control_allocator: add parameter based ActuatorEffectivenessCustom

- this allows creating a custom actuator effectiveness entirely from parameters of the form CA_ACTn_TRQ_{R,P,Y} and CA_ACTn_THR_{X,Y,Z}
control_allocator: push VTOL flight phase into ActuatorEffectiveness
2026-06-02 02:50:06 +08:00 · 2021-10-27 14:25:03 -04:00 · 2021-10-27 13:42:22 -04:00 · 2021-10-27 12:48:42 -04:00 · 2021-10-27 10:07:01 -04:00 · 2021-10-27 15:23:23 +02:00
399 changed files with 13288 additions and 8824 deletions
@@ -86,7 +86,6 @@ pipeline {
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_default",
                     "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_ctrlalloc",
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
                     "px4_fmu-v5_rtps",
@@ -21,7 +21,7 @@ pipeline {
                sh 'make cubepilot_cubeorange_test'
                sh 'make cubepilot_cubeorange_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
              }
              post {
                always {
@@ -70,6 +70,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                    resetBoard()
                }
              }
@@ -91,7 +92,7 @@ pipeline {
                sh 'make cuav_x7pro_test'
                sh 'make cuav_x7pro_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
              }
              post {
                always {
@@ -138,6 +139,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                    resetBoard()
                }
              }
@@ -159,7 +161,7 @@ pipeline {
                sh 'make px4_fmu-v3_test'
                sh 'make px4_fmu-v3_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
              }
              post {
                always {
@@ -206,6 +208,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                    resetBoard()
                }
              }
@@ -227,7 +230,7 @@ pipeline {
                sh 'make px4_fmu-v4_test'
                sh 'make px4_fmu-v4_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
              }
              post {
                always {
@@ -273,6 +276,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                    resetBoard()
                }
              }
@@ -294,7 +298,7 @@ pipeline {
                sh 'make px4_fmu-v4pro_test'
                sh 'make px4_fmu-v4pro_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
              }
              post {
                always {
@@ -341,6 +345,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                    resetBoard()
                }
              }
@@ -362,7 +367,7 @@ pipeline {
                sh 'make px4_fmu-v5_debug'
                sh 'make px4_fmu-v5_debug bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
              }
              post {
                always {
@@ -420,6 +425,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                    resetBoard()
                }
              }
@@ -441,7 +447,7 @@ pipeline {
                sh 'make px4_fmu-v5_stackcheck'
                sh 'make px4_fmu-v5_stackcheck bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
              }
              post {
                always {
@@ -498,6 +504,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                    resetBoard()
                }
              }
@@ -519,7 +526,7 @@ pipeline {
                sh 'make px4_fmu-v5_test'
                sh 'make px4_fmu-v5_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
              }
              post {
                always {
@@ -566,6 +573,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                    resetBoard()
                }
              }
@@ -573,73 +581,6 @@ pipeline {
          }
        }

-        // stage("modalai_fc-v1_test") {
-        //   stages {
-        //     stage("build modalai_fc-v1_test") {
-        //       agent {
-        //         docker {
-        //           image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-        //           args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //         }
-        //       }
-        //       steps {
-        //         checkout scm
-        //         sh 'export'
-        //         sh 'make distclean'
-        //         sh 'ccache -s'
-        //         sh 'git fetch --tags'
-        //         sh 'make modalai_fc-v1_test'
-        //         sh 'make modalai_fc-v1_test bootloader_elf'
-        //         sh 'ccache -s'
-        //         stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
-        //       }
-        //       post {
-        //         always {
-        //             sh 'make distclean'
-        //         }
-        //       }
-        //     } // stage build
-        //     stage("hardware") {
-        //       agent {
-        //         label 'modalai_fc-v1'
-        //       }
-        //       stages {
-        //         stage("flash") {
-        //           steps {
-        //             sh 'export'
-        //             sh 'find /dev/serial'
-        //             unstash 'modalai_fc-v1_test'
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
-        //             // flash board and watch bootup
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-        //           }
-        //         }
-        //         stage("tests") {
-        //           steps {
-        //             runTests()
-        //           }
-        //         }
-        //         stage("status") {
-        //           steps {
-        //             // configure
-        //             resetParameters()
-        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-        //             checkStatus()
-        //             quickCalibrate()
-        //           }
-        //         }
-        //         stage("print topics") {
-        //           steps {
-        //             printTopics()
-        //           }
-        //         }
-
-        //       }
-        //     } // stage test
-        //   }
-        // }
-
        stage("nxp_fmuk66-v3_test") {
          stages {
            stage("build nxp_fmuk66-v3_test") {
@@ -654,7 +595,7 @@ pipeline {
                sh 'make nxp_fmuk66-v3_test'
                //sh 'make nxp_fmuk66-v3_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
              }
              post {
                always {
@@ -701,6 +642,7 @@ pipeline {
              }
              post {
                always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                    resetBoard()
                }
              }
@@ -74,6 +74,7 @@ Checks:          '*,
                  -modernize-deprecated-headers,
                  -modernize-loop-convert,
                  -modernize-pass-by-value,
+                  -modernize-raw-string-literal,
                  -modernize-return-braced-init-list,
                  -modernize-use-auto,
                  -modernize-use-bool-literals,
@@ -81,8 +82,8 @@ Checks:          '*,
                  -modernize-use-equals-default,
                  -modernize-use-equals-delete,
                  -modernize-use-override,
-                  -modernize-use-using,
                  -modernize-use-trailing-return-type,
+                  -modernize-use-using,
                  -performance-inefficient-string-concatenation,
                  -readability-avoid-const-params-in-decls,
                  -readability-container-size-empty,
@@ -13,6 +13,7 @@ jobs:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-nuttx-focal:2021-09-08
    strategy:
+      fail-fast: false
      matrix:
        config: [
          airmind_mindpx-v2,
@@ -10,6 +10,7 @@ on:
 jobs:
  enumerate_targets:
    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
    steps:
@@ -106,6 +106,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-rtk-gps_default
+    ark_can-rtk-gps_debug:
+      short: ark_can-rtk-gps_debug
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-rtk-gps_debug
    ark_can-rtk-gps_canbootloader:
      short: ark_can-rtk-gps_canbootloader
      buildType: MinSizeRel
@@ -128,6 +128,9 @@ config BOARD_KEYSTORE

 menu "Serial ports"

+    config BOARD_SERIAL_URT6
+        string "URT6 tty port"
+
    config BOARD_SERIAL_GPS1
        string "GPS1 tty port"

@@ -158,8 +161,14 @@ menu "Serial ports"
    config BOARD_SERIAL_TEL5
        string "TEL5 tty port"

+    config BOARD_SERIAL_RC
+        string "RC tty port"
+
    config BOARD_SERIAL_WIFI
        string "WIFI tty port"
+
+    config BOARD_SERIAL_PPB
+        string "PPB (Pixhawk Payload Bus) tty port"
 endmenu

 menu "drivers"
@@ -464,7 +464,7 @@ shellcheck_all:
 	@make px4_fmu-v5_default shellcheck

 validate_module_configs:
-	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

 # Cleanup
 # --------------------------------------------------------------------
@@ -8,7 +8,8 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
+
+param set-default SYS_CTRL_ALLOC 1

 param set-default MPC_USE_HTE 0

@@ -45,4 +46,10 @@ param set-default CA_MC_R3_PY 0.1875
 param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05

-set MIXER direct
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+set MIXER skip
+set MIXER_AUX none
@@ -7,4 +7,3 @@

 param set-default FW_THR_CRUISE 0.0
 param set-default RWTO_TKOFF 0
-
@@ -6,7 +6,8 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-. ${R}etc/init.d/rc.ctrlalloc
+
+param set-default SYS_CTRL_ALLOC 1

 param set-default MC_PITCHRATE_P 0.0800
 param set-default MC_PITCHRATE_I 0.0400
@@ -75,7 +76,14 @@ param set-default CA_MC_R5_PY -0.5
 param set-default CA_MC_R5_CT 9.5
 param set-default CA_MC_R5_KM -0.05

