Update Bootloaders with no DMP poll

NuttX with DMA on Idle
boards:Remove dma_poll
2026-06-20 01:50:35 +08:00 · 2022-07-08 08:31:03 -07:00 · 2022-07-08 08:24:59 -07:00 · 2022-07-08 08:22:57 -07:00 · 2022-07-08 08:21:50 -07:00 · 2022-07-08 14:51:15 +02:00
257 changed files with 6286 additions and 3545 deletions
@@ -112,23 +112,17 @@ add_custom_command(
 		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
 		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 	)
-set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
-add_custom_command(
-	OUTPUT ${romfs_extract_stamp}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
-	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
-	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
-	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
-	VERBATIM
-	)

+
+set(romfs_copy_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_copy.stamp)
 add_custom_command(
 	OUTPUT
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
-		romfs_copy.stamp
+		${romfs_copy_stamp}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
+	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -137,9 +131,9 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
-	DEPENDS
-		${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
+	WORKING_DIRECTORY ${romfs_gen_root_dir}
+	DEPENDS ${romfs_tar_file}
 	COMMENT "ROMFS: copying, generating airframes"
 	)

@@ -311,7 +305,7 @@ add_custom_command(OUTPUT romfs_extras.stamp

 add_custom_target(romfs_gen_files_target
 	DEPENDS
-		${romfs_extract_stamp}
+		${romfs_copy_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
 		romfs_extras.stamp
 	)
@@ -27,7 +27,9 @@ param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05

 param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR1_TILT 2
 param set-default CA_ROTOR2_TILT 3
+param set-default CA_ROTOR3_TILT 4
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
@@ -62,7 +62,7 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
-param set-default MPC_SPOOLUP_TIME 1.5
+param set-default COM_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8
@@ -206,6 +206,26 @@ else
 	fi
 	unset BOARD_RC_DEFAULTS

+	#
+	# Set parameters and env variables for selected SYS_AUTOSTART.
+	#
+	set AUTOSTART_PATH etc/init.d/rc.autostart
+	if ! param compare SYS_AUTOSTART 0
+	then
+		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
+
 	#
 	# Start the tone_alarm driver.
 	# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
@@ -243,26 +263,6 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q

-	#
-	# Set parameters and env variables for selected AUTOSTART.
-	#
-	set AUTOSTART_PATH etc/init.d/rc.autostart
-	if ! param compare SYS_AUTOSTART 0
-	then
-		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.
 	#
@@ -303,7 +303,7 @@ else
 	then
 		# Check for the mini using build with px4io fw file
 		# but not a px4IO
-		if ver hwtypecmp V540 V560
+		if ver hwtypecmp V5004000 V5006000
 		then
 			param set SYS_USE_IO 0
 		else
@@ -218,12 +218,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_AMBER);
@@ -139,12 +139,6 @@ __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},
@@ -115,9 +115,7 @@
 #define GPIO_HW_REV_SENSE    /* PC3   */ ADC1_GPIO(13)
 #define GPIO_HW_VER_DRIVE    /* PG0   */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_VER_SENSE    /* PC2   */ ADC1_GPIO(12)
-#define HW_INFO_INIT         {'V','5','x', 'x',0}
-#define HW_INFO_INIT_VER     2
-#define HW_INFO_INIT_REV     3
+#define HW_INFO_INIT_PREFIX    "VAM"

 #define BOARD_TAP_ESC_MODE 2 // select closed-loop control mode for the esc
 // #define BOARD_USE_ESC_CURRENT_REPORT
@@ -219,12 +219,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	board_pwr_init(1);

 	/* initial LED state */
@@ -161,12 +161,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	(void) board_hardfault_init(2, true);

 #ifdef CONFIG_MMCSD
@@ -131,12 +131,6 @@ __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
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -72,7 +72,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -131,12 +131,6 @@ __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
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -118,8 +118,8 @@
 #define GPIO_nPOWER_IN_CAN              /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
 #define GPIO_nPOWER_IN_C                /* PG0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)

-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_CAN /* Brick 1 is Chosen */
-#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_ADC /* Brick 2 is Chosen  */
+#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_ADC /* Brick 1 is Chosen */
+#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_CAN /* Brick 2 is Chosen  */
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C   /* USB     is Chosen */

 #define GPIO_VDD_5V_HIPOWER_EN          /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
@@ -164,12 +164,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_AMBER);
@@ -83,9 +83,9 @@
 #define GPIO_HW_VER_REV_DRIVE /* PB1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
 #define GPIO_HW_REV_SENSE     /* PA0 */ ADC1_GPIO(0)
 #define GPIO_HW_VER_SENSE     /* PA1 */ ADC1_GPIO(1)
-#define HW_INFO_INIT         {'C','A','N','G','P','S','x', 'x',0}
-#define HW_INFO_INIT_VER     6
-#define HW_INFO_INIT_REV     7
+#define HW_INFO_INIT_PREFIX         "CANGPS"
+
+#define CANGPS00   HW_VER_REV(0x0,0x0) // CANGPS

 #define FLASH_BASED_PARAMS

@@ -166,12 +166,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif // FLASH_BASED_PARAMS

-#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
-
 	rgb_led(0, 255, 0, 0);
 	return OK;
 }
@@ -104,7 +104,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0000[] = {

 static px4_hw_mft_list_entry_t mft_lists[] = {
 // ver/rev
-	{0x0000, hw_mft_list_v0000,        arraySize(hw_mft_list_v0000)},
+	{CANGPS00, hw_mft_list_v0000,        arraySize(hw_mft_list_v0000)},
 };

 /************************************************************************************
@@ -127,7 +127,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -138,7 +138,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -11,13 +11,13 @@ icm20689 -R 2 -s start
 bmi088 -A -R 2 -s start
 bmi088 -G -R 2 -s start

-if ver hwtypecmp  VD00
+if ver hwtypecmp  VD000000
 then
 	# Internal SPI BMI088
 	bmi088 -A -R 2 -s start
 	bmi088 -G -R 2 -s start
 fi
-if ver hwtypecmp  VD01
+if ver hwtypecmp  VD000001
 then
 	# Internal SPI ICM-20602
 	icm20602 -R 2 -s start
@@ -152,9 +152,7 @@
 #define GPIO_HW_REV_SENSE    /* PC3   */ GPIO_ADC12_INP13
 #define GPIO_HW_VER_DRIVE    /* PG0   */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_VER_SENSE    /* PC2   */ GPIO_ADC123_INP12
-#define HW_INFO_INIT         {'V','D','x', 'x',0}
-#define HW_INFO_INIT_VER     2
-#define HW_INFO_INIT_REV     3
+#define HW_INFO_INIT_PREFIX         "VD"

 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 2

@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2019, 2022 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -206,7 +206,6 @@ stm32_boardinitialize(void)
 *
 ****************************************************************************/

-
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
@@ -219,6 +218,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 	px4_platform_init();

+	// Use the default HW_VER_REV(0x0,0x0) for Ramtron
+
+	stm32_spiinitialize();
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();

 	if (OK == board_determine_hw_info()) {
 		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
@@ -228,7 +234,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
 	}

-	/* configure SPI interfaces (after we determined the HW version) */
+	/* Configure the actual SPI interfaces (after we determined the HW version) */

 	stm32_spiinitialize();

@@ -238,12 +244,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -268,9 +268,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif /* CONFIG_MMCSD */

