[backport] v1.16 fix gazebo install on ROS integration tests (#25344 )

* ci: update rosdistro apt keys (#25060) Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: use release/1.16 branch for px4-ros2-interface-lib integration tests --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Update px4-rc.gzsim. Fix gz_world checking for PX4_GZ_STANDALONE=1 mode. Priority of gz_world (really running) over PX4_GZ_WORLD (#25346 )
2026-05-23 19:17:35 +08:00 · 2025-08-05 14:54:48 -08:00 · 2025-08-01 01:14:09 -08:00 · 2025-07-30 10:21:17 -08:00 · 2025-07-30 13:36:14 +10:00 · 2025-07-28 14:13:00 -06:00
96 changed files with 7287 additions and 532 deletions
@@ -16,13 +16,11 @@ on:
      - 'release/**'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
-      - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  group_targets:
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -12,7 +12,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-      - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -15,7 +15,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-      - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,7 +9,7 @@ on:
      - 'docs/en/**'
  pull_request:
    branches:
-      - '*'
+      - '**'
    paths:
      - 'docs/en/**'

@@ -80,7 +80,7 @@ jobs:
      - name: Deploy
        run: |
          git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
-          # make it an orphan branch      
+          # make it an orphan branch
          cd docs.px4.io
          CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
          git checkout --orphan "${CURRENT_DATETIME}_main"
@@ -3,7 +3,7 @@ name: EKF Change Indicator
 on:
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -14,7 +14,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-      - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+    - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+    - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -11,13 +11,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  build:
@@ -33,6 +31,12 @@ jobs:
    - name: Git Ownership Workaround
      run: git config --system --add safe.directory '*'

+    - name: Update ROS Keys
+      run: |
+        sudo rm /etc/apt/sources.list.d/ros2.list && \
+        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
    - name: Install gazebo
      run: |
        apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
@@ -81,7 +85,7 @@ jobs:
        . /opt/ros/galactic/setup.bash
        mkdir -p /opt/px4_ws/src
        cd /opt/px4_ws/src
-        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
+        git clone --recursive --branch release/1.16 https://github.com/Auterion/px4-ros2-interface-lib.git
        cd ..
        # Copy messages to ROS workspace
        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
@@ -8,7 +8,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -14,7 +14,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -301,6 +301,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: holybro_durandal-v1_default
+    holybro_kakuteh7-wing_default:
+      short: holybro_kakuteh7-wing
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_kakuteh7-wing_default
    matek_h743-slim_default:
      short: matek_h743-slim
      buildType: MinSizeRel
@@ -28,11 +28,15 @@ else
    exit 1
 fi

+# Look for an already running world
+get_gz_world() {
+	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+}
+
 # If not standalone
 if [ -z "${PX4_GZ_STANDALONE}" ]; then

-	# Look for an already running world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+	get_gz_world

 	# shellcheck disable=SC2153
 	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
@@ -66,6 +70,13 @@ fi

 # Wait for Gazebo world to be ready before proceeding
 check_scene_info() {
+
+	get_gz_world
+
+	if [ -n "${PX4_GZ_STANDALONE}" ] && [ -n "${gz_world}" ]; then
+		PX4_GZ_WORLD=${gz_world}
+	fi
+
 	SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
 	if echo "$SERVICE_INFO" | grep -q "Service providers"; then
 		return 0
@@ -337,11 +337,7 @@ then
 	gyro_calibration start
 fi

-# Payload deliverer module if gripper is enabled
-if param compare -s PD_GRIPPER_EN 1
-then
-	payload_deliverer start
-fi
+payload_deliverer start

 if param compare -s ICE_EN 1
 then
@@ -560,11 +560,7 @@ else
 		px4flow start -X &
 	fi

-	# Payload deliverer module if gripper is enabled
-	if param compare -s PD_GRIPPER_EN 1
-	then
-		payload_deliverer start
-	fi
+	payload_deliverer start

 	if param compare -s ICE_EN 1
 	then
@@ -76,6 +76,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
@@ -6,3 +6,8 @@ CONFIG_DRIVERS_SW_CRYPTO=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
@@ -127,6 +127,9 @@
 #define SPI6_nRESET_EXTERNAL1       /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
 #define SPI6_RESET(on_true)          px4_arch_gpiowrite(SPI6_nRESET_EXTERNAL1, !(on_true))

+// ADIS16507 hardware reset
+#define GPIO_ADIS16507_RESET(reset) SPI6_RESET(reset)
+
 /* I2C busses */

 /* Devices on the onboard buses.
@@ -56,6 +56,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
@@ -5,3 +5,7 @@ CONFIG_DRIVERS_SW_CRYPTO=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
@@ -34,75 +34,25 @@
 #pragma once

 // DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
-//                                                     V
-
-// Timer 4 Channel 1                               /* DMA1:29 TIM4CH1 */
-
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* 1 DMA1:37 IIM-42653 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* 2 DMA1:38 IIM-42653 */
-
-//#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_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
-#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
-
-//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
-//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
-
-// Timer 8 Channel 1                               /* DMA1:47 TIM8CH1 */
-// Timer 8 Channel 2                               /* DMA1:48 TIM8CH2 */
-// Timer 8 Channel 3                               /* DMA1:49 TIM8CH3 */
-// Timer 8 Channel 4                               /* DMA1:50 TIM8CH4 */
-
-// Timer 5 Channel 1                               /* DMA1:55 TIM5CH1 */
-// Timer 5 Channel 2                               /* DMA1:56 TIM5CH2 */
-// Timer 5 Channel 3                               /* DMA1:57 TIM5CH3 */
-// Timer 5 Channel 4                               /* DMA1:58 TIM5CH4 */
-
-// #define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 UART4 */
-// #define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 UART4 */
-
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 RC */
-// #define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 RC */
-
-// Assigned in timer_config.cpp
-
-// Timer 4                                          /* 7 DMA1:32 TIM4UP */
-// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     // 1 DMA1:37 IIM-42653
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     // 2 DMA1:38 IIM-42653
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0   // 3 DMA1:41 GPS1
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0   // 4 DMA1:42 GPS1
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   // 5 DMA1:71 RC
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   // 6 DMA1:72 RC
+// Timer 4 (DMAMAP_DMA12_TIM4UP_0)                  // 7 DMA1:32 TIM4UP/TIM4CH1-4
+// Timer 5 (DMAMAP_DMA12_TIM5UP_0)                  // 8 DMA1:50 TIM5UP/TIM5CH1-4

 // DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
-//                                                     V
-
-// Timer 4 Channel 1                               /* DMA2:29 TIM4CH1 */
-
-#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   /* 3 DMA2:43 TELEM3 */
-#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_1   /* 4 DMA2:44 TELEM3 */
-
-#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
-#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
-
-// Timer 8 Channel 1                                 /* DMA2:47 TIM8CH1 */
-// Timer 8 Channel 2                                 /* DMA2:48 TIM8CH2 */
-// Timer 8 Channel 3                                 /* DMA2:49 TIM8CH3 */
-// Timer 8 Channel 4                                 /* DMA2:50 TIM8CH4 */
-
-// Timer 5 Channel 1                                 /* DMA2:55 TIM5CH1 */
-// Timer 5 Channel 2                                 /* DMA2:56 TIM5CH2 */
-// Timer 5 Channel 3                                 /* DMA2:57 TIM5CH3 */
-// Timer 5 Channel 4                                 /* DMA2:58 TIM5CH4 */
-
-//#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_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_USART2_RX  DMAMAP_DMA12_USART2RX_1   // 1 DMA2:43 VTX
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    // 2 DMA2:65 VTX
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    // 3 DMA2:66 VTX
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    // 4 DMA2:79 TELEM1
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    // 5 DMA2:80 TELEM1
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   // 6 DMA2:45 DEBUG
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   // 7 DMA2:46 DEBUG
+// available

 // 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       // 1 BDMA:11 SPI J11
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       // 2 BDMA:12 SPI J11
@@ -260,8 +260,6 @@ CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_RXDMA=y
@@ -272,6 +270,7 @@ CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USART6_TXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -17,6 +17,7 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""
@@ -0,0 +1,77 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_OSD_ATXXXX=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=7
+CONFIG_MODULES_AIRSPEED_SELECTOR=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_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -0,0 +1,13 @@
+{
+    "board_id": 1105,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the Holybro KakuteH7-Wing board",
+    "image": "",
+    "build_time": 0,
+    "summary": "KAKUTEH7-WING",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1703936,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+
+param set-default BAT1_V_DIV 18.1
+param set-default BAT2_V_DIV 18.1
+
+param set-default BAT1_A_PER_V 36.367515152
+param set-default BAT2_A_PER_V 36.367515152
+
+param set-default OSD_ATXXXX_CFG 1
@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# PX4 FMUv6C specific board sensors init
+#------------------------------------------------------------------------------
+board_adc start
+
+# Internal SPI bus ICM42688p
+icm42688p -R 2 -s start
+
+# Internal baro
+if ! bmp280 -I -b 4 -q start
+then
+	spa06 -I -b 4 start
+fi
+
+# MAX7456 OSD
+if ! param compare OSD_ATXXXX_CFG 0
+then
+	atxxxx start -s
+fi
@@ -0,0 +1,17 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.
@@ -0,0 +1,91 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DEV_CONSOLE is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_SPI_EXCHANGE is not set
+# CONFIG_STM32H7_SYSCFG is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/kakuteh7-wing/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0050
+CONFIG_CDCACM_PRODUCTSTR="PX4 BL KakuteH7-Wing"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3162
+CONFIG_CDCACM_VENDORSTR="Holybro"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SPI=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_USART1=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_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=300
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,503 @@
+/************************************************************************************
+ *
+ *   Copyright (C) 2016-2019 Gregory Nutt. 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 NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdmmc.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The px4_fmu-v6C  board provides the following clock sources:
+ *
+ *   X1: 16 MHz crystal for HSE
+ *
+ * So we have these clock source available within the STM32
+ *
+ *   HSI: 16 MHz RC factory-trimmed
+ *   HSE: 16 MHz crystal for HSE
+ */
+
+#define STM32_BOARD_XTAL        16000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE = 16,000,000
+ *
+ * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ * Subject to:
+ *
+ *     1 <= PLLM <= 63
+ *     4 <= PLLN <= 512
+ *   150 MHz <= PLL_VCOL <= 420MHz
+ *   192 MHz <= PLL_VCOH <= 836MHz
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * CPUCLK  = SYSCLK / D1CPRE
+ * Subject to
+ *
+ *   PLLP1   = {2, 4, 6, 8, ..., 128}
+ *   PLLP2,3 = {2, 3, 4, ..., 128}
+ *   CPUCLK <= 480 MHz
+ */
+
+#define STM32_BOARD_USEHSE
+
+#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
+
+/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
+ *
+ *   PLL1_VCO = (16,000,000 / 1) * 60 = 960 MHz
+ *
+ *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
+ *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
+ *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
+ */
+
+#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVP1EN | \
+				 RCC_PLLCFGR_DIVQ1EN | \
+				 RCC_PLLCFGR_DIVR1EN)
+#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
+#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(60)
+#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
+#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
+
+#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 60)
+#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
+#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
+
+/* PLL2 */
+
+#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
+				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
+				  RCC_PLLCFGR_DIVP2EN | \
+				  RCC_PLLCFGR_DIVQ2EN | \
+				  RCC_PLLCFGR_DIVR2EN)
+#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(4)
+#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
+#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
+#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
+#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
+
+#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 4) * 48)
+#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+
+/* PLL3 */
+
+#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVQ3EN)
+#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(4)
+#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
+#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
+#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
+#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
+
+#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 4) * 48)
+#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
+#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+
+/* SYSCLK = PLL1P = 480MHz
+ * CPUCLK = SYSCLK / 1 = 480 MHz
+ */
+
+#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
+#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
+#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
+
+/* Configure Clock Assignments */
+
+/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
+ * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
+ */
+
+#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
+#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
+#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
+#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
+
+#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
+#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* Timer clock frequencies */
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Kernel Clock Configuration
+ *
+ * Note: look at Table 54 in ST Manual
+ */
+
+/* I2C123 clock source */
+
+#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
+
+/* I2C4 clock source */
+
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
+
+/* SPI123 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
+
+/* SPI45 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
+
+/* SPI6 clock source */
+
+#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
+
+/* USB 1 and 2 clock source */
+
+#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
+
+/* UART clock selection */
+/* reset to default to overwrite any changes done by any bootloader */
+
+#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
+#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
+
+/* ADC 1 2 3 clock source */
+
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
+
+/* FDCAN 1 2 clock source */
+
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
+/* FLASH wait states
+ *
+ *  ------------ ---------- -----------
+ *  Vcore        MAX ACLK   WAIT STATES
+ *  ------------ ---------- -----------
+ *  1.15-1.26 V     70 MHz    0
+ *  (VOS1 level)   140 MHz    1
+ *                 210 MHz    2
+ *  1.05-1.15 V     55 MHz    0
+ *  (VOS2 level)   110 MHz    1
+ *                 165 MHz    2
+ *                 220 MHz    3
+ *  0.95-1.05 V     45 MHz    0
+ *  (VOS3 level)    90 MHz    1
+ *                 135 MHz    2
+ *                 180 MHz    3
+ *                 225 MHz    4
+ *  ------------ ---------- -----------
+ */
+
+#define BOARD_FLASH_WAITSTATES 2
+
+/* SDMMC definitions ********************************************************/
+
+/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
+
+#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+
+/* 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   (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    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+
+#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
+
+/* LED definitions ******************************************************************/
+/* The PX4 FMUV6C board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+ * LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+/* LED definitions ******************************************************************/
+/* The px4_fmu-v6c board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+ * LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+#define BOARD_LED3_BIT    (1 << BOARD_LED3)
+
+/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
+ * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
+ * events as follows:
+ *
+ *
+ *   SYMBOL                     Meaning                      LED state
+ *                                                        Red   Green Blue
+ *   ----------------------  --------------------------  ------ ------ ----*/
+
+#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
+#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
+#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
+#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
+#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
+#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
+#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
+#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
+#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
+
+/* Thus if the Green LED is statically on, NuttX has successfully booted and
+ * is, apparently, running normally.  If the Red LED is flashing at
+ * approximately 2Hz, then a fatal error has been detected and the system
+ * has halted.
+ */
+
+/* Alternate function pin selections ************************************************/
+
+#define GPIO_USART1_RX   GPIO_USART1_RX_2    /* PA10 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_3    /* PB6 */
+
+#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6   */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5   */
+
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9   */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8   */
+
+#define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
+#define GPIO_UART5_TX    GPIO_UART5_TX_1    /* PB13 */
+
+#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
+#define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */
+
+#define GPIO_UART7_RX    GPIO_UART7_RX_3    /* PE7  */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
+#define GPIO_UART7_RTS   GPIO_UART7_RTS_1   /* PE9  */
+#define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN) /* PE10 */
+
+#define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1 */
+
+
+/* CAN
+ *
+ * CAN1 is routed to transceiver.
+ */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1  */
+
+/* SPI
+ *
+ * SPI1, SPI 3 for sensors
+ * SPI2 for OSD
+ */
+
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
+
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1               /* PA7  */
+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5  */
+
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_2               /* PC2  */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_3               /* PC3  */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_5) /* PD3  */
+
+#define GPIO_SPI3_MISO   GPIO_SPI3_MISO_2               /* PC11  */
+#define GPIO_SPI3_MOSI   GPIO_SPI3_MOSI_2               /* PC12  */
+#define GPIO_SPI3_SCK    ADJ_SLEW_RATE(GPIO_SPI3_SCK_2) /* PC10  */
+
+
+/*
+ * I2C
+ *
+ */
+
+#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
+#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */
+
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+
+#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1       /* PB10 */
+#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1       /* PB11*/
+
+#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
+#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN11)
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_1       /* PD12 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_1       /* PD13 */
+
+#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
+#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
+
+/* SDMMC2
+ *
+ *      VDD 3.3
+ *      GND
+ *      SDMMC2_CK                           PC1
+ *      SDMMC2_CMD                          PD7
+ *      SDMMC2_D0                           PB14
+ *      SDMMC2_D1                           PB15
+ *      SDMMC2_D2                           PB3
+ *      SDMMC2_D3                           PB4
+ */
+
+#define GPIO_SDMMC2_CK   GPIO_SDMMC2_CK_2  /* PC1  */
+#define GPIO_SDMMC2_CMD  GPIO_SDMMC2_CMD_1 /* PD7  */
+//      GPIO_SDMMC2_D0   No Remap          /* PB14 */
+//      GPIO_SDMMC2_D1   No Remap          /* PB15 */
+#define GPIO_SDMMC2_D2   GPIO_SDMMC2_D2_2  /* PB3  */
+//      GPIO_SDMMC2_D3    No Remap         /* PB4  */
+
+/* USB
+ *
+ *      OTG_FS_DM                           PA11
+ *      OTG_FS_DP                           PA12
+ *      VBUS                                PA9
+ */
+
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# include "stm32_gpio.h"
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)   /* PA8  AUX1 */
+# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)  /* PE11 AUX2 */
+# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)  /* PE13 AUX3 */
+# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)  /* PE14 AUX4 */
+# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)  /* PD14 AUX5 */
+# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)  /* PD15 AUX6 */
+# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)   /* PA0  AUX7 */
+# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)   /* PA1  AUX8 */
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
+		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
+		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
+		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
+		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
+		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
+	} while(0)
+
+# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     /* 1 DMA1:37  */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     /* 2 DMA1:38  */
+
+#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_0     /* 3 DMA1:39 FRAM */
+#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_0     /* 4 DMA1:40 FRAM */
+
+// TODO
+//#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
+//#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
+
+//#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
+
+// TODO
+// Timer 4                                          /* 7 DMA1:32 TIM4UP */
+// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+
+// DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
+//                                                     V
+
+// TODO
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 1 DMA2:45  */
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 2 DMA2:46  */
+
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 3 DMA2:65  */
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 4 DMA2:66  */
+
+//#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_1   /* 5 DMA2:71  */
+//#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_1   /* 6 DMA2:72  */
+
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79  */
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80  */
@@ -0,0 +1,270 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/kakuteh7-wing/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=95751
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0051
+CONFIG_CDCACM_PRODUCTSTR="PX4 KakuteH7-Wing"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3162
+CONFIG_CDCACM_VENDORSTR="Holybro"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_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_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_NCHAINS=24
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_IOB=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_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_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_EMULATE_PAGE_SHIFT=5
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C2=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_SDMMC2=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_SPI3=y
+CONFIG_STM32H7_SPI3_DMA=y
+CONFIG_STM32H7_SPI3_DMA_BUFFER=1024
+CONFIG_STM32H7_TIM12=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_TIM5=y
+CONFIG_STM32H7_TIM15=y
+CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM2=y
+CONFIG_STM32H7_TIM8=y
+CONFIG_STM32H7_TIM17=y
+CONFIG_STM32H7_UART5=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_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_UART5_TXBUFSIZE=3000
+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
+CONFIG_UART8_SERIAL_CONSOLE=y
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=3000
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=180
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=1500
+CONFIG_USART3_TXDMA=y
+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_WATCHDOG=y
+CONFIG_WQUEUE_NOTIFIER=y
@@ -0,0 +1,215 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The KakuteH7 uses an STM32H743VI has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743VI, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The KakuteH7 has a switch on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
+ * depressed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743VI also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The bootloader uses the first sector of the flash, which is 128K in length.
+ */
+
+MEMORY
+{
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08000000, LENGTH =  128K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,228 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The KakuteH7 uses an STM32H743VI has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743VI, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The KakuteH7 has a switch on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
+ * depressed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743VI also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ */
+
+MEMORY
+{
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1664K /* params in last two sectors */
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > FLASH
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > FLASH
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > FLASH
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > FLASH
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > AXI_SRAM
+
+	/* Emit the the D3 power domain section for locating BDMA data */
+
+	.sram4_reserve (NOLOAD) :
+	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
+	} > SRAM4
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -30,5 +30,45 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
+	add_compile_definitions(BOOTLOADER)
+	add_library(drivers_board
+		bootloader_main.c
+		init.c
+		usb.c
+		timer_config.cpp
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer #gpio
+			arch_io_pins # iotimer
+			bootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)

