fix: add whitelist on dds em

Co-Authored-By: PX4 BuildBot <bot@px4.io>

.clang-tidy

@@ -147,16 +147,11 @@ Checks:          '*,
                   -readability-avoid-nested-conditional-operator,
                   -cppcoreguidelines-prefer-member-initializer,
                   -cppcoreguidelines-explicit-virtual-functions,
-                  -cppcoreguidelines-virtual-class-destructor,
                   -readability-convert-member-functions-to-static,
                   -readability-make-member-function-const,
-                  -bugprone-assignment-in-if-condition,
                   -bugprone-implicit-widening-of-multiplication-result,
-                  -bugprone-incorrect-roundings,
-                  -bugprone-macro-parentheses,
                   -bugprone-multi-level-implicit-pointer-conversion,
                   -bugprone-signed-char-misuse,
-                  -bugprone-too-small-loop-variable,
                   -cppcoreguidelines-avoid-non-const-global-variables,
                   -cppcoreguidelines-use-default-member-init,
                   -hicpp-multiway-paths-covered,
@@ -167,13 +162,10 @@ Checks:          '*,
                   -readability-avoid-return-with-void-value,
                   -readability-avoid-unconditional-preprocessor-if,
                   -readability-delete-null-pointer,
-                  -readability-duplicate-include,
                   -readability-redundant-casting,
                   -readability-redundant-member-init,
                   -readability-reference-to-constructed-temporary,
                   -readability-simplify-boolean-expr,
-                  -bugprone-unsafe-functions,
-                  -cert-msc24-c,
                   -cert-msc32-c,
                   -cert-msc33-c,
                   -cert-msc51-cpp,

.github/instructions/docs.en.instructions.md

@@ -21,8 +21,10 @@ applyTo: "docs/en/**"
   - Do not apply bold or italic styling inside a heading.
 - **Formatting:** 
   - **Bold:** Only for UI elements (buttons, menu items).
-  - **Italics (Emphasis):** For tool names (e.g., *QGroundControl*).
   - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
+    Backticks are optional for hyperlinked CLI commands and tool names.
+  - **Italics (Emphasis):** Use for application names (e.g., *QGroundControl*).
+    Emphasis is optional for hyperlinked applications.
 - **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
 
 ## Linking & Navigation

.github/workflows/commit_checks.yml

@@ -0,0 +1,148 @@
+name: Commit Quality
+
+on:
+  pull_request:
+    types: [opened, edited, synchronize, reopened]
+
+permissions:
+  contents: read
+  pull-requests: write
+  issues: write
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+env:
+  PR_NUMBER: ${{ github.event.pull_request.number }}
+  IS_FORK: ${{ github.event.pull_request.head.repo.full_name != github.repository }}
+
+jobs:
+  pr-title:
+    name: PR Title
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: Tools/ci
+          fetch-depth: 1
+
+      - name: Check PR title
+        id: check
+        run: |
+          python3 Tools/ci/check_pr_title.py "${{ github.event.pull_request.title }}" --markdown-file comment.md && rc=0 || rc=$?
+          echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
+
+      - name: Post or clear comment
+        if: env.IS_FORK == 'false'
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
+            python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result fail < comment.md
+          else
+            python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result pass
+          fi
+
+      - name: Result
+        if: steps.check.outputs.exit_code != '0'
+        run: |
+          echo "::error::PR title does not follow conventional commits format. See the PR comment for details."
+          exit 1
+
+  commit-messages:
+    name: Commit Messages
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: Tools/ci
+          fetch-depth: 1
+
+      - name: Check commit messages
+        id: check
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          gh api \
+            "repos/${{ github.repository }}/pulls/${PR_NUMBER}/commits?per_page=100" \
+            | python3 Tools/ci/check_commit_messages.py --markdown-file comment.md && rc=0 || rc=$?
+          echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
+          # Check for warnings (non-empty markdown on exit 0)
+          if [ "$rc" -eq 0 ] && [ -s comment.md ]; then
+            echo "has_warnings=true" >> "$GITHUB_OUTPUT"
+          else
+            echo "has_warnings=false" >> "$GITHUB_OUTPUT"
+          fi
+
+      - name: Post or clear comment
+        if: env.IS_FORK == 'false'
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
+            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result fail < comment.md
+          elif [ "${{ steps.check.outputs.has_warnings }}" == "true" ]; then
+            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result warn < comment.md
+          else
+            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result pass
+          fi
+
+      - name: Result
+        if: steps.check.outputs.exit_code != '0'
+        run: |
+          echo "::error::Commit message errors found. See the PR comment for details."
+          exit 1
+
+  pr-body:
+    name: PR Description
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        if: env.IS_FORK == 'false'
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: Tools/ci
+          fetch-depth: 1
+
+      - name: Check PR body
+        id: check
+        env:
+          PR_BODY: ${{ github.event.pull_request.body }}
+        run: |
+          message=""
+          if [ -z "$PR_BODY" ]; then
+            message="PR description is empty. Please add a summary of the changes."
+            echo "::warning::PR description is empty."
+          else
+            cleaned=$(echo "$PR_BODY" | sed 's/<!--.*-->//g' | tr -d '[:space:]')
+            if [ -z "$cleaned" ]; then
+              message="PR description contains only template comments. Please fill in the details."
+              echo "::warning::PR description contains only template comments."
+            fi
+          fi
+          echo "message=$message" >> "$GITHUB_OUTPUT"
+
+      - name: Post or clear comment
+        if: env.IS_FORK == 'false'
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          if [ -n "${{ steps.check.outputs.message }}" ]; then
+            printf '%s\n' \
+              "## PR Description (advisory)" \
+              "" \
+              "This is **not blocking**, but your PR description appears to be empty or incomplete." \
+              "" \
+              "${{ steps.check.outputs.message }}" \
+              "" \
+              "A good PR description helps reviewers understand what changed and why." \
+              "" \
+              "---" \
+              "*This comment will be automatically removed once the issue is resolved.*" \
+            | python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result warn
+          else
+            python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result pass
+          fi

.github/workflows/docs_crowdin_download.yml

@@ -34,13 +34,13 @@ jobs:
           upload_sources: false
           upload_translations: false
           download_translations: true
-          commit_message: New Crowdin translations - ${{ matrix.lc }}
+          commit_message: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
           localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
           crowdin_branch_name: main
           create_pull_request: true
           pull_request_base_branch_name: 'main'
-          pull_request_title: New PX4 guide translations (Crowdin) - ${{ matrix.lc }}
-          pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
+          pull_request_title: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
+          pull_request_body: 'docs(i18n): PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
           pull_request_labels: 'Documentation 📑'
           pull_request_reviewers: hamishwillee
           download_language: ${{ matrix.lc }}

.gitmodules

@@ -109,3 +109,9 @@
 [submodule "src/lib/rl_tools/rl_tools"]
 	path = src/lib/rl_tools/rl_tools
 	url = https://github.com/rl-tools/rl-tools.git
+[submodule "libmodal-json"]
+	path = boards/modalai/voxl2/src/lib/mpa/libmodal-json
+	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-json.git
+[submodule "libmodal-pipe"]
+	path = boards/modalai/voxl2/src/lib/mpa/libmodal-pipe
+	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe.git

.vscode/cmake-variants.yaml

@@ -336,6 +336,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: cuav_x25-evo_default
+    cuav_x25-super_default:
+      short: cuav_x25-super
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_x25-super_default
     cubepilot_cubeorange_test:
       short: cubepilot_cubeorange
       buildType: MinSizeRel

CONTRIBUTING.md

@@ -1,44 +1,170 @@
-# Contributing to PX4 Firmware
+# Contributing to PX4-Autopilot
 
-We follow the [Github flow](https://guides.github.com/introduction/flow/) development model.
+We follow the [GitHub flow](https://guides.github.com/introduction/flow/) development model.
 
-### Fork the project, then clone your repo
+## Fork the project, then clone your repo
 
-First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.
+First [fork and clone](https://help.github.com/articles/fork-a-repo) the project.
 
-### Create a feature branch
+## Create a feature branch
 
-*Always* branch off main for new features.
+Always branch off `main` for new features.
 
 ```
 git checkout -b mydescriptivebranchname
 ```
 
-### Edit and build the code
+## Edit and build the code
 
-The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
+The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows.
 
-### Commit your changes
+### Coding standards
 
-Always write descriptive commit messages and add a fixes or relates note to them with an [issue number](https://github.com/px4/Firmware/issues) (Github will link these then conveniently)
+All C/C++ code must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html). Formatting is enforced by [astyle](http://astyle.sourceforge.net/) in CI (`make check_format`). Code quality checks run via [clang-tidy](https://clang.llvm.org/extra/clang-tidy/). Pull requests that fail either check will not be merged.
 
-**Example:**
+Python code is checked with [mypy](https://mypy-lang.org/) and [flake8](https://flake8.pycqa.org/).
+
+## Commit message convention
+
+PX4 uses [conventional commits](https://www.conventionalcommits.org/) for all commit messages and PR titles.
+
+### Format
 
 ```
-Change how the attitude controller works
-
-- Fixes rate feed forward
-- Allows a local body rate override
-
-Fixes issue #123
+type(scope): short description of the change
 ```
 
-### Test your changes
+| Part | Rule |
+|------|------|
+| **type** | Category of change (see types table below) |
+| **scope** | The module, driver, board, or area of PX4 affected |
+| **`!`** (optional) | Append before `:` to mark a breaking change |
+| **description** | What the change does, at least 5 characters, written in imperative form |
 
-Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the logfile from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
+### Types
 
-### Push your changes
+| Type | Description |
+|------|-------------|
+| `feat` | A new feature |
+| `fix` | A bug fix |
+| `docs` | Documentation only changes |
+| `style` | Formatting, whitespace, no code change |
+| `refactor` | Code change that neither fixes a bug nor adds a feature |
+| `perf` | Performance improvement |
+| `test` | Adding or correcting tests |
+| `build` | Build system or external dependencies |
+| `ci` | CI configuration files and scripts |
+| `chore` | Other changes that don't modify src or test files |
+| `revert` | Reverts a previous commit |
 
-Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
+### Scopes
+
+The scope identifies which part of PX4 is affected. Common scopes:
+
+| Scope | Area |
+|-------|------|
+| `ekf2` | Extended Kalman Filter (state estimation) |
+| `mavlink` | MAVLink messaging protocol |
+| `commander` | Commander and mode management |
+| `navigator` | Mission, RTL, Land, and other navigation modes |
+| `sensors` | Sensor drivers and processing |
+| `drivers` | Hardware drivers |
+| `boards/px4_fmu-v6x` | Board-specific changes (use the board name) |
+| `mc_att_control` | Multicopter attitude control |
+| `mc_pos_control` | Multicopter position control |
+| `fw_att_control` | Fixed-wing attitude control |
+| `vtol` | VTOL-specific logic |
+| `actuators` | Mixer and actuator output |
+| `battery` | Battery monitoring and estimation |
+| `logger` | On-board logging |
+| `param` | Parameter system |
+| `simulation` | SITL, Gazebo, SIH |
+| `ci` | Continuous integration and workflows |
+| `docs` | Documentation |
+| `build` | CMake, toolchain, build system |
+| `uorb` | Inter-module messaging |
+
+For changes spanning multiple subsystems, use the primary one affected. Look at the directory path of the files you changed to find the right scope: `src/modules/ekf2/` uses `ekf2`, `src/drivers/imu/` uses `drivers/imu`, `.github/workflows/` uses `ci`.
+
+### Breaking changes
+
+Append `!` before the colon to indicate a breaking change:
+
+```
+feat(ekf2)!: remove deprecated height fusion API
+```
+
+### Good commit messages
+
+```
+feat(ekf2): add height fusion timeout
+fix(mavlink): correct BATTERY_STATUS_V2 parsing
+refactor(navigator): simplify RTL altitude logic
+ci(workflows): migrate to reusable workflows
+docs(ekf2): update tuning guide
+feat(boards/px4_fmu-v6x)!: remove deprecated driver API
+perf(mc_rate_control): reduce loop latency
+```
+
+### Commits to avoid
+
+These will be flagged by CI and should be squashed or reworded before merging:
+
+```
+fix                                    # too vague, no type or scope
+update                                 # too vague, no type or scope
+ekf2: fix something                   # missing type prefix
+apply suggestions from code review     # squash into parent commit
+do make format                         # squash into parent commit
+WIP: trying something                  # not ready for main
+oops                                   # not descriptive
+```
+
+### PR titles
+
+The PR title follows the same `type(scope): description` format. This is enforced by CI and is especially important because the PR title becomes the commit message when a PR is squash-merged.
+
+### Merge policy
+
+Commits should be atomic and independently revertable. Squash at reviewer discretion for obvious cases (multiple WIP commits, messy review-response history). When your commits are clean and logical, they will be preserved as individual commits on `main`.
+
+### Cleaning up commits
+
+If CI flags your commit messages, you can fix them with an interactive rebase:
+
+```bash
+# Squash all commits into one:
+git rebase -i HEAD~N   # replace N with the number of commits
+# mark all commits except the first as 'squash' or 'fixup'
+# reword the remaining commit to follow the format
+git push --force-with-lease
+
+# Or reword specific commits:
+git rebase -i HEAD~N
+# mark the bad commits as 'reword'
+git push --force-with-lease
+```
+
+## Test your changes
+
+PX4 is safety-critical software. All contributions must include adequate testing where practical:
+
+- **New features** must include unit tests and/or integration tests that exercise the new functionality, where practical. Hardware-dependent changes that cannot be tested in SITL should include bench test or flight test evidence.
+- **Bug fixes** must include a regression test where practical. When automated testing is not feasible (hardware-specific issues, race conditions, etc.), provide a link to a flight log demonstrating the fix and the reproduction steps for the original bug.
+- **Reviewers** will verify that tests or test evidence exist before approving a pull request.
+
+### Types of tests
+
+| Test type | When to use | How to run |
+|-----------|-------------|------------|
+| **Unit tests** (gtest) | Module-level logic, math, parsing | `make tests` |
+| **SITL integration tests** (MAVSDK) | Flight behavior, failsafes, missions | `test/mavsdk_tests/` |
+| **Bench tests / flight logs** | Hardware-dependent changes | Upload logs to [Flight Review](https://logs.px4.io) |
+
+Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the log file from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
+
+## Push your changes
+
+Push changes to your repo and send a [pull request](https://github.com/PX4/PX4-Autopilot/compare/).
 
 Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.

Makefile

@@ -332,6 +332,7 @@ bootloaders_update: \
 	cuav_7-nano_bootloader \
 	cuav_fmu-v6x_bootloader \
 	cuav_x25-evo_bootloader \
+	cuav_x25-super_bootloader \
 	cubepilot_cubeorange_bootloader \
 	cubepilot_cubeorangeplus_bootloader \
 	hkust_nxt-dual_bootloader \

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -44,8 +44,6 @@ param set-default FW_T_SINK_MIN 3
 
 param set-default FW_W_EN 1
 
-param set-default FD_ESCS_EN 0
-
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -104,4 +104,3 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_PITCH_MIN -5
 param set-default VT_F_TRANS_THR 1
 param set-default VT_TYPE 2
-param set-default FD_ESCS_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/60002_gz_uuv_bluerov2_heavy

@@ -26,7 +26,6 @@ param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
 
 # Set proper failsafes
 param set-default COM_ACT_FAIL_ACT 0
@@ -42,23 +41,21 @@ param set-default FD_FAIL_R 0
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
 
-param set-default CA_ROTOR0_AX -1
-param set-default CA_ROTOR0_AY 1
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY -1
 param set-default CA_ROTOR0_AZ 0
 param set-default CA_ROTOR0_KM 0
 param set-default CA_ROTOR0_PX 0.14
 param set-default CA_ROTOR0_PY 0.10
 param set-default CA_ROTOR0_PZ 0.06
-#param set-default CA_ROTOR0_PZ 0.0
 
-param set-default CA_ROTOR1_AX -1
-param set-default CA_ROTOR1_AY -1
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 1
 param set-default CA_ROTOR1_AZ 0
 param set-default CA_ROTOR1_KM 0
 param set-default CA_ROTOR1_PX 0.14
 param set-default CA_ROTOR1_PY -0.10
 param set-default CA_ROTOR1_PZ 0.06
-#param set-default CA_ROTOR1_PZ 0.0
 
 param set-default CA_ROTOR2_AX 1
 param set-default CA_ROTOR2_AY 1
@@ -67,7 +64,6 @@ param set-default CA_ROTOR2_KM 0
 param set-default CA_ROTOR2_PX -0.14
 param set-default CA_ROTOR2_PY 0.10
 param set-default CA_ROTOR2_PZ 0.06
-#param set-default CA_ROTOR2_PZ 0.0
 
 param set-default CA_ROTOR3_AX 1
 param set-default CA_ROTOR3_AY -1
@@ -79,7 +75,7 @@ param set-default CA_ROTOR3_PZ 0.06
 
 param set-default CA_ROTOR4_AX 0
 param set-default CA_ROTOR4_AY 0
-param set-default CA_ROTOR4_AZ 1
+param set-default CA_ROTOR4_AZ -1
 param set-default CA_ROTOR4_KM 0
 param set-default CA_ROTOR4_PX 0.12
 param set-default CA_ROTOR4_PY 0.22
@@ -103,7 +99,7 @@ param set-default CA_ROTOR6_PZ 0
 
 param set-default CA_ROTOR7_AX 0
 param set-default CA_ROTOR7_AY 0
-param set-default CA_ROTOR7_AZ 1
+param set-default CA_ROTOR7_AZ -1
 param set-default CA_ROTOR7_KM 0
 param set-default CA_ROTOR7_PX -0.12
 param set-default CA_ROTOR7_PY -0.22

ROMFS/px4fmu_common/init.d-posix/airframes/70000_gz_atmos

@@ -28,7 +28,6 @@ param set-default SIM_GZ_EN 1
 
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0
 
 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45

ROMFS/px4fmu_common/init.d-posix/airframes/70001_gz_atmos_dual

@@ -28,7 +28,6 @@ param set-default SIM_GZ_EN 1
 
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0
 
 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45

ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250

@@ -2,7 +2,7 @@
 #
 # @name HolyBro QAV250
 #
-# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
+# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini
 #
 # @type Quadrotor x
 # @class Copter

ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover

@@ -2,7 +2,7 @@
 #
 # @name Aion Robotics R1 UGV
 #
-# @url https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1.html
+# @url https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1
 #
 # @type Rover
 # @class Rover

SECURITY.md

@@ -2,24 +2,40 @@
 
 ## Supported Versions
 
-The following is a list of versions the development team is currently supporting.
+The following versions receive security updates:
 
 | Version | Supported          |
 | ------- | ------------------ |
-| 1.4.x   | :white_check_mark: |
-| 1.3.3   | :white_check_mark: |
-| < 1.3   | :x:                |
+| 1.16.x  | :white_check_mark: |
+| < 1.16  | :x:                |
 
 ## Reporting a Vulnerability
 
-We currently only receive security vulnerability reports through GitHub.
+We receive security vulnerability reports through GitHub Security Advisories.
 
-To begin a report, please go to the top-level repository, for example, PX4/PX4-Autopilot,
-and click on the Security tab. If you are on mobile, click the ... dropdown menu, and then click Security.
+To begin a report, go to the [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository
+and click on the **Security** tab. If you are on mobile, click the **...** dropdown menu, then click **Security**.
 
-Click Report a Vulnerability to open the advisory form. Fill in the advisory details form.
-Make sure your title is descriptive, and the development team can find all of the relevant details needed
-to verify on the description box. We recommend you add as much data as possible. We welcome logs,
-screenshots, photos, and videos, anything that can help us verify and identify the issues being reported.
+Click **Report a Vulnerability** to open the advisory form. Fill in the advisory details form.
+Make sure your title is descriptive and the description contains all relevant details needed
+to verify the issue. We welcome logs, screenshots, photos, and videos.
 
