Merge branch 'main' into pr-boards_serial_rc

platforms/stm32_common: hrt.c: define timer 1 IRQ properly for H7 platform (#25260 )
mavlink_mission: improve mission_state handling with mission_result validity check
2026-06-09 21:10:05 +08:00 · 2025-07-21 12:32:24 -07:00 · 2025-07-21 09:53:38 -08:00 · 2025-07-21 10:18:23 +02:00 · 2025-07-20 07:51:14 +12:00 · 2025-07-18 10:20:42 -06:00
102 changed files with 260 additions and 137 deletions
@@ -29,7 +29,6 @@ set LOGGER_ARGS ""
 set LOGGER_BUF 8
 set PARAM_FILE ""
 set PARAM_BACKUP_FILE ""
-set RC_INPUT_ARGS ""
 set STORAGE_AVAILABLE no
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
@@ -500,9 +499,6 @@ else
 	#
 	. ${R}etc/init.d/rc.serial

-	# Must be started after the serial config is read
-	rc_input start $RC_INPUT_ARGS
-
 	# Manages USB interface
 	if param greater -s SYS_USB_AUTO -1
 	then
@@ -664,7 +660,6 @@ unset LOGGER_BUF
 unset PARAM_FILE
 unset PARAM_BACKUP_FILE
 unset PARAM_DEFAULTS_VER
-unset RC_INPUT_ARGS
 unset STORAGE_AVAILABLE
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
@@ -4,6 +4,7 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -113,9 +113,6 @@
 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1

-/* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS3"
-
 #define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)

 /* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
@@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -110,8 +110,6 @@
 #define PWMIN_TIMER_CHANNEL	1
 #define GPIO_PWM_IN		GPIO_TIM1_CH1IN_2

-#define RC_SERIAL_PORT		"/dev/ttyS0"
-
 // #define GPIO_RSSI_IN                (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
 #define GPIO_SBUS_INV                  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
 #define RC_INVERT_INPUT(_invert_true)  px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);
@@ -15,6 +15,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
@@ -322,10 +322,6 @@
 #define HRT_PPM_CHANNEL         /* T8C1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

-/* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS5"
-
 /* Input Capture Channels. */
 #define INPUT_CAP1_TIMER                  1
 #define INPUT_CAP1_CHANNEL     /* T1C2 */ 2
@@ -270,10 +270,6 @@
 #define HRT_TIMER               8  /* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */

-/* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS4"
-
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
 #define PWMIN_TIMER                       4
 #define PWMIN_TIMER_CHANNEL    /* T4C2 */ 2
@@ -1,5 +1,6 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_MAIERTEK_MPC2520=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -142,7 +142,6 @@
 #define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */

 /* RC Serial port */
-#define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE

 /* power on/off */
@@ -8,6 +8,7 @@ CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
@@ -19,6 +20,9 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
 CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -42,6 +46,7 @@ CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
@@ -3,6 +3,12 @@
 # board specific defaults
 #------------------------------------------------------------------------------

+# By disabling INA modules, we use the
+# i2c_launcher instead.
+param set-default SENS_EN_INA226 0
+param set-default SENS_EN_INA228 0
+param set-default SENS_EN_INA238 0
+
 # Set the backend of the dataman to SRAM
 param set-default SYS_DM_BACKEND 1
 # Set TELEM1 as default mavlink connection
@@ -23,6 +23,48 @@ else
 	bmm350 -I -R 8 start
 fi

+if param compare SENS_EN_INA226 1
+then
+	# Start Digital power monitors
+	ina226 -X -b 1 -t 1 -k start
+
+	# Disable analog monitoring
+	param set BAT1_V_CHANNEL -2
+
+	set INA_CONFIGURED yes
+fi
+
+
+if param compare SENS_EN_INA228 1
+then
+	# Start Digital power monitors
+	ina228 -X -b 1 -t 1 -k start
+
+	# Disable analog monitoring
+	param set BAT1_V_CHANNEL -2
+
+	set INA_CONFIGURED yes
+fi
+
+if param compare SENS_EN_INA238 1
+then
+	# Start Digital power monitors
+	ina238 -X -b 1 -t 1 -k start
+
+	# Disable analog monitoring
+	param set BAT1_V_CHANNEL -2
+
+	set INA_CONFIGURED yes
+fi
+
+if param compare BAT1_V_CHANNEL -2
+then
+    if [ "$INA_CONFIGURED" != "yes" ]
+    then
+        param set BAT1_V_CHANNEL -1
+    fi
+fi
+
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start