-add_subdirectory(vcm1193l)
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		init.c
+		led.c
+		sdio.c
+		spi.cpp
+		timer_config.cpp
+		usb.c
+	)
+	add_dependencies(drivers_board arch_board_hw_info)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_io_pins
+			arch_spi
+			arch_board_hw_info
+			drivers__led # drv_led_start
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer
+	)
+endif()
@@ -0,0 +1,273 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * PX4FMU-v6c internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+
+#include <stm32_gpio.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+#undef TRACE_PINS
+
+/* PX4FMU GPIOs ***********************************************************************************/
+
+
+/* LEDs are driven with push pull Anodes to 3.3V */
+
+#define GPIO_nLED_RED        /* PC14 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
+#define GPIO_nLED_BLUE       /* PC15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_STATE_LED  LED_BLUE
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that
+ * can be used by the Px4 Firmware in the adc driver
+ */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+
+#define ADC1_CH(n)                  (n)
+
+/* N.B. there is no offset mapping needed for ADC3 because */
+#define ADC3_CH(n)                  (n)
+
+/* We are only use ADC3 for REV/VER. */
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below  */
+
+#define PX4_ADC_GPIO  \
+	/* PC4  */  GPIO_ADC12_INP4, \
+	/* PC5  */  GPIO_ADC12_INP8, \
+	/* PA2  */  GPIO_ADC12_INP14, \
+	/* PA3  */  GPIO_ADC12_INP15, \
+	/* PA4  */  GPIO_ADC12_INP18, \
+	/* PC0  */  GPIO_ADC123_INP10 \
+
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+#define ADC_BATTERY1_CURRENT_CHANNEL            /* PC4 */  ADC1_CH(4)
+#define ADC_BATTERY1_VOLTAGE_CHANNEL            /* PC5 */  ADC1_CH(8)
+#define ADC_BATTERY2_CURRENT_CHANNEL            /* PA2 */  ADC1_CH(14)
+#define ADC_BATTERY2_VOLTAGE_CHANNEL            /* PA3 */  ADC1_CH(15)
+#define ADC_SCALED_V5_CHANNEL                   /* PA4 */  ADC1_CH(18)
+#define ADC_RSSI_IN_CHANNEL                     /* PC0  */  ADC3_CH(10)
+
+#define ADC_CHANNELS \
+	((1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
+	 (1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
+	 (1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
+	 (1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \
+	 (1 << ADC_SCALED_V5_CHANNEL) | \
+	 (1 << ADC_RSSI_IN_CHANNEL       ))
+
+#define SYSTEM_ADC_BASE STM32_ADC1_BASE
+
+#define BOARD_NUMBER_BRICKS 2
+
+#define GPIO_nVDD_BRICK1_VALID          (1) /* Brick 1 Is Chosen */
+#define GPIO_nVDD_BRICK2_VALID          (0) /* Brick 2 Is Chosen  */
+
+/*
+ * PWM
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS 14
+#define BOARD_NUM_IO_TIMERS 6
+
+/*
+ * UAVCAN
+ */
+#define UAVCAN_NUM_IFACES_RUNTIME  1
+
+#define GPIO_VDD_3V3_SENSORS_EN         /* PB2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN2)
+
+#define GPIO_VTX_9V_EN                  /* PE3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+
+#define GPIO_CAM_SWITCH                 /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+
+/* Define True logic Power Control in arch agnostic form */
+
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+
+#define VTX_9V_EN(on_true)                px4_arch_gpiowrite(GPIO_VTX_9V_EN, (on_true))
+
+#define CAM_SWITCH_CAM1                   px4_arch_gpiowrite(GPIO_CAM_SWITCH, false) // low is CAM1
+#define CAM_SWITCH_CAM2                   px4_arch_gpiowrite(GPIO_CAM_SWITCH, true)  // high is CAM2
+
+/* Tone alarm output */
+
+#define TONE_ALARM_TIMER        17  /* Timer 17 */
+#define TONE_ALARM_CHANNEL      1  /* PB9 GPIO_TIM4_CH4OUT_1 */
+
+#define GPIO_BUZZER_1           /* PB9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
+
+#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
+#define GPIO_TONE_ALARM        GPIO_TIM17_CH1OUT_1
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
+
+/* High-resolution timer */
+#define HRT_TIMER               8  /* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
+
+/* PWM input driver */
+//#define PWMIN_TIMER                       8
+//#define PWMIN_TIMER_CHANNEL    /* TIM8CH2 */ 2
+//#define GPIO_PWM_IN            /* PC7 */ GPIO_TIM8_CH2IN_1
+
+#define HRT_PPM_CHANNEL         /* TIM8CH2 */  2  /* use capture/compare channel 2 */
+#define GPIO_PPM_IN             /* PC7 */ GPIO_TIM8_CH2IN_1
+
+#define RC_SERIAL_PORT                     "/dev/ttyS4" // USART6
+#define RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX             GPIO_USART6_RX
+
+#define SDIO_SLOTNO                    0  /* Only one slot */
+#define SDIO_MINOR                     0
+
+/* SD card bringup does not work if performed on the IDLE thread because it
+ * will cause waiting.  Use either:
+ *
+ *  CONFIG_BOARDCTL=y, OR
+ *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
+ */
+
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
+   !defined(CONFIG_BOARD_INITTHREAD)
+#  warning SDIO initialization cannot be perfomed on the IDLE thread
+#endif
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+
+
+#define BOARD_ADC_SERVO_VALID     (1)
+
+#define BOARD_ADC_BRICK1_VALID  (1)
+#define BOARD_ADC_BRICK2_VALID  (1)
+
+#define BOARD_ADC_SERVO_VALID   (1)
+
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+
+#define BOARD_HAS_ON_RESET 1
+
+#define PX4_GPIO_INIT_LIST { \
+		PX4_ADC_GPIO,                     \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_VDD_3V3_SENSORS_EN,          \
+		GPIO_TONE_ALARM_IDLE,             \
+		GPIO_PPM_IN,                      \
+		GPIO_VTX_9V_EN,                   \
+		GPIO_CAM_SWITCH,                  \
+	}
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+#define FLASH_BASED_PARAMS
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void);
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file bootloader_main.c
+ *
+ * FMU-specific early startup code for bootloader
+*/
+
+#include "board_config.h"
+#include "bl.h"
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+#include <px4_platform_common/init.h>
+
+extern int sercon_main(int c, char **argv);
+
+__EXPORT void board_on_reset(int status) {}
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* configure USB interfaces */
+	stm32_usbinitialize();
+}
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	return 0;
+}
+
+void board_late_initialize(void)
+{
+	sercon_main(0, NULL);
+}
+
+extern void sys_tick_handler(void);
+void board_timerhook(void)
+{
+	sys_tick_handler();
+}
@@ -0,0 +1,132 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+
+#if !defined(CONFIG_CAN)
+__EXPORT
+uint16_t board_get_can_interfaces(void)
+{
+	return 0x1;
+}
+
+#else
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "chip.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif
@@ -0,0 +1,128 @@
+/*
+ * hw_config.h
+ *
+ *  Created on: May 17, 2015
+ *      Author: david_s5
+ */
+
+#ifndef HW_CONFIG_H_
+#define HW_CONFIG_H_
+
+/****************************************************************************
+ * 10-8--2016:
+ *  To simplify the ripple effect on the tools, we will be using
+ *  /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
+ *  moving forward all Bootloaders must contain the prefix "PX4 BL "
+ *  in the USBDEVICESTRING
+ *  This Change will be made in an upcoming BL release
+ ****************************************************************************/
+/*
+ * Define usage to configure a bootloader
+ *
+ *
+ * Constant                example          Usage
+ * APP_LOAD_ADDRESS     0x08004000            - The address in Linker Script, where the app fw is org-ed
+ * BOOTLOADER_DELAY     5000                  - Ms to wait while under USB pwr or bootloader request
+ * BOARD_FMUV2
+ * INTERFACE_USB        1                     - (Optional) Scan and use the USB interface for bootloading
+ * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
+ * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
+ * USBPRODUCTID         0x0011                - PID Should match defconfig
+ * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
+ *                                               delay provided by an APP FW
+ * BOARD_TYPE           9                     - Must match .prototype boad_id
+ * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
+ * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
+ * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
+ * BOARD_FLASH_SIZE     (_FLASH_KBYTES*1024)-   Total Flash size of device, determined at run time.
+ *                         (1024 * 1024)      - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
+ *                                              programmatically
+ *
+ * BOARD_FIRST_FLASH_SECTOR_TO_ERASE  2        - Optional sectors index in the flash_sectors table  (F4 only), to begin erasing.
+ *                                               This is to allow sectors to be reserved for app fw usage. That will NOT be erased
+ *                                               during a FW upgrade.
+ *                                               The default is 0, and selects the first sector to be erased, as the 0th entry in the
+ *                                               flash_sectors table. Which is the second physical sector of FLASH in the device.
+ *                                               The first physical sector of FLASH is used by the bootloader, and is not defined
+ *                                               in the table.
+ *
+ * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
+ *                                                                        BOOTLOADER_RESERVATION_SIZE  will be deducted from
+ *                                                                        BOARD_FLASH_SIZE to determine the size of the App FW
+ *                                                                        and hence the address space of FLASH to erase and program.
+ * USBMFGSTRING            "PX4 AP"            - Optional USB MFG string (default is '3D Robotics' if not defined.)
+ * SERIAL_BREAK_DETECT_DISABLED                -  Optional prevent break selection on Serial port from entering or staying in BL
+ *
+ * * Other defines are somewhat self explanatory.
+ */
+
+/* Boot device selection list*/
+#define USB0_DEV       0x01
+#define SERIAL0_DEV    0x02
+#define SERIAL1_DEV    0x04
+
+#define APP_LOAD_ADDRESS               0x08020000
+#define BOOTLOADER_DELAY               5000
+#define INTERFACE_USB                  1
+#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
+#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
+
+//#define USE_VBUS_PULL_DOWN
+#define INTERFACE_USART                1
+#define INTERFACE_USART_CONFIG         "/dev/ttyS0,115200"
+#define BOOT_DELAY_ADDRESS             0x000001a0
+#define BOARD_TYPE                     1105
+#define BOARD_FLASH_SECTORS            (14)
+#define BOARD_FLASH_SIZE               (16 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (2 * 128 * 1024)
+
+#define OSC_FREQ                       16
+
+#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE // BLUE
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_RED // RED
+#define BOARD_LED_ON                   0
+#define BOARD_LED_OFF                  1
+
+#define SERIAL_BREAK_DETECT_DISABLED   1
+
+/*
+ * Uncommenting this allows to force the bootloader through
+ * a PWM output pin. As this can accidentally initialize
+ * an ESC prematurely, it is not recommended. This feature
+ * has not been used and hence defaults now to off.
+ *
+ * # define BOARD_FORCE_BL_PIN_OUT         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
+ * # define BOARD_FORCE_BL_PIN_IN          (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
+ *
+ * # define BOARD_POWER_PIN_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
+ * # define BOARD_POWER_ON                 1
+ * # define BOARD_POWER_OFF                0
+ * # undef  BOARD_POWER_PIN_RELEASE        // Leave pin enabling Power - un comment to release (disable power)
+ *
+*/
+
+#if !defined(ARCH_SN_MAX_LENGTH)
+# define ARCH_SN_MAX_LENGTH 12
+#endif
+
+#if !defined(APP_RESERVATION_SIZE)
+#  define APP_RESERVATION_SIZE 0
+#endif
+
+#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
+#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
+#endif
+
+#if !defined(USB_DATA_ALIGN)
+# define USB_DATA_ALIGN
+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#ifndef BOOT_DEVICES_FILTER_ONUSB
+#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#endif /* HW_CONFIG_H_ */
@@ -0,0 +1,43 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+#include <lib/drivers/device/Device.hpp>
+#include <px4_platform_common/i2c.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(1),
+	initI2CBusExternal(2),
+	initI2CBusInternal(4),
+};
@@ -0,0 +1,273 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * PX4FMU-specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "board_config.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <systemlib/px4_macros.h>
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <px4_platform/board_dma_alloc.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	/* off */
+	VTX_9V_EN(false);
+	VDD_3V3_SENSORS_EN(false);
+
+	board_control_spi_sensors_power(false, 0xffff);
+
+	usleep(ms * 1000);
+	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
+
+	/* re-enable power */
+	board_control_spi_sensors_power(true, 0xffff);
+	VDD_3V3_SENSORS_EN(true);
+	VTX_9V_EN(true);
+
+	CAM_SWITCH_CAM1;
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
+	}
+
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
+	if (status >= 0) {
+		up_mdelay(100);
+	}
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	board_on_reset(-1); /* Reset PWM first thing */
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure pins */
+
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	/* configure USB interfaces */
+
+	stm32_usbinitialize();
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+#if !defined(BOOTLOADER)
+
+	/* Need hrt running before using the ADC */
+
+	px4_platform_init();
+
+	stm32_spiinitialize();
+
+	board_spi_reset(10, 0xffff);
+
+	/* configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+#  if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#  endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_off(LED_BLUE);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+#  ifdef CONFIG_MMCSD
+	int ret = stm32_sdio_initialize();
+
+	if (ret != OK) {
+		led_on(LED_RED);
+	}
+
+#  endif /* CONFIG_MMCSD */
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{14, 128 * 1024, 0x081C0000},
+		{15, 128 * 1024, 0x081E0000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		led_on(LED_AMBER);
+	}
+
+#endif
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+#endif
+	return OK;
+}
@@ -0,0 +1,235 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * PX4FMU LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+#ifdef CONFIG_ARCH_LEDS
+static bool nuttx_owns_leds = true;
+//                                B  R  S  G
+//                                0  1  2  3
+static const uint8_t xlatpx4[] = {1, 2, 4, 0};
+#  define xlat(p) xlatpx4[(p)]
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
+	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
+	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
+	GPIO_nSAFETY_SWITCH_LED_OUT,  // Indexed by LED_SAFETY by xlatpx4
+};
+
+#else
+
+#  define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
+	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
+	0,                                  // Indexed by LED_SAFETY (defaulted to an input)
+	0,                                  // Indexed by LED_GREEN
+};
+
+#endif
+
+__EXPORT void led_init(void)
+{
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		if (g_ledmap[l] != 0) {
+			stm32_configgpio(g_ledmap[l]);
+		}
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive Low to switch on */
+
+	if (g_ledmap[led] != 0) {
+		stm32_gpiowrite(g_ledmap[led], !state);
+	}
+}
+
+static bool phy_get_led(int led)
+{
+	/* If Low it is on */
+	if (g_ledmap[led] != 0) {
+		return !stm32_gpioread(g_ledmap[led]);
+	}
+
+	return false;
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(xlat(led), true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(xlat(led), false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}
+
+#ifdef CONFIG_ARCH_LEDS
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_autoled_initialize
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	led_init();
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+void board_autoled_on(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_HEAPALLOCATE:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_IRQSENABLED:
+		phy_set_led(BOARD_LED_BLUE, false);
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_STACKCREATED:
+		phy_set_led(BOARD_LED_GREEN, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+	}
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+void board_autoled_off(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, false);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, false);
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */
@@ -0,0 +1,177 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+
+#include "chip.h"
+#include "board_config.h"
+#include "stm32_gpio.h"
+#include "stm32_sdmmc.h"
+
+#ifdef CONFIG_MMCSD
+
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Card detections requires card support and a card detection GPIO */
+
+#define HAVE_NCD   1
+#if !defined(GPIO_SDMMC1_NCD)
+#  undef HAVE_NCD
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static FAR struct sdio_dev_s *sdio_dev;
+#ifdef HAVE_NCD
+static bool g_sd_inserted = 0xff; /* Impossible value */
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_ncd_interrupt
+ *
+ * Description:
+ *   Card detect interrupt handler.
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_NCD
+static int stm32_ncd_interrupt(int irq, FAR void *context)
+{
+	bool present;
+
+	present = !stm32_gpioread(GPIO_SDMMC1_NCD);
+
+	if (sdio_dev && present != g_sd_inserted) {
+		sdio_mediachange(sdio_dev, present);
+		g_sd_inserted = present;
+	}
+
+	return OK;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void)
+{
+	int ret;
+
+#ifdef HAVE_NCD
+	/* Card detect */
+
+	bool cd_status;
+
+	/* Configure the card detect GPIO */
+
+	stm32_configgpio(GPIO_SDMMC1_NCD);
+
+	/* Register an interrupt handler for the card detect pin */
+
+	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
+#endif
+
+	/* Mount the SDIO-based MMC/SD block driver */
+	/* First, get an instance of the SDIO interface */
+
+	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
+
+	sdio_dev = sdio_initialize(SDIO_SLOTNO);
+
+	if (!sdio_dev) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
+		return -ENODEV;
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+
+	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
+
+	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
+	}
+
+	finfo("Successfully bound SDIO to the MMC/SD driver\n");
+
+#ifdef HAVE_NCD
+	/* Use SD card detect pin to check if a card is g_sd_inserted */
+
+	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
+	finfo("Card detect : %d\n", cd_status);
+
+	sdio_mediachange(sdio_dev, cd_status);
+#else
+	/* Assume that the SD card is inserted.  What choice do we have? */
+
+	sdio_mediachange(sdio_dev, true);
+#endif
+
+	return OK;
+}
+
+#endif /* CONFIG_MMCSD */
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020, 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin8}),
+		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin9})
+	}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
+	}),
+	initSPIBus(SPI::Bus::SPI3, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortE, GPIO::Pin12}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,64 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer15),
+	initIOTimer(Timer::Timer3),
+	initIOTimer(Timer::Timer2),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
+	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::Timer3, Timer::Channel2}, {GPIO::PortB, GPIO::Pin5}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin15}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <arm_internal.h>
+#include <chip.h>
+#include <stm32_gpio.h>
+#include <stm32_otg.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32H7_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
@@ -181,6 +181,7 @@
      - [Holybro Kakute H7v2](flight_controller/kakuteh7v2.md)
      - [Holybro Kakute H7mini](flight_controller/kakuteh7mini.md)
      - [Holybro Kakute H7](flight_controller/kakuteh7.md)
+      - [Holybro Kakute H7 Wing](flight_controller/kakuteh7-wing.md)
      - [Holybro Durandal](flight_controller/durandal.md)
        - [Wiring Quickstart](assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](flight_controller/holybro_pix32_v5.md)
@@ -182,6 +182,7 @@
      - [Holybro Kakute H7v2](/flight_controller/kakuteh7v2.md)
      - [Holybro Kakute H7mini](/flight_controller/kakuteh7mini.md)
      - [Holybro Kakute H7](/flight_controller/kakuteh7.md)
+      - [Holybro Kakute H7 Wing](flight_controller/kakuteh7-wing.md)
      - [Holybro Durandal](/flight_controller/durandal.md)
        - [Wiring Quickstart](/assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
@@ -0,0 +1,86 @@
+# Holybro Kakute H7 V2
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
+:::
+
+The [Holybro Kakute H743 Wing](https://holybro.com/products/kakute-h743-wing) is a fully featured flight controller specifically aimed at fixed-wing and VTOL applications. It has the STM32 H743 Processor running at 480 MHz and CAN Bus support, along with dual camera support & switch, ON/OFF Pit Switch, 5V, 6V/8V, 9V/12 BEC, and plug-and-play GPS, CAN, I2C ports.
+
+
+::: info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+## Where to Buy
+
+The board can be bought from one of the following shops (for example):
+
+- [Holybro](https://holybro.com/products/kakute-h743-wing)
+
+
+## Connectors and Pins
+
+| Pin              | Function                          | PX4 default                |
+| ---------------- | --------------------------------- | -------------------------- |
+| GPS 1            | USART1 and I2C1                   | GPS1                       |
+| R2, T2           | USART2 RX and TX                  | GPS2                       |
+| R3, T3           | USART3 RX and TX                  | TELEM1                     |
+| R5, T5           | USART5 RX and TX                  | TELEM2                     |
+| R6, T6           | USART6 RX and TX                  | RC (PPM, SBUS, etc.) input |
+| R7, T7, RTS, CTS | UART7 RX and TX with flow control | TELEM3                     |
+| R8, T8           | UART8 RX and TX                   | Console                    |
+| Buz-, Buz+       | Piezo buzzer                      |                            |
+| M1 to M14        | Motor signal outputs              |                            |
+
+<a id="bootloader"></a>
+
+## PX4 Bootloader Update
+
+The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
+Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
+Download the [holybro_kakuteh7-wing.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakuteh7-wing/holybro_kakuteh7-wing_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
+
+## Building Firmware
+
+To [build PX4](../dev_setup/building_px4.md) for this target:
+
+```
+make holybro_kakuteh7-wing_default
+```
+
+## Installing PX4 Firmware
+
+::: info
+KakuteH7-wing is supported with PX4 master & PX4 v1.16 or newer..
+Prior to that release you will need to manually build and install the firmware.
+:::
+
+Firmware can be manually installed in any of the normal ways:
+
+- Build and upload the source:
+
+  ```
+  make holybro_kakuteh7-wing_default upload
+  ```
+
+- [Load the firmware](../config/firmware.md) using _QGroundControl_.
+  You can use either pre-built firmware or your own custom firmware.
+
+## Serial Port Mapping
+
+| UART   | Device     | Port                  | Default function |
+| ------ | ---------- | --------------------- | ---------------- |
+| USART1 | /dev/ttyS0 | GPS 1                 | GPS1             |
+| USART2 | /dev/ttyS1 | R2, T2                | GPS2             |
+| USART3 | /dev/ttyS2 | R3, T3                | TELEM1           |
+| UART5  | /dev/ttyS3 | R5, T5                | TELEM2           |
+| USART6 | /dev/ttyS4 | R6, (T6)              | RC input         |
+| UART7  | /dev/ttyS5 | R7, T7, RTS, CTS      | TELEM3           |
+| UART8  | /dev/ttyS6 | R8, T8                | Console          |
+
+## Debug Port
+
+### System Console
+
+UART8 RX and TX are configured for use as the [System Console](../debug/system_console.md).
@@ -38,7 +38,7 @@ MAVLink applications, such as ground stations, can also control the gripper usin

 PX4 gripper support is tied to the package delivery feature, which must be enabled and configured in order to be able to use a gripper.

