fix center parameter metadata

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

.clang-tidy

@@ -147,12 +147,9 @@ 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,
@@ -167,13 +164,10 @@ 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,

.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

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/60002_gz_uuv_bluerov2_heavy

@@ -42,23 +42,21 @@ 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 +65,6 @@ 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 +76,7 @@ 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 +100,7 @@ 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/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

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/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/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

@@ -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)
@@ -944,9 +944,6 @@ 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)
 

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/cuav/x25-super/CMakeLists.txt

@@ -0,0 +1,35 @@
+############################################################################
+#
+#   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(core_heater)
+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/core_heater/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   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 drivers__core_heater
+	MAIN core_heater
+	COMPILE_FLAGS
+	SRCS
+		core_heater.cpp
+	)

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

@@ -0,0 +1,261 @@
+/****************************************************************************
+ *
+ *   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 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>
+
+#  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()) {
+		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();
+		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;
+	}
+
+	_object.store(core_heater);
+	_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 Core_Heater::main(argc, argv);
+}

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

@@ -0,0 +1,159 @@
+/****************************************************************************
+ *
+ *   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 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<Core_Heater>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+	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-super/core_heater/core_heater_params.c

@@ -0,0 +1,94 @@
+/****************************************************************************
+ *
+ *   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 core_heater_params.c
+ * Core Heater parameters.
+ *
+ */
+
+/**
+ * Target IMU device ID to regulate temperature.
+ *
+ * @category system
+ * @group Sensors
+ */
+PARAM_DEFINE_INT32(CORE_TEMP_ID, 0);
+
+/**
+ * Target IMU temperature.
+ *
+ * @category system
+ * @group Sensors
+ * @unit celcius
+ * @min 0
+ * @max 85.0
+ * @decimal 3
+ */
+PARAM_DEFINE_FLOAT(CORE_IMU_TEMP, 55.0f);
+
+/**
+ * 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);
+
+/**
+ * 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);
+
+/**
+ * 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);

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 +1,40 @@
+#!/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
+
+# Enable IMU thermal control
+param set-default SENS_EN_THERMAL 1
+param set-default SENS_IMU_TEMP 45
+param set-default SENS_TEMP_ID 5963786
+
+# CUAV core board IMU thermal control
+param set-default CORE_IMU_TEMP 45
+param set-default CORE_TEMP_ID 3014698
+core_heater start
+
+# 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

@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   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 <inttypes.h>
+#include <stdint.h>
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module_params.h>
+
+#include "board_config.h"
+
+extern "C" int pwm_voltage_apply_main(int argc, char *argv[])
+{
+	int32_t pwm_volt_sel = 0;
+
+	param_get(param_find("PWM_VOLT_SEL"), &pwm_volt_sel);
+
+	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 +1,509 @@
+/****************************************************************************
+ *
+ *   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
+ * PWM in future
+ */
+// IMU BOARD HEATER
+#define GPIO_HEATER_OUTPUT        /* PB10 */ (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 */ (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))
+
+/* 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_HEATER_OUTPUT,             \
+		GPIO_CORE_HEATER_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

@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   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
+ * 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 bootloader_main.c
+ *
+ * FMU-specific early startup code for bootloader
+*/
+
+#include "board_config.h"
+#include "bl.h"
+
+#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>
+
+extern int sercon_main(int c, char **argv);
+
+void board_late_initialize(void)
+{
+	sercon_main(0, NULL);
+}
+
+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/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
 	)

boards/modalai/voxl2-slpi/src/spi.cpp

@@ -36,5 +36,5 @@
 #include <drivers/drv_sensor.h>
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(1, {initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P), }),
+	initSPIBus(1, {initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P), initSPIDevice(DRV_IMU_DEVTYPE_BMI270), }),
 };

boards/modalai/voxl2/default.px4board

@@ -3,6 +3,8 @@ CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
 CONFIG_BOARD_ROOT_PATH="/data/px4"
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_QSHELL_POSIX=y
@@ -25,5 +27,6 @@ CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_ORB_COMMUNICATOR=y
 CONFIG_PARAM_PRIMARY=y

boards/modalai/voxl2/scripts/install-voxl.sh

@@ -128,6 +128,11 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-flight_mode_manager"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-imu_server"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-apps_sbus"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-voxl_save_cal_params"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-vehicle_air_data_bridge"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sensor_baro_bridge"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-dps310"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-icp101xx"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-vehicle_local_position_bridge"
 
 # Make sure any required directories exist
 adb shell "/bin/mkdir -p /data/px4/param"

boards/modalai/voxl2/src/CMakeLists.txt

@@ -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
@@ -39,11 +39,20 @@ set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
 
 add_library(drivers_board
 	board_config.h
+	i2c.cpp
 	init.c
+	boardctl.c
+	spi.cpp
     )
 
 # Add custom drivers
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/apps_sbus)
 
+# Add custom libraries
+add_subdirectory(${PX4_BOARD_DIR}/src/lib/mpa)
+
 # Add custom modules
 add_subdirectory(${PX4_BOARD_DIR}/src/modules/voxl_save_cal_params)
+add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_air_data_bridge)
+add_subdirectory(${PX4_BOARD_DIR}/src/modules/sensor_baro_bridge)
+add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_local_position_bridge)

boards/modalai/voxl2/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
@@ -39,12 +39,24 @@
 
 #pragma once
 
-#define BOARD_HAS_NO_RESET
+#define CONFIG_BOARDCTL_RESET
 #define BOARD_HAS_NO_BOOTLOADER
 
-// Define this as empty since there are no I2C buses
+// Define this as empty since i2c clock init isn't required
 #define BOARD_I2C_BUS_CLOCK_INIT
 
