7_I2C4=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_HSECLOCK=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SDMMC1=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI5=y
-CONFIG_STM32H7_SPI5_DMA=y
-CONFIG_STM32H7_SPI5_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM2=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_TIM8=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
-CONFIG_STM32H7_USART6=y
-CONFIG_STM32H7_USART_BREAKS=y
-CONFIG_STM32H7_USART_INVERT=y
-CONFIG_STM32H7_USART_SINGLEWIRE=y
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGTSTP=y
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_SERIAL_CONSOLE=y
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_TXBUFSIZE=3000
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-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="nsh_main"

boards/mro/ctrl-zero-h7-oem/socketcan.px4board

@@ -1,13 +0,0 @@
-CONFIG_DRIVERS_UAVCAN=n
-CONFIG_DRIVERS_UAVCAN_V1=y
-CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
-CONFIG_UAVCAN_V1_CLIENT=y
-CONFIG_UAVCAN_V1_ESC_CONTROLLER=y
-CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y
-CONFIG_UAVCAN_V1_GNSS_PUBLISHER=y
-CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y
-CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y
-CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y
-CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
-CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER=y
-CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y

boards/nxp/fmurt1062-v1/src/board_config.h

@@ -228,8 +228,6 @@
 #define GPIO_nARMED          /* GPIO_SD_B1_01 GPIO3_IO1 */ (GPIO_PORT3 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | nARMED_OUTPUT_IOMUX)
 
 #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)
-
 
 /* PWM
  */

boards/omnibus/f4sd/default.px4board

@@ -22,6 +22,7 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOGGER=y
@@ -33,7 +34,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_DMESG=n
+CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y

boards/omnibus/f4sd/icm20608g.px4board

@@ -1,3 +0,0 @@
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=n
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y

boards/omnibus/f4sd/init/rc.board_sensors

@@ -8,11 +8,7 @@ board_adc start
 if ! mpu6000 -R 6 -s start
 then
 	# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
-	if ! icm20602 -s -R 6 start
-	then
-		# some clones of Omnibus F4 use the ICM-20608G (such as F4 PDB for Martian II FPV Drone)
-		icm20608g -s -R 6 start
-	fi
+	icm20602 -s -R 6 start
 fi
 
 bmp280 -s start

boards/omnibus/f4sd/src/spi.cpp

@@ -39,7 +39,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20608G, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortB, GPIO::Pin12})

boards/px4/fmu-v2/default.px4board

@@ -9,6 +9,7 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_L3GD20=y
@@ -20,7 +21,6 @@ CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
@@ -32,6 +32,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y

boards/px4/fmu-v2/rover.px4board

@@ -12,6 +12,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y

boards/px4/fmu-v4/init/rc.board_sensors

@@ -32,5 +32,5 @@ then
 	mpu6500 -s -R 0 start
 else
 	# mpu9250 internal SPI bus mpu9250
-	mpu9250 -s -R 8 -M start
+	mpu9250 -s -R 8 start
 fi

boards/px4/fmu-v5/src/board_config.h

@@ -212,7 +212,6 @@
 #define GPIO_nARMED          /* PI0 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)
 
 #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)
 
 /* PWM
  */

boards/px4/fmu-v5/stackcheck.px4board

@@ -14,16 +14,13 @@ CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_POWER_MONITOR_INA226=n
 CONFIG_DRIVERS_PWM_INPUT=n
-CONFIG_DRIVERS_PWM_OUT_SIM=n
 CONFIG_DRIVERS_ROBOCLAW=n
 CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
-CONFIG_MODULES_GIMBAL=n
 CONFIG_MODULES_GYRO_CALIBRATION=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
@@ -31,6 +28,6 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
-CONFIG_SYSTEMCMDS_SERIAL_TEST=n
+CONFIG_MODULES_GIMBAL=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y

boards/px4/fmu-v5x/default.px4board

@@ -48,7 +48,6 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
-CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y

boards/px4/fmu-v5x/init/rc.board_sensors

@@ -2,13 +2,7 @@
 #
 # PX4 FMUv5X specific board sensors init
 #------------------------------------------------------------------------------
-
-if param compare -s ADC_ADS1115_EN 1
-then
-	ads1115 start -X
-else
-	board_adc start
-fi
+board_adc start
 
 
 if param compare SENS_EN_INA226 1

boards/px4/fmu-v5x/src/board_config.h

@@ -213,7 +213,6 @@
 
 #if !defined(TRACE_PINS)
 #  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)
 #endif
 /* PWM
  */

boards/px4/fmu-v6x/nuttx-config/bootloader/defconfig

@@ -72,22 +72,19 @@ CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=32
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_OTGFS=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_USART3=y
 CONFIG_SYSTEMTICK_HOOK=y
 CONFIG_SYSTEM_CDCACM=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGINT_CHAR=0x03
 CONFIG_TTY_SIGTSTP=y
-CONFIG_UART7_RXBUFSIZE=512
-CONFIG_UART7_RXDMA=y
-CONFIG_UART7_TXBUFSIZE=512
-CONFIG_UART7_TXDMA=y
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_TXBUFSIZE=300
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500

boards/px4/fmu-v6x/nuttx-config/include/board_dma_map.h

@@ -33,55 +33,19 @@
 
 #pragma once
 
-// DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
-//                                                     V
+// DMAMUX1
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
 
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     /* 1 DMA1:37 ICM-20649 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     /* 2 DMA1:38 ICM-20649 */
+#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
+#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */
 
-#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0     /* 3 DMA1:39 ICM-42688-P */
-#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0     /* 4 DMA1:40 ICM-42688-P */
+#define DMAMAP_USART6_RX   DMAMAP_DMA12_USART6RX_0 /* DMA1:71 */
+#define DMAMAP_USART6_TX   DMAMAP_DMA12_USART6TX_0 /* DMA1:72 */
 
-//#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
-//#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
+// DMAMUX2
+#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1 /* DMA2:61 */
+#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1 /* DMA2:62 */
 
-//#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0 /*  DMA1:43 Telem3 */
-//#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0 /*  DMA1:44 Telem3 */
-
-//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
-//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
-
-//#define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 EXT2 */
-//#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 EXT2 */
-
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
-#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */
-
-// Assigned in timer_config.cpp
-
-// Timer 4                                          /* 7 DMA1:32 TIM4UP */
-// Timer 5                                          /* 8 DMA1:50 TIM5UP */
-
-// DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
-//                                                     V
-
-#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 DMA2:61 BMI088 */
-#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 DMA2:62 BMI088 */
-
-#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
-#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
-
-#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
-#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66  TELEM2 */
-
-#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79  TELEM1 */
-#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80  TELEM1 */
-
-//#define DMAMAP_UART8_RX   DMAMAP_DMA12_UART8RX_1  /*  DMA1:81  GPS2 */
-//#define DMAMAP_UART8_TX   DMAMAP_DMA12_UART8TX_1  /*  DMA1:82  GPS2 */
-
-// DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
-//                                                     V
-
-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       /* 1 BDMA:11 SPI J11 */
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       /* 2 BDMA:12 SPI J11 */
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX /* BDMA:11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX /* BDMA:12 */

boards/px4/fmu-v6x/nuttx-config/nsh/defconfig

@@ -257,16 +257,11 @@ CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART5_IFLOWCONTROL=y
 CONFIG_UART5_OFLOWCONTROL=y
-CONFIG_UART5_RXDMA=y
-CONFIG_UART5_TXBUFSIZE=3000
-CONFIG_UART5_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_IFLOWCONTROL=y
 CONFIG_UART7_OFLOWCONTROL=y
 CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_RXDMA=y
 CONFIG_UART7_TXBUFSIZE=3000
-CONFIG_UART7_TXDMA=y
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
 CONFIG_UART8_TXBUFSIZE=1500
@@ -280,10 +275,8 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_TXBUFSIZE=3000
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
-CONFIG_USART3_RXDMA=y
 CONFIG_USART3_SERIAL_CONSOLE=y
 CONFIG_USART3_TXBUFSIZE=1500
-CONFIG_USART3_TXDMA=y
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_TXBUFSIZE=1500

boards/px4/fmu-v6x/src/board_config.h

@@ -229,7 +229,6 @@
 #define GPIO_nARMED_INIT     /* PE6 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
 #define GPIO_nARMED          /* PE6 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
 #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)
 #endif
 
 

boards/px4/sitl/sitl.cmake

@@ -13,7 +13,7 @@ if(REPLAY_FILE)
 
 	message(STATUS "Building without lockstep for replay")
 	set(ENABLE_LOCKSTEP_SCHEDULER no)
-elseif(CMAKE_BUILD_TYPE STREQUAL FuzzTesting)
+elif(CMAKE_BUILD_TYPE STREQUAL FuzzTesting)
 	set(ENABLE_LOCKSTEP_SCHEDULER no)
 else()
 	set(ENABLE_LOCKSTEP_SCHEDULER yes)

boards/spracing/h7extreme/default.px4board

@@ -8,7 +8,6 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -22,11 +21,9 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
@@ -38,9 +35,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

boards/spracing/h7extreme/init/rc.board_sensors

@@ -1,23 +1,17 @@
 #!/bin/sh
 #
-# board specific sensors init
+# SP Racing H7 EXTREME specific board sensors init
 #------------------------------------------------------------------------------
-
 board_adc start
 