-1. Set [PD_GRIPPER_EN](../advanced_config/parameter_reference.md#PD_GRIPPER_EN) parameter to 1 (reboot required after change).
+1. Ensure your board has the Payload Deliverer module enabled: CONFIG_MODULES_PAYLOAD_DELIVERER.
 1. Set [PD_GRIPPER_TYPE](../advanced_config/parameter_reference.md#PD_GRIPPER_TYPE) to match your gripper.
   For example, set to `Servo` for a [Servo Gripper](gripper_servo.md).

@@ -89,9 +89,9 @@ uint8 HIL_STATE_ON = 1

 # Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
 uint8 vehicle_type
-uint8 VEHICLE_TYPE_ROTARY_WING = 0
-uint8 VEHICLE_TYPE_FIXED_WING = 1
-uint8 VEHICLE_TYPE_ROVER = 2
+uint8 VEHICLE_TYPE_ROTARY_WING = 1
+uint8 VEHICLE_TYPE_FIXED_WING = 2
+uint8 VEHICLE_TYPE_ROVER = 3

 uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
 uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
@@ -48,6 +48,8 @@
 #include <stdio.h>
 #include <drivers/drv_input_capture.h>

+#include <lib/perf/perf_counter.h>
+
 // This can be overriden for a specific board.
 #ifndef BOARD_DMA_NUM_DSHOT_CHANNELS
 #define BOARD_DMA_NUM_DSHOT_CHANNELS 1
@@ -137,6 +139,8 @@ static uint32_t read_fail_nibble[MAX_NUM_CHANNELS_PER_TIMER] = {};
 static uint32_t read_fail_crc[MAX_NUM_CHANNELS_PER_TIMER] = {};
 static uint32_t read_fail_zero[MAX_NUM_CHANNELS_PER_TIMER] = {};

+static perf_counter_t hrt_callback_perf = NULL;
+
 static void init_timer_config(uint32_t channel_mask)
 {
 	// Mark timers in use, channels in use, and timers for bidir dshot
@@ -202,20 +206,24 @@ static void init_timers_dma_up(void)
 		timer_configs[timer_index].dma_handle = stm32_dmachannel(io_timers[timer_index].dshot.dma_map_up);

 		if (timer_configs[timer_index].dma_handle == NULL) {
-			PX4_DEBUG("Failed to allocate Timer %u DMA UP", timer_index);
+			PX4_WARN("Failed to allocate Timer %u DMA UP", timer_index);
 			continue;
 		}

-		PX4_DEBUG("Allocated DMA UP Timer Index %u", timer_index);
+		PX4_INFO("Allocated DMA UP Timer Index %u", timer_index);
 		timer_configs[timer_index].initialized = true;
 	}

-	// Free the allocated DMA channels
-	for (uint8_t timer_index = 0; timer_index < MAX_IO_TIMERS; timer_index++) {
-		if (timer_configs[timer_index].dma_handle != NULL) {
-			stm32_dmafree(timer_configs[timer_index].dma_handle);
-			timer_configs[timer_index].dma_handle = NULL;
-			PX4_DEBUG("Freed DMA UP Timer Index %u", timer_index);
+	// Bidirectional DShot will free/allocate DMA stream on every update event. This is required
+	// in order to reconfigure the DMA stream between Timer Burst and CaptureCompare.
+	if (_bidirectional) {
+		// Free the allocated DMA channels
+		for (uint8_t timer_index = 0; timer_index < MAX_IO_TIMERS; timer_index++) {
+			if (timer_configs[timer_index].dma_handle != NULL) {
+				stm32_dmafree(timer_configs[timer_index].dma_handle);
+				timer_configs[timer_index].dma_handle = NULL;
+				PX4_INFO("Freed DMA UP Timer Index %u", timer_index);
+			}
 		}
 	}
 }
@@ -275,6 +283,7 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bi

 	if (_bidirectional) {
 		PX4_INFO("Bidirectional DShot enabled, only one timer will be used");
+		hrt_callback_perf = perf_alloc(PC_ELAPSED, "dshot: callback perf");
 	}

 	// NOTE: if bidirectional is enabled only 1 timer can be used. This is because Burst mode uses 1 DMA channel per timer
@@ -336,8 +345,15 @@ void up_dshot_trigger()

 			io_timer_set_dshot_burst_mode(timer_index, _dshot_frequency, channel_count);

-			// Allocate DMA
-			if (timer_configs[timer_index].dma_handle == NULL) {
+			if (_bidirectional) {
+				// Deallocate DMA from previous transaction
+				if (timer_configs[timer_index].dma_handle != NULL) {
+					stm32_dmastop(timer_configs[timer_index].dma_handle);
+					stm32_dmafree(timer_configs[timer_index].dma_handle);
+					timer_configs[timer_index].dma_handle = NULL;
+				}
+
+				// Allocate DMA
 				timer_configs[timer_index].dma_handle = stm32_dmachannel(io_timers[timer_index].dshot.dma_map_up);

 				if (timer_configs[timer_index].dma_handle == NULL) {
@@ -485,6 +501,8 @@ void dma_burst_finished_callback(DMA_HANDLE handle, uint8_t status, void *arg)

 static void capture_complete_callback(void *arg)
 {
+	perf_begin(hrt_callback_perf);
+
 	uint8_t timer_index = *((uint8_t *)arg);

 	// Unallocate the timer as CaptureDMA
@@ -495,11 +513,8 @@ static void capture_complete_callback(void *arg)
 	// Disable capture DMA
 	io_timer_capture_dma_req(timer_index, capture_channel, false);

-	if (timer_configs[timer_index].dma_handle != NULL) {
-		stm32_dmastop(timer_configs[timer_index].dma_handle);
-		stm32_dmafree(timer_configs[timer_index].dma_handle);
-		timer_configs[timer_index].dma_handle = NULL;
-	}
+	// Stop DMA (should already be finished)
+	stm32_dmastop(timer_configs[timer_index].dma_handle);

 	// Re-initialize all output channels on this timer
 	for (uint8_t output_channel = 0; output_channel < MAX_TIMER_IO_CHANNELS; output_channel++) {
@@ -525,6 +540,8 @@ static void capture_complete_callback(void *arg)

 	// Enable all channels configured as DShotInverted
 	io_timer_set_enable(true, IOTimerChanMode_DshotInverted, IO_TIMER_ALL_MODES_CHANNELS);
+
+	perf_end(hrt_callback_perf);
 }

 void process_capture_results(uint8_t timer_index, uint8_t channel_index)
@@ -544,7 +561,7 @@ void process_capture_results(uint8_t timer_index, uint8_t channel_index)

 	} else {
 		// Convert the period to eRPM
-		_erpms[output_channel] = (1000000 * 60) / period;
+		_erpms[output_channel] = (1000000 * 60 / 100 + period / 2) / period;
 	}

 	// We set it ready anyway, not to hold up other channels when used in round robin.
@@ -232,7 +232,6 @@
 /*
 * Specific registers and bits used by HRT sub-functions
 */
-/* FIXME! There is an interaction in the CCMR registers that prevents using Chan 1 as the timer and chan 2 as the PPM*/
 #if HRT_TIMER_CHANNEL == 1
 # define rCCR_HRT	rCCR1			/* compare register for HRT */
 # define DIER_HRT	GTIM_DIER_CC1IE		/* interrupt enable for HRT */
@@ -306,13 +305,12 @@ int hrt_ioctl(unsigned int cmd, unsigned long arg);
 #  define GTIM_CCER_CC4NP 0
 #  define PPM_EDGE_FLIP
 # endif
-/* FIXME! There is an interaction in the CCMR registers that prevents using Chan 1 as the timer and chan 2 as the PPM*/
 # if HRT_PPM_CHANNEL == 1
 #  define rCCR_PPM	rCCR1			/* capture register for PPM */
 #  define DIER_PPM	GTIM_DIER_CC1IE		/* capture interrupt (non-DMA mode) */
 #  define SR_INT_PPM	GTIM_SR_CC1IF		/* capture interrupt (non-DMA mode) */
 #  define SR_OVF_PPM	GTIM_SR_CC1OF		/* capture overflow (non-DMA mode) */
-#  define CCMR1_PPM	1			/* not on TI1/TI2 */
+#  define CCMR1_PPM	(1 << 0)		/* not on TI1/TI2 */
 #  define CCMR2_PPM	0			/* on TI3, not on TI4 */
 #  define CCER_PPM	(GTIM_CCER_CC1E | GTIM_CCER_CC1P | GTIM_CCER_CC1NP) /* CC1, both edges */
 #  define CCER_PPM_FLIP	GTIM_CCER_CC1P
@@ -321,7 +319,7 @@ int hrt_ioctl(unsigned int cmd, unsigned long arg);
 #  define DIER_PPM	GTIM_DIER_CC2IE		/* capture interrupt (non-DMA mode) */
 #  define SR_INT_PPM	GTIM_SR_CC2IF		/* capture interrupt (non-DMA mode) */
 #  define SR_OVF_PPM	GTIM_SR_CC2OF		/* capture overflow (non-DMA mode) */
-#  define CCMR1_PPM	2			/* not on TI1/TI2 */
+#  define CCMR1_PPM	(1 << 8)		/* not on TI1/TI2 */
 #  define CCMR2_PPM	0			/* on TI3, not on TI4 */
 #  define CCER_PPM	(GTIM_CCER_CC2E | GTIM_CCER_CC2P | GTIM_CCER_CC2NP) /* CC2, both edges */
 #  define CCER_PPM_FLIP	GTIM_CCER_CC2P
@@ -331,7 +329,7 @@ int hrt_ioctl(unsigned int cmd, unsigned long arg);
 #  define SR_INT_PPM	GTIM_SR_CC3IF		/* capture interrupt (non-DMA mode) */
 #  define SR_OVF_PPM	GTIM_SR_CC3OF		/* capture overflow (non-DMA mode) */
 #  define CCMR1_PPM	0			/* not on TI1/TI2 */
-#  define CCMR2_PPM	1			/* on TI3, not on TI4 */
+#  define CCMR2_PPM	(1 << 0)		/* on TI3, not on TI4 */
 #  define CCER_PPM	(GTIM_CCER_CC3E | GTIM_CCER_CC3P | GTIM_CCER_CC3NP) /* CC3, both edges */
 #  define CCER_PPM_FLIP	GTIM_CCER_CC3P
 # elif HRT_PPM_CHANNEL == 4
@@ -340,7 +338,7 @@ int hrt_ioctl(unsigned int cmd, unsigned long arg);
 #  define SR_INT_PPM	GTIM_SR_CC4IF		/* capture interrupt (non-DMA mode) */
 #  define SR_OVF_PPM	GTIM_SR_CC4OF		/* capture overflow (non-DMA mode) */
 #  define CCMR1_PPM	0			/* not on TI1/TI2 */
-#  define CCMR2_PPM	2			/* on TI3, not on TI4 */
+#  define CCMR2_PPM	(1 << 8)		/* on TI3, not on TI4 */
 #  define CCER_PPM	(GTIM_CCER_CC4E | GTIM_CCER_CC4P | GTIM_CCER_CC4NP) /* CC4, both edges */
 #  define CCER_PPM_FLIP	GTIM_CCER_CC4P
 # else
@@ -55,9 +55,10 @@ ADIS16507::ADIS16507(const I2CSPIDriverConfig &config) :
 ADIS16507::~ADIS16507()
 {
 	perf_free(_reset_perf);
-	perf_free(_bad_register_perf);
 	perf_free(_bad_transfer_perf);
-	perf_free(_perf_crc_bad);
+	perf_free(_bad_status_perf);
+	perf_free(_bad_checksum_perf);
+	perf_free(_bad_data_cntr_perf);
 	perf_free(_drdy_missed_perf);
 }

@@ -66,20 +67,20 @@ int ADIS16507::init()
 	int ret = SPI::init();

 	if (ret != PX4_OK) {
-		DEVICE_DEBUG("SPI::init failed (%i)", ret);
+		PX4_ERR("SPI::init failed (%i)", ret);
 		return ret;
 	}

-	return Reset() ? 0 : -1;
+	_state = STATE::RESET;
+	ScheduleNow();
+	return PX4_OK;
 }

-bool ADIS16507::Reset()
+void ADIS16507::Reset()
 {
 	_state = STATE::RESET;
 	DataReadyInterruptDisable();
 	ScheduleClear();
-	ScheduleNow();
-	return true;
 }

 void ADIS16507::exit_and_cleanup()
@@ -88,96 +89,145 @@ void ADIS16507::exit_and_cleanup()
 	I2CSPIDriverBase::exit_and_cleanup();
 }

-void ADIS16507::print_status()
-{
-	I2CSPIDriverBase::print_status();
-
-	perf_print_counter(_reset_perf);
-	perf_print_counter(_bad_register_perf);
-	perf_print_counter(_bad_transfer_perf);
-	perf_print_counter(_perf_crc_bad);
-	perf_print_counter(_drdy_missed_perf);
-}
-
 int ADIS16507::probe()
 {
 	// Power-On Start-Up Time 310 ms
 	if (hrt_absolute_time() < 310_ms) {
-		PX4_WARN("required Power-On Start-Up Time 310 ms");
+		PX4_WARN("Required Power-On Start-Up Time 310 ms");
 	}

-	const uint16_t PROD_ID = RegisterRead(Register::PROD_ID);
+	const uint16_t id = RegisterRead(Register::PROD_ID);

-	if (PROD_ID != Product_identification) {
-		DEVICE_DEBUG("unexpected PROD_ID 0x%02x", PROD_ID);
+	if (id != Register::PROD_ID_EXPECTED) {
+		PX4_ERR("Unexpected PROD_ID 0x%02x", id);
 		return PX4_ERROR;
 	}

-	const uint16_t SERIAL_NUM = RegisterRead(Register::SERIAL_NUM);
-	const uint16_t FIRM_REV = RegisterRead(Register::FIRM_REV);
-	const uint16_t FIRM_DM = RegisterRead(Register::FIRM_DM);
-	const uint16_t FIRM_Y = RegisterRead(Register::FIRM_Y);
+	const uint16_t serial = RegisterRead(Register::SERIAL_NUM);
+	const uint16_t rev = RegisterRead(Register::FIRM_REV);
+	const uint16_t daymonth = RegisterRead(Register::FIRM_DM);
+	const uint16_t year = RegisterRead(Register::FIRM_Y);

-	PX4_INFO("Serial Number: 0x%X, Firmware revision: 0x%X Date: Y %X DM %X", SERIAL_NUM, FIRM_REV, FIRM_Y, FIRM_DM);
+	PX4_INFO("Serial Number: 0x%X, Firmware revision: 0x%X Date: Y %X DM %X", serial, rev, year, daymonth);

 	return PX4_OK;
 }

+bool ADIS16507::Configure()
+{
+	struct {
+		uint16_t reg;
+		uint16_t val;
+	} defaults[] = {
+		// Default 0x00C1
+		// - Change Data Ready polarity to active low
+		{ Register::MSC_CTRL, 0x00C0 },
+	};
+
+	// Write default register configuration
+	for (const auto &r : defaults) {
+		RegisterWrite(r.reg, r.val);
+	}
+
+	// Wait for changes to apply
+	px4_usleep(SPI_STALL_PERIOD);
+
+	// Check that all are configured
+	for (const auto &r : defaults) {
+		if (!RegisterCheck(r.reg, r.val)) {
+			return false;
+		}
+	}
+
+	// Accelerometer only has a single measurement range and scale
+	_px4_accel.set_range(392);
+	_px4_accel.set_scale(392.f / 32'000.f); // 32,000 -> 392 m/sec^2
+
+	// Check gyroscope measurement range
+	const uint16_t rang_mdl = RegisterRead(Register::RANG_MDL);
+
+	// sanity check RANG_MDL [1:0] Reserved, binary value = 11
+	if (rang_mdl & (Bit1 | Bit0)) {
+		const uint16_t gyro_range = (rang_mdl & (Bit3 | Bit2)) >> 2;
+
+		if (gyro_range == 0b11) {
+			PX4_DEBUG("Gyro Range ±2000°/sec");
+			// 11 = ±2000°/sec (ADIS16507-3BMLZ)
+			_px4_gyro.set_range(math::radians(2000.f));
+			_px4_gyro.set_scale(math::radians(1.f / 10.f)); // scaling 10 LSB/°/sec -> rad/s per LSB
+
+		} else if (gyro_range == 0b01) {
+			PX4_DEBUG("Gyro Range ±500°/sec");
+			// 01 = ±500°/sec (ADIS16507-2BMLZ)
+			_px4_gyro.set_range(math::radians(500.f));
+			_px4_gyro.set_scale(math::radians(1.f / 40.f)); // scaling 40 LSB/°/sec -> rad/s per LSB
+
+		} else if (gyro_range == 0b00) {
+			PX4_DEBUG("Gyro Range ±125°/sec");
+			// 00 = ±125°/sec (ADIS16507-1BMLZ)
+			_px4_gyro.set_range(math::radians(125.f));
+			_px4_gyro.set_scale(math::radians(1.f / 160.f)); // scaling 160 LSB/°/sec -> rad/s per LSB
+		}
+	}
+
+	return true;
+}
+
 void ADIS16507::RunImpl()
 {
 	const hrt_abstime now = hrt_absolute_time();

 	switch (_state) {
 	case STATE::RESET:
+		PX4_DEBUG("Resetting");
 		perf_count(_reset_perf);
-		// GLOB_CMD: software reset
-		RegisterWrite(Register::GLOB_CMD, GLOB_CMD_BIT::Software_reset);
-		_reset_timestamp = now;
+
+		RegisterWrite(Register::GLOB_CMD, Register::GLOB_CMD_BIT::Software_reset);
+
+#ifdef GPIO_ADIS16507_RESET
+		PX4_DEBUG("Hardware reset");
+		GPIO_ADIS16507_RESET(1);
+		px4_usleep(15); // Minimum 10us
+		GPIO_ADIS16507_RESET(0);
+#endif
 		_failure_count = 0;
 		_state = STATE::WAIT_FOR_RESET;
-		ScheduleDelayed(255_ms); // 255 ms Reset Recovery Time
+		ScheduleDelayed(350_ms); // 255 ms Reset Recovery Time
 		break;

 	case STATE::WAIT_FOR_RESET:

 		if (_self_test_passed) {
-			if ((RegisterRead(Register::PROD_ID) == Product_identification)) {
-				// if reset succeeded then configure
+			if (RegisterRead(Register::PROD_ID) == Register::PROD_ID_EXPECTED) {
 				_state = STATE::CONFIGURE;
+				PX4_DEBUG("Reset complete, configuring");
 				ScheduleNow();