+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+
 set MAV_TYPE 13

-# set MIXER hexa_x
-set MIXER direct
+set MIXER skip
+set MIXER_AUX none
@@ -55,5 +55,4 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
-	rc.ctrlalloc
 )
@@ -9,6 +9,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -19,6 +19,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -14,6 +14,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -19,6 +19,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -17,6 +17,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -9,6 +9,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -9,6 +9,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -18,6 +18,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -22,6 +22,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -21,6 +21,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -14,6 +14,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -84,6 +84,8 @@ param set-default MPC_Z_VEL_P_ACC 5
 param set-default MPC_Z_VEL_I_ACC 3
 param set-default MPC_LAND_ALT1 3
 param set-default MPC_LAND_ALT2 1
+param set-default MPC_POS_MODE 3
+param set-default CP_GO_NO_DATA 1

 # Navigator Parameters
 param set-default NAV_ACC_RAD 2
@@ -11,9 +11,11 @@
 #

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

-set MIXER none
+set MIXER skip
+set MIXER_AUX none
+
+param set-default SYS_CTRL_ALLOC 1

 param set-default MPC_USE_HTE 0

@@ -50,6 +52,7 @@ param set-default CA_MC_R3_PY 0.177
 param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05

-set MIXER direct
-
-set MIXER_AUX direct_aux
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
@@ -77,4 +77,3 @@ param set-default IMU_DGYRO_CUTOFF 100

 # enable to use high-rate logging for better rate tracking analysis
 param set-default SDLOG_PROFILE 27
-
@@ -11,8 +11,8 @@
 #

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

+param set-default SYS_CTRL_ALLOC 1
 param set-default MPC_USE_HTE 0

 param set-default VM_MASS 1.5
@@ -66,8 +66,12 @@ param set-default CA_MC_R5_PY -0.1375
 param set-default CA_MC_R5_CT 6.5
 param set-default CA_MC_R5_KM -0.05

-set MIXER direct
-set PWM_OUT 123456
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106

-set MIXER_AUX direct_aux
-set PWM_AUX_OUT 123456
+set MIXER skip
+set MIXER_AUX none
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# External airframe startup script (on SD card)
+#
+set SDCARD_MIXERS_PATH ${SDCARD_EXT_PATH}/mixers
+
+if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
+then
+	. ${SDCARD_EXT_PATH}/rc.autostart
+else
+	echo "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
+fi
@@ -1,26 +0,0 @@
-#!/bin/sh
-#
-# Standard apps for new control allocation and controllers
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-#
-# Start angular velocity controller
-#
-# angular_velocity_controller start
-# mc_rate_control stop
-
-#
-# Start Control Allocator
-#
-control_allocator start
-
-#
-# Disable hover thrust estimator and prearming
-# These features are currently incompatible with control allocation
-#
-# TODO: fix
-#
-param set MPC_USE_HTE 0
-param set COM_PREARM_MODE 0
@@ -16,6 +16,12 @@ ekf2 start &
 fw_att_control start
 fw_pos_control_l1 start
 airspeed_selector start
+
+#
+# Start attitude control auto-tuner
+#
+fw_autotune_attitude_control start
+
 #
 # Start Land Detector.
 #
@@ -96,10 +96,16 @@ then

 	if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
 	then
-		if ! $OUTPUT_CMD start
+		if param compare SYS_CTRL_ALLOC 1
 		then
-			echo "$OUTPUT_CMD start failed"
-			tune_control play error
+			pwm_out start
+			dshot start
+		else
+			if ! $OUTPUT_CMD start
+			then
+				echo "$OUTPUT_CMD start failed"
+				tune_control play error
+			fi
 		fi
 	fi
 fi
@@ -214,10 +220,10 @@ fi

 if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
 then
-	if [ $PWM_OUT != none ]
+	if [ $PWM_OUT != none -a $PWM_MAIN_RATE != none ]
 	then
 		# Set PWM output frequency.
-		if [ $PWM_MAIN_RATE != none ]
+		if ! param compare SYS_CTRL_ALLOC 1
 		then
 			pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
 		fi
@@ -48,6 +48,22 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################

+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+
+	#
+	# Disable hover thrust estimator and prearming
+	# These features are currently incompatible with control allocation
+	#
+	# TODO: fix
+	#
+	param set MPC_USE_HTE 0
+fi
+
 #
 # Start Multicopter Rate Controller.
 #
@@ -24,9 +24,11 @@ mc_att_control start vtol
 flight_mode_manager start
 mc_pos_control start vtol
 mc_hover_thrust_estimator start
+mc_autotune_attitude_control start

 fw_att_control start vtol
 fw_pos_control_l1 start vtol
+fw_autotune_attitude_control start vtol

 # Start Land Detector
 # Multicopter for now until we have something for VTOL
@@ -44,6 +44,8 @@ set PWM_EXTRA_OUT none
 set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
 set EXTRA_MIXER_MODE none
 set RC_INPUT_ARGS ""
+set SDCARD_AVAILABLE no
+set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 set STARTUP_TUNE 1
 set USE_IO no
@@ -57,7 +59,6 @@ ver all
 #
 # Try to mount the microSD card.
 #
-set SDCARD_AVAILABLE no
 # REBOOTWORK this needs to start after the flight control loop.
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
@@ -97,15 +98,13 @@ if [ $SDCARD_AVAILABLE = yes ]
 then
 	if hardfault_log check
 	then
-		# Error tune.
-		set STARTUP_TUNE 2
+		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
 		if hardfault_log commit
 		then
 			hardfault_log reset
 		fi
 	fi
 fi
-unset SDCARD_AVAILABLE

 #
 # Look for an init script on the microSD card.
@@ -182,15 +181,6 @@ else
 	#
 	tone_alarm start

-	#
-	# Play the startup tune (if not disabled or there is an error)
-	#
-	param compare CBRK_BUZZER 782090
-	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
-	then
-		tune_control play -t $STARTUP_TUNE
-	fi
-
 	#
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
@@ -216,10 +206,22 @@ else
 	#
 	# Set parameters and env variables for selected AUTOSTART.
 	#
+	set AUTOSTART_PATH etc/init.d/rc.autostart
 	if ! param compare SYS_AUTOSTART 0
 	then
-		. ${R}etc/init.d/rc.autostart
+		if param greater SYS_AUTOSTART 1000000
+		then
+			# Use external startup file
+			if [ $SDCARD_AVAILABLE = yes ]
+			then
+				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
+			else
+				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
+			fi
+		fi
+		. ${R}$AUTOSTART_PATH
 	fi
+	unset AUTOSTART_PATH

 	#
 	# Override parameters from user configuration file.
@@ -250,7 +252,7 @@ else
 			then
 				# Start UAVCAN firmware update server and dynamic node ID allocation server.
 				uavcan start fw
-				tune_control play -t 1
+
 				if param greater UAVCAN_ENABLE 2
 				then
 					set OUTPUT_MODE uavcan_esc
@@ -315,7 +317,7 @@ else
 	if [ $USE_IO = yes -a $IO_PRESENT = no ]
 	then
 		echo "PX4IO not found"
-		tune_control play error
+		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
 	fi

 	#
@@ -369,6 +371,17 @@ else
 		commander start
 	fi

+
+	#
+	# Play the startup tune (if not disabled or there is an error)
+	#
+	param compare CBRK_BUZZER 782090
+	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
+	then
+		tune_control play -t $STARTUP_TUNE
+	fi
+
+
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -539,6 +552,8 @@ unset PWM_OUT
 unset PWM_EXTRA_OUT
 unset PWM_EXTRA_RATE
 unset RC_INPUT_ARGS
+unset SDCARD_AVAILABLE
+unset SDCARD_EXT_PATH
 unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
 unset USE_IO
@@ -44,5 +44,4 @@ px4_add_romfs_files(
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
 	vectored6dof_sitl.main.mix
-	tiltrotor_sitl_direct.main.mix
 )
@@ -1,14 +0,0 @@
-Mixer for quad tiltrotor (x motor configuration)
-================================================
-
-A: 0
-A: 1
-A: 2
-A: 3
-A: 4
-A: 5
-A: 6
-A: 7
-A: 8
-A: 9
-A: 10
@@ -46,7 +46,6 @@ px4_add_romfs_files(
 	coax.main.mix
 	delta.main.mix
 	deltaquad.main.mix
-	direct.main.mix
 	dodeca_bottom_cox.aux.mix
 	dodeca_top_cox.main.mix
 	firefly6.aux.mix
@@ -1,11 +0,0 @@
-# Direct mixer
-# @board px4_fmu-v2 exclude
-
-A: 0
-A: 1
-A: 2
-A: 3
-A: 4
-A: 5
-A: 6
-A: 7
@@ -8,18 +8,16 @@ if [ -f "$FILE" ]; then
 	if [ -n "$CHECK_FAILED" ]; then
 		${DIR}/fix_code_style.sh --quiet < $FILE > $FILE.pretty