+/*
+ * I2C buses
+ */
+#define CONFIG_I2C 1
+#define PX4_NUMBER_I2C_BUSES    1
+
+/*
+ * SPI buses
+ */
+#define CONFIG_SPI 1
+#define BOARD_SPI_BUS_MAX_BUS_ITEMS 1
+
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>
 

boards/modalai/voxl2/src/boardctl.c

@@ -0,0 +1,46 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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 <unistd.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "fc_sensor.h"
+
+int boardctl(unsigned int cmd, uintptr_t arg)
+{
+	fc_sensor_kill_slpi();
+	sleep(2);
+	exit(-1);
+	return 0;
+}

boards/modalai/voxl2/src/i2c.cpp

@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2025-2026 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_platform_common/i2c.h>
+#include <px4_arch/i2c_hw_description.h>
+#include <drivers/drv_sensor.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(0)
+};

boards/modalai/voxl2/src/lib/mpa/CMakeLists.txt

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2025-2026 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# 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_git_submodule(TARGET git_mpa_libmodal-json PATH "libmodal-json")
+px4_add_git_submodule(TARGET git_mpa_libmodal-pipe PATH "libmodal-pipe")
+
+px4_add_library(mpa mpa.cpp)
+
+target_link_libraries(mpa PRIVATE ${CMAKE_DL_LIBS})
+
+target_include_directories(mpa PUBLIC
+	${CMAKE_CURRENT_SOURCE_DIR}/libmodal-json/library/include
+	${CMAKE_CURRENT_SOURCE_DIR}/libmodal-pipe/library/include
+)

boards/modalai/voxl2/src/lib/mpa/mpa.cpp

@@ -0,0 +1,262 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 ModalAI, inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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 "mpa.hpp"
+#include <dlfcn.h>
+#include <px4_log.h>
+#include <string.h>
+
+bool MPA::initialized = false;
+void *MPA::handle = nullptr;
+int MPA::current_client = 0;
+int MPA::current_server = 0;
+
+MPA::pipe_client_set_simple_helper_cb_t MPA::helper_cb = nullptr;
+MPA::pipe_client_set_connect_cb_t MPA::connect_cb = nullptr;
+MPA::pipe_client_set_disconnect_cb_t MPA::disconnect_cb = nullptr;
+MPA::pipe_client_open_t MPA::open_pipe = nullptr;
+MPA::pipe_server_create_t MPA::create_pipe = nullptr;
+MPA::pipe_server_write_t MPA::write_pipe = nullptr;
+MPA::pipe_server_set_control_cb_t MPA::set_control_cb = nullptr;
+MPA::pipe_server_close_t MPA::close_pipe = nullptr;
+MPA::mpa_data_cb_t MPA::data_cb[MAX_MPA_CLIENTS];
+
+// called whenever we connect or reconnect to the server
+void MPA::ConnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context)
+{
+	PX4_INFO("vfc status server connected");
+	return;
+}
+
+// called whenever we disconnect from the server
+void MPA::DisconnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context)
+{
+	PX4_INFO("vfc status server disconnected");
+	return;
+}
+
+void MPA::HelperCB(__attribute__((unused)) int ch, char *data, int bytes, __attribute__((unused)) void *context)
+{
+	// PX4_INFO("Got %d bytes in pipe callback", bytes);
+
+	if (data_cb[ch]) { data_cb[ch](data, bytes); }
+
+	return;
+}
+
+int MPA::PipeClient(const char *pipe_name, int size, mpa_data_cb_t cb)
+{
+	if (!initialized) {
+		PX4_ERR("Cannot open pipe %s before initialization", pipe_name);
+		return -1;
+	}
+
+	printf("waiting for server for pipe %s\n", pipe_name);
+
+	if (open_pipe(current_client, pipe_name, "px4", EN_PIPE_CLIENT_SIMPLE_HELPER, size * 10) < 0) {
+		PX4_ERR("Error opening pipe %s", pipe_name);
+		return -1;
+	}
+
+	data_cb[current_client] = cb;
+	current_client++;
+
+	return current_client - 1;
+}
+
+int MPA::PipeCreate(char *pipe_name, int flags)
+{
+	if (!initialized) {
+		PX4_ERR("Cannot open pipe %s before initialization", pipe_name);
+		return -1;
+	}
+
+	pipe_info_t server_pipe;
+	strncpy(server_pipe.name, pipe_name, MODAL_PIPE_MAX_NAME_LEN);
+	server_pipe.name[MODAL_PIPE_MAX_NAME_LEN - 1] = 0;
+	server_pipe.location[0] = 0;
+	server_pipe.type[0]     = 0;
+	strncpy(server_pipe.server_name, "px4_mpa", MODAL_PIPE_MAX_NAME_LEN);
+	server_pipe.size_bytes  = MODAL_PIPE_DEFAULT_PIPE_SIZE;
+	server_pipe.server_pid  = 0;
+
+	if (create_pipe(current_server, server_pipe, flags) < 0) {
+		// remove_pid_file(server_pipe.server_name);
+		PX4_ERR("Error opening pipe %s", pipe_name);
+		return -1;
+	}
+
+	current_server++;
+
+	return current_server - 1;
+}
+
+int MPA::PipeWrite(int ch, const void *data, int bytes)
+{
+	return write_pipe(ch, data, bytes);
+}
+
+int MPA::PipeServerSetControlCb(int ch, mpa_control_cb_t cb, void *context)
+{
+	return set_control_cb(ch, cb, context);
+}
+
+void MPA::PipeServerClose(int ch)
+{
+	if (close_pipe) {
+		close_pipe(ch);
+	}
+}
+
+int MPA::Initialize()
+{
+	if (initialized) {
+		// Already successfully initialized
+		return 0;
+	}
+
+	char libname[] = "libmodal_pipe.so";
+	handle = dlopen(libname, RTLD_LAZY | RTLD_GLOBAL);
+
+	if (!handle) {
+		PX4_ERR("Error opening library %s: %s\n", libname, dlerror());
+		return -1;
+
+	} else {
+		PX4_INFO("Successfully loaded library %s", libname);
+	}
+
+	// set up all our MPA callbacks
+	char helper_cb_name[] = "pipe_client_set_simple_helper_cb";
+	helper_cb = (pipe_client_set_simple_helper_cb_t) dlsym(handle, helper_cb_name);
+
+	if (!helper_cb) {
+		PX4_ERR("Error finding symbol %s: %s\n", helper_cb_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", helper_cb_name);
+	}
+
+	helper_cb(0, HelperCB, NULL);
+
+	char connect_cb_name[] = "pipe_client_set_connect_cb";
+	connect_cb = (pipe_client_set_connect_cb_t) dlsym(handle, connect_cb_name);
+
+	if (!connect_cb) {
+		PX4_ERR("Error finding symbol %s: %s", connect_cb_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", connect_cb_name);
+	}
+
+	connect_cb(0, ConnectCB, NULL);
+
+	char disconnect_cb_name[] = "pipe_client_set_disconnect_cb";
+	disconnect_cb = (pipe_client_set_disconnect_cb_t) dlsym(handle, disconnect_cb_name);
+
+	if (!disconnect_cb) {
+		PX4_ERR("Error finding symbol %s: %s", disconnect_cb_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", disconnect_cb_name);
+	}
+
+	disconnect_cb(0, DisconnectCB, NULL);
+
+	// request a new pipe from the server
+	char open_pipe_name[] = "pipe_client_open";
+	open_pipe = (pipe_client_open_t) dlsym(handle, open_pipe_name);
+
+	if (!open_pipe) {
+		PX4_ERR("Error finding symbol %s: %s", open_pipe_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", open_pipe_name);
+	}
+
+	// Create a new server pipe
+	char create_pipe_name[] = "pipe_server_create";
+	create_pipe = (pipe_server_create_t) dlsym(handle, create_pipe_name);
+
+	if (!create_pipe) {
+		PX4_ERR("Error finding symbol %s: %s", create_pipe_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", create_pipe_name);
+	}
+
+	// Write to a server pipe
+	char write_pipe_name[] = "pipe_server_write";
+	write_pipe = (pipe_server_write_t) dlsym(handle, write_pipe_name);
+
+	if (!write_pipe) {
+		PX4_ERR("Error finding symbol %s: %s", write_pipe_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", write_pipe_name);
+	}
+
+	// Set control callback for server pipe
+	char set_control_cb_name[] = "pipe_server_set_control_cb";
+	set_control_cb = (pipe_server_set_control_cb_t) dlsym(handle, set_control_cb_name);
+
+	if (!set_control_cb) {
+		PX4_ERR("Error finding symbol %s: %s", set_control_cb_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", set_control_cb_name);
+	}
+
+	// Close server pipe
+	char close_pipe_name[] = "pipe_server_close";
+	close_pipe = (pipe_server_close_t) dlsym(handle, close_pipe_name);
+
+	if (!close_pipe) {
+		PX4_ERR("Error finding symbol %s: %s", close_pipe_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", close_pipe_name);
+	}
+
+	initialized = true;
+
+	return 0;
+}

