Merge branch 'main' into purge_protocol_version

Purge PROTOCOL_VERSION
2026-06-12 14:40:05 +08:00 · 2025-12-03 09:08:36 +11:00 · 2025-10-30 16:51:44 +11:00
572 changed files with 5017 additions and 16223 deletions
@@ -1,31 +0,0 @@
---
-applyTo: "docs/en/**"
---
-
-# Review Guidelines docs/en Tree
-
-## File System & Structure
-
- **Naming:** Use `lowercase_with_underscores` for all filenames. No spaces.
- **Hierarchy:** Markdown files must reside exactly in a first-level category folder. 
-  - Valid: `docs/en/category/file.md`
-  - Invalid: `docs/en/category/subcategory/file.md`
- **Text Files:** Any `.txt` or `.text` files must start with an underscore (e.g., `_notes.txt`).
- **Assets:** All images/non-docs must be in `/docs/assets/`. Deep nesting is permitted here.
- **Formats:** Prefer **SVG** for diagrams and **PNG** for screenshots. Flag JPG files.
-
-## Markdown & Style
-
- **Headings:** Use Title Case ("First Letter Capitalisation"). 
-  - The Page Title must be the only H1 (`#`). All others must be `##` or lower.
-  - Do not apply bold or italic styling inside a heading.
- **Formatting:** 
-  - **Bold:** Only for UI elements (buttons, menu items).
-  - **Italics (Emphasis):** For tool names (e.g., *QGroundControl*).
-  - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
- **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
-
-## Quality Control
-
- **Formatting:** Ensure Prettier rules have been applied.
- **Language:** Enforce **UK English** spelling and grammar.
@@ -15,7 +15,7 @@ jobs:
          stale-issue-label: 'stale'
          stale-pr-label: 'stale'
          remove-stale-when-updated: true
-          stale-issue-message: ''
-          close-issue-message: 'This issue has been automatically closed due to 120 days of inactivity. If you believe this is still relevant, please feel free to reopen it or create a new issue.'
-          stale-pr-message: ''
-          close-pr-message: 'This pull request has been automatically closed due to 120 days of inactivity. If you would like to continue, please feel free to reopen it or submit a new PR.'
+          stale-issue-message: 'This issue has been marked as stale due to 90 days of inactivity. If no further activity occurs, it will be automatically closed in 30 days. Please leave a comment, add a reaction, make an update, or remove the stale label if you’d like to keep it open.'
+          close-issue-message: 'This issue has been closed due to prolonged inactivity after being marked as stale. If you believe this was closed in error or the topic is still relevant, please feel free to reopen it or create a new issue.'
+          stale-pr-message: 'This PR was identified as stale and it will be closed in 30 days unless any activity is detected.'
+          close-pr-message: 'This pull request has been closed after being marked as stale with no further activity. Thank you for the time and effort you put into this contribution. If you’d like to continue the discussion or update the work, please feel free to reopen it or submit a new PR.'
@@ -1,62 +0,0 @@
-name: Sync ROS 2 messages to px4_msgs
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    paths:
-      - 'msg/**'
-      - 'srv/**'
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  sync_to_px4_msgs:
-    if: github.repository == 'PX4/PX4-Autopilot'
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    steps:
-      - name: Checkout PX4 repo
-        uses: actions/checkout@v4
-
-      - name: Setup git credentials
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-
-      - name: Clone PX4_msgs repo
-        run: |
-          git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
-
-      - name: Check out the same branch as the PX4 repo
-        run: |
-          cd px4_msgs
-          if git checkout ${{ github.ref_name }}; then
-            echo "Checked out existing branch"
-          else
-            git checkout -b ${{ github.ref_name }}
-          fi
-
-      - name: Copy ROS 2 messages
-        run: |
-          rm -f px4_msgs/msg/*.msg
-          rm -f px4_msgs/msg/versioned/*.msg
-          rm -f px4_msgs/srv/*.srv
-          rm -f px4_msgs/srv/versioned/*.srv
-          cp msg/*.msg px4_msgs/msg/
-          cp msg/versioned/*.msg px4_msgs/msg/ || true
-          cp srv/*.srv px4_msgs/srv/
-          cp srv/versioned/*.srv px4_msgs/srv/ || true
-
-      - name: Commit and push changes
-        run: |
-          cd px4_msgs
-          git status
-          git add .
-          git commit -a -m "Update to PX4 ${{ github.sha }}" || true
-          git push origin ${{ github.ref_name }} || true
-          cd ..
-          rm -rf px4_msgs
@@ -531,13 +531,3 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: svehicle_e2_default
-    x-mav_ap-h743r1_bootloader:
-      short: x-mav_ap-h743r1-boot
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743r1_bootloader
-    x-mav_ap-h743r1_default:
-      short: x-mav_ap-h743r1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743r1_default
@@ -220,6 +220,36 @@ pipeline {
          }
        }

+        stage('PX4 ROS msgs') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean; git clean -ff -x -d .')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
+              // 'main' branch
+              sh('rm -f px4_msgs/msg/*.msg')
+              sh('rm -f px4_msgs/msg/versioned/*.msg')
+              sh('rm -f px4_msgs/srv/*.srv')
+              sh('rm -f px4_msgs/srv/versioned/*.srv')
+              sh('cp msg/*.msg px4_msgs/msg/')
+              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
+              sh('cp srv/*.srv px4_msgs/srv/')
+              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin main || true')
+              sh('rm -rf px4_msgs')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+            }
+          }
+        }
+
        stage('S3') {
          agent {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -18,7 +18,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -16,7 +16,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -7,7 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -11,7 +11,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -9,7 +9,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -12,7 +12,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -25,15 +25,15 @@ parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
                    help='Pretty output instead of a single line')
 parser.add_argument('-g', '--groups', dest='group', action='store_true',
                    help='Groups targets')
-parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of build target name prefixes to include instead of all e.g. "px4_fmu-v5_"')
+parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of board names to use instead of all')

 args = parser.parse_args()
 verbose = args.verbose

-target_filter = []
+board_filter = []
 if args.filter:
-    for target in args.filter.split(','):
-        target_filter.append(target)
+    for board in args.filter.split(','):
+        board_filter.append(board)

 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
 build_configs = []
@@ -144,7 +144,7 @@ for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
                label = files.name[:-9]
                target_name = manufacturer.name + '_' + board.name + '_' + label

-                if target_filter and not any(target_name.startswith(f) for f in target_filter):
+                if board_filter and not board_name in board_filter:
                    if verbose: print(f'excluding board {board_name} ({target_name})')
                    continue

@@ -1675,7 +1675,7 @@ baro_0_x_resample = fit_coef_baro_0_x(temp_rel_resample)
 plt.figure(13,figsize=(20,13))

 # draw plots
-plt.plot(sensor_baro_0['temperature'],sensor_baro_0['pressure']-median_pressure,'b')
+plt.plot(sensor_baro_0['temperature'],100*sensor_baro_0['pressure']-100*median_pressure,'b')
 plt.plot(temp_resample,baro_0_x_resample,'r')
 plt.title('Baro 0 ({}) Bias vs Temperature'.format(baro_0_params['TC_B0_ID']))
 plt.ylabel('Z bias (Pa)')
@@ -1736,7 +1736,7 @@ if num_baros >= 2:
    plt.figure(14,figsize=(20,13))

    # draw plots
-    plt.plot(sensor_baro_1['temperature'],sensor_baro_1['pressure']-median_pressure,'b')
+    plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
    plt.plot(temp_resample,baro_1_x_resample,'r')
    plt.title('Baro 1 ({}) Bias vs Temperature'.format(baro_1_params['TC_B1_ID']))
    plt.ylabel('Z bias (Pa)')
@@ -1797,7 +1797,7 @@ if num_baros >= 3:
    plt.figure(15,figsize=(20,13))

    # draw plots
-    plt.plot(sensor_baro_2['temperature'],sensor_baro_2['pressure']-median_pressure,'b')
+    plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
    plt.plot(temp_resample,baro_2_x_resample,'r')
    plt.title('Baro 2 ({}) Bias vs Temperature'.format(baro_2_params['TC_B2_ID']))
    plt.ylabel('Z bias (Pa)')
@@ -1853,7 +1853,7 @@ if num_baros >= 4:
    plt.figure(16,figsize=(20,13))

    # draw plots
-    plt.plot(sensor_baro_3['temperature'],sensor_baro_3['pressure']-median_pressure,'b')
+    plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b')
    plt.plot(temp_resample,baro_3_x_resample,'r')
    plt.title('Baro 3 ({}) Bias vs Temperature'.format(baro_3_params['TC_B3_ID']))
    plt.ylabel('Z bias (Pa)')
@@ -71,5 +71,6 @@ else()
 			nuttx_arch # sdio
 			nuttx_drivers # sdio
 			px4_layer
+			platform_gpio_mcp23009
 	)
 endif()
@@ -74,6 +74,7 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
+#include <px4_platform/gpio/mcp23009.hpp>

 /****************************************************************************
 * Pre-Processor Definitions
@@ -285,6 +286,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #  endif /* CONFIG_MMCSD */

+	ret = mcp23009_register_gpios(3, 0x25);
+
+	if (ret != OK) {
+		led_on(LED_RED);
+		return ret;
+	}
+
 #endif /* !defined(BOOTLOADER) */

 	return OK;
@@ -35,11 +35,11 @@ CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
 CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
+CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
@@ -97,11 +97,5 @@ bmm150 -I start
 # Internal Baro on I2C
 bmp388 -I start

-# Start an external PWM generator
-if param greater PCA9685_EN_BUS 0
-then
-	pca9685_pwm_out start
-fi
-
 unset HAVE_PM2
 unset HAVE_PM3
@@ -19,17 +19,8 @@ CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
-CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
-CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
-CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
+CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -16,9 +16,3 @@ iis2mdc -R 0 -I -b 4 start

 # Internal Baro on I2C
 bmp388 -I -b 2 start
-
-# Start an external PWM generator
-if param greater PCA9685_EN_BUS 0
-then
-	pca9685_pwm_out start
-fi
@@ -19,7 +19,6 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
@@ -34,9 +34,3 @@ paw3902 -s -b 3 start -Y 90

 # Internal distance sensor
 afbrs50 start
-
-# Start an external PWM generator
-if param greater PCA9685_EN_BUS 0
-then
-	pca9685_pwm_out start
-fi
@@ -26,6 +26,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
@@ -65,6 +66,9 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TIME_PERSISTOR=y
@@ -85,6 +89,7 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -74,5 +74,5 @@ ist8310 -X -b 1 -R 10 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -b 1
 fi
@@ -20,9 +20,9 @@ safety_button start
 if ver hwbasecmp 009 010 011
 then
 	# No USB
-	mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -M 0 -U 10
+	mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -U 10
 fi
 if ver hwbasecmp 00a 008
 then
-	mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -M 0 -U 10
+	mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10
 fi
@@ -86,5 +86,8 @@ fi
 #external baro
 bmp388 -X start

+# Don't try to start external baro on I2C3 as it can conflict with the MS5525DSO airspeed sensor.
+#ms5611 -X start
+
 unset INA_CONFIGURED
 unset HAVE_PM2
@@ -69,6 +69,6 @@ else()
 			nuttx_arch # sdio
 			nuttx_drivers # sdio
 			px4_layer
-			platform_gpio_mcp
+			platform_gpio_mcp23009
 	)
 endif()
@@ -74,6 +74,7 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
+#include <px4_platform/gpio/mcp23009.hpp>

 /****************************************************************************
 * Pre-Processor Definitions
@@ -281,6 +282,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #  endif /* CONFIG_MMCSD */