 			} else {
-				// RESET not complete
-				if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
-					PX4_DEBUG("Reset failed, retrying");
-					_state = STATE::RESET;
-					ScheduleDelayed(100_ms);
-
-				} else {
-					PX4_DEBUG("Reset not complete, check again in 100 ms");
-					ScheduleDelayed(100_ms);
-				}
+				PX4_DEBUG("Reset failed, retrying");
+				_state = STATE::RESET;
+				ScheduleDelayed(100_ms);
 			}

 		} else {
-			RegisterWrite(Register::GLOB_CMD, GLOB_CMD_BIT::Sensor_self_test);
+			PX4_DEBUG("Running self test");
+			RegisterWrite(Register::GLOB_CMD, Register::GLOB_CMD_BIT::Sensor_self_test);
 			_state = STATE::SELF_TEST_CHECK;
-			ScheduleDelayed(14_ms); // Self Test Time
+			ScheduleDelayed(50_ms); // Self Test Time 24ms typical
 		}

 		break;

 	case STATE::SELF_TEST_CHECK: {
-			// read DIAG_STAT to check result
-			const uint16_t DIAG_STAT = RegisterRead(Register::DIAG_STAT);
+			const uint16_t diag_stat = RegisterRead(Register::DIAG_STAT);

-			if (DIAG_STAT != 0) {
-				PX4_ERR("self test failed, resetting. DIAG_STAT: %#X", DIAG_STAT);
-				_state = STATE::RESET;
-				ScheduleDelayed(3_s);
+			if (diag_stat != 0) {
+				PX4_ERR("Self test failed");
+				PrintErrorFlags(diag_stat);
+				ScheduleDelayed(350_ms);

 			} else {
-				PX4_DEBUG("self test passed");
+				PX4_DEBUG("Self test passed");
 				_self_test_passed = true;
 				_state = STATE::RESET;
 				ScheduleNow();
@@ -187,30 +237,27 @@ void ADIS16507::RunImpl()

 	case STATE::CONFIGURE:
 		if (Configure()) {
-			// if configure succeeded then start reading
 			_state = STATE::READ;

 			if (DataReadyInterruptConfigure()) {
+				PX4_DEBUG("Using data ready interrupt");
 				_data_ready_interrupt_enabled = true;

 				// backup schedule as a watchdog timeout
 				ScheduleDelayed(100_ms);
+				// Data ready should reschedule this almost immediately
+				return;

 			} else {
+				PX4_DEBUG("Not using data ready interrupt");
 				_data_ready_interrupt_enabled = false;
 				ScheduleOnInterval(SAMPLE_INTERVAL_US, SAMPLE_INTERVAL_US);
 			}

 		} else {
 			// CONFIGURE not complete
-			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
-				PX4_DEBUG("Configure failed, resetting");
-				_state = STATE::RESET;
-
-			} else {
-				PX4_DEBUG("Configure failed, retrying");
-			}
-
+			PX4_WARN("Configure failed, resetting");
+			_state = STATE::RESET;
 			ScheduleDelayed(100_ms);
 		}

@@ -234,143 +281,104 @@ void ADIS16507::RunImpl()
 				ScheduleDelayed(SAMPLE_INTERVAL_US * 2);
 			}

-			bool success = false;
-
-			// TODO: review and test BURST_SEL = 1
-			//  16-Bit Burst Mode with BURST_SEL = 1
-			//  In 16-bit burst mode with BURST_SEL = 1, a burst contains
-			//  calibrated delta angle and delta velocity data in 16-bit format.
-
+			// struct __attribute__((packed)) BurstRead {
 			struct BurstRead {
 				uint16_t cmd;
-				uint16_t DIAG_STAT;
-				int16_t X_GYRO_OUT;
-				int16_t Y_GYRO_OUT;
-				int16_t Z_GYRO_OUT;
-				int16_t X_ACCL_OUT;
-				int16_t Y_ACCL_OUT;
-				int16_t Z_ACCL_OUT;
-				int16_t TEMP_OUT;
-				uint16_t DATA_CNTR;
+				uint16_t diag_stat;
+				int16_t x_gyro_out;
+				int16_t y_gyro_out;
+				int16_t z_gyro_out;
+				int16_t x_accl_out;
+				int16_t y_accl_out;
+				int16_t z_accl_out;
+				int16_t temp_out;
+				uint16_t data_cntr;
 				uint16_t checksum;
 			} buffer{};

 			// ADIS16507 burst report should be 176 bits
 			static_assert(sizeof(BurstRead) == (176 / 8), "ADIS16507 report not 176 bits");

-			buffer.cmd = static_cast<uint16_t>(Register::GLOB_CMD) << 8;
+			// Pg 20 of Datasheet
+			// 16-Bit Burst Mode with BURST_SEL = 0
+			buffer.cmd = BURST_READ_CMD;
 			set_frequency(SPI_SPEED_BURST);

-			if (transferhword((uint16_t *)&buffer, (uint16_t *)&buffer, sizeof(buffer) / sizeof(uint16_t)) == PX4_OK) {
-
-				// Calculate checksum and compare
-
-				// Checksum = DIAG_STAT, Bits[15:8] + DIAG_STAT, Bits[7:0] +
-				//  X_GYRO_OUT, Bits[15:8] + X_GYRO_OUT, Bits[7:0] +
-				//  Y_GYRO_OUT, Bits[15:8] + Y_GYRO_OUT, Bits[7:0] +
-				//  Z_GYRO_OUT, Bits[15:8] + Z_GYRO_OUT, Bits[7:0] +
-				//  X_ACCL_OUT, Bits[15:8] + X_ACCL_OUT, Bits[7:0] +
-				//  Y_ACCL_OUT, Bits[15:8] + Y_ACCL_OUT, Bits[7:0] +
-				//  Z_ACCL_OUT, Bits[15:8] + Z_ACCL_OUT, Bits[7:0] +
-				//  TEMP_OUT, Bits[15:8] + TEMP_OUT, Bits[7:0] +
-				//  DATA_CNTR, Bits[15:8] + DATA_CNTR, Bits[7:0]
-				uint8_t *checksum_helper = (uint8_t *)&buffer.DIAG_STAT;
-
-				uint16_t checksum = 0;
-
-				for (int i = 0; i < 18; i++) {
-					checksum += checksum_helper[i];
-				}
-
-				if (buffer.checksum != checksum) {
-					//PX4_DEBUG("adis_report.checksum: %X vs calculated: %X", buffer.checksum, checksum);
-					perf_count(_bad_transfer_perf);
-					perf_count(_perf_crc_bad);
-				}
-
-				if (buffer.DIAG_STAT != DIAG_STAT_BIT::Data_path_overrun) {
-					// Data path overrun. A 1 indicates that one of the
-					// data paths have experienced an overrun condition.
-					// If this occurs, initiate a reset,
-
-					//Reset();
-					//return;
-				}
-
-				// Check all Status/Error Flag Indicators (DIAG_STAT)
-				if (buffer.DIAG_STAT != 0) {
-					perf_count(_bad_transfer_perf);
-				}
-
-				// temperature 1 LSB = 0.1°C
-				const float temperature = buffer.TEMP_OUT * 0.1f;
-				_px4_accel.set_temperature(temperature);
-				_px4_gyro.set_temperature(temperature);
-
-
-				int16_t accel_x = buffer.X_ACCL_OUT;
-				int16_t accel_y = buffer.Y_ACCL_OUT;
-				int16_t accel_z = buffer.Z_ACCL_OUT;
-
-				// sensor's frame is +x forward, +y left, +z up
-				//  flip y & z to publish right handed with z down (x forward, y right, z down)
-				accel_y = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
-				accel_z = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
-
-
-				// TODO:
-				// Group Delay with No Filtering: Accelerometer 1.57 ms
-				const uint64_t accel_group_delay_us = 1'570;
-				_px4_accel.update(timestamp_sample - accel_group_delay_us, accel_x, accel_y, accel_z);
-
-
-				int16_t gyro_x = buffer.X_GYRO_OUT;
-				int16_t gyro_y = buffer.Y_GYRO_OUT;
-				int16_t gyro_z = buffer.Z_GYRO_OUT;
-				// sensor's frame is +x forward, +y left, +z up
-				//  flip y & z to publish right handed with z down (x forward, y right, z down)
-				gyro_y = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-				gyro_z = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
-
-				// TODO:
-				// Group Delay with No Filtering:
-				//  Gyroscope (X-Axis) 1.51 ms
-				//  Gyroscope (Y-Axis) 1.51 ms
-				//  Gyroscope (Z-Axis) 1.29 ms
-				const uint64_t gyro_group_delay_us = (1'510 + 1'510 + 1'290) / 3;
-				_px4_gyro.update(timestamp_sample - gyro_group_delay_us, gyro_x, gyro_y, gyro_z);
-
-				success = true;
-
-				if (_failure_count > 0) {
-					_failure_count--;
-				}
-
-			} else {
+			if (transferhword((uint16_t *)&buffer, (uint16_t *)&buffer, sizeof(buffer) / sizeof(uint16_t)) != PX4_OK) {
 				perf_count(_bad_transfer_perf);
-			}
-
-			if (!success) {
 				_failure_count++;

-				// full reset if things are failing consistently
 				if (_failure_count > 10) {
+					PX4_DEBUG("Consecutive failures!");
 					Reset();
-					return;
 				}
+
+				// Don't publish on a bad transfer
+				return;
 			}

-			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
-				// check configuration registers periodically or immediately following any failure
-				if (RegisterCheck(_register_cfg[_checked_register])) {
-					_last_config_check_timestamp = now;
-					_checked_register = (_checked_register + 1) % size_register_cfg;
+			if (buffer.data_cntr == _last_data_cntr) {
+				// Don't publish if data counter is not incrementing
+				perf_count(_bad_data_cntr_perf);
+				_last_data_cntr = buffer.data_cntr;
+				_failure_count++;

-				} else {
-					// register check failed, force reset
-					perf_count(_bad_register_perf);
+				if (_failure_count > 10) {
+					PX4_DEBUG("Consecutive failures!");
 					Reset();
 				}
+
+				return;
+			}
+
+			_last_data_cntr = buffer.data_cntr;
+
+			uint16_t checksum = 0;
+			uint8_t *checksum_helper = (uint8_t *)&buffer.diag_stat;
+
+			for (int i = 0; i < 18; i++) {
+				checksum += checksum_helper[i];
+			}
+
+			if (buffer.checksum != checksum) {
+				perf_count(_bad_checksum_perf);
+				// Don't publish if checksum fails
+				return;
+			}
+
+			// Check all Status/Error Flag Indicators (DIAG_STAT)
+			if (buffer.diag_stat != 0) {
+				perf_count(_bad_status_perf);
+				PX4_DEBUG("Error: DIAG_STAT: 0x%02x", buffer.diag_stat);
+				PrintErrorFlags(buffer.diag_stat);
+				return;
+			}
+
+			const float temperature = buffer.temp_out * 0.1f; // 1 LSB = 0.1°C
+			_px4_accel.set_temperature(temperature);
+			_px4_gyro.set_temperature(temperature);
+
+			// sensor frame is FLU, publish as FRD
+			float accel_x = buffer.x_accl_out;
+			float accel_y = -1.f * buffer.y_accl_out;
+			float accel_z = -1.f * buffer.z_accl_out;
+			float gyro_x = buffer.x_gyro_out;
+			float gyro_y = -1.f * buffer.y_gyro_out;
+			float gyro_z = -1.f * buffer.z_gyro_out;
+
+			// Group Delay with No Filtering: Accelerometer 1.57 ms
+			const uint64_t accel_group_delay_us = 1'570;
+			_px4_accel.update(timestamp_sample - accel_group_delay_us, accel_x, accel_y, accel_z);
+
+			// Group Delay with No Filtering:
+			//  Gyroscope (X-Axis) 1.51 ms
+			//  Gyroscope (Y-Axis) 1.51 ms
+			//  Gyroscope (Z-Axis) 1.29 ms
+			const uint64_t gyro_group_delay_us = (1'510 + 1'510 + 1'290) / 3;
+			_px4_gyro.update(timestamp_sample - gyro_group_delay_us, gyro_x, gyro_y, gyro_z);
+
+			if (_failure_count > 0) {
+				_failure_count--;
 			}
 		}

@@ -378,52 +386,49 @@ void ADIS16507::RunImpl()
 	}
 }

-bool ADIS16507::Configure()
+void ADIS16507::PrintErrorFlags(uint16_t flags)
 {
-	// first set and clear all configured register bits
-	for (const auto &reg_cfg : _register_cfg) {
-		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
+	if (flags & (1 << 10)) {
+		PX4_DEBUG("Accelerometer failure");
 	}

-	// now check that all are configured
-	bool success = true;
-
-	for (const auto &reg_cfg : _register_cfg) {
-		if (!RegisterCheck(reg_cfg)) {
-			success = false;
-		}
+	if (flags & (1 << 9)) {
+		PX4_DEBUG("Gyro 2 failure");
 	}

-	// accel: ±392 m/sec^2
-	_px4_accel.set_range(392);
-	_px4_accel.set_scale(392.f / 32'000.f); // 32,000 -> 392 m/sec^2
-
-	// Gyroscope measurement range
-	// Range Identifier (RANG_MDL)
-	const uint16_t RANG_MDL = RegisterRead(Register::RANG_MDL);
-
-	// sanity check RANG_MDL [1:0] Reserved, binary value = 11
-	if (RANG_MDL & (Bit1 | Bit0)) {
-		const uint16_t gyro_range = (RANG_MDL & (Bit3 | Bit2)) >> 2;
-
-		if (gyro_range == 0b11) {
-			// 11 = ±2000°/sec (ADIS16507-3BMLZ)
-			_px4_gyro.set_range(math::radians(2000.f));
-			_px4_gyro.set_scale(math::radians(1.f / 10.f)); // scaling 10 LSB/°/sec -> rad/s per LSB
-
-		} else if (gyro_range == 0b01) {
-			// 01 = ±500°/sec (ADIS16507-2BMLZ)
-			_px4_gyro.set_range(math::radians(500.f));
-			_px4_gyro.set_scale(math::radians(1.f / 40.f)); // scaling 40 LSB/°/sec -> rad/s per LSB
-
-		} else if (gyro_range == 0b00) {
-			// 00 = ±125°/sec (ADIS16507-1BMLZ)
-			_px4_gyro.set_range(math::radians(500.f));
-			_px4_gyro.set_scale(math::radians(1.f / 40.f)); // scaling 40 LSB/°/sec -> rad/s per LSB
-		}
+	if (flags & (1 << 8)) {
+		PX4_DEBUG("Gyro 1 failure");
 	}

-	return success;
+	if (flags & (1 << 7)) {
+		PX4_DEBUG("Clock error");
+	}
+
+	if (flags & (1 << 6)) {
+		PX4_DEBUG("Memory failure");
+	}
+
+	if (flags & (1 << 5)) {
+		PX4_DEBUG("Sensor failure");
+	}
+
+	if (flags & (1 << 4)) {
+		PX4_DEBUG("Standby mode (VDD < 2.8V)");
+	}
+
+	if (flags & (1 << 3)) {
+		PX4_DEBUG("SPI communication error");
+	}
+
+	if (flags & (1 << 2)) {
+		PX4_DEBUG("Flash memory update failure");
+	}
+
+	if (flags & (1 << 1)) {
+		PX4_DEBUG("Data path overrun");
+	}
+
+	// Bit 0 and 15:11 are reserved and not printed
 }

 int ADIS16507::DataReadyInterruptCallback(int irq, void *context, void *arg)
@@ -457,26 +462,7 @@ bool ADIS16507::DataReadyInterruptDisable()
 	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
 }

-bool ADIS16507::RegisterCheck(const register_config_t &reg_cfg)
-{
-	bool success = true;
-
-	const uint16_t reg_value = RegisterRead(reg_cfg.reg);
-
-	if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
-		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
-		success = false;
-	}
-
-	if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
-		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
-		success = false;
-	}
-
-	return success;
-}
-
-uint16_t ADIS16507::RegisterRead(Register reg)
+uint16_t ADIS16507::RegisterRead(uint16_t reg)
 {
 	set_frequency(SPI_SPEED);

@@ -490,26 +476,39 @@ uint16_t ADIS16507::RegisterRead(Register reg)
 	return cmd[0];
 }

-void ADIS16507::RegisterWrite(Register reg, uint16_t value)
+void ADIS16507::RegisterWrite(uint16_t reg, uint16_t val)
 {
 	set_frequency(SPI_SPEED);

 	uint16_t cmd[2];
-	cmd[0] = (((static_cast<uint16_t>(reg))     | DIR_WRITE) << 8) | ((0x00FF & value));
-	cmd[1] = (((static_cast<uint16_t>(reg) + 1) | DIR_WRITE) << 8) | ((0xFF00 & value) >> 8);
+	cmd[0] = (((static_cast<uint16_t>(reg))     | DIR_WRITE) << 8) | ((0x00FF & val));
+	cmd[1] = (((static_cast<uint16_t>(reg) + 1) | DIR_WRITE) << 8) | ((0xFF00 & val) >> 8);

 	transferhword(cmd, nullptr, 1);
 	px4_udelay(SPI_STALL_PERIOD);
 	transferhword(cmd + 1, nullptr, 1);
 }

-void ADIS16507::RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits)
+bool ADIS16507::RegisterCheck(uint16_t reg, uint16_t val)
 {
-	const uint16_t orig_val = RegisterRead(reg);
+	const uint16_t actual = RegisterRead(reg);

-	uint16_t val = (orig_val & ~clearbits) | setbits;
-
-	if (orig_val != val) {
-		RegisterWrite(reg, val);
+	if (actual != val) {
+		PX4_WARN("register 0x%02hhX: 0x%02hhX (should be 0x%02hhX)", reg, actual, val);
+		return false;
 	}
+
+	return true;
+}
+
+void ADIS16507::print_status()
+{
+	I2CSPIDriverBase::print_status();
+
+	perf_print_counter(_reset_perf);
+	perf_print_counter(_bad_transfer_perf);
+	perf_print_counter(_bad_status_perf);
+	perf_print_counter(_bad_checksum_perf);
+	perf_print_counter(_bad_data_cntr_perf);
+	perf_print_counter(_drdy_missed_perf);
 }
@@ -70,15 +70,9 @@ public:
 private:
 	void exit_and_cleanup() override;