+		echo -e 'Formatting issue found in' $FILE
 		echo
-		git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty
+		git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty | grep -vE -e "^.{,4}diff.*\.pretty.{,3}$" -e "^.{,4}--- a/.*$" -e "^.{,4}\+\+\+ b/.*$" -e "^.{,5}@@ .* @@.*$" -e "^.{,4}index .{10}\.\."
 		rm -f $FILE.pretty
 		echo

 		if [[ $PX4_ASTYLE_FIX -eq 1 ]]; then
 			${DIR}/fix_code_style.sh $FILE
 		else
-			# Make sure this file is not staged for comitting
-			git reset $FILE
-			# Provide instructions
-			echo $FILE 'bad formatting, please run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
+			echo 'to fix automatically run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
 			exit 1
 		fi
 	fi
@@ -54,12 +54,9 @@ if [ $? -ne 0 ]; then
 fi

 # Check for code style, only in changed files
-for i in `git diff --cached --name-only --diff-filter=ACM`
-do
-	./Tools/astyle/files_to_check_code_style.sh $i | xargs -n 1 -P 8 -I % ./Tools/astyle/check_code_style.sh %
-	if [ $? -ne 0 ]
-	then
-		echo "Pre-commit style error: Bad formatting according to astyle rules"
-		exit 1
-	fi
-done
+bash -c "comm -12 <(./Tools/astyle/files_to_check_code_style.sh | sort) <(git diff --cached --name-only --diff-filter=ACM) | xargs -P 8 -I % ./Tools/astyle/check_code_style.sh %"
+if [ $? -ne 0 ]
+then
+	echo "Pre-commit style error: Bad formatting according to astyle rules"
+	exit 1
+fi
@@ -17,4 +17,3 @@ def save_compressed(filename):
            f.write(content_file.read())

 save_compressed(filename)
-
@@ -6,6 +6,14 @@ import os
 import sys
 import json
 import re
+from kconfiglib import Kconfig
+
+kconf = Kconfig()
+
+# Supress warning output
+kconf.warn_assign_undef = False
+kconf.warn_assign_override = False
+kconf.warn_assign_redun = False

 source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')

@@ -28,42 +36,43 @@ excluded_labels = [
    'uavcanv1' # TODO: fix and enable
    ]

-def process_target(cmake_file, target_name):
+def process_target(px4board_file, target_name):
    ret = None
-    is_board_def = False
    platform = None
    toolchain = None
-    for line in open(cmake_file, 'r'):
-        if 'px4_add_board' in line:
-            is_board_def = True
-        if not is_board_def:
-            continue

-        re_platform = re.search('PLATFORM\s+([^\s]+)', line)
-        if re_platform: platform = re_platform.group(1)
+    if px4board_file.endswith("default.px4board"):
+        kconf.load_config(px4board_file, replace=True)
+    else: # Merge config with default.px4board
+        default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
+        kconf.load_config(default_kconfig, replace=True)
+        kconf.load_config(px4board_file, replace=False)

-        re_toolchain = re.search('TOOLCHAIN\s+([^\s]+)', line)
-        if re_toolchain: toolchain = re_toolchain.group(1)
+    if "BOARD_TOOLCHAIN" in kconf.syms:
+        toolchain = kconf.syms["BOARD_TOOLCHAIN"].str_value

-    if is_board_def:
-        assert platform, f"PLATFORM not found in {cmake_file}"
+    if "BOARD_PLATFORM" in kconf.syms:
+        platform = kconf.syms["BOARD_PLATFORM"].str_value

-        if platform not in excluded_platforms:
-            # get the container based on the platform and toolchain
-            container = platform
-            if platform == 'posix':
-                container = 'base-focal'
-                if toolchain:
-                    if toolchain.startswith('aarch64'):
-                        container = 'aarch64'
-                    elif toolchain == 'arm-linux-gnueabihf':
-                        container = 'armhf'
-                    else:
-                        if verbose: print(f'possibly unmatched toolchain: {toolchain}')
-            elif platform == 'nuttx':
-                container = 'nuttx-focal'
+    assert platform, f"PLATFORM not found in {px4board_file}"
+
+    if platform not in excluded_platforms:
+        # get the container based on the platform and toolchain
+        container = platform
+        if platform == 'posix':
+            container = 'base-focal'
+            if toolchain:
+                if toolchain.startswith('aarch64'):
+                    container = 'aarch64'
+                elif toolchain == 'arm-linux-gnueabihf':
+                    container = 'armhf'
+                else:
+                    if verbose: print(f'possibly unmatched toolchain: {toolchain}')
+        elif platform == 'nuttx':
+            container = 'nuttx-focal'
+
+        ret = {'target': target_name, 'container': container}

-            ret = {'target': target_name, 'container': container}
    return ret

 for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
@@ -77,8 +86,8 @@ for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
        if not board.is_dir():
            continue
        for files in os.scandir(board.path):
-            if files.is_file() and files.name.endswith('.cmake'):
-                label = files.name[:-6]
+            if files.is_file() and files.name.endswith('.px4board'):
+                label = files.name[:-9]
                target_name = manufacturer.name + '_' + board.name + '_' + label
                if label in excluded_labels:
                    if verbose: print(f'excluding label {label} ({target_name})')
@@ -110,10 +110,16 @@ def main(kconfig_file, config1, config2):

    for line in f:
        match = unset_match(line)
-        #pprint.pprint(match)
+        #pprint.pprint(line)
        if match is not None:
            sym_name = match.group(1)
            kconf.syms[sym_name].unset_value()
+
+            for default, cond in kconf.syms[sym_name].orig_defaults:
+                if(cond.str_value == 'y'):
+                    # Default is y, our diff is unset thus we've set it to no
+                    kconf.syms[sym_name].set_value(0)
+
    f.close()