-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
 	return OK;
 }
@@ -107,7 +107,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -118,7 +118,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -200,12 +200,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -214,12 +214,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -185,9 +185,11 @@
 #define GPIO_HW_REV_SENSE    /* PC3   */ ADC1_GPIO(13)
 #define GPIO_HW_VER_DRIVE    /* PG0   */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_VER_SENSE    /* PC2   */ ADC1_GPIO(12)
-#define HW_INFO_INIT         {'V','5','x', 'x',0}
-#define HW_INFO_INIT_VER     2
-#define HW_INFO_INIT_REV     3
+#define HW_INFO_INIT_PREFIX         "VPIX32V5"
+
+#define VPIX32V500   HW_VER_REV(0x0,0x0) // PIX32V5           Rev 0
+#define VPIX32V540   HW_VER_REV(0x4,0x0) // HolyBro mini no can 2,3
+
 /* CAN Silence
 *
 * Silent mode control \ ESC Mux select
@@ -251,12 +251,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -129,8 +129,8 @@ static const px4_hw_mft_item_t hw_mft_list_v0540[] = {
 };

 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0000, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},
-	{0x0400, hw_mft_list_v0540,        arraySize(hw_mft_list_v0540)},  // HolyBro mini no can 2,3
+	{VPIX32V500, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},
+	{VPIX32V540, hw_mft_list_v0540,        arraySize(hw_mft_list_v0540)},  // HolyBro mini no can 2,3
 };

 /************************************************************************************
@@ -153,7 +153,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -164,7 +164,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -145,14 +145,6 @@ __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
-
 	/* configure the DMA allocator */

 	if (board_dma_alloc_init() < 0) {
@@ -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_DRIVERS_ACTUATORS_MODALAI_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -42,6 +43,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -50,6 +52,7 @@ 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_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -65,7 +68,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -74,10 +76,9 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -142,9 +142,10 @@
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PF5 */  ADC3_GPIO(15)
 #define GPIO_HW_VER_SENSE      /* PF4 */  ADC3_GPIO(14)
-#define HW_INFO_INIT           {'V','1','x', 'x',0}
-#define HW_INFO_INIT_VER       2 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       3 /* Offset in above string of the REV */
+#define HW_INFO_INIT_PREFIX           "V1"
+#define V10006   HW_VER_REV(0x0,0x6) // V1006              Rev 6
+#define V10100   HW_VER_REV(0x1,0x0) // V1010              Rev 0
+

 /* PWM
 */
@@ -256,12 +256,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -90,8 +90,8 @@ static const px4_hw_mft_item_t hw_mft_list_fc0100[] = {
 };

 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0006, hw_mft_list_fc0006, arraySize(hw_mft_list_fc0006)},
-	{0x0100, hw_mft_list_fc0100, arraySize(hw_mft_list_fc0100)}
+	{V10006, hw_mft_list_fc0006, arraySize(hw_mft_list_fc0006)},
+	{V10100, hw_mft_list_fc0100, arraySize(hw_mft_list_fc0100)}
 };

 /************************************************************************************
@@ -114,7 +114,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -125,7 +125,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -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_DRIVERS_ACTUATORS_MODALAI_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -40,6 +41,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -48,6 +50,7 @@ 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_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -63,17 +66,15 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -182,9 +182,8 @@
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
-#define HW_INFO_INIT           {'V','2','x', 'x',0}
-#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 */
+#define HW_INFO_INIT_PREFIX           "V2"
+#define V20300   HW_VER_REV(0x3,0x0)

 /* 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.
@@ -231,12 +231,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -83,7 +83,7 @@ static const px4_hw_mft_item_t hw_mft_list_fc0200[] = {
 };

 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0300, hw_mft_list_fc0200, arraySize(hw_mft_list_fc0200)},
+	{V20300, hw_mft_list_fc0200, arraySize(hw_mft_list_fc0200)},
 };

 /************************************************************************************
@@ -106,7 +106,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -117,7 +117,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -71,7 +71,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -205,12 +205,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -205,12 +205,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -194,12 +194,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_AMBER);
@@ -241,12 +241,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_AMBER);
@@ -192,9 +192,10 @@
 #define GPIO_HW_VER_REV_DRIVE /* GPIO_AD_B0_01 GPIO1_IO01   */  (GPIO_PORT1 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | HW_IOMUX)
 #define GPIO_HW_REV_SENSE     /* GPIO_AD_B1_08 GPIO1 Pin 24 */  ADC1_GPIO(13, 24)
 #define GPIO_HW_VER_SENSE     /* GPIO_AD_B1_04 GPIO1 Pin 20 */  ADC1_GPIO(9,  20)
-#define HW_INFO_INIT          {'V','5','x', 'x',0}
-#define HW_INFO_INIT_VER      2
-#define HW_INFO_INIT_REV      3
+#define HW_INFO_INIT_PREFIX   "V5"
+#define V500   HW_VER_REV(0x0,0x0) // FMUV5,                    Rev 0
+#define V540   HW_VER_REV(0x4,0x0) // mini no can 2,3,          Rev 0
+
 /* CAN Silence
 *
 * Silent mode control \ ESC Mux select
@@ -88,8 +88,8 @@ static const px4_hw_mft_item_t hw_mft_list_v0540[] = {
 };

 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0000, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
-	{0x0400, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)},
+	{V500, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
+	{V540, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)},
 };

 /************************************************************************************
@@ -66,7 +66,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -244,12 +244,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_BLUE);
@@ -432,12 +432,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_AMBER);
@@ -432,12 +432,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_AMBER);
@@ -267,12 +267,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	// Initial LED state.
 	drv_led_start();
 	led_off(LED_RED);
@@ -288,12 +288,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -65,7 +65,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -9,7 +9,7 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152

-if ver hwtypecmp V550 V552 V560 V562
+if ver hwtypecmp V5005000 V5005002 V5006000 V5006002
 then
 	# CUAV V5+ (V550/V552) and V5nano (V560/V562) have 3 IMUs
 	# Multi-EKF (IMUs only)
@@ -5,7 +5,7 @@

 board_adc start

-if ver hwtypecmp V552 V562
+if ver hwtypecmp V5005002 V5006002
 then
 	# Internal SPI bus ICM-42688-P
 	icm42688p -s -R 2 -q start
@@ -188,9 +188,8 @@
 #define GPIO_HW_REV_SENSE    /* PC3   */ ADC1_GPIO(13)
 #define GPIO_HW_VER_DRIVE    /* PG0   */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_VER_SENSE    /* PC2   */ ADC1_GPIO(12)
-#define HW_INFO_INIT         {'V','5','x', 'x',0}
-#define HW_INFO_INIT_VER     2
-#define HW_INFO_INIT_REV     3
+
+#define HW_INFO_INIT_PREFIX         "V5"
 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
 #define V500   HW_VER_REV(0x0,0x0) // FMUV5,                    Rev 0
 #define V515   HW_VER_REV(0x1,0x5) // CUAV V5,                  Rev 5
@@ -254,12 +254,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -186,7 +186,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -197,7 +197,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -3,7 +3,7 @@
 # board specific MAVLink startup script.
 #------------------------------------------------------------------------------

-if ver hwtypecmp V5X90 V5X91 V5Xa0 V5Xa1 V5X80 V5X81
+if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
 then
 	# Start MAVLink on the UART connected to the mission computer
 	mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
@@ -5,7 +5,7 @@

 set HAVE_PM2 yes

-if ver hwtypecmp V5X50 V5X51 V5X52
+if ver hwtypecmp V5X005000 V5X005001 V5X005002
 then
 	set HAVE_PM2 no
 fi
@@ -48,33 +48,11 @@ then
 	fi
 fi