-	struct register_config_t {
-		Register reg;
-		uint16_t set_bits{0};
-		uint16_t clear_bits{0};
-	};
-
 	int probe() override;

-	bool Reset();
+	void Reset();

 	bool Configure();

@@ -87,11 +81,11 @@ private:
 	bool DataReadyInterruptConfigure();
 	bool DataReadyInterruptDisable();

-	bool RegisterCheck(const register_config_t &reg_cfg);
+	uint16_t RegisterRead(uint16_t reg);
+	void RegisterWrite(uint16_t reg, uint16_t val);
+	bool RegisterCheck(uint16_t reg, uint16_t val);

-	uint16_t RegisterRead(Register reg);
-	void RegisterWrite(Register reg, uint16_t value);
-	void RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits);
+	void PrintErrorFlags(uint16_t flags);

 	const spi_drdy_gpio_t _drdy_gpio;

@@ -99,15 +93,16 @@ private:
 	PX4Gyroscope _px4_gyro;

 	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
-	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
-	perf_counter_t _perf_crc_bad{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": CRC16 bad"))};
+	perf_counter_t _bad_status_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad status")};
+	perf_counter_t _bad_checksum_perf{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": bad checksum"))};
+	perf_counter_t _bad_data_cntr_perf{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": bad data count"))};
 	perf_counter_t _drdy_missed_perf{nullptr};

-	hrt_abstime _reset_timestamp{0};
-	hrt_abstime _last_config_check_timestamp{0};
 	int _failure_count{0};

+	uint16_t _last_data_cntr{65535};
+
 	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
 	bool _data_ready_interrupt_enabled{false};

@@ -120,11 +115,4 @@ private:
 		CONFIGURE,
 		READ,
 	} _state{STATE::RESET};
-
-	uint8_t _checked_register{0};
-	static constexpr uint8_t size_register_cfg{1};
-	register_config_t _register_cfg[size_register_cfg] {
-		// Register              | Set bits, Clear bits
-		{ Register::MSC_CTRL,    0, MSC_CTRL_BIT::DR_polarity },
-	};
 };
@@ -64,35 +64,31 @@ namespace Analog_Devices_ADIS16507
 {
 static constexpr uint32_t SPI_SPEED = 2 * 1000 * 1000;       // 2 MHz SPI serial interface
 static constexpr uint32_t SPI_SPEED_BURST = 1 * 1000 * 1000; // 1 MHz SPI serial interface for burst read
-
 static constexpr uint32_t SPI_STALL_PERIOD = 16; // 16 us Stall period between data

-static constexpr uint16_t DIR_WRITE = 0x80;
-
-static constexpr uint16_t Product_identification = 0x407B;
-
 static constexpr uint32_t SAMPLE_INTERVAL_US = 500; // 2000 Hz

-enum class Register : uint16_t {
-	DIAG_STAT      = 0x02,
+static constexpr uint16_t DIR_WRITE = 0x80;

-	FILT_CTRL      = 0x5C,
+static constexpr uint16_t BURST_READ_CMD = 0x6800;

-	RANG_MDL       = 0x5E,

-	MSC_CTRL       = 0x60,
+namespace Register
+{
+static constexpr uint16_t DIAG_STAT = 0x02;
+static constexpr uint16_t FILT_CTRL = 0x5C;
+static constexpr uint16_t RANG_MDL = 0x5E;
+static constexpr uint16_t MSC_CTRL = 0x60;
+static constexpr uint16_t GLOB_CMD = 0x68;
+static constexpr uint16_t FIRM_REV = 0x6C; // Identification, firmware revision
+static constexpr uint16_t FIRM_DM = 0x6E; // Identification, date code, day and month
+static constexpr uint16_t FIRM_Y = 0x70; // Identification, date code, year
+static constexpr uint16_t PROD_ID = 0x72; // Identification, part number
+static constexpr uint16_t SERIAL_NUM = 0x74; // Identification, serial number
+static constexpr uint16_t FLSHCNT_LOW = 0x7C; // Output, flash memory write cycle counter, lower word
+static constexpr uint16_t FLSHCNT_HIGH = 0x7E; // Output, flash memory write cycle counter, upper word

-	GLOB_CMD       = 0x68,
-
-	FIRM_REV       = 0x6C, // Identification, firmware revision
-	FIRM_DM        = 0x6E, // Identification, date code, day and month
-	FIRM_Y         = 0x70, // Identification, date code, year
-	PROD_ID        = 0x72, // Identification, part number
-	SERIAL_NUM     = 0x74, // Identification, serial number
-
-	FLSHCNT_LOW    = 0x7C, // Output, flash memory write cycle counter, lower word
-	FLSHCNT_HIGH   = 0x7E, // Output, flash memory write cycle counter, upper word
-};
+static constexpr uint16_t PROD_ID_EXPECTED = 0x407B;

 // DIAG_STAT
 enum DIAG_STAT_BIT : uint16_t {
@@ -116,20 +112,17 @@ enum FILT_CTRL_BIT : uint16_t {
 // MSC_CTRL
 enum MSC_CTRL_BIT : uint16_t {
 	BURST32     = Bit9, // 32-bit burst enable bit
-
 	GYRO_COMP   = Bit7, // Linear acceleration compensation for gyroscopes
-
 	DR_polarity = Bit0, // 1 = active high when data is valid
 };

 // GLOB_CMD
 enum GLOB_CMD_BIT : uint16_t {
 	Software_reset    = Bit7,
-
 	Flash_memory_test = Bit4,
-
 	Sensor_self_test  = Bit2,
 };

+} // namespace Register

 } // namespace Analog_Devices_ADIS16507
@@ -12,7 +12,6 @@ menu "Magnetometer"
        select DRIVERS_MAGNETOMETER_LIS3MDL
        select DRIVERS_MAGNETOMETER_LSM303AGR
        select DRIVERS_MAGNETOMETER_RM3100
-        select DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L
        select DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA
        select DRIVERS_MAGNETOMETER_ST_IIS2MDC
        ---help---
@@ -56,6 +56,13 @@ void MessageDisplay::set(const MessageDisplayType mode, const char *string)
 		if (strcmp(flight_mode_msg, string) != 0) {
 			flight_mode_msg[MSG_BUFFER_SIZE - 1] = '\0';
 			strncpy(flight_mode_msg, string, MSG_BUFFER_SIZE - 1);
+
+			for (int i = 0; i < (MSG_BUFFER_SIZE - 1); ++i) {
+				if (flight_mode_msg[i] >= 'a' && flight_mode_msg[i] <= 'z') {
+					flight_mode_msg[i] = flight_mode_msg[i] - 32; // toupper
+				}
+			}
+
 			updated_ = true;
 		}

@@ -39,6 +39,7 @@
 #include <float.h>
 #include <string.h>
 #include <math.h>
+#include <stdio.h>

 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_hrt.h>
@@ -62,7 +63,7 @@ struct msp_message_descriptor_t {
 	uint8_t message_size;
 };

-#define MSP_DESCRIPTOR_COUNT 11
+#define MSP_DESCRIPTOR_COUNT 12
 const msp_message_descriptor_t msp_message_descriptors[MSP_DESCRIPTOR_COUNT] = {
 	{MSP_OSD_CONFIG, true, sizeof(msp_osd_config_t)},
 	{MSP_NAME, true, sizeof(msp_name_t)},
@@ -75,10 +76,9 @@ const msp_message_descriptor_t msp_message_descriptors[MSP_DESCRIPTOR_COUNT] = {
 	{MSP_COMP_GPS, true, sizeof(msp_comp_gps_t)},
 	{MSP_ESC_SENSOR_DATA, true, sizeof(msp_esc_sensor_data_dji_t)},
 	{MSP_MOTOR_TELEMETRY, true, sizeof(msp_motor_telemetry_t)},
+	{MSP_RC, true, sizeof(msp_rc_t)},
 };

-#define MSP_FRAME_START_SIZE 5
-#define MSP_CRC_SIZE 1
 bool MspV1::Send(const uint8_t message_id, const void *payload)
 {
 	uint32_t payload_size = 0;
@@ -107,7 +107,7 @@ bool MspV1::Send(const uint8_t message_id, const void *payload)

 	packet[0] = '$';
 	packet[1] = 'M';
-	packet[2] = '<';
+	packet[2] = '>';
 	packet[3] = payload_size;
 	packet[4] = message_id;

@@ -124,3 +124,101 @@ bool MspV1::Send(const uint8_t message_id, const void *payload)
 	int packet_size =  MSP_FRAME_START_SIZE + payload_size + MSP_CRC_SIZE;
 	return  write(_fd, packet, packet_size) == packet_size;
 }
+
+bool MspV1::Send(const uint8_t message_id, const void *payload, uint32_t payload_size)
+{
+	uint8_t packet[MSP_FRAME_START_SIZE + payload_size + MSP_CRC_SIZE];
+	uint8_t crc;
+
+	packet[0] = '$';
+	packet[1] = 'M';
+	packet[2] = '>';
+	packet[3] = payload_size;
+	packet[4] = message_id;
+
+	crc = payload_size ^ message_id;
+
+	memcpy(packet + MSP_FRAME_START_SIZE, payload, payload_size);
+
+	for (uint32_t i = 0; i < payload_size; i ++) {
+		crc ^= packet[MSP_FRAME_START_SIZE + i];
+	}
+
+	packet[MSP_FRAME_START_SIZE + payload_size] = crc;
+
+	int packet_size =  MSP_FRAME_START_SIZE + payload_size + MSP_CRC_SIZE;
+	return  write(_fd, packet, packet_size) == packet_size;
+}
+
+
+int MspV1::Receive(uint8_t *payload, uint8_t *message_id)
+{
+	uint8_t payload_size;
+	uint8_t crc;
+	uint8_t calc_crc;
+	int ret;
+
+	while (!has_header) {
+		int bytes_available = 0;
+
+		if (ioctl(_fd, FIONREAD, &bytes_available) < 0) {
+			return -EIO;
+		}
+
+		if (bytes_available < 5) {
+			return -EWOULDBLOCK;
+		}
+
+		while (bytes_available > 4) {
+			if ((ret = read(_fd, header, 1)) != 1) {
+				return ret;
+			}
+
+			bytes_available--;
+
+			if (header[0] == '$') {
+				break;
+			}
+
+		}
+
+		if (header[0] != '$') {
+			return -EWOULDBLOCK;
+		}
+
+		if ((ret = read(_fd, &header[1], 4)) != 4) {
+			return ret;
+		}
+
+		if (header[0] == '$' && header[1] == 'M' && header[2] == '<') {
+			has_header = true;
+		}
+	}
+
+	payload_size = header[3];
+	*message_id = header[4];
+
+	if ((ret = read(_fd, payload, payload_size + MSP_CRC_SIZE)) != payload_size + MSP_CRC_SIZE) {
+		if (ret != -EWOULDBLOCK) {
+			has_header = false;
+		}
+
+		return ret;
+	}
+
+	has_header = false;
+
+	crc = payload[payload_size];
+
+	calc_crc = payload_size ^ header[4];
+
+	for (int i = 0; i < payload_size; i++) {
+		calc_crc ^= payload[i];
+	}
+
+	if (calc_crc != crc) {
+		return -EINVAL;
+	}
+
+	return payload_size;
+}
@@ -33,13 +33,20 @@

 #pragma once

+#define MSP_FRAME_START_SIZE 5
+#define MSP_CRC_SIZE 1
+
 class MspV1
 {
 public:
 	MspV1(int fd);
 	int GetMessageSize(int message_type);
 	bool Send(const uint8_t message_id, const void *payload);
+	bool Send(const uint8_t message_id, const void *payload, uint32_t payload_size);
+	int Receive(uint8_t *payload, uint8_t *message_id);

 private:
 	int _fd{-1};
+	uint8_t header[MSP_FRAME_START_SIZE + MSP_CRC_SIZE];
+	bool has_header{false};
 };
@@ -97,3 +97,14 @@ parameters:
            min: 100
            max: 10000
            default: 500
+
+        # RC Stick input
+        OSD_RC_STICK:
+            description:
+                short: OSD RC Stick commands
+                long: |
+                    Forward RC stick input to VTX when disarmed
+            type: int32
+            min: 0
+            max: 1
+            default: 1
@@ -48,6 +48,8 @@
 #define MSP_ARMING_CONFIG         61
 #define MSP_RX_MAP                64 // get channel map (also returns number of channels total)
 #define MSP_LOOP_TIME             73 // FC cycle time i.e looptime parameter
+#define MSP_GET_VTX_CONFIG        88
+#define MSP_SET_VTX_CONFIG        89
 #define MSP_STATUS               101
 #define MSP_RAW_IMU              102
 #define MSP_SERVO                103
@@ -75,10 +77,12 @@
 #define MSP_SET_PID              202 // set P I D coeff

 // commands
-#define MSP_SET_HEAD             211 // define a new heading hold direction
-#define MSP_SET_RAW_RC           200 // 8 rc chan
-#define MSP_SET_RAW_GPS          201 // fix, numsat, lat, lon, alt, speed
-#define MSP_SET_WP               209 // sets a given WP (WP#, lat, lon, alt, flags)
+#define MSP_SET_HEAD                211 // define a new heading hold direction
+#define MSP_SET_RAW_RC              200 // 8 rc chan
+#define MSP_SET_RAW_GPS             201 // fix, numsat, lat, lon, alt, speed
+#define MSP_SET_WP                  209 // sets a given WP (WP#, lat, lon, alt, flags)
+#define MSP_SET_VTXTABLE_BAND       227
+#define MSP_SET_VTXTABLE_POWERLEVEL 228

 // bits of getActiveModes() return value
 #define MSP_MODE_ARM          0
@@ -111,6 +115,7 @@
 #define MSP_MODE_TURNASSIST  27
 #define MSP_MODE_NAVLAUNCH   28
 #define MSP_MODE_AUTOTRIM    29
+#define MSP_CMD_DISPLAYPORT 182

 struct msp_esc_sensor_data_t {
 	uint8_t motor_count;
@@ -288,6 +293,25 @@ struct msp_attitude_t {
 	int16_t yaw;
 } __attribute__((packed));

+struct msp_rendor_pitch_t {
+	uint8_t subCommand = 0x03; // 0x03 subcommand write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs = 0x00;
+	uint8_t iconIndex = 0x15; //PITCH icon
+
+	char str[6]; // -00.0
+} __attribute__((packed));
+
+struct msp_rendor_roll_t {
+	uint8_t subCommand = 0x03; // 0x03 subcommand write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs = 0x00;
+	uint8_t iconIndex = 0x14; //ROLL icon
+
+	char str[6]; // -00.0
+} __attribute__((packed));

 // MSP_ALTITUDE reply
 struct msp_altitude_t {
@@ -297,6 +321,17 @@ struct msp_altitude_t {
 } __attribute__((packed));


+struct msp_rendor_altitude_t {
+	uint8_t subCommand = 0x03; // 0x03 subcommand write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs = 0x00;
+	uint8_t iconIndex = 0x7F; //ALT icon
+
+	char str[8]; // -0000.0 // 9999.9 meter
+} __attribute__((packed));
+
+
 // MSP_SONAR_ALTITUDE reply
 struct msp_sonar_altitude_t {
 	int32_t altitude;
@@ -311,6 +346,16 @@ struct msp_analog_t {
 	int16_t  amperage; // send amperage in 0.01 A steps, range is -320A to 320A
 } __attribute__((packed));

+struct msp_rendor_rssi_t {
+	uint8_t subCommand = 0x03; // 0x03 subcommand write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs = 0x00;
+	uint8_t iconIndex = 0x01; //RSSI icon
+
+	char str[4]; // 100%
+} __attribute__((packed));
+

 // MSP_ARMING_CONFIG reply
 struct msp_arming_config_t {
@@ -392,6 +437,38 @@ struct msp_raw_gps_t {
 	uint16_t hdop;
 } __attribute__((packed));

+struct msp_rendor_latitude_t {
+	uint8_t subCommand = 0x03; // 0x03 subcommand write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs = 0x00;
+	uint8_t iconIndex = 0x89; //LAT icon
+
+	char str[11]; // -00.0000000
+} __attribute__((packed));
+
+
+struct msp_rendor_longitude_t {
+	uint8_t subCommand = 0x03; // 0x03 subcommand write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs = 0x00;
+	uint8_t iconIndex = 0x98; //LON icon
+
+	char str[12]; // -000.0000000
+} __attribute__((packed));
+
+struct msp_rendor_satellites_used_t {
+	uint8_t subCommand = 0x03; // 0x03 subcommand write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs = 0x00;
+	uint8_t iconIndex = 0x1E; //satellites icon
+	uint8_t iconIndex2 = 0x1F; //satellites icon
+
+	char str[3]; // 99
+} __attribute__((packed));
+

 // MSP_COMP_GPS reply
 struct msp_comp_gps_t {
@@ -400,6 +477,16 @@ struct msp_comp_gps_t {
 	uint8_t  heartbeat;       // toggles 0 and 1 for each change
 } __attribute__((packed));

+struct msp_rendor_distanceToHome_t {
+	uint8_t subCommand = 0x03; // 0x03 subcommand write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs = 0x00; //
+	uint8_t iconIndex = 0x71; //distanceToHome icon
+
+	char str[6]; // 65536
+} __attribute__((packed));
+

 // values for msp_nav_status_t.mode
 #define MSP_NAV_STATUS_MODE_NONE   0
@@ -788,6 +875,15 @@ struct msp_battery_state_t {
 	uint16_t batteryVoltage;
 } __attribute__((packed));

+struct msp_rendor_battery_state_t {
+	uint8_t subCommand; // 0x03 write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs;
+	uint8_t iconIndex;
+	char str[5];
+} __attribute__((packed));
+
 // MSP_STATUS reply customized for BF/DJI
 struct msp_status_BF_t {
 	uint16_t task_delta_time;
@@ -803,6 +899,58 @@ struct msp_status_BF_t {
 	uint8_t  extra_flags;
 } __attribute__((packed));

+struct msp_set_vtx_config_t {
+	uint16_t new_freq; //  if setting frequency then full uint16 is the frequency in MHz (ie. 5800)
+	//if setting band channel than band is high 8 bits and channel is low 8 bits
+	uint8_t power_level;
+	uint8_t pit_mode; // 0 = off, 1 = on
+	uint8_t low_power_disarm;
+	uint16_t pit_freq;
+	uint8_t user_band;
+	uint8_t user_channel;
+	uint16_t user_freq; // in MHz, 0 if using band & channel
+	uint8_t band_count;
+	uint8_t channel_count;
+	uint8_t power_count;
+	uint8_t clear_vtxtable; // Bool
+} __attribute__((packed));
+
+struct msp_get_vtx_config_t {
+	uint8_t vtx_type;
+	uint8_t band;
+	uint8_t channel;
+	uint8_t power_index;
+	uint8_t pit_mode; // 0 = off, 1 = on
+	uint16_t freq; // in MHz, 0 if using band & channel
+	uint8_t device_ready;
+	uint8_t low_power_disarm;
+} __attribute__((packed));
+
+struct msp_set_vtxtable_powerlevel_t {
+	uint8_t index;
+	uint16_t power_value;
+	uint8_t power_label_length;
+	uint8_t power_label_name[3];
+} __attribute__((packed));
+
+#define VTX_TABLE_BAND_NAME_LENGTH 8
+#define VTXDEV_MSP 5
+
+//29 bytes
+
+struct msp_set_vtxtable_band_t {
+	uint8_t band;
+	uint8_t band_name_length;
+	uint8_t band_label_name[VTX_TABLE_BAND_NAME_LENGTH];
+	uint8_t band_letter;
+	uint8_t is_factory_band;
+	uint8_t channel_count;
+	uint16_t frequency[8];
+} __attribute__((packed));
+
+
+
+
 ////ArduPlane
 enum arduPlaneModes_e {
 	MANUAL        = 0,
@@ -47,6 +47,7 @@
 #include <unistd.h>
 #include <termios.h>
 #include <string.h>
+#include <ctype.h>