boards/modalai/voxl2/src/lib/mpa/mpa.hpp

@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 ModalAI, inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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 <modal_pipe.h>
+
+#pragma once
+
+class MPA
+{
+public:
+	static int Initialize();
+
+	typedef void (*mpa_data_cb_t)(char *data, int bytes);
+	typedef void (*mpa_control_cb_t)(int ch, char *data, int bytes, void *context);
+
+	static int PipeClient(const char *pipe_name, int size, mpa_data_cb_t cb);
+
+	static int PipeCreate(char *pipe_name, int flags = 0);
+	static int PipeWrite(int ch, const void *data, int bytes);
+	static int PipeServerSetControlCb(int ch, mpa_control_cb_t cb, void *context);
+	static void PipeServerClose(int ch);
+
+private:
+	static void HelperCB(__attribute__((unused)) int ch, char *data, int bytes, __attribute__((unused)) void *context);
+	static void DisconnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context);
+	static void ConnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context);
+
+	typedef int (*pipe_client_set_simple_helper_cb_t)(int ch, client_simple_cb *cb, void *context);
+	typedef int (*pipe_client_set_connect_cb_t)(int ch, client_connect_cb *cb, void *context);
+	typedef int (*pipe_client_set_disconnect_cb_t)(int ch, client_disc_cb *cb, void *context);
+	typedef int (*pipe_client_open_t)(int ch, const char *name_or_location, const char *client_name, int flags, int buf_len);
+	typedef int (*pipe_server_create_t)(int ch, pipe_info_t info, int flags);
+	typedef int (*pipe_server_write_t)(int ch, const void *data, int bytes);
+	typedef int (*pipe_server_set_control_cb_t)(int ch, server_control_cb *cb, void *context);
+	typedef void (*pipe_server_close_t)(int ch);
+
+	static pipe_client_set_simple_helper_cb_t helper_cb;
+	static pipe_client_set_connect_cb_t connect_cb;
+	static pipe_client_set_disconnect_cb_t disconnect_cb;
+	static pipe_client_open_t open_pipe;
+	static pipe_server_create_t create_pipe;
+	static pipe_server_write_t write_pipe;
+	static pipe_server_set_control_cb_t set_control_cb;
+	static pipe_server_close_t close_pipe;
+
+	static bool initialized;
+	static void *handle;
+
+	static int current_client;
+	static int current_server;
+
+	static const int MAX_MPA_CLIENTS{8};
+	static mpa_data_cb_t data_cb[MAX_MPA_CLIENTS];
+};