    # Print warnings for symbols whose actual value doesn't match the assigned
@@ -0,0 +1,344 @@
+#!/usr/bin/env python3
+""" Script to params from module.yaml config file(s)
+    Note: serial params are handled in Tools/serial/generate_config.py
+"""
+
+import argparse
+import os
+import sys
+
+from output_groups_from_timer_config import get_timer_groups, get_output_groups
+
+try:
+    import yaml
+except ImportError as e:
+    print("Failed to import yaml: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyyaml")
+    print("")
+    sys.exit(1)
+
+parser = argparse.ArgumentParser(description='Generate params from module.yaml file(s)')
+
+parser.add_argument('--config-files', type=str, nargs='*', default=[],
+                    help='YAML module config file(s)')
+parser.add_argument('--params-file', type=str, action='store',
+                    help='Parameter output file')
+parser.add_argument('--timer-config', type=str, action='store',
+                    help='board-specific timer_config.cpp file')
+parser.add_argument('--ethernet', action='store_true',
+                    help='Ethernet support')
+parser.add_argument('--board', type=str, action='store',
+                    help='board name, e.g. ')
+parser.add_argument('--board-with-io', dest='board_with_io', action='store_true',
+                    help='Indicate that the board as an IO for extra PWM',
+                    default=False)
+parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                    help='Verbose Output')
+
+args = parser.parse_args()
+
+verbose = args.verbose
+params_output_file = args.params_file
+timer_config_file = args.timer_config
+ethernet_supported = args.ethernet
+board_with_io = args.board_with_io
+board = args.board
+
+root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
+output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
+
+def process_param_prefix(param_prefix):
+    if param_prefix == '${PWM_MAIN_OR_HIL}':
+        if board == 'px4_sitl': return 'PWM_MAIN'
+        return 'HIL_ACT'
+    if param_prefix == '${PWM_MAIN_OR_AUX}':
+        if board_with_io: return 'PWM_AUX'
+        return 'PWM_MAIN'
+    if '${' in param_prefix:
+        raise Exception('unhandled variable in {:}'.format(param_prefix))
+    return param_prefix
+
+def process_channel_label(channel_label):
+    if channel_label == '${PWM_MAIN_OR_HIL}':
+        if board == 'px4_sitl': return 'PWM Sim'
+        return 'HIL actuator'
+    if channel_label == '${PWM_MAIN_OR_AUX}':
+        if board_with_io: return 'PWM Aux'
+        return 'PWM Main'
+    if '${' in channel_label:
+        raise Exception('unhandled variable in {:}'.format(channel_label))
+    return channel_label
+
+
+def parse_yaml_parameters_config(yaml_config, ethernet_supported):
+    """ parse the parameters section from the yaml config file """
+    if 'parameters' not in yaml_config:
+        return ''
+    parameters_section_list = yaml_config['parameters']
+    ret = ''
+    for parameters_section in parameters_section_list:
+        if 'definitions' not in parameters_section:
+            continue
+        definitions = parameters_section['definitions']
+        param_group = parameters_section.get('group', None)
+        for param_name in definitions:
+            # 'definitions' either contains the param definition directly (dict),
+            # or a list of definitions with that name (multiple entries for a
+            # multi-instance param with different instance_start)
+            param_list = definitions[param_name]
+            if not isinstance(param_list, list):
+                param_list = [param_list]
+
+            for param in param_list:
+                if param.get('requires_ethernet', False) and not ethernet_supported:
+                    continue
+                num_instances = param.get('num_instances', 1)
+                instance_start = param.get('instance_start', 0) # offset
+                instance_start_label = param.get('instance_start_label', instance_start)
+
+                # get the type and extract all tags
+                tags = '@group {:}'.format(param_group)
+                if param['type'] == 'enum':
+                    param_type = 'INT32'
+                    for key in param['values']:
+                        tags += '\n * @value {:} {:}'.format(key, param['values'][key])
+                elif param['type'] == 'boolean':
+                    param_type = 'INT32'
+                    tags += '\n * @boolean'
+                elif param['type'] == 'int32':
+                    param_type = 'INT32'
+                elif param['type'] == 'float':
+                    param_type = 'FLOAT'
+                else:
+                    raise Exception("unknown param type {:}".format(param['type']))
+
+                for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
+                            'min', 'max', 'unit', 'reboot_required']:
+                    if tag in param:
+                        tags += '\n * @{:} {:}'.format(tag, param[tag])
+
+                for i in range(num_instances):
+                    # default value
+                    default_value = 0
+                    if 'default' in param:
+                        # default can be a list of num_instances or a single value
+                        if type(param['default']) == list:
+                            assert len(param['default']) == num_instances
+                            default_value = param['default'][i]
+                        else:
+                            default_value = param['default']
+
+                    if type(default_value) == bool:
+                        default_value = int(default_value)
+
+                    # output the existing C-style format
+                    ret += '''
+/**
+ * {short_descr}
+ *
+ * {long_descr}
+ *
+ * {tags}
+ */
+PARAM_DEFINE_{param_type}({name}, {default_value});
+'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
+           long_descr=param['description']['long'].replace("\n", "\n * "),
+           tags=tags,
+           param_type=param_type,
+           name=param_name.replace('${i}', str(i+instance_start)),
+           default_value=default_value,
+          ).replace('${i}', str(i+instance_start_label))
+    return ret
+
+
+def get_actuator_output_params(yaml_config, output_functions,
+    timer_config_file, verbose):
+    """ parse the actuator_output section from the yaml config file
+        :return: dict of param definitions
+    """
+    if not 'actuator_output' in yaml_config:
+        return {}
+    output_groups = yaml_config['actuator_output']['output_groups']
+    all_params = {}
+    group_idx = 0
+
+    def add_local_param(param_name, param_def):
+        nonlocal all_params
+        # add as a list, as there can be multiple entries with the same param_name
+        if not param_name in all_params:
+            all_params[param_name] = []
+        all_params[param_name].append(param_def)
+
+    while group_idx < len(output_groups):
+        group = output_groups[group_idx]
+        group_idx += 1
+
+        if verbose: print("processing group: {:}".format(group))
+
+        # Check for generator and generate additional data.
+        # We do this by extending the output_groups list and parse in a later iteration
+        if 'generator' in group:
+            if group['generator'] == 'pwm':
+                param_prefix = process_param_prefix(group['param_prefix'])
+                channel_labels = [process_channel_label(label) for label in group['channel_labels']]
+                standard_params = group.get('standard_params', [])
+                extra_function_groups = group.get('extra_function_groups', [])
+                pwm_timer_param = group.get('pwm_timer_param', None)
+                if 'timer_config_file' in group:
+                    timer_config_file = os.path.join(root_dir, group['timer_config_file'])
+                if timer_config_file is None:
+                    raise Exception('trying to generate pwm outputs, but --timer-config not set')
+                timer_groups = get_timer_groups(timer_config_file, verbose)
+                timer_output_groups, timer_params = get_output_groups(timer_groups,
+                    param_prefix, channel_labels,
+                    standard_params, extra_function_groups, pwm_timer_param,
+                    verbose=verbose)
+                all_params.update(timer_params)
+                output_groups.extend(timer_output_groups)
+            else:
+                raise Exception('unknown generator {:}'.format(group['generator']))
+            continue
+
+        num_channels = group['num_channels']
+        param_prefix = process_param_prefix(group['param_prefix'])
+        channel_label = process_channel_label(group['channel_label'])
+        standard_params = group.get('standard_params', {})
+        instance_start = group.get('instance_start', 1)
+        instance_start_label = group.get('instance_start_label', instance_start)
+        if len(param_prefix) > 9: # 16 - len('_FAIL') - 2 (2 digits for index)
+            raise Exception("param prefix {:} too long (max length=10)".format(param_prefix))
+        # collect the functions
+        function_groups = ['common']
+        function_groups.extend(group.get('extra_function_groups', []))
+        output_function_values = {}
+        for function_group in function_groups:
+            group = output_functions[function_group]
+            for function_name in group:
+                function_name_label = function_name.replace('_', ' ')
+                if isinstance(group[function_name], int):
+                    output_function_values[group[function_name]] = function_name_label
+                else:
+                    start = group[function_name]['start']
+                    count = group[function_name]['count']
+                    for i in range(count):
+                        output_function_values[start+i] = function_name_label+' '+str(i+1)
+
+        # function param
+        param = {
+            'description': {
+                'short': channel_label+' ${i} Output Function',
+                'long':
+'''Select what should be output on {:} ${{i}}.
+
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest
+'''.format(channel_label),
+                },
+            'type': 'enum',
+            'instance_start': instance_start,
+            'instance_start_label': instance_start_label,
+            'num_instances': num_channels,
+            'default': 0,
+            'values': output_function_values
+            }
+        add_local_param(param_prefix+'_FUNC${i}', param)
+
+        # handle standard_params
+        disarmed_description = \
+'''This is the output value that is set when not armed.
+
+Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.
+'''
+        minimum_description = \
+'''Minimum output value (when not disarmed).
+
+The output range can be reversed by setting Min > Max.
+'''
+        maximum_description = \
+'''Maxmimum output value (when not disarmed).
+
+The output range can be reversed by setting Min > Max.
+'''
+        failsafe_description = \
