sensors/vehicle_angular_velocity: add IMU_GYRO_RATEMAX constraints

sensors/vehicle_imu: don't bother checking IMU_GYRO_RATEMAX
boards: NuttX update all boards to preallocated sem holder list
2026-06-08 07:50:06 +08:00 · 2022-06-07 16:23:01 -04:00 · 2022-06-07 16:22:54 -04:00 · 2022-05-29 13:49:01 -04:00 · 2022-05-29 13:48:15 -04:00 · 2022-05-27 16:28:26 -04:00
686 changed files with 15734 additions and 33069 deletions
@@ -61,20 +61,18 @@ pipeline {
                     "holybro_kakutef7_default",
                     "holybro_kakuteh7_default",
                     "holybro_pix32v5_default",
+                     "matek_h743-slim",
                     "matek_gnss-m9n-f4_canbootloader",
                     "matek_gnss-m9n-f4_default",
-                     "matek_h743-mini_default",
-                     "matek_h743-slim_default",
-                     "matek_h743_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
-                     "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_ctrl-zero-h7_default",
                     "mro_ctrl-zero-h7_rtps",
+                     "mro_ctrl-zero-h7-oem_default",
+                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_pixracerpro_default",
                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
@@ -89,27 +87,25 @@ pipeline {
                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
+                     "raspberrypi_pico_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
-                     "px4_fmu-v2_lto",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_default",
                     "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_cyphal",
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
-                     "px4_fmu-v5_lto",
                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
+                     "px4_fmu-v5_uavcanv1",
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6c_default",
                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
-                     "raspberrypi_pico_default",
                     "sky-drones_smartap-airlink_default",
                     "spracing_h7extreme_default",
                     "uvify_core_default"
@@ -794,7 +794,7 @@ void resetParameters() {
 void runTests() {

  // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'

  resetParameters()

@@ -809,9 +809,6 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
-
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
@@ -867,15 +864,12 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
@@ -1,34 +1,32 @@
 ---
-name: 🐛 Bug report
+name: Bug report
 about: Create a report to help us improve
-labels: bug-report

 ---

-## Describe the bug
+**Describe the bug**
 A clear and concise description of the bug.

-## To Reproduce
+**To Reproduce**
 Steps to reproduce the behavior:
 1. Drone switched on '...'
 2. Uploaded mission '....' (attach QGC mission file)
 3. Took off '....'
 4. See error

-## Expected behavior
+**Expected behavior**
 A clear and concise description of what you expected to happen.

-## Log Files and Screenshots
+**Log Files and Screenshots**
 *Always* provide a link to the flight log file:
 - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
- Share the link to the log (Copy and paste the URL of the log)
+- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).

 Add screenshots to help explain your problem.

-## Drone (please complete the following information):
+**Drone (please complete the following information):**
 - Describe the type of drone.
 - Photo of the IMU / autopilot setup if possible.

-## Additional context
+**Additional context**
 Add any other context about the problem here.
@@ -1,20 +1,19 @@
 ---
 name: 🚀 Feature Request
 about: Suggest an idea for this project
-labels: feature-request

 ---

 For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).

-## Describe problem solved by the proposed feature
+**Describe problem solved by the proposed feature**
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...

-## Describe your preferred solution
+**Describe your preferred solution**
 A clear and concise description of what you want to happen.

-## Describe possible alternatives
+**Describe possible alternatives**
 A clear and concise description of alternative solutions or features you've considered.

-## Additional context
+**Additional context**
 Add any other context or screenshots for the feature request here.
@@ -1,13 +1,10 @@
 ---
 name: ⛔ Support Question
-about: See http://discuss.px4.io/ for questions about using PX4.
+about: See [PX4 Discuss](http://discuss.px4.io/) for questions about using PX4.

 ---

-## Attention! Please read the note below
-
-We use GitHub issues only to discuss PX4 bugs and new features.
-
-**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
+We use GitHub issues only to discuss PX4 bugs and new features. For
+questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).

 Thanks!
@@ -1,11 +1,9 @@
 ---
 name: ⛔ Documentation Issue
-about: See https://github.com/PX4/px4_user_guide for documentation issues
+about: See https://github.com/PX4/Devguide for documentation issues

 ---

-## Attention! Please read the note below
-
-**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
+PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).

 Thanks!
@@ -37,10 +37,8 @@ jobs:
          holybro_kakutef7,
          holybro_kakuteh7,
          holybro_pix32v5,
-          matek_gnss-m9n-f4,
-          matek_h743,
-          matek_h743-mini,
          matek_h743-slim,
+          matek_gnss-m9n-f4,
          modalai_fc-v1,
          modalai_fc-v2,
          mro_ctrl-zero-f7,
@@ -55,6 +53,7 @@ jobs:
          nxp_fmurt1062-v1,
          nxp_ucans32k146,
          omnibus_f4sd,
+          raspberrypi_pico,
          px4_fmu-v2,
          px4_fmu-v3,
          px4_fmu-v4,
@@ -64,7 +63,6 @@ jobs:
          px4_fmu-v6c,
          px4_fmu-v6u,
          px4_fmu-v6x,
-          raspberrypi_pico,
          sky-drones_smartap-airlink,
          spracing_h7extreme,
          uvify_core
@@ -36,14 +36,14 @@
 [submodule "Tools/jsbsim_bridge"]
 	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/drivers/cyphal/libcanard"]
-	path = src/drivers/cyphal/libcanard
-	url = https://github.com/opencyphal/libcanard.git
-[submodule "src/drivers/cyphal/public_regulated_data_types"]
-	path = src/drivers/cyphal/public_regulated_data_types
-	url = https://github.com/opencyphal/public_regulated_data_types.git
-[submodule "src/drivers/cyphal/legacy_data_types"]
-	path = src/drivers/cyphal/legacy_data_types
+[submodule "src/drivers/uavcan_v1/libcanard"]
+	path = src/drivers/uavcan_v1/libcanard
+	url = https://github.com/UAVCAN/libcanard.git
+[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
+	path = src/drivers/uavcan_v1/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types.git
+[submodule "src/drivers/uavcan_v1/legacy_data_types"]
+	path = src/drivers/uavcan_v1/legacy_data_types
 	url = https://github.com/PX4/public_regulated_data_types.git
 	branch = legacy
 [submodule "src/lib/crypto/monocypher"]
@@ -126,6 +126,8 @@
        },
        "search.showLineNumbers": true,
        "telemetry.enableTelemetry": false,
+        "terminal.integrated.copyOnSelection": true,
+        "terminal.integrated.rightClickBehavior": "paste",
        "terminal.integrated.scrollback": 5000,
        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
        "workbench.editor.highlightModifiedTabs": true,
@@ -99,7 +99,7 @@
 #
 #=============================================================================

-cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.2 FATAL_ERROR)

 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
@@ -234,14 +234,6 @@ message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 #
 project(px4 CXX C ASM)

-# Check if LTO option and check if toolchain supports it
-if(LTO)
-    include(CheckIPOSupported)
-    check_ipo_supported()
-    message(AUTHOR_WARNING "LTO enabled: LTO is highly experimental and should not be used in production")
-    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
-endif()
-
 set(package-contact "px4users@googlegroups.com")

 set(CMAKE_CXX_STANDARD 14)
@@ -51,13 +51,6 @@ menu "Toolchain"
        string "Architecture"
        default ""

-    config BOARD_LTO
-        bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
-        default n
-        help
-            Enables LTO flag in linker
-            Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later
-
    config BOARD_FULL_OPTIMIZATION
        bool "Full optmization (O3)"
        default n
@@ -331,7 +331,7 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

 .PHONY: coverity_scan
@@ -1,17 +1,17 @@
 Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.

-## Describe problem solved by this pull request
-A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
+**Describe problem solved by this pull request**
+A clear and concise description of the problem this proposed change will solve.
 E.g. For this use case I ran into...

-## Describe your solution
+**Describe your solution**
 A clear and concise description of what you have implemented.

-## Describe possible alternatives
+**Describe possible alternatives**
 A clear and concise description of alternative solutions or features you've considered.