-if ver hwtypecmp V5X90 V5X91 V5X92 V5Xa0 V5Xa1 V5Xa2
+if ver hwtypecmp V5X000000 V5X000001 V5X000002 V5X001000
 then
-	#SKYNODE base fmu board orientation
-
-	if ver hwtypecmp V5X90 V5X91 V5Xa0 V5Xa1
-	then
-		# Internal SPI BMI088
-		bmi088 -A -R 2 -s start
-		bmi088 -G -R 2 -s start
-	else
-		# Internal SPI bus ICM20649
-		icm20649 -s -R 4 start
-	fi
-
-	# Internal SPI bus ICM42688p
-	icm42688p -R 4 -s start
-
-	# Internal SPI bus ICM-20602 (hard-mounted)
-	icm20602 -R 8 -s start
-
-	# Internal magnetometer on I2c
-	bmm150 -I -R 6 start
-
-else
 	#FMUv5Xbase board orientation

-	if ver hwtypecmp V5X00 V5X01
+	if ver hwtypecmp V5X000000 V5X000001
 	then
 		# Internal SPI BMI088
 		bmi088 -A -R 4 -s start
@@ -93,6 +71,28 @@ else
 	# Internal magnetometer on I2c
 	bmm150 -I start

+else
+	#SKYNODE base fmu board orientation
+
+	if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
+	then
+		# Internal SPI BMI088
+		bmi088 -A -R 2 -s start
+		bmi088 -G -R 2 -s start
+	else
+		# Internal SPI bus ICM20649
+		icm20649 -s -R 4 start
+	fi
+
+	# Internal SPI bus ICM42688p
+	icm42688p -R 4 -s start
+
+	# Internal SPI bus ICM-20602 (hard-mounted)
+	icm20602 -R 8 -s start
+
+	# Internal magnetometer on I2c
+	bmm150 -I -R 6 start
+
 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)
@@ -104,7 +104,7 @@ ist8310 -X -b 1 -R 10 start
 if param compare SENS_INT_BARO_EN 1
 then
 	bmp388 -I -a 0x77 start
-	if ver hwtypecmp V5X00 V5X90 V5Xa0
+	if ver hwtypecmp V5X000000 V5X001000 V5X008000 V5X009000 V5X00a000
 	then
 		bmp388 -I start
 	else
@@ -111,6 +111,8 @@
 *
 * Note that these are unshifted addresses.
 */
+
+#define BOARD_MTD_NUM_EEPROM        2 /* MTD: base_eeprom, imu_eeprom*/
 #define PX4_I2C_OBDEV_SE050         0x48

 #define GPIO_I2C4_DRDY1_BMP388      /* PG5  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
@@ -182,9 +184,7 @@
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PF5 */  ADC3_GPIO(15)
 #define GPIO_HW_VER_SENSE      /* PF4 */  ADC3_GPIO(14)
-#define HW_INFO_INIT           {'V','5','X','x', 'x',0}
-#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 */
+#define HW_INFO_INIT_PREFIX           "V5X"
 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 6
 // Base                   FMUM
 #define V5X00   HW_VER_REV(0x0,0x0) // FMUV5X,                         Rev 0
@@ -200,6 +200,7 @@
 #define V5Xa0   HW_VER_REV(0xa,0x0) // NO USB (Q),                     Rev 0
 #define V5Xa1   HW_VER_REV(0xa,0x1) // NO USB (Q) I2C2 BMP388,         Rev 1
 #define V5Xa2   HW_VER_REV(0xa,0x2) // NO USB (Q) I2C2 BMP388,         Rev 2
+#define V5X101   HW_VER_REV(0x10,0x1) // NO USB (Q) I2C2 BMP388,        Rev 1

 #define UAVCAN_NUM_IFACES_RUNTIME 1

@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -54,9 +54,7 @@
 #include <errno.h>

 #include <nuttx/config.h>
-extern "C" {
 #include <nuttx/board.h>
-}
 #include <nuttx/spi/spi.h>
 #include <nuttx/sdio.h>
 #include <nuttx/mmcsd.h>
@@ -72,6 +70,7 @@ extern "C" {
 #include <systemlib/px4_macros.h>
 #include <px4_arch/io_timer.h>
 #include <px4_platform_common/init.h>
+#include <px4_platform_common/px4_manifest.h>
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
@@ -221,6 +220,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 	px4_platform_init();

+	// Use the default HW_VER_REV(0x0,0x0) for Ramtron
+
+	stm32_spiinitialize();
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();

 	if (OK == board_determine_hw_info()) {
 		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
@@ -230,22 +236,18 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
 	}

+	/* Configure the Actual SPI interfaces (after we determined the HW version)  */
+
 	stm32_spiinitialize();

 	board_spi_reset(10, 0xffff);

-	/* configure the DMA allocator */
+	/* Configure the DMA allocator */

 	if (board_dma_alloc_init() < 0) {
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -266,10 +268,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif /* CONFIG_MMCSD */

-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
 	int hw_version = board_get_hw_version();

 	if (hw_version == 0x9 || hw_version == 0xa) {
@@ -172,6 +172,7 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
 	{V5Xa0, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q),             Rev 0
 	{V5Xa1, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 1
 	{V5Xa2, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 2
+	{V5X101, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388,     Rev 1
 };

 /************************************************************************************
@@ -194,7 +195,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -205,7 +206,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -117,7 +117,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -139,9 +139,7 @@
 #define GPIO_HW_VER_REV_DRIVE  /* PE12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
 #define GPIO_HW_REV_SENSE      /* PC0 */  GPIO_ADC123_INP10
 #define GPIO_HW_VER_SENSE      /* PC1 */  GPIO_ADC123_INP11
-#define HW_INFO_INIT           {'V','6','C','x', 'x',0}
-#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 */
+#define HW_INFO_INIT_PREFIX    "V6C"

 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0, 10 Sensor sets
 //                 Base/FMUM
@@ -121,7 +121,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -132,7 +132,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -95,7 +95,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -173,9 +173,8 @@
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
-#define HW_INFO_INIT           {'V','6','U','x', 'x',0}
-#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 */
+#define HW_INFO_INIT_PREFIX   "V6U"
+#define V6U00                 HW_VER_REV(0x0,0x0)

 /* HEATER
 * PWM in future
@@ -240,12 +240,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -82,7 +82,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
 };

 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0000, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
+	{V6U00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
 };

 /************************************************************************************
@@ -105,7 +105,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -116,7 +116,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -71,7 +71,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------
 set HAVE_PM2 yes

-if ver hwtypecmp V6X50 V6X51 V6X53 V6X54
+if ver hwtypecmp V6X005000 V6X005001 V6X005003 V6X005004
 then
 	set HAVE_PM2 no
 fi
@@ -47,7 +47,7 @@ then
 	fi
 fi

-if ver hwtypecmp V6X04 V6X14 V6X54
+if ver hwtypecmp V6X000004 V6X001004 V6X005004
 then
 	# Internal SPI bus ICM20649
 	icm20649 -s -R 6 start
@@ -60,7 +60,7 @@ fi
 # Internal SPI bus ICM42688p
 icm42688p -R 6 -s start

-if ver hwtypecmp V6X03 V6X13 V6X04 V6X14 V6X53 V6X54
+if ver hwtypecmp V6X000003 V6X001003 V6X000004 V6X001004 V6X005003 V6X005004
 then
 	# Internal SPI bus ICM-42670-P (hard-mounted)
 	icm42670p -R 10 -s start
@@ -78,7 +78,7 @@ ist8310 -X -b 1 -R 10 start
 # Possible internal Baro
 bmp388 -I -a 0x77 start