+'''This is the output value that is set when in failsafe mode.
+
+When set to -1 (default), the value depends on the function (see {:}).
+'''.format(param_prefix+'_FUNC${i}')
+        standard_params_array = [
+            ( 'disarmed', 'Disarmed', 'DIS', disarmed_description ),
+            ( 'min', 'Minimum', 'MIN', minimum_description ),
+            ( 'max', 'Maximum', 'MAX', maximum_description ),
+            ( 'failsafe', 'Failsafe', 'FAIL', failsafe_description ),
+            ]
+        for key, label, param_suffix, description in standard_params_array:
+            if key in standard_params:
+
+                # values must be in range of an uint16_t
+                if standard_params[key]['min'] < 0:
+                    raise Exception('minimum value for {:} expected >= 0 (got {:})'.format(key, standard_params[key]['min']))
+                if standard_params[key]['max'] >= 1<<16:
+                    raise Exception('maximum value for {:} expected <= {:} (got {:})'.format(key, 1<<16, standard_params[key]['max']))
+
+                if key == 'failsafe':
+                    standard_params[key]['default'] = -1
+                    standard_params[key]['min'] = -1
+
+                param = {
+                    'description': {
+                        'short': channel_label+' ${i} '+label+' Value',
+                        'long': description
+                        },
+                    'type': 'int32',
+                    'instance_start': instance_start,
+                    'instance_start_label': instance_start_label,
+                    'num_instances': num_channels,
+                    'min': standard_params[key]['min'],
+                    'max': standard_params[key]['max'],
+                    'default': standard_params[key]['default'],
+                    }
+                add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
+
+    if verbose: print('adding actuator params: {:}'.format(all_params))
+    return all_params
+
+def load_yaml_file(file_name):
+    with open(file_name, 'r') as stream:
+        try:
+            return yaml.safe_load(stream)
+        except yaml.YAMLError as exc:
+            print(exc)
+            raise
+
+output_functions_yaml = load_yaml_file(output_functions_file)
+output_functions = output_functions_yaml['functions']
+
+all_params = ""
+
+for yaml_file in args.config_files:
+    yaml_config = load_yaml_file(yaml_file)
+
+    # convert 'output_groups' section into additional params
+    try:
+        actuator_output_params = get_actuator_output_params(yaml_config,
+                output_functions, timer_config_file, verbose)
+    except Exception as e:
+        print('Exception while parsing {:}:'.format(yaml_file))
+        raise e
+    # now add them to the yaml config
+    if not 'parameters' in yaml_config:
+        yaml_config['parameters'] = []
+    group_name = 'Actuator Outputs'
+    yaml_config['parameters'].append({'group': group_name, 'definitions': actuator_output_params})
+
+    all_params += parse_yaml_parameters_config(yaml_config, ethernet_supported)
+
+
+if verbose: print("Generating {:}".format(params_output_file))
+with open(params_output_file, 'w') as fid:
+    fid.write(all_params)
@@ -0,0 +1,201 @@
+#!/usr/bin/env python3
+""" Script to parse board-specific timer_config.cpp and print the output groups
+and timer config params to stdout
+"""
+
+import argparse
+import os
+import sys
+import re
+from itertools import groupby
+from copy import deepcopy
+
+
+def find_matching_brackets(brackets, s, verbose):
+    idx = 0
+    opening = 0
+    first_open = -1
+    while idx < len(s):
+        if s[idx] == brackets[0]:
+            opening += 1
+            if first_open == -1:
+                first_open = idx
+        if s[idx] == brackets[1]:
+            opening -= 1
+            if opening == 0:
+                if verbose: print(first_open, idx, s[first_open:idx+1])
+                return first_open+1, idx
+        idx += 1
+    raise Exception('Failed to find opening/closing brackets in {:}'.format(s))
+
+def extract_timer(line):
+    # Try format: initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
+    search = re.search('Timer::([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
+    if search:
+        return search.group(1)
+
+    # nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
+    search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
+    if search:
+        return search.group(1)
+
+    return None
+
+def extract_timer_from_channel(line):
+    # Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
+    search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
+    if search:
+        return search.group(1)
+
+    # nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
+    search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
+    if search:
+        return search.group(1)
+
+    return None
+
+def get_timer_groups(timer_config_file, verbose=False):
+    with open(timer_config_file, 'r') as f:
+        timer_config = f.read()
+
+    # timers
+    dshot_support = {} # key: timer
+    timers_start_marker = 'io_timers_t io_timers'
+    timers_start = timer_config.find(timers_start_marker)
+    if timers_start == -1:
+        raise Exception('"{:}" not found in {:}'.format(timers_start_marker, timer_config_file))
+    timer_config = timer_config[timers_start:]
+    open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
+    timers_str = timer_config[open_idx:close_idx]
+    timers = []
+    for line in timers_str.splitlines():
+        line = line.strip()
+        if len(line) == 0 or line.startswith('//'):
+            continue
+        timer = extract_timer(line)
+
+        if timer:
+            if verbose: print('found timer def: {:}'.format(timer))
+            dshot_support[timer] = 'DMA' in line
+            timers.append(timer)
+        else:
+            # Make sure we don't miss anything (e.g. for different syntax) or misparse (e.g. multi-line comments)
+            raise Exception('Unparsed timer in line: {:}'.format(line))
+
+
+    # channels
+    channels_start_marker = 'timer_io_channels_t timer_io_channels'
+    channels_start = timer_config.find(channels_start_marker)
+    if channels_start == -1:
+        raise Exception('"{:}" not found in {:}'.format(channels_start_marker, timer_config_file))
+
+    timer_config = timer_config[channels_start:]
+    open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
+    channels = timer_config[open_idx:close_idx]
+    channel_timers = []
+    channel_types = []
+
+    for line in channels.splitlines():
+        line = line.strip()
+        if len(line) == 0 or line.startswith('//'):
+            continue
+
+        if verbose: print('--'+line+'--')
+        timer = extract_timer_from_channel(line)
+
+        if timer:
+            if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
+            channel_types.append('cap' if 'capture' in line.lower() else 'pwm')
+            channel_timers.append(timer)
+        else:
+            # Make sure we don't miss anything (e.g. for different syntax) or misparse (e.g. multi-line comments)
+            raise Exception('Unparsed channel in line: {:}'.format(line))
+
+    if len(channel_timers) == 0:
+        raise Exception('No channels found in "{:}"'.format(channels))
+
+    groups = [(timers.index(k), len(list(g)), dshot_support[k]) for k, g in groupby(channel_timers)]
+    outputs = {
+        'types': channel_types,
+        'groups': groups
+        }
+
+    return outputs
+
+def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
+        channel_labels=["PWM Main", "PWM Capture"],
+        standard_params=[],
+        extra_function_groups=[], pwm_timer_param=None,
+        verbose=False):
+    """ convert the timer groups into an output_groups section of module.yaml
+    and extra timer params
+    """
+
+    instance_start = 1
+    output_groups = []
+    timer_params = {}
+    instance_start_label = [ 1, 1 ]
+    for timer_index, group_count, dshot_support in timer_groups['groups']:
+
+        # check for capture vs normal pins for the label
+        types = timer_groups['types'][instance_start-1:instance_start+group_count-1]
+        if not all(types[0] == t for t in types):
+            # Should this ever be needed, we can extend this script to handle that
+            raise Exception('Implementation requires all channel types for a timer to be equal (types: {:})'.format(types))
+        if types[0] == 'pwm':
+            channel_type_idx = 0
+        elif types[0] == 'cap':
+            channel_type_idx = 1
+        else:
+            raise Exception('unsupported channel type: {:}'.format(types[0]))
+
+        channel_label = channel_labels[channel_type_idx]
+        channel_type_instance = instance_start_label[channel_type_idx]
+        group = {
+            'param_prefix': param_prefix,
+            'channel_label': channel_label,
+            'instance_start': instance_start,
+            'instance_start_label': channel_type_instance,
+            'extra_function_groups': deepcopy(extra_function_groups),
+            'num_channels': group_count,
+            'standard_params': deepcopy(standard_params),
+        }
+        output_groups.append(group)
+
+        if pwm_timer_param is not None:
+            timer_channels_label = channel_label + ' ' + str(channel_type_instance)
+            if group_count > 1:
+                timer_channels_label += '-' + str(channel_type_instance+group_count-1)
+            pwm_timer_param_cp = deepcopy(pwm_timer_param)
+
+            if not dshot_support:
+                # remove dshot entries if no dshot support
+                values = pwm_timer_param_cp['values']
+                for key in list(values.keys()):
+                    if 'dshot' in values[key].lower():
+                        del values[key]
+
+            for descr_type in ['short', 'long']:
+                descr = pwm_timer_param_cp['description'][descr_type]
+                pwm_timer_param_cp['description'][descr_type] = \
+                    descr.replace('${label}', timer_channels_label)
+            timer_params[param_prefix+'_TIM'+str(timer_index)] = pwm_timer_param_cp
+        instance_start += group_count
+        instance_start_label[channel_type_idx] += group_count
+    return (output_groups, timer_params)
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description='Extract output groups from timer_config.cpp')
+
+    parser.add_argument('--timer-config', type=str, action='store',
+                        help='timer_config.cpp file', required=True)
+    parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                        help='Verbose Output')
+
+    args = parser.parse_args()
+    verbose = args.verbose
+    timer_groups = get_timer_groups(args.timer_config, verbose)
+    print('timer groups: {:}'.format(timer_groups))
+    output_groups, timer_params = get_output_groups(timer_groups, verbose=verbose)
+    print('output groups: {:}'.format(output_groups))
+    print('timer params: {:}'.format(timer_params))
@@ -25,7 +25,7 @@ div.frame_common table, div.frame_common table {
 }