-## Test data / coverage
+**Test data / coverage**
 How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.

-## Additional context
+**Additional context**
 Add any other related context or media.
@@ -86,28 +86,10 @@ unset BOARD_RC_SENSORS
 . ${R}etc/init.d/rc.serial

 # Check for flow sensor
-if param compare -s SENS_EN_PX4FLOW 1
+if param compare SENS_EN_PX4FLOW 1
 then
 	px4flow start -X &
 fi

-if param compare -s IMU_GYRO_CAL_EN 1
-then
-	gyro_calibration start
-fi
-
-
-if param compare -s MBE_ENABLE 1
-then
-	# conservative mag bias estimation
-	param set-default MBE_LEARN_GAIN 5
-	param set-default IMU_GYRO_CUTOFF 20
-	mag_bias_estimator start
-fi
-
-param set-default SENS_MAG_RATE 100
-
-sensors start
-
 uavcannode start
 unset R
@@ -9,28 +9,4 @@

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

-param set-default SYS_CTRL_ALLOC 1
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-set MIXER skip
-set MIXER_AUX none
+set MIXER quad_w
@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+set MIXER skip
+set MIXER_AUX none
@@ -1,101 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Omnicopter SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Jaeyoung Lim <jalim@ethz.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default SYS_CTRL_ALLOC 1
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 255
-
-param set-default CA_ROTOR0_PX 0.14435
-param set-default CA_ROTOR0_PY -0.14435
-param set-default CA_ROTOR0_PZ -0.14435
-param set-default CA_ROTOR0_KM 0.05 # CCW
-param set-default CA_ROTOR0_AX -0.788675
-param set-default CA_ROTOR0_AY -0.211325
-param set-default CA_ROTOR0_AZ -0.57735
-
-param set-default CA_ROTOR1_PX -0.14435
-param set-default CA_ROTOR1_PY -0.14435
-param set-default CA_ROTOR1_PZ -0.14435
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR1_AX 0.211325
-param set-default CA_ROTOR1_AY -0.788675
-param set-default CA_ROTOR1_AZ 0.57735
-
-param set-default CA_ROTOR2_PX 0.14435
-param set-default CA_ROTOR2_PY 0.14435
-param set-default CA_ROTOR2_PZ -0.14435
-param set-default CA_ROTOR2_KM 0.05
-param set-default CA_ROTOR2_AX -0.211325
-param set-default CA_ROTOR2_AY 0.788675
-param set-default CA_ROTOR2_AZ 0.57735
-
-param set-default CA_ROTOR3_PX -0.14435
-param set-default CA_ROTOR3_PY 0.14435
-param set-default CA_ROTOR3_PZ -0.14435
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR3_AX 0.788675
-param set-default CA_ROTOR3_AY 0.211325
-param set-default CA_ROTOR3_AZ -0.57735
-
-param set-default CA_ROTOR4_PX 0.14435
-param set-default CA_ROTOR4_PY -0.14435
-param set-default CA_ROTOR4_PZ 0.14435
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR4_AX 0.788675
-param set-default CA_ROTOR4_AY 0.211325
-param set-default CA_ROTOR4_AZ -0.57735
-
-param set-default CA_ROTOR5_PX -0.14435
-param set-default CA_ROTOR5_PY -0.14435
-param set-default CA_ROTOR5_PZ 0.14435
-param set-default CA_ROTOR5_KM 0.05
-param set-default CA_ROTOR5_AX -0.211325
-param set-default CA_ROTOR5_AY 0.788675
-param set-default CA_ROTOR5_AZ 0.57735
-
-param set-default CA_ROTOR6_PX 0.14435
-param set-default CA_ROTOR6_PY 0.14435
-param set-default CA_ROTOR6_PZ 0.14435
-param set-default CA_ROTOR6_KM 0.05
-param set-default CA_ROTOR6_AX 0.211325
-param set-default CA_ROTOR6_AY -0.788675
-param set-default CA_ROTOR6_AZ 0.57735
-
-param set-default CA_ROTOR7_PX -0.14435
-param set-default CA_ROTOR7_PY 0.14435
-param set-default CA_ROTOR7_PZ 0.14435
-param set-default CA_ROTOR7_KM 0.05
-param set-default CA_ROTOR7_AX -0.788675
-param set-default CA_ROTOR7_AY -0.211325
-param set-default CA_ROTOR7_AZ -0.57735
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-param set-default PWM_MAIN_FUNC7 107
-param set-default PWM_MAIN_FUNC8 108
-
-# disable MC desaturation which improves attitude tracking
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-set MIXER skip
-set MIXER_AUX none
@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name QuadrotorX SITL for SIH
-#
-# @type Quadrotor
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set SIH_VEHICLE_TYPE 0
@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL for SIH
-#
-# @type Plane
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-
-. ${R}etc/init.d/rc.fw_defaults
-
-set MIXER AERT
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 6.0
-param set SIH_MASS 0.3
-param set SIH_IXX 0.00402
-param set SIH_IYY 0.0144
-param set SIH_IZZ 0.0177
-param set SIH_IXZ 0.00046
-param set SIH_KDV 0.2
-
-param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
-param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
@@ -1,45 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Tailsitter Duo
-#
-# @type VTOL
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 0
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
-param set-default MPC_MAN_Y_MAX 60
-param set-default MC_PITCH_P 5
-
-param set-default MAV_TYPE 19
-set MAV_TYPE 19
-set MIXER vtol_tailsitter_duo_sat
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
-param set SIH_MASS 0.2
-# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set SIH_IXX 0.00354
-param set SIH_IYY 0.000625
-param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
-param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.145
-
-# sih as tailsitter
-param set SIH_VEHICLE_TYPE 2
@@ -18,7 +18,3 @@ param set-default LPE_FAKE_ORIGIN 1

 param set-default MPC_ALT_MODE 2

-param set-default SENS_FLOW_ROT 6
-param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3.0
-param set-default SENS_FLOW_MAXR 2.5
@@ -7,31 +7,7 @@

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

-param set-default SYS_CTRL_ALLOC 1
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.145
-param set-default CA_ROTOR0_PY 0.145
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.145
-param set-default CA_ROTOR1_PY -0.145
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.145
-param set-default CA_ROTOR2_PY -0.145
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.145
-param set-default CA_ROTOR3_PY 0.145
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_ROLLRATE_P 0.05

-set MIXER skip
-set MIXER_AUX none
+set MIXER quad_x
@@ -9,6 +9,7 @@

 # EKF2
 param set-default EKF2_AID_MASK 2
+param set-default SENS_FLOW_ROT 0

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
@@ -25,8 +25,6 @@ param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3

-param set-default FW_SPOILERS_LND 0.4
-
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_THR_CRUISE 0.25
@@ -7,11 +7,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-# TODO: Enable motor failure detection when the
-# VTOL no longer reports 0A for all ESCs in SITL
-param set-default FD_ACT_EN 0
-param set-default FD_ACT_MOT_TOUT 500
-
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2

@@ -9,7 +9,7 @@

 param set-default MAV_TYPE 21

-param set-default SYS_CTRL_ALLOC 1
+# param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3

 param set-default CA_ROTOR_COUNT 4
@@ -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
@@ -1,4 +1,6 @@

+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p

 # shellcheck disable=SC2154
@@ -33,13 +33,10 @@

 px4_add_romfs_files(
 	10016_iris
+	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
-	10019_omnicopter
 	10020_if750a
 	10030_px4vision
-	10040_quadx
-	10041_airplane
-	10042_xvert
 	1010_iris_opt_flow
 	1010_iris_opt_flow.post
 	1011_iris_irlock
@@ -30,12 +30,3 @@ mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $ud

 # Onboard link to gimbal
 mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
-
-# To display for SIH sitl
-if [ "$SIM_MODE" = "sihsim" ]; then
-	udp_sihsim_port_local=$((19450+px4_instance))
-	udp_sihsim_port_remote=$((19410+px4_instance))
-	mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote
-	mavlink stream -r 200 -s HIL_ACTUATOR_CONTROLS -u  $udp_sihsim_port_local
-	mavlink stream -r 25 -s HIL_STATE_QUATERNION -u  $udp_sihsim_port_local
-fi
@@ -95,9 +95,10 @@ fi

 if param compare SYS_AUTOCONFIG 1
 then
-	# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
-	param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	set AUTOCNF yes
+
+	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
+	param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 fi