+	ret = mcp23009_register_gpios(3, 0x25);
+
+	if (ret != OK) {
+		led_on(LED_RED);
+		return ret;
+	}
+
 #endif /* !defined(BOOTLOADER) */

 	return OK;
@@ -11,7 +11,3 @@ param set BAT1_V_DIV 5.7

 # Always keep current config
 param set SYS_AUTOCONFIG 0
-
-# PCA9685 PWM Out defaults
-param set-default PCA9685_EN_BUS 4
-param set-default PCA9685_I2C_ADDR 64
@@ -28,7 +28,7 @@ then
 	echo "ads1115 not found."
 fi

-if ! pca9685_pwm_out start
+if ! pca9685_pwm_out start -a 0x40 -b 4
 then
 	echo "pca9685_pwm_out not found."
 fi
@@ -71,5 +71,6 @@ else()
 			nuttx_arch # sdio
 			nuttx_drivers # sdio
 			px4_layer
+			platform_gpio_mcp23009
 	)
 endif()
@@ -74,6 +74,7 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
+#include <px4_platform/gpio/mcp23009.hpp>

 /****************************************************************************
 * Pre-Processor Definitions
@@ -285,6 +286,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #  endif /* CONFIG_MMCSD */

+	ret = mcp23009_register_gpios(3, 0x25);
+
+	if (ret != OK) {
+		led_on(LED_RED);
+		return ret;
+	}
+
 #endif /* !defined(BOOTLOADER) */

 	return OK;
@@ -13,7 +13,7 @@ CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/narinfc/h7/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_BOARD_CUSTOM_NAME="PX4 NarinFC-H7"
 CONFIG_ARCH_CHIP="stm32h7"
 CONFIG_ARCH_CHIP_STM32H743XI=y
 CONFIG_ARCH_CHIP_STM32H7=y
@@ -31,11 +31,11 @@ CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0047
-CONFIG_CDCACM_PRODUCTSTR="PX4 BL VOLOLAND NarinFC-H7"
+CONFIG_CDCACM_PRODUCTID=0x004c
+CONFIG_CDCACM_PRODUCTSTR="PX4 BL NarinFC H7"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3fc5
+CONFIG_CDCACM_VENDORID=0x3163
 CONFIG_CDCACM_VENDORSTR="VOLOLAND"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -29,9 +29,9 @@ safety_button start
 if ver hwbasecmp 009
 then
 	# No USB
-	mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -M 0 -U 10
+	mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -U 10
 fi
 if ver hwbasecmp 00a 008
 then
-	mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -M 0 -U 10
+	mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10
 fi
@@ -43,6 +43,8 @@ add_library(drivers_board
 	usb.c
 )

+add_dependencies(drivers_board platform_gpio_mcp23009)
+
 target_link_libraries(drivers_board
 	PRIVATE
 		arch_io_pins
@@ -52,5 +54,5 @@ target_link_libraries(drivers_board
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
 		px4_layer
-		platform_gpio_mcp
+		platform_gpio_mcp23009
 )
@@ -74,6 +74,7 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
+#include <px4_platform/gpio/mcp23009.hpp>

 /****************************************************************************
 * Pre-Processor Definitions
@@ -279,5 +280,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif /* CONFIG_MMCSD */

+	ret = mcp23009_register_gpios(3, 0x25);
+
+	if (ret != OK) {
+		led_on(LED_RED);
+		return ret;
+	}
+
 	return OK;
 }
@@ -12,6 +12,7 @@ CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -146,5 +146,8 @@ else
 	bmp388 -X start
 fi