@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -102,9 +102,6 @@
 #define HRT_TIMER		     5  /* use timer5 for the HRT */
 #define HRT_TIMER_CHANNEL    1  /* use capture/compare channel 3 */

-/* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS4"

 /* Power switch controls ******************************************************/

@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP581=y
@@ -227,8 +227,6 @@
 #define GPIO_PPM_IN       	/* PC6 T8C1 */ GPIO_TIM3_CH1IN_3

 /* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS4"
 #define RC_SERIAL_SINGLEWIRE

 /* Input Capture Channels. */
@@ -4,6 +4,7 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -159,7 +159,7 @@

 #define HRT_PPM_CHANNEL         /* T3C1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* PB4 T3C1 */ GPIO_TIM3_CH1IN_2
-#define RC_SERIAL_PORT          "/dev/ttyS5"
+
 #define RC_SERIAL_SINGLEWIRE

 /**
@@ -4,6 +4,7 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -159,7 +159,7 @@

 #define HRT_PPM_CHANNEL         /* T3C1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* PB4 T3C1 */ GPIO_TIM3_CH1IN_2
-#define RC_SERIAL_PORT          "/dev/ttyS5"
+
 #define RC_SERIAL_SINGLEWIRE

 /**
@@ -6,6 +6,7 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -130,7 +130,6 @@
 #define HRT_PPM_CHANNEL              3 // capture/compare channel 3
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)

-#define RC_SERIAL_PORT               "/dev/ttyS0"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /*
@@ -5,6 +5,7 @@ CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -134,7 +134,6 @@
 #define HRT_PPM_CHANNEL              3 // capture/compare channel 3
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)

-#define RC_SERIAL_PORT               "/dev/ttyS0"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /*
@@ -145,7 +145,6 @@
 #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

 // #define GPIO_SBUS_INV                  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
@@ -148,7 +148,6 @@
 #define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */

 /* RC Serial port */
-#define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* SD card bringup does not work if performed on the IDLE thread because it
@@ -111,8 +111,6 @@
 #define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */

 /* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS4"
 #define RC_SERIAL_SINGLEWIRE

 #define GPIO_RSSI_IN                       /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
@@ -125,7 +125,6 @@

 // So we can run CRSF on ttyS4, which corresponds to the TX6/RX6 pins
 /* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS4"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
@@ -5,6 +5,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -283,8 +283,6 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS4"
 #define RC_SERIAL_SINGLEWIRE

 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
@@ -5,6 +5,7 @@ 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_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -156,7 +156,6 @@


 /* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS4"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 // #define GPIO_RSSI_IN            /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
@@ -5,6 +5,7 @@ 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_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -149,7 +149,6 @@


 /* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS4"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 // #define GPIO_RSSI_IN            /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
@@ -5,6 +5,7 @@ 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_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -156,7 +156,6 @@


 /* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS4"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 // #define GPIO_RSSI_IN            /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
@@ -124,7 +124,6 @@


 /* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS4"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* SD Card */
@@ -5,6 +5,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
@@ -182,8 +182,6 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* Safety Switch: Enable the FMU to control it as there is no px4io in ModalAI FC-v1 */
@@ -3,6 +3,7 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
@@ -248,9 +248,6 @@
 //#define HRT_PPM_CHANNEL         /* T8C1 */  1  /* use capture/compare channel 1 */
 //#define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

-/* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS5"

 /* Input Capture Channels. */
 #define INPUT_CAP1_TIMER                  1
@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -126,8 +126,6 @@
 #define HRT_PPM_CHANNEL         /* T3C2 */  2  /* use capture/compare channel 2 */
 #define GPIO_PPM_IN             /* PC7 T3C2 */ GPIO_TIM3_CH2IN_3

-/* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS5"

 #define GPIO_RSSI_IN            /* PC0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)

@@ -4,6 +4,7 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -136,8 +136,6 @@
 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1

-/* RC Serial port */
-#define RC_SERIAL_PORT                     "/dev/ttyS3"

 #define GPIO_RSSI_IN                       /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)

@@ -3,6 +3,7 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -135,8 +135,6 @@
 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1

-/* RC Serial port */
-#define RC_SERIAL_PORT                     "/dev/ttyS3"

 #define GPIO_RSSI_IN                       /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)

@@ -4,6 +4,7 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -112,9 +112,6 @@
 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1

-/* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS3"
-
 #define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)