 # multi-instance setup
@@ -154,8 +155,6 @@ param set-default SDLOG_DIRS_MAX 7

 param set-default TRIG_INTERFACE 3

-param set-default SYS_FAILURE_EN 1
-
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
@@ -197,6 +196,14 @@ fi

 . "$autostart_file"

+#
+# If autoconfig parameter was set, reset it and save parameters.
+#
+if [ $AUTOCNF = yes ]
+then
+	param set SYS_AUTOCONFIG 0
+fi
+
 # Simulator IMU data provided at 250 Hz
 param set IMU_INTEG_RATE 250

@@ -204,11 +211,8 @@ param set IMU_INTEG_RATE 250
 . px4-rc.params

 dataman start
-# start sih in sih_sim mode, otherwise simulator module
-if [ "$SIM_MODE" = "sihsim" ]; then
-	sih start
 # only start the simulator if not in replay mode, as both control the lockstep time
-elif ! replay tryapplyparams
+if ! replay tryapplyparams
 then
  . px4-rc.simulator
 fi
@@ -0,0 +1,40 @@
+#!/bin/sh
+#
+# @name Steadidrone QU4D
+#
+# @type Quadrotor Wide
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default BAT1_N_CELLS 4
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.13
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.19
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 4
+
+set MIXER quad_w
@@ -0,0 +1,48 @@
+#!/bin/sh
+#
+# @name Steadidrone MAVRIK
+#
+# @type Octo Coax Wide
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+# @output MAIN7 motor 7
+# @output MAIN8 motor 8
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default MC_PITCH_P 4
+param set-default MC_PITCHRATE_P 0.24
+param set-default MC_PITCHRATE_I 0.09
+param set-default MC_PITCHRATE_D 0.013
+param set-default MC_PITCHRATE_MAX 180
+
+param set-default MC_ROLL_P 4
+param set-default MC_ROLLRATE_P 0.16
+param set-default MC_ROLLRATE_I 0.07
+param set-default MC_ROLLRATE_D 0.009
+param set-default MC_ROLLRATE_MAX 180
+
+param set-default MC_YAW_P 3
+
+param set-default MPC_HOLD_MAX_XY 0.25
+param set-default MPC_THR_MIN 0.15
+param set-default MPC_Z_VEL_MAX_DN 2
+
+param set-default BAT1_N_CELLS 4
+
+set MIXER octo_cox_w
+
+set PWM_OUT 12345678
@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name CruiseAder Claire
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer Samay Siga <samay_s@icloud.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default MAV_TYPE 21
+
+param set-default PWM_AUX_DISARM 1000
+param set-default PWM_AUX_MAX 2000
+param set-default PWM_AUX_MIN 1000
+param set-default PWM_AUX_RATE 50
+
+param set-default PWM_MAIN_MAX 2000
+
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 13
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TILT_FW 0.9
+param set-default VT_TILT_MC 0.08
+param set-default VT_TILT_TRANS 0.5
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 1
+
+set MIXER claire
+set MIXER_AUX claire
+
+set PWM_OUT 1234
@@ -69,9 +69,4 @@ param set-default VT_TYPE 1

 set MIXER vtol_convergence

-if ! ver hwcmp MATEK_H743
-then
-	set PWM_OUT 1234
-else
-	set PWM_OUT 3456
-fi	
+set PWM_OUT 1234
@@ -131,6 +131,7 @@ param set-default VT_F_TRANS_DUR 1
 param set-default VT_IDLE_PWM_MC 1025
 param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
+param set-default VT_FW_PERM_STAB 1
 param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

@@ -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 COM_SPOOLUP_TIME 1.5
+param set-default MPC_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
@@ -0,0 +1,45 @@
+#!/bin/sh
+#
+# @name IO Camflyer
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MAX 15
+param set-default FW_AIRSPD_TRIM 13
+param set-default FW_R_TC 0.3
+param set-default FW_P_TC 0.3
+param set-default FW_L1_DAMPING 0.74
+param set-default FW_L1_PERIOD 16
+param set-default FW_LND_ANG 15
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_PR_FF 0.35
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_P 0.04
+
+param set-default PWM_MAIN_DISARM 1000
+
+
+set MIXER fw_generic_wing
+
+# Provide ESC a constant 1000 us pulse while disarmed
+set PWM_OUT 4
@@ -0,0 +1,29 @@
+#!/bin/sh
+#
+# @name FX-79 Buffalo Flying Wing
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 right aileron
+# @output MAIN2 left aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MAX 30
+param set-default FW_AIRSPD_MIN 13
+
+param set-default NAV_LOITER_RAD 150
+
+set MIXER fw_generic_wing
@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name Viper
+#
+# @type Flying Wing
+# @class Plane
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+set MIXER Viper
@@ -0,0 +1,53 @@
+#!/bin/sh
+#
+# @name Modified Parrot Disco
+#
+# @url
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Jan Liphardt <JTLiphardt@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+####################################
+# Airspeed
+####################################
+param set-default FW_AIRSPD_MAX  27 # = 52 knots
+
+####################################
+# Pitch
+####################################
+
+# Pitch rate feed forward (def = 0.5 %/rad/sec)
+param set-default FW_PR_FF 0.35
+
+####################################
+# Roll
+####################################
+
+# Basic limits (def = 50 deg)
+param set-default FW_R_LIM 40
+
+# Roll rate upper limit (def = 70 deg/s)
+param set-default FW_R_RMAX 50
+
+param set-default PWM_MAIN_DISARM 1000
+
+set MIXER fw_generic_wing.main.mix
+
+# Provide ESC a constant 1000 us pulse
+set PWM_OUT 4
@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# @name DJI F330 w/ DJI ESCs
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_I 0.05
+
+
+# DJI ESCs do not support calibration and need a higher min
+param set-default PWM_MAIN_MIN 1230
@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# @name DJI F450 w/ DJI ESCs
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_YAWRATE_P 0.3
+
+# DJI ESCs do not support calibration and need a higher min
+param set-default PWM_MAIN_MIN 1230
@@ -104,6 +104,7 @@ param set-default SDLOG_PROFILE 131
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25
 param set-default SENS_FLOW_MINHGT 0.5
+param set-default SENS_FLOW_ROT 0
 param set-default IMU_GYRO_CUTOFF 100
 param set-default SENS_EN_PMW3901 1

@@ -0,0 +1,27 @@
+#!/bin/sh
+#
+# @name DJI Matrice 100
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer James Goppert <james.goppert@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default BAT1_N_CELLS 6
+
+param set-default MC_ROLLRATE_P 0.05
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.001
+param set-default MC_PITCHRATE_P 0.05
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.001
+
+param set-default MC_YAWRATE_I 0
+
+param set-default PWM_MAIN_MIN 1200
@@ -47,7 +47,6 @@ param set-default COM_RC_LOSS_T 3

 # ekf2
 param set-default EKF2_AID_MASK 33
-param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0

@@ -174,7 +173,7 @@ param set-default RC1_TRIM          1000
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT 0
+param set-default SENS_FLOW_ROT    0

 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"
@@ -52,16 +52,22 @@ px4_add_romfs_files(

 	# [3000, 3999] Flying wing"
 	3000_generic_wing
+	3030_io_camflyer
 	3031_phantom
 	3032_skywalker_x5
 	3033_wingwing
+	3034_fx79
+	3035_viper
 	3036_pigeon
+	3037_parrot_disco_mod
 	3100_tbs_caipirinha