boards/modalai/voxl2/src/modules/sensor_baro_bridge/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2025-2026 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# 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__sensor_baro_bridge
+	MAIN sensor_baro_bridge
+	INCLUDES
+		${CMAKE_CURRENT_SOURCE_DIR}/../../lib/mpa
+	SRCS
+		sensor_baro_bridge.cpp
+	DEPENDS
+		mpa
+	)

boards/modalai/voxl2/src/modules/sensor_baro_bridge/sensor_baro_bridge.cpp

@@ -0,0 +1,183 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 ModalAI, inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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 "mpa.hpp"
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <time.h>
+#include <px4_log.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <uORB/uORB.h>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/sensor_baro.h>
+
+class SensorBaroBridge : public ModuleBase, public px4::WorkItem
+{
+public:
+	static Descriptor desc;
+
+	SensorBaroBridge();
+	~SensorBaroBridge() override = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	uORB::SubscriptionCallbackWorkItem _sensor_baro_sub{this, ORB_ID(sensor_baro)};
+
+	sensor_baro_s _sensor_baro{};
+
+	int baro_pipe_ch{0};
+
+};
+
+ModuleBase::Descriptor SensorBaroBridge::desc{task_spawn, custom_command, print_usage};
+
+SensorBaroBridge::SensorBaroBridge() :
+	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
+{
+}
+
+bool SensorBaroBridge::init()
+{
+	if (MPA::Initialize() == -1) {
+		PX4_ERR("MPA init failed");
+		return false;
+	}
+
+	char baro_pipe_name[] = "px4_sensor_baro";
+	baro_pipe_ch = MPA::PipeCreate(baro_pipe_name);
+
+	if (baro_pipe_ch == -1) {
+		PX4_ERR("Pipe create failed for %s", baro_pipe_name);
+		return false;
+	}
+
+	if (!_sensor_baro_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
+	}
+
+	return true;
+}
+
+void SensorBaroBridge::Run()
+{
+	if (should_exit()) {
+		_sensor_baro_sub.unregisterCallback();
+		exit_and_cleanup(desc);
+		return;
+	}
+
+	if (_sensor_baro_sub.updated()) {
+		if (_sensor_baro_sub.update(&_sensor_baro)) {
+			baro_data_t baro;
+			memset(&baro, 0, sizeof(baro));
+
+			baro.magic_number = BARO_MAGIC_NUMBER;
+			baro.pressure_pa = _sensor_baro.pressure;
+			baro.temp_c = _sensor_baro.temperature;
+			baro.alt_amsl_m = 0.0f; // sensor_baro does not include altitude
+			baro.timestamp_ns = _sensor_baro.timestamp * 1000; // Convert µs to ns
+			baro.reserved_1 = 0;
+			baro.reserved_2 = 0;
+
+			if (MPA::PipeWrite(baro_pipe_ch, (void *)&baro, sizeof(baro_data_t)) == -1) {
+				PX4_ERR("Pipe %d write failed!", baro_pipe_ch);
+			}
+		}
+	}
+}
+
+int SensorBaroBridge::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int SensorBaroBridge::task_spawn(int argc, char *argv[])
+{
+	SensorBaroBridge *instance = new SensorBaroBridge();
+
+	if (instance) {
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int SensorBaroBridge::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Sensor baro bridge
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("sensor_baro_bridge", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int sensor_baro_bridge_main(int argc, char *argv[])
+{
+	return ModuleBase::main(SensorBaroBridge::desc, argc, argv);
+}

boards/modalai/voxl2/src/modules/vehicle_air_data_bridge/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2025-2026 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# 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__vehicle_air_data_bridge
+	MAIN vehicle_air_data_bridge
+	INCLUDES
+		${CMAKE_CURRENT_SOURCE_DIR}/../../lib/mpa
+	SRCS
+		vehicle_air_data_bridge.cpp
+	DEPENDS
+		mpa
+	)

boards/modalai/voxl2/src/modules/vehicle_air_data_bridge/vehicle_air_data_bridge.cpp