-if ver hwtypecmp V6X00 V6X10
+if ver hwtypecmp V6X000000 V6X001000
 then
 	bmp388 -I start
 else
@@ -211,9 +211,7 @@
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
-#define HW_INFO_INIT           {'V','6','X','x', 'x',0}
-#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 */
+#define HW_INFO_INIT_PREFIX    "V6X"

 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 6 // Rev 0 and Rev 3,4 Sensor sets
 //                 Base/FMUM
@@ -52,7 +52,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -71,6 +70,7 @@
 #include <systemlib/px4_macros.h>
 #include <px4_arch/io_timer.h>
 #include <px4_platform_common/init.h>
+#include <px4_platform_common/px4_manifest.h>
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
@@ -219,6 +219,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 	px4_platform_init();

+	// Use the default HW_VER_REV(0x0,0x0) for Ramtron
+
+	stm32_spiinitialize();
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();

 	if (OK == board_determine_hw_info()) {
 		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
@@ -228,22 +235,18 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
 	}

+	/* Configure the Actual SPI interfaces (after we determined the HW version)  */
+
 	stm32_spiinitialize();

 	board_spi_reset(10, 0xffff);

-	/* configure the DMA allocator */
+	/* Configure the DMA allocator */

 	if (board_dma_alloc_init() < 0) {
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -264,13 +267,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 	if (ret != OK) {
 		led_on(LED_RED);
+		return ret;
 	}

 #endif /* CONFIG_MMCSD */

-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
 	return OK;
 }
@@ -172,7 +172,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -183,7 +183,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -117,7 +117,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -173,10 +173,8 @@
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PF5 */  ADC3_GPIO(15)
 #define GPIO_HW_VER_SENSE      /* PF4 */  ADC3_GPIO(14)
-#define HW_INFO_INIT           {'V','5','X','x', 'x',0}
-#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 */
-
+#define HW_INFO_INIT_PREFIX     "SDSA"
+#define SDSA0501                 HW_VER_REV(0x05,0x01)
 /* HEATER
 * PWM in future
 */
@@ -88,7 +88,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0501[] = {


 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0501, hw_mft_list_v0501, arraySize(hw_mft_list_v0501)},
+	{SDSA0501, hw_mft_list_v0501, arraySize(hw_mft_list_v0501)},
 };


@@ -112,7 +112,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -123,7 +123,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -95,7 +95,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -205,12 +205,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -267,12 +267,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
 	// Initial LED state.
 	drv_led_start();
 	led_off(LED_RED);
@@ -189,7 +189,6 @@ set(msg_files
 	vehicle_constraints.msg
 	vehicle_control_mode.msg
 	vehicle_global_position.msg
-	vehicle_gps_position.msg
 	vehicle_imu.msg
 	vehicle_imu_status.msg
 	vehicle_land_detected.msg
@@ -19,4 +19,4 @@ bool innovation_rejected     # true if the observation has been rejected
 bool fused                   # true if the sample was successfully fused

 # TOPICS estimator_aid_source_1d
-# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_rng_hgt
+# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed
@@ -1,2 +1,3 @@
 uint64 timestamp			  # time since system start (microseconds) at PPS capture event
-uint64 rtc_timestamp		# Corrected GPS UTC timestamp at PPS capture event
+uint64 rtc_timestamp		# Corrected GPS UTC timestamp at PPS capture event
+uint8  pps_rate_exceeded_counter # Increments when PPS dt < 50ms
@@ -1,6 +1,7 @@
 # GPS position in WGS84 coordinates.
 # the field 'timestamp' is for the position & velocity (microseconds)
 uint64 timestamp		# time since system start (microseconds)
+uint64 timestamp_sample

 uint32 device_id                # unique device ID for the sensor that does not change between power cycles

@@ -21,8 +22,13 @@ float32 vdop			# Vertical dilution of precision

 int32 noise_per_ms		# GPS noise per millisecond
 uint16 automatic_gain_control   # Automatic gain control monitor
-int32 jamming_indicator		# indicates jamming is occurring
+
+uint8 JAMMING_STATE_UNKNOWN  = 0
+uint8 JAMMING_STATE_OK       = 1
+uint8 JAMMING_STATE_WARNING  = 2
+uint8 JAMMING_STATE_CRITICAL = 3
 uint8 jamming_state		# indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
+int32 jamming_indicator		# indicates jamming is occurring

 float32 vel_m_s			# GPS ground speed, (metres/sec)
 float32 vel_n_m_s		# GPS North velocity, (metres/sec)
@@ -39,3 +45,5 @@ uint8 satellites_used		# Number of satellites used
 float32 heading			# heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])
 float32 heading_offset		# heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
 float32 heading_accuracy	# heading accuracy (rad, [0, 2PI])
+
+# TOPICS sensor_gps vehicle_gps_position
@@ -1,4 +1,7 @@
-uint64 timestamp						# time since system start (microseconds)
+# Vehicle Command uORB message. Used for commanding a mission / action / etc.
+# Follows the MAVLink COMMAND_INT / COMMAND_LONG definition
+
+uint64 timestamp					# time since system start (microseconds)