 	# [4000, 4999] Quadrotor x"
 	4001_quad_x
 	4003_qavr5
 	4009_qav250
+	4010_dji_f330
+	4011_dji_f450
 	4014_s500
 	4015_holybro_s500
 	4016_holybro_px4vision
@@ -75,6 +81,7 @@ px4_add_romfs_files(
 	4051_s250aq
 	4052_holybro_qav250
 	4053_holybro_kopis2
+	4060_dji_matrice_100
 	4061_atl_mantis_edu
 	4071_ifo
 	4072_draco
@@ -105,6 +112,7 @@ px4_add_romfs_files(
 	# [10000, 10999] Quadrotor Wide arm / H frame"
 	10015_tbs_discovery
 	10016_3dr_iris
+	10017_steadidrone_qu4d
 	10018_tbs_endurance

 	# [11000, 11999] Hexa Cox
@@ -112,6 +120,7 @@ px4_add_romfs_files(

 	# [12000, 12999] Octo Cox
 	12001_octo_cox
+	12002_steadidrone_mavrik

 	# [13000, 13999] VTOL
 	13000_generic_vtol_standard
@@ -124,6 +133,7 @@ px4_add_romfs_files(
 	13007_vtol_AAVVT_quad
 	13008_QuadRanger
 	13009_vtol_spt_ranger
+	13010_claire
 	13012_convergence
 	13013_deltaquad
 	13014_vtol_babyshark
@@ -21,6 +21,7 @@ set +e
 # it wastes flash
 #
 set R /
+set AUTOCNF no
 set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
 set FRC /fs/microsd/etc/rc.txt
@@ -176,12 +177,13 @@ else
 	fi

 	#
-	# If the airframe has been previously reset SYS_AUTCONFIG will have been set to 1 and other params will be reset on the next boot.
+	# Set AUTOCNF flag to use it in AUTOSTART scripts.
 	#
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
-		param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
+		# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
+		param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
+		set AUTOCNF yes
 	fi

 	#
@@ -272,6 +274,14 @@ else
 		. $FCONFIG
 	fi

+	#
+	# If autoconfig parameter was set, reset it and save parameters.
+	#
+	if [ $AUTOCNF = yes ]
+	then
+		param set SYS_AUTOCONFIG 0
+	fi
+
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#
@@ -288,9 +298,9 @@ else
 			tune_control play error
 		fi
 	else
-		if param greater -s CYPHAL_ENABLE 0
+		if param greater -s UAVCAN_V1_ENABLE 0
 		then
-			cyphal start
+			uavcan_v1 start
 		fi
 	fi

@@ -555,6 +565,7 @@ fi
 # Unset all script parameters to free RAM.
 #
 unset R
+unset AUTOCNF
 unset FCONFIG
 unset FEXTRAS
 unset FRC
@@ -21,16 +21,14 @@ O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

 # mixer for the left aileron
-M: 2
+M: 1
 O:      10000  10000   0 -10000  10000
 S: 0 0  -10000  -10000    0 -10000  10000
-S: 0 5   10000   10000    0 -10000  10000

 # mixer for the right aileron
-M: 2
+M: 1
 O:      10000  10000   0 -10000  10000
 S: 0 0  10000  10000    0 -10000  10000
-S: 0 5  10000  10000    0 -10000  10000

 # mixer for the elevator
 M: 1
@@ -8,22 +8,22 @@ R: 4x
 # tilt servo motor 1
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000

 # tilt servo motor 2
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000

 # tilt servo motor 3
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000

 # tilt servo motor 4
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000

 # mixer for the left aileron
 M: 1
@@ -10,7 +10,7 @@ to output 4 and the wheel to output 5.
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).

-Aileron mixer (roll + spoiler)
+Aileron mixer (roll + flaperon)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -20,11 +20,11 @@ endpoints to suit.

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000

 Elevator mixer
 ------------
@@ -11,7 +11,7 @@ to output 4, the wheel to output 5 and the flaps to output 6 and 7.
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).

-Aileron mixer (roll + spoiler)
+Aileron mixer (roll + flaperon)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,11 +21,11 @@ endpoints to suit.

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000

 V-tail mixers
 -------------
@@ -9,20 +9,20 @@ output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4, the wheel to output 5 and the flaps to output 6 and 7.

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw), 3 (thrust) 4 (flaps), 5 (spoiler).
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).

-Aileron mixer (roll + spoiler)
+Aileron mixer (roll + flaperon)
 ---------------------------------

 This mixer assumes that the aileron servos are set up mechanically reversed.

 M: 2
 S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000

 M: 2
 S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000

 V-tail mixers
 -------------
@@ -40,6 +40,8 @@ px4_add_romfs_files(
 	babyshark.main.mix
 	blade130.main.mix
 	CCPM.main.mix
+	claire.aux.mix
+	claire.main.mix
 	cloudship.main.mix
 	coax.main.mix
 	delta.main.mix
@@ -81,6 +83,7 @@ px4_add_romfs_files(
 	tri_y_yaw-.main.mix
 	uuv_x.main.mix
 	vectored6dof.main.mix
+	Viper.main.mix
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix
 	vtol_TTTTAAER.aux.mix
@@ -0,0 +1,66 @@
+Viper Delta-wing mixer
+=================================
+# @board px4_fmu-v2 exclude
+
+Designed for Viper.
+
+TODO (sjwilks): Add mixers for flaps.
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+S: 0 0   7500   7500      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+M: 2
+S: 0 0   7500   7500      0 -10000  10000
+S: 0 1  -8000  -8000      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+Inputs to the mixer come from channel group 2 (payload), channels 0
+(bay servo 1), 1 (bay servo 2) and 3 (drop release).
+-----------------------------------------------------
+
+M: 1
+S: 2 0  10000  10000      0 -10000  10000
+
+M: 1
+S: 2 1  10000  10000      0 -10000  10000
+
+M: 1
+S: 2 2  -8000  -8000      0 -10000  10000
+
+
@@ -0,0 +1,28 @@
+# mixer for the CruiseAder Claire tilt mechansim servo and elevons
+
+=======================================================================
+
+
+Tilt mechanism servo mixer
+
+---------------------------
+
+M: 1
+
+
+S: 1 4  10000  10000      0 -10000  10000
+
+
+
+Elevon mixers
+
+-------------
+
+M: 2
+
+S: 1 0   7500   7500      0 -10000  10000
+S: 1 1   7500   7500      0 -10000  10000
+
+M: 2
+S: 1 0    7500    7500    0 -10000  10000
+S: 1 1   -7500   -7500    0 -10000  10000
@@ -0,0 +1,8 @@
+# CruiseAder Claire Main Multirotor mixer for PX4FMU
+# @board px4_fmu-v2 exclude
+
+#
+
+#===========================
+
+R: 4x
@@ -6,7 +6,7 @@
 Tilt mechanism servo mixer
 ---------------------------
 M: 1
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000

 Elevon mixers
 -------------
@@ -5,14 +5,14 @@ Aileron/v-tail/throttle VTOL mixer for PX4FMU

 This file defines mixers suitable for controlling a fixed wing aircraft with
 aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU
+The configuration assumes the aileron servos are connected to PX4FMU 
 AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4.

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).

-Aileron mixer (roll + spoiler)
+Aileron mixer (roll + flaperon)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -22,11 +22,11 @@ endpoints to suit.

 M: 2
 S: 1 0 -10000 -10000      0 -10000  10000
-S: 1 5  10000  10000      0 -10000  10000
+S: 1 6  10000  10000      0 -10000  10000

 M: 2
 S: 1 0 -10000 -10000      0 -10000  10000
-S: 1 5 -10000 -10000      0 -10000  10000
+S: 1 6 -10000 -10000      0 -10000  10000


 V-tail mixers
@@ -6,19 +6,19 @@
 ---------------------------
 # front left up:2000 down:1000
 M: 1
-S: 1 8      0 -20000  10000 -10000  10000
+S: 1 4      0 -20000  10000 -10000  10000

 # front right up:1000 down:2000
 M: 1
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000

 # rear left up:2000 down:1000
 M: 1
-S: 1 8      0 -20000  10000 -10000  10000
+S: 1 4      0 -20000  10000 -10000  10000

 # rear right up:1000 down:2000
 M: 1
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000


 # Aileron mixer
@@ -10,12 +10,12 @@ Tilt mechanism servo mixer
 ---------------------------
 #RIGHT up:2000 down:1000
 M: 2
-S: 1 8      0 -20000  10000 -10000  10000
+S: 1 4      0 -20000  10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000

 #LEFT up:1000 down:2000
 M: 2
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000

 Elevon mixers
@@ -10,7 +10,7 @@ to output 4 and the wheel to output 5.
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).