-# Internal SPI bus ICM-20602 or ICM-42688-P
-
-# SPI2
-if ! icm20602 -s -b 2 -R 5 start
-then
-	icm42688p -s -b 2 -R 5 start
-fi
-
-# SPI3
-if ! icm20602 -s -b 3 -R 4 start
-then
-	icm42688p -s -b 3 -R 4 start
-fi
+# Internal SPI bus ICM-20602
+#mpu6000 -s -b 2 -R 11 -T 20602 start # SPI 2
+#mpu6000 -s -b 3 -R 10 -T 20602 start # SPI 3
+icm20602 -s -b 2 -R 5 start # SPI 2
+icm20602 -s -b 3 -R 4 start # SPI 3
 
 # Internal I2C bus
 bmp388 -I start
+
+
+

boards/spracing/h7extreme/nuttx-config/scripts/script.ld

@@ -142,8 +142,8 @@ SECTIONS
 
 		*modules__mc_att_control.a:*(.text* .rodata*)
 		*modules__mc_rate_control.a:*(.text* .rodata*)
+		*modules__rc_update.a:*(.text* .rodata*)
 		*drivers__imu__invensense__icm20602.a:*(.text* .rodata*)
-		*drivers__imu__invensense__icm42688p.a:*(.text* .rodata*)
 		*drivers__device.a:*(.text* .rodata*)
 		*drivers__pwm_out.a:*(.text* .rodata*)
 		*vehicle_angular_velocity.a:*(.text* .rodata*)
@@ -163,7 +163,6 @@ SECTIONS
 		*modules__flight_mode_manager.a:*(.text* .rodata*)
 		*modules__mc_pos_control.a:*(.text* .rodata*)
 		*modules__mc_hover_thrust_estimator.a:*(.text* .rodata*)
-		*modules__rc_update.a:*(.text* .rodata*)
 		*modules__sensors.a:*(.text* .rodata*)
 		*libc.a:*(.text* .rodata*)
 		*modules__commander.a:*(.text* .rodata*)

msg/CMakeLists.txt

@@ -64,7 +64,7 @@ set(msg_files
 	differential_pressure.msg
 	distance_sensor.msg
 	ekf2_timestamps.msg
-	estimator_gps_status.msg
+	ekf_gps_drift.msg
 	esc_report.msg
 	esc_status.msg
 	estimator_baro_bias.msg

msg/actuator_outputs.msg

@@ -3,6 +3,3 @@ uint8 NUM_ACTUATOR_OUTPUTS		= 16
 uint8 NUM_ACTUATOR_OUTPUT_GROUPS	= 4	# for sanity checking
 uint32 noutputs				# valid outputs
 float32[16] output				# output data, in natural output units
-
-# actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
-# TOPICS actuator_outputs actuator_outputs_sim

msg/commander_state.msg

@@ -16,8 +16,7 @@ uint8 MAIN_STATE_AUTO_LAND          = 11
 uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
 uint8 MAIN_STATE_AUTO_PRECLAND      = 13
 uint8 MAIN_STATE_ORBIT              = 14
-uint8 MAIN_STATE_AUTO_VTOL_TAKEOFF  = 15
-uint8 MAIN_STATE_MAX                = 16
+uint8 MAIN_STATE_MAX                = 15
 
 uint8 main_state
 

msg/ekf_gps_drift.msg

@@ -0,0 +1,6 @@
+uint64 timestamp		# time since system start (microseconds)
+float32 hpos_drift_rate		# Horizontal position rate magnitude checked using EKF2_REQ_HDRIFT (m/s)
+float32 vpos_drift_rate		# Vertical position rate magnitude checked using EKF2_REQ_VDRIFT (m/s)
+float32 hspd			# Filtered horizontal velocity magnitude checked using EKF2_REQ_HDRIFT (m/s)
+
+bool blocked			# true when drift calculation is blocked due to IMU movement check

msg/estimator_gps_status.msg

@@ -1,19 +0,0 @@
-uint64 timestamp                          # time since system start (microseconds)
-uint64 timestamp_sample                   # the timestamp of the raw data (microseconds)
-
-bool checks_passed
-
-bool check_fail_gps_fix          # 0 : insufficient fix type (no 3D solution)
-bool check_fail_min_sat_count    # 1 : minimum required sat count fail
-bool check_fail_max_pdop         # 2 : maximum allowed PDOP fail
-bool check_fail_max_horz_err     # 3 : maximum allowed horizontal position error fail
-bool check_fail_max_vert_err     # 4 : maximum allowed vertical position error fail
-bool check_fail_max_spd_err      # 5 : maximum allowed speed error fail
-bool check_fail_max_horz_drift   # 6 : maximum allowed horizontal position drift fail - requires stationary vehicle
-bool check_fail_max_vert_drift   # 7 : maximum allowed vertical position drift fail - requires stationary vehicle
-bool check_fail_max_horz_spd_err # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
-bool check_fail_max_vert_spd_err # 9 : maximum allowed vertical velocity discrepancy fail
-
-float32 position_drift_rate_horizontal_m_s # Horizontal position rate magnitude (m/s)
-float32 position_drift_rate_vertical_m_s   # Vertical position rate magnitude (m/s)
-float32 filtered_horizontal_speed_m_s      # Filtered horizontal velocity magnitude (m/s)

msg/estimator_status.msg

@@ -45,7 +45,6 @@ uint8 CS_EV_VEL = 24		# 24 - true when local frame velocity data fusion from ext
 uint8 CS_SYNTHETIC_MAG_Z = 25	# 25 - true when we are using a synthesized measurement for the magnetometer Z component
 uint8 CS_VEHICLE_AT_REST = 26	# 26 - true when the vehicle is at rest
 uint8 CS_GPS_YAW_FAULT = 27	# 27 - true when the GNSS heading has been declared faulty and is no longer being used
-uint8 CS_RNG_FAULT = 28		# 28 - true when the range finder has been declared faulty and is no longer being used
 
 uint32 filter_fault_flags	# Bitmask to indicate EKF internal faults
 # 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error

msg/estimator_status_flags.msg

@@ -32,9 +32,6 @@ bool cs_ev_vel                # 24 - true when local frame velocity data fusion
 bool cs_synthetic_mag_z       # 25 - true when we are using a synthesized measurement for the magnetometer Z component
 bool cs_vehicle_at_rest       # 26 - true when the vehicle is at rest
 bool cs_gps_yaw_fault         # 27 - true when the GNSS heading has been declared faulty and is no longer being used
-bool cs_rng_fault             # 28 - true when the range finder has been declared faulty and is no longer being used
-bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
-bool cs_wind_dead_reckoning     # 30 - true if we are navigationg reliant on wind relative measurements
 
 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes

msg/sensor_accel.msg

@@ -7,6 +7,8 @@ float32 x                 # acceleration in the FRD board frame X-axis in m/s^2
 float32 y                 # acceleration in the FRD board frame Y-axis in m/s^2
 float32 z                 # acceleration in the FRD board frame Z-axis in m/s^2
 
+float32 range # TODO
+
 float32 temperature       # temperature in degrees Celsius
 
 uint32 error_count

msg/sensor_gyro.msg

@@ -7,6 +7,8 @@ float32 x                 # angular velocity in the FRD board frame X-axis in ra
 float32 y                 # angular velocity in the FRD board frame Y-axis in rad/s
 float32 z                 # angular velocity in the FRD board frame Z-axis in rad/s
 
+float32 range # TODO
+
 float32 temperature       # temperature in degrees Celsius
 
 uint32 error_count

msg/telemetry_status.msg

@@ -35,7 +35,7 @@ uint32 rx_packet_drop_count             # number of packet drops
 float32 rx_message_lost_rate
 
 
-uint64 HEARTBEAT_TIMEOUT_US = 2500000       # Heartbeat timeout (tolerate missing 1 + jitter)
+uint64 HEARTBEAT_TIMEOUT_US = 1500000       # Heartbeat timeout 1.5 seconds
 