 uint16 VEHICLE_CMD_CUSTOM_0 = 0				# test command
 uint16 VEHICLE_CMD_CUSTOM_1 = 1				# test command
@@ -11,7 +14,7 @@ uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20		# Return to launch location |Empty
 uint16 VEHICLE_CMD_NAV_LAND = 21			# Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|
 uint16 VEHICLE_CMD_NAV_TAKEOFF = 22			# Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|
 uint16 VEHICLE_CMD_NAV_PRECLAND = 23			# Attempt a precision landing
-uint16 VEHICLE_CMD_DO_ORBIT = 34            # Start orbiting on the circumference of a circle defined by the parameters. |Radius [m] |Velocity [m/s] |Yaw behaviour |Empty |Latitude/X |Longitude/Y |Altitude/Z |
+uint16 VEHICLE_CMD_DO_ORBIT = 34			# Start orbiting on the circumference of a circle defined by the parameters. |Radius [m] |Velocity [m/s] |Yaw behaviour |Empty |Latitude/X |Longitude/Y |Altitude/Z |
 uint16 VEHICLE_CMD_NAV_ROI = 80				# Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
 uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81		# Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|
 uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84		# Takeoff from ground / hand and transition to fixed wing |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|
@@ -24,7 +27,7 @@ uint16 VEHICLE_CMD_CONDITION_DELAY = 112		# Delay mission state machine. |Delay
 uint16 VEHICLE_CMD_CONDITION_CHANGE_ALT = 113		# Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|
 uint16 VEHICLE_CMD_CONDITION_DISTANCE = 114		# Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_CONDITION_YAW = 115			# Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_CONDITION_LAST = 159		# NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_CONDITION_LAST = 159			# NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_CONDITION_GATE = 4501		# Wait until passing a threshold |2D coord mode: 0: Orthogonal to planned route | Altitude mode: 0: Ignore altitude| Empty| Empty| Lat| Lon| Alt|
 uint16 VEHICLE_CMD_DO_SET_MODE = 176			# Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_DO_JUMP = 177			# Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|
@@ -41,11 +44,11 @@ uint16 VEHICLE_CMD_DO_LAND_START = 189			# Mission command to perform a landing.
 uint16 VEHICLE_CMD_DO_GO_AROUND = 191			# Mission command to safely abort an autonmous landing. |Altitude (meters)| Empty| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_DO_REPOSITION = 192
 uint16 VEHICLE_CMD_DO_PAUSE_CONTINUE = 193
-uint16 VEHICLE_CMD_DO_SET_ROI_LOCATION = 195	# Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196 # Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| pitch offset from next waypoint| roll offset from next waypoint| yaw offset from next waypoint|
+uint16 VEHICLE_CMD_DO_SET_ROI_LOCATION = 195		# Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude|
+uint16 VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196 	# Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| pitch offset from next waypoint| roll offset from next waypoint| yaw offset from next waypoint|
 uint16 VEHICLE_CMD_DO_SET_ROI_NONE = 197		# Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_DO_CONTROL_VIDEO = 200		# Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_SET_ROI = 201				# Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
+uint16 VEHICLE_CMD_DO_SET_ROI = 201			# Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
 uint16 VEHICLE_CMD_DO_DIGICAM_CONTROL=203
 uint16 VEHICLE_CMD_DO_MOUNT_CONFIGURE=204		# Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_DO_MOUNT_CONTROL=205			# Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value|
@@ -54,19 +57,19 @@ uint16 VEHICLE_CMD_DO_FENCE_ENABLE=207			# Mission command to enable the geofenc
 uint16 VEHICLE_CMD_DO_PARACHUTE=208			# Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_DO_MOTOR_TEST=209			# motor test command |Instance (1, ...)| throttle type| throttle| timeout [s]| Motor count | Test order| Empty|
 uint16 VEHICLE_CMD_DO_INVERTED_FLIGHT=210		# Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL=214		# Mission command to set TRIG_INTERVAL for this flight |Camera trigger distance (meters)| Shutter integration time (ms)| Empty| Empty| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL=214	# Mission command to set TRIG_INTERVAL for this flight |Camera trigger distance (meters)| Shutter integration time (ms)| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220		# Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)| q2 - quaternion param #2, x (0 in null-rotation)| q3 - quaternion param #3, y (0 in null-rotation)| q4 - quaternion param #4, z (0 in null-rotation)| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_DO_GUIDED_MASTER=221			# set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_DO_GUIDED_LIMITS=222			# set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_DO_LAST = 240			# NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241		# Trigger calibration. This command will be only accepted if in pre-flight mode. See mavlink spec MAV_CMD_PREFLIGHT_CALIBRATION
-uint16 PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION = 3		# param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration
+uint16 PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION = 3# param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration
 uint16 VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242	# Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|
 uint16 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243		# UAVCAN configuration. If param 1 == 1 actuator mapping and direction assignment should be started
 uint16 VEHICLE_CMD_PREFLIGHT_STORAGE = 245		# Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246	# Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_OBLIQUE_SURVEY=260			# Mission command to set a Camera Auto Mount Pivoting Oblique Survey for this flight|Camera trigger distance (meters)| Shutter integration time (ms)| Camera minimum trigger interval| Number of positions| Roll| Pitch| Empty|
-uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information about a low level gimbal
+uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283	# Command to ask information about a low level gimbal

 uint16 VEHICLE_CMD_MISSION_START = 300			# start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|
 uint16 VEHICLE_CMD_ACTUATOR_TEST = 310			# Actuator testing command|value [-1,1]|timeout [s]|Empty|Empty|output function|
@@ -74,21 +77,21 @@ uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311		# Actuator configuration command|co
 uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400		# Arms / Disarms a component |1 to arm, 0 to disarm
 uint16 VEHICLE_CMD_INJECT_FAILURE = 420			# Inject artificial failure for testing purposes
 uint16 VEHICLE_CMD_START_RX_PAIR = 500			# Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|
-uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512    # Request to send a single instance of the specified message
-uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530            # Set camera capture mode (photo, video, etc.)
-uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531                # Set camera zoom
+uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512    		# Request to send a single instance of the specified message
+uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530		# Set camera capture mode (photo, video, etc.)
+uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531		# Set camera zoom
 uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532
-uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw
-uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 # Gimbal configuration to set which sysid/compid is in primary and secondary control
-uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000   # Start image capture sequence.
-uint16 VEHICLE_CMD_DO_TRIGGER_CONTROL = 2003            # Enable or disable on-board camera triggering system
-uint16 VEHICLE_CMD_VIDEO_START_CAPTURE = 2500   # Start a video capture.
-uint16 VEHICLE_CMD_VIDEO_STOP_CAPTURE = 2501    # Stop the current video capture.
-uint16 VEHICLE_CMD_LOGGING_START = 2510		# start streaming ULog data
+uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 	# Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw
+uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 	# Gimbal configuration to set which sysid/compid is in primary and secondary control
+uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000   	# Start image capture sequence.
+uint16 VEHICLE_CMD_DO_TRIGGER_CONTROL = 2003		# Enable or disable on-board camera triggering system
+uint16 VEHICLE_CMD_VIDEO_START_CAPTURE = 2500   	# Start a video capture.
+uint16 VEHICLE_CMD_VIDEO_STOP_CAPTURE = 2501    	# Stop the current video capture.
+uint16 VEHICLE_CMD_LOGGING_START = 2510			# start streaming ULog data
 uint16 VEHICLE_CMD_LOGGING_STOP = 2511			# stop streaming ULog data
-uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600	# control starting/stopping transmitting data over the high latency link
-uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000    # Command VTOL transition
-uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001    # Request arm authorization
+uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600		# control starting/stopping transmitting data over the high latency link
+uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000    	# Command VTOL transition
+uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001	# Request arm authorization
 uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001	# Prepare a payload deployment in the flight plan
 uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002	# Control a pre-programmed payload deployment
 uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006            # Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.
@@ -98,33 +101,24 @@ uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006            # Magnetometer calibrati
 uint32 VEHICLE_CMD_PX4_INTERNAL_START    = 65537        # start of PX4 internal only vehicle commands (> UINT16_MAX)
 uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000       # Sets the GPS co-ordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude|

-
-uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0			# Command ACCEPTED and EXECUTED |
-uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1	# Command TEMPORARY REJECTED/DENIED |
-uint8 VEHICLE_CMD_RESULT_DENIED = 2			# Command PERMANENTLY DENIED |
-uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3		# Command UNKNOWN/UNSUPPORTED |
-uint8 VEHICLE_CMD_RESULT_FAILED = 4			# Command executed, but failed |
-uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5		# Command being executed |
-uint8 VEHICLE_CMD_RESULT_ENUM_END = 6			#
-
-uint8 VEHICLE_MOUNT_MODE_RETRACT = 0				# Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization |
-uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1				# Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
+uint8 VEHICLE_MOUNT_MODE_RETRACT = 0			# Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization |
+uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1			# Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
 uint8 VEHICLE_MOUNT_MODE_MAVLINK_TARGETING = 2		# Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization |
-uint8 VEHICLE_MOUNT_MODE_RC_TARGETING = 3			# Load neutral position and start RC Roll,Pitch,Yaw control with stabilization |
-uint8 VEHICLE_MOUNT_MODE_GPS_POINT = 4				# Load neutral position and start to point to Lat,Lon,Alt |
-uint8 VEHICLE_MOUNT_MODE_ENUM_END = 5				#
+uint8 VEHICLE_MOUNT_MODE_RC_TARGETING = 3		# Load neutral position and start RC Roll,Pitch,Yaw control with stabilization |
+uint8 VEHICLE_MOUNT_MODE_GPS_POINT = 4			# Load neutral position and start to point to Lat,Lon,Alt |
+uint8 VEHICLE_MOUNT_MODE_ENUM_END = 5			#