-At the bottom of the form, click Submit report. The maintainer team will be notified and will get back to you ASAP.
+At the bottom of the form, click **Submit report**.
+
+## Response Process
+
+1. **Acknowledgment**: The maintainer team will acknowledge your report within **7 days**.
+2. **Triage**: We will assess severity and impact and communicate next steps.
+3. **Disclosure**: We coordinate disclosure with the reporter. We follow responsible disclosure practices and will credit reporters in the advisory unless they request anonymity.
+
+If you do not receive acknowledgment within 7 days, please follow up by emailing the [release managers](MAINTAINERS.md).
+
+## Secure Development Practices
+
+The PX4 development team applies the following practices to reduce security risk:
+
+- **Code review**: All changes require peer review before merging.
+- **Static analysis**: [clang-tidy](https://clang.llvm.org/extra/clang-tidy/) runs on every pull request with warnings treated as errors.
+- **Fuzzing**: A daily fuzzing pipeline using [Google fuzztest](https://github.com/google/fuzztest) tests MAVLink message handling and GNSS driver protocol parsing.
+- **Input validation**: All external inputs (MAVLink messages, RC signals, sensor data) are validated against expected ranges before use.
+- **Compiler hardening**: Builds use `-Wall -Werror`, stack protectors, and other hardening flags where supported by the target platform.

Tools/astyle/files_to_check_code_style.sh

@@ -39,6 +39,8 @@ exec find boards msg src platforms test \
     -path src/lib/cdrstream/rosidl -prune -o \
     -path src/modules/zenoh/zenoh-pico -prune -o \
     -path boards/modalai/voxl2/libfc-sensor-api -prune -o \
+    -path boards/modalai/voxl2/src/lib/mpa/libmodal-json -prune -o \
+    -path boards/modalai/voxl2/src/lib/mpa/libmodal-pipe -prune -o \
     -path src/drivers/actuators/vertiq_io/iq-module-communication-cpp -prune -o \
     -path src/lib/tensorflow_lite_micro/tflite_micro -prune -o \
     -path src/drivers/ins/sbgecom/sbgECom -prune -o \

Tools/ci/check_commit_messages.py

@@ -0,0 +1,331 @@
+#!/usr/bin/env python3
+"""Validate commit messages in a PR against conventional commits format.
+
+Reads a JSON array of GitHub commit objects from stdin (as returned by the
+GitHub API's /pulls/{n}/commits endpoint) and checks each message for
+blocking errors and advisory warnings.
+
+With --markdown, outputs a formatted PR comment body instead of plain text.
+"""
+
+import json
+import sys
+
+from conventional_commits import (
+    EXEMPT_PREFIXES,
+    parse_header,
+)
+
+# Blocking: prefixes that indicate unsquashed fixup commits
+FIXUP_PREFIXES = ('fixup!', 'squash!', 'amend!')
+
+# Blocking: single-word throwaway messages (case-insensitive exact match)
+THROWAWAY_WORDS = frozenset({
+    'fix', 'fixed', 'fixes',
+    'update', 'updated', 'updates',
+    'test', 'tests', 'testing',
+    'tmp', 'temp',
+    'oops', 'wip',
+    'debug', 'cleanup',
+})
+
+# Blocking: debug session leftovers
+DEBUG_KEYWORDS = ('tmate',)
+
+# Warning: review-response messages (case-insensitive substring match)
+REVIEW_RESPONSE_PATTERNS = (
+    'address review',
+    'apply suggestions from code review',
+    'code review',
+)
+
+# Warning: formatter-only commits
+FORMATTER_PATTERNS = (
+    'do make format',
+    'make format',
+    'run formatter',
+    'apply format',
+)
+
+MIN_MESSAGE_LENGTH = 5
+
+
+def check_commit(message: str) -> tuple[list[str], list[str]]:
+    """Return (errors, warnings) for a single commit message."""
+    errors: list[str] = []
+    warnings: list[str] = []
+
+    first_line = message.split('\n', 1)[0].strip()
+    lower = first_line.lower()
+
+    # --- Blocking checks ---
+
+    for prefix in FIXUP_PREFIXES:
+        if lower.startswith(prefix):
+            errors.append(f'Unsquashed commit: starts with "{prefix}"')
+
+    if lower == 'wip' or lower.startswith('wip ') or lower.startswith('wip:'):
+        errors.append('WIP commit should not be merged')
+
+    if len(first_line) < MIN_MESSAGE_LENGTH:
+        errors.append(f'Message too short ({len(first_line)} chars, minimum {MIN_MESSAGE_LENGTH})')
+
+    if first_line.strip() and first_line.strip().lower() in THROWAWAY_WORDS:
+        errors.append(f'Single-word throwaway message: "{first_line.strip()}"')
+
+    for kw in DEBUG_KEYWORDS:
+        if kw in lower:
+            errors.append(f'Debug session leftover: contains "{kw}"')
+
+    # --- Warning checks ---
+
+    for pattern in REVIEW_RESPONSE_PATTERNS:
+        if pattern in lower:
+            warnings.append('Review-response commit')
+            break
+
+    for pattern in FORMATTER_PATTERNS:
+        if pattern in lower:
+            warnings.append('Formatter-only commit')
+            break
+
+    if not parse_header(first_line):
+        # Exempt merge commits
+        for prefix in EXEMPT_PREFIXES:
+            if first_line.startswith(prefix):
+                break
+        else:
+            warnings.append(
+                'Missing conventional commit format '
+                '(e.g. "feat(ekf2): add something")'
+            )
+
+    return errors, warnings
+
+
+def suggest_commit(message: str) -> str | None:
+    """Suggest how to fix a bad commit message."""
+    first_line = message.split('\n', 1)[0].strip()
+    lower = first_line.lower()
+
+    for prefix in FIXUP_PREFIXES:
+        if lower.startswith(prefix):
+            return 'Squash this into the commit it fixes'
+
+    if lower == 'wip' or lower.startswith('wip ') or lower.startswith('wip:'):
+        return 'Reword with a descriptive message (e.g. "feat(scope): what changed")'
+
+    if len(first_line) < MIN_MESSAGE_LENGTH:
+        return 'Reword with a descriptive message (e.g. "feat(ekf2): what changed")'
+
+    if first_line.strip().lower() in THROWAWAY_WORDS:
+        return 'Reword with a descriptive message (e.g. "fix(scope): what changed")'
+
+    return None
+
+
+def format_plain(data: list) -> tuple[bool, bool]:
+    """Print plain text output. Returns (has_blocking, has_warnings)."""
+    has_blocking = False
+    has_warnings = False
+
+    for commit in data:
+        sha = commit.get('sha', '?')[:10]
+        message = commit.get('commit', {}).get('message', '')
+        first_line = message.split('\n', 1)[0].strip()
+
+        errors, warnings = check_commit(message)
+
+        if errors or warnings:
+            print(f"\n  {sha}  {first_line}")
+
+        for err in errors:
+            print(f"    ERROR: {err}")
+            has_blocking = True
+
+        for warn in warnings:
+            print(f"    WARNING: {warn}")
+            has_warnings = True
+
+    if has_blocking:
+        print(
+            "\n"
+            "ERROR = must fix before merging (CI will block the PR)\n"
+            "WARNING = advisory, not blocking, but recommended to fix\n"
+            "\n"
+            "See the contributing guide for details:\n"
+            "  https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention\n",
+        )
+
+    elif has_warnings:
+        print(
+            "\n"
+            "WARNING = advisory, not blocking, but recommended to fix\n"
+            "\n"
+            "See the contributing guide for details:\n"
+            "  https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention\n",
+        )
+
+    return has_blocking, has_warnings
+
+
+def format_markdown_blocking(data: list) -> str:
+    """Format a blocking error markdown comment."""
+    error_groups: dict[str, list[str]] = {}
+    unique_commits: list[tuple[str, str, list[str], str]] = []
+
+    for commit in data:
+        sha = commit.get('sha', '?')[:10]
+        message = commit.get('commit', {}).get('message', '')
+        first_line = message.split('\n', 1)[0].strip()
+
+        errors, _ = check_commit(message)
+        if not errors:
+            continue
+
+        suggestion = suggest_commit(message) or ''
+        unique_commits.append((sha, first_line, errors, suggestion))
+
+        for err in errors:
+            error_groups.setdefault(err, []).append(sha)
+
+    lines = [
+        "## \u274c Commit messages need attention before merging",
+        "",
+    ]
+
+    has_large_group = any(len(shas) > 3 for shas in error_groups.values())
+
+    if has_large_group:
+        lines.extend([
+            "**Issues found:**",
+            "",
+        ])
+        for err_msg, shas in error_groups.items():
+            if len(shas) > 3:
+                lines.append(f"- **{len(shas)} commits**: {err_msg} "
+                             f"(`{shas[0]}`, `{shas[1]}`, ... `{shas[-1]}`)")
+            else:
+                sha_list = ', '.join(f'`{s}`' for s in shas)
+                lines.append(f"- {err_msg}: {sha_list}")
+
+        distinct_messages = {msg for _, msg, _, _ in unique_commits}
+        if len(distinct_messages) <= 5:
+            lines.extend(["", "**Affected commits:**", ""])
+            for sha, msg, errors, suggestion in unique_commits:
+                safe_msg = msg.replace('|', '\\|')
+                lines.append(f"- `{sha}` {safe_msg}")
+    else:
+        lines.extend([
+            "| Commit | Message | Issue | Suggested fix |",
+            "|--------|---------|-------|---------------|",
+        ])
+        for sha, msg, errors, suggestion in unique_commits:
+            issues = '; '.join(errors)
+            safe_msg = msg.replace('|', '\\|')
+            lines.append(f"| `{sha}` | {safe_msg} | {issues} | {suggestion} |")
+
+    lines.extend([
+        "",
+        "See [CONTRIBUTING.md](https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention) "
+        "for how to clean up commits.",
+        "",
+        "---",
+        "*This comment will be automatically removed once the issues are resolved.*",
+    ])
+
+    return '\n'.join(lines)
+
+
+def format_markdown_advisory(data: list) -> str:
+    """Format an advisory warning markdown comment."""
+    lines = [
+        "## \U0001f4a1 Commit messages could be improved",
+        "",
+        "Not blocking, but these commit messages could use some cleanup.",
+        "",
+        "| Commit | Message | Suggestion |",
+        "|--------|---------|------------|",
+    ]
+
+    for commit in data:
+        sha = commit.get('sha', '?')[:10]
+        message = commit.get('commit', {}).get('message', '')
+        first_line = message.split('\n', 1)[0].strip()
+
+        _, warnings = check_commit(message)
+        if not warnings:
+            continue
+
+        suggestion = '; '.join(warnings)
+        safe_msg = first_line.replace('|', '\\|')
+        lines.append(f"| `{sha}` | {safe_msg} | {suggestion} |")
+
+    lines.extend([
+        "",
+        "See the [commit message convention](https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention) "
+        "for details.",
+        "",
+        "---",
+        "*This comment will be automatically removed once the issues are resolved.*",
+    ])
+
+    return '\n'.join(lines)
+
+
+def main() -> None:
+    markdown_stdout = '--markdown' in sys.argv
+    markdown_file = None
+    for i, a in enumerate(sys.argv):
+        if a == '--markdown-file' and i + 1 < len(sys.argv):
+            markdown_file = sys.argv[i + 1]
+        elif a.startswith('--markdown-file='):
+            markdown_file = a.split('=', 1)[1]
+
+    try:
+        data = json.load(sys.stdin)
+    except json.JSONDecodeError as exc:
+        print(f"Failed to parse JSON input: {exc}", file=sys.stderr)
+        sys.exit(2)
+
+    if not isinstance(data, list):
+        print("Expected a JSON array of commit objects.", file=sys.stderr)
+        sys.exit(2)
+
+    # Always compute blocking/warning state
+    has_blocking = False
+    has_warnings = False
+    for commit in data:
+        message = commit.get('commit', {}).get('message', '')
+        errors, warnings = check_commit(message)
+        if errors:
+            has_blocking = True
+        if warnings:
+            has_warnings = True
+
+    # Generate markdown if needed
+    md = None
+    if has_blocking:
+        md = format_markdown_blocking(data)
+    elif has_warnings:
+        md = format_markdown_advisory(data)
+
+    if md:
+        if markdown_stdout:
+            print(md)
+        if markdown_file:
+            with open(markdown_file, 'w') as f:
+                f.write(md + '\n')
+    elif markdown_file:
+        with open(markdown_file, 'w') as f:
+            pass
+
+    # Plain text output to stderr for CI logs (always, unless --markdown only)
+    if not markdown_stdout:
+        has_blocking, _ = format_plain(data)
+
+    sys.exit(1 if has_blocking else 0)
+
+
+if __name__ == '__main__':
+    main()

Tools/ci/check_pr_title.py

@@ -0,0 +1,163 @@
+#!/usr/bin/env python3
+"""Validate that a PR title follows conventional commits format.
+
+Format: type(scope): description
+
+Can output plain text for CI logs or markdown for PR comments.
+"""
+
+import re
+import sys
+
+from conventional_commits import (
+    CONVENTIONAL_TYPES,
+    EXEMPT_PREFIXES,
+    parse_header,
+    suggest_scope,
+    suggest_type,
+)
+
+
+def suggest_title(title: str) -> str | None:
+    """Try to suggest a corrected title in conventional commits format."""
+    stripped = title.strip()
+
+    # Remove common bracket prefixes like [docs], [CI], etc.
+    bracket_match = re.match(r'^\[([^\]]+)\]\s*(.+)', stripped)
+    if bracket_match:
+        prefix = bracket_match.group(1).strip().lower()
+        rest = bracket_match.group(2).strip()
+        rest = re.sub(r'^[\-:]\s*', '', rest).strip()
+        if len(rest) >= 5:
+            # Try to map bracket content to a type
+            commit_type = prefix if prefix in CONVENTIONAL_TYPES else suggest_type(rest)
+            scope = suggest_scope(rest)
+            if scope:
+                return f"{commit_type}({scope}): {rest}"
+
+    # Already has old-style "subsystem: description" format - convert it
+    colon_match = re.match(r'^([a-zA-Z][a-zA-Z0-9_/\-\. ]*): (.+)$', stripped)
+    if colon_match:
+        old_subsystem = colon_match.group(1).strip()
+        desc = colon_match.group(2).strip()
+        if len(desc) >= 5:
+            commit_type = suggest_type(desc)
+            # Use the old subsystem as scope (clean it up)
+            scope = old_subsystem.lower().replace(' ', '_')
+            return f"{commit_type}({scope}): {desc}"
+
+    # No format at all - try to guess both type and scope
+    commit_type = suggest_type(stripped)
+    scope = suggest_scope(stripped)
+    if scope:
+        desc = stripped[0].lower() + stripped[1:] if stripped else stripped
+        return f"{commit_type}({scope}): {desc}"
+
+    return None
+
+
+def check_title(title: str) -> bool:
+    title = title.strip()
+
+    if not title:
+        print("PR title is empty.", file=sys.stderr)
+        return False
+
+    for prefix in EXEMPT_PREFIXES:
+        if title.startswith(prefix):
+            return True
+
+    if parse_header(title):
+        return True
+
+    types_str = ', '.join(f'`{t}`' for t in CONVENTIONAL_TYPES.keys())
+    print(
+        f"PR title does not match conventional commits format.\n"
+        f"\n"
+        f"  Title: {title}\n"
+        f"\n"
+        f"Expected format:  type(scope): description\n"
+        f"\n"
+        f"Valid types: {types_str}\n"
+        f"\n"
+        f"Good examples:\n"
+        f"  feat(ekf2): add height fusion timeout\n"
+        f"  fix(mavlink): correct BATTERY_STATUS_V2 parsing\n"
+        f"  ci(workflows): migrate to reusable workflows\n"
+        f"  feat(boards/px4_fmu-v6x)!: remove deprecated driver API\n"
+        f"\n"
+        f"Bad examples:\n"
+        f"  fix stuff\n"
+        f"  Update file\n"
+        f"  ekf2: fix something   (missing type prefix)\n"
+        f"\n"
+        f"See the contributing guide for details:\n"
+        f"  https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention\n",
+        file=sys.stderr,
+    )
+    return False
+
+
+def format_markdown(title: str) -> str:
+    """Format a markdown PR comment body for a bad title."""
+    lines = [
+        "## \u274c PR title needs conventional commit format",
+        "",
+        "Expected format: `type(scope): description` "
+        "([conventional commits](https://www.conventionalcommits.org/)).",
+        "",
+        "**Your title:**",
+        f"> {title}",
+        "",
+    ]
+
+    suggestion = suggest_title(title)
+    if suggestion:
+        lines.extend([
+            "**Suggested fix:**",
+            f"> {suggestion}",
+            "",
+        ])
+
+    lines.extend([
+        "**To fix this:** click the ✏️ next to the PR title at the top "
+        "of this page and update it.",
+        "",
+        "See [CONTRIBUTING.md](https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention) "
+        "for details.",
+        "",
+        "---",
+        "*This comment will be automatically removed once the issue is resolved.*",
+    ])
+
+    return '\n'.join(lines)
+
+
+def main() -> None:
+    import argparse
+    parser = argparse.ArgumentParser(description='Check PR title format')
+    parser.add_argument('title', help='The PR title to validate')
+    parser.add_argument('--markdown', action='store_true',
+                        help='Output markdown to stdout on failure')
+    parser.add_argument('--markdown-file', metavar='FILE',
+                        help='Write markdown to FILE on failure')
+    args = parser.parse_args()
+
+    passed = check_title(args.title)
+
+    if not passed:
+        md = format_markdown(args.title)
+        if args.markdown:
+            print(md)
+        if args.markdown_file:
+            with open(args.markdown_file, 'w') as f:
+                f.write(md + '\n')
+    elif args.markdown_file:
+        with open(args.markdown_file, 'w') as f:
+            pass
+
+    sys.exit(0 if passed else 1)
+
+
+if __name__ == '__main__':
+    main()