 # Heartbeats per type
 bool heartbeat_type_antenna_tracker         # MAV_TYPE_ANTENNA_TRACKER

msg/tune_control.msg

@@ -33,7 +33,7 @@ uint32 silence       # in us
 uint8 volume         # value between 0-100 if supported by backend
 
 uint8 VOLUME_LEVEL_MIN = 0
-uint8 VOLUME_LEVEL_DEFAULT = 20
+uint8 VOLUME_LEVEL_DEFAULT = 40
 uint8 VOLUME_LEVEL_MAX = 100
 
 uint8 ORB_QUEUE_LENGTH = 4

msg/vehicle_status.msg

@@ -46,8 +46,7 @@ uint8 NAVIGATION_STATE_AUTO_LAND = 18		# Land
 uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19	# Auto Follow
 uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20	# Precision land with landing target
 uint8 NAVIGATION_STATE_ORBIT = 21       # Orbit in a circle
-uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22   # Takeoff, transition, establish loiter
-uint8 NAVIGATION_STATE_MAX = 23
+uint8 NAVIGATION_STATE_MAX = 22
 
 uint8 VEHICLE_TYPE_UNKNOWN = 0
 uint8 VEHICLE_TYPE_ROTARY_WING = 1

msg/vehicle_status_flags.msg

@@ -13,19 +13,12 @@ bool condition_local_altitude_valid
 bool condition_local_position_valid		# set to true by the commander app if the quality of the local position estimate is good enough to use for navigation
 bool condition_local_velocity_valid		# set to true by the commander app if the quality of the local horizontal velocity data is good enough to use for navigation
 bool condition_global_position_valid		# set to true by the commander app if the quality of the global position estimate is good enough to use for navigation
-bool condition_gps_position_valid
 bool condition_home_position_valid		# indicates a valid home position (a valid home position is not always a valid launch)
 bool condition_power_input_valid                # set if input power is valid
 bool condition_battery_healthy                # set if battery is available and not low
 bool condition_escs_error		      # set to true if one or more ESCs reporting esc_status are offline
 bool condition_escs_failure		      # set to true if one or more ESCs reporting esc_status has a failure
 
-bool position_reliant_on_gps
-bool position_reliant_on_optical_flow
-bool position_reliant_on_vision_position
-
-bool dead_reckoning
-
 bool circuit_breaker_engaged_power_check
 bool circuit_breaker_engaged_airspd_check
 bool circuit_breaker_engaged_enginefailure_check

platforms/common/include/px4_platform_common/board_common.h

@@ -145,10 +145,7 @@
 #  define BOARD_BATT_I_LIST       {ADC_BATTERY_CURRENT_CHANNEL}
 #  define BOARD_BRICK_VALID_LIST  {BOARD_ADC_BRICK_VALID}
 #elif BOARD_NUMBER_BRICKS == 2
-#  if  defined(BOARD_NUMBER_DIGITAL_BRICKS)
-#    define BOARD_BATT_V_LIST       {-1, -1}
-#    define BOARD_BATT_I_LIST       {-1, -1}
-#  else
+#  if  !defined(BOARD_NUMBER_DIGITAL_BRICKS)
 #    define BOARD_BATT_V_LIST       {ADC_BATTERY1_VOLTAGE_CHANNEL, ADC_BATTERY2_VOLTAGE_CHANNEL}
 #    define BOARD_BATT_I_LIST       {ADC_BATTERY1_CURRENT_CHANNEL, ADC_BATTERY2_CURRENT_CHANNEL}
 #  endif

platforms/common/uORB/CMakeLists.txt

@@ -34,9 +34,7 @@
 # this includes the generated topics directory
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-set(SRCS)
-
-set(SRCS_COMMON
+px4_add_library(uORB
 	ORBSet.hpp
 	Publication.hpp
 	PublicationMulti.hpp
@@ -49,49 +47,18 @@ set(SRCS_COMMON
 	uORB.h
 	uORBCommon.hpp
 	uORBCommunicator.hpp
+	uORBDeviceMaster.cpp
+	uORBDeviceMaster.hpp
+	uORBDeviceNode.cpp
+	uORBDeviceNode.hpp
+	uORBManager.cpp
 	uORBManager.hpp
 	uORBUtils.cpp
 	uORBUtils.hpp
-	uORBDeviceMaster.hpp
-	uORBDeviceNode.hpp
-	)
+)
 
-set(SRCS_KERNEL
-	uORBDeviceMaster.cpp
-	uORBDeviceNode.cpp
-	uORBManager.cpp
-	)
-
-set(SRCS_USER
-	uORBManagerUsr.cpp
-	)
-
-if (NOT DEFINED CONFIG_BUILD_FLAT AND "${PX4_PLATFORM}" MATCHES "nuttx")
-	# Kernel side library in nuttx kernel/protected build
-	px4_add_library(uORB_kernel
-		${SRCS_COMMON}
-		${SRCS_KERNEL}
-		)
-	target_link_libraries(uORB_kernel PRIVATE cdev uorb_msgs)
-	target_compile_options(uORB_kernel PRIVATE ${MAX_CUSTOM_OPT_LEVEL} -D__KERNEL__)
-
-	# User side library in nuttx kernel/protected build
-	px4_add_library(uORB
-		${SRCS_COMMON}
-		${SRCS_USER}
-		)
-else()
-
-	# Library for all other targets (flat build, posix...)
-	px4_add_library(uORB
-		${SRCS_COMMON}
-		${SRCS_KERNEL}
-		)
-	target_link_libraries(uORB PRIVATE cdev)
-endif()
-
-target_link_libraries(uORB PRIVATE uorb_msgs)
 target_compile_options(uORB PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_link_libraries(uORB PRIVATE cdev uorb_msgs)
 
 if(PX4_TESTING)
 	add_subdirectory(uORB_tests)

platforms/common/uORB/Subscription.hpp

@@ -136,40 +136,19 @@ public:
 	/**
 	 * Check if there is a new update.
 	 */
-	bool updated()
-	{
-		if (!valid()) {
-			subscribe();
-		}
-
-		return valid() ? Manager::updates_available(_node, _last_generation) : false;
-	}
+	bool updated() { return advertised() && Manager::updates_available(_node, _last_generation); }
 
 	/**
 	 * Update the struct
 	 * @param dst The uORB message struct we are updating.
 	 */
-	bool update(void *dst)
-	{
-		if (!valid()) {
-			subscribe();
-		}
-
-		return valid() ? Manager::orb_data_copy(_node, dst, _last_generation, true) : false;
-	}
+	bool update(void *dst) { return updated() && Manager::orb_data_copy(_node, dst, _last_generation); }
 
 	/**
 	 * Copy the struct
 	 * @param dst The uORB message struct we are updating.
 	 */
-	bool copy(void *dst)
-	{
-		if (!valid()) {
-			subscribe();
-		}
-
-		return valid() ? Manager::orb_data_copy(_node, dst, _last_generation, false) : false;
-	}
+	bool copy(void *dst) { return advertised() && Manager::orb_data_copy(_node, dst, _last_generation); }
 
 	/**
 	 * Change subscription instance

platforms/common/uORB/uORB.cpp

@@ -41,15 +41,10 @@
 #include "uORBManager.hpp"
 #include "uORBCommon.hpp"
 
-
 #include <lib/drivers/device/Device.hpp>
 #include <matrix/Quaternion.hpp>
 #include <mathlib/mathlib.h>
 
-#ifdef __PX4_NUTTX
-#include <sys/boardctl.h>
-#endif
-
 static uORB::DeviceMaster *g_dev = nullptr;
 
 int uorb_start(void)
@@ -65,7 +60,6 @@ int uorb_start(void)
 		return -ENOMEM;
 	}
 
-#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT) || defined(__KERNEL__)
 	/* create the driver */
 	g_dev = uORB::Manager::get_instance()->get_device_master();
 
@@ -73,15 +67,11 @@ int uorb_start(void)
 		return -errno;
 	}
 
-#endif
-
 	return OK;
 }
 
 int uorb_status(void)
 {
-#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT) || defined(__KERNEL__)
-
 	if (g_dev != nullptr) {
 		g_dev->printStatistics();
 
@@ -89,16 +79,11 @@ int uorb_status(void)
 		PX4_INFO("uorb is not running");
 	}
 
-#else
-	boardctl(ORBIOCDEVMASTERCMD, ORB_DEVMASTER_STATUS);
-#endif
 	return OK;
 }
 
 int uorb_top(char **topic_filter, int num_filters)
 {
-#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT) || defined(__KERNEL__)
-
 	if (g_dev != nullptr) {
 		g_dev->showTop(topic_filter, num_filters);
 
@@ -106,9 +91,6 @@ int uorb_top(char **topic_filter, int num_filters)
 		PX4_INFO("uorb is not running");
 	}
 
-#else
-	boardctl(ORBIOCDEVMASTERCMD, ORB_DEVMASTER_TOP);
-#endif
 	return OK;
 }
 

platforms/common/uORB/uORBDeviceNode.cpp

@@ -84,7 +84,7 @@ uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t inst
 
 uORB::DeviceNode::~DeviceNode()
 {
-	free(_data);
+	delete[] _data;
 
 	const char *devname = get_devname();
 
@@ -186,9 +186,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
 
 			/* re-check size */
 			if (nullptr == _data) {
-				const size_t data_size = _meta->o_size * _queue_size;
-				_data = (uint8_t *) px4_cache_aligned_alloc(data_size);
-				memset(_data, 0, data_size);
+				_data = new uint8_t[_meta->o_size * _queue_size];
 			}
 
 			unlock();

platforms/common/uORB/uORBManager.cpp

@@ -40,10 +40,6 @@
 #include <px4_platform_common/posix.h>
 #include <px4_platform_common/tasks.h>
 