 /* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
@@ -4,6 +4,7 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -112,8 +112,6 @@
 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1

-/* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS3"

 #define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)

@@ -3,6 +3,7 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -117,7 +117,6 @@
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1

 /* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS4"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 #define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
@@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS2"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -130,9 +130,6 @@ __END_DECLS
 #define SPEKTRUM_RX_AS_UART()        px4_arch_configgpio(PIN_UART1_RX)
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

-/* RC input */
-
-#define RC_SERIAL_PORT          "/dev/ttyS2"      /* UART1 */
 #define GPIO_RSSI_IN            PIN_ADC1_SE13

 /* Ethernet Control
@@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS2"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -130,9 +130,6 @@ __END_DECLS
 #define SPEKTRUM_RX_AS_UART()        px4_arch_configgpio(PIN_UART1_RX)
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

-/* RC input */
-
-#define RC_SERIAL_PORT          "/dev/ttyS2"      /* UART1 */
 #define GPIO_RSSI_IN            PIN_ADC1_SE13

 /* Ethernet Control
@@ -87,7 +87,6 @@ __BEGIN_DECLS

 #define DIRECT_PWM_OUTPUT_CHANNELS  8

-#define RC_SERIAL_PORT          "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE_FORCE
 #define RC_SERIAL_INVERT_RX_ONLY

@@ -5,6 +5,7 @@ CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -122,7 +122,6 @@
 #define HRT_PPM_CHANNEL              3 // capture/compare channel 3
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)

-#define RC_SERIAL_PORT               "/dev/ttyS0"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /*
@@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_WIFI="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
@@ -113,10 +113,6 @@
 #define HRT_PPM_CHANNEL              3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)

-/* RC Serial port */
-
-#define RC_SERIAL_PORT               "/dev/ttyS4"
-
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2. */
 #define PWMIN_TIMER                  4
 #define PWMIN_TIMER_CHANNEL          2
@@ -4,6 +4,7 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -297,8 +297,6 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS4"
 #define RC_SERIAL_SINGLEWIRE
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
@@ -16,6 +17,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPIO_MCP23009=y
@@ -287,7 +287,6 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
-#define RC_SERIAL_PORT                     "/dev/ttyS5"
 /* Some RC protocols are bi-directional, therefore we need a half-duplex UART */
 #define RC_SERIAL_SINGLEWIRE
 /* The STM32 UART by default wires half-duplex mode to the TX pin, but our
@@ -5,6 +5,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -257,8 +257,6 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE
 #define RC_SERIAL_SWAP_RXTX

@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
@@ -16,6 +17,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
@@ -324,7 +324,6 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
-#define RC_SERIAL_PORT                     "/dev/ttyS5"
 /* Some RC protocols are bi-directional, therefore we need a half-duplex UART */
 #define RC_SERIAL_SINGLEWIRE
 /* The STM32 UART by default wires half-duplex mode to the TX pin, but our
@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
@@ -15,6 +16,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=y
 CONFIG_DRIVERS_DSHOT=y
@@ -451,7 +451,6 @@
 #define HRT_PPM_CHANNEL         /* GPIO_EMC_B1_09 GPIO_GPT5_CAPTURE1_1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* GPIO_EMC_B1_09 GPT1_CAPTURE2 */ (GPIO_GPT5_CAPTURE1_1 | GENERAL_INPUT_IOMUX)

-#define RC_SERIAL_PORT                  "/dev/ttyS4"
 #define RC_SERIAL_SINGLEWIRE            1 // Suport Single wire wiring
 #define RC_SERIAL_SWAP_RXTX             1 // Set Swap (but not supported in HW) to use Single wire
 #define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap
@@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -70,7 +70,7 @@
 #define HRT_TIMER_CHANNEL 1
 #define HRT_PPM_CHANNEL 1	// Number really doesn't matter for this board
 #define GPIO_PPM_IN		(16 | GPIO_FUN(RP2040_GPIO_FUNC_SIO))
-#define RC_SERIAL_PORT               "/dev/ttyS3"
+
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* This board provides a DMA pool and APIs */			// Needs to be figured out
@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
@@ -251,8 +251,6 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE

 /* Input Capture Channels. */
@@ -1,5 +1,6 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
@@ -107,10 +107,6 @@
 #define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */


-/* RC Serial port */
-
-#define RC_SERIAL_PORT          "/dev/ttyS0"
-
 #define GPIO_RSSI_IN            /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)