 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/log.h>
@@ -111,6 +112,21 @@ const uint16_t osd_current_draw_pos = 2103;

 const uint16_t osd_numerical_vario_pos = LOCATION_HIDDEN;

+#define OSD_GRID_COL_MAX (59) // From betaflight-configurator OSD tab
+#define OSD_GRID_ROW_MAX (21) // From betaflight-configurator OSD tab
+
+typedef enum {
+	MSP_DP_HEARTBEAT = 0,         // Release the display after clearing and updating
+	MSP_DP_RELEASE = 1,         // Release the display after clearing and updating
+	MSP_DP_CLEAR_SCREEN = 2,    // Clear the display
+	MSP_DP_WRITE_STRING = 3,    // Write a string at given coordinates
+	MSP_DP_DRAW_SCREEN = 4,     // Trigger a screen draw
+	MSP_DP_OPTIONS = 5,         // Not used by Betaflight. Reserved by Ardupilot and INAV
+	MSP_DP_SYS = 6,             // Display system element displayportSystemElement_e at given coordinates
+	MSP_DP_COUNT,
+} displayportMspSubCommand;
+
+
 MspOsd::MspOsd(const char *device) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
@@ -225,6 +241,7 @@ void MspOsd::SendConfig()
 	_msp.Send(MSP_OSD_CONFIG, &msp_osd_config);
 }

+// extract it to MSPOSD_BF_Run() and MSPOSD_DJIFPV_Run() for compatibility?
 void MspOsd::Run()
 {
 	if (should_exit()) {
@@ -265,11 +282,34 @@ void MspOsd::Run()
 		_is_initialized = true;
 	}

+	if (change_channel) {
+		msp_get_vtx_config_t vtx_set_config{0};
+		vtx_set_config.low_power_disarm = vtx_config.low_power_disarm;
+		vtx_set_config.pit_mode = vtx_config.pit_mode;
+		vtx_set_config.vtx_type = VTXDEV_MSP;
+		vtx_set_config.band = vtx_config.user_band;
+		vtx_set_config.channel = vtx_config.user_channel;
+		this->Send(MSP_GET_VTX_CONFIG, &vtx_set_config, sizeof(msp_get_vtx_config_t));
+		change_channel = false;
+	}
+
+	this->Receive();
+
+	if (!has_vtx_config) {
+		this->Send(MSP_GET_VTX_CONFIG, nullptr, 0);
+	}
+
 	// avoid premature pessimization; if skip processing if we're effectively disabled
 	if (_param_osd_symbols.get() == 0) {
 		return;
 	}

+	uint8_t subcmd = MSP_DP_HEARTBEAT;
+	this->Send(MSP_CMD_DISPLAYPORT, &subcmd, 1);
+
+	subcmd = MSP_DP_CLEAR_SCREEN;
+	this->Send(MSP_CMD_DISPLAYPORT, &subcmd, 1);
+
 	// update display message
 	{
 		vehicle_status_s vehicle_status{};
@@ -280,43 +320,39 @@ void MspOsd::Run()

 		log_message_s log_message{};
 		_log_message_sub.copy(&log_message);
-
+		// TODO re-wirte this function?
 		const auto display_message = msp_osd::construct_display_message(
 						     vehicle_status,
 						     vehicle_attitude,
 						     log_message,
 						     _param_osd_log_level.get(),
 						     _display);
-		this->Send(MSP_NAME, &display_message);
+
+		char msg[sizeof(msp_name_t) + 5] = {0};
+		int index = 0;
+		msg[index++] = MSP_DP_WRITE_STRING;
+		msg[index++] = 0x02; // row position
+		msg[index++] = 0x14; // colum position
+		msg[index++] = 0;		// Icon attr
+		msg[index++] = 0x03; // Icon index >
+		memcpy(&msg[index++], &display_message, sizeof(msp_name_t));
+		this->Send(MSP_CMD_DISPLAYPORT, &msg, sizeof(msg));
 	}

 	// MSP_FC_VARIANT
 	{
 		const auto msg = msp_osd::construct_FC_VARIANT();
-		this->Send(MSP_FC_VARIANT, &msg);
-	}
-
-	// MSP_STATUS
-	{
-		vehicle_status_s vehicle_status{};
-		_vehicle_status_sub.copy(&vehicle_status);
-
-		const auto msg = msp_osd::construct_STATUS(vehicle_status);
-		this->Send(MSP_STATUS, &msg);
+		this->Send(MSP_FC_VARIANT, &msg, sizeof(msg));
 	}

 	// MSP_ANALOG
 	{
-		battery_status_s battery_status{};
-		_battery_status_sub.copy(&battery_status);
-
-		input_rc_s input_rc{};
-		_input_rc_sub.copy(&input_rc);
-
-		const auto msg = msp_osd::construct_ANALOG(
-					 battery_status,
-					 input_rc);
-		this->Send(MSP_ANALOG, &msg);
+		if (enabled(SymbolIndex::RSSI_VALUE)) {
+			input_rc_s input_rc{};
+			_input_rc_sub.copy(&input_rc);
+			const auto msg = msp_osd::construct_rendor_RSSI(input_rc);
+			this->Send(MSP_CMD_DISPLAYPORT, &msg, sizeof(msp_rendor_rssi_t));
+		}
 	}

 	// MSP_BATTERY_STATE
@@ -324,8 +360,12 @@ void MspOsd::Run()
 		battery_status_s battery_status{};
 		_battery_status_sub.copy(&battery_status);

-		const auto msg = msp_osd::construct_BATTERY_STATE(battery_status);
-		this->Send(MSP_BATTERY_STATE, &msg);
+		const auto msg_original = msp_osd::construct_BATTERY_STATE(battery_status);
+		this->Send(MSP_BATTERY_STATE, &msg_original);
+
+		const auto msg = msp_osd::construct_rendor_BATTERY_STATE(battery_status);
+		this->Send(MSP_CMD_DISPLAYPORT, &msg, sizeof(msp_rendor_battery_state_t));
+
 	}

 	// MSP_RAW_GPS
@@ -333,32 +373,35 @@ void MspOsd::Run()
 		sensor_gps_s vehicle_gps_position{};
 		_vehicle_gps_position_sub.copy(&vehicle_gps_position);

-		airspeed_validated_s airspeed_validated{};
-		_airspeed_validated_sub.copy(&airspeed_validated);
+		if (enabled(SymbolIndex::GPS_LAT)) {
+			const auto msg = msp_osd::construct_rendor_GPS_LAT(vehicle_gps_position);
+			this->Send(MSP_CMD_DISPLAYPORT, &msg, sizeof(msp_rendor_latitude_t));
+		}

-		const auto msg = msp_osd::construct_RAW_GPS(
-					 vehicle_gps_position,
-					 airspeed_validated);
-		this->Send(MSP_RAW_GPS, &msg);
+		if (enabled(SymbolIndex::GPS_LON)) {
+			const auto msg = msp_osd::construct_rendor_GPS_LON(vehicle_gps_position);
+			this->Send(MSP_CMD_DISPLAYPORT, &msg, sizeof(msp_rendor_longitude_t));
+		}
+
+		if (enabled(SymbolIndex::GPS_SATS)) {
+			const auto msg = msp_osd::construct_rendor_GPS_NUM(vehicle_gps_position);
+			this->Send(MSP_CMD_DISPLAYPORT, &msg, sizeof(msp_rendor_satellites_used_t));
+		}
 	}

 	// MSP_COMP_GPS
 	{
-		// update heartbeat
-		_heartbeat = !_heartbeat;
-
 		home_position_s home_position{};
 		_home_position_sub.copy(&home_position);

 		vehicle_global_position_s vehicle_global_position{};
 		_vehicle_global_position_sub.copy(&vehicle_global_position);

-		// construct and send message
-		const auto msg = msp_osd::construct_COMP_GPS(
-					 home_position,
-					 vehicle_global_position,
-					 _heartbeat);
-		this->Send(MSP_COMP_GPS, &msg);
+		if (enabled(SymbolIndex::HOME_DIST)) {
+			const auto msg =  msp_osd::construct_rendor_distanceToHome(home_position, vehicle_global_position);
+
+			this->Send(MSP_CMD_DISPLAYPORT, &msg, sizeof(msp_rendor_distanceToHome_t));
+		}
 	}

 	// MSP_ATTITUDE
@@ -366,10 +409,17 @@ void MspOsd::Run()
 		vehicle_attitude_s vehicle_attitude{};
 		_vehicle_attitude_sub.copy(&vehicle_attitude);

-		const auto msg = msp_osd::construct_ATTITUDE(vehicle_attitude);
-		this->Send(MSP_ATTITUDE, &msg);
+		{
+			const auto msg = msp_osd::construct_rendor_PITCH(vehicle_attitude);
+			this->Send(MSP_CMD_DISPLAYPORT, &msg, sizeof(msp_rendor_pitch_t));
+		}
+		{
+			const auto msg = msp_osd::construct_rendor_ROLL(vehicle_attitude);
+			this->Send(MSP_CMD_DISPLAYPORT, &msg, sizeof(msp_rendor_roll_t));
+		}
 	}

+
 	// MSP_ALTITUDE
 	{
 		sensor_gps_s vehicle_gps_position{};
@@ -378,19 +428,45 @@ void MspOsd::Run()
 		vehicle_local_position_s vehicle_local_position{};
 		_vehicle_local_position_sub.copy(&vehicle_local_position);

-		// construct and send message
-		const auto msg = msp_osd::construct_ALTITUDE(vehicle_gps_position, vehicle_local_position);
-		this->Send(MSP_ALTITUDE, &msg);
+		if (enabled(SymbolIndex::ALTITUDE)) {
+			const auto msg = msp_osd::construct_Rendor_ALTITUDE(vehicle_gps_position, vehicle_local_position);
+
+			this->Send(MSP_CMD_DISPLAYPORT, &msg, sizeof(msp_altitude_t));
+		}
 	}

 	// MSP_MOTOR_TELEMETRY
 	{
-		const auto msg = msp_osd::construct_ESC_SENSOR_DATA();
-		this->Send(MSP_ESC_SENSOR_DATA, &msg);
+
 	}

-	// send full configuration
-	SendConfig();
+	// MSP_RC
+	{
+		if (_param_osd_rc_stick.get() == 1) {
+			vehicle_status_s vehicle_status{};
+			_vehicle_status_sub.copy(&vehicle_status);
+
+			if (vehicle_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
+				input_rc_s input_rc{};
+				_input_rc_sub.copy(&input_rc);
+				const auto msg = msp_osd::construct_MSP_RC(input_rc);
+				this->Send(MSP_RC, &msg, sizeof(msp_rc_t));
+			}
+		}
+
+	}
+
+	// MSP_STATUS
+	{
+		vehicle_status_s vehicle_status{};
+		_vehicle_status_sub.copy(&vehicle_status);
+
+		const auto msg = msp_osd::construct_MSP_STATUS(vehicle_status);
+		this->Send(MSP_STATUS, &msg, sizeof(msp_status_t));
+	}
+
+	subcmd = MSP_DP_DRAW_SCREEN;
+	this->Send(MSP_CMD_DISPLAYPORT, &subcmd, 1);
 }

 void MspOsd::Send(const unsigned int message_type, const void *payload)
@@ -402,6 +478,67 @@ void MspOsd::Send(const unsigned int message_type, const void *payload)
 		_performance_data.unsuccessful_sends++;
 	}
 }
+void MspOsd::Send(const unsigned int message_type, const void *payload, int32_t payload_size)
+{
+	if (_msp.Send(message_type, payload, payload_size)) {
+		_performance_data.successful_sends++;
+
+	} else {
+		_performance_data.unsuccessful_sends++;
+	}
+}
+
+void MspOsd::Receive()
+{
+	uint8_t packet[255];
+	uint8_t message_id;
+	int ret;
+
+	while ((ret = _msp.Receive(packet, &message_id)) != -EWOULDBLOCK) {
+		if (ret >= 0) {
+			switch (message_id) {
+
+			case MSP_SET_VTX_CONFIG: {
+					if (ret == 0xF) {
+						memcpy((void *)&vtx_config, packet, sizeof(vtx_config));
+						has_vtx_config = true;
+					}
+
+					break;
+				}
+
+			case MSP_SET_VTXTABLE_BAND: {
+					msp_set_vtxtable_band_t *band_info = (msp_set_vtxtable_band_t *)&packet[0];
+
+					// Only supported fixed name lenght and < 8 channels for now
+					if (band_info->band <= BAND_COUNT && band_info->band_name_length == 8 && band_info->channel_count <= 8) {
+						memcpy((void *)&vtx_bands[band_info->band - 1], packet, sizeof(msp_set_vtxtable_band_t));
+
+						if (has_vtx_config && band_info->band == vtx_config.band_count) {
+							has_vtx_bands = true;
+						}
+					}
+
+					break;
+				}
+
+			case MSP_SET_VTXTABLE_POWERLEVEL: {
+					if ((packet[0] - 1) < POWER_LEVEL_COUNT) {
+						memcpy((void *)&power_levels[packet[0] - 1], packet, sizeof(msp_set_vtxtable_powerlevel_t));
+						has_power_config = true;
+					}
+
+					break;
+				}
+
+			default:
+				break;
+
+			}
+		}
+	}
+
+}

 void MspOsd::parameters_update()
 {
@@ -483,11 +620,102 @@ int MspOsd::print_status()
 	_display.get(msg, hrt_absolute_time());
 	PX4_INFO("Current message: \n\t%s", msg);

+	if (has_vtx_config) {
+		PX4_INFO("=== VTX Configuration ===");
+
+		if (has_vtx_bands) {
+			PX4_INFO("Channel: %c%u", vtx_bands[vtx_config.user_band - 1].band_letter, vtx_config.user_channel);
+
+		} else {
+			PX4_INFO("Band: %u", vtx_config.user_band);
+			PX4_INFO("Channel: %u", vtx_config.user_channel);
+		}
+
+		PX4_INFO("Frequency: %u MHz", vtx_config.user_freq);
+
+		if (has_power_config && (vtx_config.power_level - 1) < POWER_LEVEL_COUNT) {
+			PX4_INFO("Transmit power: %.*s mW", power_levels[vtx_config.power_level - 1].power_label_length,
+				 power_levels[vtx_config.power_level - 1].power_label_name);
+
+		} else {
+			PX4_INFO("Power Level: %u/%u", vtx_config.power_level,  vtx_config.power_count);
+
+		}
+
+		PX4_INFO("PIT Mode: %s", vtx_config.pit_mode ? "On" : "Off");
+
+		const char *disarm_modes[] = {
+			"Off",
+			"Always",
+			"Until First Arm"
+		};
+
+		if (vtx_config.low_power_disarm < 3) {
+			PX4_INFO("Low Power Disarm: %s", disarm_modes[vtx_config.low_power_disarm]);
+
+		} else {
+			PX4_INFO("Low Power Disarm: Unknown (%u)", vtx_config.low_power_disarm);
+		}
+
+		PX4_INFO("PIT Frequency: %u MHz", vtx_config.pit_freq);
+
+	} else {
+		PX4_INFO("No VTX Configuration available, can't do channel switching");
+	}
+
 	return 0;
 }

+int MspOsd::set_channel(char *new_channel)
+{
+	char band_letter = toupper(new_channel[0]);
+
+	if (!has_vtx_bands) {
+		return -2;
+	}
+
+	for (int i = 0; i < BAND_COUNT; i++) {
+		if (vtx_bands[i].band != 0) {
+			if (band_letter == toupper(vtx_bands[i].band_letter)) {
+				int channel = atoi(&new_channel[1]);
+
+				if (channel > 0 && channel <= vtx_config.channel_count && vtx_bands[i].frequency[channel - 1] != 0) {
+					vtx_config.user_band = vtx_bands[i].band;
+					vtx_config.user_channel = channel;
+					vtx_config.user_freq = vtx_bands[i].frequency[channel - 1];
+					change_channel = true;
+					return 0;
+				}
+
+			}
+		}
+	}
+
+	return -1;
+}
+
 int MspOsd::custom_command(int argc, char *argv[])
 {
+	if (argc > 0 && strcmp("channel", argv[0]) == 0) {
+		if (argc == 1) {
+			PX4_INFO("Please provide a channel");
+
+		} else if (is_running() && _object.load()) {
+			MspOsd *object = _object.load();
+			int ret = object->set_channel(argv[1]);
+
+			if (ret == -1) {
+				PX4_INFO("Channel not found");
+
+			} else if (ret == -2) {
+				PX4_INFO("No VTX Channel table available");
+			}
+
+		} else {
+			PX4_INFO("not running");
+		}
+	}
+
 	return 0;
 }

@@ -513,6 +741,7 @@ $ msp_osd

 	PRINT_MODULE_USAGE_NAME("msp_osd", "driver");
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+	PRINT_MODULE_USAGE_COMMAND_DESCR("channel", "Change VTX channel");

 	return 0;
 }
@@ -64,6 +64,9 @@ using namespace time_literals;
 // location to "hide" unused display elements
 #define LOCATION_HIDDEN 234;

+#define POWER_LEVEL_COUNT 5
+#define BAND_COUNT 7
+
 struct PerformanceData {
 	bool initialization_problems{false};
 	long unsigned int successful_sends{0};
@@ -118,11 +121,17 @@ public:
 	/** @see ModuleBase::print_status() */
 	int print_status() override;

+	int set_channel(char *new_channel);
+
 private:
 	void Run() override;

 	// update a single display element in the display
 	void Send(const unsigned int message_type, const void *payload);
+	void Send(const unsigned int message_type, const void *payload, int32_t payload_size);
+
+	// receive vtx data
+	void Receive();

 	// send full configuration to MSP (triggers the actual update)
 	void SendConfig();
@@ -165,10 +174,19 @@ private:
 		(ParamInt<px4::params::OSD_CH_HEIGHT>) _param_osd_ch_height,
 		(ParamInt<px4::params::OSD_SCROLL_RATE>) _param_osd_scroll_rate,
 		(ParamInt<px4::params::OSD_DWELL_TIME>) _param_osd_dwell_time,
-		(ParamInt<px4::params::OSD_LOG_LEVEL>) _param_osd_log_level
+		(ParamInt<px4::params::OSD_LOG_LEVEL>) _param_osd_log_level,
+		(ParamInt<px4::params::OSD_RC_STICK>) _param_osd_rc_stick
 	)

 	// metadata
 	char _device[64] {};
 	PerformanceData _performance_data{};
+
+	msp_set_vtx_config_t vtx_config;
+	msp_set_vtxtable_powerlevel_t power_levels[POWER_LEVEL_COUNT];
+	msp_set_vtxtable_band_t vtx_bands[BAND_COUNT] {};
+	bool has_vtx_config {false};
+	bool has_power_config {false};
+	bool has_vtx_bands {false};
+	bool change_channel {false};
 };
@@ -51,6 +51,16 @@ using namespace time_literals;

 namespace msp_osd
 {
+typedef enum {
+	MSP_DP_HEARTBEAT = 0,         // Release the display after clearing and updating
+	MSP_DP_RELEASE = 1,         // Release the display after clearing and updating
+	MSP_DP_CLEAR_SCREEN = 2,    // Clear the display
+	MSP_DP_WRITE_STRING = 3,    // Write a string at given coordinates
+	MSP_DP_DRAW_SCREEN = 4,     // Trigger a screen draw
+	MSP_DP_OPTIONS = 5,         // Not used by Betaflight. Reserved by Ardupilot and INAV
+	MSP_DP_SYS = 6,             // Display system element displayportSystemElement_e at given coordinates
+	MSP_DP_COUNT,
+} displayportMspSubCommand;

 msp_name_t construct_display_message(const vehicle_status_s &vehicle_status,
 				     const vehicle_attitude_s &vehicle_attitude,
@@ -198,6 +208,18 @@ msp_analog_t construct_ANALOG(const battery_status_s &battery_status, const inpu
 	return analog;
 }