-#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT) && defined(__KERNEL__)
-#include <px4_platform/board_ctrl.h>
-#endif
-
 #include "uORBDeviceNode.hpp"
 #include "uORBUtils.hpp"
 #include "uORBManager.hpp"
@@ -56,9 +52,6 @@ bool uORB::Manager::initialize()
 		_Instance = new uORB::Manager();
 	}
 
-#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT) && defined(__KERNEL__)
-	px4_register_boardct_ioctl(_ORBIOCDEVBASE, orb_ioctl);
-#endif
 	return _Instance != nullptr;
 }
 
@@ -110,124 +103,6 @@ uORB::DeviceMaster *uORB::Manager::get_device_master()
 	return _device_master;
 }
 
-#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT) && defined(__KERNEL__)
-int	uORB::Manager::orb_ioctl(unsigned int cmd, unsigned long arg)
-{
-	int ret = PX4_OK;
-
-	switch (cmd) {
-	case ORBIOCDEVEXISTS: {
-			orbiocdevexists_t *data = (orbiocdevexists_t *)arg;
-
-			if (data->check_advertised) {
-				data->ret = uORB::Manager::orb_exists(get_orb_meta(data->orb_id), data->instance);
-
-			} else {
-				data->ret = uORB::Manager::orb_device_node_exists(data->orb_id, data->instance) ? PX4_OK : PX4_ERROR;
-			}
-		}
-		break;
-
-	case ORBIOCDEVADVERTISE: {
-			orbiocdevadvertise_t *data = (orbiocdevadvertise_t *)arg;
-			uORB::DeviceMaster *dev =  uORB::Manager::get_instance()->get_device_master();
-
-			if (dev) {
-				data->ret = dev->advertise(data->meta, data->is_advertiser, data->instance);
-
-			} else {
-				data->ret = PX4_ERROR;
-			}
-		}
-		break;
-
-	case ORBIOCDEVUNADVERTISE: {
-			orbiocdevunadvertise_t *data = (orbiocdevunadvertise_t *)arg;
-			data->ret = uORB::Manager::orb_unadvertise(data->handle);
-		}
-		break;
-
-	case ORBIOCDEVPUBLISH: {
-			orbiocdevpublish_t *data = (orbiocdevpublish_t *)arg;
-			data->ret = uORB::Manager::orb_publish(data->meta, data->handle, data->data);
-		}
-		break;
-
-	case ORBIOCDEVADDSUBSCRIBER: {
-			orbiocdevaddsubscriber_t *data = (orbiocdevaddsubscriber_t *)arg;
-			data->handle = uORB::Manager::orb_add_internal_subscriber(data->orb_id, data->instance, data->initial_generation);
-		}
-		break;
-
-	case ORBIOCDEVREMSUBSCRIBER: {
-			uORB::Manager::orb_remove_internal_subscriber(reinterpret_cast<void *>(arg));
-		}
-		break;
-
-	case ORBIOCDEVQUEUESIZE: {
-			orbiocdevqueuesize_t *data = (orbiocdevqueuesize_t *)arg;
-			data->size = uORB::Manager::orb_get_queue_size(data->handle);
-		}
-		break;
-
-	case ORBIOCDEVDATACOPY: {
-			orbiocdevdatacopy_t *data = (orbiocdevdatacopy_t *)arg;
-			data->ret = uORB::Manager::orb_data_copy(data->handle, data->dst, data->generation, data->only_if_updated);
-		}
-		break;
-
-	case ORBIOCDEVREGCALLBACK: {
-			orbiocdevregcallback_t *data = (orbiocdevregcallback_t *)arg;
-			data->registered = uORB::Manager::register_callback(data->handle, data->callback_sub);
-		}
-		break;
-
-	case ORBIOCDEVUNREGCALLBACK: {
-			orbiocdevunregcallback_t *data = (orbiocdevunregcallback_t *)arg;
-			uORB::Manager::unregister_callback(data->handle, data->callback_sub);
-		}
-		break;
-
-	case ORBIOCDEVGETINSTANCE: {
-			orbiocdevgetinstance_t *data = (orbiocdevgetinstance_t *)arg;
-			data->instance = uORB::Manager::orb_get_instance(data->handle);
-		}
-		break;
-
-	case ORBIOCDEVMASTERCMD: {
-			uORB::DeviceMaster *dev = uORB::Manager::get_instance()->get_device_master();
-
-			if (dev) {
-				if (arg == ORB_DEVMASTER_TOP) {
-					dev->showTop(nullptr, 0);
-
-				} else {
-					dev->printStatistics();
-				}
-			}
-		}
-		break;
-
-	case ORBIOCDEVUPDATESAVAIL: {
-			orbiocdevupdatesavail_t *data = (orbiocdevupdatesavail_t *)arg;
-			data->ret = updates_available(data->handle, data->last_generation);
-		}
-		break;
-
-	case ORBIOCDEVISADVERTISED: {
-			orbiocdevisadvertised_t *data = (orbiocdevisadvertised_t *)arg;
-			data->ret = is_advertised(data->handle);
-		}
-		break;
-
-	default:
-		ret = -ENOTTY;
-	}
-
-	return ret;
-}
-#endif
-
 int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 {
 	int ret = PX4_ERROR;
@@ -479,16 +354,8 @@ void uORB::Manager::orb_remove_internal_subscriber(void *node_handle)
 
 uint8_t uORB::Manager::orb_get_queue_size(const void *node_handle) { return static_cast<const DeviceNode *>(node_handle)->get_queue_size(); }
 
-bool uORB::Manager::orb_data_copy(void *node_handle, void *dst, unsigned &generation, bool only_if_updated)
+bool uORB::Manager::orb_data_copy(void *node_handle, void *dst, unsigned &generation)
 {
-	if (!is_advertised(node_handle)) {
-		return false;
-	}
-
-	if (only_if_updated && !static_cast<const uORB::DeviceNode *>(node_handle)->updates_available(generation)) {
-		return false;
-	}
-
 	return static_cast<DeviceNode *>(node_handle)->copy(dst, generation);
 }
 
@@ -513,20 +380,6 @@ uint8_t uORB::Manager::orb_get_instance(const void *node_handle)
 	return -1;
 }
 
-/* These are optimized by inlining in NuttX Flat build */
-#if !defined(CONFIG_BUILD_FLAT)
-unsigned uORB::Manager::updates_available(const void *node_handle, unsigned last_generation)
-{
-	return is_advertised(node_handle) ? static_cast<const uORB::DeviceNode *>(node_handle)->updates_available(
-		       last_generation) : 0;
-}
-
-bool uORB::Manager::is_advertised(const void *node_handle)
-{
-	return static_cast<const uORB::DeviceNode *>(node_handle)->is_advertised();
-}
-#endif
-
 int uORB::Manager::node_open(const struct orb_metadata *meta, bool advertiser, int *instance)
 {
 	char path[orb_maxpath];

platforms/common/uORB/uORBManager.hpp

@@ -38,7 +38,6 @@
 #include "uORBCommon.hpp"
 #include "uORBDeviceMaster.hpp"
 
-#include <uORB/topics/uORBTopics.hpp> // For ORB_ID enum
 #include <stdint.h>
 
 #ifdef __PX4_NUTTX
@@ -59,107 +58,6 @@ class Manager;
 class SubscriptionCallback;
 }
 