 #define SDIO_SLOTNO             0  /* Only one slot */
@@ -5,6 +5,7 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
@@ -111,10 +111,6 @@
 #define HRT_PPM_CHANNEL              3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)

-/* RC Serial port */
-
-#define RC_SERIAL_PORT               "/dev/ttyS4"
-
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2. */
 #define PWMIN_TIMER                  4
 #define PWMIN_TIMER_CHANNEL          2
@@ -136,7 +136,6 @@
 #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

 // #define GPIO_SBUS_INV                  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
@@ -318,8 +318,6 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE

 /* Input Capture Channels. */
@@ -0,0 +1,23 @@
+# GPS home position in WGS84 coordinates.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp			# time since system start (microseconds)
+
+float64 lat				# Latitude in degrees
+float64 lon				# Longitude in degrees
+float32 alt				# Altitude in meters (AMSL)
+
+float32 x				# X coordinate in meters
+float32 y				# Y coordinate in meters
+float32 z				# Z coordinate in meters
+
+float32 yaw				# Yaw angle in radians
+
+bool valid_alt		# true when the altitude has been set
+bool valid_hpos		# true when the latitude and longitude have been set
+bool valid_lpos		# true when the local position (xyz) has been set
+
+bool manual_home	# true when home position was set manually
+
+uint32 update_count 	# update counter of the home position
@@ -10,5 +10,6 @@
 #include "translation_arming_check_reply_v1.h"
 #include "translation_battery_status_v1.h"
 #include "translation_event_v1.h"
+#include "translation_home_position_v1.h"
 #include "translation_vehicle_attitude_setpoint_v1.h"
 #include "translation_vehicle_status_v1.h"
@@ -0,0 +1,65 @@
+/****************************************************************************
+ * Copyright (c) 2025 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate HomePosition v0 <--> v1
+#include <px4_msgs_old/msg/home_position_v0.hpp>
+#include <px4_msgs/msg/home_position.hpp>
+
+class HomePositionV1Translation {
+public:
+	using MessageOlder = px4_msgs_old::msg::HomePositionV0;
+	static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+	using MessageNewer = px4_msgs::msg::HomePosition;
+	static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+	static constexpr const char* kTopic = "fmu/out/home_position";
+
+	static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
+
+		// Update for HomePosition
+	
+		// Set msg_newer from msg_older
+		msg_newer.timestamp = msg_older.timestamp;
+		msg_newer.lat = msg_older.lat;
+		msg_newer.lon = msg_older.lon;
+		msg_newer.alt = msg_older.alt;
+		msg_newer.x = msg_older.x;
+		msg_newer.y = msg_older.y;
+		msg_newer.z = msg_older.z;
+		msg_newer.roll = 0.0f;  // New field in v1, set to 0
+		msg_newer.pitch = 0.0f; // New field in v1, set to 0
+		msg_newer.yaw = msg_older.yaw;
+		msg_newer.valid_alt = msg_older.valid_alt;
+		msg_newer.valid_hpos = msg_older.valid_hpos;
+		msg_newer.valid_lpos = msg_older.valid_lpos;
+		msg_newer.manual_home = msg_older.manual_home;
+		msg_newer.update_count = msg_older.update_count;
+	}
+
+	static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+
+		// Update for HomePosition
+	
+		// Set msg_older from msg_newer
+		msg_older.timestamp = msg_newer.timestamp;
+		msg_older.lat = msg_newer.lat;
+		msg_older.lon = msg_newer.lon;
+		msg_older.alt = msg_newer.alt;
+		msg_older.x = msg_newer.x;
+		msg_older.y = msg_newer.y;
+		msg_older.z = msg_newer.z;
+		// Note: roll and pitch from v1 are ignored in v0
+		msg_older.yaw = msg_newer.yaw;
+		msg_older.valid_alt = msg_newer.valid_alt;
+		msg_older.valid_hpos = msg_newer.valid_hpos;
+		msg_older.valid_lpos = msg_newer.valid_lpos;
+		msg_older.manual_home = msg_newer.manual_home;
+		msg_older.update_count = msg_newer.update_count;
+	}
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(HomePositionV1Translation);
@@ -1,6 +1,6 @@
 # GPS home position in WGS84 coordinates.