Tools/ci/conventional_commits.py

@@ -0,0 +1,146 @@
+"""Shared constants and helpers for conventional commit validation.
+
+Format: type(scope): description
+Optional breaking change marker: type(scope)!: description
+"""
+
+import re
+
+CONVENTIONAL_TYPES = {
+    'feat':     'A new feature',
+    'fix':      'A bug fix',
+    'docs':     'Documentation only changes',
+    'style':    'Formatting, whitespace, no code change',
+    'refactor': 'Code change that neither fixes a bug nor adds a feature',
+    'perf':     'Performance improvement',
+    'test':     'Adding or correcting tests',
+    'build':    'Build system or external dependencies',
+    'ci':       'CI configuration files and scripts',
+    'chore':    'Other changes that don\'t modify src or test files',
+    'revert':   'Reverts a previous commit',
+}
+
+# type(scope)[!]: description
+# - type: one of CONVENTIONAL_TYPES keys
+# - scope: required, alphanumeric with _/-/.
+# - !: optional breaking change marker
+# - description: at least 5 chars
+HEADER_PATTERN = re.compile(
+    r'^(' + '|'.join(CONVENTIONAL_TYPES.keys()) + r')'
+    r'\(([a-zA-Z0-9_/\-\.]+)\)'
+    r'(!)?'
+    r': (.{5,})$'
+)
+
+EXEMPT_PREFIXES = ('Merge ',)
+
+# Common PX4 subsystem scopes for suggestions
+KNOWN_SCOPES = [
+    'ekf2', 'mavlink', 'commander', 'navigator', 'sensors',
+    'mc_att_control', 'mc_pos_control', 'mc_rate_control',
+    'fw_att_control', 'fw_pos_control', 'fw_rate_control',
+    'vtol', 'actuators', 'battery', 'param', 'logger',
+    'uorb', 'drivers', 'boards', 'simulation', 'sitl',
+    'gps', 'rc', 'safety', 'can', 'serial',
+    'ci', 'docs', 'build', 'cmake', 'tools',
+    'mixer', 'land_detector', 'airspeed', 'gyroscope',
+    'accelerometer', 'magnetometer', 'barometer',
+]
+
+# Keyword patterns to suggest scopes from description text
+KEYWORD_SCOPES = [
+    (r'\b(ekf|estimator|height|fusion|imu|baro)\b', 'ekf2'),
+    (r'\b(mavlink|MAVLink|MAVLINK|command_int|heartbeat)\b', 'mavlink'),
+    (r'\b(uorb|orb|pub|sub|topic)\b', 'uorb'),
+    (r'\b(board|fmu|nuttx|stm32)\b', 'boards'),
+    (r'\b(mixer|actuator|motor|servo|pwm|dshot)\b', 'actuators'),
+    (r'\b(battery|power)\b', 'battery'),
+    (r'\b(param|parameter)\b', 'param'),
+    (r'\b(log|logger|sdlog)\b', 'logger'),
+    (r'\b(sensor|accel|gyro)\b', 'sensors'),
+    (r'\b(land|takeoff|rtl|mission|navigator|geofence)\b', 'navigator'),
+    (r'\b(position|velocity|attitude|rate)\s*(control|ctrl)\b', 'mc_att_control'),
+    (r'\b(mc|multicopter|quad)\b', 'mc_att_control'),
+    (r'\b(fw|fixedwing|fixed.wing|plane)\b', 'fw_att_control'),
+    (r'\b(vtol|transition)\b', 'vtol'),
+    (r'\b(ci|workflow|github.action|pipeline)\b', 'ci'),
+    (r'\b(doc|docs|documentation|readme)\b', 'docs'),
+    (r'\b(cmake|make|toolchain|compiler)\b', 'build'),
+    (r'\b(sitl|simulation|gazebo|jmavsim|sih)\b', 'simulation'),
+    (r'\b(can|uavcan|cyphal|dronecan)\b', 'can'),
+    (r'\b(serial|uart|spi|i2c)\b', 'serial'),
+    (r'\b(safety|failsafe|arm|disarm|kill)\b', 'safety'),
+    (r'\b(rc|radio|sbus|crsf|elrs|dsm)\b', 'rc'),
+    (r'\b(gps|gnss|rtk|ubx)\b', 'gps'),
+    (r'\b(optical.flow|flow|rangefinder|lidar|distance)\b', 'sensors'),
+    (r'\b(orbit|follow|offboard)\b', 'commander'),
+    (r'\b(driver)\b', 'drivers'),
+]
+
+# Verb patterns to suggest conventional commit type
+VERB_TYPE_MAP = [
+    (r'^fix(e[ds])?[\s:]', 'fix'),
+    (r'^bug[\s:]', 'fix'),
+    (r'^add(s|ed|ing)?[\s:]', 'feat'),
+    (r'^implement', 'feat'),
+    (r'^introduce', 'feat'),
+    (r'^support', 'feat'),
+    (r'^enable', 'feat'),
+    (r'^update[ds]?[\s:]', 'feat'),
+    (r'^improv(e[ds]?|ing)', 'perf'),
+    (r'^optimi[zs](e[ds]?|ing)', 'perf'),
+    (r'^refactor', 'refactor'),
+    (r'^clean\s*up', 'refactor'),
+    (r'^restructure', 'refactor'),
+    (r'^simplif(y|ied)', 'refactor'),
+    (r'^remov(e[ds]?|ing)', 'refactor'),
+    (r'^delet(e[ds]?|ing)', 'refactor'),
+    (r'^deprecat', 'refactor'),
+    (r'^replac(e[ds]?|ing)', 'refactor'),
+    (r'^renam(e[ds]?|ing)', 'refactor'),
+    (r'^migrat', 'refactor'),
+    (r'^revert', 'revert'),
+    (r'^doc(s|ument)', 'docs'),
+    (r'^test', 'test'),
+    (r'^format', 'style'),
+    (r'^lint', 'style'),
+    (r'^whitespace', 'style'),
+    (r'^build', 'build'),
+    (r'^ci[\s:]', 'ci'),
+]
+
+
+def parse_header(text: str) -> dict | None:
+    """Parse a conventional commit header into components.
+
+    Returns dict with keys {type, scope, breaking, subject} or None if
+    the text doesn't match conventional commits format.
+    """
+    text = text.strip()
+    m = HEADER_PATTERN.match(text)
+    if not m:
+        return None
+    return {
+        'type': m.group(1),
+        'scope': m.group(2),
+        'breaking': m.group(3) == '!',
+        'subject': m.group(4),
+    }
+
+
+def suggest_type(text: str) -> str:
+    """Infer a conventional commit type from description text."""
+    lower = text.strip().lower()
+    for pattern, commit_type in VERB_TYPE_MAP:
+        if re.search(pattern, lower):
+            return commit_type
+    return 'feat'
+
+
+def suggest_scope(text: str) -> str | None:
+    """Infer a scope from keywords in the text."""
+    lower = text.strip().lower()
+    for pattern, scope in KEYWORD_SCOPES:
+        if re.search(pattern, lower, re.IGNORECASE):
+            return scope
+    return None

Tools/ci/generate_board_targets_json.py

@@ -148,18 +148,18 @@ grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets
 
-for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
+for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
     if not manufacturer.is_dir():
         continue
     if manufacturer.name in excluded_manufacturers:
         if verbose: print(f'excluding manufacturer {manufacturer.name}')
         continue
 
-    for board in os.scandir(manufacturer.path):
+    for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
         if not board.is_dir():
             continue
 
-        for files in os.scandir(board.path):
+        for files in sorted(os.scandir(board.path), key=lambda e: e.name):
             if files.is_file() and files.name.endswith('.px4board'):
 
                 board_name = manufacturer.name + '_' + board.name

Tools/ci/metadata_sync.sh

@@ -123,7 +123,7 @@ generate_parameters() {
     if [[ "$VERBOSE" == "true" ]]; then
         make parameters_metadata
     else
-        make parameters_metadata >/dev/null 2>&1
+        make parameters_metadata >/dev/null
     fi
 }
 
@@ -132,7 +132,7 @@ generate_airframes() {
     if [[ "$VERBOSE" == "true" ]]; then
         make airframe_metadata
     else
-        make airframe_metadata >/dev/null 2>&1
+        make airframe_metadata >/dev/null
     fi
 }
 
@@ -141,7 +141,7 @@ generate_modules() {
     if [[ "$VERBOSE" == "true" ]]; then
         make module_documentation
     else
-        make module_documentation >/dev/null 2>&1
+        make module_documentation >/dev/null
     fi
 }
 
@@ -150,7 +150,7 @@ generate_msg_docs() {
     if [[ "$VERBOSE" == "true" ]]; then
         make msg_docs
     else
-        make msg_docs >/dev/null 2>&1
+        make msg_docs >/dev/null
     fi
 }
 
@@ -159,7 +159,7 @@ generate_uorb_graphs() {
     if [[ "$VERBOSE" == "true" ]]; then
         make uorb_graphs
     else
-        make uorb_graphs >/dev/null 2>&1
+        make uorb_graphs >/dev/null
     fi
 }
 
@@ -169,7 +169,7 @@ generate_failsafe_web() {
     if [[ "$VERBOSE" == "true" ]]; then
         make failsafe_web
     else
-        make failsafe_web >/dev/null 2>&1
+        make failsafe_web >/dev/null
     fi
 }
 

Tools/ci/pr_comment.py

@@ -0,0 +1,95 @@
+#!/usr/bin/env python3
+"""Post, update, or delete a PR comment with deduplication.
+
+Uses hidden HTML markers to find existing comments and avoid duplicates.
+Reads comment body from stdin when posting or updating.
+
+Usage:
+    echo "comment body" | python3 pr_comment.py --marker pr-title --pr 123 --result fail
+    python3 pr_comment.py --marker pr-title --pr 123 --result pass
+
+Results:
+    fail  - post/update comment with body from stdin
+    warn  - post/update comment with body from stdin
+    pass  - delete existing comment if any
+
+Requires GH_TOKEN and GITHUB_REPOSITORY environment variables.
+"""
+
+import argparse
+import json
+import os
+import subprocess
+import sys
+
+
+def gh_api(endpoint: str, method: str = 'GET', body: dict | None = None) -> str:
+    """Call the GitHub API via gh cli."""
+    cmd = ['gh', 'api', endpoint, '-X', method]
+    if body:
+        for key, value in body.items():
+            cmd.extend(['-f', f'{key}={value}'])
+    result = subprocess.run(cmd, capture_output=True, text=True)
+    if result.returncode != 0 and method != 'DELETE':
+        print(f"gh api error: {result.stderr}", file=sys.stderr)
+    return result.stdout
+
+
+def find_comment(repo: str, pr: int, marker: str) -> str | None:
+    """Find an existing comment by its hidden marker. Returns comment ID or None."""
+    response = gh_api(f"repos/{repo}/issues/{pr}/comments?per_page=100")
+    try:
+        comments = json.loads(response)
+    except json.JSONDecodeError:
+        return None
+
+    if not isinstance(comments, list):
+        return None
+
+    for comment in comments:
+        if isinstance(comment, dict) and comment.get('body', '').startswith(marker):
+            return str(comment['id'])
+    return None
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description='Manage PR quality comments')
+    parser.add_argument('--marker', required=True,
+                        help='Marker name (e.g. pr-title, commit-msgs, pr-body)')
+    parser.add_argument('--pr', required=True, type=int,
+                        help='Pull request number')
+    parser.add_argument('--result', required=True, choices=['pass', 'fail', 'warn'],
+                        help='Check result: pass deletes comment, fail/warn posts it')
+    args = parser.parse_args()
+
+    repo = os.environ.get('GITHUB_REPOSITORY', '')
+    if not repo:
+        print("GITHUB_REPOSITORY not set", file=sys.stderr)
+        sys.exit(2)
+
+    marker = f"<!-- commit-quality-{args.marker} -->"
+    existing_id = find_comment(repo, args.pr, marker)
+
+    if args.result == 'pass':
+        if existing_id:
+            gh_api(f"repos/{repo}/issues/comments/{existing_id}", method='DELETE')
+        return
+
+    # Read comment body from stdin
+    body_content = sys.stdin.read().strip()
+    if not body_content:
+        print("No comment body provided on stdin", file=sys.stderr)
+        sys.exit(2)
+
+    full_body = f"{marker}\n{body_content}"
+
+    if existing_id:
+        gh_api(f"repos/{repo}/issues/comments/{existing_id}", method='PATCH',
+               body={'body': full_body})
+    else:
+        gh_api(f"repos/{repo}/issues/{args.pr}/comments", method='POST',
+               body={'body': full_body})
+
+
+if __name__ == '__main__':
+    main()

Tools/module_config/generate_actuators_metadata.py

@@ -234,14 +234,14 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
         param_prefix = process_param_prefix(group['param_prefix'])
         standard_params = group.get('standard_params', {})
         standard_params_array = [
-            ( 'function', 'Function', 'FUNC', False ),
-            ( 'disarmed', 'Disarmed', 'DIS', False ),
-            ( 'min', 'Minimum', 'MIN', False ),
-            ( 'max', 'Maximum', 'MAX', False ),
-            ( 'center', 'Center\n(for Servos)', 'CENT', False ),
-            ( 'failsafe', 'Failsafe', 'FAIL', True ),
+            ( 'function', 'Function', 'FUNC', False, True ),
+            ( 'disarmed', 'Disarmed', 'DIS', False, True ),
+            ( 'min', 'Minimum', 'MIN', False, True ),
+            ( 'center', 'Center\n(for Servos)', 'CENT', False, False ),
+            ( 'max', 'Maximum', 'MAX', False, True ),
+            ( 'failsafe', 'Failsafe', 'FAIL', True, True ),
             ]
-        for key, label, param_suffix, advanced in standard_params_array:
+        for key, label, param_suffix, advanced, has_function in standard_params_array:
             show_if = None
             if key in standard_params and 'show_if' in standard_params[key]:
                 show_if = standard_params[key]['show_if']
@@ -250,13 +250,12 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                 param = {
                         'label': label,
                         'name': param_prefix+'_'+param_suffix+'${i}',
-                        'function': key,
                     }
+                if has_function: param['function'] = key
                 if advanced: param['advanced'] = True
                 if show_if: param['show-if'] = show_if
                 per_channel_params.append(param)
 
-
         param = {
                 'label': 'Rev Range\n(for Servos)',
                 'name': param_prefix+'_REV',

Tools/module_config/generate_params.py

@@ -312,11 +312,7 @@ When set to -1 (default), the value depends on the function (see {:}).
                 if standard_params[key]['max'] >= 1<<16:
                     raise Exception('maximum value for {:} expected <= {:} (got {:})'.format(key, 1<<16, standard_params[key]['max']))
 
-                if key == 'failsafe':
-                    standard_params[key]['default'] = -1
-                    standard_params[key]['min'] = -1
-
-                if key == 'center':
+                if key == 'failsafe' or key == 'center':
                     standard_params[key]['default'] = -1
                     standard_params[key]['min'] = -1
 

Tools/msg/generate_msg_docs.py

@@ -17,10 +17,10 @@ VALID_FIELDS = { #Note, also have to add the message types as those can be field
     'uint32'
 }
 
-ALLOWED_UNITS = set(["m", "m/s", "m/s^2", "(m/s)^2", "deg", "deg/s", "rad", "rad/s", "rad^2", "rpm" ,"V", "A", "mA", "mAh", "W", "dBm", "h", "s", "ms", "us", "Ohm", "MB", "Kb/s", "degC","Pa","%","-"])
+ALLOWED_UNITS = set(["m", "m/s", "m/s^2", "(m/s)^2", "deg", "deg/s", "rad", "rad/s", "rad^2", "rpm" ,"V", "A", "mA", "mAh", "W", "Wh", "dBm", "h", "minutes", "s", "ms", "us", "Ohm", "MB", "Kb/s", "degC","Pa", "%", "norm", "-"])
 invalid_units = set()
-ALLOWED_FRAMES = set(["NED","Body"])
-ALLOWED_INVALID_VALUES = set(["NaN", "0"])
+ALLOWED_FRAMES = set(["NED", "Body", "FRD", "ENU"])
+ALLOWED_INVALID_VALUES = set(["NaN", "0", "-1"])
 ALLOWED_CONSTANTS_NOT_IN_ENUM = set(["ORB_QUEUE_LENGTH","MESSAGE_VERSION"])
 
 class Error:
@@ -36,14 +36,14 @@ class Error:
 
 
         if 'trailing_whitespace' == self.type:
-            if self.issueString.strip():    
+            if self.issueString.strip():
                 print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber}): {self.issueString}")
             else:
                 print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber})")
         elif 'leading_whitespace_field_or_constant' == self.type:
-            print(f"NOTE: Whitespace before field or constant ({self.message}: {self.linenumber}): {self.issueString}")             
+            print(f"NOTE: Whitespace before field or constant ({self.message}: {self.linenumber}): {self.issueString}")
         elif 'field_or_constant_has_multiple_whitepsace' == self.type:
-            print(f"NOTE: Field/constant has more than one sequential whitespace character ({self.message}: {self.linenumber}): {self.issueString}") 
+            print(f"NOTE: Field/constant has more than one sequential whitespace character ({self.message}: {self.linenumber}): {self.issueString}")
         elif 'empty_start_line' == self.type:
             print(f"NOTE: Empty line at start of file ({self.message}: {self.linenumber})")
         elif 'internal_comment' == self.type:
@@ -191,7 +191,7 @@ class CommandParam:
                             if not "unknown_frame" in self.parent.errors:
                                 self.parent.errors["unknown_frame"] = []
                             self.parent.errors["unknown_frame"].append(error)
-                        """    
+                        """
                     else:
                         print(f"WARNING: Unhandled metadata in message comment: {item}")
                         # TODO - report errors for different kinds of metadata
@@ -202,9 +202,9 @@ class CommandParam:
 
                     if item == "-":
                         unit = ""
-                    
+
                     if unit and unit not in self.units:
-                        self.units.append(unit) 
+                        self.units.append(unit)
 
                     if unit not in ALLOWED_UNITS:
                         invalid_units.add(unit)
@@ -221,7 +221,7 @@ class CommandParam:
         print(f"   paramText: {self.paramText}\n  unit:  {self.units}\n  enums: {self.enums}\n  lineNumber: {self.lineNumber}\n  range: {self.range}\n  minValue: {self.minValue}\n  maxValue: {self.maxValue}\n  invalidValue: {self.invalidValue}\n  frameValue: {self.frameValue}\n  parent: {self.parent}\n  ")
 
 
-        
+
 class CommandConstant:
     """
     Represents a constant that is a command definition.
@@ -252,9 +252,9 @@ class CommandConstant:
         if not self.comment: # This is an bug for a command
             #print(f"Debug WARNING: NO COMMENT in CommandConstant: {self.name}")  ## TODO make into ERROR
             return
-            
+
         # Parse command comment to get the description and parameters.
-        # print(f"Debug CommandConstant: {self.comment}") 
+        # print(f"Debug CommandConstant: {self.comment}")
         if not "|" in self.comment:
             # This is an error for a command constant
             error = Error("command_no_params_pipes", self.parent.filename, self.line_number, self.comment, self.name)
@@ -263,7 +263,7 @@ class CommandConstant:
                 self.parent.errors["command_no_params_pipes"] = []
             self.parent.errors["command_no_params_pipes"].append(error)
             return
-        
+
         # Split on pipes
         commandSplit = self.comment.split("|")
         if len(commandSplit) < 9:
@@ -318,7 +318,7 @@ Param | Units | Range/Enum | Description
 
                 output+=f"{i} | {", ".join(val.units)}|{', '.join(f"[{e}](#{e})" for e in val.enums)}{rangeVal} | {val.description}\n"
             else:
-                output+=f"{i} | | | ?\n"                
+                output+=f"{i} | | | ?\n"
 
         output+=f"\n"
         return output
@@ -419,7 +419,7 @@ class MessageField:
 class UORBMessage:
     """
     Represents a whole message, including fields, enums, commands, constants.
-    The parser function delegates the parsing of each part of the message to 
+    The parser function delegates the parsing of each part of the message to
     more appropriate classes, once the specific type of line has been identified.
     """
 
@@ -511,11 +511,11 @@ pageClass: is-wide-page
             markdown += "--- | --- | --- |---\n"
             for name, command in self.commandConstants.items():
                 description = f" {command.comment} " if enum.comment else " "
-                markdown += f'<a href="#{name}"></a> {name} | `{command.type}` | {command.value} |{description}\n'            
+                markdown += f'<a id="#{name}"></a> {name} | `{command.type}` | {command.value} |{description}\n'
             """
             for commandConstant in self.commandConstants.values():
                 #print(commandConstant)
-                markdown += commandConstant.markdown_out()     
+                markdown += commandConstant.markdown_out()
 
         # Generate enum docs
         if len(self.enums) > 0:
@@ -529,7 +529,7 @@ pageClass: is-wide-page
 
                 for enumValueName, enumValue in enum.enumValues.items():
                     description = f" {enumValue.comment} " if enumValue.comment else " "
-                    markdown += f'<a href="#{enumValueName}"></a> {enumValueName} | `{enumValue.type}` | {enumValue.value} |{description}\n'
+                    markdown += f'<a id="#{enumValueName}"></a> {enumValueName} | `{enumValue.type}` | {enumValue.value} |{description}\n'
 
         # Generate table for constants docs
         if len(self.constantFields) > 0:
@@ -538,7 +538,7 @@ pageClass: is-wide-page
             markdown += "--- | --- | --- |---\n"
             for name, enum in self.constantFields.items():
                 description = f" {enum.comment} " if enum.comment else " "
-                markdown += f'<a href="#{name}"></a> {name} | `{enum.type}` | {enum.value} |{description}\n'
+                markdown += f'<a id="#{name}"></a> {name} | `{enum.type}` | {enum.value} |{description}\n'
 
 
 