-Aileron mixer (roll + spoiler)
+Aileron mixer (roll + flaperon)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,12 +21,12 @@ endpoints to suit.
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000

 M: 2
 O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000

 Elevator mixer
 ------------
@@ -9,9 +9,9 @@ output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4, the wheel to output 5 and the flaps to output 6 and 7.

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).

-Aileron mixer (roll + spoiler)
+Aileron mixer (roll + flaperon)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -22,12 +22,12 @@ endpoints to suit.
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000

 M: 2
 O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 5 -10000 -10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000

 V-tail mixers
 -------------
@@ -10,13 +10,13 @@ Tilt mechanism servo mixer
 #RIGHT up:2000 down:1000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 8      0 -20000   9000 -10000  10000
+S: 1 4      0 -20000   9000 -10000  10000
 S: 0 2   4000   4000      0 -10000  10000

 #LEFT up:1000 down:2000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000  -10000 -10000  10000
+S: 1 4      0  20000  -10000 -10000  10000
 S: 0 2   4000   4000      0 -10000  10000

 Elevon mixers
@@ -3,14 +3,14 @@ Aileron/v-tail/throttle VTOL mixer for PX4FMU

 This file defines mixers suitable for controlling a fixed wing aircraft with
 aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU
+The configuration assumes the aileron servos are connected to PX4FMU 
 AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4.

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).

-Aileron mixer (roll + spoiler)
+Aileron mixer (roll + flaperon)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,12 +21,12 @@ endpoints to suit.
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000
-S: 1 5  10000  10000      0 -10000  10000
+S: 1 6  10000  10000      0 -10000  10000

 M: 2
 O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000
-S: 1 5 -10000 -10000      0 -10000  10000
+S: 1 6 -10000 -10000      0 -10000  10000


 V-tail mixers
@@ -10,13 +10,13 @@ Tilt mechanism servo mixer
 #RIGHT up:2000 down:1000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 8      0 -20000  10000 -10000  10000
+S: 1 4      0 -20000  10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000

 #LEFT up:1000 down:2000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 8      0  20000 -10000 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000

 Elevon mixers
@@ -95,7 +95,7 @@ def do_nsh_cmd(port_url, baudrate, cmd):


    timeout_start = time.monotonic()
-    timeout = 600 # 10 minutes
+    timeout = 240 # 4 minutes

    return_code = 0

@@ -13,7 +13,8 @@ exec find boards msg src platforms test \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
-    -path src/drivers/cyphal/libcanard -prune -o \
+    -path src/drivers/uavcan_v1/libcanard -prune -o \
+    -path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/events/libevents -prune -o \
    -path src/lib/parameters/uthash -prune -o \
@@ -5,13 +5,12 @@ set -e
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 cd "$SCRIPT_DIR/jMAVSim"

-port=4560
+tcp_port=4560
 extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-protocol="tcp"
-while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
+while getopts ":b:d:p:qsr:f:i:loat" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -19,14 +18,11 @@ while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
 		d)
 			device="$OPTARG"
 			;;
-		u)
-			protocol="udp"
-			;;
 		i)
 			ip="$OPTARG"
 			;;
 		p)
-			port=$OPTARG
+			tcp_port=$OPTARG
 			;;
 		q)
 			extra_args="$extra_args -qgc"
@@ -57,11 +53,7 @@ while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
 done