-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1

 uint64 timestamp			# time since system start (microseconds)

@@ -12,6 +12,8 @@ float32 x				# X coordinate in meters
 float32 y				# Y coordinate in meters
 float32 z				# Z coordinate in meters

+float32 roll				# Pitch angle in radians
+float32 pitch				# Roll angle in radians
 float32 yaw				# Yaw angle in radians

 bool valid_alt		# true when the altitude has been set
@@ -450,7 +450,7 @@ __BEGIN_DECLS
 * Name: board_rc_singlewire
 *
 * Description:
- *   A board may define RC_SERIAL_SINGLEWIRE, so that RC_SERIAL_PORT is configured
+ *   A board may define RC_SERIAL_SINGLEWIRE, so that CONFIG_BOARD_SERIAL_RC is configured
 *   as singlewire UART.
 *
 * Input Parameters:
@@ -463,7 +463,7 @@ __BEGIN_DECLS
 ************************************************************************************/

 #if defined(RC_SERIAL_SINGLEWIRE)
-static inline bool board_rc_singlewire(const char *device) { return strcmp(device, RC_SERIAL_PORT) == 0; }
+static inline bool board_rc_singlewire(const char *device) { return strcmp(device, CONFIG_BOARD_SERIAL_RC) == 0; }
 #elif defined(RC_SERIAL_SINGLEWIRE_FORCE)
 static inline bool board_rc_singlewire(const char *device) { return true; }
 #else
@@ -474,7 +474,7 @@ static inline bool board_rc_singlewire(const char *device) { return false; }
 * Name: board_rc_swap_rxtx
 *
 * Description:
- *   A board may define RC_SERIAL_SWAP_RXTX, so that RC_SERIAL_PORT is configured
+ *   A board may define RC_SERIAL_SWAP_RXTX, so that CONFIG_BOARD_SERIAL_RC is configured
 *   as UART with RX/TX swapped.
 *
 *   It can optionaly define RC_SERIAL_SWAP_USING_SINGLEWIRE If the board is wired
@@ -496,7 +496,7 @@ static inline bool board_rc_singlewire(const char *device) { return false; }
 ************************************************************************************/

 #if defined(RC_SERIAL_SWAP_RXTX)
-static inline bool board_rc_swap_rxtx(const char *device) { return strcmp(device, RC_SERIAL_PORT) == 0; }
+static inline bool board_rc_swap_rxtx(const char *device) { return strcmp(device, CONFIG_BOARD_SERIAL_RC) == 0; }
 #else
 static inline bool board_rc_swap_rxtx(const char *device) { return false; }
 #endif
@@ -506,7 +506,7 @@ static inline bool board_rc_swap_rxtx(const char *device) { return false; }
 *
 * Description:
 *   All boards may optionally define RC_INVERT_INPUT(bool invert) that is
- *   used to invert the RC_SERIAL_PORT RC port (e.g. to toggle an external XOR via
+ *   used to invert the CONFIG_BOARD_SERIAL_RC RC port (e.g. to toggle an external XOR via
 *   GPIO).
 *
 * Input Parameters:
@@ -521,7 +521,7 @@ static inline bool board_rc_swap_rxtx(const char *device) { return false; }
 #ifdef RC_INVERT_INPUT
 static inline bool board_rc_invert_input(const char *device, bool invert)
 {
-	if (strcmp(device, RC_SERIAL_PORT) == 0) { RC_INVERT_INPUT(invert); return true; }
+	if (strcmp(device, CONFIG_BOARD_SERIAL_RC) == 0) { RC_INVERT_INPUT(invert); return true; }

 	return false;
 }
@@ -79,7 +79,11 @@
 # define HRT_TIMER_BASE		STM32_TIM1_BASE
 # define HRT_TIMER_POWER_REG	STM32_RCC_APB2ENR
 # define HRT_TIMER_POWER_BIT	RCC_APB2ENR_TIM1EN
+#if defined(CONFIG_ARCH_CHIP_STM32H7)
+# define HRT_TIMER_VECTOR	STM32_IRQ_TIMCC
+#else
 # define HRT_TIMER_VECTOR	STM32_IRQ_TIM1CC
+#endif
 # define HRT_TIMER_CLOCK	STM32_APB2_TIM1_CLKIN
 # if CONFIG_STM32_TIM1
 #  error must not set CONFIG_STM32_TIM1=y and HRT_TIMER=1
@@ -136,26 +136,11 @@ RCInput::task_spawn(int argc, char *argv[])
 	int ch;
 	const char *myoptarg = nullptr;
 	const char *device_name = nullptr;
-	bool silent = false;
-#if defined(RC_SERIAL_PORT)
-	device_name = RC_SERIAL_PORT;
-#endif // RC_SERIAL_PORT
-
-#if defined(RC_SERIAL_PORT) && defined(PX4IO_SERIAL_DEVICE)
-
-	// if RC_SERIAL_PORT == PX4IO_SERIAL_DEVICE then don't use it by default if the px4io is running
-	if ((strcmp(RC_SERIAL_PORT, PX4IO_SERIAL_DEVICE) == 0) && (access("/dev/px4io", R_OK) == 0)) {
-		device_name = nullptr;
-		silent = true;
-	}
-
-#endif // RC_SERIAL_PORT && PX4IO_SERIAL_DEVICE