+# Don't try to start external baro on I2C3 as it can conflict with the MS5525DSO airspeed sensor.
+#ms5611 -X start
+
 unset INA_CONFIGURED
 unset HAVE_PM2
@@ -1,2 +1 @@
 CONFIG_MAVLINK_DIALECT="development"
-CONFIG_MODULES_UXRCE_DDS_CLIENT=n
@@ -47,7 +47,6 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_INTERFACES=3
 CONFIG_COMMON_UWB=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
@@ -54,7 +54,6 @@ CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_GPIO=y
 CONFIG_DEV_PIPE_SIZE=70
 CONFIG_DEV_URANDOM=y
 CONFIG_ETH0_PHY_MULTI=y
@@ -1,34 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-add_subdirectory(pwm_voltage)
@@ -1,4 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""
-CONFIG_ARCH_CHIP_STM32H7=y
@@ -1,92 +0,0 @@
-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_TEL4="/dev/ttyS6"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_DPS310=y
-CONFIG_DRIVERS_BAROMETER_GOERTEK_SPL06=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_TF02PRO=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_COMMON_OSD=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_PX4IO=y
-CONFIG_COMMON_RC=y
-CONFIG_COMMON_TELEMETRY=y
-CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=4
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=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_LOCAL_POSITION_ESTIMATOR=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_MODULES_RC_UPDATE=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=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
-CONFIG_EXAMPLES_FAKE_GPS=y
-CONFIG_ARCH_CHIP_STM32H7=y
@@ -1,13 +0,0 @@
-{
-    "board_id": 1203,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the AP-H743r1 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "AP-H743r1",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1966080,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,29 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-param set-default BAT1_A_PER_V 17
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_V_CHARGED 4.2
-param set-default BAT1_V_DIV 10.1
-param set-default BAT1_V_EMPTY 3.2
-
-param set-default SYS_HAS_MAG 1
-param set-default PWM_MAIN_TIM0 -4
-param set-default RC_INPUT_PROTO -1
-
-param set-default IMU_GYRO_RATEMAX 2000
-param set-default SYS_AUTOSTART 4001
-param set-default MC_PITCHRATE_K 0.4
-param set-default MC_ROLLRATE_K 0.35
-param set-default MC_YAWRATE_K 1.2
-param set-default MC_YAWRATE_MAX 360
-param set-default MAV_TYPE 2
-param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 4
-param set-default CBRK_SUPPLY_CHK 894281
-
-param set-default USB_MAV_MODE 5
-
-# pwm voltage 3.3V/5V switch
-pwm_voltage_apply start
@@ -1,4 +0,0 @@
-#!/bin/sh
-#
-# board specific extras init
-#------------------------------------------------------------------------------
@@ -1,26 +0,0 @@
-#!/bin/sh
-#
-# board specific sensors init
-#------------------------------------------------------------------------------
-
-board_adc start
-
-# IMU
-if ! icm42688p -s -b 1 -R 4 start
-then
-	bmi270 -s -b 1 -R 4 start
-fi
-
-if ! icm42688p -s -b 4 -R 4 start
-then
-	bmi270 -s -b 4 -R 4 start
-fi
-
-# baro
-if ! dps310 -I start -a 0x76
-then
-	spl06 -I  start -a 0x76
-fi
-
-# internal mag
-ist8310 -I -R 6 start
@@ -1,17 +0,0 @@
-#
-# 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.
@@ -1,90 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_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/x-mav/ap-h743r1/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_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=0x0036
-CONFIG_CDCACM_PRODUCTSTR="X-MAV AP-H743r1 Bootloader"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x1B8C
-CONFIG_CDCACM_VENDORSTR="X-MAV"
-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_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_USART6=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_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=300
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
@@ -1,442 +0,0 @@
-/************************************************************************************
- * nuttx-configs/px4_fmu-v6u/include/board.h
- *
- *   Copyright (C) 2016-2019 Gregory Nutt. All rights reserved.
- *   Authors: David Sidrane <david.sidrane@nscdg.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name 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.
- *
- ************************************************************************************/
-#ifndef __NUTTX_CONFIG_APH743R1_INCLUDE_BOARD_H
-#define __NUTTX_CONFIG_APH743R1_INCLUDE_BOARD_H
-
-/************************************************************************************
- * 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 AP-H743 R1  board provides the following clock sources:
- *
- *   X1: 8 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        8000000ul
-
-#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 = (8,000,000 / 1) * 120 = 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(120)
-#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) * 120)
-#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(2)
-#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 / 2) * 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(2)
-#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 / 2) * 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
-
-/* ADC 1 2 3 clock source */
-
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
-
-/* FDCAN 1 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 board has two, LED_GREEN a Green LED and LED_BLUE a Blue 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_2      	/* PA9 */
-
-#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_UART4_RX    GPIO_UART4_RX_3    	/* PB8 */
-#define GPIO_UART4_TX    GPIO_UART4_TX_3    	/* PB9 */
-
-#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_UART8_RX    GPIO_UART8_RX_1    	/* PE0 */
-#define GPIO_UART8_TX    GPIO_UART8_TX_1    	/* PE1 */
-
-/* SPI
- *
- */
-#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_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 */
-
-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_2               /* PE5 */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2               /* PE6  */
-#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2 */
-
-/* I2C
- *
- */
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1       /* PB6  */
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */
-
-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_2MHz | 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_2MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
-#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_2MHz | 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_2MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
-#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
-
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1  */
-
-#define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
-#define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */
-
-/* SDMMC2
- *
- *      VDD 3.3
- *      GND
- *      SDMMC2_CK                           PD6
- *      SDMMC2_CMD                          PD7
- *      SDMMC2_D0                           PB14
- *      SDMMC2_D1                           PB15
- *      SDMMC2_D2                           PG11
- *      SDMMC2_D3                           PB4
- */
-
-#define GPIO_SDMMC2_CK   GPIO_SDMMC2_CK_2  /* PC1 */
-#define GPIO_SDMMC2_CMD  GPIO_SDMMC2_CMD_1 /* PD7 */
-// #define GPIO_SDMMC2_D0   GPIO_SDMMC2_D0    /* PB14 */
-// #define GPIO_SDMMC2_D1   GPIO_SDMMC2_D1    /* PB15 */
-#define GPIO_SDMMC2_D2   GPIO_SDMMC2_D2_2  /* PB3 */
-// #define GPIO_SDMMC2_D3   GPIO_SDMMC2_D3    /* PB4 */
-
-
-#endif  /*__NUTTX_CONFIG_APH743R1_INCLUDE_BOARD_H  */
@@ -1,61 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-// DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
-//                                                     V
-
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0		/* 1 DMA1:37 IMU */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0		/* 2 DMA1:38 IMU */
-
-#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0		/* DMA1:39 */
-#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 	/* DMA1:40 */
-
-#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_0		/* 3 DMA1:83 IMU */
-#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_0		/* 4 DMA1:84 IMU */
-
-#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 GPS2 */
-#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0	/*  DMA1:44 GPS2 */
-
-#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0	/*  DMA1:45 TELEM1 */
-#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0	/*  DMA1:46 TELEM1 */
-
-#define DMAMAP_UART4_RX    DMAMAP_DMA12_UART4RX_1	/*  DMA1:63 TELEM2 */
-#define DMAMAP_UART4_TX    DMAMAP_DMA12_UART4TX_1	/*  DMA1:64 TELEM2 */
-
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0	/*  DMA1:71 PX4IO */
-#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0	/*  DMA1:72 PX4IO */
@@ -1,273 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_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_PRINTF 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/x-mav/ap-h743r1/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=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0036
-CONFIG_CDCACM_PRODUCTSTR="X-MAV AP-H743r1"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x1B8C
-CONFIG_CDCACM_VENDORSTR="X-MAV"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_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_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_ADC2=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_FLASH_OVERRIDE_I=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=4096
-CONFIG_STM32H7_SPI3=y
-CONFIG_STM32H7_SPI4=y
-CONFIG_STM32H7_SPI4_DMA=y
-CONFIG_STM32H7_SPI4_DMA_BUFFER=4096
-CONFIG_STM32H7_SPI_DMATHRESHOLD=8
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM2=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_TIM8=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_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_UART4_BAUD=921600
-CONFIG_UART4_RXBUFSIZE=3000
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=3000
-CONFIG_UART4_TXDMA=y
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_TXBUFSIZE=3000
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_SERIAL_CONSOLE=y
-CONFIG_UART8_TXBUFSIZE=3000
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_RXDMA=y
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART1_TXDMA=y
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=3000
-CONFIG_USART2_TXDMA=y
-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_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USART6_TXDMA=y
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_WATCHDOG=y
-CONFIG_WQUEUE_NOTIFIER=y
@@ -1,213 +0,0 @@
-/****************************************************************************
- * 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 X-MAV AP-H743-R1 uses an STM32H743VIT6 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 STM32H743VIT6, 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 AP-H743-R1 has a Button on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the button has been pressed,
- * then the boot will be from 0x1FF0:0000
- *
- * The STM32H743VIT6 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  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	flash (rx)  : ORIGIN = 0x08000000, LENGTH = 2048K
-	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) }
-}
@@ -1,228 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2020 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 board uses an STM32H743VIT6 and 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 STM32H743VIT6, 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
- *
- * There's a button 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
- * drepresed, then the boot will be from 0x1FF0:0000
- *
- * The STM32H743VIT6 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 = 1920K
-
-	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) }
-}
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-px4_add_module(
-	MODULE modules__pwm_voltage_apply
-	MAIN pwm_voltage_apply
-
-	SRCS
-		pwm_voltage.cpp
-	DEPENDS
-		px4_work_queue
-	)
@@ -1,56 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-#include <inttypes.h>
-#include <stdint.h>
-
-#include <px4_platform_common/getopt.h>
-#include <px4_platform_common/module_params.h>
-
-#include "board_config.h"
-
-extern "C" int pwm_voltage_apply_main(int argc, char *argv[])
-{
-	int32_t pwm_volt_sel = 0;
-
-	param_get(param_find("PWM_VOLT_SEL"), &pwm_volt_sel);
-
-	if (pwm_volt_sel != 0) {
-		PWM_5V_VOLT_SEL(true);
-
-	} else {
-		PWM_5V_VOLT_SEL(false);
-	}
-
-	return 0;
-}
@@ -1,15 +0,0 @@
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_MC_ATT_CONTROL=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
-CONFIG_MODULES_MC_POS_CONTROL=n
-CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_MODULES_ROVER_ACKERMANN=y
-CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-CONFIG_MODULES_ROVER_MECANUM=y
@@ -1,70 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
-	add_library(drivers_board
-		bootloader_main.c
-		usb.c
-	)
-	target_link_libraries(drivers_board
-		PRIVATE
-			nuttx_arch
-			nuttx_drivers
-			bootloader
-	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
-
-else()
-	add_library(drivers_board
-		i2c.cpp
-		init.c
-		led.c
-		sdio.c
-		spi.cpp
-		timer_config.cpp
-		usb.c
-		mtd.cpp
-		can.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
-			nuttx_arch
-			nuttx_drivers
-			px4_layer
-	)
-endif()
@@ -1,226 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * Board internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-#include <stm32_gpio.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
-/* PX4IO connection configuration */
-#define BOARD_USES_PX4IO_VERSION       2
-#define PX4IO_SERIAL_DEVICE            "/dev/ttyS4"
-#define PX4IO_SERIAL_TX_GPIO           GPIO_USART6_TX
-#define PX4IO_SERIAL_RX_GPIO           GPIO_USART6_RX