@@ -635,8 +635,8 @@ pageClass: is-wide-page
             temp = fieldOrConstant.split("=")
             value = temp[-1]
             typeAndName = temp[0].split(" ")
-            type = typeAndName[0]
-            name = typeAndName[1]
+            type = typeAndName[0].strip()
+            name = typeAndName[1].strip()
             if name.startswith("VEHICLE_CMD_") and parentMessage.name == 'VehicleCommand': #it's a command.
                 #print(f"DEBUG: startswith VEHICLE_CMD_ {name}")
                 commandConstant = CommandConstant(name, type, value, comment, line_number, parentMessage)
@@ -708,7 +708,7 @@ pageClass: is-wide-page
                     if stripped_line.startswith("#"):
                         # Its an internal comment
                         stripped_line=stripped_line[1:].strip()
-                        
+
                         if stripped_line:
                             #print(f"{self.filename}: Internal comment: [{line_number}]\n {line}")
                             error = Error("internal_comment", self.filename, line_number, line)
@@ -723,16 +723,16 @@ pageClass: is-wide-page
                             self.errors["internal_comment_empty"].append(error)
                             #pass # Empty comment
                         continue
-                    
+
                     # Must be a field or a comment.
                     self.handleField(line, line_number, parentMessage=self)
 
             # Fix up topics if the topic is empty
             def camel_to_snake(name):
-                # Match upper case not at start of string
-                s1 = re.sub('(.)([A-Z][a-z]+)', r'\1_\2', name)
-                # Handle cases with multiple capital first letter
-                return re.sub('([A-Z]+)([A-Z][a-z]*)', r'\1_\2', s1).lower()
+                # Insert underscore between lowercase/digit and uppercase letter
+                s1 = re.sub('([a-z0-9])([A-Z])', r'\1_\2', name)
+                # Insert underscore between consecutive uppercase and uppercase+lowercase
+                return re.sub('([A-Z]+)([A-Z][a-z])', r'\1_\2', s1).lower()
 
             defaultTopic = camel_to_snake(self.name)
             if len(self.topics) == 0:
@@ -745,7 +745,7 @@ pageClass: is-wide-page
                     error = Error("topic_error", self.filename, "", f"WARNING: TOPIC {defaultTopic} unnecessarily declared for {self.name}")
                 else:
                     # Declared topic is not default topic
-                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[1]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
+                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[0]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
                 if not "topic_error" in self.errors:
                     self.errors["topic_error"] = []
                     self.errors["topic_error"].append(error)
@@ -833,11 +833,9 @@ def generate_dds_yaml_doc(allMessageFiles, output_file = 'dds_topics.md'):
         for message in data["subscriptions"]:
             all_message_types.add(message['type'].split("::")[-1])
             all_topics.add(message['topic'].split('/')[-1])
-        if data["subscriptions_multi"]: # There is none now
-            dds_markdown += "None\n"
-            for message in data["subscriptions_multi"]:
-                all_message_types.add(message['type'].split("::")[-1])
-                all_topics.add(message['topic'].split('/')[-1])
+        for message in (data.get("subscriptions_multi") or []):
+            all_message_types.add(message['type'].split("::")[-1])
+            all_topics.add(message['topic'].split('/')[-1])
         for message in allMessageFiles:
             all_messages_in_source.add(message.split('/')[-1].split('.')[0])
         messagesNotExported = all_messages_in_source - all_message_types
@@ -874,13 +872,17 @@ Topic | Type| Rate Limit
 
         dds_markdown += "\n## Subscriptions Multi\n\n"
 
-        if not data["subscriptions_multi"]: # There is none now
+        subscriptions_multi = data.get("subscriptions_multi") or []
+        if not subscriptions_multi:
             dds_markdown += "None\n"
         else:
-            print("Warning - we now have subscription_multi data - check format")
-            dds_markdown += "Topic | Type\n--- | ---\n"
-            for message in data["subscriptions_multi"]:
-                dds_markdown += f"{message['topic']} | {message['type']}\n"
+            dds_markdown += "Topic | Type | Route Field | Max Instances\n--- | --- | --- | ---\n"
+            for message in subscriptions_multi:
+                type = message['type']
+                px4Type = type.split("::")[-1]
+                route_field = f"`{message['route_field']}`" if 'route_field' in message else "-"
+                max_instances = message.get('max_instances', '-')
+                dds_markdown += f"{message['topic']} | [{type}](../msg_docs/{px4Type}.md) | {route_field} | {max_instances}\n"
 
         if messagesNotExported:
             # Print the topics that are not exported to DDS
@@ -944,9 +946,6 @@ if __name__ == "__main__":
 
     for msg_file in msg_files:
         # Add messages to set of allowed types (compound types)
-        #msg_type = msg_file.rsplit('/')[-1]
-        #msg_type = msg_type.rsplit('\\')[-1]
-        #msg_type = msg_type.rsplit('.')[0]
         msg_name = os.path.splitext(os.path.basename(msg_file))[0]
         msgTypes.add(msg_name)
 

Tools/px_mkfw.py

@@ -42,6 +42,7 @@
 import argparse
 import json
 import base64
+import os
 import zlib
 import time
 import subprocess
@@ -99,14 +100,13 @@ if args.summary != None:
 if args.description != None:
 	desc['description']	= str(args.description)
 if args.git_identity != None:
-	cmd = "git --git-dir '{:}/.git' describe --exclude ext/* --always --tags".format(args.git_identity)
-	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
-	desc['git_identity']	= p.read().strip().decode('utf-8')
-	p.close()
-	cmd = "git --git-dir '{:}/.git' rev-parse --verify HEAD".format(args.git_identity)
-	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
-	desc['git_hash']	= p.read().strip().decode('utf-8')
-	p.close()
+	git_dir = os.path.join(args.git_identity, '.git')
+	p = subprocess.run(["git", "--git-dir", git_dir, "describe", "--exclude", "ext/*", "--always", "--tags"],
+		stdout=subprocess.PIPE, text=True)
+	desc['git_identity']	= p.stdout.strip()
+	p = subprocess.run(["git", "--git-dir", git_dir, "rev-parse", "--verify", "HEAD"],
+		stdout=subprocess.PIPE, text=True)
+	desc['git_hash']	= p.stdout.strip()
 if args.parameter_xml != None:
 	f = open(args.parameter_xml, "rb")
 	bytes = f.read()

Tools/setup/ubuntu.sh

@@ -196,6 +196,11 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	fi
 fi
 
+if [[ "${UBUNTU_RELEASE}" == "25.10" ]]; then
+	echo "[ubuntu.sh] Gazebo binaries are not available for 25.10, skipping installation"
+	INSTALL_SIM="false"
+fi
+
 # Simulation tools
 if [[ $INSTALL_SIM == "true" ]]; then
 

boards/accton-godwit/ga1/src/board_config.h

@@ -221,8 +221,10 @@
 /* HEATER
  * PWM in future
  */
-#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 /* PE6 is nARMED
  *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -442,7 +444,7 @@
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \

boards/ark/fmu-v6x/default.px4board

@@ -28,12 +28,8 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y

boards/ark/fmu-v6x/init/rc.board_defaults

@@ -17,21 +17,21 @@ param set-default MAV_2_UDP_PRT 14550
 param set-default SENS_EN_INA226 1
 param set-default SENS_EN_THERMAL 1
 param set-default SENS_IMU_MODE 1
-param set-default SENS_IMU_TEMP 10.0
-#param set-default SENS_IMU_TEMP_FF 0.0
-#param set-default SENS_IMU_TEMP_I 0.025
-#param set-default SENS_IMU_TEMP_P 1.0
+param set-default HEATER1_TEMP 10.0
+#param set-default HEATER1_TEMP_FF 0.0
+#param set-default HEATER1_TEMP_I 0.025
+#param set-default HEATER1_TEMP_P 1.0
 
 param set-default UAVCAN_ESC_IFACE 2
 
 if ver hwtypecmp ARKV6X000
 then
-	param set-default SENS_TEMP_ID 2818058
+	param set-default HEATER1_IMU_ID 2818058
 fi
 
 if ver hwtypecmp ARKV6X001
 then
-	param set-default SENS_TEMP_ID 3014666
+	param set-default HEATER1_IMU_ID 3014666
 fi
 
 safety_button start

boards/ark/fmu-v6x/init/rc.board_sensors

@@ -100,7 +100,7 @@ bmp388 -I start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -X
 fi
 
 unset HAVE_PM2

boards/ark/fmu-v6x/src/board_config.h

@@ -224,8 +224,10 @@
 /* HEATER
  * PWM in future
  */
-#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 /* PE6 is nARMED
  *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -243,6 +245,15 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9
 
+#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
+#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
+#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
+#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
+#define GPIO_FMU_CH5                    /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_FMU_CH6                    /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
+#define GPIO_FMU_CH7                    /* PH6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
+#define GPIO_FMU_CH8                    /* PH9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
+
 #define GPIO_FMU_CAP                    /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
 #define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
 
@@ -436,7 +447,7 @@
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \
@@ -456,6 +467,14 @@
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_PG6,                         \
 		GPIO_nARMED_INIT,                 \
+		GPIO_FMU_CH1,     	          \
+		GPIO_FMU_CH2,     	          \
+		GPIO_FMU_CH3,     	          \
+		GPIO_FMU_CH4,     	          \
+		GPIO_FMU_CH5,     	          \
+		GPIO_FMU_CH6,     	          \
+		GPIO_FMU_CH7,     	          \
+		GPIO_FMU_CH8,     	          \
 		GPIO_FMU_CAP,     	          \
 		GPIO_SPIX_SYNC                    \
 	}

boards/ark/fpv/init/rc.board_defaults

@@ -15,17 +15,19 @@ fi
 
 # TODO: Tune the following parameters
 param set-default SENS_EN_THERMAL 1
-param set-default SENS_IMU_TEMP 10.0
-#param set-default SENS_IMU_TEMP_FF 0.0
-#param set-default SENS_IMU_TEMP_I 0.025
-#param set-default SENS_IMU_TEMP_P 1.0
+param set-default HEATER1_TEMP 10.0
+#param set-default HEATER1_TEMP_FF 0.0
+#param set-default HEATER1_TEMP_I 0.025
+#param set-default HEATER1_TEMP_P 1.0
 
 if ver hwtypecmp ARKFPV000
 then
-	param set-default SENS_TEMP_ID 3014666
+	param set-default HEATER1_IMU_ID 3014666
 fi
 
 param set-default BAT1_V_DIV 21.0
+param set-default BAT1_V_FILT 0.075
+param set-default BAT1_I_FILT 0.5
 
 param set-default RC_CRSF_PRT_CFG 300
 param set-default RC_SBUS_PRT_CFG 0

boards/ark/fpv/init/rc.board_sensors

@@ -20,5 +20,5 @@ bmp388 -I -b 2 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -X
 fi

boards/ark/fpv/src/board_config.h

@@ -176,9 +176,6 @@
 
 #define BOARD_BATTERY1_V_DIV	 (21.0f) // (20k + 1k) / 1k = 21
 
-#define BOARD_BATTERY_ADC_VOLTAGE_FILTER_S 0.075f
-#define BOARD_BATTERY_ADC_CURRENT_FILTER_S 0.125f
-
 #define ADC_SCALED_PAYLOAD_SENSE ADC_SCALED_12V_CHANNEL
 
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
@@ -208,8 +205,10 @@
 /* HEATER
  * PWM in future
  */
-#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 /* PE6 is nARMED
  *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -226,6 +225,16 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9
 
+#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
+#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
+#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
+#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
+#define GPIO_FMU_CH5                    /* PI5  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN5)
+#define GPIO_FMU_CH6                    /* PI6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN6)
+#define GPIO_FMU_CH7                    /* PI7  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN7)
+#define GPIO_FMU_CH8                    /* PI2  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN2)
+#define GPIO_FMU_CH9                    /* PD12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN12)
+
 #define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
 
 /* Power supply control and monitoring GPIOs */
@@ -321,7 +330,7 @@
 		GPIO_HW_VER_REV_DRIVE,            \
 		GPIO_CAN1_TX,                     \
 		GPIO_CAN1_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_VDD_5V_PGOOD,                \
 		GPIO_VDD_12V_PGOOD,               \
 		GPIO_VDD_12V_EN,                  \
@@ -329,6 +338,15 @@
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_nARMED_INIT,                 \
 		SPI6_nRESET_EXTERNAL1,            \
+		GPIO_FMU_CH1,     	          \
+		GPIO_FMU_CH2,     	          \
+		GPIO_FMU_CH3,     	          \
+		GPIO_FMU_CH4,     	          \
+		GPIO_FMU_CH5,     	          \
+		GPIO_FMU_CH6,     	          \
+		GPIO_FMU_CH7,     	          \
+		GPIO_FMU_CH8,     	          \
+		GPIO_FMU_CH9,     	          \
 		GPIO_SPIX_SYNC                    \
 	}
 

boards/ark/pi6x/init/rc.board_defaults

@@ -21,17 +21,17 @@ param set-default SENS_EN_INA226 1
 
 # TODO: Tune the following parameters
 param set-default SENS_EN_THERMAL 1
-param set-default SENS_IMU_TEMP 10.0
-#param set-default SENS_IMU_TEMP_FF 0.0
-#param set-default SENS_IMU_TEMP_I 0.025
-#param set-default SENS_IMU_TEMP_P 1.0
+param set-default HEATER1_TEMP 10.0
+#param set-default HEATER1_TEMP_FF 0.0
+#param set-default HEATER1_TEMP_I 0.025
+#param set-default HEATER1_TEMP_P 1.0
 
 param set-default UAVCAN_ESC_IFACE 1
 
 if ver hwtypecmp ARKPI6X000
 then
 	# TODO: Add the correct sensor ID
-	param set-default SENS_TEMP_ID 2490378
+	param set-default HEATER1_IMU_ID 2490378
 fi
 
 param set-default EKF2_MULTI_IMU 0

boards/ark/pi6x/init/rc.board_sensors

@@ -38,5 +38,5 @@ afbrs50 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -X
 fi

boards/ark/pi6x/src/board_config.h

@@ -188,8 +188,10 @@
 /* HEATER
  * PWM in future
  */
-#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 /* PE6 is nARMED
  *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -206,6 +208,15 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   8
 
+#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
+#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
+#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
+#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
+#define GPIO_FMU_CH5                    /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_FMU_CH6                    /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
+#define GPIO_FMU_CH7                    /* PH6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
+#define GPIO_FMU_CH8                    /* PH9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
+
 #define GPIO_FMU_CAP                    /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
 #define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
 
@@ -324,7 +335,7 @@
 		GPIO_HW_VER_REV_DRIVE,            \
 		GPIO_CAN1_TX,                     \
 		GPIO_CAN1_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
@@ -332,6 +343,14 @@
 		GPIO_NFC_GPIO,                    \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_nARMED_INIT,                 \
+		GPIO_FMU_CH1,     	          \
+		GPIO_FMU_CH2,     	          \
+		GPIO_FMU_CH3,     	          \
+		GPIO_FMU_CH4,     	          \
+		GPIO_FMU_CH5,     	          \
+		GPIO_FMU_CH6,     	          \
+		GPIO_FMU_CH7,     	          \
+		GPIO_FMU_CH8,     	          \
 		GPIO_FMU_CAP,     	          \
 		GPIO_SPIX_SYNC                    \
 	}

boards/atl/mantis-edu/src/board_config.h

@@ -121,7 +121,9 @@
 #define BOARD_REAR_LED_MASK  (1 << 1) | (1 << 2)
 
 /* HEATER */
-#define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
 
 #define BOARD_HAS_LED_PWM              1
 #define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
@@ -182,7 +184,7 @@
 		PX4_ADC_GPIO,                     \
 		GPIO_HW_REV_DRIVE,                \
 		GPIO_HW_VER_DRIVE,                \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_OTGFS_VBUS                   \
 	}

boards/auterion/fmu-v6s/default.px4board

@@ -55,6 +55,7 @@ CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_TASK_WATCHDOG=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_LOGGER_STACK_SIZE=4100
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y

boards/auterion/fmu-v6s/init/rc.board_defaults

@@ -34,5 +34,8 @@ nshterm /dev/ttyS3 &
 # Start the time_persistor to cyclically store the RTC in FRAM
 time_persistor start
 
+# Start the task_watchdog as we do not have the logger watchdog
+task_watchdog start
+
 # Start the ESC telemetry
 dshot telemetry -d /dev/ttyS5 -x

boards/auterion/fmu-v6s/init/rc.board_sensors

@@ -77,5 +77,5 @@ ist8310 -X -b 1 -R 10 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -X
 fi

boards/auterion/fmu-v6x/src/board_config.h

@@ -224,8 +224,10 @@
 /* HEATER
  * PWM in future
  */
-#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 /* PE6 is nARMED
  *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -443,7 +445,7 @@
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \

boards/bluerobotics/navigator/init/rc.board_sensors

@@ -28,7 +28,7 @@ then
 	echo "ads1115 not found."
 fi
 
-if ! pca9685_pwm_out start
+if ! pca9685_pwm_out start -X
 then
 	echo "pca9685_pwm_out not found."
 fi

boards/cuav/fmu-v6x/src/board_config.h

@@ -230,8 +230,10 @@
 /* HEATER
  * PWM in future
  */
-#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 /* PE6 is nARMED
  *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -453,7 +455,7 @@
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \

boards/cuav/nora/src/board_config.h

@@ -104,8 +104,10 @@
 #define GPIO_CAN2_SILENT_S1  /* PH3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN3)
 
 /* HEATER */
-#define GPIO_HEATER_OUTPUT   /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
-#define HEATER_OUTPUT_EN(on_true)      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define HEATER1_OUTPUT_EN(on_true)      px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS   14
@@ -212,7 +214,7 @@
 		GPIO_CAN2_RX,                     \
 		GPIO_CAN1_SILENT_S0,              \
 		GPIO_CAN2_SILENT_S1,              \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_nPOWER_IN_CAN,               \
 		GPIO_nPOWER_IN_ADC,               \
 		GPIO_nPOWER_IN_C,                 \

boards/cuav/x25-evo/CMakeLists.txt

@@ -31,5 +31,4 @@
 #
 ############################################################################
 