@@ -0,0 +1,183 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 ModalAI, inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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 "mpa.hpp"
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <time.h>
+#include <px4_log.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <uORB/uORB.h>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/vehicle_air_data.h>
+
+class VehicleAirDataBridge : public ModuleBase, public px4::WorkItem
+{
+public:
+	static Descriptor desc;
+
+	VehicleAirDataBridge();
+	~VehicleAirDataBridge() override = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	uORB::SubscriptionCallbackWorkItem _vehicle_air_data_sub{this, ORB_ID(vehicle_air_data)};
+
+	vehicle_air_data_s _vehicle_air_data{};
+
+	int baro_pipe_ch{0};
+
+};
+
+ModuleBase::Descriptor VehicleAirDataBridge::desc{task_spawn, custom_command, print_usage};
+
+VehicleAirDataBridge::VehicleAirDataBridge() :
+	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
+{
+}
+
+bool VehicleAirDataBridge::init()
+{
+	if (MPA::Initialize() == -1) {
+		PX4_ERR("MPA init failed");
+		return false;
+	}
+
+	char baro_pipe_name[] = "px4_vehicle_air_data";
+	baro_pipe_ch = MPA::PipeCreate(baro_pipe_name);
+
+	if (baro_pipe_ch == -1) {
+		PX4_ERR("Pipe create failed for %s", baro_pipe_name);
+		return false;
+	}
+
+	if (!_vehicle_air_data_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
+	}
+
+	return true;
+}
+
+void VehicleAirDataBridge::Run()
+{
+	if (should_exit()) {
+		_vehicle_air_data_sub.unregisterCallback();
+		exit_and_cleanup(desc);
+		return;
+	}
+
+	if (_vehicle_air_data_sub.updated()) {
+		if (_vehicle_air_data_sub.update(&_vehicle_air_data)) {
+			baro_data_t baro;
+			memset(&baro, 0, sizeof(baro));
+
+			baro.magic_number = BARO_MAGIC_NUMBER;
+			baro.pressure_pa = _vehicle_air_data.baro_pressure_pa;
+			baro.temp_c = _vehicle_air_data.ambient_temperature;
+			baro.alt_amsl_m = _vehicle_air_data.baro_alt_meter;
+			baro.timestamp_ns = _vehicle_air_data.timestamp * 1000; // Convert µs to ns
+			baro.reserved_1 = 0;
+			baro.reserved_2 = 0;
+
+			if (MPA::PipeWrite(baro_pipe_ch, (void *)&baro, sizeof(baro_data_t)) == -1) {
+				PX4_ERR("Pipe %d write failed!", baro_pipe_ch);
+			}
+		}
+	}
+}
+
+int VehicleAirDataBridge::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int VehicleAirDataBridge::task_spawn(int argc, char *argv[])
+{
+	VehicleAirDataBridge *instance = new VehicleAirDataBridge();
+
+	if (instance) {
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int VehicleAirDataBridge::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Vehicle air data bridge
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("vehicle_air_data_bridge", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int vehicle_air_data_bridge_main(int argc, char *argv[])
+{
+	return ModuleBase::main(VehicleAirDataBridge::desc, argc, argv);
+}

boards/modalai/voxl2/src/modules/vehicle_local_position_bridge/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2025-2026 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# 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__vehicle_local_position_bridge
+	MAIN vehicle_local_position_bridge
+	INCLUDES
+		${CMAKE_CURRENT_SOURCE_DIR}/../../lib/mpa
+	SRCS
+		vehicle_local_position_bridge.cpp
+	DEPENDS
+		mpa
+	)

boards/modalai/voxl2/src/modules/vehicle_local_position_bridge/vehicle_local_position_bridge.cpp

@@ -0,0 +1,238 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 ModalAI, inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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 "mpa.hpp"
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <time.h>
+#include <math.h>
+#include <px4_log.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <uORB/uORB.h>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/vehicle_local_position.h>
+
+class VehicleLocalPositionBridge : public ModuleBase, public px4::WorkItem
+{
+public:
+	static Descriptor desc;
+
+	VehicleLocalPositionBridge();
+	~VehicleLocalPositionBridge() override = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};
+
+	vehicle_local_position_s _vehicle_local_position{};
+
+	int _pipe_ch{0};
+
+};
+
+ModuleBase::Descriptor VehicleLocalPositionBridge::desc{task_spawn, custom_command, print_usage};
+
+VehicleLocalPositionBridge::VehicleLocalPositionBridge() :
+	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
+{
+}
+
+bool VehicleLocalPositionBridge::init()
+{
+	if (MPA::Initialize() == -1) {
+		PX4_ERR("MPA init failed");
+		return false;
+	}
+
+	char pipe_name[] = "px4_vehicle_local_position";
+	_pipe_ch = MPA::PipeCreate(pipe_name);
+
+	if (_pipe_ch == -1) {
+		PX4_ERR("Pipe create failed for %s", pipe_name);
+		return false;
+	}
+
+	if (!_vehicle_local_position_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
+	}
+
+	return true;
+}
+
+void VehicleLocalPositionBridge::Run()
+{
+	if (should_exit()) {
+		_vehicle_local_position_sub.unregisterCallback();
+		exit_and_cleanup(desc);
+		return;
+	}
+
+	if (_vehicle_local_position_sub.updated()) {
+		if (_vehicle_local_position_sub.update(&_vehicle_local_position)) {
+			// Only publish if we have valid position data
+			if (!_vehicle_local_position.xy_valid && !_vehicle_local_position.z_valid) {
+				return;
+			}
+
+			pose_vel_6dof_t pose;
+
+			pose.magic_number = POSE_VEL_6DOF_MAGIC_NUMBER;
+			pose.timestamp_ns = _vehicle_local_position.timestamp * 1000; // Convert µs to ns
+
+			// Position (NED frame)
+			if (_vehicle_local_position.xy_valid) {
+				pose.T_child_wrt_parent[0] = _vehicle_local_position.x;
+				pose.T_child_wrt_parent[1] = _vehicle_local_position.y;
+
+			} else {
+				pose.T_child_wrt_parent[0] = NAN;
+				pose.T_child_wrt_parent[1] = NAN;
+			}
+
+			if (_vehicle_local_position.z_valid) {
+				pose.T_child_wrt_parent[2] = _vehicle_local_position.z;
+
+			} else {
+				pose.T_child_wrt_parent[2] = NAN;
+			}
+
+			// Rotation matrix from heading (yaw rotation around Z axis)
+			// R_z(heading) = [cos(h)  -sin(h)  0]
+			//                [sin(h)   cos(h)  0]
+			//                [0        0       1]
+			float cos_h = cosf(_vehicle_local_position.heading);
+			float sin_h = sinf(_vehicle_local_position.heading);
+			pose.R_child_to_parent[0][0] = cos_h;
+			pose.R_child_to_parent[0][1] = -sin_h;
+			pose.R_child_to_parent[0][2] = 0.0f;
+			pose.R_child_to_parent[1][0] = sin_h;
+			pose.R_child_to_parent[1][1] = cos_h;
+			pose.R_child_to_parent[1][2] = 0.0f;
+			pose.R_child_to_parent[2][0] = 0.0f;
+			pose.R_child_to_parent[2][1] = 0.0f;
+			pose.R_child_to_parent[2][2] = 1.0f;
+
+			// Velocity (NED frame)
+			if (_vehicle_local_position.v_xy_valid) {
+				pose.v_child_wrt_parent[0] = _vehicle_local_position.vx;
+				pose.v_child_wrt_parent[1] = _vehicle_local_position.vy;
+
+			} else {
+				pose.v_child_wrt_parent[0] = NAN;
+				pose.v_child_wrt_parent[1] = NAN;
+			}
+
+			if (_vehicle_local_position.v_z_valid) {
+				pose.v_child_wrt_parent[2] = _vehicle_local_position.vz;
+
+			} else {
+				pose.v_child_wrt_parent[2] = NAN;
+			}
+
+			// Angular velocity not available in vehicle_local_position
+			pose.w_child_wrt_child[0] = NAN;
+			pose.w_child_wrt_child[1] = NAN;
+			pose.w_child_wrt_child[2] = NAN;
+
+			if (MPA::PipeWrite(_pipe_ch, (void *)&pose, sizeof(pose_vel_6dof_t)) == -1) {
+				PX4_ERR("Pipe %d write failed!", _pipe_ch);
+			}
+		}
+	}
+}
+
+int VehicleLocalPositionBridge::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int VehicleLocalPositionBridge::task_spawn(int argc, char *argv[])
+{
+	VehicleLocalPositionBridge *instance = new VehicleLocalPositionBridge();
+
+	if (instance) {
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int VehicleLocalPositionBridge::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Vehicle local position bridge - publishes vehicle_local_position to MPA pipe as pose_vel_6dof_t
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("vehicle_local_position_bridge", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int vehicle_local_position_bridge_main(int argc, char *argv[])
+{
+	return ModuleBase::main(VehicleLocalPositionBridge::desc, argc, argv);
+}