+msp_rendor_rssi_t construct_rendor_RSSI(const input_rc_s &input_rc)
+{
+	msp_rendor_rssi_t rssi;
+	rssi.screenYPosition = 0x02;
+	rssi.screenXPosition = 0x02;
+
+	snprintf(&rssi.str[0], sizeof(rssi.str), "%3d", input_rc.link_quality);
+	rssi.str[3] = '%';
+
+	return rssi;
+}
+
 msp_battery_state_t construct_BATTERY_STATE(const battery_status_s &battery_status)
 {
 	// initialize result
@@ -222,6 +244,36 @@ msp_battery_state_t construct_BATTERY_STATE(const battery_status_s &battery_stat
 	return battery_state;
 }

+msp_rendor_battery_state_t construct_rendor_BATTERY_STATE(const battery_status_s &battery_status)
+{
+	// initialize result
+	msp_rendor_battery_state_t battery_state = {0};
+
+	battery_state.subCommand = MSP_DP_WRITE_STRING; // 3 write string. fixed
+	battery_state.screenYPosition = 0x04;
+	battery_state.screenXPosition = 0x02;
+	battery_state.iconAttrs = 0x00;
+
+	float sigle_cell_v = battery_status.voltage_v / battery_status.cell_count;
+
+	if (sigle_cell_v > 4.0f) {
+		battery_state.iconIndex = 0x91; // Full battery Icon
+
+	} else if ((sigle_cell_v <= 4.0f) && (sigle_cell_v > 3.5f)) {
+		battery_state.iconIndex = 0x93; // Half battery Icon
+
+	} else if ((sigle_cell_v <= 3.5f) && (sigle_cell_v > 3.2f)) {
+		battery_state.iconIndex = 0x95; // Empty battery Icon
+
+	} else {
+		battery_state.iconIndex = 0x96; // Dead battery Icon
+	}
+
+	snprintf(&battery_state.str[0], sizeof(battery_state.str), "%.1fV", (double)sigle_cell_v);
+	return battery_state;
+}
+
+
 msp_raw_gps_t construct_RAW_GPS(const sensor_gps_s &vehicle_gps_position,
 				const airspeed_validated_s &airspeed_validated)
 {
@@ -279,6 +331,54 @@ msp_raw_gps_t construct_RAW_GPS(const sensor_gps_s &vehicle_gps_position,
 	return raw_gps;
 }

+msp_rendor_latitude_t construct_rendor_GPS_LAT(const sensor_gps_s &vehicle_gps_position)
+{
+	msp_rendor_latitude_t lat;
+
+	lat.screenYPosition = 0x0A;
+	lat.screenXPosition = 0x29;
+
+	if (vehicle_gps_position.fix_type >= 2) {
+		snprintf(&lat.str[0], sizeof(lat.str), "%.6f", vehicle_gps_position.latitude_deg);
+
+	} else {
+		snprintf(&lat.str[0], sizeof(lat.str), "%.6f", 0.0);
+	}
+
+	return lat;
+}
+
+msp_rendor_longitude_t construct_rendor_GPS_LON(const sensor_gps_s &vehicle_gps_position)
+{
+	msp_rendor_longitude_t lon;
+
+	lon.screenYPosition = 0x09;
+	lon.screenXPosition = 0x29;
+
+	if (vehicle_gps_position.fix_type >= 2) {
+		snprintf(&lon.str[0], sizeof(lon.str), "%.6f", vehicle_gps_position.longitude_deg);
+
+	} else {
+		snprintf(&lon.str[0], sizeof(lon.str), "%.6f", -0.0);
+	}
+
+	return lon;
+}
+
+msp_rendor_satellites_used_t construct_rendor_GPS_NUM(const sensor_gps_s &vehicle_gps_position)
+{
+	msp_rendor_satellites_used_t num;
+
+	num.screenYPosition = 0x08;
+	num.screenXPosition = 0x29;
+
+	memset(&num.str[0], 0, sizeof(num.str));
+	snprintf(&num.str[0], sizeof(num.str), "%d", vehicle_gps_position.satellites_used);
+
+	return num;
+}
+
+
 msp_comp_gps_t construct_COMP_GPS(const home_position_s &home_position,
 				  const vehicle_global_position_s &vehicle_global_position,
 				  const bool heartbeat)
@@ -315,6 +415,34 @@ msp_comp_gps_t construct_COMP_GPS(const home_position_s &home_position,
 	return comp_gps;
 }

+msp_rendor_distanceToHome_t construct_rendor_distanceToHome(const home_position_s &home_position,
+		const vehicle_global_position_s &vehicle_global_position)
+{
+	msp_rendor_distanceToHome_t distance;
+
+	distance.screenYPosition = 0x08;
+	distance.screenXPosition = 0x02;
+
+	int16_t dist_i = 0;
+
+	if (home_position.valid_hpos
+	    && home_position.valid_lpos
+	    && (hrt_elapsed_time(&vehicle_global_position.timestamp) < 1_s)) {
+
+		float distance_to_home = get_distance_to_next_waypoint(vehicle_global_position.lat,
+					 vehicle_global_position.lon,
+					 home_position.lat, home_position.lon);
+
+		dist_i = (int16_t)distance_to_home; // meters
+
+	}
+
+	memset(&distance.str[0], 0, sizeof(distance.str));
+	snprintf(&distance.str[0], sizeof(distance.str), "%d", dist_i); // 65536
+
+	return distance;
+}
+
 msp_attitude_t construct_ATTITUDE(const vehicle_attitude_s &vehicle_attitude)
 {
 	// initialize results
@@ -339,6 +467,45 @@ msp_attitude_t construct_ATTITUDE(const vehicle_attitude_s &vehicle_attitude)
 	return attitude;
 }

+msp_rendor_pitch_t  construct_rendor_PITCH(const vehicle_attitude_s &vehicle_attitude)
+{
+	// initialize results
+	msp_rendor_pitch_t pit;
+
+	pit.screenYPosition = 0x0D;
+	pit.screenXPosition = 0x29;
+
+	// convert from quaternion to RPY
+	matrix::Eulerf euler_attitude(matrix::Quatf(vehicle_attitude.q));
+	double pitch_deg = (double)math::degrees(euler_attitude.theta());
+	// attitude.roll = math::degrees(euler_attitude.phi()) * 10;
+
+	memset(&pit.str[0], 0, sizeof(pit.str));
+	snprintf(&pit.str[0], sizeof(pit.str), "%.1f", pitch_deg);
+
+	return pit;
+}
+
+msp_rendor_roll_t  construct_rendor_ROLL(const vehicle_attitude_s &vehicle_attitude)
+{
+	// initialize results
+	msp_rendor_roll_t roll;
+
+	roll.screenYPosition = 0x0E;
+	roll.screenXPosition = 0x29;
+
+	// convert from quaternion to RPY
+	matrix::Eulerf euler_attitude(matrix::Quatf(vehicle_attitude.q));
+	// double pitch = (double)math::degrees(euler_attitude.theta());
+	double roll_deg = (double)math::degrees(euler_attitude.phi());
+
+	memset(&roll.str[0], 0, sizeof(roll.str));
+	snprintf(&roll.str[0], sizeof(roll.str), "%.1f", roll_deg);
+
+	return roll;
+}
+
+
 msp_altitude_t construct_ALTITUDE(const sensor_gps_s &vehicle_gps_position,
 				  const vehicle_local_position_s &vehicle_local_position)
 {
@@ -362,6 +529,29 @@ msp_altitude_t construct_ALTITUDE(const sensor_gps_s &vehicle_gps_position,
 	return altitude;
 }

+msp_rendor_altitude_t construct_Rendor_ALTITUDE(const sensor_gps_s &vehicle_gps_position,
+		const vehicle_local_position_s &vehicle_local_position)
+{
+	msp_rendor_altitude_t altitude;
+
+	altitude.screenYPosition = 0x06;
+	altitude.screenXPosition = 0x02;
+
+	double alt;
+
+	if (vehicle_gps_position.fix_type >= 2) {
+		alt = vehicle_gps_position.altitude_msl_m;
+
+	} else {
+		alt = (double)(vehicle_local_position.z * -1.0f);
+	}
+
+	memset(&altitude.str[0], 0, sizeof(altitude.str));
+	snprintf(&altitude.str[0], sizeof(altitude.str), "%.1f", alt);
+
+	return altitude;
+}
+
 msp_esc_sensor_data_dji_t construct_ESC_SENSOR_DATA()
 {
 	// initialize result
@@ -373,4 +563,30 @@ msp_esc_sensor_data_dji_t construct_ESC_SENSOR_DATA()
 	return esc_sensor_data;
 }

+msp_rc_t construct_MSP_RC(const input_rc_s &input_rc)
+{
+	// initialize result
+	msp_rc_t rc;
+
+	rc.channelValue[0] = input_rc.values[0]; // roll
+	rc.channelValue[1] = input_rc.values[1]; // pitch
+	rc.channelValue[2] = input_rc.values[3]; // yaw
+	rc.channelValue[3] = input_rc.values[2]; // Throttle
+	return rc;
+}
+
+msp_status_t construct_MSP_STATUS(const vehicle_status_s &vehicle_status)
+{
+	// initialize result
+	msp_status_t status{0};
+
+	if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
+		status.flightModeFlags |= (1 << MSP_MODE_ARM);
+	}
+
+	return status;
+}
+
+
+
 } // namespace msp_osd
@@ -84,9 +84,13 @@ msp_status_BF_t construct_STATUS(const vehicle_status_s &vehicle_status);
 // construct an MSP_ANALOG struct
 msp_analog_t construct_ANALOG(const battery_status_s &battery_status, const input_rc_s &input_rc);

+msp_rendor_rssi_t construct_rendor_RSSI(const input_rc_s &input_rc);
+
 // construct an MSP_BATTERY_STATE struct
 msp_battery_state_t construct_BATTERY_STATE(const battery_status_s &battery_status);

+msp_rendor_battery_state_t construct_rendor_BATTERY_STATE(const battery_status_s &battery_status);
+
 // construct an MSP_RAW_GPS struct
 msp_raw_gps_t construct_RAW_GPS(const sensor_gps_s &vehicle_gps_position,
 				const airspeed_validated_s &airspeed_validated);
@@ -96,14 +100,36 @@ msp_comp_gps_t construct_COMP_GPS(const home_position_s &home_position,
 				  const vehicle_global_position_s &vehicle_global_position,
 				  const bool heartbeat);

+msp_rendor_latitude_t construct_rendor_GPS_LAT(const sensor_gps_s &vehicle_gps_position);
+
+msp_rendor_longitude_t construct_rendor_GPS_LON(const sensor_gps_s &vehicle_gps_position);
+
+msp_rendor_satellites_used_t construct_rendor_GPS_NUM(const sensor_gps_s &vehicle_gps_position);
+
 // construct an MSP_ATTITUDE struct
 msp_attitude_t construct_ATTITUDE(const vehicle_attitude_s &vehicle_attitude);

+msp_rendor_pitch_t  construct_rendor_PITCH(const vehicle_attitude_s &vehicle_attitude);
+
+msp_rendor_roll_t  construct_rendor_ROLL(const vehicle_attitude_s &vehicle_attitude);
+
 // construct an MSP_ALTITUDE struct
 msp_altitude_t construct_ALTITUDE(const sensor_gps_s &vehicle_gps_position,
 				  const vehicle_local_position_s &vehicle_local_position);

+msp_rendor_altitude_t construct_Rendor_ALTITUDE(const sensor_gps_s &vehicle_gps_position,
+		const vehicle_local_position_s &vehicle_local_position);
+
+msp_rendor_distanceToHome_t construct_rendor_distanceToHome(const home_position_s &home_position,
+		const vehicle_global_position_s &vehicle_global_position);
+
 // construct an MSP_ESC_SENSOR_DATA struct
 msp_esc_sensor_data_dji_t construct_ESC_SENSOR_DATA();

+// construct an MSP_RC struct
+msp_rc_t construct_MSP_RC(const input_rc_s &input_rc);
+
+// construct an MSP_STATUS struct
+msp_status_t construct_MSP_STATUS(const vehicle_status_s &vehicle_status);
+
 } // namespace msp_osd
@@ -50,6 +50,7 @@ PARAM_DEFINE_INT32(SENS_EN_INA226, 0);
 * @max 65535
 * @decimal 1
 * @increment 1
+ * @reboot_required true
 */
 PARAM_DEFINE_INT32(INA226_CONFIG, 18139);

@@ -61,6 +62,7 @@ PARAM_DEFINE_INT32(INA226_CONFIG, 18139);
 * @max 200.0
 * @decimal 2
 * @increment 0.1
+ * @reboot_required true
 */
 PARAM_DEFINE_FLOAT(INA226_CURRENT, 164.0f);

@@ -72,5 +74,6 @@ PARAM_DEFINE_FLOAT(INA226_CURRENT, 164.0f);
 * @max 0.1
 * @decimal 10
 * @increment .000000001
+ * @reboot_required true
 */
 PARAM_DEFINE_FLOAT(INA226_SHUNT, 0.0005f);
@@ -59,8 +59,6 @@ INA228::INA228(const I2CSPIDriverConfig &config, int battery_index) :
 		_max_current = fvalue;
 	}

-	_range = _max_current > (MAX_CURRENT - 1.0f) ? INA228_ADCRANGE_HIGH : INA228_ADCRANGE_LOW;
-
 	fvalue = INA228_SHUNT;
 	_rshunt = fvalue;
 	ph = param_find("INA228_SHUNT");
@@ -69,6 +67,21 @@ INA228::INA228(const I2CSPIDriverConfig &config, int battery_index) :
 		_rshunt = fvalue;
 	}

+	// According to page 8.2.2.1, page 36/48 of the INA228 interface datasheet (Rev. A),
+	// the requirement is: R_SHUNT < V_SENSE_MAX / I_MAX
+	// therefore: R_SHUNT * I_MAX < V_SENSE_MAX
+	// and so if V_SENSE_MAX is bigger, we need to use the bigger ADC range to avoid
+	// the device from capping the measured current.
+
+	const float v_sense_max = _rshunt * _max_current;
+
+	if (v_sense_max > INA228_ADCRANGE_LOW_V_SENSE) {
+		_range = INA228_ADCRANGE_HIGH;
+
+	} else {
+		_range = INA228_ADCRANGE_LOW;
+	}
+
 	ph = param_find("INA228_CONFIG");
 	int32_t value = INA228_ADCCONFIG;
 	_config = (uint16_t)value;
@@ -293,6 +293,8 @@ using namespace time_literals;
 #define INA228_VSCALE                        1.95e-04f  /* LSB of voltage is 195.3125 uV/LSB */
 #define INA228_TSCALE                        7.8125e-03f /* LSB of temperature is 7.8125 mDegC/LSB */

+#define INA228_ADCRANGE_LOW_V_SENSE          0.04096f // ± 40.96 mV
+
 #define swap16(w)                            __builtin_bswap16((w))
 #define swap32(d)                            __builtin_bswap32((d))
 #define swap64(q)                            __builtin_bswap64((q))
@@ -50,6 +50,7 @@ PARAM_DEFINE_INT32(SENS_EN_INA228, 0);
 * @max 65535
 * @decimal 1
 * @increment 1
+ * @reboot_required true
 */
 PARAM_DEFINE_INT32(INA228_CONFIG, 63779);

@@ -61,6 +62,7 @@ PARAM_DEFINE_INT32(INA228_CONFIG, 63779);
 * @max 327.68
 * @decimal 2
 * @increment 0.1
+ * @reboot_required true
 */
 PARAM_DEFINE_FLOAT(INA228_CURRENT, 327.68f);

@@ -72,5 +74,6 @@ PARAM_DEFINE_FLOAT(INA228_CURRENT, 327.68f);
 * @max 0.1
 * @decimal 10
 * @increment .000000001
+ * @reboot_required true
 */
 PARAM_DEFINE_FLOAT(INA228_SHUNT, 0.0005f);
@@ -55,8 +55,6 @@ INA238::INA238(const I2CSPIDriverConfig &config, int battery_index) :
 		_max_current = fvalue;
 	}

-	_range = _max_current > (DEFAULT_MAX_CURRENT - 1.0f) ? INA238_ADCRANGE_HIGH : INA238_ADCRANGE_LOW;
-
 	fvalue = DEFAULT_SHUNT;
 	_rshunt = fvalue;
 	ph = param_find("INA238_SHUNT");
@@ -65,6 +63,21 @@ INA238::INA238(const I2CSPIDriverConfig &config, int battery_index) :
 		_rshunt = fvalue;
 	}

+	// According to page 8.2.2.1, page 33/48 of the INA238 interface datasheet (Rev. A),
+	// the requirement is: R_SHUNT < V_SENSE_MAX / I_MAX
+	// therefore: R_SHUNT * I_MAX < V_SENSE_MAX
+	// and so if V_SENSE_MAX is bigger, we need to use the bigger ADC range to avoid
+	// the device from capping the measured current.
+
+	const float v_sense_max = _rshunt * _max_current;
+
+	if (v_sense_max > INA238_ADCRANGE_LOW_V_SENSE) {
+		_range = INA238_ADCRANGE_HIGH;
+
+	} else {
+		_range = INA238_ADCRANGE_LOW;
+	}
+
 	_current_lsb = _max_current / INA238_DN_MAX;
 	_shunt_calibration = static_cast<uint16_t>(INA238_CONST * _current_lsb * _rshunt);

@@ -124,7 +137,15 @@ int INA238::init()
 		return ret;
 	}

-	return Reset();
+	ret = Reset();
+
+	if (ret) {
+		return ret;
+	}
+
+	start();
+
+	return 0;
 }

 int INA238::force_init()
@@ -75,6 +75,8 @@ using namespace ina238;
 #define INA238_VSCALE                        3.125e-03f  /* LSB of voltage is 3.1255 mV/LSB */
 #define INA238_TSCALE                        7.8125e-03f /* LSB of temperature is 7.8125 mDegC/LSB */

+#define INA238_ADCRANGE_LOW_V_SENSE          0.04096f // ± 40.96 mV
+
 #define DEFAULT_MAX_CURRENT                  327.68f    /* Amps */
 #define DEFAULT_SHUNT                        0.0003f   /* Shunt is 300 uOhm */

@@ -50,6 +50,7 @@ PARAM_DEFINE_INT32(SENS_EN_INA238, 0);
 * @max 327.68
 * @decimal 2
 * @increment 0.1
+ * @reboot_required true
 */
 PARAM_DEFINE_FLOAT(INA238_CURRENT, 327.68f);

@@ -61,5 +62,6 @@ PARAM_DEFINE_FLOAT(INA238_CURRENT, 327.68f);
 * @max 0.1
 * @decimal 10
 * @increment .000000001
+ * @reboot_required true
 */
 PARAM_DEFINE_FLOAT(INA238_SHUNT, 0.0003f);
@@ -108,6 +108,18 @@ RCInput::init()
 #ifdef GPIO_PPM_IN
 	// disable CPPM input by mapping it away from the timer capture input
 	px4_arch_unconfiggpio(GPIO_PPM_IN);
+
+#ifdef RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX
+
+	// If we use the same STM32 pin for PPM input as well as serial input, we
+	// need to configure the serial port, as long as we're actually using that
+	// serial device.
+	if (strcmp(_device, RC_SERIAL_PORT) == 0) {
+		px4_arch_configgpio(RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX);
+	}
+
+#endif // RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX
+
 #endif // GPIO_PPM_IN

 	rc_io_invert(false);
@@ -661,6 +673,15 @@ void RCInput::Run()
 #ifdef HRT_PPM_CHANNEL
 			if (_rc_scan_begin == 0) {
 				_rc_scan_begin = cycle_timestamp;
+
+#ifdef RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX
+
+				if (strcmp(_device, RC_SERIAL_PORT) == 0) {
+					px4_arch_unconfiggpio(RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX);
+				}
+
+#endif // RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX
+
 				// Configure timer input pin for CPPM
 				px4_arch_configgpio(GPIO_PPM_IN);