-
-/*
- * IOCTLs for manager to access device nodes using
- * a handle
- */
-
-#define _ORBIOCDEV(_n) (_PX4_IOC(_ORBIOCDEVBASE, _n))
-#define ORBIOCDEVEXISTS	_ORBIOCDEV(30)
-typedef struct orbiocdevexists {
-	const ORB_ID orb_id;
-	const uint8_t instance;
-	const bool check_advertised;
-	int ret;
-} orbiocdevexists_t;
-
-#define ORBIOCDEVADVERTISE	_ORBIOCDEV(31)
-typedef struct orbiocadvertise {
-	const struct orb_metadata *meta;
-	bool is_advertiser;
-	int *instance;
-	int ret;
-} orbiocdevadvertise_t;
-
-#define ORBIOCDEVUNADVERTISE	_ORBIOCDEV(32)
-typedef struct orbiocunadvertise {
-	void *handle;
-	int ret;
-} orbiocdevunadvertise_t;
-
-#define ORBIOCDEVPUBLISH	_ORBIOCDEV(33)
-typedef struct orbiocpublish {
-	const struct orb_metadata *meta;
-	orb_advert_t handle;
-	const void *data;
-	int ret;
-} orbiocdevpublish_t;
-
-#define ORBIOCDEVADDSUBSCRIBER	_ORBIOCDEV(34)
-typedef struct {
-	const ORB_ID orb_id;
-	const uint8_t instance;
-	unsigned *initial_generation;
-	void *handle;
-} orbiocdevaddsubscriber_t;
-
-#define ORBIOCDEVREMSUBSCRIBER	_ORBIOCDEV(35)
-
-#define ORBIOCDEVQUEUESIZE	_ORBIOCDEV(36)
-typedef struct {
-	const void *handle;
-	uint8_t size;
-} orbiocdevqueuesize_t;
-
-#define ORBIOCDEVDATACOPY	_ORBIOCDEV(37)
-typedef struct {
-	void *handle;
-	void *dst;
-	unsigned generation;
-	bool only_if_updated;
-	bool ret;
-} orbiocdevdatacopy_t;
-
-#define ORBIOCDEVREGCALLBACK	_ORBIOCDEV(38)
-typedef struct {
-	void *handle;
-	class uORB::SubscriptionCallback *callback_sub;
-	bool registered;
-} orbiocdevregcallback_t;
-
-#define ORBIOCDEVUNREGCALLBACK	_ORBIOCDEV(39)
-typedef struct {
-	void *handle;
-	class uORB::SubscriptionCallback *callback_sub;
-} orbiocdevunregcallback_t;
-
-#define ORBIOCDEVGETINSTANCE	_ORBIOCDEV(40)
-typedef struct {
-	const void *handle;
-	uint8_t instance;
-} orbiocdevgetinstance_t;
-
-#define ORBIOCDEVUPDATESAVAIL	_ORBIOCDEV(41)
-typedef struct {
-	const void *handle;
-	unsigned last_generation;
-	unsigned ret;
-} orbiocdevupdatesavail_t;
-
-#define ORBIOCDEVISADVERTISED	_ORBIOCDEV(42)
-typedef struct {
-	const void *handle;
-	bool ret;
-} orbiocdevisadvertised_t;
-
-typedef enum {
-	ORB_DEVMASTER_STATUS = 0,
-	ORB_DEVMASTER_TOP = 1
-} orbiocdevmastercmd_t;
-#define ORBIOCDEVMASTERCMD	_ORBIOCDEV(45)
-
-
 /**
  * This is implemented as a singleton.  This class manages creating the
  * uORB nodes for each uORB topics and also implements the behavor of the
@@ -200,10 +98,6 @@ public:
 	 */
 	uORB::DeviceMaster *get_device_master();
 
-#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT) && defined(__KERNEL__)
-	static int orb_ioctl(unsigned int cmd, unsigned long arg);
-#endif
-
 	// ==== uORB interface methods ====
 	/**
 	 * Advertise as the publisher of a topic.
@@ -451,7 +345,7 @@ public:
 
 	static uint8_t orb_get_queue_size(const void *node_handle);
 
-	static bool orb_data_copy(void *node_handle, void *dst, unsigned &generation, bool only_if_updated);
+	static bool orb_data_copy(void *node_handle, void *dst, unsigned &generation);
 
 	static bool register_callback(void *node_handle, SubscriptionCallback *callback_sub);
 
@@ -459,18 +353,10 @@ public:
 
 	static uint8_t orb_get_instance(const void *node_handle);
 
-#if defined(CONFIG_BUILD_FLAT)
-	/* These are optimized by inlining in NuttX Flat build */
-	static unsigned updates_available(const void *node_handle, unsigned last_generation) { return is_advertised(node_handle) ? static_cast<const DeviceNode *>(node_handle)->updates_available(last_generation) : 0; }
+	static unsigned updates_available(const void *node_handle, unsigned last_generation) { return static_cast<const DeviceNode *>(node_handle)->updates_available(last_generation); }
 
 	static bool is_advertised(const void *node_handle) { return static_cast<const DeviceNode *>(node_handle)->is_advertised(); }
 
-#else
-	static unsigned updates_available(const void *node_handle, unsigned last_generation);
-
-	static bool is_advertised(const void *node_handle);
-#endif
-
 #ifdef ORB_COMMUNICATOR
 	/**
 	 * Method to set the uORBCommunicator::IChannel instance.

platforms/common/uORB/uORBManagerUsr.cpp

@@ -1,349 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2015 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 <sys/types.h>
-#include <sys/stat.h>
-#include <stdarg.h>
-#include <fcntl.h>
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/posix.h>
-#include <px4_platform_common/tasks.h>
-
-#include <sys/boardctl.h>
-
-#include "uORBDeviceNode.hpp"
-#include "uORBUtils.hpp"
-#include "uORBManager.hpp"
-
-uORB::Manager *uORB::Manager::_Instance = nullptr;
-
-bool uORB::Manager::initialize()
-{
-	if (_Instance == nullptr) {
-		_Instance = new uORB::Manager();
-	}
-
-	return _Instance != nullptr;
-}
-
-bool uORB::Manager::terminate()
-{
-	if (_Instance != nullptr) {
-		delete _Instance;
-		_Instance = nullptr;
-		return true;
-	}
-
-	return false;
-}
-
-uORB::Manager::Manager()
-{
-}
-
-uORB::Manager::~Manager()
-{
-}
-
-int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
-{
-	// instance valid range: [0, ORB_MULTI_MAX_INSTANCES)
-	if ((instance < 0) || (instance > (ORB_MULTI_MAX_INSTANCES - 1))) {
-		return PX4_ERROR;
-	}
-
-	orbiocdevexists_t data = {static_cast<ORB_ID>(meta->o_id), static_cast<uint8_t>(instance), true, PX4_ERROR};
-	boardctl(ORBIOCDEVEXISTS, reinterpret_cast<unsigned long>(&data));
-
-	return data.ret;
-}
-
-orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
-		unsigned int queue_size)
-{
-	/* open the node as an advertiser */
-	int fd = node_open(meta, true, instance);
-
-	if (fd == PX4_ERROR) {
-		PX4_ERR("%s advertise failed (%i)", meta->o_name, errno);
-		return nullptr;
-	}
-
-	/* Set the queue size. This must be done before the first publication; thus it fails if
-	 * this is not the first advertiser.
-	 */
-	int result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size);
-
-	if (result < 0 && queue_size > 1) {
-		PX4_WARN("orb_advertise_multi: failed to set queue size");
-	}
-
-	/* get the advertiser handle and close the node */
-	orb_advert_t advertiser;
-
-	result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
-	px4_close(fd);
-
-	if (result == PX4_ERROR) {
-		PX4_WARN("px4_ioctl ORBIOCGADVERTISER failed. fd = %d", fd);
-		return nullptr;
-	}
-
-	/* the advertiser may perform an initial publish to initialise the object */
-	if (data != nullptr) {
-		result = orb_publish(meta, advertiser, data);
-
-		if (result == PX4_ERROR) {
-			PX4_ERR("orb_publish failed %s", meta->o_name);
-			return nullptr;
-		}
-	}
-
-	return advertiser;
-}
-
-int uORB::Manager::orb_unadvertise(orb_advert_t handle)
-{
-	orbiocdevunadvertise_t data = {handle, PX4_ERROR};
-	boardctl(ORBIOCDEVUNADVERTISE, reinterpret_cast<unsigned long>(&data));
-
-	return data.ret;
-}
-
-int uORB::Manager::orb_subscribe(const struct orb_metadata *meta)
-{
-	return node_open(meta, false);
-}
-
-int uORB::Manager::orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
-{
-	int inst = instance;
-	return node_open(meta, false, &inst);
-}
-
-int uORB::Manager::orb_unsubscribe(int fd)
-{
-	return px4_close(fd);
-}
-
-int uORB::Manager::orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
-{
-	orbiocdevpublish_t d = {meta, handle, data, PX4_ERROR};
-	boardctl(ORBIOCDEVPUBLISH, reinterpret_cast<unsigned long>(&d));
-
-	return d.ret;
-}
-
-int uORB::Manager::orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
-{
-	int ret;
-
-	ret = px4_read(handle, buffer, meta->o_size);
-
-	if (ret < 0) {
-		return PX4_ERROR;
-	}
-
-	if (ret != (int)meta->o_size) {
-		errno = EIO;
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
-int uORB::Manager::orb_check(int handle, bool *updated)
-{
-	/* Set to false here so that if `px4_ioctl` fails to false. */
-	*updated = false;
-	return px4_ioctl(handle, ORBIOCUPDATED, (unsigned long)(uintptr_t)updated);
-}
-
-int uORB::Manager::orb_set_interval(int handle, unsigned interval)
-{
-	return px4_ioctl(handle, ORBIOCSETINTERVAL, interval * 1000);
-}
-
-int uORB::Manager::orb_get_interval(int handle, unsigned *interval)
-{
-	int ret = px4_ioctl(handle, ORBIOCGETINTERVAL, (unsigned long)interval);
-	*interval /= 1000;
-	return ret;
-}
-
-int uORB::Manager::node_open(const struct orb_metadata *meta, bool advertiser, int *instance)
-{
-	char path[orb_maxpath];
-	int fd = -1;
-	int ret = PX4_ERROR;
-
-	/*
-	 * If meta is null, the object was not defined, i.e. it is not
-	 * known to the system.  We can't advertise/subscribe such a thing.
-	 */
-	if (nullptr == meta) {
-		errno = ENOENT;
-		return PX4_ERROR;
-	}
-
-	/* if we have an instance and are an advertiser, we will generate a new node and set the instance,
-	 * so we do not need to open here */
-	if (!instance || !advertiser) {
-		/*
-		 * Generate the path to the node and try to open it.
-		 */
-		ret = uORB::Utils::node_mkpath(path, meta, instance);
-
-		if (ret != OK) {
-			errno = -ret;
-			return PX4_ERROR;
-		}
-
-		/* open the path as either the advertiser or the subscriber */
-		fd = px4_open(path, advertiser ? PX4_F_WRONLY : PX4_F_RDONLY);
-
-	} else {
-		*instance = 0;
-	}
-
-	/* we may need to advertise the node... */
-	if (fd < 0) {
-		ret = PX4_ERROR;
-
-		orbiocdevadvertise_t data = {meta, advertiser, instance, PX4_ERROR};
-		boardctl(ORBIOCDEVADVERTISE, (unsigned long)&data);
-		ret = data.ret;
-
-		/* it's OK if it already exists */
-		if ((ret != PX4_OK) && (EEXIST == errno)) {
-			ret = PX4_OK;
-		}
-
-		if (ret == PX4_OK) {
-			/* update the path, as it might have been updated during the node advertise call */
-			ret = uORB::Utils::node_mkpath(path, meta, instance);
-
-			/* on success, try to open again */
-			if (ret == PX4_OK) {
-				fd = px4_open(path, (advertiser) ? PX4_F_WRONLY : PX4_F_RDONLY);
-
-			} else {
-				errno = -ret;
-				return PX4_ERROR;
-			}
-		}
-	}
-
-	if (fd < 0) {
-		errno = EIO;
-		return PX4_ERROR;
-	}
-
-	/* everything has been OK, we can return the handle now */
-	return fd;
-}
-
-bool uORB::Manager::orb_device_node_exists(ORB_ID orb_id, uint8_t instance)
-{
-	orbiocdevexists_t data = {orb_id, instance, false, 0};
-	boardctl(ORBIOCDEVEXISTS, reinterpret_cast<unsigned long>(&data));
-
-	return data.ret == PX4_OK ? true : false;
-}
-
-void *uORB::Manager::orb_add_internal_subscriber(ORB_ID orb_id, uint8_t instance, unsigned *initial_generation)
-{
-	orbiocdevaddsubscriber_t data = {orb_id, instance, initial_generation, nullptr};
-	boardctl(ORBIOCDEVADDSUBSCRIBER, reinterpret_cast<unsigned long>(&data));
-
-	return data.handle;
-}
-
-void uORB::Manager::orb_remove_internal_subscriber(void *node_handle)
-{
-	boardctl(ORBIOCDEVREMSUBSCRIBER, reinterpret_cast<unsigned long>(node_handle));
-}
-
-uint8_t uORB::Manager::orb_get_queue_size(const void *node_handle)
-{
-	orbiocdevqueuesize_t data = {node_handle, 0};
-	boardctl(ORBIOCDEVQUEUESIZE, reinterpret_cast<unsigned long>(&data));
-
-	return data.size;
-}
-
-bool uORB::Manager::orb_data_copy(void *node_handle, void *dst, unsigned &generation, bool only_if_updated)
-{
-	orbiocdevdatacopy_t data = {node_handle, dst, generation, only_if_updated, false};
-	boardctl(ORBIOCDEVDATACOPY, reinterpret_cast<unsigned long>(&data));
-	generation = data.generation;
-
-	return data.ret;
-}
-
-bool uORB::Manager::register_callback(void *node_handle, SubscriptionCallback *callback_sub)
-{
-	orbiocdevregcallback_t data = {node_handle, callback_sub, false};
-	boardctl(ORBIOCDEVREGCALLBACK, reinterpret_cast<unsigned long>(&data));
-
-	return data.registered;
-}
-
-void uORB::Manager::unregister_callback(void *node_handle, SubscriptionCallback *callback_sub)
-{
-	orbiocdevunregcallback_t data = {node_handle, callback_sub};
-	boardctl(ORBIOCDEVUNREGCALLBACK, reinterpret_cast<unsigned long>(&data));
-}
-
-uint8_t uORB::Manager::orb_get_instance(const void *node_handle)
-{
-	orbiocdevgetinstance_t data = {node_handle, 0};
-	boardctl(ORBIOCDEVGETINSTANCE, reinterpret_cast<unsigned long>(&data));
-
-	return data.instance;
-}
-
-unsigned uORB::Manager::updates_available(const void *node_handle, unsigned last_generation)
-{
-	orbiocdevupdatesavail_t data = {node_handle, last_generation, 0};
-	boardctl(ORBIOCDEVUPDATESAVAIL, reinterpret_cast<unsigned long>(&data));
-	return data.ret;
-}
-
-bool uORB::Manager::is_advertised(const void *node_handle)
-{
-	orbiocdevisadvertised_t data = {node_handle, false};
-	boardctl(ORBIOCDEVISADVERTISED, reinterpret_cast<unsigned long>(&data));
-	return data.ret;
-}