-uint8 VEHICLE_ROI_NONE = 0                         # No region of interest |
-uint8 VEHICLE_ROI_WPNEXT = 1                       # Point toward next MISSION |
-uint8 VEHICLE_ROI_WPINDEX = 2                      # Point toward given MISSION |
-uint8 VEHICLE_ROI_LOCATION = 3                     # Point toward fixed location |
-uint8 VEHICLE_ROI_TARGET = 4                       # Point toward target
+uint8 VEHICLE_ROI_NONE = 0                         	# No region of interest |
+uint8 VEHICLE_ROI_WPNEXT = 1                       	# Point toward next MISSION |
+uint8 VEHICLE_ROI_WPINDEX = 2                     	# Point toward given MISSION |
+uint8 VEHICLE_ROI_LOCATION = 3                    	# Point toward fixed location |
+uint8 VEHICLE_ROI_TARGET = 4                       	# Point toward target
 uint8 VEHICLE_ROI_ENUM_END = 5

-uint8 VEHICLE_CAMERA_ZOOM_TYPE_STEP = 0            # Zoom one step increment
-uint8 VEHICLE_CAMERA_ZOOM_TYPE_CONTINUOUS = 1      # Continuous zoom up/down until stopped
-uint8 VEHICLE_CAMERA_ZOOM_TYPE_RANGE = 2           # Zoom value as proportion of full camera range
-uint8 VEHICLE_CAMERA_ZOOM_TYPE_FOCAL_LENGTH = 3    # Zoom to a focal length
+uint8 VEHICLE_CAMERA_ZOOM_TYPE_STEP = 0            	# Zoom one step increment
+uint8 VEHICLE_CAMERA_ZOOM_TYPE_CONTINUOUS = 1      	# Continuous zoom up/down until stopped
+uint8 VEHICLE_CAMERA_ZOOM_TYPE_RANGE = 2           	# Zoom value as proportion of full camera range
+uint8 VEHICLE_CAMERA_ZOOM_TYPE_FOCAL_LENGTH = 3    	# Zoom to a focal length

 uint8 PARACHUTE_ACTION_DISABLE = 0
 uint8 PARACHUTE_ACTION_ENABLE = 1
@@ -1,11 +1,19 @@
-uint64 timestamp		# time since system start (microseconds)
-uint8 VEHICLE_RESULT_ACCEPTED = 0
-uint8 VEHICLE_RESULT_TEMPORARILY_REJECTED = 1
-uint8 VEHICLE_RESULT_DENIED = 2
-uint8 VEHICLE_RESULT_UNSUPPORTED = 3
-uint8 VEHICLE_RESULT_FAILED = 4
-uint8 VEHICLE_RESULT_IN_PROGRESS = 5
+# Vehicle Command Ackonwledgement uORB message.
+# Used for acknowledging the vehicle command being received.
+# Follows the MAVLink COMMAND_ACK message definition

+uint64 timestamp		# time since system start (microseconds)
+
+# Result cases. This follows the MAVLink MAV_RESULT enum definition
+uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0			# Command ACCEPTED and EXECUTED |
+uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1	# Command TEMPORARY REJECTED/DENIED |
+uint8 VEHICLE_CMD_RESULT_DENIED = 2			# Command PERMANENTLY DENIED |
+uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3		# Command UNKNOWN/UNSUPPORTED |
+uint8 VEHICLE_CMD_RESULT_FAILED = 4			# Command executed, but failed |
+uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5		# Command being executed |
+uint8 VEHICLE_CMD_RESULT_CANCELLED = 6			# Command Canceled
+
+# Arming denied specific cases
 uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0
 uint16 ARM_AUTH_DENIED_REASON_NONE = 1
 uint16 ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT = 2
@@ -15,10 +23,11 @@ uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5

 uint8 ORB_QUEUE_LENGTH = 4

-uint32 command
-uint8 result
-bool from_external
-uint8 result_param1
-int32 result_param2
+uint32 command						# Command that is being acknowledged
+uint8 result						# Command result
+uint8 result_param1					# Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS
+int32 result_param2					# Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
 uint8 target_system
 uint8 target_component
+
+bool from_external					# Indicates if the command came from an external source
@@ -1,39 +0,0 @@
-# GPS position in WGS84 coordinates.
-# the field 'timestamp' is for the position & velocity (microseconds)
-uint64 timestamp		# time since system start (microseconds)
-
-int32 lat			# Latitude in 1E-7 degrees
-int32 lon			# Longitude in 1E-7 degrees
-int32 alt			# Altitude in 1E-3 meters above MSL, (millimetres)
-int32 alt_ellipsoid 		# Altitude in 1E-3 meters bove Ellipsoid, (millimetres)
-
-float32 s_variance_m_s		# GPS speed accuracy estimate, (metres/sec)
-float32 c_variance_rad		# GPS course accuracy estimate, (radians)
-uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
-
-float32 eph			# GPS horizontal position accuracy (metres)
-float32 epv			# GPS vertical position accuracy (metres)
-
-float32 hdop			# Horizontal dilution of precision
-float32 vdop			# Vertical dilution of precision
-
-int32 noise_per_ms		# GPS noise per millisecond
-int32 jamming_indicator		# indicates jamming is occurring
-uint8 jamming_state		# indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
-
-float32 vel_m_s			# GPS ground speed, (metres/sec)
-float32 vel_n_m_s		# GPS North velocity, (metres/sec)
-float32 vel_e_m_s		# GPS East velocity, (metres/sec)
-float32 vel_d_m_s		# GPS Down velocity, (metres/sec)
-float32 cog_rad			# Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)
-bool vel_ned_valid		# True if NED velocity is valid
-
-int32 timestamp_time_relative	# timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds)
-uint64 time_utc_usec		# Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0
-
-uint8 satellites_used		# Number of satellites used
-
-float32 heading			# heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])
-float32 heading_offset		# heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
-
-uint8 selected			# GPS selection: 0: GPS1, 1: GPS2. 2: GPS3. 3. Blending multiple receivers
@@ -82,6 +82,10 @@
 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 1
 #endif

+#ifndef BOARD_MTD_NUM_EEPROM
+#define BOARD_MTD_NUM_EEPROM 1
+#endif
+
 /* ADC defining tools
 * We want to normalize the V5 Sensing to V = (adc_dn) * ADC_V5_V_FULL_SCALE/(2 ^ ADC_BITS) * ADC_V5_SCALE)
 */
@@ -258,9 +262,12 @@

 #if defined(BOARD_HAS_HW_VERSIONING)
 #  define BOARD_HAS_VERSIONING 1
-#  define HW_VER_REV(v,r)       ((uint32_t)((v) & 0xff) << 8) | ((uint32_t)(r) & 0xff)
+#  define HW_VER_REV(v,r)       ((uint32_t)((v) & 0xffff) << 16) | ((uint32_t)(r) & 0xffff)
 #endif

+#define HW_INFO_REV_DIGITS    3
+#define HW_INFO_VER_DIGITS    3
+
 /* Default LED logical to color mapping */

 #if defined(BOARD_OVERLOAD_LED)
@@ -100,6 +100,6 @@ __EXPORT int px4_mtd_config(const px4_mtd_manifest_t *mft_mtd);
 *   0 (get !=null) item by type's value is returned at get;
 *
 ************************************************************************************/
-__EXPORT int px4_mtd_query(const char *type, const char *val, const char **get = nullptr);
+__EXPORT int px4_mtd_query(const char *type, const char *val, const char **get);

 __END_DECLS
@@ -65,7 +65,7 @@ typedef struct {

 typedef struct {
 	const uint32_t        nmft;
-	const px4_mft_entry_s *mfts;
+	const px4_mft_entry_s *mfts[];
 } px4_mft_s;