boards/modalai/voxl2/src/spi.cpp

@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2025-2026 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 <px4_platform_common/spi.h>
+#include <drivers/drv_sensor.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(1, {initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, 0), }),
+};

boards/modalai/voxl2/target/voxl-px4

@@ -2,10 +2,12 @@
 
 CONFIG_FILE="/etc/modalai/voxl-px4.conf"
 
+AIRFRAME=MULTICOPTER
 GPS=NONE
 RC=SPEKTRUM
 ESC=VOXL_ESC
 POWER_MANAGER=VOXLPM
+AIRSPEED_SENSOR=NONE
 DISTANCE_SENSOR=NONE
 OSD=DISABLE
 DAEMON_MODE=DISABLE
@@ -39,12 +41,14 @@ else
 fi
 
 print_usage() {
-    echo -e "\nUsage: voxl-px4 [-b (Specify Holybro GPS unit)]"
+    echo -e "\nUsage: voxl-px4 [-a (Specify Airspeed Sensor)]"
+    echo "                [-b (Specify Holybro GPS unit)]"
     echo "                [-c delete configuration file and exit]"
     echo "                [-d start px4 without daemon mode]"
     echo "                [-f (Use fake rc input instead of from a real transmitter)]"
     echo "                [-m (Specify Matek GPS unit)]"
     echo "                [-o (Start OSD module on the apps processor)]"
+    echo "                [-p (Specify Fixed Wing airframe selected)]"
     echo "                [-r (Specify TBS Crossfire RC receiver, MAVLINK)]"
     echo "                [-w (Specify TBS Crossfire RC receiver, raw)]"
     echo "                [-z (Use fake sensor calibration values)]"
@@ -55,10 +59,12 @@ print_usage() {
 
 print_config_settings(){
     echo -e "\n*************************"
+    echo "AIRFRAME=$AIRFRAME"
     echo "GPS=$GPS"
     echo "RC=$RC"
     echo "ESC=$ESC"
     echo "POWER MANAGER=$POWER_MANAGER"
+    echo "AIRSPEED SENSOR=$AIRSPEED_SENSOR"
     echo "DISTANCE SENSOR=$DISTANCE_SENSOR"
     echo "OSD=$OSD"
     echo "DAEMON_MODE=$DAEMON_MODE"
@@ -71,9 +77,13 @@ print_config_settings(){
     echo -e "*************************\n"
 }
 
-while getopts "bcdhfmorwz" flag
+while getopts "abcdhfmoprwz" flag
 do
     case "${flag}" in
+        a)
+            echo "[INFO] MRO AIRSPEED Sensor selected"
+            AIRSPEED_SENSOR=MS4525DO
+            ;;
         b)
             echo "[INFO] Holybro GPS selected"
             GPS=HOLYBRO
@@ -104,6 +114,10 @@ do
             echo "[INFO] OSD module selected"
             OSD=ENABLE
             ;;
+        p)
+            echo "[INFO] Airframe Selected as Fixed Wing"
+            AIRFRAME=FIXED_WING
+            ;;
         r)
             echo "[INFO] TBS Crossfire RC receiver, MAVLINK selected"
             RC=CRSF_MAV
@@ -137,5 +151,6 @@ fi
 
 print_config_settings
 
-GPS=$GPS RC=$RC ESC=$ESC POWER_MANAGER=$POWER_MANAGER DISTANCE_SENSOR=$DISTANCE_SENSOR \
-OSD=$OSD EXTRA_STEPS=$EXTRA_STEPS px4 $DAEMON -s /usr/bin/voxl-px4-start
+AIRFRAME=$AIRFRAME GPS=$GPS RC=$RC ESC=$ESC POWER_MANAGER=$POWER_MANAGER DISTANCE_SENSOR=$DISTANCE_SENSOR \
+AIRSPEED_SENSOR=$AIRSPEED_SENSOR OSD=$OSD EXTRA_STEPS=$EXTRA_STEPS \
+px4 $DAEMON -s /usr/bin/voxl-px4-start