 if [ "$device" == "" ]; then
-	if [ "$protocol" == "tcp" ]; then
-		device="-tcp $ip:$port"
-	else
-		device="-udp $port"
-	fi
+	device="-tcp $ip:$tcp_port"
 else
 	device="-serial $device $baudrate"
 fi
@@ -0,0 +1,72 @@
+#!/bin/python3
+
+import parse_cmake.parsing as cmp
+import glob
+import pprint
+import re
+import os
+
+__location__ = os.path.realpath(
+    os.path.join(os.getcwd(), os.path.dirname(__file__)))
+
+serial_regex = r"(\D\D\D\d):(/dev/ttyS\d+)"
+io_regex = r"IO (.*)"
+romfs_regex = r"ROMFSROOT (.*)"
+arch_regex = r"ARCHITECTURE (.*)"
+toolchain_regex = r"TOOLCHAIN (.*)"
+
+
+
+def stripComments(code):
+    code = str(code)
+    return re.sub(r'(?m) *#.*\n?', '', code)
+
+lut = {}
+with open(os.path.join(__location__, "cmake_kconfig_lut.txt"),'r') as lookup:
+    for line in lookup:
+        if ',' in line:
+            key, value = line.strip().split(',')
+            lut[key] = value
+
+#for name in glob.glob('boards/*/*/*.cmake'):
+px4_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '../../'))
+
+for name in glob.glob(px4_dir + '/boards/*/*/*.cmake'):
+    print(name)
+    with open(name, 'r') as f:
+        romfs_set = False
+        w = open(name.replace(".cmake",".px4board"), "w")
+        for line in f:
+            clean_line = stripComments(line.strip())
+            value = lut.get(clean_line)
+            if value is not None:
+                print(value, file=w)
+                print(value)
+            else:
+                matches = re.finditer(serial_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"")
+                    print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"", file=w)
+                matches = re.finditer(io_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"", file=w)
+                matches = re.finditer(romfs_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"", file=w)
+                    romfs_set = True
+                matches = re.finditer(arch_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"", file=w)
+                matches = re.finditer(toolchain_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"", file=w)
+
+    if(romfs_set == False):
+        print("CONFIG_BOARD_ROMFSROOT=\"\"", file=w)
+
+
+    w.close()
@@ -0,0 +1,204 @@
+PLATFORM nuttx,CONFIG_PLATFORM_NUTTX=y
+PLATFORM posix,CONFIG_PLATFORM_POSIX=y
+CONSTRAINED_MEMORY,CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONSTRAINED_FLASH,CONFIG_BOARD_CONSTRAINED_FLASH=y
+NO_HELP,CONFIG_BOARD_NO_HELP=y
+EXTERNAL_METADATA,CONFIG_BOARD_EXTERNAL_METADATA=y
+BUILD_BOOTLOADER,CONFIG_BOARD_BUILD_BOOTLOADER=y
+UAVCAN_INTERFACES 2,CONFIG_BOARD_UAVCAN_INTERFACES=2
+UAVCAN_INTERFACES 1,CONFIG_BOARD_UAVCAN_INTERFACES=1
+UAVCAN_TIMER_OVERRIDE 2,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=1
+UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=0
+TESTING,CONFIG_BOARD_TESTING=y
+ETHERNET,CONFIG_BOARD_ETHERNET=y
+adc/ads1115,CONFIG_DRIVERS_ADC_ADS1115=y
+adc/board_adc,CONFIG_DRIVERS_ADC_BOARD_ADC=y
+barometer,CONFIG_COMMON_BAROMETERS=y
+barometer/bmp280,CONFIG_DRIVERS_BAROMETER_BMP280=y
+barometer/bmp388,CONFIG_DRIVERS_BAROMETER_BMP388=y
+barometer/dps310,CONFIG_DRIVERS_BAROMETER_DPS310=y
+barometer/lps22hb,CONFIG_DRIVERS_BAROMETER_LPS22HB=y
+barometer/lps25h,CONFIG_DRIVERS_BAROMETER_LPS25H=y
+barometer/lps33hw,CONFIG_DRIVERS_BAROMETER_LPS33HW=y
+barometer/mpl3115a2,CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
+barometer/ms5611,CONFIG_DRIVERS_BAROMETER_MS5611=y
+barometer/tcbp001ta,CONFIG_DRIVERS_BAROMETER_TCBP001TA=y
+batt_smbus,CONFIG_DRIVERS_BATT_SMBUS=y
+bootloaders,CONFIG_DRIVERS_BOOTLOADERS=y
+camera_capture,CONFIG_DRIVERS_CAMERA_CAPTURE=y
+camera_trigger,CONFIG_DRIVERS_CAMERA_TRIGGER=y
+differential_pressure,CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
+distance_sensor,CONFIG_COMMON_DISTANCE_SENSOR=y
+distance_sensor/ll40ls,CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
+distance_sensor/lightware_laser_serial,CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
+distance_sensor/broadcom/afbrs50,CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
+distance_sensor/vl53l0x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
+distance_sensor/vl53l1x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
+distance_sensor/srf05,CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
+dshot,CONFIG_DRIVERS_DSHOT=y
+gps,CONFIG_DRIVERS_GPS=y
+heater,CONFIG_DRIVERS_HEATER=y
+imu,CONFIG_COMMON_IMU=y
+imu/adis16477,CONFIG_DRIVERS_IMU_ADIS16477=y
+imu/adis16497,CONFIG_DRIVERS_IMU_ADIS16497=y
+imu/analog_devices/adis16448,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
+imu/analog_devices/adis16470,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
+imu/bosch/bmi055,CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
+imu/bosch/bmi088,CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+imu/fxas21002c,CONFIG_DRIVERS_IMU_FXAS21002C=y
+imu/fxos8701cq,CONFIG_DRIVERS_IMU_FXOS8701CQ=y
+imu/invensense/icm20602,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+imu/invensense/icm20608g,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y
+imu/invensense/icm20649,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
+imu/invensense/icm20689,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
+imu/invensense/icm20948,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+imu/invensense/icm40609d,CONFIG_DRIVERS_IMU_INVENSENSE_ICM40609D=y
+imu/invensense/icm42605,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
+imu/invensense/icm42688p,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+imu/invensense/mpu6000,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+imu/invensense/mpu6500,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
+imu/invensense/mpu9250,CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+imu/l3gd20,CONFIG_DRIVERS_IMU_L3GD20=y
+imu/lsm303d,CONFIG_DRIVERS_IMU_LSM303D=y
+imu/st,CONFIG_DRIVERS_IMU_ST=y
+irlock,CONFIG_DRIVERS_IRLOCK=y
+lights,CONFIG_COMMON_LIGHT=y
+lights/neopixel,CONFIG_DRIVERS_LIGHTS_NEOPIXEL=y
+lights/rgbled,CONFIG_DRIVERS_LIGHTS_RGBLED=y
+lights/rgbled_ncp5623c,CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
+lights/rgbled_pwm,CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
+magnetometer,CONFIG_COMMON_MAGNETOMETER=y
+magnetometer/akm/ak09916,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916=y
+magnetometer/akm/ak8963,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
+magnetometer/bosch/bmm150,CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+magnetometer/hmc5883,CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+magnetometer/isentek/ist8308,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
+magnetometer/isentek/ist8310,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+magnetometer/lis2mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y
+magnetometer/lis3mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+magnetometer/lsm303agr,CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
+magnetometer/lsm9ds1_mag,CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y
+magnetometer/qmc5883l,CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+magnetometer/rm3100,CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
+magnetometer/vtrantech/vcm1193l,CONFIG_DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L=y
+optical_flow,CONFIG_COMMON_OPTICAL_FLOW=y
+optical_flow/paw3902,CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
+optical_flow/paw3901,CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
+optical_flow/px4flow,CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
+optical_flow/thoneflow,CONFIG_DRIVERS_OPTICAL_FLOW_THONEFLOW=y
+osd,CONFIG_DRIVERS_OSD=y
+pca9685,CONFIG_DRIVERS_PCA9685=y
+pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
+pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
+protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
+pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
+pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y
+pwm_out,CONFIG_DRIVERS_PWM_OUT=y
+px4io,CONFIG_DRIVERS_PX4IO=y
+rc_input,CONFIG_DRIVERS_RC_INPUT=y
+roboclaw,CONFIG_DRIVERS_ROBOCLAW=y
+rpi_rc_in,CONFIG_DRIVERS_RPI_RC_IN=y
+rpm,CONFIG_DRIVERS_RPM=y
+safety_button,CONFIG_DRIVERS_SAFETY_BUTTON=y
+smart_battery/batmon,CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+spektrum_rc,CONFIG_DRIVERS_SPEKTRUM_RC=y
+telemetry,CONFIG_DRIVERS_TELEMETRY=y
+test_ppm,CONFIG_DRIVERS_TEST_PPM=y
+tone_alarm,CONFIG_DRIVERS_TONE_ALARM=y
+uavcan,CONFIG_DRIVERS_UAVCAN=y
+uavcannode,CONFIG_DRIVERS_UAVCANNODE=y
+uavcannode_gps_demo,CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=y
+airship_att_control,CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
+airspeed_selector,CONFIG_MODULES_AIRSPEED_SELECTOR=y
+velocity_controller,CONFIG_MODULES_ANGULAR_VELOCITY_CONTROLLER=y
+attitude_estimator_q,CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+battery_status,CONFIG_MODULES_BATTERY_STATUS=y
+camera_feedback,CONFIG_MODULES_CAMERA_FEEDBACK=y
+commander,CONFIG_MODULES_COMMANDER=y
+control_allocator,CONFIG_MODULES_CONTROL_ALLOCATOR=y
+dataman,CONFIG_MODULES_DATAMAN=y
+ekf2,CONFIG_MODULES_EKF2=y
+esc_battery,CONFIG_MODULES_ESC_BATTERY=y
+events,CONFIG_MODULES_EVENTS=y
+flight_mode_manager,CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+fw_att_control,CONFIG_MODULES_FW_ATT_CONTROL=y
+fw_pos_control_l1,CONFIG_MODULES_FW_POS_CONTROL_L1=y
+gyro_calibration,CONFIG_MODULES_GYRO_CALIBRATION=y
+gyro_fft,CONFIG_MODULES_GYRO_FFT=y
+land_detector,CONFIG_MODULES_LAND_DETECTOR=y
+landing_target_estimator,CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+load_mon,CONFIG_MODULES_LOAD_MON=y
+local_position_estimator,CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+logger,CONFIG_MODULES_LOGGER=y
+mavlink,CONFIG_MODULES_MAVLINK=y
+mc_att_control,CONFIG_MODULES_MC_ATT_CONTROL=y
+mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
+mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
+micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
+microdds_client,CONFIG_MODULES_MICRODDS_CLIENT=y
+navigator,CONFIG_MODULES_NAVIGATOR=y
+px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
+rc_update,CONFIG_MODULES_RC_UPDATE=y
+replay,CONFIG_MODULES_REPLAY=y
+rover_pos_control,CONFIG_MODULES_ROVER_POS_CONTROL=y
+sensors,CONFIG_MODULES_SENSORS=y
+sih,CONFIG_MODULES_SIH=y
+simulator,CONFIG_MODULES_SIMULATOR=y
+temperature_compensation,CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+uuv_att_control,CONFIG_MODULES_UUV_ATT_CONTROL=y
+uuv_pos_control,CONFIG_MODULES_UUV_POS_CONTROL=y
+gimbal,CONFIG_MODULES_GIMBAL=y
+vtol_att_control,CONFIG_MODULES_VTOL_ATT_CONTROL=y
+bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
+dmesg,CONFIG_SYSTEMCMDS_DMESG=y
+dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
+dyn,CONFIG_SYSTEMCMDS_DYN=y
+failure,CONFIG_SYSTEMCMDS_FAILURE=y
+gpio,CONFIG_SYSTEMCMDS_GPIO=y
+hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+i2cdetect,CONFIG_SYSTEMCMDS_I2CDETECT=y
+led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
+mft,CONFIG_SYSTEMCMDS_MFT=y
+microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
+mixer,CONFIG_SYSTEMCMDS_MIXER=y
+motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
+mtd,CONFIG_SYSTEMCMDS_MTD=y
+netman,CONFIG_SYSTEMCMDS_NETMAN=y
+nshterm,CONFIG_SYSTEMCMDS_NSHTERM=y
+param,CONFIG_SYSTEMCMDS_PARAM=y
+perf,CONFIG_SYSTEMCMDS_PERF=y
+pwm,CONFIG_SYSTEMCMDS_PWM=y
+reboot,CONFIG_SYSTEMCMDS_REBOOT=y
+reflect,CONFIG_SYSTEMCMDS_REFLECT=y
+sd_bench,CONFIG_SYSTEMCMDS_SD_BENCH=y
+serial_tet,CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+shutdown,CONFIG_SYSTEMCMDS_SHUTDOWN=y
+system_time,CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+tests,CONFIG_SYSTEMCMDS_TESTS=y
+top,CONFIG_SYSTEMCMDS_TOP=y
+topic_listener,CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+tune_control,CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+uorb,CONFIG_SYSTEMCMDS_UORB=y
+usb_connected,CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+ver,CONFIG_SYSTEMCMDS_VER=y
+work_queue,CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+dyn_hello,CONFIG_EXAMPLES_DYN_HELLO=y
+fake_gps,CONFIG_EXAMPLES_FAKE_GPS=y
+fake_gyro,CONFIG_EXAMPLES_FAKE_GYRO=y
+fake_imu,CONFIG_EXAMPLES_FAKE_IMU=y
+fake_magnetometer,CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
+fixedwing_control,CONFIG_EXAMPLES_FIXEDWING_CONTROL=y
+hello,CONFIG_EXAMPLES_HELLO=y
+hwtest,CONFIG_EXAMPLES_HWTEST=y
+matlab_csv_serial,CONFIG_EXAMPLES_MATLAB_CSV_SERIAL=y
+px4_mavlink_debug,CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
+px4_simple_app,CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+rover_steering_control,CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
+uuv_example_app,CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
+work_item,CONFIG_EXAMPLES_WORK_ITEM=y
+add_compile_options(-Wno-narrowing),CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
+-D__PX4_LINUX,CONFIG_BOARD_LINUX=y
@@ -16,7 +16,7 @@ class ModuleDocumentation(object):
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
+                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor']