@@ -684,6 +705,15 @@ void RCInput::Run()
 			} else {
 				// disable CPPM input by mapping it away from the timer capture input
 				px4_arch_unconfiggpio(GPIO_PPM_IN);
+
+#ifdef RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX
+
+				if (strcmp(_device, RC_SERIAL_PORT) == 0) {
+					px4_arch_configgpio(RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX);
+				}
+
+#endif // RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX
+
 				// Scan the next protocol
 				set_rc_scan_state(RC_SCAN_CRSF);
 			}
@@ -40,6 +40,7 @@
 #include "esc.hpp"
 #include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
+#include <lib/atmosphere/atmosphere.h>

 #define MOTOR_BIT(x) (1<<(x))

@@ -140,7 +141,7 @@ UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavca
 		ref.esc_address = msg.getSrcNodeID().get();
 		ref.esc_voltage     = msg.voltage;
 		ref.esc_current     = msg.current;
-		ref.esc_temperature = msg.temperature;
+		ref.esc_temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius
 		ref.esc_rpm         = msg.rpm;
 		ref.esc_errorcount  = msg.error_count;

@@ -63,19 +63,13 @@ bool check_battery_disconnected(orb_advert_t *mavlink_log_pub)

 	const bool recent_battery_measurement = hrt_absolute_time() < (battery_status_sub.get().timestamp + 1_s);

-	if (!recent_battery_measurement) {
-		// We have to send this message for now because "battery unavailable" gets ignored by QGC
+	if (recent_battery_measurement && battery_status_sub.get().connected) {
 		calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Disconnect battery and try again");
 		return false;
-	}

-	// Make sure battery is reported to be disconnected
-	if (recent_battery_measurement && !battery_status_sub.get().connected) {
+	} else {
 		return true;
 	}
-
-	calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Disconnect battery and try again");
-	return false;
 }

 static void set_motor_actuators(uORB::Publication<actuator_test_s> &publisher, float value, bool release_control)
@@ -392,3 +392,28 @@ TEST_F(FailsafeTest, skip_failsafe)
 	ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
 	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Warn);
 }
+
+TEST_F(FailsafeTest, user_termination)
+{
+	FailsafeTester failsafe(nullptr);
+
+	failsafe_flags_s failsafe_flags{};
+	FailsafeBase::State state{};
+	state.armed = true;
+	state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
+	state.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
+	hrt_abstime time = 5_s;
+
+	// User intended termination -> failsafe termination
+	uint8_t updated_user_intented_mode = failsafe.update(time, state, false, false, failsafe_flags);
+	EXPECT_EQ(updated_user_intented_mode, state.user_intended_mode);
+	EXPECT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Terminate);
+
+	// Links lost during termination -> stay in termination
+	failsafe_flags.gcs_connection_lost = true;
+	failsafe_flags.manual_control_signal_lost = true;
+
+	updated_user_intented_mode = failsafe.update(time, state, false, false, failsafe_flags);
+	EXPECT_EQ(updated_user_intented_mode, state.user_intended_mode);
+	EXPECT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Terminate);
+}
@@ -437,7 +437,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 	returned_state.updated_user_intended_mode = state.user_intended_mode;
 	returned_state.cause = Cause::Generic;

-	if (_selected_action == Action::Terminate) { // Terminate never clears
+	if (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_TERMINATION
+	    || _selected_action == Action::Terminate) { // Terminate never clears
 		returned_state.action = Action::Terminate;
 		return;
 	}
@@ -95,11 +95,6 @@ ControlAllocator::init()
 		return false;
 	}

-	if (!_vehicle_thrust_setpoint_sub.registerCallback()) {
-		PX4_ERR("callback registration failed");
-		return false;
-	}
-
 #ifndef ENABLE_LOCKSTEP_SCHEDULER // Backup schedule would interfere with lockstep
 	ScheduleDelayed(50_ms);
 #endif
@@ -309,7 +304,6 @@ ControlAllocator::Run()
 {
 	if (should_exit()) {
 		_vehicle_torque_setpoint_sub.unregisterCallback();
-		_vehicle_thrust_setpoint_sub.unregisterCallback();
 		exit_and_cleanup();
 		return;
 	}
@@ -396,15 +390,8 @@ ControlAllocator::Run()

 	}

-	// Also run allocator on thrust setpoint changes if the torque setpoint
-	// has not been updated for more than 5ms
 	if (_vehicle_thrust_setpoint_sub.update(&vehicle_thrust_setpoint)) {
 		_thrust_sp = matrix::Vector3f(vehicle_thrust_setpoint.xyz);
-
-		if (dt > 0.005f) {
-			do_update = true;
-			_timestamp_sample = vehicle_thrust_setpoint.timestamp_sample;
-		}
 	}

 	if (do_update) {
@@ -175,7 +175,7 @@ private:

 	// Inputs
 	uORB::SubscriptionCallbackWorkItem _vehicle_torque_setpoint_sub{this, ORB_ID(vehicle_torque_setpoint)};  /**< vehicle torque setpoint subscription */
-	uORB::SubscriptionCallbackWorkItem _vehicle_thrust_setpoint_sub{this, ORB_ID(vehicle_thrust_setpoint)};	 /**< vehicle thrust setpoint subscription */
+	uORB::Subscription _vehicle_thrust_setpoint_sub{ORB_ID(vehicle_thrust_setpoint)};	 /**< vehicle thrust setpoint subscription */

 	uORB::Subscription _vehicle_torque_setpoint1_sub{ORB_ID(vehicle_torque_setpoint), 1};  /**< vehicle torque setpoint subscription (2. instance) */
 	uORB::Subscription _vehicle_thrust_setpoint1_sub{ORB_ID(vehicle_thrust_setpoint), 1};	 /**< vehicle thrust setpoint subscription (2. instance) */
@@ -606,6 +606,9 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
 			send_ack = true;
 		}

+	} else if (cmd_mavlink.command == MAV_CMD_DO_SET_MODE) {
+		_cmd_pub.publish(vehicle_command);
+
 	} else if (cmd_mavlink.command == MAV_CMD_DO_AUTOTUNE_ENABLE) {

 		bool has_module = true;
@@ -565,14 +565,33 @@ void MulticopterPositionControl::Run()

 			_control.setState(states);

-			// Run position control
-			if (!_control.update(dt)) {
-				// Failsafe
-				_vehicle_constraints = {0, NAN, NAN, false, {}}; // reset constraints
+			const hrt_abstime now = hrt_absolute_time();

-				_control.setInputSetpoint(generateFailsafeSetpoint(vehicle_local_position.timestamp_sample, states, true));
-				_control.setVelocityLimits(_param_mpc_xy_vel_max.get(), _param_mpc_z_vel_max_up.get(), _param_mpc_z_vel_max_dn.get());
-				_control.update(dt);
+			// Run position control
+			if (_control.update(dt)) {
+
+				// Valid control update - store for fallback
+				_last_valid_setpoint = _setpoint;
+
+			} else {
+
+				// Initial update failed - Try fallback if within timeout
+				if (now < _last_valid_setpoint.timestamp + 200_ms) {
+					// Use last valid setpoint
+					adjustSetpointForEKFResets(vehicle_local_position, _last_valid_setpoint);
+					_control.setInputSetpoint(_last_valid_setpoint);
+				}
+
+				// Still failing / not within timeout - Go to failsafe
+				if (!_control.update(dt)) {
+
+					_vehicle_constraints = {0, NAN, NAN, false, {}}; // reset constraints
+
+					_control.setInputSetpoint(generateFailsafeSetpoint(vehicle_local_position.timestamp_sample, states, true));
+					_control.setVelocityLimits(_param_mpc_xy_vel_max.get(), _param_mpc_z_vel_max_up.get(), _param_mpc_z_vel_max_dn.get());
+
+					_control.update(dt);
+				}
 			}

 			// Publish internal position control setpoints
@@ -113,6 +113,7 @@ private:
 	hrt_abstime _time_position_control_enabled{0};

 	trajectory_setpoint_s _setpoint{PositionControl::empty_trajectory_setpoint};
+	trajectory_setpoint_s _last_valid_setpoint{PositionControl::empty_trajectory_setpoint};
 	vehicle_control_mode_s _vehicle_control_mode{};

 	vehicle_constraints_s _vehicle_constraints {
@@ -5,13 +5,6 @@ parameters:
      definitions:

        # Gripper configuration
-        PD_GRIPPER_EN:
-            description:
-                short: Enable Gripper actuation in Payload Deliverer
-            type: boolean
-            default: 0
-            reboot_required: true
-
        PD_GRIPPER_TYPE:
            description:
                short: Type of Gripper (Servo, etc.)
@@ -34,4 +27,4 @@ parameters:
            type: float
            unit: s
            min: 0
-            default: 3
+            default: 1
@@ -54,7 +54,7 @@ bool PayloadDeliverer::init()
 void PayloadDeliverer::configure_gripper()
 {
 	// If gripper instance is invalid, and user enabled the gripper, try initializing it
-	if (!_gripper.is_valid() && _param_gripper_enable.get()) {
+	if (!_gripper.is_valid()) {
 		GripperConfig config{};
 		config.type = (GripperConfig::GripperType)_param_gripper_type.get();
 		config.sensor = GripperConfig::GripperSensorType::NONE; // Feedback sensor isn't supported for now
@@ -104,7 +104,7 @@ private:
 	/**
 	 * @brief Initialize or deinitialize gripper instance based on parameter settings
 	 *
-	 * Depending on `PD_GRIPPER_EN` and the state of `_gripper` instance, this function will
+	 * Depending on the state of `_gripper` instance, this function will
 	 * either try to initialize or de-initialize the gripper appropriately.
 	 */
 	void configure_gripper();
@@ -159,7 +159,6 @@ private:

 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::PD_GRIPPER_TO>)	_param_gripper_timeout_s,
-		(ParamInt<px4::params::PD_GRIPPER_TYPE>)	_param_gripper_type,
-		(ParamBool<px4::params::PD_GRIPPER_EN>)		_param_gripper_enable
+		(ParamInt<px4::params::PD_GRIPPER_TYPE>)	_param_gripper_type
 	)
 };
Author	SHA1	Message	Date
Ramon Roche	6ea3539157	[backport] v1.16 fix gazebo install on ROS integration tests (#25344 ) * ci: update rosdistro apt keys (#25060) Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: use release/1.16 branch for px4-ros2-interface-lib integration tests --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Beat Küng <beat-kueng@gmx.net>	2025-08-05 14:54:48 -08:00
Vasily	7fc5393afc	Update px4-rc.gzsim. Fix gz_world checking for PX4_GZ_STANDALONE=1 mode. Priority of gz_world (really running) over PX4_GZ_WORLD (#25346 )	2025-08-01 01:14:09 -08:00
Mahima Yoga	740521ae08	MC PositionControl: Add timeout for invalid TrajectorySetpoint (#25283 ) (#25341 ) * MulticopterPositionControl: Add timeout before triggering emergency setpoint on invalid TrajectorySetpoint * Apply suggestions from code review * Cleanup & address review comments * Safegaurd against using old setpoint if states aren't valid anymore --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-07-30 10:21:17 -08:00
PX4BuildBot	aa745f2949	[1.16 backport] MAV_CMD_DO_SET_MODE - add support	2025-07-30 13:36:14 +10:00
Jacob Dahl	0294b608d3	[BACKPORT 1.16] ark: fpv: enable PAYLOAD_DELIVERER (#25323 ) * payload deliverer: remove PD_GRIPPER_EN as unnecessary, reduce gripper timeout to 1s * ark: fpv: enable payload deliverer module	2025-07-28 14:13:00 -06:00
Jacob Dahl	2471afd423	payload deliverer: remove PD_GRIPPER_EN as unnecessary, reduce gripper timeout to 1s	2025-07-28 12:08:15 -08:00
Jacob Dahl	aab5ed8e0d	ark: v6x: enable payload deliverer	2025-07-28 12:08:15 -08:00
Jacob Dahl	2902bea299	ark: v6x: encrypted: remove FW and VTOL modules to save flash (#25320 )	2025-07-28 13:46:31 -06:00
Jacob Dahl	171d2c98ef	ark_fpv: flash savings: remove FW and VTOL from encrypted_logs.px4board (#25321 )	2025-07-28 11:45:06 -08:00
Matthias Grob	af99ebce81	commander failsafe: never override user intended termination + unit test	2025-07-28 13:38:57 +02:00
Jacob Dahl	b67c65bfe6	dshot: fix bidirectional dshot stream sharing (#24996 ) Freeing the DMA stream in the hrt callback causes other peripherals on that DMA controller to lock up (namely GPS). Moving the free back into thread context, right before allocation, solves the problem	2025-07-09 12:19:24 -06:00
Jacob Dahl	e3fecd96d5	dshot: fix scaling (#25001 )	2025-07-09 12:19:24 -06:00
Jacob Dahl	f244b4835b	dshot: add perf counter for hrt callback (15us avg) (#24976 )	2025-07-09 12:19:24 -06:00
Jacob Dahl	4858a20dfa	ark_fpv: cleanup board_dma_map.h (#24975 )	2025-07-09 12:19:24 -06:00
Peter van der Perk	0892108546	msp_osd: Add VTX config, stick commands and arming status - Adds MSPv1 rx parsing to fetch VTX config - Allows to inspect and change VTX channel through CLI - Forward MSP_RC for stick commands osd - Forward MSP_STATUS for arming status for PIT and LP mode	2025-06-19 09:26:53 -07:00
Beniamino Pozzan	39fbca1d55	fix (msp_ods): clear buffers before writing and adjust sizes (#24951 ) Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>	2025-06-19 09:26:53 -07:00
Michael Smith	7720af113a	MSP_OSD Update: Add original battery status msg. (#24872 ) Co-authored-by: Michael <mfs3ee@gmail.com>	2025-06-19 09:26:53 -07:00
Li-Tianming	bfc2efeea5	MSP_OSD code changes to support OpenIPC, DJI O3/O4 OSD rendering (#24695 ) * Change MSP_OSD message content and rendering process * Finish MSP_OSD battery message construct * Finish MSP_OSD `display message` construct HOL\|DSAM\|N * Finish MSP_FC_VARIANT(0x02) message BTFL * Finish MSP_OSD RSSI message 📶10% * Finish MSP_OSD GPS message 🛰 10 🌐000.000000 🌐00.000000 * Finish MSP_OSD PITCH ROLL message 🔃-10.5 🔁13.2 * Change struct filed name * Change OSD message postion * Finish MSP_OSD PITCH Altitude message 🔝15.2 * Finish MSP_OSD distanceToHome message 🏠5000 * Add Hide/Show option for ALT and homeDist * Format the code by `make format` * Clean up stray text * Remove other commented out dead code * Change `sprintf()` to `snprintf()` * Add msg field comment in `display_message` construct * Init str buffer to 0, Change refresh rate back to 100ms * Explicit conversion float to double --------- Co-authored-by: Li.Tianming <Li.Tianming@example.com> Co-authored-by: Li.Tianming <Li.Tianming>	2025-06-19 09:26:53 -07:00
Daniel Agar	c7e78c92ee	drivers/magnetometer: remove Vtrantech VCM1193L from common magnetometer set	2025-06-18 12:46:30 -04:00
Julian Oes	d59067021c	boards: save flash for KakuteH7-Wing	2025-06-15 16:23:32 -07:00
Julian Oes	f6de7222d7	boards: set RC serial for KakuteH7-Wing This was missed earlier.	2025-06-15 16:23:32 -07:00
Julian Oes	35725384d6	boards: fixup image size of KakuteH7-Wing We have 1 sector for the bootloader and the last 2 for parameters. That's to match how ArduPilot has it.	2025-06-15 16:23:32 -07:00
Julian Oes	bfcb5ba6ba	vscode: add KakuteH7-Wing	2025-06-15 16:23:32 -07:00
Ramon Roche	e05f7d8d85	ci: fix wildcard branch detection Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-12 13:03:22 -07:00
Beat Küng	a150fc05af	VehicleStatus.msg: restore VEHICLE_TYPE_* indexes This was changed in `7cb6464cfb` and broke flight review (https://github.com/PX4/flight_review/issues/310)	2025-06-11 11:25:17 -04:00
Peter van der Perk	8d14ab980a	[BACKPORT] Update NuttX Fixes RT117X OCRAM M7 memory freeze	2025-06-11 11:23:31 -04:00
Matthias Grob	ea12400ea3	esc_calibration: simplify the logic and consider battery only connected if there's no message timeout and the connected flag is set	2025-06-04 11:27:19 -04:00
Don Gagne	eedd770cbd	Fix reporting of connected battery	2025-06-04 11:27:19 -04:00
Matthias Grob	67cf8d3229	uavcan esc: translate temperature field from Kelvin to Celsius	2025-06-04 11:27:19 -04:00
Silvan	dfeebe5a94	ControlAllocator: only run allocator on torque updates, not thrust Signed-off-by: Silvan <silvan@auterion.com>	2025-06-04 11:25:54 -04:00
Silvan	dc747b2aa3	ControlAllocator: only use torque, not thrust sp as callback item Signed-off-by: Silvan <silvan@auterion.com>	2025-06-04 11:25:54 -04:00
Julian Oes	4363c428bf	holybro: hard-select CAM1 for now I don't think there is an easy way to hook this up to RC input at the moment, so I'm setting it fixed to CAM1 for now.	2025-05-29 06:35:05 +12:00
Julian Oes	7fc1a2a8d6	holybro: fixup Wing system power setup I don't think we have a way to explicitly detect if BAT1 or BAT2 "bricks" are correct, so we have to assume they are, and rely on the voltage/current shown. Additionally, we can now power cycle sensor power.	2025-05-29 06:35:05 +12:00
Julian Oes	661a01f3c2	holybro: match AP flash layout That way the ArduPilot bootloader works with PX4.	2025-05-29 06:35:05 +12:00
Jacob Dahl	1ed406c41d	backport https://github.com/PX4/PX4-Autopilot/pull/24691	2025-05-15 10:51:07 -07:00
Julian Oes	b067113365	ina238: actually run it Without this the driver would not run when started from the i2c_launcher.	2025-05-15 15:49:39 +12:00
Julian Oes	d8323a0887	ina2xx: params require reboot	2025-05-15 15:49:39 +12:00
Julian Oes	c75a5af236	ina228/ina238: correctly set ADC range It turns out that we set the ADC range incorrectly leading to the measured current being capped at a certain level as the ADC on the sensor saturates. Instead, we need to set the range according to the formula given in the interface datasheet.	2025-05-15 15:49:39 +12:00
Ramon Roche	1e4919d252	[Backport v1.16] Support for Kakute H743-Wing (#24804 ) * hrt: Fix PPM input on channel 2 The CCMR1_PPM define for PPM input on channel 2 was incorrectly set to 2, which was setting bits for channel 1 instead of channel 2. This prevented PPM input from functioning properly on channel 2. Changed CCMR1_PPM for channel 2 from 2 to (1 << 8), which correctly configures the CC2S bits for input capture mode on TI2. This fixes an issue noted in the existing code comment: "FIXME! There is an interaction in the CCMR registers that prevents using Chan 1 as the timer and chan 2 as the PPM" Tested on STM32H743 with PPM input on PC7 (TIM8_CH2). * rc_input: enable sharing serial and PPM pin By setting RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX it is now possible to use the same pin on the STM32 for PPM input as well as serial input. * boards: Add support for Holybro KakuteH7-Wing --------- Co-authored-by: Julian Oes <julian@oes.ch>	2025-05-06 12:23:43 +12:00