-#define PX4IO_SERIAL_BASE              STM32_USART6_BASE
-#define PX4IO_SERIAL_VECTOR            STM32_IRQ_USART6
-#define PX4IO_SERIAL_TX_DMAMAP         DMAMAP_USART6_TX
-#define PX4IO_SERIAL_RX_DMAMAP         DMAMAP_USART6_RX
-#define PX4IO_SERIAL_RCC_REG           STM32_RCC_APB2ENR
-#define PX4IO_SERIAL_RCC_EN            RCC_APB2ENR_USART6EN
-#define PX4IO_SERIAL_CLOCK             STM32_PCLK2_FREQUENCY
-#define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
-
-/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-
-#  define GPIO_nLED_RED         /* PD15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN15)
-#  define GPIO_nLED_GREEN       /* PD11 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
-#  define GPIO_nLED_BLUE        /* PD10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
-
-#  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 SYSTEM_ADC_BASE STM32_ADC1_BASE
-
-#define ADC12_CH(n)		(n)
-#define ADC3_CH(n)                  (n)
-
-#define ANALOG_PC3 (GPIO_ANALOG|GPIO_PORTC|GPIO_PIN3)
-
-#define PX4_ADC_GPIO  \
-	/* PC4  */  GPIO_ADC12_INP4,  \
-	/* PC5  */  GPIO_ADC12_INP8
-
-/* Define GPIO pins used as ADC N.B. Channel numbers must match below  */
-/* Define Channel numbers must match above GPIO pin IN(n)*/
-#define ADC_BATTERY_VOLTAGE_CHANNEL             ADC12_CH(4)
-#define ADC_BATTERY_CURRENT_CHANNEL             ADC12_CH(8)
-
-#define ADC_CHANNELS \
-	((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
-	 (1 << ADC_BATTERY_CURRENT_CHANNEL))
-
-#define BOARD_ADC_OPEN_CIRCUIT_V     (1.6f)
-
-#define BOARD_HAS_STATIC_MANIFEST 1
-
-#define UAVCAN_NUM_IFACES_RUNTIME  1
-
-/* PWM
- */
-#define DIRECT_PWM_OUTPUT_CHANNELS   7
-
-#define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
-
-/* PWM Power */
-#define GPIO_PWM_VOLT_SEL               /* PA8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
-#define PWM_5V_VOLT_SEL(on_true)        px4_arch_gpiowrite(GPIO_PWM_VOLT_SEL, (on_true))
-
-/* Tone alarm output */
-#define TONE_ALARM_TIMER        5 /* Timer 5 */
-#define TONE_ALARM_CHANNEL      4  /* PA3 GPIO_TIM5_CH4 */
-#define GPIO_BUZZER_1           /* PA3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
-
-#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
-#define GPIO_TONE_ALARM         GPIO_BUZZER_1
-
-/* USB OTG FS
- *
- * PE15  OTG_FS_VBUS VBUS sensing
- */
-#define GPIO_OTGFS_VBUS         /* PE15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTE|GPIO_PIN15)
-#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-
-/* High-resolution timer */
-#define HRT_TIMER               8  /* use timer1 for the HRT */
-#define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */
-
-/* RC Serial port */
-#define RC_SERIAL_PORT                     "/dev/ttyS4"
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
-
-/* SD card bringup does not work if performed on the IDLE thread because it
- * will cause waiting.  Use either:
- *
- *  CONFIG_LIB_BOARDCTL=y, OR
- *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
- */
-#define SDIO_SLOTNO             0  /* Only one slot */
-#define SDIO_MINOR              0
-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
-   !defined(CONFIG_BOARD_INITTHREAD)
-#  warning SDIO initialization cannot be perfomed on the IDLE thread
-#endif
-
-/* 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 { \
-		GPIO_CAN1_TX,\
-		GPIO_CAN1_RX,\
-		GPIO_CAN2_TX,\
-		GPIO_CAN2_RX,\
-		PX4_ADC_GPIO,\
-		GPIO_TONE_ALARM_IDLE,\
-		GPIO_PWM_VOLT_SEL\
-	}
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-#define BOARD_NUM_IO_TIMERS 5
-
-
-__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 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
@@ -1,75 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file 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();
-}
@@ -1,140 +0,0 @@
-/****************************************************************************
- *
- *   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 px4fmu_can.c
- *
- * Board-specific CAN functions.
- */
-
-#if !defined(CONFIG_CAN)
-
-#include <stdint.h>
-
-#include "board_config.h"
-
-
-__EXPORT
-uint16_t board_get_can_interfaces(void)
-{
-	uint16_t enabled_interfaces = 0x3;
-
-	enabled_interfaces &= ~(1 << 1);
-
-	return enabled_interfaces;
-}
-
-#else
-
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/can/can.h>
-#include <arch/board/board.h>
-
-#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 /* CONFIG_CAN */
@@ -1,135 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-/****************************************************************************
- * 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                6
-#define INTERFACE_USART_CONFIG         "/dev/ttyS5,57600"
-#define BOOT_DELAY_ADDRESS             0x000001a0
-#define BOARD_TYPE                     1203
-#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
-#define BOARD_FLASH_SECTORS            (15)
-#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
-
-#define OSC_FREQ                       8
-
-#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE // BLUE
-#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_RED // RED
-#define BOARD_LED_ON                   1
-#define BOARD_LED_OFF                  0
-
-#define SERIAL_BREAK_DETECT_DISABLED   1
-
-#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
@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusInternal(1),
-	initI2CBusExternal(2),
-	initI2CBusExternal(4),
-};
@@ -1,211 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file init.c
- *
- * FMU-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 initialisation.
- */
-
-#include "board_config.h"
-
-#include <syslog.h>
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.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_dma_alloc.h>
-#include <px4_platform/board_determine_hw_info.h>
-
-#include <mpu.h>
-
-# if defined(FLASH_BASED_PARAMS)
-#  include <parameters/flashparams/flashfs.h>
-#endif
-
-__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)
-{
-	UNUSED(ms);
-}
-
-/************************************************************************************
- * 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(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(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)
-{
-	/* Reset PWM first thing */
-	board_on_reset(-1);
-
-	/* configure LEDs */
-	board_autoled_initialize();
-
-	/* configure pins */
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-
-	/* configure SPI interfaces */
-	stm32_spiinitialize();
-
-	/* 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;
- *
- * 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)
-{
-	/* Need hrt running before using the ADC */
-	px4_platform_init();
-
-	/* configure the DMA allocator */
-	if (board_dma_alloc_init() < 0) {
-		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
-	}
-
-	/* initial LED state */
-	drv_led_start();
-	led_off(LED_RED);
-	led_off(LED_BLUE);
-
-	if (board_hardfault_init(2, true) != 0) {
-		led_on(LED_BLUE);
-	}
-
-#ifdef CONFIG_MMCSD
-	int ret = stm32_sdio_initialize();
-
-	if (ret != OK) {
-		led_on(LED_BLUE);
-		return ret;
-	}
-
-#endif
-
-// TODO：internal flash store parameters
-#if defined(FLASH_BASED_PARAMS)
-	static sector_descriptor_t params_sector_map[] = {
-		{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_RED);
-	}
-
-#endif
-
-	/* Configure the HW based on the manifest */
-	px4_platform_configure();
-
-	return OK;
-}
@@ -1,113 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file led.c
- *
- * LED backend.
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-/*
- * 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
-
-#  define xlat(p) (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
-};
-
-__EXPORT void led_init(void)
-{
-	/* Configure LED GPIOs for output */
-	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)));
-}
@@ -1,77 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-//TODO:Prepare for NxtDual
-
-#include <nuttx/spi/spi.h>
-#include <px4_platform_common/px4_manifest.h>
-//                                                              KiB BS    nB
-static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
-	.bus_type = px4_mft_device_t::SPI,
-	.devid    = SPIDEV_FLASH(0)
-};
-
-static const px4_mtd_entry_t fmum_fram = {
-	.device = &spi5,
-	.npart = 1,
-	.partd = {
-		{
-			.type = MTD_PARAMETERS,
-			.path = "/fs/mtd_params",
-			.nblocks = 32
-		}
-	},
-};
-
-static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs   = 1,
-	.entries = {
-		&fmum_fram
-	}
-};
-
-static const px4_mft_entry_s mtd_mft = {
-	.type = MTD,
-	.pmft = (void *) &board_mtd_config,
-};
-
-static const px4_mft_s mft = {
-	.nmft = 1,
-	.mfts = {
-		&mtd_mft
-	}
-};
-
-const px4_mft_s *board_get_manifest(void)
-{
-	return &mft;
-}
@@ -1,177 +0,0 @@
-/****************************************************************************
- *
- *   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 */
@@ -1,52 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin2}, SPI::DRDY{GPIO::PortA, GPIO::Pin4}),
-		initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortA, GPIO::Pin2}, SPI::DRDY{GPIO::PortA, GPIO::Pin4})
-	}),
-	initSPIBus(SPI::Bus::SPI3, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4})
-	}),
-	initSPIBus(SPI::Bus::SPI4, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
-		initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin4})
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -1,53 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/io_timer_hw_description.h>
-
-constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
-};
-
-constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
-	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::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0})
-};
-
-constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
-	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -1,78 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file usb.c
- *
- * Board-specific USB functions.
- */
-
-#include "board_config.h"
-#include <nuttx/usb/usbdev.h>
-#include <nuttx/usb/usbdev_trace.h>
-#include <stm32_otg.h>
-#include <debug.h>
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the 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);
-}
@@ -35,7 +35,7 @@
    - [Static Pressure Buildup](advanced_config/static_pressure_buildup.md)
  - [Flying (Basics)](flying/basic_flying_mc.md)
  - [Complete Vehicles](complete_vehicles_mc/index.md)
-    - [ModalAI Starling](complete_vehicles_mc/modalai_starling.md)
+    - [ModalAI Starling (PX4 Dev Kit)](complete_vehicles_mc/modalai_starling.md)
    - [PX4 Vision Kit](complete_vehicles_mc/px4_vision_kit.md)
    - [MindRacer BNF & RTF](complete_vehicles_mc/mindracer_BNF_RTF.md)
      - [MindRacer 210](complete_vehicles_mc/mindracer210.md)
@@ -194,7 +194,6 @@
      - [SVehicle E2](flight_controller/svehicle_e2.md)
      - [ThePeach FCC-K1](flight_controller/thepeach_k1.md)
      - [ThePeach FCC-R1](flight_controller/thepeach_r1.md)
-      - [AP-H743-R1](flight_controller/x-mav_ap-h743r1.md)
    - [Experimental Autopilots](flight_controller/autopilot_experimental.md)
      - [BeagleBone Blue](flight_controller/beaglebone_blue.md)
      - [Raspberry Pi 2/3 Navio2](flight_controller/raspberry_pi_navio2.md)
@@ -312,17 +311,15 @@
    - [Actuator Allocation](config/actuators.md)
    - [ESC Calibration](advanced_config/esc_calibration.md)
    - [ESCs & Motors](peripherals/esc_motors.md)
-      - [ESC Protocols](esc/esc_protocols.md)
      - [PWM ESCs and Servos](peripherals/pwm_escs_and_servo.md)
      - [DShot ESCs](peripherals/dshot.md)
      - [OneShot ESCs and Servos](peripherals/oneshot.md)
      - [DroneCAN ESCs](dronecan/escs.md)
+        - [Zubax Telega](dronecan/zubax_telega.md)
        - [PX4 Sapog ESC Firmware](dronecan/sapog.md)
-      - [ARK 4IN1 ESC](esc/ark_4in1_esc.md)
-      - [Holybro Kotleta](dronecan/holybro_kotleta.md)
-      - [Vertiq Motor/ESC Modules](peripherals/vertiq.md)
-      - [VESC Project ESCs](peripherals/vesc.md)
-      - [Zubax Telega ESCs](dronecan/zubax_telega.md)
+          - [Holybro Kotleta](dronecan/holybro_kotleta.md)
+      - [Vertiq](peripherals/vertiq.md)
+      - [VESC](peripherals/vesc.md)
  - [Radio Control (RC)](getting_started/rc_transmitter_receiver.md)
    - [Radio Setup](config/radio.md)
    - [Flight Modes](config/flight_mode.md)
@@ -501,7 +498,6 @@
    - [PPS Time Synchronization](advanced/pps_time_sync.md)
  - [Middleware](middleware/index.md)
    - [uORB Messaging](middleware/uorb.md)
-    - [uORB Docs Standard](uorb/uorb_documentation.md)
    - [uORB Graph](middleware/uorb_graph.md)
    - [uORB Message Reference](msg_docs/index.md)
      - [Versioned](msg_docs/versioned_messages.md)
@@ -596,7 +592,6 @@
        - [FollowTargetEstimator](msg_docs/FollowTargetEstimator.md)
        - [FollowTargetStatus](msg_docs/FollowTargetStatus.md)
        - [FuelTankStatus](msg_docs/FuelTankStatus.md)
-        - [GainCompression](msg_docs/GainCompression.md)
        - [GeneratorStatus](msg_docs/GeneratorStatus.md)
        - [GeofenceResult](msg_docs/GeofenceResult.md)
        - [GeofenceStatus](msg_docs/GeofenceStatus.md)
@@ -747,11 +742,8 @@
        - [ArmingCheckReplyV0](msg_docs/ArmingCheckReplyV0.md)
        - [ArmingCheckRequestV0](msg_docs/ArmingCheckRequestV0.md)
        - [BatteryStatusV0](msg_docs/BatteryStatusV0.md)
-        - [ConfigOverridesV0](msg_docs/ConfigOverridesV0.md)
        - [EventV0](msg_docs/EventV0.md)
        - [HomePositionV0](msg_docs/HomePositionV0.md)
-        - [RegisterExtComponentReplyV0](msg_docs/RegisterExtComponentReplyV0.md)
-        - [RegisterExtComponentRequestV0](msg_docs/RegisterExtComponentRequestV0.md)
        - [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md)
        - [VehicleLocalPositionV0](msg_docs/VehicleLocalPositionV0.md)
        - [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
@@ -1,5 +1,4 @@
 <!-- GENERATED CONTENT: DO NOT EDIT -->
-
 - [Introduction](/index.md)
  - [Basic Concepts](/getting_started/px4_basic_concepts.md)