 	while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'd':
 			device_name = myoptarg;
-			silent = false;
 			break;

 		case '?':
@@ -173,6 +158,20 @@ RCInput::task_spawn(int argc, char *argv[])
 		return -1;
 	}

+#if defined(CONFIG_BOARD_SERIAL_RC) && defined(PX4IO_SERIAL_DEVICE)
+
+	// if board has optional RC (CONFIG_BOARD_SERIAL_RC) potentially on same
+	// serial as px4io (PX4IO_SERIAL_DEVICE) don't allow conflict (silently for now)
+	if ((strcmp(device_name, PX4IO_SERIAL_DEVICE) == 0)
+	    && (strcmp(CONFIG_BOARD_SERIAL_RC, PX4IO_SERIAL_DEVICE) == 0)
+	    && (access("/dev/px4io", R_OK) == 0)
+	   ) {
+		PX4_INFO("unable to start, conflict with PX4IO on %s", device_name);
+		return PX4_OK;
+	}
+
+#endif // CONFIG_BOARD_SERIAL_RC && PX4IO_SERIAL_DEVICE
+
 	if (device_name && (access(device_name, R_OK | W_OK) == 0)) {
 		RCInput *instance = new RCInput(device_name);

@@ -188,15 +187,12 @@ RCInput::task_spawn(int argc, char *argv[])

 		return PX4_OK;

-	} else if (silent) {
-		return PX4_OK;
-
 	} else {
 		if (device_name) {
 			PX4_ERR("invalid device (-d) %s", device_name);

 		} else {
-			PX4_INFO("valid device required");
+			PX4_ERR("valid device required");
 		}
 	}

@@ -24,11 +24,8 @@ parameters:
            default: -1

 serial_config:
-    - command: set RC_INPUT_ARGS "-d ${SERIAL_DEV}"
+    - command: "rc_input start -d ${SERIAL_DEV}"
      port_config_param:
        name: RC_PORT_CONFIG
        group: Serial
        default: RC
-        description_extended: |
-            Setting this to 'Disabled' will use a board-specific default port
-            for RC input.
@@ -127,7 +127,10 @@ bool AnalogBattery::is_valid()

 int AnalogBattery::get_voltage_channel()
 {
-	if (_analog_params.v_channel >= 0) {
+	if (_analog_params.v_channel == V_CHANNEL_DISABLED) {
+		return -1;
+
+	} else if (_analog_params.v_channel >= 0) {
 		return _analog_params.v_channel;

 	} else {
@@ -135,6 +138,7 @@ int AnalogBattery::get_voltage_channel()
 	}
 }

+
 int AnalogBattery::get_current_channel()
 {
 	if (_analog_params.i_channel >= 0) {
@@ -94,6 +94,9 @@ protected:
 	virtual void updateParams() override;

 private:
+
+	static constexpr int V_CHANNEL_DISABLED = -2;
+
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 	uint8_t _arming_state{0};

@@ -41,7 +41,9 @@ parameters:
                short: Battery ${i} Voltage ADC Channel
                long: |
                    This parameter specifies the ADC channel used to monitor voltage of main power battery.
-                    A value of -1 means to use the board default.
+                    A value of -1 means to use the board default. A value of -2 disables analog monitoring.
+                    This is useful when the FMU supports both analog and digital voltage monitoring and you want
+                    to use digital monitoring exclusively.

            type: int32
            reboot_required: true
@@ -999,6 +999,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
 					}

 				} else {
+					float roll = matrix::wrap_2pi(math::radians(cmd.param2));
+					roll = PX4_ISFINITE(roll) ? roll : 0.0f;
+					float pitch = matrix::wrap_2pi(math::radians(cmd.param3));
+					pitch = PX4_ISFINITE(pitch) ? pitch : 0.0f;
 					float yaw = matrix::wrap_2pi(math::radians(cmd.param4));
 					yaw = PX4_ISFINITE(yaw) ? yaw : (float)NAN;
 					const double lat = cmd.param5;
@@ -1007,7 +1011,7 @@ Commander::handle_command(const vehicle_command_s &cmd)

 					if (PX4_ISFINITE(lat) && PX4_ISFINITE(lon) && PX4_ISFINITE(alt)) {

-						if (_home_position.setManually(lat, lon, alt, yaw)) {
+						if (_home_position.setManually(lat, lon, alt, roll, pitch, yaw)) {

 							cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;