 div.frame_common table {
-   float: right; 
+   float: right;
   width: 70%;
 }

@@ -55,4 +55,3 @@ class JsonOutput():
        if need_to_write:
            with codecs.open(filename, 'w', 'utf-8') as f:
                f.write(json.dumps(self.json,indent=2))
-
@@ -1,8 +1,6 @@
 #!/usr/bin/env python3
 """ Script to generate Serial (UART) parameters and the ROMFS startup script """

-from __future__ import print_function
-
 import argparse
 import os
 import sys
@@ -195,7 +193,6 @@ if rc_serial_output_dir is None and serial_params_output_file is None:
 # parse the YAML files
 serial_commands = []
 ethernet_configuration = []
-additional_params = ""

 if ethernet_supported:
    ethernet_configuration.append({
@@ -216,88 +213,12 @@ def parse_yaml_serial_config(yaml_config):
        ret.append(serial_config)
    return ret

-def parse_yaml_parameters_config(yaml_config, ethernet_supported):
-    """ parse the parameters section from the yaml config file """
-    if 'parameters' not in yaml_config:
-        return ''
-    parameters_section_list = yaml_config['parameters']
-    for parameters_section in parameters_section_list:
-        if 'definitions' not in parameters_section:
-            return ''
-        definitions = parameters_section['definitions']
-        ret = ''
-        param_group = parameters_section.get('group', None)
-        for param_name in definitions:
-            param = definitions[param_name]
-            if param.get('requires_ethernet', False) and not ethernet_supported:
-                continue
-            num_instances = param.get('num_instances', 1)
-            instance_start = param.get('instance_start', 0) # offset
-
-            # get the type and extract all tags
-            tags = '@group {:}'.format(param_group)
-            if param['type'] == 'enum':
-                param_type = 'INT32'
-                for key in param['values']:
-                    tags += '\n * @value {:} {:}'.format(key, param['values'][key])
-            elif param['type'] == 'boolean':
-                param_type = 'INT32'
-                tags += '\n * @boolean'
-            elif param['type'] == 'int32':
-                param_type = 'INT32'
-            elif param['type'] == 'float':
-                param_type = 'FLOAT'
-            else:
-                raise Exception("unknown param type {:}".format(param['type']))
-
-            for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
-                        'min', 'max', 'unit', 'reboot_required']:
-                if tag in param:
-                    tags += '\n * @{:} {:}'.format(tag, param[tag])
-
-            for i in range(num_instances):
-                # default value
-                default_value = 0
-                if 'default' in param:
-                    # default can be a list of num_instances or a single value
-                    if type(param['default']) == list:
-                        assert len(param['default']) == num_instances
-                        default_value = param['default'][i]
-                    else:
-                        default_value = param['default']
-
-                if type(default_value) == bool:
-                    default_value = int(default_value)
-
-                # output the existing C-style format
-                ret += '''
-/**
- * {short_descr}
- *
- * {long_descr}
- *
- * {tags}
- */
-PARAM_DEFINE_{param_type}({name}, {default_value});
-'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
-           long_descr=param['description']['long'].replace("\n", "\n * "),
-           tags=tags,
-           param_type=param_type,
-           name=param_name,
-           default_value=default_value,
-          ).replace('${i}', str(i+instance_start))
-    return ret
-
 for yaml_file in args.config_files:
    with open(yaml_file, 'r') as stream:
        try:
            yaml_config = yaml.load(stream, Loader=yaml.Loader)
            serial_commands.extend(parse_yaml_serial_config(yaml_config))

-            # TODO: additional params should be parsed in a separate script
-            additional_params += parse_yaml_parameters_config(
-                yaml_config, ethernet_supported)
-
        except yaml.YAMLError as exc:
            print(exc)
            raise
@@ -404,6 +325,5 @@ if serial_params_output_file is not None:
    with open(serial_params_output_file, 'w') as fid:
        fid.write(template.render(serial_devices=serial_devices,
            ethernet_configuration=ethernet_configuration,
-            commands=commands, serial_ports=serial_ports,
-            additional_definitions=additional_params))
+            commands=commands, serial_ports=serial_ports))

@@ -71,5 +71,3 @@ PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }});
 {% endfor -%}
 {% endif %}

-{{ additional_definitions }}
-
@@ -1,5 +1,5 @@
 //Public key to verify signed binaries
-0x4d, 0xb0, 0xc2, 0x1, 0x5, 0x55, 0x2a, 0x3c, 
-0xd7, 0xfb, 0xaf, 0x5c, 0xba, 0x7a, 0xb0, 0x81, 
-0x1b, 0x36, 0x63, 0xdb, 0x28, 0x52, 0x5e, 0xdb, 
-0x14, 0x36, 0xf2, 0x57, 0x8d, 0x2, 0xb7, 0xfd, 
+0x4d, 0xb0, 0xc2, 0x1, 0x5, 0x55, 0x2a, 0x3c,
+0xd7, 0xfb, 0xaf, 0x5c, 0xba, 0x7a, 0xb0, 0x81,
+0x1b, 0x36, 0x63, 0xdb, 0x28, 0x52, 0x5e, 0xdb,
+0x14, 0x36, 0xf2, 0x57, 0x8d, 0x2, 0xb7, 0xfd,
@@ -1,38 +1,38 @@