    max_line_length = 80 # wrap lines that are longer than this

@@ -200,12 +200,13 @@ if [[ $INSTALL_SIM == "true" ]]; then

 	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 		java_version=11
+		gazebo_version=9
 	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 		java_version=13
-	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		java_version=11
+		gazebo_version=11
 	else
 		java_version=14
+		gazebo_version=11
 	fi
 	# Java (jmavsim or fastrtps)
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -219,30 +220,20 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")

 	# Gazebo
-	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		gazebo_version=9
-		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
-	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		gazebo_packages="gazebo libgazebo-dev"
-	else
-		# default and Ubuntu 20.04
-		gazebo_version=11
-		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
-	fi
-
 	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 	# Update list, since new gazebo-stable.list has been added
 	sudo apt-get update -y --quiet
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		dmidecode \
-		$gazebo_packages \
+		gazebo$gazebo_version \
 		gstreamer1.0-plugins-bad \
 		gstreamer1.0-plugins-base \
 		gstreamer1.0-plugins-good \
 		gstreamer1.0-plugins-ugly \
 		gstreamer1.0-libav \
 		libeigen3-dev \
+		libgazebo$gazebo_version-dev \
 		libgstreamer-plugins-base1.0-dev \
 		libimage-exiftool-perl \
 		libopencv-dev \
@@ -74,9 +74,6 @@ if [ "$model" == "" ] || [ "$model" == "none" ]; then
 	if [ "$program" == "jsbsim" ]; then
 		echo "empty model, setting rascal as default for jsbsim"
 		model="rascal"
-	elif [ "$program" == "sihsim" ]; then
-		echo "empty model, setting quadx as default for sihsim"
-		model="quadx"
 	else
 		echo "empty model, setting iris as default"
 		model="iris"
@@ -217,12 +214,6 @@ elif [ "$program" == "jsbsim" ] && [ -z "$no_sim" ]; then
 	fi
 	"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml" 2> /dev/null &
 	JSBSIM_PID=$!
-elif [ "$program" == "sihsim" ] && [ ! -n "$no_sim" ]; then
-	export SIM_MODE="sihsim"
-	if [ "$model" != "airplane" ] && [ "$model" != "quadx" ] && [ "$model" != "xvert" ]; then
-		echo "Model ${model} not compatible with with sih. sih supports [quadx,airplane,xvert]."
-		exit 1
-	fi
 fi

 pushd "$rootfs" >/dev/null
@@ -2,7 +2,6 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
@@ -11,16 +10,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
-# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -3,8 +3,6 @@
 # board sensors init
 #------------------------------------------------------------------------------

-param set-default IMU_GYRO_RATEMAX 1000
-
 # Internal SPI
 paw3902 -s start -Y 180

@@ -4,6 +4,7 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -13,18 +14,5 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------

 param set-default CBRK_IO_SAFETY 0
-param set-default MBE_ENABLE 1

 safety_button start
 tone_alarm start
@@ -4,6 +4,7 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -13,18 +14,5 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -5,7 +5,6 @@

 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_GPS_RTCM 1
-param set-default MBE_ENABLE 1