-add_subdirectory(core_heater)
 add_subdirectory(pwm_voltage)

boards/cuav/x25-evo/core_heater/core_heater.cpp

@@ -1,263 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file core_heater.cpp
- *
- */
-
-#include "core_heater.h"
-
-#include <px4_platform_common/getopt.h>
-#include <px4_platform_common/log.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_io_heater.h>
-
-ModuleBase::Descriptor Core_Heater::desc{task_spawn, custom_command, print_usage};
-
-#  ifndef GPIO_CORE_HEATER_OUTPUT
-#  error "To use the heater driver, the board_config.h must define and initialize GPIO_CORE_HEATER_OUTPUT"
-#  endif
-
-Core_Heater::Core_Heater() :
-	ModuleParams(nullptr),
-	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
-{
-	_heater_status_pub.advertise();
-}
-
-Core_Heater::~Core_Heater()
-{
-	disable_core_heater();
-}
-
-int Core_Heater::custom_command(int argc, char *argv[])
-{
-	// Check if the driver is running.
-	if (!is_running(desc)) {
-		PX4_INFO("not running");
-		return PX4_ERROR;
-	}
-
-	return print_usage("Unrecognized command.");
-}
-
-void Core_Heater::disable_core_heater()
-{
-	// Reset heater to off state.
-	px4_arch_unconfiggpio(GPIO_CORE_HEATER_OUTPUT);
-}
-
-void Core_Heater::initialize_core_heater_io()
-{
-	// Initialize heater to off state.
-	px4_arch_configgpio(GPIO_CORE_HEATER_OUTPUT);
-}
-
-void Core_Heater::core_heater_off()
-{
-	CORE_HEATER_OUTPUT_EN(false);
-}
-
-void Core_Heater::core_heater_on()
-{
-	CORE_HEATER_OUTPUT_EN(true);
-}
-
-bool Core_Heater::initialize_topics()
-{
-	for (uint8_t i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
-		uORB::SubscriptionData<sensor_accel_s> sensor_accel_sub{ORB_ID(sensor_accel), i};
-
-		if (sensor_accel_sub.get().timestamp != 0 &&
-		    sensor_accel_sub.get().device_id != 0 &&
-		    PX4_ISFINITE(sensor_accel_sub.get().temperature)) {
-
-			// If the correct ID is found, exit the for-loop with _sensor_accel_sub pointing to the correct instance.
-			if (sensor_accel_sub.get().device_id == (uint32_t)_param_core_temp_id.get()) {
-				_sensor_accel_sub.ChangeInstance(i);
-				_sensor_device_id = sensor_accel_sub.get().device_id;
-				initialize_core_heater_io();
-				return true;
-			}
-		}
-	}
-
-	return false;
-}
-
-void Core_Heater::Run()
-{
-	if (should_exit()) {
-		exit_and_cleanup(desc);
-		return;
-	}
-
-	update_params();
-
-	if (_sensor_device_id == 0) {
-		if (!initialize_topics()) {
-			// if sensor still not found try again in 1 second
-			ScheduleDelayed(1_s);
-			return;
-		}
-	}
-
-	sensor_accel_s sensor_accel;
-	float temperature_delta {0.f};
-
-	if (_core_heater_on) {
-		// Turn the heater off.
-		_core_heater_on = false;
-		core_heater_off();
-		ScheduleDelayed(_controller_period_usec - _controller_time_on_usec);
-
-	} else if (_sensor_accel_sub.update(&sensor_accel)) {
-		// Update the current IMU sensor temperature if valid.
-		if (PX4_ISFINITE(sensor_accel.temperature)) {
-			temperature_delta = _param_core_imu_temp.get() - sensor_accel.temperature;
-			_temperature_last = sensor_accel.temperature;
-		}
-
-		_proportional_value = temperature_delta * _param_core_imu_temp_p.get();
-		_integrator_value += temperature_delta * _param_core_imu_temp_i.get();
-
-		_integrator_value = math::constrain(_integrator_value, -0.25f, 0.25f);
-
-		_controller_time_on_usec = static_cast<int>((_param_core_imu_temp_ff.get() + _proportional_value +
-					   _integrator_value) * static_cast<float>(_controller_period_usec));
-
-		_controller_time_on_usec = math::constrain(_controller_time_on_usec, 0, _controller_period_usec);
-
-		if (fabsf(temperature_delta) < TEMPERATURE_TARGET_THRESHOLD) {
-			_temperature_target_met = true;
-
-		} else {
-
-			_temperature_target_met = false;
-		}
-
-		_core_heater_on = true;
-		core_heater_on();
-		ScheduleDelayed(_controller_time_on_usec);
-	}
-
-	publish_status();
-}
-
-void Core_Heater::publish_status()
-{
-	heater_status_s status{};
-	status.device_id               = _sensor_device_id;
-	status.heater_on               = _core_heater_on;
-	status.temperature_sensor      = _temperature_last;
-	status.temperature_target      = _param_core_imu_temp.get();
-	status.temperature_target_met  = _temperature_target_met;
-	status.controller_period_usec  = _controller_period_usec;
-	status.controller_time_on_usec = _controller_time_on_usec;
-	status.proportional_value      = _proportional_value;
-	status.integrator_value        = _integrator_value;
-	status.feed_forward_value      = _param_core_imu_temp_ff.get();
-
-	status.mode = heater_status_s::MODE_GPIO;
-
-	status.timestamp = hrt_absolute_time();
-	_heater_status_pub.publish(status);
-}
-
-int Core_Heater::start()
-{
-	// Exit the driver if the sensor ID does not match the desired sensor.
-	if (_param_core_temp_id.get() == 0) {
-		PX4_ERR("Valid CORE_TEMP_ID required");
-		request_stop();
-		return PX4_ERROR;
-	}
-
-	update_params(true);
-	ScheduleNow();
-	return PX4_OK;
-}
-
-int Core_Heater::task_spawn(int argc, char *argv[])
-{
-	Core_Heater *core_heater = new Core_Heater();
-
-	if (!core_heater) {
-		PX4_ERR("driver allocation failed");
-		return PX4_ERROR;
-	}
-
-	desc.object.store(core_heater);
-	desc.task_id = task_id_is_work_queue;
-
-	core_heater->start();
-	return 0;
-}
-
-void Core_Heater::update_params(const bool force)
-{
-	if (_parameter_update_sub.updated() || force) {
-		// clear update
-		parameter_update_s param_update;
-		_parameter_update_sub.copy(&param_update);
-
-		// update parameters from storage
-		ModuleParams::updateParams();
-	}
-}
-
-int Core_Heater::print_usage(const char *reason)
-{
-	if (reason) {
-		printf("%s\n\n", reason);
-	}
-
-	PRINT_MODULE_DESCRIPTION(
-		R"DESCR_STR(
-### Description
-Background process running periodically on the LP work queue to regulate IMU temperature at a setpoint.
-
-)DESCR_STR");
-
-	PRINT_MODULE_USAGE_NAME("core_heater", "system");
-	PRINT_MODULE_USAGE_COMMAND("start");
-	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-
-	return 0;
-}
-
-extern "C" __EXPORT int core_heater_main(int argc, char *argv[])
-{
-	return ModuleBase::main(Core_Heater::desc, argc, argv);
-}

boards/cuav/x25-evo/core_heater/core_heater.h

@@ -1,161 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file core_heater.h
- *
- */
-
-#pragma once
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/getopt.h>
-#include <px4_platform_common/module.h>
-#include <px4_platform_common/module_params.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <uORB/Publication.hpp>
-#include <uORB/SubscriptionInterval.hpp>
-#include <uORB/topics/heater_status.h>
-#include <uORB/topics/parameter_update.h>
-#include <uORB/topics/sensor_accel.h>
-
-#include <mathlib/mathlib.h>
-
-using namespace time_literals;
-
-#define CONTROLLER_PERIOD_DEFAULT    10000
-#define TEMPERATURE_TARGET_THRESHOLD 2.5f
-
-class Core_Heater : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
-{
-public:
-	static Descriptor desc;
-
-	Core_Heater();
-
-	virtual ~Core_Heater();
-
-	/**
-	 * @see ModuleBase::custom_command().
-	 * @brief main Main entry point to the module that should be
-	 *        called directly from the module's main method.
-	 * @param argc The input argument count.
-	 * @param argv Pointer to the input argument array.
-	 * @return Returns 0 iff successful, -1 otherwise.
-	 */
-	static int custom_command(int argc, char *argv[]);
-
-	/**
-	 * @see ModuleBase::print_usage().
-	 * @brief Prints the module usage to the nuttshell console.
-	 * @param reason The requested reason for printing to console.
-	 */
-	static int print_usage(const char *reason = nullptr);
-
-	/**
-	 * @see ModuleBase::task_spawn().
-	 * @brief Initializes the class in the same context as the work queue
-	 *        and starts the background listener.
-	 * @param argv Pointer to the input argument array.
-	 * @return Returns 0 iff successful, -1 otherwise.
-	 */
-	static int task_spawn(int argc, char *argv[]);
-
-	/**
-	 * @brief Initiates the heater driver work queue, starts a new background task,
-	 *        and fails if it is already running.
-	 * @return Returns 1 iff start was successful.
-	 */
-	int start();
-
-private:
-
-	/** Disables the heater (either by GPIO). */
-	void disable_core_heater();
-
-	/** Turns the heater on (either by GPIO). */
-	void core_heater_on();
-
-	/** Turns the heater off (either by GPIO). */
-	void core_heater_off();
-
-	void initialize();
-
-	/** Enables / configures the heater (either by GPIO). */
-	void initialize_core_heater_io();
-
-	/** @brief Called once to initialize uORB topics. */
-	bool initialize_topics();
-
-	void publish_status();
-
-	/** @brief Calculates the heater element on/off time and schedules the next cycle. */
-	void Run() override;
-
-	/**
-	 * @brief Updates and checks for updated uORB parameters.
-	 * @param force Boolean to determine if an update check should be forced.
-	 */
-	void update_params(const bool force = false);
-
-	/** Work queue struct for the scheduler. */
-	static struct work_s _work;
-
-	bool _core_heater_initialized     = false;
-	bool _core_heater_on              = false;
-	bool _temperature_target_met = false;
-
-	int _controller_period_usec = CONTROLLER_PERIOD_DEFAULT;
-	int _controller_time_on_usec = 0;
-
-	float _integrator_value   = 0.0f;
-	float _proportional_value = 0.0f;
-
-	uORB::Publication<heater_status_s> _heater_status_pub{ORB_ID(heater_status)};
-
-	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
-
-	uORB::Subscription _sensor_accel_sub{ORB_ID(sensor_accel)};
-
-	uint32_t _sensor_device_id{0};
-
-	float _temperature_last{NAN};
-
-	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::CORE_IMU_TEMP_FF>) _param_core_imu_temp_ff,
-		(ParamFloat<px4::params::CORE_IMU_TEMP_I>)  _param_core_imu_temp_i,
-		(ParamFloat<px4::params::CORE_IMU_TEMP_P>)  _param_core_imu_temp_p,
-		(ParamFloat<px4::params::CORE_IMU_TEMP>)    _param_core_imu_temp,
-		(ParamInt<px4::params::CORE_TEMP_ID>)       _param_core_temp_id
-	)
-};

boards/cuav/x25-evo/init/rc.board_defaults

@@ -20,15 +20,14 @@ param set-default USB_MAV_MODE 5
 param set-default UAVCAN_SUB_GPS 1
 param set-default UAVCAN_SUB_BAT 1
 
-# Enable IMU thermal control
+# IMU thermal control (multi-instance heater)
+# HEATER1_IMU_ID: 2818058(IIM42652 SPI1)
+# HEATER2_IMU_ID: 3014698(IIM42653 SPI5)
 param set-default SENS_EN_THERMAL 1
-param set-default SENS_IMU_TEMP 45
-param set-default SENS_TEMP_ID 2818058
-
-# CUAV core board IMU thermal control
-param set-default CORE_IMU_TEMP 45
-param set-default CORE_TEMP_ID 3014698
-core_heater start
+param set-default HEATER1_IMU_ID 2818058
+param set-default HEATER1_TEMP 45
+param set-default HEATER2_IMU_ID 3014698
+param set-default HEATER2_TEMP 45
 
 # CUAV pwm voltage 3.3V/5V switch
 pwm_voltage_apply start

boards/cuav/x25-evo/src/board_config.h

@@ -175,15 +175,14 @@
 #define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
 
-/* HEATER
- * PWM in future
- */
-// IMU BOARD HEATER
-#define GPIO_HEATER_OUTPUT        /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
-// CORE BOARD HEATER
-#define GPIO_CORE_HEATER_OUTPUT    /* PE6  T15CH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
-#define CORE_HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_CORE_HEATER_OUTPUT, (on_true))
+
+/* HEATER */
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM	2
+#define GPIO_HEATER1_OUTPUT       /* PB10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER1_OUTPUT_EN(on_true)             px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
+#define GPIO_HEATER2_OUTPUT       /* PE6  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
+#define HEATER2_OUTPUT_EN(on_true)             px4_arch_gpiowrite(GPIO_HEATER2_OUTPUT, (on_true))
 
 /* PE7 is nARMED
  *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -403,8 +402,8 @@
 		GPIO_CAN2_RX,                     \
 		GPIO_CAN1_SILENT_S0,		  \
 		GPIO_CAN2_SILENT_S1,              \
-		GPIO_HEATER_OUTPUT,               \
-		GPIO_CORE_HEATER_OUTPUT,	  \
+		GPIO_HEATER1_OUTPUT,              \
+		GPIO_HEATER2_OUTPUT,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \

boards/cuav/x25-super/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(pwm_voltage)

boards/cuav/x25-super/bootloader.px4board

@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""

boards/cuav/x25-super/cmake/upload.cmake

@@ -0,0 +1,49 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+
+set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
+
+add_custom_target(upload_skynode_usb
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME}
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)
+
+add_custom_target(upload_skynode_wifi
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)

boards/cuav/x25-super/default.px4board

@@ -0,0 +1,91 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
+CONFIG_DRIVERS_ADC_ADS1115=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_BMP581=y
+CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_HEATER=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
+CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SAFETY_BUTTON=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+CONFIG_MODULES_AIRSPEED_SELECTOR=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
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NETMAN=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+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_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y

boards/cuav/x25-super/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 7003,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the CUAVX25SUPER board",
+    "image": "",
+    "build_time": 0,
+    "summary": "CUAVX25SUPER",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1966080,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/cuav/x25-super/init/rc.board_defaults

@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+Mavlink ethernet (CFG 1000)
+param set-default MAV_2_CONFIG 1000
+param set-default MAV_2_BROADCAST 1
+param set-default MAV_2_MODE 0
+param set-default MAV_2_RADIO_CTL 0
+param set-default MAV_2_RATE 100000
+param set-default MAV_2_REMOTE_PRT 14550
+param set-default MAV_2_UDP_PRT 14550
+
+param set-default SENS_EN_INA238 0
+param set-default SENS_EN_INA228 0
+param set-default SENS_EN_INA226 0
+
+param set-default USB_MAV_MODE 5
+
+param set-default UAVCAN_SUB_GPS 1
+param set-default UAVCAN_SUB_BAT 1
+
+# IMU thermal control (multi-instance heater)
+param set-default SENS_EN_THERMAL 1
+param set-default HEATER1_IMU_ID 2818066
+param set-default HEATER1_TEMP 45
+param set-default HEATER2_IMU_ID 3014698
+param set-default HEATER2_TEMP 45
+
+# CUAV pwm voltage 3.3V/5V switch
+pwm_voltage_apply start
+
+safety_button start
+
+# Update IP config if needed
+netman update -i eth0

boards/cuav/x25-super/init/rc.board_sensors

@@ -0,0 +1,65 @@
+#!/bin/sh
+#
+# CUAV X25-SUPER specific board sensors init
+#------------------------------------------------------------------------------
+set HAVE_PM2 yes
+
+if mft query -q -k MFT -s MFT_PM2 -v 0
+then
+	set HAVE_PM2 no
+fi
+
+board_adc start
+
+if param compare -s ADC_ADS1115_EN 1
+then
+	ads1115 start -X
+	board_adc start -n
+else
+	board_adc start
+fi
+
+if param compare SENS_EN_INA226 1
+then
+	# Start Digital power monitors
+	ina226 -X -b 1 -t 1 -k start
+
+	if [ $HAVE_PM2 = yes ]
+	then
+		ina226 -X -b 2 -t 2 -k start
+	fi
+fi
+
+if param compare SENS_EN_INA228 1
+then
+	# Start Digital power monitors
+	ina228 -X -b 1 -t 1 -k start
+	if [ $HAVE_PM2 = yes ]
+	then
+		ina228 -X -b 2 -t 2 -k start
+	fi
+fi
+
+if param compare SENS_EN_INA238 1
+then
+	# Start Digital power monitors
+	ina238 -X -b 1 -t 1 -k start
+	if [ $HAVE_PM2 = yes ]
+	then
+		ina238 -X -b 2 -t 2 -k start
+	fi
+fi
+
+sch16t -s -R 2 -b 1 start
+iim42652 -s -b 2 -C 32768 start
+iim42653 -s -b 5 -R 12 start
+
+rm3100 -s -b 4 start
+
+bmp581 -s -b 4 start
+icp201xx -I -b 4 start
+
+# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
+ist8310 -X -b 1 -R 10 start
+
+unset HAVE_PM2

boards/cuav/x25-super/nuttx-config/Kconfig

@@ -0,0 +1,17 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.

boards/cuav/x25-super/nuttx-config/bootloader/defconfig

@@ -0,0 +1,95 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DEV_CONSOLE is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_SPI_EXCHANGE is not set
+# CONFIG_STM32H7_SYSCFG is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/x25-super/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=768
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x004c
+CONFIG_CDCACM_PRODUCTSTR="PX4 BL CUAV X25-SUPER"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3163
+CONFIG_CDCACM_VENDORSTR="CUAV"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SPI=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_UART5=y
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_UART5_RXBUFSIZE=512
+CONFIG_UART5_RXDMA=y
+CONFIG_UART5_TXBUFSIZE=512
+CONFIG_UART5_TXDMA=y
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000