@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2022-2025 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
@@ -99,7 +99,9 @@ bool HomePosition::setHomePosition(bool force)
 		const vehicle_local_position_s &lpos = _local_position_sub.get();
 		_heading_reset_counter = lpos.heading_reset_counter; // TODO: should not be here

-		fillLocalHomePos(home, lpos);
+		const vehicle_attitude_s &attitude = _attitude_sub.get();
+
+		fillLocalHomePos(home, lpos, attitude);
 		updated = true;
 	}

@@ -135,19 +137,25 @@ bool HomePosition::setHomePosition(bool force)
 	return updated;
 }

-void HomePosition::fillLocalHomePos(home_position_s &home, const vehicle_local_position_s &lpos)
+void HomePosition::fillLocalHomePos(home_position_s &home, const vehicle_local_position_s &lpos,
+				    const vehicle_attitude_s &attitude)
 {
-	fillLocalHomePos(home, lpos.x, lpos.y, lpos.z, lpos.heading);
+	matrix::Quatf q(attitude.q);
+	matrix::Eulerf euler(q);
+	fillLocalHomePos(home, lpos.x, lpos.y, lpos.z, euler(0), euler(1), euler(2));
 }

-void HomePosition::fillLocalHomePos(home_position_s &home, float x, float y, float z, float heading)
+void HomePosition::fillLocalHomePos(home_position_s &home, float x, float y, float z, float roll, float pitch,
+				    float yaw)
 {
 	home.x = x;
 	home.y = y;
 	home.z = z;
 	home.valid_lpos = true;

-	home.yaw = heading;
+	home.roll = roll;
+	home.pitch = pitch;
+	home.yaw = yaw;
 }

 void HomePosition::fillGlobalHomePos(home_position_s &home, const vehicle_global_position_s &gpos)
@@ -229,7 +237,7 @@ void HomePosition::setInAirHomePosition()
 			ref_pos.project(home.lat, home.lon, home_x, home_y);

 			const float home_z = -(home.alt - lpos.ref_alt);
-			fillLocalHomePos(home, home_x, home_y, home_z, NAN);
+			fillLocalHomePos(home, home_x, home_y, home_z, NAN, NAN, NAN);

 			home.timestamp = hrt_absolute_time();
 			home.update_count++;
@@ -245,7 +253,7 @@ void HomePosition::setInAirHomePosition()
 	}
 }

-bool HomePosition::setManually(double lat, double lon, float alt, float yaw)
+bool HomePosition::setManually(double lat, double lon, float alt, float roll, float pitch, float yaw)
 {
 	const vehicle_local_position_s &vehicle_local_position = _local_position_sub.get();

@@ -268,6 +276,8 @@ bool HomePosition::setManually(double lat, double lon, float alt, float yaw)
 	home.z = -(alt - vehicle_local_position.ref_alt);
 	home.valid_lpos = vehicle_local_position.xy_valid && vehicle_local_position.z_valid;

+	home.roll = roll;
+	home.pitch = pitch;
 	home.yaw = yaw;

 	home.timestamp = hrt_absolute_time();
@@ -303,6 +313,7 @@ void HomePosition::update(bool set_automatically, bool check_if_changed)
 {
 	_local_position_sub.update();
 	_global_position_sub.update();
+	_attitude_sub.update();

 	if (_vehicle_air_data_sub.updated()) {
 		vehicle_air_data_s baro_data;
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2022-2025 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
@@ -39,6 +39,7 @@
 #include <uORB/topics/sensor_gps.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/failsafe_flags.h>
 #include <uORB/topics/vehicle_air_data.h>
 #include <lib/mathlib/math/filter/AlphaFilter.hpp>
@@ -64,7 +65,7 @@ public:

 	bool setHomePosition(bool force = false);
 	void setInAirHomePosition();
-	bool setManually(double lat, double lon, float alt, float yaw);
+	bool setManually(double lat, double lon, float alt, float roll, float pitch, float yaw);
 	void setTakeoffTime(uint64_t takeoff_time) { _takeoff_time = takeoff_time; }

 	void update(bool set_automatically, bool check_if_changed);
@@ -76,8 +77,9 @@ private:
 	void setHomePosValid();
 	void updateHomePositionYaw(float yaw);