 safety_button start
 tone_alarm start
@@ -30,7 +30,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MFT=y
@@ -141,7 +141,6 @@
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
 #define PWM_MOTOR_OFF	0
-#define PWM_SERVO_STOP	0
 #define PWM_DEFAULT_MIN 20
 #define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
@@ -30,7 +30,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
@@ -142,7 +142,6 @@
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
 #define PWM_MOTOR_OFF	0
-#define PWM_SERVO_STOP	0
 #define PWM_DEFAULT_MIN 20
 #define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
@@ -1,8 +1,6 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-DUSE_S_RGB_LED_DMA"
 CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -14,16 +12,5 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -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_ADC /* Brick 1 is Chosen */
-#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_CAN /* Brick 2 is Chosen  */
+#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_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)
@@ -106,4 +106,3 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
-#CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
@@ -60,7 +60,6 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
@@ -1,245 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/x7pro/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743XI=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x004c
-CONFIG_CDCACM_PRODUCTSTR="PX4 CUAV X7Pro"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3163
-CONFIG_CDCACM_VENDORSTR="CUAV"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_EXAMPLES_CALIB_UDELAY=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32H7_ADC1=y
-CONFIG_STM32H7_ADC3=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BDMA=y
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C2=y
-CONFIG_STM32H7_I2C3=y
-CONFIG_STM32H7_I2C4=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_HSECLOCK=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SDMMC1=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI4=y
-CONFIG_STM32H7_SPI4_DMA=y
-CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI5=y
-CONFIG_STM32H7_SPI6=y
-CONFIG_STM32H7_SPI6_DMA=y
-CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_TIM12=y
-CONFIG_STM32H7_TIM15=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_TIM5=y
-CONFIG_STM32H7_TIM8=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_USART1=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART6=y
-CONFIG_STM32H7_USART_BREAKS=y
-CONFIG_STM32H7_USART_INVERT=y
-CONFIG_STM32H7_USART_SINGLEWIRE=y
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TESTING_OSTEST=y
-CONFIG_TESTING_OSTEST_FPUTESTDISABLE=y
-CONFIG_TESTING_OSTEST_STACKSIZE=10240
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGTSTP=y
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_IFLOWCONTROL=y
-CONFIG_USART6_OFLOWCONTROL=y
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_WATCHDOG=y
@@ -4,7 +4,6 @@ CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_RPM=n
-CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
@@ -7,7 +7,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -24,13 +24,14 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
+CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
-#CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -41,7 +42,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -50,7 +50,6 @@ 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
@@ -66,15 +65,17 @@ 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_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -92,6 +93,7 @@ CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -100,4 +102,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
+CONFIG_EXAMPLES_FAKE_GPS=y
@@ -60,7 +60,6 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
@@ -197,9 +196,6 @@ CONFIG_STM32H7_USART_SWAP=y
 CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
-CONFIG_TESTING_OSTEST=y
-CONFIG_TESTING_OSTEST_FPUTESTDISABLE=y
-CONFIG_TESTING_OSTEST_STACKSIZE=10240
 CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGTSTP=y
 CONFIG_UART4_BAUD=57600
@@ -4,7 +4,7 @@ CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_RPM=n
-CONFIG_DRIVERS_UAVCAN=n
+CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
@@ -12,4 +12,3 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -4,7 +4,7 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_EXTERNAL_METADATA=y
-CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
@@ -23,10 +23,10 @@ CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EKF2=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
@@ -175,8 +175,8 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=600
+CONFIG_UART4_RXBUFSIZE=300
+CONFIG_UART4_TXBUFSIZE=900
 CONFIG_USART1_RXBUFSIZE=300
 CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=300
@@ -1,22 +1,16 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_ST=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y
@@ -25,7 +19,5 @@ CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -2,7 +2,6 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
@@ -13,18 +12,6 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	6823cbc414	sensors/vehicle_angular_velocity: add IMU_GYRO_RATEMAX constraints	2022-06-07 16:23:01 -04:00
Daniel Agar	beaebe4d0b	sensors/vehicle_imu: don't bother checking IMU_GYRO_RATEMAX	2022-06-07 16:22:54 -04:00
Daniel Agar	0bddca6b9b	boards: NuttX update all boards to preallocated sem holder list - CONFIG_SEM_PREALLOCHOLDERS=32 - CONFIG_SEM_NNESTPRIO=16 (default)	2022-05-29 13:49:01 -04:00
Daniel Agar	c50c1e3982	update NuttX and apps to latest with sem holder fixes and updated ostest	2022-05-29 13:48:15 -04:00
Daniel Agar	a249b77647	boards: reduce SPI DMA buffers on older STM32F4 boards - on common IMUs like the mpu6000, mpu9250, icm20602, etc each FIFO sample is only 12 bytes so this is still more than large enough for the worst case transfer	2022-05-27 16:28:26 -04:00
Daniel Agar	17de164e95	boards: pixhawk 2 cube skip starting low quality l3gd20 gyro to save memory and cpu - free memory is getting tight on these older boards (depending on configuratoin) and the pixhawk 2 cube still has 2 other superior IMUs, so this is just dropping dead weight	2022-05-27 16:28:22 -04:00
David Sidrane	a057b38c40	Update all H7 Bootloders	2022-05-27 14:52:00 -04:00
David Sidrane	39e53711d5	flash_cache:Flush complete cache line	2022-05-27 14:44:54 -04:00
David Sidrane	1294851bb6	boards: STM32H7 pad to 256 bit - 32 bytes (#19724 )	2022-05-27 14:44:51 -04:00
David Sidrane	1c15a1a7f4	px4_fmu-v6c:Fix mag rotation	2022-05-27 14:43:47 -04:00
David Sidrane	21567ca187	boards: new px4_fmu-v6c board support (#19544 )	2022-05-27 14:42:55 -04:00
bresch	8e789bcc7f	ekf2_post-processing: use estimator_status_flags instead of bitmasks	2022-05-24 10:30:52 -04:00
Julian Oes	d699d5f27e	sitl_gazebo: update submodule This fixes the issue where HITL doesn't connect over USB.	2022-05-24 09:43:05 -04:00
Julian Oes	4ae97c505f	commander: lockdown is not termination We use lockdown to prevent outputs like motors and servos from being active in HITL simulation. This means that we can't treat the lockdown flag as a flight_terminated, otherwise we can't arm in HITL at all.	2022-05-24 09:42:38 -04:00
Daniel Agar	b8ce2a6039	icm42688p: only check configured registers periodically (as intended)	2022-05-23 14:58:37 -04:00
bresch	1f399e5b33	ekf2: use explicit flags instead of bitmask position This prevents bitmask mismatch when a new flag is inserted	2022-05-23 14:57:17 -04:00
Serhat Aksun	d67cddae7d	sensors/vehicle_magnetometer: fix multi_mode check Signed-off-by: Serhat Aksun <serhat.aksun@maxwell-innovations.com>	2022-05-23 10:10:22 -04:00
Julian Oes	0290282b17	ROMFS: disable UAVCAN in HITL Without this, uavcan creates MixingOutput classes which then create empty actuator_outputs publications. This then prevents the motor output in HITL to be forwarded to the simulator via mavlink.	2022-05-22 10:27:07 -04:00
Nicolas MARTIN	39d1c79f48	HITL: undefined time_remaining_s should be NAN	2022-05-20 09:40:28 -04:00
Nico van Duijn	ad410a2512	Commander: ignore MAV_CMD_REQUEST_MSG This commit adds the MAV_CMD_REQUEST_MESSAGE to the list of vehicle commands which are ignored without generating a warning sound.	2022-05-20 09:40:22 -04:00
Daniel Agar	453acdce31	.vscode/.gitignore ignore all log files	2022-05-20 09:40:07 -04:00
Beat Küng	afb2538da3	output drivers: init SmartLock after exit_and_cleanup This fixes an invalid memory access when exiting the module: exit_and_cleanup destroys the object, but lock_guard is destructed after and accesses the lock.	2022-05-12 08:17:15 -04:00
alexklimaj	af58c412c3	Fix uavcan battery causing immediate RTL time remaining low	2022-05-11 21:49:13 -04:00
Daniel Agar	d5226b28ce	drivers/rc_input: ensure RC inversion is disabled initially and latch RC_INPUT_PROTO conservatively - this allows jumping straight to a non-SBUS RC protocol - increased the scan time per protocol 300->500 ms, which the newer DSM parser seems to need in some cases. - only set RC_INPUT_PROTO if we've had a successful RC lock for > 3 seconds	2022-05-11 14:31:51 -04:00
Beat Küng	b091ea9fd9	log_writer_file: fix corner case when mission log is enabled Normally _should_run for mission is only ever true if _should_run for the normal log is. There are exceptions though: - the log buffer fails to allocate - there was a write failure (e.g. due to SD card removal) In that situation, the writer would not wait anymore but busy-loop.	2022-05-11 10:07:46 -04:00
Beat Küng	9e91ca8294	log_writer_file: protect access to _should_run, use px4::atomicbool for _exit_thread	2022-05-11 10:07:46 -04:00
Igor Mišić	8302f076e7	uavcan: use timer 6 by default on stm32f7	2022-05-10 12:43:26 -04:00
Thomas Stastny	de26ffa6e0	fw pos ctrl: turn back to takeoff point with npfg	2022-05-06 13:08:07 -04:00
Thomas Stastny	f60d38db65	fw pos ctrl: add missing guidance control interval setting to control_manual_position()	2022-05-06 13:08:07 -04:00
Thomas Stastny	5e3c8d2fa0	fw pos ctrl: fix state switching logic for takeoff and landing	2022-05-06 13:08:07 -04:00
Matthias Grob	90998837ec	Commander: ensure diconnected battery is cleared from bit field	2022-05-06 10:46:40 -04:00
Beat Küng	8cff9a1e04	commander: fix incorrect return in set_link_loss_nav_state() If both local position and altitude were not valid, then both RC loss and datalink loss would not trigger any failsafe at all, independently from the configured action.	2022-05-06 10:15:30 -04:00
bresch	f8ff34f82d	ekf2: optimize KHP computation Calculating K(HP) takes less operations than (KH)P because K and H are vectors. Without considering the sparsity optimization: - KH (2424 operations) is then a 24x24 matrix an it takes 24^3 operations to multiply it with P. Total: 14400 op - HP (24(24+24-1) operations) is a row vector and it takes 24 operations to left-multiply it by K. Total:1152 op	2022-05-06 10:15:26 -04:00
Beat Küng	e69d9ec48f	dshot: avoid using pwm failsafe params when dynamic mixing is enabled	2022-05-02 11:43:51 +02:00
Beat Küng	f033e164fe	fix dshot: remove setAllFailsafeValues Fixes a regression from `c1e5e666f0`, where with static mixers the dshot outputs would go to max instead of 0 in a failsafe case.	2022-04-28 13:29:40 -04:00
Daniel Agar	41191765ad	drivers/rc_input: RC_INPUT_PROTO parameter minimal implementation (#19539 ) Co-authored-by: chris1seto <chris12892@gmail.com> Co-authored-by: chris1seto <chris12892@gmail.com>	2022-04-28 13:27:15 -04:00