 #include "px4_platform_common/mtd_manifest.h"
@@ -88,6 +88,19 @@ __BEGIN_DECLS

 __EXPORT const px4_mft_s *board_get_manifest(void);

+/************************************************************************************
+ * Name: board_get_base_eeprom_mtd_manifest
+ *
+ * Description:
+ *   A board will provide this function to return the mtd with eeprom manifest
+ *
+ * Returned Value:
+ *   pointer to mtd manifest
+ *
+ ************************************************************************************/
+
+__EXPORT const px4_mtd_manifest_t *board_get_base_eeprom_mtd_manifest(void);
+
 /************************************************************************************
 * Name: px4_mft_configure
 *
@@ -35,6 +35,8 @@

 __BEGIN_DECLS

+#define MAX_MTD_INSTANCES 5u
+
 // The data needed to interface with mtd device's

 typedef struct {
@@ -60,7 +62,7 @@ typedef struct {
 *            This can be  Null if there are no mtd instances.
 *
 */
-__EXPORT mtd_instance_s *px4_mtd_get_instances(unsigned int *count);
+__EXPORT mtd_instance_s **px4_mtd_get_instances(unsigned int *count);

 /*
  Get device complete geometry or a device
@@ -75,7 +77,9 @@ __EXPORT int  px4_mtd_get_geometry(const mtd_instance_s *instance, unsigned long
 */
 __EXPORT ssize_t px4_mtd_get_partition_size(const mtd_instance_s *instance, const char *partname);

-FAR struct mtd_dev_s *px4_at24c_initialize(FAR struct i2c_master_s *dev,
-		uint8_t address);
+int px4_at24c_initialize(FAR struct i2c_master_s *dev,
+			 uint8_t address, FAR struct mtd_dev_s **mtd_dev);
+
+void px4_at24c_deinitialize(void);