platforms/nuttx/Debug/launch.json.in

@@ -21,24 +21,6 @@
                 "set print pretty",
             ]
         },
-        {
-            "name": "stlink (@PX4_BOARD@)",
-            "device": "@DEBUG_DEVICE@",
-            "svdFile": "@DEBUG_SVD_FILE_PATH@",
-            "executable": "${command:cmake.launchTargetPath}",
-            "request": "launch",
-            "type": "cortex-debug",
-            "servertype": "stutil",
-            "cwd": "${workspaceFolder}",
-            "internalConsoleOptions": "openOnSessionStart",
-            "preLaunchCommands": [
-                "source ${workspaceFolder}/platforms/nuttx/Debug/PX4",
-                "source ${workspaceFolder}/platforms/nuttx/Debug/NuttX",
-                "source ${workspaceFolder}/platforms/nuttx/Debug/ARMv7M",
-                "set mem inaccessible-by-default off",
-                "set print pretty",
-            ]
-        },
         {
             "name": "blackmagic (@PX4_BOARD@)",
             "device": "@DEBUG_DEVICE@",

platforms/nuttx/NuttX/CMakeLists.txt

@@ -89,39 +89,6 @@ if(CONFIG_NSH_LIBRARY)
 	endforeach()
 endif()
 
-if (NOT CONFIG_BUILD_FLAT)
-	set(KERNEL_BUILTIN_DIR ${CMAKE_CURRENT_BINARY_DIR}/kernel_builtin)
-	set(kernel_builtin_apps_string)
-	set(kernel_builtin_apps_proxy_string)
-	set(kernel_builtin_apps_decl_string)
-
-	list(SORT kernel_module_libraries)
-	foreach(module ${kernel_module_libraries})
-		get_target_property(MAIN ${module} MAIN)
-		get_target_property(STACK_MAIN ${module} STACK_MAIN)
-		get_target_property(PRIORITY ${module} PRIORITY)
-
-		if(MAIN)
-			set(kernel_builtin_apps_string "${kernel_builtin_apps_string}{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main },\n")
-			set(kernel_builtin_apps_proxy_string "${kernel_builtin_apps_proxy_string}{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, launch_kmod_main },\n")
-			set(kernel_builtin_apps_decl_string "${kernel_builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")
-		endif()
-	endforeach()
-
-	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4_kernel.bdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4_kernel.bdat)
-	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4_kernel.pdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4_kernel.pdat)
-
-	add_custom_command(OUTPUT ${KERNEL_BUILTIN_DIR}/kernel_builtin_list.h ${KERNEL_BUILTIN_DIR}/kernel_builtin_proto.h
-		WORKING_DIRECTORY  ${KERNEL_BUILTIN_DIR}
-		COMMAND ${CMAKE_COMMAND} -E remove -f kernel_builtin_list.h kernel_builtin_proto.h
-		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/px4_kernel.bdat kernel_builtin_list.h
-		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/px4_kernel.pdat kernel_builtin_proto.h
-	)
-
-	add_custom_target(px4_kernel_builtin_list_target DEPENDS ${KERNEL_BUILTIN_DIR}/kernel_builtin_list.h ${KERNEL_BUILTIN_DIR}/kernel_builtin_proto.h)
-
-endif() # NOT CONFIG_BUILD_FLAT
-
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4.bdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4.bdat)
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4.pdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4.pdat)
 

platforms/nuttx/NuttX/nuttx

@@ -1 +1 @@
-Subproject commit 41ac2dec5a623cd8602342c3a0d13a3c84dfa24c
+Subproject commit 017aa15746bcf6b57bb185e14dce7fa0876fc751

platforms/nuttx/NuttX/px4.bdat.in

@@ -1,2 +1 @@
 @builtin_apps_string@
-@kernel_builtin_apps_proxy_string@

platforms/nuttx/NuttX/px4_kernel.bdat.in

@@ -1 +0,0 @@
-@kernel_builtin_apps_string@

platforms/nuttx/NuttX/px4_kernel.pdat.in

@@ -1 +0,0 @@
-@kernel_builtin_apps_decl_string@

platforms/nuttx/src/bootloader/common/bl.c

@@ -80,69 +80,69 @@
 // RESET    finalise flash programming, reset chip and starts application
 //
 
-#define BL_PROTOCOL_VERSION         5   // The revision of the bootloader protocol
+#define BL_PROTOCOL_VERSION     5   // The revision of the bootloader protocol
 //* Next revision needs to update
 