-0x30, 0x82, 0x1, 0x22, 0x30, 0xd, 0x6, 0x9, 
-0x2a, 0x86, 0x48, 0x86, 0xf7, 0xd, 0x1, 0x1, 
-0x1, 0x5, 0x0, 0x3, 0x82, 0x1, 0xf, 0x0, 
-0x30, 0x82, 0x1, 0xa, 0x2, 0x82, 0x1, 0x1, 
-0x0, 0xcf, 0xa3, 0xb8, 0xec, 0x4f, 0xac, 0x37, 
-0xe6, 0x1b, 0xfa, 0x1e, 0xb3, 0x92, 0xe9, 0x1a, 
-0x83, 0x36, 0x2d, 0x27, 0xa6, 0x4a, 0xab, 0x7e, 
-0x38, 0x6f, 0x93, 0x7a, 0x1f, 0x60, 0x83, 0x83, 
-0xac, 0xfd, 0x2e, 0x61, 0xbf, 0x19, 0x10, 0x1f, 
-0x39, 0xe3, 0x6c, 0xb6, 0xcc, 0xf5, 0x85, 0x7c, 
-0xb2, 0x38, 0x27, 0x14, 0x43, 0xd7, 0xfe, 0xbc, 
-0xa1, 0xe8, 0x7d, 0x33, 0x74, 0x93, 0xe7, 0xd6, 
-0x2b, 0x2f, 0x79, 0x87, 0x59, 0xb0, 0x63, 0x95, 
-0x5c, 0xe7, 0x4f, 0x60, 0x46, 0xc9, 0xa9, 0xf, 
-0xde, 0xa9, 0x36, 0x9e, 0x3e, 0x34, 0xba, 0x77, 
-0x18, 0x50, 0xe3, 0x6b, 0x3, 0x93, 0xaa, 0xc7, 
-0xf2, 0x2d, 0xe, 0xf3, 0x2b, 0x5, 0x34, 0x60, 
-0xa4, 0xf7, 0xa9, 0xe2, 0x37, 0xa3, 0x6d, 0x27, 
-0xd8, 0xa3, 0x71, 0x9c, 0x6b, 0xb2, 0x5e, 0xdd, 
-0x12, 0x2b, 0x73, 0xe1, 0xdb, 0x9d, 0xf4, 0xc3, 
-0xc, 0xd6, 0x5, 0x1d, 0xac, 0xa4, 0xdc, 0x69, 
-0x2a, 0xf5, 0x7c, 0x30, 0x24, 0x7b, 0x2b, 0x80, 
-0x1b, 0x7a, 0xec, 0x68, 0x77, 0x12, 0x97, 0x2a, 
-0xb2, 0xe5, 0xd2, 0xff, 0x41, 0x1d, 0xf5, 0x6, 
-0xa4, 0xb6, 0x47, 0xa5, 0xfa, 0x5, 0x7e, 0xf0, 
-0xa1, 0xb8, 0xad, 0xde, 0x5c, 0xae, 0x2c, 0x8b, 
-0x4e, 0xad, 0xaf, 0xac, 0x6d, 0x46, 0x62, 0xe1, 
-0xe9, 0xfe, 0xa1, 0xc5, 0xc9, 0xf4, 0x48, 0xd2, 
-0x80, 0x2b, 0xe5, 0xa9, 0x3e, 0xc1, 0xfc, 0x98, 
-0xde, 0x3, 0xa9, 0xac, 0x86, 0xb7, 0xb5, 0x19, 
-0xe5, 0x75, 0x6a, 0x63, 0x83, 0x3f, 0x27, 0x7a, 
-0x5e, 0xf8, 0xf1, 0x6d, 0xb2, 0xd2, 0x36, 0xa1, 
-0xc0, 0xd2, 0x5f, 0x93, 0x9c, 0x90, 0xe8, 0x3e, 
-0xca, 0x89, 0xd7, 0xca, 0xd0, 0xc7, 0xe8, 0x8f, 
-0x4b, 0xb7, 0x60, 0x92, 0x5e, 0x36, 0x43, 0x70, 
-0x23, 0x36, 0xfb, 0xb5, 0xa5, 0x6, 0x9a, 0xc0, 
-0xcb, 0x2, 0x3, 0x1, 0x0, 0x1, 
+0x30, 0x82, 0x1, 0x22, 0x30, 0xd, 0x6, 0x9,
+0x2a, 0x86, 0x48, 0x86, 0xf7, 0xd, 0x1, 0x1,
+0x1, 0x5, 0x0, 0x3, 0x82, 0x1, 0xf, 0x0,
+0x30, 0x82, 0x1, 0xa, 0x2, 0x82, 0x1, 0x1,
+0x0, 0xcf, 0xa3, 0xb8, 0xec, 0x4f, 0xac, 0x37,
+0xe6, 0x1b, 0xfa, 0x1e, 0xb3, 0x92, 0xe9, 0x1a,
+0x83, 0x36, 0x2d, 0x27, 0xa6, 0x4a, 0xab, 0x7e,
+0x38, 0x6f, 0x93, 0x7a, 0x1f, 0x60, 0x83, 0x83,
+0xac, 0xfd, 0x2e, 0x61, 0xbf, 0x19, 0x10, 0x1f,
+0x39, 0xe3, 0x6c, 0xb6, 0xcc, 0xf5, 0x85, 0x7c,
+0xb2, 0x38, 0x27, 0x14, 0x43, 0xd7, 0xfe, 0xbc,
+0xa1, 0xe8, 0x7d, 0x33, 0x74, 0x93, 0xe7, 0xd6,
+0x2b, 0x2f, 0x79, 0x87, 0x59, 0xb0, 0x63, 0x95,
+0x5c, 0xe7, 0x4f, 0x60, 0x46, 0xc9, 0xa9, 0xf,
+0xde, 0xa9, 0x36, 0x9e, 0x3e, 0x34, 0xba, 0x77,
+0x18, 0x50, 0xe3, 0x6b, 0x3, 0x93, 0xaa, 0xc7,
+0xf2, 0x2d, 0xe, 0xf3, 0x2b, 0x5, 0x34, 0x60,
+0xa4, 0xf7, 0xa9, 0xe2, 0x37, 0xa3, 0x6d, 0x27,
+0xd8, 0xa3, 0x71, 0x9c, 0x6b, 0xb2, 0x5e, 0xdd,
+0x12, 0x2b, 0x73, 0xe1, 0xdb, 0x9d, 0xf4, 0xc3,
+0xc, 0xd6, 0x5, 0x1d, 0xac, 0xa4, 0xdc, 0x69,
+0x2a, 0xf5, 0x7c, 0x30, 0x24, 0x7b, 0x2b, 0x80,
+0x1b, 0x7a, 0xec, 0x68, 0x77, 0x12, 0x97, 0x2a,
+0xb2, 0xe5, 0xd2, 0xff, 0x41, 0x1d, 0xf5, 0x6,
+0xa4, 0xb6, 0x47, 0xa5, 0xfa, 0x5, 0x7e, 0xf0,
+0xa1, 0xb8, 0xad, 0xde, 0x5c, 0xae, 0x2c, 0x8b,
+0x4e, 0xad, 0xaf, 0xac, 0x6d, 0x46, 0x62, 0xe1,
+0xe9, 0xfe, 0xa1, 0xc5, 0xc9, 0xf4, 0x48, 0xd2,
+0x80, 0x2b, 0xe5, 0xa9, 0x3e, 0xc1, 0xfc, 0x98,
+0xde, 0x3, 0xa9, 0xac, 0x86, 0xb7, 0xb5, 0x19,
+0xe5, 0x75, 0x6a, 0x63, 0x83, 0x3f, 0x27, 0x7a,
+0x5e, 0xf8, 0xf1, 0x6d, 0xb2, 0xd2, 0x36, 0xa1,
+0xc0, 0xd2, 0x5f, 0x93, 0x9c, 0x90, 0xe8, 0x3e,
+0xca, 0x89, 0xd7, 0xca, 0xd0, 0xc7, 0xe8, 0x8f,
+0x4b, 0xb7, 0x60, 0x92, 0x5e, 0x36, 0x43, 0x70,
+0x23, 0x36, 0xfb, 0xb5, 0xa5, 0x6, 0x9a, 0xc0,
+0xcb, 0x2, 0x3, 0x1, 0x0, 0x1,
@@ -48,6 +48,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -13,3 +13,4 @@ CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -15,3 +15,4 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -0,0 +1,6 @@
+CONFIG_BOARD_CONSTRAINED_FLASH=n
+CONFIG_BOARD_NO_HELP=n
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_UORB=y
@@ -15,3 +15,4 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -39,5 +39,8 @@

 //  DMA2 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
-#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_1   // DMA2, Stream 0, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 3, Channel 3
+#define DMACHAN_USART1_RX  DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
+#define DMAMAP_USART1_RX   DMAMAP_USART1_RX_1
+//#define DMACHAN_USART1_TX  DMAMAP_USART1_TX   // DMA2, Stream 7, Channel 4
@@ -150,8 +150,9 @@ CONFIG_STM32_WWDG=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1100
+CONFIG_USART1_RXBUFSIZE=2000
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXBUFSIZE=2000
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
@@ -139,6 +139,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	px4_platform_init();

+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
 #if defined(FLASH_BASED_PARAMS)
 	static sector_descriptor_t params_sector_map[] = {
 		{2, 16 * 1024, 0x08008000},
@@ -44,6 +44,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -29,6 +29,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -13,3 +13,4 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -53,6 +53,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -38,6 +38,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
@@ -71,6 +72,7 @@ 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
@@ -83,7 +85,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -129,16 +129,6 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
-	// clear all existing MPU configuration from bootloader
-	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
-		putreg32(region, MPU_RNR);
-		putreg32(0, MPU_RBAR);
-		putreg32(0, MPU_RASR);
-
-		// save
-		putreg32(0, MPU_CTRL);
-	}
-
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -54,6 +54,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -38,6 +38,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
@@ -71,6 +72,7 @@ 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
@@ -83,7 +85,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -129,16 +129,6 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
-	// clear all existing MPU configuration from bootloader
-	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
-		putreg32(region, MPU_RNR);
-		putreg32(0, MPU_RBAR);
-		putreg32(0, MPU_RASR);
-
-		// save
-		putreg32(0, MPU_CTRL);
-	}
-
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -1,14 +1,9 @@
-CONFIG_COMMON_OPTICAL_FLOW=n
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=n
 CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_ROBOCLAW=n
 CONFIG_DRIVERS_RPM=n
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
@@ -49,6 +49,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -39,6 +39,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
@@ -38,6 +38,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
@@ -120,16 +120,6 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
-	// clear all existing MPU configuration from bootloader
-	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
-		putreg32(region, MPU_RNR);
-		putreg32(0, MPU_RBAR);
-		putreg32(0, MPU_RASR);
-
-		// save
-		putreg32(0, MPU_CTRL);
-	}
-
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -1,16 +1,13 @@
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_ROBOCLAW=n
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
+CONFIG_DRIVERS_RPM=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=n
-CONFIG_SYSTEMCMDS_REFLECT=n
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
@@ -48,6 +48,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -35,8 +35,8 @@

 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer2),
-	initIOTimer(Timer::Timer3),
 	initIOTimer(Timer::Timer4),
+	initIOTimer(Timer::Timer3),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -30,6 +30,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -14,3 +14,4 @@ CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -38,7 +38,6 @@ CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -48,13 +47,13 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=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_MAVLINK=y
@@ -99,4 +98,3 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_FAKE_GPS=y
@@ -38,6 +38,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
@@ -72,6 +73,7 @@ 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
@@ -84,7 +86,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -176,34 +176,13 @@
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
 #define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