@@ -37,7 +36,7 @@
    - [Static Pressure Buildup](/advanced_config/static_pressure_buildup.md)
  - [Flying (Basics)](/flying/basic_flying_mc.md)
  - [Complete Vehicles](/complete_vehicles_mc/index.md)
-    - [ModalAI Starling](/complete_vehicles_mc/modalai_starling.md)
+    - [ModalAI Starling (PX4 Dev Kit)](/complete_vehicles_mc/modalai_starling.md)
    - [PX4 Vision Kit](/complete_vehicles_mc/px4_vision_kit.md)
    - [MindRacer BNF & RTF](/complete_vehicles_mc/mindracer_BNF_RTF.md)
      - [MindRacer 210](/complete_vehicles_mc/mindracer210.md)
@@ -58,14 +57,11 @@
    - [DJI F450 (CUAV v5 nano)](/frames_multicopter/dji_f450_cuav_5nano.md)

 - [Planes (Fixed-Wing)](/frames_plane/index.md)
-  - [Features](/features_fw/index.md)
-    - [Gain compression](/features_fw/gain_compression.md)
  - [Assembly](/assembly/assembly_fw.md)
  - [Config/Tuning](/config_fw/index.md)
    - [Auto-tune](/config/autotune_fw.md)
    - [Rate/Attitude Controller Tuning Guide](/config_fw/pid_tuning_guide_fixedwing.md)
    - [Altitude/Position Controller Tuning Guide](/config_fw/position_tuning_guide_fixedwing.md)
-    - [Airspeed Scale Estimate Handling](/config_fw/airspeed_scale_handling.md)
    - [Weight & Altitude Tuning](/config_fw/weight_and_altitude_tuning.md)
    - [Trimming Guide](/config_fw/trimming_guide_fixedwing.md)
  - [Flying (Basics)](/flying/basic_flying_fw.md)
@@ -187,13 +183,11 @@
        - [Wiring Quickstart](/assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md)
-      - [MicoAir H743 Lite](/flight_controller/micoair743-lite.md)
      - [ModalAI VOXL 2](/flight_controller/modalai_voxl_2.md)
      - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md)
      - [Radiolink PIX6](/flight_controller/radiolink_pix6.md)
      - [Sky-Drones AIRLink](/flight_controller/airlink.md)
      - [SPRacing SPRacingH7EXTREME](/flight_controller/spracingh7extreme.md)
-      - [SVehicle E2](/flight_controller/svehicle_e2.md)
      - [ThePeach FCC-K1](/flight_controller/thepeach_k1.md)
      - [ThePeach FCC-R1](/flight_controller/thepeach_r1.md)
    - [Experimental Autopilots](/flight_controller/autopilot_experimental.md)
@@ -246,22 +240,18 @@
      - [TFSlot Airspeed Sensor](/sensor/airspeed_tfslot.md)
    - [Barometers](/sensor/barometer.md)
    - [Distance Sensors \(Rangefinders\)](/sensor/rangefinders.md)
-      - [Ainstein US-D1 Standard Radar Altimeter](/sensor/ulanding_radar.md)
-      - [ARK DIST SR (CAN/UART)](/dronecan/ark_dist.md)
-      - [ARK DIST MR (CAN/UART)](/dronecan/ark_dist_mr.md)
-      - [Benewake TFmini Lidar](/sensor/tfmini.md)
-      - [LeddarOne Lidar](/sensor/leddar_one.md)
-      - [Lidar-Lite](/sensor/lidar_lite.md)
      - [Lightware Lidars (SF/LW)](/sensor/sfxx_lidar.md)
        - [Lightware SF45 Rotary Lidar](/sensor/sf45_rotating_lidar.md)
+      - [Ainstein US-D1 Standard Radar Altimeter](/sensor/ulanding_radar.md)
+      - [LeddarOne Lidar](/sensor/leddar_one.md)
+      - [Benewake TFmini Lidar](/sensor/tfmini.md)
+      - [Lidar-Lite](/sensor/lidar_lite.md)
      - [TeraRanger](/sensor/teraranger.md)
      - [✘ Lanbao PSK-CM8JL65-CC5](/sensor/cm8jl65_ir_distance_sensor.md)
      - [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](/dronecan/avanon_laser_interface.md)
    - [GNSS (GPS)](/gps_compass/index.md)
      - [ARK GPS (CAN)](/dronecan/ark_gps.md)
-      - [ARK DAN GPS](/gps_compass/ark_dan_gps.md)
      - [ARK SAM GPS](/gps_compass/ark_sam_gps.md)
-      - [ARK SAM GPS MINI](/gps_compass/ark_sam_gps_mini.md)
      - [ARK TESEO GPS](/dronecan/ark_teseo_gps.md)
      - [CUAV NEO 3 GPS](/gps_compass/gps_cuav_neo_3.md)
      - [CUAV NEO 3 Pro GPS (CAN)](/gps_compass/gps_cuav_neo_3pro.md)
@@ -273,8 +263,6 @@
      - [Sky-Drones SmartAP GPS](/gps_compass/gps_smartap.md)
    - [RTK GNSS](/gps_compass/rtk_gps.md)
      - [ARK RTK GPS (CAN)](/dronecan/ark_rtk_gps.md)
-      - [ARK RTK GPS L1 L5 (CAN)](/dronecan/ark_rtk_gps_l1_l2.md)
-      - [ARK X20 RTK GPS (CAN)](/dronecan/ark_x20_rtk_gps.md)
      - [ARK MOSAIC-X5 RTK GPS (CAN)](/dronecan/ark_mosaic__rtk_gps.md)
      - [RTK GPS Heading with Dual u-blox F9P](/gps_compass/u-blox_f9p_heading.md)
      - [CUAV C-RTK](/gps_compass/rtk_gps_cuav_c-rtk.md)
@@ -297,7 +285,6 @@
      - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md)
    - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md)
      - [InertialLabs](/sensor/inertiallabs.md)
-      - [MicroStrain](/sensor/microstrain.md)
      - [sbgECom](/sensor/sbgecom.md)
      - [VectorNav](/sensor/vectornav.md)
    - [Optical Flow](/sensor/optical_flow.md)
@@ -352,14 +339,13 @@
    - [Battery Estimation Tuning](/config/battery.md)
    - [Battery Chemistry Overview](/power_systems/battery_chemistry.md)
    - [Power Modules/PDB](/power_module/index.md)
-      - [ARK PAB Power Module](/power_module/ark_pab_power_module.md)
-      - [ARK 12S PAB Power Module](/power_module/ark_12s_pab_power_module.md)
-      - [ARK 12S Payload Power Module](/power_module/ark_12s_payload_power_module.md)
      - [CUAV HV pm](/power_module/cuav_hv_pm.md)
      - [CUAV CAN PMU](/dronecan/cuav_can_pmu.md)
      - [Holybro PM02](/power_module/holybro_pm02.md)
      - [Holybro PM07](/power_module/holybro_pm07_pixhawk4_power_module.md)
      - [Holybro PM06 V2](/power_module/holybro_pm06_pixhawk4mini_power_module.md)
+      - [ARK PAB Power Module](/power_module/ark_pab_power_module.md)
+      - [ARK 12S PAB Power Module](/power_module/ark_12s_pab_power_module.md)
      - [Holybro PM02D (digital)](/power_module/holybro_pm02d.md)
      - [Holybro PM03D (digital)](/power_module/holybro_pm03d.md)
      - [Pomegranate Systems Power Module](/dronecan/pomegranate_systems_pm.md)
@@ -497,7 +483,6 @@
      - [UART/Serial Ports](/uart/index.md)
        - [Port-Configurable Serial Drivers](/uart/user_configurable_serial_driver.md)
    - [RTK GPS (Integration)](/advanced/rtk_gps.md)
-    - [PPS Time Synchronization](/advanced/pps_time_sync.md)
  - [Middleware](/middleware/index.md)
    - [uORB Messaging](/middleware/uorb.md)
    - [uORB Graph](/middleware/uorb_graph.md)
@@ -594,7 +579,6 @@
        - [FollowTargetEstimator](/msg_docs/FollowTargetEstimator.md)
        - [FollowTargetStatus](/msg_docs/FollowTargetStatus.md)
        - [FuelTankStatus](/msg_docs/FuelTankStatus.md)
-        - [GainCompression](/msg_docs/GainCompression.md)
        - [GeneratorStatus](/msg_docs/GeneratorStatus.md)
        - [GeofenceResult](/msg_docs/GeofenceResult.md)
        - [GeofenceStatus](/msg_docs/GeofenceStatus.md)
@@ -685,6 +669,8 @@
        - [RoverSpeedStatus](/msg_docs/RoverSpeedStatus.md)
        - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md)
        - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md)
+        - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md)
+        - [RoverVelocityStatus](/msg_docs/RoverVelocityStatus.md)
        - [Rpm](/msg_docs/Rpm.md)
        - [RtlStatus](/msg_docs/RtlStatus.md)
        - [RtlTimeEstimate](/msg_docs/RtlTimeEstimate.md)
@@ -696,7 +682,6 @@
        - [SensorCombined](/msg_docs/SensorCombined.md)
        - [SensorCorrection](/msg_docs/SensorCorrection.md)
        - [SensorGnssRelative](/msg_docs/SensorGnssRelative.md)
-        - [SensorGnssStatus](/msg_docs/SensorGnssStatus.md)
        - [SensorGps](/msg_docs/SensorGps.md)
        - [SensorGyro](/msg_docs/SensorGyro.md)
        - [SensorGyroFft](/msg_docs/SensorGyroFft.md)
@@ -706,7 +691,6 @@
        - [SensorOpticalFlow](/msg_docs/SensorOpticalFlow.md)
        - [SensorPreflightMag](/msg_docs/SensorPreflightMag.md)
        - [SensorSelection](/msg_docs/SensorSelection.md)
-        - [SensorTemp](/msg_docs/SensorTemp.md)
        - [SensorUwb](/msg_docs/SensorUwb.md)
        - [SensorsStatus](/msg_docs/SensorsStatus.md)
        - [SensorsStatusImu](/msg_docs/SensorsStatusImu.md)
@@ -745,11 +729,8 @@
        - [ArmingCheckReplyV0](/msg_docs/ArmingCheckReplyV0.md)
        - [ArmingCheckRequestV0](/msg_docs/ArmingCheckRequestV0.md)
        - [BatteryStatusV0](/msg_docs/BatteryStatusV0.md)
-        - [ConfigOverridesV0](/msg_docs/ConfigOverridesV0.md)
        - [EventV0](/msg_docs/EventV0.md)
        - [HomePositionV0](/msg_docs/HomePositionV0.md)
-        - [RegisterExtComponentReplyV0](/msg_docs/RegisterExtComponentReplyV0.md)
-        - [RegisterExtComponentRequestV0](/msg_docs/RegisterExtComponentRequestV0.md)
        - [VehicleAttitudeSetpointV0](/msg_docs/VehicleAttitudeSetpointV0.md)
        - [VehicleLocalPositionV0](/msg_docs/VehicleLocalPositionV0.md)
        - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
@@ -762,7 +743,6 @@
        - [Standard Modes Protocol](/mavlink/standard_modes.md)
    - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
      - [UORB Bridged to ROS 2](/middleware/dds_topics.md)
-    - [Zenoh (PX4 ROS 2)](/middleware/zenoh.md)
  - [Modules & Commands](/modules/modules_main.md)
    - [Autotune](/modules/modules_autotune.md)
    - [Commands](/modules/modules_command.md)
@@ -780,7 +760,6 @@
      - [Rpm Sensor](/modules/modules_driver_rpm_sensor.md)
      - [Radio Control](/modules/modules_driver_radio_control.md)
      - [Transponder](/modules/modules_driver_transponder.md)
-      - [adc](/modules/modules_driver_adc.md)
    - [Estimators](/modules/modules_estimator.md)
    - [Simulations](/modules/modules_simulation.md)
    - [System](/modules/modules_system.md)
@@ -26,10 +26,6 @@ If you are looking for more resources to learn about the module, a website has b