 // protocol bytes
-#define PROTO_INSYNC                0x12    // 'in sync' byte sent before status
-#define PROTO_EOC                   0x20    // end of command
+#define PROTO_INSYNC        0x12    // 'in sync' byte sent before status
+#define PROTO_EOC         0x20    // end of command
 
 // Reply bytes
-#define PROTO_OK                    0x10    // INSYNC/OK      - 'ok' response
-#define PROTO_FAILED                0x11    // INSYNC/FAILED  - 'fail' response
-#define PROTO_INVALID               0x13    // INSYNC/INVALID - 'invalid' response for bad commands
-#define PROTO_BAD_SILICON_REV       0x14    // On the F4 series there is an issue with < Rev 3 silicon
-#define PROTO_RESERVED_0X15         0x15    // Reserved
+#define PROTO_OK          0x10    // INSYNC/OK      - 'ok' response
+#define PROTO_FAILED        0x11    // INSYNC/FAILED  - 'fail' response
+#define PROTO_INVALID       0x13  // INSYNC/INVALID - 'invalid' response for bad commands
+#define PROTO_BAD_SILICON_REV     0x14  // On the F4 series there is an issue with < Rev 3 silicon
+#define PROTO_RESERVED_0X15     0x15  // Reserved
 
 // see https://pixhawk.org/help/errata
 // Command bytes
-#define PROTO_GET_SYNC              0x21    // NOP for re-establishing sync
-#define PROTO_GET_DEVICE            0x22    // get device ID bytes
-#define PROTO_CHIP_ERASE            0x23    // erase program area and reset program address
-#define PROTO_PROG_MULTI            0x27    // write bytes at program address and increment
-#define PROTO_GET_CRC               0x29    // compute & return a CRC
-#define PROTO_GET_OTP               0x2a    // read a byte from OTP at the given address
-#define PROTO_GET_SN                0x2b    // read a word from UDID area ( Serial)  at the given address
-#define PROTO_GET_CHIP              0x2c    // read chip version (MCU IDCODE)
-#define PROTO_SET_DELAY             0x2d    // set minimum boot delay
-#define PROTO_GET_CHIP_DES          0x2e    // read chip version In ASCII
-#define PROTO_BOOT                  0x30    // boot the application
-#define PROTO_DEBUG                 0x31    // emit debug information - format not defined
-#define PROTO_SET_BAUD              0x33    // set baud rate on uart
+#define PROTO_GET_SYNC        0x21    // NOP for re-establishing sync
+#define PROTO_GET_DEVICE      0x22    // get device ID bytes
+#define PROTO_CHIP_ERASE      0x23    // erase program area and reset program address
+#define PROTO_PROG_MULTI      0x27    // write bytes at program address and increment
+#define PROTO_GET_CRC       0x29  // compute & return a CRC
+#define PROTO_GET_OTP       0x2a  // read a byte from OTP at the given address
+#define PROTO_GET_SN        0x2b    // read a word from UDID area ( Serial)  at the given address
+#define PROTO_GET_CHIP        0x2c    // read chip version (MCU IDCODE)
+#define PROTO_SET_DELAY       0x2d    // set minimum boot delay
+#define PROTO_GET_CHIP_DES      0x2e    // read chip version In ASCII
+#define PROTO_BOOT          0x30    // boot the application
+#define PROTO_DEBUG         0x31    // emit debug information - format not defined
+#define PROTO_SET_BAUD        0x33    // set baud rate on uart
 
-#define PROTO_RESERVED_0X36         0x36  // Reserved
-#define PROTO_RESERVED_0X37         0x37  // Reserved
-#define PROTO_RESERVED_0X38         0x38  // Reserved
-#define PROTO_RESERVED_0X39         0x39  // Reserved
+#define PROTO_RESERVED_0X36     0x36  // Reserved
+#define PROTO_RESERVED_0X37     0x37  // Reserved
+#define PROTO_RESERVED_0X38     0x38  // Reserved
+#define PROTO_RESERVED_0X39     0x39  // Reserved
 
-#define PROTO_PROG_MULTI_MAX        64  // maximum PROG_MULTI size
-#define PROTO_READ_MULTI_MAX        255 // size of the size field
+#define PROTO_PROG_MULTI_MAX    64  // maximum PROG_MULTI size
+#define PROTO_READ_MULTI_MAX    255 // size of the size field
 
 /* argument values for PROTO_GET_DEVICE */
-#define PROTO_DEVICE_BL_REV         1 // bootloader revision
-#define PROTO_DEVICE_BOARD_ID       2 // board ID
-#define PROTO_DEVICE_BOARD_REV      3 // board revision
-#define PROTO_DEVICE_FW_SIZE        4 // size of flashable area
-#define PROTO_DEVICE_VEC_AREA       5 // contents of reserved vectors 7-10
+#define PROTO_DEVICE_BL_REV 1 // bootloader revision
+#define PROTO_DEVICE_BOARD_ID 2 // board ID
+#define PROTO_DEVICE_BOARD_REV  3 // board revision
+#define PROTO_DEVICE_FW_SIZE  4 // size of flashable area
+#define PROTO_DEVICE_VEC_AREA 5 // contents of reserved vectors 7-10
 
-#define STATE_PROTO_OK              0x10    // INSYNC/OK      - 'ok' response
-#define STATE_PROTO_FAILED          0x11    // INSYNC/FAILED  - 'fail' response
-#define STATE_PROTO_INVALID         0x13  // INSYNC/INVALID - 'invalid' response for bad commands
-#define STATE_PROTO_BAD_SILICON_REV 0x14  // On the F4 series there is an issue with < Rev 3 silicon
-#define STATE_PROTO_RESERVED_0X15   0x15  // Reserved
+#define STATE_PROTO_OK          0x10    // INSYNC/OK      - 'ok' response
+#define STATE_PROTO_FAILED        0x11    // INSYNC/FAILED  - 'fail' response
+#define STATE_PROTO_INVALID       0x13  // INSYNC/INVALID - 'invalid' response for bad commands
+#define STATE_PROTO_BAD_SILICON_REV     0x14  // On the F4 series there is an issue with < Rev 3 silicon
+#define STATE_PROTO_RESERVED_0X15     0x15  // Reserved
 
 
 // State
-#define STATE_PROTO_GET_SYNC        0x1     // Have Seen NOP for re-establishing sync
-#define STATE_PROTO_GET_DEVICE      0x2     // Have Seen get device ID bytes
-#define STATE_PROTO_CHIP_ERASE      0x4     // Have Seen erase program area and reset program address
-#define STATE_PROTO_PROG_MULTI      0x8     // Have Seen write bytes at program address and increment
-#define STATE_PROTO_GET_CRC         0x10    // Have Seen compute & return a CRC
-#define STATE_PROTO_GET_OTP         0x20    // Have Seen read a byte from OTP at the given address
-#define STATE_PROTO_GET_SN          0x40    // Have Seen read a word from UDID area ( Serial)  at the given address
-#define STATE_PROTO_GET_CHIP        0x80    // Have Seen read chip version (MCU IDCODE)
-#define STATE_PROTO_GET_CHIP_DES    0x100   // Have Seen read chip version In ASCII
-#define STATE_PROTO_BOOT            0x200   // Have Seen boot the application
+#define STATE_PROTO_GET_SYNC      0x1     // Have Seen NOP for re-establishing sync
+#define STATE_PROTO_GET_DEVICE    0x2     // Have Seen get device ID bytes
+#define STATE_PROTO_CHIP_ERASE    0x4     // Have Seen erase program area and reset program address
+#define STATE_PROTO_PROG_MULTI    0x8     // Have Seen write bytes at program address and increment
+#define STATE_PROTO_GET_CRC       0x10    // Have Seen compute & return a CRC
+#define STATE_PROTO_GET_OTP       0x20    // Have Seen read a byte from OTP at the given address
+#define STATE_PROTO_GET_SN        0x40    // Have Seen read a word from UDID area ( Serial)  at the given address
+#define STATE_PROTO_GET_CHIP      0x80    // Have Seen read chip version (MCU IDCODE)
+#define STATE_PROTO_GET_CHIP_DES  0x100   // Have Seen read chip version In ASCII
+#define STATE_PROTO_BOOT          0x200   // Have Seen boot the application
 