boards/cuav/x25-super/nuttx-config/include/board.h

@@ -0,0 +1,565 @@
+/************************************************************************************
+ * nuttx-configs/cuav_x25-super/include/board.h
+ *
+ *   Copyright (C) 2016-2026 Gregory Nutt. All rights reserved.
+ *   Authors: David Sidrane <david.sidrane@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+#ifndef __NUTTX_CONFIG_CUAV_X25_SUPER_INCLUDE_BOARD_H
+#define __NUTTX_CONFIG_CUAV_X25_SUPER_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdmmc.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The CUAV X25-SUPER board provides the following clock sources:
+ *
+ *   X1: 16 MHz crystal for HSE
+ *
+ * So we have these clock source available within the STM32
+ *
+ *   HSI: 16 MHz RC factory-trimmed
+ *   HSE: 16 MHz crystal for HSE
+ */
+
+#define STM32_BOARD_XTAL        16000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE = 16,000,000
+ *
+ * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ * Subject to:
+ *
+ *     1 <= PLLM <= 63
+ *     4 <= PLLN <= 512
+ *   150 MHz <= PLL_VCOL <= 420MHz
+ *   192 MHz <= PLL_VCOH <= 836MHz
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * CPUCLK  = SYSCLK / D1CPRE
+ * Subject to
+ *
+ *   PLLP1   = {2, 4, 6, 8, ..., 128}
+ *   PLLP2,3 = {2, 3, 4, ..., 128}
+ *   CPUCLK <= 480 MHz
+ */
+
+// #define STM32_BOARD_USEHSE
+
+#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
+
+/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
+ *
+ *   PLL1_VCO = (16,000,000 / 1) * 60 = 960 MHz
+ *
+ *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
+ *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
+ *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
+ */
+
+#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVP1EN | \
+				 RCC_PLLCFGR_DIVQ1EN | \
+				 RCC_PLLCFGR_DIVR1EN)
+#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
+#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(60)
+#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
+#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
+
+#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 60)
+#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
+#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
+
+/* PLL2 */
+
+#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
+				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
+				  RCC_PLLCFGR_DIVP2EN | \
+				  RCC_PLLCFGR_DIVQ2EN | \
+				  RCC_PLLCFGR_DIVR2EN)
+#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(4)
+#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
+#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
+#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
+#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
+
+#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 4) * 48)
+#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+
+/* PLL3 */
+
+#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVQ3EN)
+#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(4)
+#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
+#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
+#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
+#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
+
+#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 4) * 48)
+#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
+#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+
+/* SYSCLK = PLL1P = 480MHz
+ * CPUCLK = SYSCLK / 1 = 480 MHz
+ */
+
+#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
+#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
+#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
+
+/* Configure Clock Assignments */
+
+/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
+ * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
+ */
+
+#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
+#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
+#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
+#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
+
+#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
+#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* Timer clock frequencies */
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Kernel Clock Configuration
+ *
+ * Note: look at Table 54 in ST Manual
+ */
+
+/* I2C123 clock source */
+
+#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
+
+/* I2C4 clock source */
+
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
+
+/* SPI123 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
+
+/* SPI45 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
+
+/* SPI6 clock source */
+
+#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
+
+/* USB 1 and 2 clock source */
+
+#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
+
+/* ADC 1 2 3 clock source */
+
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
+
+/* UART clock selection */
+/* reset to default to overwrite any changes done by any bootloader */
+
+#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
+#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
+
+/* FDCAN 1 2 clock source */
+
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
+/* FLASH wait states
+ *
+ *  ------------ ---------- -----------
+ *  Vcore        MAX ACLK   WAIT STATES
+ *  ------------ ---------- -----------
+ *  1.15-1.26 V     70 MHz    0
+ *  (VOS1 level)   140 MHz    1
+ *                 210 MHz    2
+ *  1.05-1.15 V     55 MHz    0
+ *  (VOS2 level)   110 MHz    1
+ *                 165 MHz    2
+ *                 220 MHz    3
+ *  0.95-1.05 V     45 MHz    0
+ *  (VOS3 level)    90 MHz    1
+ *                 135 MHz    2
+ *                 180 MHz    3
+ *                 225 MHz    4
+ *  ------------ ---------- -----------
+ */
+
+#define BOARD_FLASH_WAITSTATES 2
+
+/* SDMMC definitions ********************************************************/
+
+/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
+
+#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+
+/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
+ * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
+ */
+
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+
+#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
+
+/* LED definitions ******************************************************************/
+/* The PX4 FMUV6X board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+ * LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+/* LED definitions ******************************************************************/
+/* The px4_fmu-v6x board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+ * LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+#define BOARD_LED3_BIT    (1 << BOARD_LED3)
+
+/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
+ * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
+ * events as follows:
+ *
+ *
+ *   SYMBOL                     Meaning                      LED state
+ *                                                        Red   Green Blue
+ *   ----------------------  --------------------------  ------ ------ ----*/
+
+#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
+#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
+#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
+#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
+#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
+#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
+#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
+#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
+#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
+
+/* Thus if the Green LED is statically on, NuttX has successfully booted and
+ * is, apparently, running normally.  If the Red LED is flashing at
+ * approximately 2Hz, then a fatal error has been detected and the system
+ * has halted.
+ */
+
+/* Alternate function pin selections ************************************************/
+
+#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6 */
+
+#define GPIO_USART2_RX   GPIO_USART2_RX_1       /* PA3   */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2       /* PD5   */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2      /* PD4   */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2  /* PD3   */
+
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9   */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8   */
+
+#define GPIO_UART4_RX    GPIO_UART4_RX_6    /* PH14 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_6    /* PH13 */
+
+#define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
+#define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
+// GPIO_UART5_RTS   no remap                /* PC8  */
+#undef GPIO_UART5_CTS
+#define GPIO_UART5_CTS   ((GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9) | GPIO_PULLDOWN)
+
+#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
+#define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */
+
+#define GPIO_UART7_RX    GPIO_UART7_RX_4    /* PF6  */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
+#define GPIO_UART7_RTS   GPIO_UART7_RTS_2   /* PF8  */
+#define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN)   /* PE10 */
+
+#define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1 */
+
+
+/* CAN
+ *
+ * CAN1 is routed to transceiver.
+ * CAN2 is routed to transceiver.
+ */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1  */
+#define GPIO_CAN2_RX     GPIO_CAN2_RX_1     /* PB12 */
+#define GPIO_CAN2_TX     GPIO_CAN2_TX_1     /* PB13  */
+
+/* SPI
+ * SPI1 is sensors1
+ * SPI2 is sensors2
+ * SPI3 is sensors3
+ * SPI4 is Not Used
+ * SPI5 is FRAM
+ * SPI6 is EXTERNAL1
+ *
+ */
+
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_50MHz))
+
+#define GPIO_SPI1_MISO   ADJ_SLEW_RATE(GPIO_SPI1_MISO_3)		/* PG9  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_2               		/* PB5  */
+#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1 				/* PA5  */
+
+#define GPIO_SPI2_MISO   ADJ_SLEW_RATE(GPIO_SPI2_MISO_3)               	/* PI2  */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4               		/* PI3  */
+#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_6 				/* PI1  */
+
+#define GPIO_SPI4_MISO   ADJ_SLEW_RATE(GPIO_SPI4_MISO_1)               	/* PE13 */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_1               		/* PE14  */
+#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_1				/* PE12 */
+
+#define GPIO_SPI5_MISO   ADJ_SLEW_RATE(GPIO_SPI5_MISO_2)               	/* PH7  */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_1               		/* PF11 */
+#define GPIO_SPI5_SCK    GPIO_SPI5_SCK_1 				/* PF7  */
+
+#define GPIO_SPI6_MISO   ADJ_SLEW_RATE(GPIO_SPI6_MISO_2)               	/* PA6  */
+#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_1               		/* PG14 */
+#define GPIO_SPI6_SCK    GPIO_SPI6_SCK_3				/* PB3  */
+
+/* I2C
+ *
+ *   The optional _GPIO configurations allow the I2C driver to manually
+ *   reset the bus to clear stuck slaves.  They match the pin configuration,
+ *   but are normally-high GPIOs.
+ *
+ */
+
+#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
+#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
+
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
+
+#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2       /* PF1 */
+#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2       /* PF0 */
+
+#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN1)
+#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN0)
+
+#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1       /* PA8 */
+#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */
+
+#define GPIO_I2C3_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN8)
+#define GPIO_I2C3_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN8)
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */
+
+#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14)
+#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15)
+
+/* SDMMC2
+ *
+ *      VDD 3.3
+ *      GND
+ *      SDMMC2_CK                           PD6
+ *      SDMMC2_CMD                          PD7
+ *      SDMMC2_D0                           PB14
+ *      SDMMC2_D1                           PB15
+ *      SDMMC2_D2                           PG11
+ *      SDMMC2_D3                           PB4
+ */
+
+#define GPIO_SDMMC2_CK   GPIO_SDMMC2_CK_1  /* PD6 */
+#define GPIO_SDMMC2_CMD  GPIO_SDMMC2_CMD_1 /* PD7 */
+//      GPIO_SDMMC2_D0   No Remap          /* PB14 */
+//      GPIO_SDMMC2_D1   No Remap          /* PB15 */
+#define GPIO_SDMMC2_D2   GPIO_SDMMC2_D2_1  /* PG11 */
+//      GPIO_SDMMC2_D3    No Remap         /* PB4 */
+
+/* The STM32 H7 connects to a TI DP83848TSQ/NOPB
+ * using RMII
+ *
+ *   STM32 H7 BOARD        DP83848TSQ/NOPB
+ *   GPIO     SIGNAL       PIN NAME
+ *   -------- ------------ -------------
+ *   PA7     ETH_CRS_DV    CRS_DV
+ *   PC1     ETH_MDC       MDC
+ *   PA2     ETH_MDIO      MDIO
+ *   PA1     ETH_REF_CL    X1
+ *   PC4     ETH_RXD0      RX_D0
+ *   PC5     ETH_RXD1      RX_D1
+ *   PB11    ETH_TX_EN     TX_EN
+ *   PG13    ETH_TXD0      TX_D0
+ *   PG12    ETH_TXD1      TX_D1
+ *
+ * The PHY address is 1, since COL/PHYAD0 features a pull up.
+ */
+
+#define GPIO_ETH_RMII_TX_EN	GPIO_ETH_RMII_TX_EN_1 /* PB11 */
+#define GPIO_ETH_RMII_TXD0	GPIO_ETH_RMII_TXD0_2  /* PG13 */
+#define GPIO_ETH_RMII_TXD1	GPIO_ETH_RMII_TXD1_2  /* PG12 */
+
+
+/* USB
+ *
+ *      OTG_FS_DM                           PA11
+ *      OTG_FS_DP                           PA12
+ *      VBUS                                PA9
+ */
+
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# include "stm32_gpio.h"
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)   /* PI0 AUX1 */
+# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12)  /* PH12 AUX2 */
+# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11)  /* PH11 AUX3 */
+# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10)  /* PH10 AUX4 */
+# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)  /* PD13 AUX5 */
+# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)  /* PD14 AUX6 */
+# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6)   /* PH6  AUX7 */
+# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9)   /* PH9  AUX8 */
+# define PROBE_9    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)  /* PE11  CAP1 */
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
+		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
+		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
+		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
+		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
+		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
+		if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \
+	} while(0)
+
+# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
+
+#endif  /*__NUTTX_CONFIG_CUAV_X25_SUPER_INCLUDE_BOARD_H  */

boards/cuav/x25-super/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,72 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     /* 1 DMA1:37 SCH16T */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     /* 2 DMA1:38 SCH16T */
+
+#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0     /* 3 DMA1:39 IIM42652 */
+#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0     /* 4 DMA1:40 IIM42652 */
+
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
+
+// Assigned in timer_config.cpp
+
+// Timer 4                                          /* 7 DMA1:32 TIM4UP */
+// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+
+// DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1     /* 1 DMA2:61 RM3100 */
+#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1     /* 2 DMA2:62 RM3100 */
+
+#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_1     /* 1 DMA2:61 IIM42653 */
+#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_1     /* 2 DMA2:62 IIM42653 */
+
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66  TELEM2 */
+
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79  TELEM1 */
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80  TELEM1 */
+
+// DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       /* 1 BDMA:11 SPI J11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       /* 2 BDMA:12 SPI J11 */

boards/cuav/x25-super/nuttx-config/nsh/defconfig

@@ -0,0 +1,333 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_ARP is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_IFUPDOWN is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_NSLOOKUP is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TELNETD is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/x25-super/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=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x004c
+CONFIG_CDCACM_PRODUCTSTR="PX4 CUAV X25-SUPER"
+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_MEMFAULT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_ETH0_PHY_LAN8742A=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_FSUTILS_IPCFG=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_THROTTLE=0
+CONFIG_IPCFG_BINARY=y
+CONFIG_IPCFG_CHARDEV=y
+CONFIG_IPCFG_PATH="/fs/mtd_net"
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_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_NET=y
+CONFIG_NETDB_DNSCLIENT=y
+CONFIG_NETDB_DNSCLIENT_ENTRIES=8
+CONFIG_NETDB_DNSSERVER_NOADDR=y
+CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NETINIT_DHCPC=y
+CONFIG_NETINIT_DNS=y
+CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
+CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_MONITOR=y
+CONFIG_NETINIT_THREAD=y
+CONFIG_NETINIT_THREAD_PRIORITY=49
+CONFIG_NETUTILS_TELNETD=y
+CONFIG_NET_ARP_IPIN=y
+CONFIG_NET_ARP_SEND=y
+CONFIG_NET_BROADCAST=y
+CONFIG_NET_ETH_PKTSIZE=1518
+CONFIG_NET_ICMP=y
+CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_NACTIVESOCKETS=16
+CONFIG_NET_SOLINGER=y
+CONFIG_NET_TCP=y
+CONFIG_NET_TCPBACKLOG=y
+CONFIG_NET_TCP_DELAYED_ACK=y
+CONFIG_NET_TCP_WRITE_BUFFERS=y
+CONFIG_NET_UDP=y
+CONFIG_NET_UDP_CHECKSUMS=y
+CONFIG_NET_UDP_WRITE_BUFFERS=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_TELNET=y
+CONFIG_NSH_TELNET_LOGIN=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_EMULATE_PAGE_SHIFT=6
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=6
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SDMMC2_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_ETHMAC=y
+CONFIG_STM32H7_FLASH_OVERRIDE_I=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_PHYSR=31
+CONFIG_STM32H7_PHYSR_100MBPS=0x8
+CONFIG_STM32H7_PHYSR_FULLDUPLEX=0x10
+CONFIG_STM32H7_PHYSR_MODE=0x10
+CONFIG_STM32H7_PHYSR_SPEED=0x8
+CONFIG_STM32H7_PHY_POLLING=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SDMMC2=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI2_DMA=y
+CONFIG_STM32H7_SPI2_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI4=y
+CONFIG_STM32H7_SPI4_DMA=y
+CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI5=y
+CONFIG_STM32H7_SPI5_DMA=y
+CONFIG_STM32H7_SPI5_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI6_DMA=y
+CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
+CONFIG_STM32H7_TIM12=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_TIM5=y
+CONFIG_STM32H7_TIM8=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART5=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_DHCPC_RENEW=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_PING=y
+CONFIG_SYSTEM_SYSTEM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART5_IFLOWCONTROL=y
+CONFIG_UART5_OFLOWCONTROL=y
+CONFIG_UART5_RXDMA=y
+CONFIG_UART5_TXBUFSIZE=10000
+CONFIG_UART5_TXDMA=y
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_IFLOWCONTROL=y
+CONFIG_UART7_OFLOWCONTROL=y
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_RXDMA=y
+CONFIG_UART7_TXBUFSIZE=3000
+CONFIG_UART7_TXDMA=y
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART1_TXDMA=y
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=3000
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=180
+CONFIG_USART3_SERIAL_CONSOLE=y
+CONFIG_USART3_TXBUFSIZE=1500
+CONFIG_USART6_BAUD=57600
+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_WATCHDOG=y

boards/cuav/x25-super/nuttx-config/scripts/bootloader_script.ld

@@ -0,0 +1,215 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2026 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The PX4 FMUV6X uses an STM32H753II has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743II, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The PX4 FMUV6X has a test point on board, the BOOT0 pin is at ground so by
+ * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
+ * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743II also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The bootloader uses the first sector of the flash, which is 128K in length.
+ */
+
+MEMORY
+{
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08000000, LENGTH =  128K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/cuav/x25-super/nuttx-config/scripts/script.ld

@@ -0,0 +1,229 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2026 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The PX4 FMUV6X uses an STM32H753II has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743II, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The PX4 FMUV6X has a test point on board, the BOOT0 pin is at ground so by
+ * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
+ * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743II also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ */
+
+MEMORY
+{
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+EXTERN(board_get_manifest)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > FLASH
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > FLASH
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > FLASH
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > FLASH
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > AXI_SRAM
+
+	/* Emit the the D3 power domain section for locating BDMA data */
+
+	.sram4_reserve (NOLOAD) :
+	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
+	} > SRAM4
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/cuav/x25-super/pwm_voltage/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__pwm_voltage_apply
+	MAIN pwm_voltage_apply
+
+	SRCS
+		pwm_voltage.cpp
+	DEPENDS
+		px4_work_queue
+	)

boards/cuav/x25-super/pwm_voltage/parameters.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,8 +32,12 @@
  ****************************************************************************/
 
 /**
- * This parameter is deprecated. Please use BAT1_I_CHANNEL.
+ * Control PWM output voltage
  *
- * @group Battery Calibration
+ * @value 0 3.3V
+ * @value 1 5.0V
+ *
+ * @reboot_required true
+ * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(BAT_ADC_CHANNEL, -1);
+PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);

boards/cuav/x25-super/pwm_voltage/pwm_voltage.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2018-19 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,67 +31,26 @@
  *
  ****************************************************************************/
 
-/**
- * @file heater_params.c
- * Heater parameters.
- *
- * @author Mark Sauder <mcsauder@gmail.com>
- * @author Alex Klimaj <alexklimaj@gmail.com>
- * @author Jake Dahl <dahl.jakejacob@gmail.com>
- */
+#include <inttypes.h>
+#include <stdint.h>
 
-/**
- * Target IMU device ID to regulate temperature.
- *
- * @category system
- * @group Sensors
- */
-PARAM_DEFINE_INT32(SENS_TEMP_ID, 0);
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module_params.h>
 
-/**
- * Target IMU temperature.
- *
- * @category system
- * @group Sensors
- * @unit celcius
- * @min 0
- * @max 85.0
- * @decimal 3
- */
-PARAM_DEFINE_FLOAT(SENS_IMU_TEMP, 55.0f);
+#include "board_config.h"
 
-/**
- * IMU heater controller feedforward value.
- *
- * @category system
- * @group Sensors
- * @unit %
- * @min 0
- * @max 1.0
- * @decimal 3
- */
-PARAM_DEFINE_FLOAT(SENS_IMU_TEMP_FF, 0.05f);
+extern "C" int pwm_voltage_apply_main(int argc, char *argv[])
+{
+	int32_t pwm_volt_sel = 0;
 
-/**
- * IMU heater controller integrator gain value.
- *
- * @category system
- * @group Sensors
- * @unit us/C
- * @min 0
- * @max 1.0
- * @decimal 3
- */
-PARAM_DEFINE_FLOAT(SENS_IMU_TEMP_I, 0.025f);
+	param_get(param_find("PWM_VOLT_SEL"), &pwm_volt_sel);
 
-/**
- * IMU heater controller proportional gain value.
- *
- * @category system
- * @group Sensors
- * @unit us/C
- * @min 0
- * @max 2.0
- * @decimal 3
- */
-PARAM_DEFINE_FLOAT(SENS_IMU_TEMP_P, 1.0f);
+	if (pwm_volt_sel != 0) {
+		PWM_5V_VOLT_SEL(true);
+
+	} else {
+		PWM_5V_VOLT_SEL(false);
+	}
+
+	return 0;
+}

boards/cuav/x25-super/src/CMakeLists.txt

@@ -0,0 +1,75 @@
+############################################################################
+#
+#   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
+	add_compile_definitions(BOOTLOADER)
+	add_library(drivers_board
+		bootloader_main.c
+		init.c
+		usb.c
+		timer_config.cpp
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer #gpio
+			arch_io_pins # iotimer
+			bootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		init.c
+		led.c
+		mtd.cpp
+		sdio.c
+		spi.cpp
+		timer_config.cpp
+		usb.c
+	)
+	add_dependencies(drivers_board arch_board_hw_info)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_io_pins
+			arch_spi
+			arch_board_hw_info
+			drivers__led # drv_led_start
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer
+	)
+endif()