-	static void fillLocalHomePos(home_position_s &home, const vehicle_local_position_s &lpos);
-	static void fillLocalHomePos(home_position_s &home, float x, float y, float z, float heading);
+	static void fillLocalHomePos(home_position_s &home, const vehicle_local_position_s &lpos,
+				     const vehicle_attitude_s &attitude);
+	static void fillLocalHomePos(home_position_s &home, float x, float y, float z, float roll, float pitch, float yaw);
 	static void fillGlobalHomePos(home_position_s &home, const vehicle_global_position_s &gpos);
 	static void fillGlobalHomePos(home_position_s &home, double lat, double lon, double alt);

@@ -85,6 +87,7 @@ private:

 	uORB::SubscriptionData<vehicle_global_position_s>	_global_position_sub{ORB_ID(vehicle_global_position)};
 	uORB::SubscriptionData<vehicle_local_position_s>	_local_position_sub{ORB_ID(vehicle_local_position)};
+	uORB::SubscriptionData<vehicle_attitude_s>	_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};

 	uint64_t _last_gps_timestamp{0};
@@ -232,6 +232,7 @@ void Ekf::updateVerticalPositionResetStatus(const float delta_z)
 	_state_reset_status.reset_count.posD++;
 }

+#if defined(CONFIG_EKF2_TERRAIN)
 void Ekf::updateTerrainResetStatus(const float delta_z)
 {
 	if (_state_reset_status.reset_count.hagl == _state_reset_count_prev.hagl) {
@@ -244,6 +245,7 @@ void Ekf::updateTerrainResetStatus(const float delta_z)

 	_state_reset_status.reset_count.hagl++;
 }
+#endif // CONFIG_EKF2_TERRAIN

 void Ekf::resetHorizontalPositionToLastKnown()
 {
@@ -8,7 +8,7 @@ parameters:
        description:
          short: Enable internal combustion engine
        type: boolean
-        default: true
+        default: false

      ICE_ON_SOURCE:
        description:
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Ramon Roche	8575199bc7	Merge branch 'main' into pr-boards_serial_rc	2025-07-21 12:32:24 -07:00
dusan19	8dd14d9aaa	platforms/stm32_common: hrt.c: define timer 1 IRQ properly for H7 platform (#25260 )	2025-07-21 09:53:38 -08:00
mahima-yoga	1e4d7429e1	mavlink_mission: improve mission_state handling with mission_result validity check	2025-07-21 10:18:23 +02:00
Julian Oes	2c97a875bf	commander/mavlink: use home attitude, not only yaw According to the mavlink spec we should be publishing the home attitude as a quaternion rather than just the yaw/heading. Additionally, this allows setting the landing roll and pitch angle using DO_SET_HOME (this yet needs to go into the MAVLink spec though). This time including the message versioning and translation.	2025-07-20 07:51:14 +12:00
Dusan Zivkovic	2065f577d6	EKF: fix compilation error when CONFIG_EKF2_TERRAIN is not defined	2025-07-18 10:20:42 -06:00
Silvan Fuhrer	a0560d2d82	Internal combustion engine control: disable module by default Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-07-18 17:45:05 +02:00
mahima-yoga	3c79f25e10	fmu-v6s: disable analog battery monitoring when digital power module is enabled	2025-07-18 16:42:54 +02:00
mahima-yoga	db85e12b9f	battery-monitoring: allow disabling analog battery monitoring through BAT{i}_V_CHANNEL param	2025-07-18 16:42:54 +02:00
mahima-yoga	5125059b8f	fmu-v6s: add ina226/ina228/ina238 support	2025-07-18 16:42:54 +02:00
Silvan	e22329d074	add GYRO_FFT to v6s build Signed-off-by: Silvan <silvan@auterion.com>	2025-07-18 14:15:46 +02:00
Alexander Lerach	3041960cf1	auav: enable on v5x/v6x/v6s boards	2025-07-18 09:58:03 +02:00
Alex Klimaj	d9039b0cf6	Merge branch 'main' into pr-boards_serial_rc	2025-02-18 12:27:40 -07:00
Daniel Agar	b054f99e26	move RC_SERIAL_PORT to CONFIG_BOARD_SERIAL_RC - drivers/rc_input use module.yaml serial_config to start	2024-10-03 14:35:58 -04:00