 #if defined(TARGET_HW_PX4_PIO_V1)
 #define STATE_ALLOWS_ERASE        (STATE_PROTO_GET_SYNC)

platforms/nuttx/src/px4/common/board_ctrl.c

@@ -1,148 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 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 board_ctrl.c
- *
- * Provide a kernel-userspace boardctl_ioctl interface
- */
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/defines.h>
-#include <px4_platform/board_ctrl.h>
-#include "board_config.h"
-
-#include <nuttx/lib/builtin.h>
-#include <NuttX/kernel_builtin/kernel_builtin_proto.h>
-
-FAR const struct builtin_s g_kernel_builtins[] = {
-#include <NuttX/kernel_builtin/kernel_builtin_list.h>
-};
-
-const int g_n_kernel_builtins = sizeof(g_kernel_builtins) / sizeof(struct builtin_s);
-
-static struct {
-	ioctl_ptr_t ioctl_func;
-} ioctl_ptrs[MAX_IOCTL_PTRS];
-
-/************************************************************************************
- * Name: px4_register_boardct_ioctl
- *
- * Description:
- *   an interface function for kernel services to register an ioct handler for user side
- *
- ************************************************************************************/
-
-
-int px4_register_boardct_ioctl(unsigned base, ioctl_ptr_t func)
-{
-	unsigned i = IOCTL_BASE_TO_IDX(base);
-	int ret = PX4_ERROR;
-
-	if (i < MAX_IOCTL_PTRS) {
-		ioctl_ptrs[i].ioctl_func = func;
-		ret = PX4_OK;
-	}
-
-	return ret;
-}
-
-/************************************************************************************
- * Name: board_ioctl
- *
- * Description:
- *   implements board_ioctl for userspace-kernel interface
- *
- ************************************************************************************/
-
-int board_ioctl(unsigned int cmd, uintptr_t arg)
-{
-	unsigned i = IOCTL_BASE_TO_IDX(cmd);
-	int ret = -EINVAL;
-
-	if (i < MAX_IOCTL_PTRS && ioctl_ptrs[i].ioctl_func) {
-		ret = ioctl_ptrs[i].ioctl_func(cmd, arg);
-	}
-
-	return ret;
-}
-
-/************************************************************************************
- * Name: launch_kernel_builtin
- *
- * Description:
- *   launches a kernel-side build-in module
- *
- ************************************************************************************/
-
-int launch_kernel_builtin(unsigned int cmd, unsigned long arg)
-{
-	builtinioclaunch_t *kcmd = (builtinioclaunch_t *)arg;
-	int argc = kcmd->argc;
-	char **argv = kcmd->argv;
-	int i;
-	FAR const struct builtin_s *builtin = NULL;
-
-	for (i = 0; i < g_n_kernel_builtins; i++) {
-		if (!strcmp(g_kernel_builtins[i].name, argv[0])) {
-			builtin = &g_kernel_builtins[i];
-			break;
-		}
-	}
-
-	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 ENOENT;
-}
-
-/************************************************************************************
- * Name: kernel_ioctl_initialize
- *
- * Description:
- *   initializes the kernel-side ioctl interface
- *
- ************************************************************************************/
-
-void kernel_ioctl_initialize(void)
-{
-	for (int i = 0; i < MAX_IOCTL_PTRS; i++) {
-		ioctl_ptrs[i].ioctl_func = NULL;
-	}
-
-	px4_register_boardct_ioctl(_BUILTINIOCBASE, launch_kernel_builtin);
-}

platforms/nuttx/src/px4/common/cdc_acm_check.cpp

@@ -50,24 +50,6 @@ __END_DECLS
 
 #define USB_DEVICE_PATH "/dev/ttyACM0"
 
-#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
-#  undef SERIAL_PASSTHRU_UBLOX_DEV
-#  if defined(CONFIG_SERIAL_PASSTHRU_GPS1) && defined(CONFIG_BOARD_SERIAL_GPS1)
-#    define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS1
-#  elif defined(CONFIG_SERIAL_PASSTHRU_GPS2)&& defined(CONFIG_BOARD_SERIAL_GPS2)
-#    define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS2
-#  elif defined(CONFIG_SERIAL_PASSTHRU_GPS3)&& defined(CONFIG_BOARD_SERIAL_GPS3)
-#    define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS3
-#  elif defined(CONFIG_SERIAL_PASSTHRU_GPS4)&& defined(CONFIG_BOARD_SERIAL_GPS4)
-#    define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS4
-#  elif defined(CONFIG_SERIAL_PASSTHRU_GPS5) && defined(CONFIG_BOARD_SERIAL_GPS5)
-#    define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS5
-#  endif
-#  if !defined(SERIAL_PASSTHRU_UBLOX_DEV)
-#    error "CONFIG_SERIAL_PASSTHRU_GPSn and CONFIG_BOARD_SERIAL_GPSn must be defined"
-#  endif
-#endif
-
 static struct work_s usb_serial_work;
 static bool vbus_present_prev = false;
 static int ttyacm_fd = -1;
@@ -87,26 +69,9 @@ static void mavlink_usb_check(void *arg)
 	uORB::SubscriptionData<actuator_armed_s> actuator_armed_sub{ORB_ID(actuator_armed)};
 
 	const bool armed = actuator_armed_sub.get().armed;
-	bool vbus_present = (board_read_VBUS_state() == PX4_OK);
-	bool locked_out = false;
+	const bool vbus_present = (board_read_VBUS_state() == PX4_OK);
 
-	// If the hardware support RESET lockout that has nArmed ANDed with VBUS
-	// vbus_sense may drop during a param save which uses
-	// BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE to prevent external resets
-	// while writing the params.  If we are not armed and nARMRED is low
-	// we are in such a lock out so ignore changes on VBUS_SENSE during this
-	// time.
-#if defined(BOARD_GET_EXTERNAL_LOCKOUT_STATE)
-	locked_out = BOARD_GET_EXTERNAL_LOCKOUT_STATE() == 0;
-
-	if (locked_out) {
-		vbus_present = vbus_present_prev;
-	}
-
-#endif
-
-
-	if (!armed && !locked_out) {
+	if (!armed) {
 		switch (usb_auto_start_state) {
 		case UsbAutoStartState::disconnected:
 			if (vbus_present && vbus_present_prev) {
@@ -239,7 +204,7 @@ static void mavlink_usb_check(void *arg)
 								snprintf(baudstring, sizeof(baudstring), "%d", baudrate);
 								static const char *gps_argv[] {"gps", "stop", nullptr};
 
-								static const char *passthru_argv[] {"serial_passthru", "start", "-t", "-b", baudstring, "-e", USB_DEVICE_PATH, "-d", SERIAL_PASSTHRU_UBLOX_DEV,   nullptr};
+								static const char *passthru_argv[] {"serial_passthru", "start", "-t", "-b", baudstring, "-e", USB_DEVICE_PATH, "-d", CONFIG_SERIAL_PASSTHRU_UBLOX_DEV,   nullptr};
 #endif
 								char **exec_argv = nullptr;
 

platforms/nuttx/src/px4/common/include/px4_platform/board_ctrl.h

@@ -1,75 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 Technology Innovation Institute. All rights reserved.
- *                 Author: Jukka Laitinen <jukkax@ssrc.tii.ae>
- *
- * 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
-
-/* 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
- * the low byte identiefies the actual IOCTL within the module
- */
-
-#define _BOARDCTLIOCBASE		(0x4000)
-#define IOCTL_IDX_TO_BASE(x)	((((x) & 0xF) << 8) | _BOARDCTLIOCBASE)
-#define IOCTL_BASE_TO_IDX(x)	(((x) & 0x0F00) >> 8)
-
-#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
-
-/* The BUILTINIOCLAUNCH IOCTL is used to launch kernel side modules
- * from the user side code
- */
-
-#define BUILTINIOCLAUNCH               (_PX4_IOC(_BUILTINIOCBASE, 1))
-
-typedef struct builtinioclaunch {
-	int argc;
-	char **argv;
-	int ret;
-} builtinioclaunch_t;
-
-typedef int (*ioctl_ptr_t)(unsigned int, unsigned long);
-
-__BEGIN_DECLS
-
-/* Function to initialize or reset the interface */
-void kernel_ioctl_initialize(void);
-
-/* Function to register a px4 boardctl handler */
-int px4_register_boardct_ioctl(unsigned base, ioctl_ptr_t func);
-
-__END_DECLS

platforms/nuttx/src/px4/common/px4_init.cpp

@@ -56,21 +56,11 @@
 #include <px4_platform_common/crypto.h>
 #endif
 
-#if !defined(CONFIG_BUILD_FLAT)
-#include <px4_platform/board_ctrl.h>
-#endif
-
 extern void cdcacm_init(void);
 
 int px4_platform_init()
 {
 
-#if !defined(CONFIG_BUILD_FLAT)
-	/* initialize userspace-kernelspace call gate interface */
-
-	kernel_ioctl_initialize();
-#endif
-
 	int ret = px4_console_buffer_init();
 
 	if (ret < 0) {

platforms/nuttx/src/px4/common/px4_protected_layers.cmake

@@ -8,7 +8,6 @@ add_library(px4_layer
 	cdc_acm_check.cpp
 	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/print_load.cpp
 	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/cpuload.cpp
-	usr_hrt.cpp
 )
 
 target_link_libraries(px4_layer
@@ -19,13 +18,6 @@ target_link_libraries(px4_layer
 		nuttx_mm
 )
 
-# Build the interface library between user and kernel side
-add_library(px4_board_ctrl
-		board_ctrl.c
-)
-
-add_dependencies(px4_board_ctrl nuttx_context px4_kernel_builtin_list_target)
-
 # Build the kernel side px4_kernel_layer
 
 add_library(px4_kernel_layer