-/* PWM Capture
- *
- * 6  PWM Capture inputs are configured.
- *
- * Pins:
- *
- * FMU_CAP1 : PB11 : TIM2_CH4
- * FMU_CAP2 : PB3  : TIM2_CH2
- * FMU_CAP3 : PA5  : TIM2_CH1
- * FMU_CAP4 : PH9  : TIM12_CH2
- * FMU_CAP5 : PH6  : TIM12_CH1
- * FMU_CAP6 : PD14 : TIM4_CH3
- */
-
-#define GPIO_TIM2_CH4_IN     /* PB11   FMU_CAP3 */ GPIO_TIM2_CH4IN_2
-#define GPIO_TIM2_CH2_IN     /* PB3    FMU_CAP2 */ GPIO_TIM2_CH2IN_2
-#define GPIO_TIM2_CH1_IN     /* PA5    FMU_CAP1 */ GPIO_TIM2_CH1IN_3
-#define GPIO_TIM12_CH2_IN    /* PH9    FMU_CAP4 */ GPIO_TIM12_CH2IN_2
-#define GPIO_TIM12_CH1_IN    /* PH6    FMU_CAP5 */ GPIO_TIM12_CH1IN_2
-#define GPIO_TIM4_CH3_IN     /* PD14   FMU_CAP6 */ GPIO_TIM4_CH3IN_2
-
-#define DIRECT_PWM_CAPTURE_CHANNELS  6
-
 /* PWM
 */
-#define DIRECT_PWM_OUTPUT_CHANNELS  5
+#define DIRECT_PWM_OUTPUT_CHANNELS  10

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4};
+#define BOARD_NUM_IO_TIMERS 4
+
+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 9, 8};

 /* Power supply control and monitoring GPIOs */

@@ -254,32 +233,6 @@

 /* RC Serial port */

-/* Input Capture Channels. */
-
-#define INPUT_CAP1_TIMER                  2
-#define INPUT_CAP1_CHANNEL     /* T2C4 */ 4
-#define GPIO_INPUT_CAP1        /* PB11 */ GPIO_TIM2_CH4_IN
-
-#define INPUT_CAP2_TIMER                  2
-#define INPUT_CAP2_CHANNEL     /* T2C2 */ 2
-#define GPIO_INPUT_CAP2        /*  PB3 */ GPIO_TIM2_CH2_IN
-
-#define INPUT_CAP3_TIMER                  2
-#define INPUT_CAP3_CHANNEL     /* T2C1 */ 1
-#define GPIO_INPU3_CAP1        /*  PA5 */ GPIO_TIM2_CH1_IN
-
-#define INPUT_CAP4_TIMER                  12
-#define INPUT_CAP4_CHANNEL     /* T12C2*/ 2
-#define GPIO_INPUT_CAP4        /* PH9  */ GPIO_TIM12_CH2_IN
-
-#define INPUT_CAP5_TIMER                  12
-#define INPUT_CAP5_CHANNEL     /* T12C1*/ 1
-#define GPIO_INPUT_CAP5        /* PH6  */ GPIO_TIM12_CH1_IN
-
-#define INPUT_CAP6_TIMER                  4
-#define INPUT_CAP6_CHANNEL     /* T4C3 */ 3
-#define GPIO_INPUT_CAP6        /* PD14 */ GPIO_TIM4_CH3_IN
-
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */

 #define PWMIN_TIMER                       4
@@ -162,16 +162,6 @@ __EXPORT void board_on_reset(int status)
 __EXPORT void
 stm32_boardinitialize(void)
 {
-	// clear all existing MPU configuration from bootloader
-	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
-		putreg32(region, MPU_RNR);
-		putreg32(0, MPU_RBAR);
-		putreg32(0, MPU_RASR);
-
-		// save
-		putreg32(0, MPU_CTRL);
-	}
-
 	board_on_reset(-1); /* Reset PWM first thing */

 	/* configure LEDs */
@@ -36,6 +36,8 @@
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer2),
+	initIOTimer(Timer::Timer12),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -44,6 +46,12 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortB, GPIO::Pin3}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin5}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
+	//initIOTimerChannelCapture(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@@ -5,6 +5,7 @@ CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y
@@ -53,6 +53,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -211,22 +211,6 @@
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
 #define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

-/* PWM Capture
- *
- * 3  PWM Capture inputs are configured.
- *
- * Pins:
- *
- * FMU_CAP1 : PA5  : TIM2_CH1
- * FMU_CAP2 : PB3  : TIM2_CH2
- * FMU_CAP3 : PB11 : TIM2_CH4
- */
-#define GPIO_TIM2_CH1_IN     /* PA5   T22C1  FMU_CAP1 */ GPIO_TIM2_CH1IN_3
-#define GPIO_TIM2_CH2_IN     /* PB3   T22C2  FMU_CAP2 */ GPIO_TIM2_CH2IN_2
-#define GPIO_TIM2_CH4_IN     /* PB11  T22C4  FMU_CAP3 */ GPIO_TIM2_CH4IN_2
-
-#define DIRECT_PWM_CAPTURE_CHANNELS  3
-
 /* PI0 is nARMED
 *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
 *  While armed it shall be configured at a GPIO OUT set LOW
@@ -238,7 +222,7 @@

 /* PWM
 */
-#define DIRECT_PWM_OUTPUT_CHANNELS  8
+#define DIRECT_PWM_OUTPUT_CHANNELS  11

 #define BOARD_HAS_LED_PWM              1
 #define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
@@ -307,19 +291,6 @@
 #define RC_SERIAL_PORT                     "/dev/ttyS4"
 #define RC_SERIAL_SINGLEWIRE

-/* Input Capture Channels. */
-#define INPUT_CAP1_TIMER                  2
-#define INPUT_CAP1_CHANNEL     /* T4C1 */ 1
-#define GPIO_INPUT_CAP1        /*  PA5 */ GPIO_TIM2_CH1_IN
-
-#define INPUT_CAP2_TIMER                  2
-#define INPUT_CAP2_CHANNEL     /* T4C2 */ 2
-#define GPIO_INPUT_CAP2        /*  PB3 */ GPIO_TIM2_CH2_IN
-
-#define INPUT_CAP3_TIMER                  2
-#define INPUT_CAP3_CHANNEL     /* T4C4 */ 4
-#define GPIO_INPUT_CAP3        /* PB11 */ GPIO_TIM2_CH4_IN
-
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
 #define PWMIN_TIMER                       4
 #define PWMIN_TIMER_CHANNEL    /* T4C2 */ 2
@@ -465,7 +436,7 @@

 #define BOARD_NUM_IO_TIMERS 5

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8, 9, 10};

 __BEGIN_DECLS

@@ -50,6 +50,9 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
 	initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
 	initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin5}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortB, GPIO::Pin3}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@@ -48,6 +48,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -47,6 +47,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -2,4 +2,3 @@
 #
 # ModalAI FC-v2 specific board defaults
 #------------------------------------------------------------------------------
-
@@ -192,11 +192,6 @@
 #define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
 #define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */

-/* PWM Capture - not routed
- */
-#define DIRECT_PWM_CAPTURE_CHANNELS  0
-
-
 /* PE6 is nARMED --> FCv2 this goes to TP13
 *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
 *  While armed it shall be configured at a GPIO OUT set LOW
@@ -46,6 +46,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -46,6 +46,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -46,6 +46,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -38,6 +38,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
@@ -73,6 +74,7 @@ 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
@@ -85,7 +87,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -123,16 +123,6 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
-	// clear all existing MPU configuration from bootloader
-	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
-		putreg32(region, MPU_RNR);
-		putreg32(0, MPU_RBAR);
-		putreg32(0, MPU_RASR);
-
-		// save
-		putreg32(0, MPU_CTRL);
-	}
-
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -47,6 +47,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -38,6 +38,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
@@ -73,6 +74,7 @@ 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
@@ -85,7 +87,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -123,16 +123,6 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
-	// clear all existing MPU configuration from bootloader
-	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
-		putreg32(region, MPU_RNR);
-		putreg32(0, MPU_RBAR);
-		putreg32(0, MPU_RASR);
-
-		// save
-		putreg32(0, MPU_CTRL);
-	}
-
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -45,6 +45,7 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
--- a/Show More
+++ b/Show More