 __END_DECLS
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
David Sidrane	a7fb14e4db	Update Bootloaders with no DMP poll	2022-07-08 08:31:03 -07:00
David Sidrane	a45ed34d93	NuttX with DMA on Idle	2022-07-08 08:24:59 -07:00
David Sidrane	386fbe83d9	boards:Remove dma_poll	2022-07-08 08:22:57 -07:00
David Sidrane	17501e9c4a	px4io:Removed dma_poll call back	2022-07-08 08:21:50 -07:00
Matthias Grob	10a2b4c9f7	commander_helper: typo in set_tune() description	2022-07-08 14:51:15 +02:00
Junwoo Hwang	f66c3914f6	Give priority to power off tune over other tunes (e.g. Battery Low) Make Power Off tune not interruptable This solves the case of Low Battery warning tune overriding the power off tune, as now the Power off tune is not interruptable by any other tune unless override flag is specified commander_helper: resolve "redundant boolean literal in ternary expression result"	2022-07-08 14:51:15 +02:00
Junwoo Hwang	652b153383	Cleanup set_tune() functions in the commander_helper - Existing code was hard to read and quite ambiguous - Also it allowed constantly re-sending the tune_control request for a fixed duration tunes like "TUNE_ID_BATTERY_WARNING_SLOW", while not respecting the tune duration	2022-07-08 14:51:15 +02:00
bresch	3b26c611af	mpc: add sideways and backward speed for manual position modes	2022-07-08 14:03:44 +02:00
bresch	1de38c88d9	mpc: use xy stick limiting function from library	2022-07-08 14:03:44 +02:00
Igor Mišić	7e9a45a01a	uavcan/sensors/battery: add multiple battery filter instances	2022-07-08 10:03:11 +02:00
Igor Mišić	90e2ac60ce	uavcan/sensors/battery: add the option to filter raw data Useful for power modules that send just pure voltage and current without algorithmic prediction of voltage drop, time estimation, etc.	2022-07-08 10:03:11 +02:00
Igor Mišić	27b65481ba	uavcan/sensors/battery: refactoring _battery_status name	2022-07-08 10:03:11 +02:00
Junwoo Hwang	0eeb699af8	Convert add 'Hz' suffix to PWM50, PWM400, ... protocol names * To avoid confusion as to what the number after the 'PWM' part means when setting it up in the Actuators Tab	2022-07-08 08:15:13 +02:00
bresch	2f486c37fc	ekf2: start airspeed fusion when test ratio is passing only When wind is already estimated, we don't reset the states using airspeed data, so it could be that the fusion fails if the airspeed isn't consistent with the filter (test ratio > 1). In this case, don't start the fusion. When wind isn't already estimated, the wind states are reset using airspeed so the fusion can start regardless of the current test ratio.	2022-07-07 17:39:06 -04:00
Daniel Agar	e1933f6ade	ROMFS: execute rc.autostart (airframes) before starting dataman	2022-07-07 11:37:39 -04:00
Daniel Agar	f591988f32	drivers/actuators: modalai_esc driver Co-authored-by: Travis Bottalico <travis@modalai.com> Co-authored-by: akushley <akushley>	2022-07-07 10:32:52 -04:00
Daniel Agar	fe9af6769c	commander add GPS warnings (GPS invalid if flying and jamming critical)	2022-07-07 10:24:11 -04:00
Daniel Agar	15223009d2	combine sensor_gps + vehicle_gps_position msgs (keeping separate topics)	2022-07-07 10:24:11 -04:00
Junwoo Hwang	32ae00fd44	Move Vehicle Command Result Enum defs to Vehicle Command Ack (#19729 ) - As it is always only used for the vehicle command ack message - It was a duplicate, hence making it error prone for maintainment - The uORB message comments were updated to make the relationship with the MAVLink message / enum definitions clear	2022-07-07 16:15:11 +02:00
bresch	af4038aa7e	ekf2: publish estimator_aid_src_airspeed	2022-07-07 09:42:54 -04:00
bresch	2fd87c47e8	ekf2: use estimator_aid_source_1d message for airspeed fusion split the fusion process into: 1. updateAirspeed: computes innov, innov_var, obs_var, ... 2. fuseAirspeed: uses data computed in 1. to generate K, H and fuse the observation	2022-07-07 09:42:54 -04:00
bresch	503aa87957	ekf2_derivation: create functions to generate innov_var or HK only This is required when the innovation variance computation and the fusion are performed in two different functions.	2022-07-07 09:42:54 -04:00
Junwoo Hwang	6225fae1d6	Increase Battery level emergency shutdown time delay from 300 ms to 60 seconds, to give enough time for the user to configure the vehicle in the mean time. This is needed especially when the battery cell count setting is wrong (when it should be 3, but set to 4 for example), since then whenever you boot the vehicle, it will shutdown after 300 ms, which leaves the user puzzled as to exactly what's happening. And it also prevented the user from changing the Parameter since it's shutting down so quickly. 60 second window is intended to be a reasonable time that will allow the user to figure out what's going on (via checking the battery level on QGC, etc) but also not deep discharge the battery to a dangerous level.	2022-07-07 15:09:41 +02:00
Chuck	4528341069	sagetech_mxs: Adding fixes for crashes due to ADSB vehicle list initialization failure Co-authored-by: cfaber <chuck.faber@sagetech.com>	2022-07-06 21:19:46 -04:00
RomanBapst	44f98ac355	standard: fixed pusher assist in hover - in hover mode the pusher assist is already set in update_mc_state() Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-07-06 16:07:55 +02:00
Beat Küng	7022d59a54	ROMFS: fix incremental build for airframe processing Fixes the error: Aborting due to missing @type tag in file: 'build/px4_fmu-v5_test/etc/init.d/airframes/11001_hexa_cox' This can happen due to a change to e.g. board_serial_ports, which changes the CLI command and triggers a re-execution of the airframe processing.	2022-07-06 07:50:18 -04:00
Beat Küng	6f8663ac62	mcp23009: add drivers__device cmake dependency needed for device::I2C	2022-07-06 07:50:18 -04:00
RomanBapst	42cd0b4ce0	FlightTaskAuto: don't override landing gear state for takeoff - this allows landing gear to retract automatically when doing a takeoff and the vehicle is considered high enough Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-07-06 11:11:14 +02:00
Thomas Debrunner	42c562b748	gps: Increase param name buffer to address warning in newer gccs (#19876 )	2022-07-06 10:20:31 +02:00
Silvan Fuhrer	b0490b9f6b	ROMFS: assign all 4 tilts to motors to have them all tilt Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-07-06 09:04:52 +02:00
Matthias Grob	a3288ff732	Commander: run ekf checks without grace period after boot	2022-07-05 10:35:07 -04:00
Matthias Grob	8deebd07b8	preArmCheck: Shorten messages to to not write "Arming denied!"	2022-07-05 10:35:07 -04:00
bresch	3d01b5aa11	ekf2_derivation: use unsimplified q->rot for observation equations	2022-07-05 14:25:35 +02:00
bresch	28b34a634b	ekf2_derivation: do not print null equations	2022-07-05 14:25:35 +02:00
bresch	78dd557b26	ekf2_derivation: automatically replace pow function	2022-07-05 14:25:35 +02:00
bresch	11f78a3686	ekf2_derivation: update generated equations with SymPy 1.10.1	2022-07-05 14:25:35 +02:00
Igor Mišić	dff946c39a	usr_mcu_version: add missing headers	2022-07-05 09:29:26 +02:00
Igor Mišić	89c287581b	boards/px4/fmu-v6c: update to extended hw_ver_rev format	2022-07-05 09:29:26 +02:00
Igor Mišić	4b503c310e	Merge PR #19575 (changes to pr-extendend_hw_ver_rev_format) - 4096 of 3 hex digits each for rev and ver is enough. #defines used in SPI versions do not be long format, use use the macro - Board provides a prefix and the formatting is sized and built in - No need for funky board_get_base_eeprom_mtd_manifest interface Original mft is used where the abstraction is done with the MFT interface Co-authored-by: David Sidrane <David.Sidrane@Nscdg.com>	2022-07-05 09:29:26 +02:00
Igor Mišić	f7d542e720	boards/sky-drones: update to extended hw_ver_rev format	2022-07-05 09:29:26 +02:00
Igor Mišić	4ea8527304	board/fmu-v5x: reverse order for start boards to shorten the command	2022-07-05 09:29:26 +02:00
Igor Mišić	8b77d68028	board/fmu-v5x: add new board version V5X00100001	2022-07-05 09:29:26 +02:00
David Sidrane	00e82c9060	board_hw_eeprom_rev_ver:Versioning hierarchy	2022-07-05 09:29:26 +02:00
Igor Mišić	ec1614d156	boards: update id string from V5X{0-a}{0-a} to V5X{xxxx}{xxxx} boards: new format for hwtypecmp string boards: update manifest.c to follow the new hw_ver_rev format	2022-07-05 09:29:26 +02:00
David Sidrane	49d63958a8	platforms/common/spi:Support 16 bit of VER and REV	2022-07-05 09:29:26 +02:00
Igor Mišić	b938215c2b	board_hw_info: add set and get functions for hw_version to/from eeprom	2022-07-05 09:29:26 +02:00
Igor Mišić	dd38ced7c4	fmu-v5x: use mtd to get hw info from base EEPROM	2022-07-05 09:29:26 +02:00
Igor Mišić	cc63c49a51	px4_manifest: add function declaration for get base EEPROM mtd	2022-07-05 09:29:26 +02:00
Igor Mišić	3463b725a5	px4_manifest: fix px4_mft_s to accept multiple manifests	2022-07-05 09:29:26 +02:00
Igor Mišić	432b664acc	px4_mtd: fix instantiation for multiple mtds	2022-07-05 09:29:26 +02:00
Igor Mišić	08a9e49f3e	px4_mtd: update eeprom at24c driver to initialize multiple instances	2022-07-05 09:29:26 +02:00
Daniel Agar	efde738826	ekf2: update EKF2_EV_DELAY default to 0	2022-07-04 11:44:53 -04:00
Matthias Grob	21f858de1f	drv_pwm_output: remove not used anymore define for presumed servo middle position	2022-07-04 16:34:58 +02:00
Matthias Grob	af4b8bfd60	linux_pwm_out: sync configuration logic from FMU and IO	2022-07-04 16:34:58 +02:00
Matthias Grob	8ccd40185a	PWMOut/px4io: use disarmed values as default failsafe values to avoid surprises where upon disarm an ESC can suddenly spool up even though it stops when disarmed and no specific failsafe value is configured.	2022-07-04 16:34:58 +02:00
Michael Schaeuble	85a5dd87cd	Remove camera capture GPIO interrupt when the rate is higher than 5kHz If the capture GPIO is exposed to a signal with high frequency changes, a lot of interrupts are scheduled and the handling of these call can worst-case starve flight critical processes leading to a loss of control. Since camera capture is not flight critical, we now give up the capture functionality and stop the interrupts to prevent the starvation of other processes.	2022-07-04 11:32:33 +02:00
Igor Mišić	941c47fb19	Remove logging rate limit for pps_capture In case of a signal issue on the PPS GPIO it is helpful to have logging data with higher rates.	2022-07-04 11:32:33 +02:00
Michael Schaeuble	5abee359d6	Remove PPS GPIO interrupt when the rate is higher than 20Hz If the PPS GPIO is exposed to a signal with high frequency changes, a lot of interrupts are scheduled and the handling of these calls can worst-case starve flight critical processes leading to a loss of control. Since PPS is not flight critical, we now give up the PPS functionality and stop the interrupts to prevent the starvation of other processes.	2022-07-04 11:32:33 +02:00
Jaeyoung-Lim	55eed0e125	Remove multirotor mixer include from MC Ratecontro; This commit removes multirotormixer includes since it is not being used	2022-07-03 19:20:19 -04:00
Daniel Agar	c9b6047124	platforms/nuttx/CMakeLists.txt add STM32H743VI SVD/debug	2022-07-03 11:38:01 -04:00
Daniel Agar	7f76761657	uavcannode: schedule to run on log_message publications - this is a precaution to minimize message latency and potential lost messages	2022-07-01 09:18:17 -04:00
Ryan Meagher	f16ea921c2	drivers/barometer/invensense: fix icp10111 and icp10100 * fix icp so it compiles * add icp10111 and icp10100 DEVTPYE	2022-06-29 21:22:10 -04:00
Martina Rivizzigno	55563eba49	MPC_SPOOLUP_TIME -> COM_SPOOLUP_TIME	2022-06-24 19:44:43 +02:00
Matthias Grob	c8fb7a6990	fw/uuv control: remove duplicated comments, restyle initializers	2022-06-24 10:05:16 -05:00
Matthias Grob	78225f7b1f	examples/fixedwing_control: use initializers instead of memset	2022-06-24 10:05:16 -05:00
Matthias Grob	cfd4e64b02	uuv_pos_control: remove practically unused manual control subscription	2022-06-24 10:05:16 -05:00
Matthias Grob	3a239ff649	examples: remove empty fake_gyro	2022-06-24 10:05:16 -05:00
CUAVhonglang	cfa8b451c7	cuav-nora: changed brick to compatible with cuav noraplus	2022-06-24 10:03:43 -05:00