boards/modalai/voxl2/target/voxl-px4-hitl-start

@@ -17,13 +17,15 @@ if [ $RETURNCODE -ne 0 ]; then
     fi
 fi
 
-# We can only run on M0052, M0054, or M0104 so exit with error if that is not the case
+# We can only run on M0052, M0054, M0104, or M0197 so exit with error if that is not the case
 if [ $PLATFORM = "M0052" ]; then
     /bin/echo "Running on M0052"
 elif [ $PLATFORM = "M0054" ]; then
     /bin/echo "Running on M0054"
 elif [ $PLATFORM = "M0104" ]; then
     /bin/echo "Running on M0104"
+elif [ $PLATFORM = "M0197" ]; then
+    /bin/echo "Running on M0197"
 else
     /bin/echo "Error, cannot determine platform!"
     exit 0
@@ -76,7 +78,11 @@ microdds_client start -t udp -h 127.0.0.1 -p 8888
 qshell pwm_out_sim start -m hil
 # g = gps, m = mag, o = odometry (vio), h = distance sensor, f = optic flow
 # qshell dsp_hitl start -g -m -o -h -f
-qshell dsp_hitl start -g -m
+if [ "$PLATFORM" == "M0197" ]; then
+    qshell dsp_hitl start -g -m -p 6
+else
+    qshell dsp_hitl start -g -m
+fi
 
 # start the onboard fast link to connect to voxl-mavlink-server
 mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard

boards/modalai/voxl2/target/voxl-px4-start

@@ -4,10 +4,12 @@
 . px4-alias.sh
 
 echo -e "\n*************************"
+echo "AIRFRAME: $AIRFRAME"
 echo "GPS: $GPS"
 echo "RC: $RC"
 echo "ESC: $ESC"
 echo "POWER MANAGER: $POWER_MANAGER"
+echo "AIRSPEED SENSOR: $AIRSPEED_SENSOR"
 echo "DISTANCE SENSOR: $DISTANCE_SENSOR"
 echo "OSD: $OSD"
 echo "EXTRA STEPS:"
@@ -23,6 +25,8 @@ echo -e "*************************\n"
 # and modules manually from the px4 command shell
 if [ ! -z $MINIMAL_PX4 ]; then
     /bin/echo "Running minimal script"
+    param select /data/px4/param/parameters
+    param load
     exit 0
 fi
 
@@ -33,23 +37,30 @@ if [ $RETURNCODE -ne 0 ]; then
     # If we couldn't get the platform from the voxl-platform utility then check
     # /etc/version to see if there is an M0052 substring in the version string. If so,
     # then we assume that we are on M0052.
-    VERSIONSTRING=$(</etc/version)
+    VERSIONSTRING=""
+    if [ -f /etc/version ]; then
+        VERSIONSTRING=$(</etc/version)
+    fi
     M0052SUBSTRING="M0052"
     if [[ "$VERSIONSTRING" == *"$M0052SUBSTRING"* ]]; then
         PLATFORM="M0052"
     fi
 fi
 
-# We can only run on M0052, M0054, or M0104 so exit with error if that is not the case
+# We can only run on M0054, M0104, or M0197 so exit with error if that is not the case
 if [ $PLATFORM = "M0052" ]; then
     /bin/echo "Running on M0052"
+    /bin/echo "Error M0052 is no longer supported!!!"
+    exit 1
 elif [ $PLATFORM = "M0054" ]; then
     /bin/echo "Running on M0054"
 elif [ $PLATFORM = "M0104" ]; then
     /bin/echo "Running on M0104"
+elif [ $PLATFORM = "M0197" ]; then
+    /bin/echo "Running on M0197"
 else
     /bin/echo "Error, cannot determine platform!"
-    exit 0
+    exit 1
 fi
 
 # Sleep a little here. A lot happens when the uorb and muorb start
@@ -76,14 +87,43 @@ param load
 # IMU (accelerometer / gyroscope)
 if [ "$PLATFORM" == "M0104" ]; then
     /bin/echo "Starting IMU driver with rotation 12"
-    qshell icm42688p start -s -R 12
+    qshell icm42688p start -s -R 12 -C 32768
+elif [ "$PLATFORM" == "M0197" ]; then
+    /bin/echo "Starting bmi270 IMU driver with rotation 26"
+    qshell bmi270 start -s -R 26
 else
     /bin/echo "Starting IMU driver with no rotation"
-    qshell icm42688p start -s
+    qshell icm42688p start -s -C 32768
 fi
 
-# Start Invensense ICP 101xx barometer built on to VOXL 2
-qshell icp101xx start -I -b 5
+# First look for any external barometers connected to the apps proc
+EXTERNAL_BAROMETER=0
+
+/bin/echo "Looking for external DPS368 barometer"
+if dps310 start -X -b /dev/i2c-0; then
+	/bin/echo "Detected external DPS368 barometer"
+	EXTERNAL_BAROMETER=1
+fi
+
+if (( EXTERNAL_BAROMETER == 0 )); then
+	/bin/echo "Looking for external ICP10100 barometer"
+	if icp101xx start -X -b /dev/i2c-0; then
+		/bin/echo "Detected external ICP10100 barometer"
+		EXTERNAL_BAROMETER=1
+	fi
+fi
+
+# If no external barometers found, use the builtin barometer
+if (( EXTERNAL_BAROMETER == 0 )); then
+    /bin/echo "Did not detect an external barometer, starting onboard barometer"
+    if [ "$PLATFORM" == "M0197" ]; then
+       /bin/echo "Starting dps368 barometer on M0197"
+       qshell dps310 start -I -b 5
+    else
+        # Start Invensense ICP 101xx barometer built on to VOXL 2
+        qshell icp101xx start -I -b 5
+    fi
+fi
 