 ## Neural Network PX4 Firmware

-::: warning
-This module requires Ubuntu 24.04 or newer (it is not supported in Ubuntu 22.04).
-:::
-
 The module has been tested on a number of configurations, which can be build locally using the commands:

 ```sh
@@ -486,16 +486,6 @@ The integer refers to the I2C bus number where PCA9685 is connected.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 10       |           | 0       |

-### PCA9685_I2C_ADDR (`INT32`) {#PCA9685_I2C_ADDR}
-
-I2C address of PCA9685.
-
-The default address is 0x40 (64).
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 127      |           | 64      |
-
 ### PCA9685_FAIL1 (`INT32`) {#PCA9685_FAIL1}

 PCA9685 Output Channel 1 Failsafe Value.
@@ -2187,116 +2177,6 @@ output latency, or completely block I2C bus.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 50.0     | 400.0    |           | 50.0    |

-### PWM_AUX_CENT1 (`INT32`) {#PWM_AUX_CENT1}
-
-PWM Aux 1 Center Value.
-
-Servo Center output value (when not disarmed).
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | -1       | 2200     |           | -1      |
-
-### PWM_AUX_CENT10 (`INT32`) {#PWM_AUX_CENT10}
-
-PWM Capture 2 Center Value.
-
-Servo Center output value (when not disarmed).
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | -1       | 2200     |           | -1      |
-
-### PWM_AUX_CENT11 (`INT32`) {#PWM_AUX_CENT11}
-
-PWM Capture 3 Center Value.
-
-Servo Center output value (when not disarmed).
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | -1       | 2200     |           | -1      |
-
-### PWM_AUX_CENT2 (`INT32`) {#PWM_AUX_CENT2}
-
-PWM Aux 2 Center Value.
-
-Servo Center output value (when not disarmed).
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | -1       | 2200     |           | -1      |
-
-### PWM_AUX_CENT3 (`INT32`) {#PWM_AUX_CENT3}
-
-PWM Aux 3 Center Value.
-
-Servo Center output value (when not disarmed).
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | -1       | 2200     |           | -1      |
-
-### PWM_AUX_CENT4 (`INT32`) {#PWM_AUX_CENT4}
-
-PWM Aux 4 Center Value.
-
-Servo Center output value (when not disarmed).
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | -1       | 2200     |           | -1      |
-
-### PWM_AUX_CENT5 (`INT32`) {#PWM_AUX_CENT5}
-
-PWM Aux 5 Center Value.
-
-Servo Center output value (when not disarmed).
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | -1       | 2200     |           | -1      |
-
-### PWM_AUX_CENT6 (`INT32`) {#PWM_AUX_CENT6}
-
-PWM Aux 6 Center Value.
-
-Servo Center output value (when not disarmed).
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | -1       | 2200     |           | -1      |
-
-### PWM_AUX_CENT7 (`INT32`) {#PWM_AUX_CENT7}
-
-PWM Aux 7 Center Value.
-
-Servo Center output value (when not disarmed).
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | -1       | 2200     |           | -1      |
-
-### PWM_AUX_CENT8 (`INT32`) {#PWM_AUX_CENT8}
-
-PWM Aux 8 Center Value.
-
-Servo Center output value (when not disarmed).
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | -1       | 2200     |           | -1      |
-
-### PWM_AUX_CENT9 (`INT32`) {#PWM_AUX_CENT9}
-
-PWM Capture 1 Center Value.
-
-Servo Center output value (when not disarmed).
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | -1       | 2200     |           | -1      |
-
 ### PWM_AUX_DIS1 (`INT32`) {#PWM_AUX_DIS1}

 PWM Aux 1 Disarmed Value.
@@ -14367,6 +14247,22 @@ Defines which RC_MAP_AUXn parameter maps the manual control channel used to enab
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 6        |           | 0       |

+### FW_AT_START (`INT32`) {#FW_AT_START}
+
+Start the autotuning sequence.
+
+WARNING: this will inject steps to the rate controller
+and can be dangerous. Only activate if you know what you
+are doing, and in a safe environment.
+Any motion of the remote stick will abort the signal
+injection and reset this parameter
+Best is to perform the identification in position or
+hold mode.
+
+| Reboot | minValue | maxValue | increment | default      | unit |
+| ------ | -------- | -------- | --------- | ------------ | ---- |
+| &nbsp; |          |          |           | Disabled (0) |
+
 ### FW_AT_SYSID_F0 (`FLOAT`) {#FW_AT_SYSID_F0}

 Start frequency of the injected signal.
@@ -14450,6 +14346,24 @@ Desired angular rate closed-loop rise time.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0.01     | 0.5      |           | 0.14    | s    |

+### MC_AT_START (`INT32`) {#MC_AT_START}
+
+Start the autotuning sequence.
+
+WARNING: this will inject steps to the rate controller
+and can be dangerous. Only activate if you know what you
+are doing, and in a safe environment.
+Any motion of the remote stick will abort the signal
+injection and reset this parameter
+Best is to perform the identification in position or
+hold mode.
+Increase the amplitude of the injected signal using
+MC_AT_SYSID_AMP for more signal/noise ratio
+
+| Reboot | minValue | maxValue | increment | default      | unit |
+| ------ | -------- | -------- | --------- | ------------ | ---- |
+| &nbsp; |          |          |           | Disabled (0) |
+
 ### MC_AT_SYSID_AMP (`FLOAT`) {#MC_AT_SYSID_AMP}

 Amplitude of the injected signal.
@@ -15432,7 +15346,8 @@ disabled, warn only or deny arming.
 Arm switch is a momentary button.

 0: Arming/disarming triggers on switch transition.
-1: Arming/disarming triggers when holding the momentary button down like the stick gesture.
+1: Arming/disarming triggers when holding the momentary button down
+for COM_RC_ARM_HYST like the stick gesture.

 | Reboot | minValue | maxValue | increment | default      | unit |
 | ------ | -------- | -------- | --------- | ------------ | ---- |
@@ -15440,17 +15355,15 @@ Arm switch is a momentary button.

 ### COM_ARM_WO_GPS (`INT32`) {#COM_ARM_WO_GPS}

-Arming without GNSS configuration.
+GPS preflight check.

-Configures whether arming is allowed without GNSS, for modes that require a global position
-(specifically, in those modes when a check defined by EKF2_GPS_CHECK fails).
-The settings deny arming and warn, allow arming and warn, or silently allow arming.
+Measures taken when a check defined by EKF2_GPS_CHECK is failing.

 **Values:**

 - `0`: Deny arming
- `1`: Allow arming (with warning)
- `2`: Allow arming (no warning)
+- `1`: Warning only
+- `2`: Disabled

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -16239,6 +16152,16 @@ External modes requiring stick input will still failsafe.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 31       |           | 0       |

+### COM_RC_ARM_HYST (`INT32`) {#COM_RC_ARM_HYST}
+
+Manual control input arm/disarm command duration.
+
+The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 100      | 1500     |           | 1000    | ms   |
+
 ### COM_RC_IN_MODE (`INT32`) {#COM_RC_IN_MODE}

 Manual control input source configuration.
@@ -17073,16 +16996,6 @@ EKF2 enable.
 | ------ | -------- | -------- | --------- | ----------- | ---- |
 | &nbsp; |          |          |           | Enabled (1) |

-### EKF2_ENGINE_WRM (`INT32`) {#EKF2_ENGINE_WRM}
-
-Enable constant position fusion during engine warmup.
-
-When enabled, constant position fusion is enabled when the vehicle is landed and armed. This is intended for IC engine warmup (e.g., fuel engines on catapult) to allow mode transitions to auto/takeoff despite vibrations from running engines.
-
-| Reboot | minValue | maxValue | increment | default      | unit |
-| ------ | -------- | -------- | --------- | ------------ | ---- |
-| &nbsp; |          |          |           | Disabled (0) |
-
 ### EKF2_EVA_NOISE (`FLOAT`) {#EKF2_EVA_NOISE}

 Measurement noise for vision angle measurements.
@@ -19434,24 +19347,6 @@ This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | -0.5     | 0.5      | 0.01      | 0.0     |

-### FW_GC_EN (`INT32`) {#FW_GC_EN}
-
-Enable rate gain compression.
-
-| Reboot | minValue | maxValue | increment | default     | unit |
-| ------ | -------- | -------- | --------- | ----------- | ---- |
-| &nbsp; |          |          |           | Enabled (1) |
-
-### FW_GC_GAIN_MIN (`FLOAT`) {#FW_GC_GAIN_MIN}
-
-Compression gain lower limit.
-
-The range of the compression gain is between this parameter and 1.0
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0.0      | 1.0      | 0.01      | 0.3     |
-
 ### FW_MAN_P_SC (`FLOAT`) {#FW_MAN_P_SC}

 Manual pitch scale.
@@ -22094,8 +21989,6 @@ Control Surface 0 configuration as spoiler.
 Control Surface 0 trim.

 Can be used to add an offset to the servo control.
-NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
-This parameter can only be set if all PWM Center parameters are set to default.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22176,8 +22069,6 @@ Control Surface 1 configuration as spoiler.
 Control Surface 1 trim.

 Can be used to add an offset to the servo control.
-NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
-This parameter can only be set if all PWM Center parameters are set to default.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22258,8 +22149,6 @@ Control Surface 2 configuration as spoiler.
 Control Surface 2 trim.

 Can be used to add an offset to the servo control.
-NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
-This parameter can only be set if all PWM Center parameters are set to default.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22340,8 +22229,6 @@ Control Surface 3 configuration as spoiler.
 Control Surface 3 trim.

 Can be used to add an offset to the servo control.
-NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
-This parameter can only be set if all PWM Center parameters are set to default.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22422,8 +22309,6 @@ Control Surface 4 configuration as spoiler.
 Control Surface 4 trim.

 Can be used to add an offset to the servo control.
-NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
-This parameter can only be set if all PWM Center parameters are set to default.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22504,8 +22389,6 @@ Control Surface 5 configuration as spoiler.
 Control Surface 5 trim.

 Can be used to add an offset to the servo control.
-NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
-This parameter can only be set if all PWM Center parameters are set to default.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22586,8 +22469,6 @@ Control Surface 6 configuration as spoiler.
 Control Surface 6 trim.

 Can be used to add an offset to the servo control.
-NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
-This parameter can only be set if all PWM Center parameters are set to default.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22668,8 +22549,6 @@ Control Surface 7 configuration as spoiler.
 Control Surface 7 trim.

 Can be used to add an offset to the servo control.
-NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
-This parameter can only be set if all PWM Center parameters are set to default.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -23283,7 +23162,6 @@ Engine start/stop input source.
 - `0`: On arming - disarming
 - `1`: Aux1
 - `2`: Aux2
- `3`: On Vtol Transitions

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -1,13 +1,7 @@
-# CAN (DroneCAN & Cyphal)
+# CAN

 [Controller Area Network (CAN)](https://en.wikipedia.org/wiki/CAN_bus) is a robust wired network that allows drone components such as flight controller, ESCs, sensors, and other peripherals, to communicate with each other.
-
-It is particularly recommended on larger vehicles.
-
-## Overview
-
-CAN it is designed to be democratic and uses differential signaling.
-For this reason it is very robust even over longer cable lengths (on large vehicles), and avoids a single point of failure.
+Because it is designed to be democratic and uses differential signaling, it is very robust even over longer cable lengths (on large vehicles), and avoids a single point of failure.
 CAN also allows status feedback from peripherals and convenient firmware upgrades over the bus.

 PX4 supports two software protocols for communicating with CAN devices:
@@ -24,35 +18,29 @@ In 2022 the project split into two: the original version of UAVCAN (UAVCAN v0) w
 The differences between the two protocols are outlined in [Cyphal vs. DroneCAN](https://forum.opencyphal.org/t/cyphal-vs-dronecan/1814).
 :::

+:::warning
 PX4 does not support other CAN software protocols for drones such as KDECAN (at time of writing).
+:::

 ## Wiring

 The wiring for CAN networks is the same for both DroneCAN and Cyphal/CAN (in fact, for all CAN networks).

-Devices within a network are connected in a _daisy-chain_ in any order (this differs from UARTs peripherals, where you attach just one component per port).
-
-:::warning Don't connect each CAN peripheral to a separate CAN port!
-Unlike UARTs, CAN peripherals are designed to be daisy chained, with additional ports such as `CAN2` used for [redundancy](redundancy).
-:::
-
+Devices are connected in a chain in any order.
 At either end of the chain, a 120Ω termination resistor should be connected between the two data lines.
 Flight controllers and some GNSS modules have built in termination resistors for convenience, thus should be placed at opposite ends of the chain.
 Otherwise, you can use a termination resistor such as [this one from Zubax Robotics](https://shop.zubax.com/products/uavcan-micro-termination-plug?variant=6007985111069), or solder one yourself if you have access to a JST-GH crimper.

 The following diagram shows an example of a CAN bus connecting a flight controller to 4 CAN ESCs and a GNSS.
-It includes a redundant bus connected to `CAN 2`.

 ![CAN Wiring](../../assets/can/uavcan_wiring.svg)

 The diagram does not show any power wiring.
 Refer to your manufacturer instructions to confirm whether components require separate power or can be powered from the CAN bus itself.

-::: info
 For more information, see [Cyphal/CAN device interconnection](https://wiki.zubax.com/public/cyphal/CyphalCAN-device-interconnection?pageId=2195476) (kb.zubax.com).
 While the article is written with the Cyphal protocol in mind, it applies equally to DroneCAN hardware and any other CAN setup.