boards/cuav/x25-super/src/board_config.h

@@ -0,0 +1,506 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * CUAV X25-SUPER internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+
+#include <stm32_gpio.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+#undef TRACE_PINS
+
+/* Configuration ************************************************************************************/
+
+#define BOARD_HAS_LTC44XX_VALIDS      2 //  N Bricks
+#define BOARD_HAS_USB_VALID           1 // LTC Has USB valid
+#define BOARD_HAS_NBAT_V              2d // 2 Digital Voltage
+#define BOARD_HAS_NBAT_I              2d // 2 Digital Current
+
+/* PX4FMU GPIOs ***********************************************************************************/
+
+/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
+
+#  define GPIO_nLED_RED        /* PE3 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+#  define GPIO_nLED_GREEN      /* PE4 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
+#  define GPIO_nLED_BLUE       /* PE5 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
+
+#  define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#  define BOARD_OVERLOAD_LED     LED_RED
+#  define BOARD_ARMED_STATE_LED  LED_BLUE
+
+/* CAN Silence Silent mode control */
+
+#define GPIO_CAN1_SILENT_S0  /* PE2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN2)
+#define GPIO_CAN2_SILENT_S1  /* PI8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN8)
+
+/* SPI */
+
+#define SPI6_nRESET_EXTERNAL1       /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
+
+/* I2C busses */
+
+/* Devices on the onboard buses.
+ *
+ * Note that these are unshifted addresses.
+ */
+#define BOARD_MTD_NUM_EEPROM        1 /* MTD: imu_eeprom*/
+
+#define GPIO_I2C4_DRDY1_ICP20100    /* PG5  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that
+ * can be used by the Px4 Firmware in the adc driver
+ */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+
+#define ADC1_CH(n)                  (n)
+
+/* N.B. there is no offset mapping needed for ADC3 because */
+#define ADC3_CH(n)                  (n)
+
+/* We are only use ADC3 for REV/VER.
+ * ADC3_6V6 and ADC3_3V3 are mapped back to ADC1
+ * To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3
+ * respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO
+ * PA0SO of 0.
+ *
+ *  0 Analog switch closed (pads are connected through the analog switch)
+ *
+ * So ADC3_INP0 is GPIO_ADC123_INP12
+ *    ADC3_INP1 is GPIO_ADC12_INP13
+ */
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below  */
+
+#define PX4_ADC_GPIO  \
+	/* PA0  */  GPIO_ADC1_INP16,   \
+	/* PA4  */  GPIO_ADC12_INP18,  \
+	/* PB1  */  GPIO_ADC12_INP5,   \
+	/* PC0	*/  GPIO_ADC123_INP10, \
+	/* PC3  */  GPIO_ADC12_INP13,  \
+	/* PF12 */  GPIO_ADC1_INP6,    \
+	/* PH3  */  GPIO_ADC3_INP14,   \
+	/* PH4  */  GPIO_ADC3_INP15
+
+// TODO: PF3 ADC3 6V6
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL     /* PA0  */  ADC1_CH(16)
+#define ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL     /* PA4  */  ADC1_CH(18)
+#define ADC_SCALED_V5_CHANNEL                   /* PB1  */  ADC1_CH(5)
+#define ADC_RSSI_IN_CHANNEL			/* PC0  */  ADC1_CH(10)
+#define ADC_ADC3_3V3_CHANNEL                    /* PC3  */  ADC3_CH(13)
+#define ADC_SERVO_VDD_SENSORS_CHANNEL     	/* PF12 */  ADC1_CH(6)
+#define ADC_HW_VER_SENSE_CHANNEL                /* PH3  */  ADC3_CH(14)
+#define ADC_HW_REV_SENSE_CHANNEL                /* PH4  */  ADC3_CH(15)
+
+#define ADC_CHANNELS \
+	((1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \
+	 (1 << ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL) | \
+	 (1 << ADC_SCALED_V5_CHANNEL)               | \
+	 (1 << ADC_RSSI_IN_CHANNEL)		    | \
+	 (1 << ADC_ADC3_3V3_CHANNEL)                | \
+	 (1 << ADC_SERVO_VDD_SENSORS_CHANNEL))
+
+
+/* HW has to large of R termination on ADC todo:change when HW value is chosen */
+
+#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
+
+#define SYSTEM_ADC_BASE STM32_ADC1_BASE
+
+/* HW has to large of R termination on ADC todo:change when HW value is chosen */
+#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
+
+#define BOARD_ADC_BRICK_VALID          1
+
+/* HW Version and Revision drive signals Default to 1 to detect */
+// #define BOARD_HAS_HW_SPLIT_VERSIONING
+
+#define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
+#define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
+#define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
+
+/* HEATER */
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM	2
+#define GPIO_HEATER1_OUTPUT       /* PB10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER1_OUTPUT_EN(on_true)             px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
+#define GPIO_HEATER2_OUTPUT       /* PE6  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
+#define HEATER2_OUTPUT_EN(on_true)             px4_arch_gpiowrite(GPIO_HEATER2_OUTPUT, (on_true))
+
+/* PE7 is nARMED
+ *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
+ *  While armed it shall be configured at a GPIO OUT set LOW
+ */
+#if !defined(TRACE_PINS)
+#define GPIO_nARMED_INIT     /* PE7 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN7)
+#define GPIO_nARMED          /* PE7 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN7)
+#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
+#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
+#endif
+
+/* PWM
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS   16
+
+/* PWM Power */
+#define GPIO_PWM_VOLT_SEL		/* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define PWM_5V_VOLT_SEL(on_true)	px4_arch_gpiowrite(GPIO_PWM_VOLT_SEL, (on_true))
+
+/* Power supply control and monitoring GPIOs */
+
+#define GPIO_nPOWER_IN_A                /* PJ1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN1)
+#define GPIO_nPOWER_IN_B                /* PJ2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN2)
+#define GPIO_nPOWER_IN_C                /* PJ3  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN3)
+
+#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
+#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_B /* Brick 2 Is Chosen  */
+#define BOARD_NUMBER_BRICKS             2
+#define BOARD_NUMBER_DIGITAL_BRICKS     2
+#define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */
+
+#define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
+#define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_PULLUP|GPIO_PORTF|GPIO_PIN13)
+#define GPIO_VDD_5V_PERIPH_EN           /* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN4)
+#define GPIO_VDD_5V_HIPOWER_EN          /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN10)
+#define GPIO_VDD_PWM_POWER_EN  		/* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
+#define GPIO_VDD_3V3_SENSORS1_EN	/* PI11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN4)
+#define GPIO_VDD_3V3_SENSORS3_EN	/* PI4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN4)
+#define GPIO_VDD_5V_RC_EN	        /* PJ5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTJ|GPIO_PIN5)
+
+/* Spare GPIO */
+
+#define GPIO_PA10			/* PA10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
+#define GPIO_PA15			/* PA15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN15)
+#define BATT_VOLTAGE_SENS		/* PB0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
+#define SPI3_MOSI			/* PB2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2)
+#define BATT_CURRENT_SENS		/* PC0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
+#define SPI3_SCK			/* PC10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN10)
+#define SPI3_MISO			/* PC11 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN11)
+#define GPIO_ADC_6V6			/* PF3 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTF|GPIO_PIN3)
+#define GPIO_PG2			/* PG2 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
+#define GPIO_PI9			/* PI9 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN9)
+#define GPIO_PI12			/* PI12 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN12)
+#define GPIO_PI13			/* PI13 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN13)
+#define GPIO_PI14			/* PI14 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN14)
+#define GPIO_PI15			/* PI15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN15)
+#define GPIO_PJ7			/* PJ7 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN7)
+#define GPIO_PJ8			/* PJ8 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN8)
+#define GPIO_PJ10			/* PJ10 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN10)
+#define GPIO_PJ13			/* PJ13 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN13)
+#define GPIO_PJ14			/* PJ14 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN14)
+#define GPIO_PJ15			/* PJ15 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN15)
+#define GPIO_PK0			/* PK0 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTK|GPIO_PIN0)
+#define GPIO_PK1			/* PK1 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTK|GPIO_PIN1)
+#define GPIO_PK2			/* PK2 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTK|GPIO_PIN2)
+#define GPIO_PK3			/* PK3 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTK|GPIO_PIN3)
+#define GPIO_PK4			/* PK4 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTK|GPIO_PIN4)
+#define GPIO_PK5			/* PK5 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTK|GPIO_PIN5)
+#define GPIO_PK6			/* PK6 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTK|GPIO_PIN6)
+#define GPIO_PK7			/* PK7 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTK|GPIO_PIN7)
+
+/* ETHERNET GPIO */
+
+#define GPIO_ETH_POWER_EN              /* PG15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN15)
+
+/* Define True logic Power Control in arch agnostic form */
+#define VDD_5V_PERIPH_EN(on_true)		px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_EN, (on_true))
+#define VDD_5V_HIPOWER_EN(on_true)         	px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_EN, (on_true))
+#define VDD_PWM_POWER_EN(on_true)		px4_arch_gpiowrite(GPIO_VDD_PWM_POWER_EN, (on_true))
+#define VDD_3V3_SD_CARD_EN(on_true)        	px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
+#define VDD_3V3_ETH_POWER_EN(on_true)      	px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true))
+#define VDD_3V3_SENSORS1_EN(on_true)	   	px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS1_EN, (on_true))
+#define VDD_3V3_SENSORS3_EN(on_true)	   	px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS3_EN, (on_true))
+#define VDD_5V_RC_EN(on_true)                   px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
+
+
+/* Tone alarm output */
+
+#define TONE_ALARM_TIMER        14  /* Timer 14 */
+#define TONE_ALARM_CHANNEL      1  /* PF9 GPIO_TIM14_CH1OUT_2 */
+
+#define GPIO_BUZZER_1           /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9)
+
+#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
+#define GPIO_TONE_ALARM         GPIO_TIM14_CH1OUT_2
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
+
+/* High-resolution timer */
+#define HRT_TIMER               3  /* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL       2  /* use capture/compare channel 3 */
+
+#define HRT_PPM_CHANNEL         /* T8C1 */  1  /* use capture/compare channel 1 */
+#define GPIO_PPM_IN       	/* PC6 T8C1 */ GPIO_TIM3_CH1IN_3
+
+/* RC Serial port */
+
+#define RC_SERIAL_PORT                     "/dev/ttyS5"
+#define RC_SERIAL_SINGLEWIRE
+
+/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
+#define PWMIN_TIMER                       4
+#define PWMIN_TIMER_CHANNEL    /* T4C2 */ 2
+#define GPIO_PWM_IN            /* PD13 */ GPIO_TIM4_CH2IN_2
+
+/* Safety Switch is HW version dependent on having an PX4IO
+ * So we init to a benign state with the _INIT definition
+ * and provide the the non _INIT one for the driver to make a run time
+ * decision to use it.
+ */
+#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT   /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN10)
+#define GPIO_nSAFETY_SWITCH_LED_OUT        /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
+
+/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
+#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT
+
+#define GPIO_SAFETY_SWITCH_IN              /* PF5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN5)
+/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
+#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
+
+/* Power switch controls ******************************************************/
+
+// #define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
+
+/*
+ * FMUv6X has a separate RC_IN
+ *
+ * GPIO PPM_IN on PI5 T8CH1
+ * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
+ *   Inversion is possible in the UART and can drive  GPIO PPM_IN as an output
+ */
+
+#define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
+#define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
+#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
+#define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
+
+// /* RSSI_IN */
+#define GPIO_RSSI_IN                   /* PC0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
+
+#define SDIO_SLOTNO                    0  /* Only one slot */
+#define SDIO_MINOR                     0
+
+/* SD card bringup does not work if performed on the IDLE thread because it
+ * will cause waiting.  Use either:
+ *
+ *  CONFIG_BOARDCTL=y, OR
+ *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
+ */
+
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
+   !defined(CONFIG_BOARD_INITTHREAD)
+#  warning SDIO initialization cannot be perfomed on the IDLE thread
+#endif
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
+
+/* FMUv6X never powers off the Servo rail */
+
+#define BOARD_ADC_SERVO_VALID     (1)
+
+#if !defined(BOARD_HAS_LTC44XX_VALIDS) || BOARD_HAS_LTC44XX_VALIDS == 0
+#  define BOARD_ADC_BRICK1_VALID  (1)
+#  define BOARD_ADC_BRICK2_VALID  (0)
+#elif BOARD_HAS_LTC44XX_VALIDS == 1
+#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#  define BOARD_ADC_BRICK2_VALID  (0)
+#elif BOARD_HAS_LTC44XX_VALIDS == 2
+#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
+#elif BOARD_HAS_LTC44XX_VALIDS == 3
+#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
+#  define BOARD_ADC_BRICK3_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
+#elif BOARD_HAS_LTC44XX_VALIDS == 4
+#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
+#  define BOARD_ADC_BRICK3_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
+#  define BOARD_ADC_BRICK4_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK4_VALID))
+#else
+#  error Unsupported BOARD_HAS_LTC44XX_VALIDS value
+#endif
+
+#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
+#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
+
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+
+#define BOARD_HAS_ON_RESET 1
+
+#define PX4_GPIO_INIT_LIST { \
+		PX4_ADC_GPIO,                   \
+		GPIO_HW_VER_REV_DRIVE,          \
+		GPIO_CAN1_TX,                   \
+		GPIO_CAN1_RX,                   \
+		GPIO_CAN2_TX,                   \
+		GPIO_CAN2_RX,                   \
+		GPIO_CAN1_SILENT_S0,		\
+		GPIO_CAN2_SILENT_S1,            \
+		GPIO_HEATER1_OUTPUT,            \
+		GPIO_HEATER2_OUTPUT,            \
+		GPIO_nPOWER_IN_A,               \
+		GPIO_nPOWER_IN_B,               \
+		GPIO_nPOWER_IN_C,               \
+		GPIO_VDD_5V_PERIPH_EN,          \
+		GPIO_VDD_5V_PERIPH_nOC,         \
+		GPIO_VDD_5V_HIPOWER_EN,         \
+		GPIO_VDD_5V_HIPOWER_nOC,       	\
+		GPIO_VDD_PWM_POWER_EN,  	\
+		GPIO_VDD_3V3_SD_CARD_EN,        \
+		GPIO_VDD_3V3_SENSORS3_EN,	\
+		GPIO_VDD_3V3_SENSORS1_EN,	\
+		GPIO_VDD_5V_RC_EN,	        \
+		GPIO_ETH_POWER_EN,              \
+		GPIO_TONE_ALARM_IDLE,           \
+		GPIO_nSAFETY_SWITCH_LED_OUT, 	\
+		GPIO_SAFETY_SWITCH_IN,          \
+		GPIO_nARMED_INIT,               \
+		GPIO_PWM_VOLT_SEL,		\
+		GPIO_PA10,			\
+		GPIO_PA15,			\
+		BATT_VOLTAGE_SENS,		\
+		SPI3_MOSI,			\
+		BATT_CURRENT_SENS,		\
+		SPI3_SCK,			\
+		SPI3_MISO,			\
+		GPIO_ADC_6V6,			\
+		GPIO_PG2,			\
+		GPIO_PI9,			\
+		GPIO_PI12,			\
+		GPIO_PI13,			\
+		GPIO_PI14,			\
+		GPIO_PI15,			\
+		GPIO_PJ7,			\
+		GPIO_PJ8,			\
+		GPIO_PJ10,			\
+		GPIO_PJ13,			\
+		GPIO_PJ14,			\
+		GPIO_PJ15,			\
+		GPIO_PK0,			\
+		GPIO_PK1,			\
+		GPIO_PK2,			\
+		GPIO_PK3,			\
+		GPIO_PK4,			\
+		GPIO_PK5,			\
+		GPIO_PK6,			\
+		GPIO_PK7,			\
+	}
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+#define PX4_I2C_BUS_MTD      4
+
+
+#define BOARD_NUM_IO_TIMERS 5
+#define BOARD_SPI_BUS_MAX_BUS_ITEMS 5
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void);
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

boards/cuav/x25-super/src/bootloader_main.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2026 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,63 +32,31 @@
  ****************************************************************************/
 
 /**
- * @file core_heater_params.c
- * Core Heater parameters.
+ * @file bootloader_main.c
  *
- */
+ * FMU-specific early startup code for bootloader
+*/
 
-/**
- * Target IMU device ID to regulate temperature.
- *
- * @category system
- * @group Sensors
- */
-PARAM_DEFINE_INT32(CORE_TEMP_ID, 0);
+#include "board_config.h"
+#include "bl.h"
 
-/**
- * Target IMU temperature.
- *
- * @category system
- * @group Sensors
- * @unit celcius
- * @min 0
- * @max 85.0
- * @decimal 3
- */
-PARAM_DEFINE_FLOAT(CORE_IMU_TEMP, 55.0f);
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+#include <px4_platform_common/init.h>
 
-/**
- * IMU heater controller feedforward value.
- *
- * @category system
- * @group Sensors
- * @unit %
- * @min 0
- * @max 1.0
- * @decimal 3
- */
-PARAM_DEFINE_FLOAT(CORE_IMU_TEMP_FF, 0.05f);
+extern int sercon_main(int c, char **argv);
 
-/**
- * IMU heater controller integrator gain value.
- *
- * @category system
- * @group Sensors
- * @unit us/C
- * @min 0
- * @max 1.0
- * @decimal 3
- */
-PARAM_DEFINE_FLOAT(CORE_IMU_TEMP_I, 0.025f);
+void board_late_initialize(void)
+{
+	sercon_main(0, NULL);
+}
 
-/**
- * IMU heater controller proportional gain value.
- *
- * @category system
- * @group Sensors
- * @unit us/C
- * @min 0
- * @max 2.0
- * @decimal 3
- */
-PARAM_DEFINE_FLOAT(CORE_IMU_TEMP_P, 1.0f);
+extern void sys_tick_handler(void);
+void board_timerhook(void)
+{
+	sys_tick_handler();
+}

boards/cuav/x25-super/src/can.c

@@ -0,0 +1,123 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file x25-super_can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+#ifdef CONFIG_CAN
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "chip.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+#endif /* CONFIG_CAN */

boards/cuav/x25-super/src/hw_config.h

@@ -0,0 +1,128 @@
+/*
+ * hw_config.h
+ *
+ *  Created on: May 17, 2015
+ *      Author: david_s5
+ */
+
+#ifndef HW_CONFIG_H_
+#define HW_CONFIG_H_
+
+/****************************************************************************
+ * 10-8--2016:
+ *  To simplify the ripple effect on the tools, we will be using
+ *  /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
+ *  moving forward all Bootloaders must contain the prefix "PX4 BL "
+ *  in the USBDEVICESTRING
+ *  This Change will be made in an upcoming BL release
+ ****************************************************************************/
+/*
+ * Define usage to configure a bootloader
+ *
+ *
+ * Constant                example          Usage
+ * APP_LOAD_ADDRESS     0x08004000            - The address in Linker Script, where the app fw is org-ed
+ * BOOTLOADER_DELAY     5000                  - Ms to wait while under USB pwr or bootloader request
+ * BOARD_FMUV2
+ * INTERFACE_USB        1                     - (Optional) Scan and use the USB interface for bootloading
+ * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
+ * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
+ * USBPRODUCTID         0x0011                - PID Should match defconfig
+ * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
+ *                                               delay provided by an APP FW
+ * BOARD_TYPE           9                     - Must match .prototype boad_id
+ * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
+ * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
+ * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
+ * BOARD_FLASH_SIZE     (_FLASH_KBYTES*1024)-   Total Flash size of device, determined at run time.
+ *                         (1024 * 1024)      - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
+ *                                              programmatically
+ *
+ * BOARD_FIRST_FLASH_SECTOR_TO_ERASE  2        - Optional sectors index in the flash_sectors table  (F4 only), to begin erasing.
+ *                                               This is to allow sectors to be reserved for app fw usage. That will NOT be erased
+ *                                               during a FW upgrade.
+ *                                               The default is 0, and selects the first sector to be erased, as the 0th entry in the
+ *                                               flash_sectors table. Which is the second physical sector of FLASH in the device.
+ *                                               The first physical sector of FLASH is used by the bootloader, and is not defined
+ *                                               in the table.
+ *
+ * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
+ *                                                                        BOOTLOADER_RESERVATION_SIZE  will be deducted from
+ *                                                                        BOARD_FLASH_SIZE to determine the size of the App FW
+ *                                                                        and hence the address space of FLASH to erase and program.
+ * USBMFGSTRING            "PX4 AP"            - Optional USB MFG string (default is '3D Robotics' if not defined.)
+ * SERIAL_BREAK_DETECT_DISABLED                -  Optional prevent break selection on Serial port from entering or staying in BL
+ *
+ * * Other defines are somewhat self explanatory.
+ */
+
+/* Boot device selection list*/
+#define USB0_DEV       0x01
+#define SERIAL0_DEV    0x02
+#define SERIAL1_DEV    0x04
+
+#define APP_LOAD_ADDRESS               0x08020000
+#define BOOTLOADER_DELAY               5000
+#define INTERFACE_USB                  1
+#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
+#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
+
+//#define USE_VBUS_PULL_DOWN
+#define INTERFACE_USART                1
+#define INTERFACE_USART_CONFIG         "/dev/ttyS0,1500000"
+#define BOOT_DELAY_ADDRESS             0x000001a0
+#define BOARD_TYPE                     7003
+#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
+#define BOARD_FLASH_SECTORS            (15)
+#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
+
+#define OSC_FREQ                       16
+
+#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE // BLUE
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_GREEN // GREEN
+#define BOARD_LED_ON                   0
+#define BOARD_LED_OFF                  1
+
+#define SERIAL_BREAK_DETECT_DISABLED   1
+
+/*
+ * Uncommenting this allows to force the bootloader through
+ * a PWM output pin. As this can accidentally initialize
+ * an ESC prematurely, it is not recommended. This feature
+ * has not been used and hence defaults now to off.
+ *
+ * # define BOARD_FORCE_BL_PIN_OUT         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
+ * # define BOARD_FORCE_BL_PIN_IN          (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
+ *
+ * # define BOARD_POWER_PIN_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
+ * # define BOARD_POWER_ON                 1
+ * # define BOARD_POWER_OFF                0
+ * # undef  BOARD_POWER_PIN_RELEASE        // Leave pin enabling Power - un comment to release (disable power)
+ *
+*/
+
+#if !defined(ARCH_SN_MAX_LENGTH)
+# define ARCH_SN_MAX_LENGTH 12
+#endif
+
+#if !defined(APP_RESERVATION_SIZE)
+#  define APP_RESERVATION_SIZE 0
+#endif
+
+#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
+#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
+#endif
+
+#if !defined(USB_DATA_ALIGN)
+# define USB_DATA_ALIGN
+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#ifndef BOOT_DEVICES_FILTER_ONUSB
+#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#endif /* HW_CONFIG_H_ */