 For more advanced scenarios, consult with [On CAN bus topology and termination](https://forum.opencyphal.org/t/on-can-bus-topology-and-termination/1685).
-:::

 ### Connectors

@@ -66,30 +54,7 @@ However, as long as the device firmware supports DroneCAN or Cyphal, it can be u

 DroneCAN and Cyphal/CAN support using a second (redundant) CAN interface.
 This is completely optional but increases the robustness of the connection.
-
-Pixhawk flight controllers come with 2 CAN interfaces; if your peripherals support 2 CAN interfaces as well, it is recommended to wire both up for increased safety.
-
-### Flight Controllers with Multiple CAN Ports
-
-[Flight Controllers](../flight_controller/index.md) may have up to three independent CAN ports, such as `CAN1`, `CAN2`, `CAN3` (neither DroneCAN or Cyphal support more than three).
-Note that you can't have both DroneCAN and Cyphal running on PX4 at the same time.
-
-::: tip
-You only _need_ one CAN port to support an arbitrary number of CAN devices using a particular CAN protocol.
-Don't connect each CAN peripheral to a separate CAN port!
-:::
-
-Generally you'll daisy all CAN peripherals off a single port, and if there is more than one CAN port, use the second one for [redundancy](redundancy).
-If three are three ports, you might use the remaining network for devices that support another CAN protocol.
-
-The documentation for your flight controller should indicate which ports are supported/enabled.
-At runtime you can check what DroneCAN ports are enabled and their status using the following command on the [MAVLink Shell](../debug/mavlink_shell.md) (or some other console):
-
-```sh
-uavcan status
-```
-
-Note that you can also check the number of supported CAN interfaces for a board by searching for `CONFIG_BOARD_UAVCAN_INTERFACES` in its [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6xrt/default.px4board#) configuration file.
+All Pixhawk flight controllers come with 2 CAN interfaces; if your peripherals support 2 CAN interfaces as well, it is recommended to wire both up for increased safety.

 ## Firmware

@@ -1,39 +1,126 @@
-# ModalAI Starling 2
+# ModalAI Starling (PX4 Autonomy Developer Kit)

-The [Starlings](https://www.modalai.com/pages/starlings) are NDAA-compliant SLAM development drones based on the [VOXL 2](../flight_controller/modalai_voxl_2.md) and PX4 with SWAP-optimized sensors and payloads optimized for indoor and outdoor autonomous navigation.
+The [Starlings](https://www.modalai.com/pages/starlings) are SLAM development drones supercharged by [VOXL 2](../flight_controller/modalai_voxl_2.md) and PX4 with SWAP-optimized sensors and payloads optimized for indoor and outdoor autonomous navigation.
+Powered by Blue UAS Framework autopilot, VOXL 2, the Starling weighs only 275g and boasts an impressive 30 minutes of autonomous indoor flight time.

-## Overview
+![Overview](../../assets/hardware/complete_vehicles/modalai_starling/starling_front_hero.jpg)

-Starling drones house _VOXL 2_, which is a powerful companion computer, a PX4 flight controller, image sensors, GPS, and connectivity modem, in one small package.
-The Starlings feature ModalAI's open source [VOXL SDK](https://gitlab.com/voxl-public/voxl-sdk) that has pre-configured autonomy models for computer vision assisted flight.
+The ModalAI PX4 Autonomy Developer Kit is a Starling-based development drone.
+It houses a [VOXL 2](../flight_controller/modalai_voxl_2.md), which is a powerful companion computer and PX4 flight controller in one small package, image sensors, GPS, and connectivity modem, and is ready-to-fly out-of-the-box.
+The Starling features ModalAI's [open SDK](https://docs.modalai.com/voxl-developer-bootcamp/) that has pre-configured autonomy models for computer vision assisted flight.
+This development drone is meant to help you get to market faster and accelerate your application development and prototyping.

-These development drones are ready-to-fly out-of-the-box.
-They are designed to help you get to market faster and accelerate your application development and prototyping.
+This guide explains the minimal additional setup required to get the UAV ready to fly.
+It also covers a hardware overview, first flight, setting up WiFi, and more.
+
+::: info
+For complete and regularly updated documentation, please visit <https://docs.modalai.com/starling-v2>.
+:::

 ::: info
 If you are new to VOXL, be sure to familiarize yourself with the core features of VOXL hardware and software by reviewing the [VOXL Bootcamp](https://docs.modalai.com/voxl-developer-bootcamp/).
 :::

-::: info
-For complete and regularly updated documentation, please visit <https://docs.modalai.com/starling-2/> and <https://docs.modalai.com/starling-2-max/>.
-:::
-
-## Starling 2
-
-The [Starling 2](https://www.modalai.com/products/starling-2) is an NDAA-compliant development drone supercharged by the VOXL SDK and equipped with a new image sensor suite for precise, indoor visual navigation and SLAM. Powered by the Blue UAS Framework autopilot, VOXL 2, the Starling 2 weighs 280g and boasts an impressive 40 minutes of autonomous flight time.
-
-![Image of the front of Starling 2](../../assets/hardware/complete_vehicles/modalai_starling/d0014_front_1920x800.png)
-
-## Starling 2 Max
-
-The [Starling 2 Max](https://www.modalai.com/products/starling-2-max) is VOXL 2-powered, NDAA-compliant development drone supercharged by VOXL SDK specifically designed for computer vision-based, long-range dead reckoning with a 500g payload capacity. Powered by the Blue UAS Framework autopilot, VOXL 2, the Starling 2 Max weighs 500g and boasts an impressive 55 minutes of autonomous flight time.
-
-![Image of front of a Starling 2 Max](../../assets/hardware/complete_vehicles/modalai_starling/d0012_front_1920x800.png)
-
 ## Where to Buy

-[ModalAI Starling 2](https://www.modalai.com/products/starling-2)
+[ModalAI PX4 Autonomy Developer Kit](https://www.modalai.com/products/px4-autonomy-developer-kit?variant=46969885950256)

-[ModalAI Starling 2 Max](https://www.modalai.com/products/starling-2-max)
+## Hardware Overview
+
+![Hardware Overview](../../assets/hardware/complete_vehicles/modalai_starling/mrb_d0005_4_v2_c6_m22__callouts_a.jpg)
+
+| Callout | Description                           | MPN              |
+| ------- | ------------------------------------- | ---------------- |
+| A       | VOXL 2                                | MDK-M0054-1      |
+| B       | VOXL 4-in-1 ESC                       | MDK-M0117-1      |
+| C       | Barometer Shield Cap                  | M10000533        |
+| D       | ToF Image Sensor (PMD)                | MDK-M0040        |
+| E       | Tracking Image Sensor (OV7251)        | M0014            |
+| F       | Hires Image Sensor (IMX214)           | M0025-2          |
+| G       | AC600 WiFi Dongle                     | AWUS036EACS      |
+| H       | GNSS GPS Module & Compass             | M10-5883         |
+| I       | 915MHz ELRS Receiver                  | BetaFPV Nano RX  |
+| J       | USB C Connector on VOXL 2 (not shown) |                  |
+| K       | VOXL Power Module                     | MCCA-M0041-5-B-T |
+| L       | 4726FM Propellor                      | M10000302        |
+| M       | Motor 1504                            |                  |
+| N       | XT30 Power Connector                  |                  |
+
+## Datasheet
+
+### Specifications
+
+| Component       | Specification                                                     |
+| --------------- | ----------------------------------------------------------------- |
+| Autopilot       | VOXL2                                                             |
+| Take-off Weight | 275g (172g without battery)                                       |
+| Diagonal Size   | 211mm                                                             |
+| Flight Time     | >30 minutes                                                       |
+| Motors          | 1504                                                              |
+| Propellers      | 120mm                                                             |
+| Frame           | 3mm Carbon Fiber                                                  |
+| ESC             | ModalAI VOXL 4-in-1 ESC V2                                        |
+| GPS             | UBlox M10                                                         |
+| RC Receiver     | 915mhz ELRS                                                       |
+| Power Module    | ModalAI Power Module v3 - 5V/6A                                   |
+| Battery         | Sony VTC6 3000mah 2S, or any 2S 18650 battery with XT30 connector |
+| Height          | 83mm                                                              |
+| Width           | 187mm (Props folded)                                              |
+| Length          | 142mm (Props folded)                                              |
+
+### Hardware Wiring Diagram
+
+![Hardware Overview](../../assets/hardware/complete_vehicles/modalai_starling/d0005_compute_wiring_d.jpg)
+
+## Tutorials
+
+### ELRS Set Up
+
+Binding your ELRS (ExpressLRS) receiver to a transmitter is a crucial step in preparing your VOXL 2 based PX4 Autonomy Developer Kit by ModalAI for flight.
+This process ensures a secure and responsive connection between your drone and its control system.
+
+Follow this guide to bind your ELRS receiver to your transmitter.
+
+#### Setting up the Receiver
+
+1. **Power On the Receiver**: Once your drone is powered on, you'll notice the ELRS receiver's blue LED flashing.
+   This is an indication that the receiver is on but has not yet established a connection with a transmitter.
+
+   ![Starling Receiver](../../assets/hardware/complete_vehicles/modalai_starling/starling-photo.png)
+
+2. **Enter Binding Mode**: To initiate binding, open a terminal and execute the `adb shell` and `voxl-elrs -bind` commands.
+   You'll observe the receiver's LED switch to a flashing in a heartbeat pattern, signaling that it is now in binding mode.
+
+   ![Boot Screenshot](../../assets/hardware/complete_vehicles/modalai_starling/screenshot-boot.png)
+
+#### Setting up the Transmitter
+
+1. **Access the Menu**: On your Commando 8 radio transmitter included in the kit, press the left mode button to open the menu system.
+
+   ![Press Menu on RC](../../assets/hardware/complete_vehicles/modalai_starling/radio-1.png)
+
+2. **Navigate to ExpressLRS**: Use the right button to select the first menu entry, which should be "ExpressLRS."
+3. **Find the Bind Option**: With the "ExpressLRS" option selected, scroll down to the bottom of the menu to locate the "Bind" section. This can be done by pressing the right button downwards until you reach the "Bind" option.
+
+   ![Press Binding on RC](../../assets/hardware/complete_vehicles/modalai_starling/radio-2.png)
+
+4. **Initiate Binding**: Select "Bind" to put the transmitter into binding mode. You will know the process has been successful when the transmitter emits a beep, indicating a successful bind.
+
+#### Completing the Binding Process
+
+Once the transmitter is set to bind mode, the ELRS receiver on the drone will change its LED from flashing to a steady light, signifying a successful connection between the receiver and the transmitter.
+
+- **Power Cycle**: After the binding process is complete, it's essential to power cycle the VOXL 2 before attempting to fly.
+  This means turning off the VOXL 2 and then turning it back on.
+  This step ensures that all settings are properly applied and that the system recognizes the newly established connection.
+
+You should now have a successfully bound ELRS receiver to your transmitter, ready for use with the PX4 Autonomy Kit by ModalAI.
+A secure connection is vital for the reliable operation of your drone, so always confirm the binding status before flight.
+
+### Videos
+
+- [VOXL 2 Starling Hardware Overview](https://youtu.be/M9OiMpbEYOg)
+- [VOXL 2 Starling First Flight Tutorial](https://youtu.be/Cpbbye3Z6co)
+- [VOXL 2 Starling ELRS Set Up](https://youtu.be/7OwGS-kcFVg)

 <!--  @katzfey - ModalAI reviewer -->
@@ -10,7 +10,7 @@ If you have [mounted the compass](../assembly/mount_gps_compass.md#compass-orien

 ## Overview

-You will need to calibrate your compass(es) when you first setup your vehicle, and you may need to [recalibrate](#recalibration) it if the vehicles is ever exposed to a very strong magnetic field, or if it is used in an area with abnormal magnetic characteristics.
+You will need to calibrate your compass(es) when you first setup your vehicle, and you may need to recalibrate it if the vehicles is ever exposed to a very strong magnetic field, or if it is used in an area with abnormal magnetic characteristics.

 :::tip
 Indications of a poor compass calibration include multicopter circling during hover, toilet bowling (circling at increasing radius/spiraling-out, usually constant altitude, leading to fly-way), or veering off-path when attempting to fly straight.
@@ -20,16 +20,13 @@ _QGroundControl_ should also notify the error `mag sensors inconsistent`.
 The process calibrates all compasses and autodetects the orientation of any external compasses.
 If any external magnetometers are available, it then disables the internal magnetometers (these are primarily needed for automatic rotation detection of external magnetometers).

-### Types of Calibration
-
 Several types of compass calibration are available:

 1. [Complete](#complete-calibration): This calibration is required after installing the autopilot on an airframe for the first time or when the configuration of the vehicle has changed significantly.
   It compensates for hard and soft iron effects by estimating an offset and a scale factor for each axis.
 1. [Partial](#partial-quick-calibration): This calibration can be performed as a routine when preparing the vehicle for a flight, after changing the payload, or simply when the compass rose seems inaccurate.
   This type of calibration only estimates the offsets to compensate for a hard iron effect.
-1. [Large vehicle](#large-vehicle-calibration): This calibration can be performed when the vehicle is too large or heavy to perform a complete calibration.
-   This type of calibration only estimates the offsets to compensate for a hard iron effect.
+1. [Large vehicle](#large-vehicle-calibration): This calibration can be performed when the vehicle is too large or heavy to perform a complete calibration. This type of calibration only estimates the offsets to compensate for a hard iron effect.

 ## Performing the Calibration

@@ -51,27 +48,23 @@ Before starting the calibration:
 The calibration steps are:

 1. Start _QGroundControl_ and connect the vehicle.
-2. Select **"Q" icon > Vehicle Setup > Sensors** (sidebar) to open _Sensor Setup_.
-3. Click the **Compass** sensor button.
+1. Select **"Q" icon > Vehicle Setup > Sensors** (sidebar) to open _Sensor Setup_.
+1. Click the **Compass** sensor button.

   ![Select Compass calibration PX4](../../assets/qgc/setup/sensor/sensor_compass_select_px4.png)

   ::: info
-   You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md).
-   If not, you can also set it here.
+   You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md). If not, you can also set it here.
   :::

-4. Click **OK** to start the calibration.
-5. Place the vehicle in any of the orientations shown in red (incomplete) and hold it still.
-   Once prompted (the orientation-image turns yellow) rotate the vehicle around the specified axis in either/both directions.
-   Once the calibration is complete for the current orientation the associated image on the screen will turn green.
+1. Click **OK** to start the calibration.
+1. Place the vehicle in any of the orientations shown in red (incomplete) and hold it still. Once prompted (the orientation-image turns yellow) rotate the vehicle around the specified axis in either/both directions. Once the calibration is complete for the current orientation the associated image on the screen will turn green.

   ![Compass calibration steps on PX4](../../assets/qgc/setup/sensor/sensor_compass_calibrate_px4.png)

-6. Repeat the calibration process for all vehicle orientations.
+1. Repeat the calibration process for all vehicle orientations.

-Once you've calibrated the vehicle in all the positions _QGroundControl_ will display _Calibration complete_ (all orientation images will be displayed in green and the progress bar will fill completely).
-You can then proceed to the next sensor.
+Once you've calibrated the vehicle in all the positions _QGroundControl_ will display _Calibration complete_ (all orientation images will be displayed in green and the progress bar will fill completely). You can then proceed to the next sensor.

 ### Partial "Quick" Calibration

@@ -94,8 +87,7 @@ Notes:

 This calibration process leverages external knowledge of vehicle's orientation and location, and a World Magnetic Model (WMM) to calibrate the hard iron biases.

-1. Ensure GNSS Fix.
-   This is required to find the expected Earth magnetic field in WMM tables.
+1. Ensure GNSS Fix. This is required to find the expected Earth magnetic field in WMM tables.
 2. Align the vehicle to face True North.
   Be as accurate as possible for best results.
 3. Open the [QGroundControl MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html) and send the following command:
@@ -115,30 +107,6 @@ Notes:

 After the calibration is complete, check that the heading indicator and the heading of the arrow on the map are stable and match the orientation of the vehicle when turning it e.g. to the cardinal directions.

-## Recalibration
-
-Recalibration is recommended whenever the magnetic environment of the vehicle has changed or when heading behavior appears unreliable.
-
-You can use either complete calibration or mag quick calibration depending on the size of the vehicle and your ability to rotate it through the required orientations.
-Complete calibration provides the most accurate soft-iron compensation.
-
-Recalibrate the compass when:
-
- _The compass module or its mounting orientation has changed._
-  This includes replacing the GPS or mag unit, rotating the mast, or altering how the module is fixed to the airframe.
- _The vehicle has been exposed to a strong magnetic disturbance._
-  Examples include transport or storage near large steel structures, welding operations near the airframe, or operation close to high-current equipment.
- _Structural, wiring, or payload changes may have altered the magnetic field around the sensors._
-  New payloads, rerouted wires, additional batteries, or metal fasteners can introduce soft-iron effects that affect heading accuracy.
- _The vehicle is operated in a region with significantly different magnetic characteristics._
-  Large changes in latitude, longitude, or magnetic inclination can require re-estimation of offsets.
- _QGroundControl reports magnetometer inconsistencies_.
-  For example, if you see the error `mag sensors inconsistent`.
- _Heading behavior does not match the vehicle’s observed orientation._
-  Symptoms include drifting yaw, sudden heading jumps when attempting to fly straight, and toilet bowling
- _QGroundControl_ sends the error `mag sensors inconsistent`.
-  This indicates that multiple magnetometers are reporting different headings.
-
 ## Additional Calibration/Configuration

 The process above will autodetect, [set default rotations](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT), calibrate, and prioritise, all available magnetometers.
@@ -77,18 +77,13 @@ Follow these steps:

 1. **Set an Initial Scale**

-   Set the CAS scale (`ASPD_SCALE_n`) to 1.0 (the default value).
-   When the scale is at exactly 1.0, PX4 automatically accelerates the learning process during the first 5 minutes of flight, allowing faster convergence to the correct scale value.
+   Use a conservative starting point: set the CAS scale (`ASPD_SCALE_n`) slightly under 1.0 (for example 0.95).
+   This biases the system toward over-speed rather than under-speed, reducing stall risk.

 2. **Perform a Flight**

   After takeoff, place the vehicle in loiter for about 15 minutes to allow the scale estimation to converge.

-   ::: tip
-   Flying in circles (loiter/hold mode) is important as the scale-validation algorithm requires the aircraft to pass through multiple heading segments (12 segments covering all compass directions).
-   If these heading segments aren’t completed, PX4 cannot validate the estimated scale.
-   :::
-
 3. **Check Scale Convergence**

   After the flight, review the estimated scale in logs.
@@ -95,7 +95,6 @@ Set the following parameters in _QGroundControl_:
 - To optionally disable GPS aiding, set [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to `0`.
 - Enable [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW).
 - Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
- Set [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL) to `1`.
 - Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `10`.
 - Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
 - Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
@@ -92,7 +92,6 @@ Set the following parameters in _QGroundControl_:
 - To optionally disable GPS aiding, set [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to `0`.
 - Enable [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW).
 - Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
- Set [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL) to `1`.
 - Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `10`.
 - Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
 - Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
@@ -1,58 +0,0 @@
-# ARK 4IN1 ESC (with/without Connectors)
-
-4 in 1 Electronic Speed Controller (ESC) that is made in the USA, NDAA compliant, and DIU Blue Framework listed.
-
-The ESC comes in variants without connectors that you can solder in place, and a variant that has built-in motor and battery connectors (no soldering required).
-
-![ARK 4IN1 ESC without connectors ](../../assets/hardware/esc/ark/ark_4_in_1_esc.jpg)![ARK 4IN1 ESC with connectors](../../assets/hardware/esc/ark/ark_4_in_1_esc_with_connectors.jpg)
-
-## Where to Buy
-
-Order this module from:
-
- [4IN1 ESC (with connectors)](https://arkelectron.com/product/ark-4in1-esc/) (ARK Electronics - US)
- [ARK Electronics (without connectors)](https://arkelectron.com/product/ark-4in1-esc-cons/) (ARK Electronics US)
-
-## Hardware Specifications
-
- Battery Voltage: 3-8s
-  - 6V Minimum
-  - 65V Absolute Maximum
- Current Rating: 50A Continuous, 75A Burst Per Motor
- [STM32F0](https://www.st.com/en/microcontrollers-microprocessors/stm32f0-series.html)
- [AM32 Firmware](https://github.com/am32-firmware/AM32/pull/27)
- Onboard Current Sensor, Serial Telemetry
-  - 100V/A
- Input Protocols
-  - DShot (300, 600)
-  - Bi-directional DShot
-  - KISS Serial Telemetry
-  - PWM
- 8 Pin JST-SH Input/Output
- 10 Pin JST-SH Debug
-
- Motor & Battery Connectors (with-connector version)
-
-  - MR30 Connector Limit Per Motor: 30A Continuous, 40A Burst
-  - Four MR30 Motor Connectors
-
- Dimensions (with connectors)
-
-  - Size: 77.00mm x 42.00mm x 9.43mm
-  - Mounting Pattern: 30.5mm
-  - Weight: 24g
-
- Dimensions (without connectors)
-  - Size: 43.00mm x 40.50mm x 7.60mm
-  - Mounting Pattern: 30.5mm
-  - Weight: 14.5g
-
-Other
-
- Made in the USA
- Open source AM32 firmware
- [DIU Blue Framework Listed](https://www.diu.mil/blue-uas/framework)
-
-## See Also
-
- [ARK 4IN1 ESC CONS](https://docs.arkelectron.com/electronic-speed-controller/ark-4in1-esc) (ARK Docs)
@@ -1,66 +0,0 @@
-# ESC Protocols
-
-This topic lists the main [Electronic Speed Controller (ESC)](../peripherals/esc_motors.md) protocols supported by PX4.
-
-## DShot
-
-[DShot](../peripherals/dshot.md) is a digital ESC protocol that is highly recommended for vehicles that can benefit from reduced latency, in particular racing multicopters, VTOL vehicles, and so on.
-
-It has reduced latency and is more robust than both [PWM](#pwm) and [OneShot](#oneshot-125).
-In addition it does not require ESC calibration, telemetry is available from some ESCs, and you can reverse motor spin directions.
-
-PX4 configuration is done in the [Actuator Configuration](../config/actuators.md).
-Selecting a higher rate DShot ESC in the UI results in lower latency, but lower rates are more robust (and hence more suitable for large aircraft with longer leads); some ESCs only support lower rates (see datasheets for information).
-
-Setup:
-
- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
- [DShot](../peripherals/dshot.md) also contains information about how to send commands etc.
-
-## DroneCAN
-
-[DroneCAN ESCs](../dronecan/escs.md) are recommended when DroneCAN is the primary bus used for your vehicle.
-The PX4 implementation is currently limited to update rates of 200 Hz.
-
-DroneCAN shares many similar benefits to [DShot](#dshot) including high data rates, robust connection over long leads, telemetry feedback, no need for calibration of the ESC itself.
-
-[DroneCAN ESCs](../dronecan/escs.md) are connected via the DroneCAN bus (setup and configuration are covered at that link).
-
-## PWM
-
-[PWM ESCs](../peripherals/pwm_escs_and_servo.md) are commonly used for fixed-wing vehicles and ground vehicles (vehicles that require a lower latency like multicopters typically use oneshot or dshot ESCs).
-
-PWM ESCs communicate using a periodic pulse, where the _width_ of the pulse indicates the desired speed.
-The pulse width typically ranges between 1000 μs for zero power and 2000 μs for full power.
-The periodic frame rate of the signal depends on the capability of the ESC, and commonly ranges between 50 Hz and 490 Hz (the theoretical maximum being 500 Hz for a very small "off" cycle).
-A higher rate is better for ESCs, in particular where a rapid response to setpoint changes is needed.
-For PWM servos 50 Hz is usually sufficient, and many don't support higher rates.
-
-![duty cycle for PWM](../../assets/peripherals/esc_pwm_duty_cycle.png)
-
-In addition to being a relatively slow protocol PWM ESCs require [calibration](../advanced_config/esc_calibration.md) because the pulse widths representing low and high values can vary significantly.
-Unlike [DShot](#dshot) and [DroneCAN ESC](#dronecan) they do not have the ability to provide telemetry and feedback on ESC (or servo) state.
-
-Setup:
-
- [ESC Wiring](../peripherals/pwm_escs_and_servo.md)
- [PX4 Configuration](../peripherals/pwm_escs_and_servo.md#px4-configuration)
- [ESC Calibration](../advanced_config/esc_calibration.md)
-
-## OneShot 125
-
-[OneShot 125 ESCs](../peripherals/oneshot.md) are usually much faster than PWM ESCs, and hence more responsive and easier to tune.
-They are preferred over PWM for multicopters (but not as much as [DShot ESCs](#dshot), which do not require calibration, and may provide telemetry feedback).
-There are a number of variants of the OneShot protocol, which support different rates.
-PX4 only supports OneShot 125.
-
-OneShot 125 is the same as PWM but uses pulse widths that are 8 times shorter (from 125 μs to 250 μs for zero to full power).
-This allows OneShot 125 ESCs to have a much shorter duty cycle/higher rate.
-For PWM the theoretical maximum is close to 500 Hz while for OneShot it approaches 4 kHz.
-The actual supported rate depends on the ESC used.
-
-Setup:
-
- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
- [PX4 Configuration](../peripherals/oneshot.md#px4-configuration)
- [ESC Calibration](../advanced_config/esc_calibration.md)
@@ -39,4 +39,3 @@ The boards in this category are:
 - [Svehicle E2](../flight_controller/svehicle_e2.md)
 - [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)
 - [ThePeach FCC-R1](../flight_controller/thepeach_r1.md)
- [X-MAV AP-H743-R1](../flight_controller/x-mav_ap-h743r1.md)
@@ -74,6 +74,7 @@ This board supported in QGroundControl 4.0 and later.

 ## Availability

+- [PX4 Autonomy Developer Kit](https://www.modalai.com/products/px4-autonomy-developer-kit)
 - [Starling 2](https://www.modalai.com/products/starling-2)
 - [Starling 2 MAX](https://www.modalai.com/products/starling-2-max)
 - [Sentinel Development Drone powered by VOXL 2](https://www.modalai.com/pages/sentinel)
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Hamish Willee	1b52af583e	Merge branch 'main' into purge_protocol_version	2025-12-03 09:08:36 +11:00
Hamish Willee	cec0eba79f	Purge PROTOCOL_VERSION	2025-10-30 16:51:44 +11:00