boards/cuav/x25-super/src/i2c.cpp

@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(1),
+	initI2CBusExternal(2),
+	initI2CBusExternal(3),
+	initI2CBusInternal(4),
+};

boards/cuav/x25-super/src/init.c

@@ -0,0 +1,277 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * PX4FMU-specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "board_config.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <systemlib/px4_macros.h>
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform_common/px4_manifest.h>
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <px4_platform/board_dma_alloc.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	/* set the peripheral rails off */
+
+	VDD_5V_PERIPH_EN(false);
+	VDD_3V3_SENSORS1_EN(false);
+	VDD_3V3_SENSORS3_EN(false);
+
+	board_control_spi_sensors_power(false, 0xffff);
+
+	/* wait for the peripheral rail to reach GND */
+	usleep(ms * 1000);
+	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
+
+	/* re-enable power */
+
+	/* switch the peripheral rail back on */
+	board_control_spi_sensors_power(true, 0xffff);
+	VDD_5V_PERIPH_EN(true);
+	VDD_3V3_SENSORS1_EN(true);
+	VDD_3V3_SENSORS3_EN(true);
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
+	}
+
+	if (status >= 0) {
+		up_mdelay(100);
+	}
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	board_on_reset(-1); /* Reset PWM first thing */
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure pins */
+
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	/* configure USB interfaces */
+
+	stm32_usbinitialize();
+
+	VDD_3V3_ETH_POWER_EN(true);
+
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+#if !defined(BOOTLOADER)
+
+	/* Power on Interfaces */
+	VDD_3V3_SD_CARD_EN(true);
+	VDD_5V_PERIPH_EN(true);
+	VDD_5V_HIPOWER_EN(true);
+	VDD_PWM_POWER_EN(true);
+	VDD_3V3_SENSORS1_EN(true);
+	VDD_3V3_SENSORS3_EN(true);
+	VDD_5V_RC_EN(true);
+
+	/* Need hrt running before using the ADC */
+
+	px4_platform_init();
+
+	// Use the default HW_VER_REV(0x0,0x0) for Ramtron
+
+	stm32_spiinitialize();
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	/* Configure the Actual SPI interfaces (after we determined the HW version)  */
+
+	stm32_spiinitialize();
+
+	board_spi_reset(10, 0xffff);
+
+	/* Configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+#  if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#  endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_on(LED_GREEN); // Indicate Power.
+	led_off(LED_BLUE);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+	// Ensure Power is off for > 10 mS
+	usleep(15 * 1000);
+	VDD_3V3_SD_CARD_EN(true);
+	usleep(500 * 1000);
+
+#  ifdef CONFIG_MMCSD
+	int ret = stm32_sdio_initialize();
+
+	if (ret != OK) {
+		led_on(LED_RED);
+		return ret;
+	}
+
+#  endif /* CONFIG_MMCSD */
+
+#endif /* !defined(BOOTLOADER) */
+
+	return OK;
+}

boards/cuav/x25-super/src/led.c

@@ -0,0 +1,236 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file fmu_led.c
+ *
+ * PX4FMU LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+#ifdef CONFIG_ARCH_LEDS
+static bool nuttx_owns_leds = true;
+//                                B  R  S  G
+//                                0  1  2  3
+static const uint8_t xlatpx4[] = {1, 2, 4, 0};
+#  define xlat(p) xlatpx4[(p)]
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
+	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
+	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
+	GPIO_nSAFETY_SWITCH_LED_OUT,  // Indexed by LED_SAFETY by xlatpx4
+};
+
+#else
+
+#  define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
+	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
+	GPIO_nSAFETY_SWITCH_LED_OUT,   	    // Indexed by LED_SAFETY (defaulted to an input)
+	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
+};
+
+#endif
+
+__EXPORT void led_init(void)
+{
+
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		if (g_ledmap[l] != 0) {
+			stm32_configgpio(g_ledmap[l]);
+		}
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive Low to switch on */
+
+	if (g_ledmap[led] != 0) {
+		stm32_gpiowrite(g_ledmap[led], !state);
+	}
+}
+
+static bool phy_get_led(int led)
+{
+	/* If Low it is on */
+	if (g_ledmap[led] != 0) {
+		return !stm32_gpioread(g_ledmap[led]);
+	}
+
+	return false;
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(xlat(led), true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(xlat(led), false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}
+
+#ifdef CONFIG_ARCH_LEDS
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_autoled_initialize
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	led_init();
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+void board_autoled_on(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_HEAPALLOCATE:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_IRQSENABLED:
+		phy_set_led(BOARD_LED_BLUE, false);
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_STACKCREATED:
+		phy_set_led(BOARD_LED_GREEN, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+	}
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+void board_autoled_off(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, false);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, false);
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */

boards/cuav/x25-super/src/mtd.cpp

@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+//                                                              KiB BS    nB
+static const px4_mft_device_t spi5 = {             // FM25V05A on FMUM native: 64K X 8, emulated as (1024 Blocks of 64)
+	.bus_type = px4_mft_device_t::SPI,
+	.devid    = SPIDEV_FLASH(0)
+};
+static const px4_mft_device_t i2c4 = {             // 24LC64T on IMU   8K 32 X 256
+	.bus_type =  px4_mft_device_t::I2C,
+	.devid    =  PX4_MK_I2C_DEVID(4, 0x50)
+};
+
+static const px4_mtd_entry_t fmum_fram = {
+	.device = &spi5,
+	.npart = 1,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/fs/mtd_params",
+			.nblocks = (65536 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT))
+		}
+	},
+};
+
+static const px4_mtd_entry_t imu_eeprom = {
+	.device = &i2c4,
+	.npart = 2,
+	.partd = {
+		{
+			.type = MTD_CALDATA,
+			.path = "/fs/mtd_caldata",
+			.nblocks = 248
+		},
+		{
+			.type = MTD_NET,
+			.path = "/fs/mtd_net",
+			.nblocks = 8 // 256 = 32 * 8
+		}
+	},
+};
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs   = 2,
+	.entries = {
+		&fmum_fram,
+		&imu_eeprom
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = {
+		&mtd_mft,
+	}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}

boards/cuav/x25-super/src/sdio.c

@@ -0,0 +1,177 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014, 2026 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+
+#include "chip.h"
+#include "board_config.h"
+#include "stm32_gpio.h"
+#include "stm32_sdmmc.h"
+
+#ifdef CONFIG_MMCSD
+
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Card detections requires card support and a card detection GPIO */
+
+#define HAVE_NCD   1
+#if !defined(GPIO_SDMMC1_NCD)
+#  undef HAVE_NCD
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static FAR struct sdio_dev_s *sdio_dev;
+#ifdef HAVE_NCD
+static bool g_sd_inserted = 0xff; /* Impossible value */
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_ncd_interrupt
+ *
+ * Description:
+ *   Card detect interrupt handler.
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_NCD
+static int stm32_ncd_interrupt(int irq, FAR void *context)
+{
+	bool present;
+
+	present = !stm32_gpioread(GPIO_SDMMC1_NCD);
+
+	if (sdio_dev && present != g_sd_inserted) {
+		sdio_mediachange(sdio_dev, present);
+		g_sd_inserted = present;
+	}
+
+	return OK;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void)
+{
+	int ret;
+
+#ifdef HAVE_NCD
+	/* Card detect */
+
+	bool cd_status;
+
+	/* Configure the card detect GPIO */
+
+	stm32_configgpio(GPIO_SDMMC1_NCD);
+
+	/* Register an interrupt handler for the card detect pin */
+
+	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
+#endif
+
+	/* Mount the SDIO-based MMC/SD block driver */
+	/* First, get an instance of the SDIO interface */
+
+	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
+
+	sdio_dev = sdio_initialize(SDIO_SLOTNO);
+
+	if (!sdio_dev) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
+		return -ENODEV;
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+
+	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
+
+	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
+	}
+
+	finfo("Successfully bound SDIO to the MMC/SD driver\n");
+
+#ifdef HAVE_NCD
+	/* Use SD card detect pin to check if a card is g_sd_inserted */
+
+	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
+	finfo("Card detect : %d\n", cd_status);
+
+	sdio_mediachange(sdio_dev, cd_status);
+#else
+	/* Assume that the SD card is inserted.  What choice do we have? */
+
+	sdio_mediachange(sdio_dev, true);
+#endif
+
+	return OK;
+}
+
+#endif /* CONFIG_MMCSD */

boards/cuav/x25-super/src/spi.cpp

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020, 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_SCH16T, SPI::CS{GPIO::PortJ, GPIO::Pin11}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+	}, {GPIO::PortF, GPIO::Pin4}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortG, GPIO::Pin3}),
+	}, {GPIO::PortI, GPIO::Pin4}),
+	initSPIBus(SPI::Bus::SPI4, {
+		initSPIDevice(DRV_MAG_DEVTYPE_RM3100, SPI::CS{GPIO::PortH, GPIO::Pin15}, SPI::DRDY{GPIO::PortG, GPIO::Pin1}),
+		initSPIDevice(DRV_BARO_DEVTYPE_BMP581, SPI::CS{GPIO::PortJ, GPIO::Pin6}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
+	}, {GPIO::PortJ, GPIO::Pin4}),
+	initSPIBus(SPI::Bus::SPI5, {
+		initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortJ, GPIO::Pin12}, SPI::DRDY{GPIO::PortG, GPIO::Pin6}),
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7}),
+	}, {GPIO::PortI, GPIO::Pin11}),
+	initSPIBusExternal(SPI::Bus::SPI6, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/cuav/x25-super/src/timer_config.cpp

@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+/* Timer allocation
+ *
+ * TIM5_CH4  T FMU_CH1  PI0
+ * TIM5_CH3  T FMU_CH2  PH12
+ * TIM5_CH2  T FMU_CH3  PH11
+ * TIM5_CH1  T FMU_CH4  PH10
+ * TIM4_CH2  T FMU_CH5  PD13
+ * TIM4_CH3  T FMU_CH6  PD14
+ * TIM4_CH1  T FMU_CH7  PD12
+ * TIM4_CH4  T FMU_CH8  PD15
+ *
+ *
+ * TIM1_CH2  T FMU_CAP1           < Capture  PE11
+ * TIM1_CH1  T FMU_CAP2           < Capture  PE9
+ * TIM1_CH3  T FMU_CAP3           < Capture  PJ9
+ * TIM8_CH2  T FMU_CAP4           < Capture  PI6
+ * TIM8_CH3  T FMU_CAP5           < Capture  PI7
+ * TIM8_CH1  T FMU_CAP6           < Capture  PI5
+ * TIM12_CH1  T FMU_CAP7          < Capture  PH6
+ * TIM12_CH2  T FMU_CAP8          < Capture  PH9
+ *
+ *
+ * TIM14_CH1  T BUZZER_1              - Driven by other driver
+ * TIM8_CH1_IN  T FMU_PPM_INPUT       - Sampled byt HRT by other driver
+ */
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer1),
+	initIOTimer(Timer::Timer8),
+	initIOTimer(Timer::Timer12),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortI, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortJ, GPIO::Pin9}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer8, Timer::Channel3}, {GPIO::PortI, GPIO::Pin7}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);

boards/cuav/x25-super/src/usb.c

@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu_usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <arm_internal.h>
+#include <chip.h>
+#include <stm32_gpio.h>
+#include <stm32_otg.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32H7_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}

boards/cuav/x7pro/init/rc.board_defaults

@@ -12,7 +12,7 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
 
-param set-default SENS_TEMP_ID 6946850
+param set-default HEATER1_IMU_ID 6946850
 
 rgbled_pwm start
 safety_button start

boards/cuav/x7pro/src/board_config.h

@@ -104,8 +104,10 @@
 #define GPIO_CAN2_SILENT_S1  /* PH3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN3)
 
 /* HEATER */
-#define GPIO_HEATER_OUTPUT   /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
-#define HEATER_OUTPUT_EN(on_true)      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define HEATER1_OUTPUT_EN(on_true)      px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS   14
@@ -212,7 +214,7 @@
 		GPIO_CAN2_RX,                     \
 		GPIO_CAN1_SILENT_S0,              \
 		GPIO_CAN2_SILENT_S1,              \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_nPOWER_IN_CAN,               \
 		GPIO_nPOWER_IN_ADC,               \
 		GPIO_nPOWER_IN_C,                 \

boards/cubepilot/cubeorange/init/rc.board_defaults

@@ -12,6 +12,6 @@ param set-default BAT2_A_PER_V 17
 # Disable IMU thermal control
 param set-default SENS_EN_THERMAL 0
 
-param set-default -s SENS_TEMP_ID 2621474
+param set-default -s HEATER1_IMU_ID 2621474
 
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

boards/cubepilot/cubeorange/src/board_config.h

@@ -59,6 +59,7 @@
 #define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
 
 #define PX4IO_HEATER_ENABLED
+#define HEATER_NUM 1
 
 /* LEDs */
 #define GPIO_nLED_AMBER        /* PE12 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)

boards/cubepilot/cubeorangeplus/init/rc.board_sensors

@@ -18,7 +18,7 @@ ms5611 -s -b 4 start
 if icm42688p -s -b 4 -R 10 -q start -c 15
 then
 	# We need to use the temperature of the first isolated IMU for heater control.
-	param set-default SENS_TEMP_ID 2490402
+	param set-default HEATER1_IMU_ID 2490402
 
 	if ! icm20948 -s -b 4 -R 10 -M -q start
 	then
@@ -28,7 +28,7 @@ else
 	icm45686 -s -b 4 -R 10 start -c 15
 	icm45686 -s -b 4 -R 6 start -c 13
 
-	param set-default SENS_TEMP_ID 3407906
+	param set-default HEATER1_IMU_ID 3407906
 fi
 
 # SPI1, body-fixed

boards/cubepilot/cubeorangeplus/src/board_config.h

@@ -69,6 +69,7 @@
 #define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
 
 #define PX4IO_HEATER_ENABLED
+#define HEATER_NUM 1
 
 /* LEDs */
 #define GPIO_nLED_AMBER        /* PE12 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)

boards/cubepilot/io-v2/src/board_config.h

@@ -80,8 +80,10 @@
 
 
 /* HEATER */
-#define GPIO_HEATER_OUTPUT   /* PB14 */ (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
-#define HEATER_OUTPUT_EN(on_true)       stm32_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PB14 */ (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
+#define HEATER1_OUTPUT_EN(on_true)       stm32_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 
 #define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)

boards/cubepilot/io-v2/src/init.c

@@ -86,7 +86,7 @@ __EXPORT void stm32_boardinitialize(void)
 {
 	/* configure GPIOs */
 
-	stm32_configgpio(GPIO_HEATER_OUTPUT);
+	stm32_configgpio(GPIO_HEATER1_OUTPUT);
 
 	/* LEDS - default to off */
 	stm32_configgpio(GPIO_LED_AMBER);
@@ -141,5 +141,5 @@ __EXPORT void stm32_boardinitialize(void)
 	stm32_configgpio(GPIO_PWM8);
 
 	/* disable heater */
-	HEATER_OUTPUT_EN(false);
+	HEATER1_OUTPUT_EN(false);
 }

boards/hkust/nxt-dual/src/timer_config.cpp

@@ -46,10 +46,10 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
 	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),
 	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
 };
 
 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =

boards/holybro/durandal-v1/src/board_config.h

@@ -170,8 +170,10 @@
 /* HEATER
  * PWM in future
  */
-#define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
-#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define HEATER1_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 /* PWM
  */
@@ -299,7 +301,7 @@
 		GPIO_CAN2_RX,                     \
 		GPIO_CAN1_SILENT_S0,              \
 		GPIO_CAN2_SILENT_S1,              \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \

boards/holybro/pix32v5/src/board_config.h

@@ -204,8 +204,10 @@
 /* HEATER
  * PWM in future
  */
-#define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
-#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define HEATER1_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 /* PI0 is nARMED
  *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -409,7 +411,7 @@
 		GPIO_CAN1_SILENT_S0,              \
 		GPIO_CAN2_SILENT_S1,              \
 		GPIO_CAN3_SILENT_S2,              \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \

boards/modalai/voxl2-slpi/default.px4board

@@ -5,14 +5,19 @@ CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525DO=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_RC_CRSF_RC=y
@@ -26,6 +31,11 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y

boards/modalai/voxl2-slpi/src/CMakeLists.txt

@@ -43,6 +43,37 @@ add_library(drivers_board
 	spi.cpp
     )
 
+# Generate MAVLink common headers for SLPI drivers (dsp_hitl, mavlink_rc_in)
+# Replicates the generation from src/modules/mavlink/CMakeLists.txt so the
+# SLPI build is self-contained and does not depend on voxl2-default.
+set(MAVLINK_GIT_DIR "${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink")
+set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
+
+px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${MAVLINK_GIT_DIR}")
+
+add_custom_command(
+	OUTPUT ${MAVLINK_LIBRARY_DIR}/common/common.h
+	COMMAND ${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		--lang C --wire-protocol 2.0
+		--output ${MAVLINK_LIBRARY_DIR}
+		${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
+		> ${CMAKE_BINARY_DIR}/mavgen_common.log
+	DEPENDS
+		git_mavlink_v2
+		${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
+	COMMENT "Generating MAVLink common headers for SLPI"
+)
+add_custom_target(mavlink_common_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/common/common.h)
+
+add_library(mavlink_common_headers INTERFACE)
+add_dependencies(mavlink_common_headers mavlink_common_generate)
+target_compile_options(mavlink_common_headers INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
+target_include_directories(mavlink_common_headers INTERFACE
+	${MAVLINK_LIBRARY_DIR}
+	${MAVLINK_LIBRARY_DIR}/common
+)
+
 # Add custom drivers for SLPI
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)

boards/modalai/voxl2-slpi/src/board_config.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022 ModalAI, Inc. All rights reserved.
+ *   Copyright (c) 2022-2026 ModalAI, Inc. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#define BOARD_HAS_NO_RESET
+#define CONFIG_BOARDCTL_RESET
 #define BOARD_HAS_NO_BOOTLOADER
 /*
  * I2C buses

boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/CMakeLists.txt

@@ -31,17 +31,15 @@
 #
 ############################################################################
 
-message(STATUS "Mavlink include directory: ${PX4_SOURCE_DIR}/../build/modalai_voxl2_default/mavlink/common")
-
 px4_add_module(
 	MODULE drivers__modalai__dsp_hitl
 	MAIN dsp_hitl
 	INCLUDES
 		${PX4_SOURCE_DIR}/src/drivers/dsp_hitl
-		${PX4_SOURCE_DIR}/build/modalai_voxl2_default/mavlink/common
 	SRCS
 		dsp_hitl.cpp
 	DEPENDS
+		mavlink_common_headers
 		px4_work_queue
 		drivers_accelerometer
 		drivers_gyroscope

boards/modalai/voxl2-slpi/src/drivers/mavlink_rc_in/CMakeLists.txt

@@ -31,19 +31,17 @@
 #
 ############################################################################
 
-message(STATUS "Mavlink include directory: ${PX4_SOURCE_DIR}/../build/modalai_voxl2_default/mavlink/standard")
-
 px4_add_module(
 	MODULE drivers__modalai__mavlink_rc_in
 	MAIN mavlink_rc_in
 	COMPILE_FLAGS
-		-Wno-cast-align # TODO: fix and enable
-		-Wno-address-of-packed-member # TODO: fix in c_library_v2
+		-Wno-cast-align
+		-Wno-address-of-packed-member
 	INCLUDES
 		${PX4_SOURCE_DIR}/src/drivers/rc_input
-		${PX4_SOURCE_DIR}/build/modalai_voxl2_default/mavlink/common
 	SRCS
 		mavlink_rc_in.cpp
 	DEPENDS
+		mavlink_common_headers
 		px4_work_queue
 	)