 # Auto detect the magnetometer. If one or both of these devices
 # are not connected it will fail but not cause any harm.
@@ -91,15 +131,19 @@ qshell icp101xx start -I -b 5
 qshell qmc5883l start -R 10 -X -b 1
 /bin/echo "Looking for ist8310 magnetometer"
 qshell ist8310 start -R 10 -X -b 1
+/bin/echo "Looking for ist8308 magnetometer"
+# Rotation 12 = PITCH_180
+qshell ist8308 start -R 12 -X -b 1
+/bin/echo "Looking for iis2mdc magnetometer"
+# Note: Rotation may not be correct
+qshell iis2mdc start -R 10 -X -b 1
 
 # GPS and magnetometer
 if [ "$GPS" != "NONE" ]; then
-    # On M0052 the GPS driver runs on the apps processor
-    if [ $PLATFORM = "M0052" ]; then
-        gps start -d /dev/ttyHS2
-    # On M0054 and M0104 the GPS driver runs on SLPI DSP
+    if [ "$PLATFORM" == "M0197" ]; then
+	gps start -d /dev/ttyHS7
     else
-        qshell gps start -d 6
+	qshell gps start
     fi
 fi
 
@@ -144,20 +188,12 @@ elif [ "$RC" == "CRSF_MAV" ]; then
     qshell mavlink_rc_in start -m -p 7 -b 115200
 elif [ "$RC" == "SPEKTRUM" ]; then
     /bin/echo "Starting Spektrum RC"
-    # On M0052 the RC driver runs on the apps processor
-    if [ $PLATFORM = "M0052" ]; then
-        rc_input start -d /dev/ttyHS1
-    # On M0054 and M0104 the RC driver runs on SLPI DSP
-    else
-        qshell spektrum_rc start
-    fi
+    qshell spektrum_rc start
 elif [ "$RC" == "GHST" ]; then
     /bin/echo "Starting GHST RC driver"
     qshell ghst_rc start -d 7
 elif [ "$RC" == "M0065_SBUS" ]; then
-    if [ $PLATFORM = "M0052" ]; then
-        apps_sbus start
-    elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
+    if [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
         /bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
         qshell dsp_sbus start
         retVal=$?
@@ -181,6 +217,10 @@ if [ "$POWER_MANAGER" == "VOXLPM" ]; then
     qshell voxlpm start -X -b 2
 fi
 
+if [ "$AIRSPEED_SENSOR" == "MS4525DO" ]; then
+	qshell ms4525do start -X -b 4
+fi
+
 # Optional distance sensor on spare i2c
 # qshell vl53l0x start -X -b 4
 # qshell vl53l1x start -X -b 4
@@ -188,22 +228,27 @@ fi
 # Start all of the processing modules on DSP
 qshell sensors start
 qshell ekf2 start
-qshell mc_pos_control start
-qshell mc_att_control start
-qshell mc_rate_control start
-qshell mc_hover_thrust_estimator start
-qshell mc_autotune_attitude_control start
-qshell land_detector start multicopter
+
+if [ "$AIRFRAME" == "FIXED_WING" ]; then
+	qshell fw_pos_control start
+	qshell fw_att_control start
+	qshell fw_rate_control start
+	qshell airspeed_selector start
+	qshell fw_autotune_attitude_control start
+	qshell land_detector start fixedwing
+elif [ $AIRFRAME = "MULTICOPTER" ]; then
+	qshell mc_pos_control start
+	qshell mc_att_control start
+	qshell mc_rate_control start
+	qshell mc_hover_thrust_estimator start
+	qshell mc_autotune_attitude_control start
+	qshell land_detector start multicopter
+fi
+
 qshell manual_control start
 qshell control_allocator start
 qshell load_mon start
-
-# Only start the rc_update module if an actual RC driver
-# is publishing input_rc topics. Otherwise for external RC
-# over Mavlink this isn't needed.
-if [ "$RC" != "EXTERNAL" ]; then
-    qshell rc_update start
-fi
+qshell rc_update start
 
 qshell commander start
 
@@ -213,21 +258,15 @@ qshell flight_mode_manager start
 # Start all of the processing modules on the applications processor
 dataman start
 navigator start
-
-# This bridge allows raw data packets to be sent over UART to the ESC
-# voxl2_io_bridge start
+vehicle_air_data_bridge start
+sensor_baro_bridge start
+vehicle_local_position_bridge start
 
 # Start uxrce_dds_client for ros2 offboard messages from agent over localhost
 uxrce_dds_client start -t udp -h 127.0.0.1 -p 8888
 
 voxl_save_cal_params start
 
-# On M0052 there is only one IMU. So, PX4 needs to
-# publish IMU samples externally for VIO to use.
-if [ $PLATFORM = "M0052" ]; then
-    imu_server start
-fi
-
 # start the onboard fast link to connect to voxl-mavlink-server
 mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard
 
@@ -238,17 +277,12 @@ mavlink stream -u 14556 -s ATTITUDE_QUATERNION -r 10
 mavlink stream -u 14556 -s GLOBAL_POSITION_INT -r 30
 mavlink stream -u 14556 -s SCALED_PRESSURE -r 10
 
+# Increase heartbeat rate so VFC can get faster mode updates
+mavlink stream -u 14556 -s HEARTBEAT -r 10
+
 # start the slow normal mode for voxl-mavlink-server to forward to GCS
 mavlink start -x -u 14558 -o 14559 -r 100000 -n lo
 
-# Start logging and use timestamps for log files when possible.
-# Add the "-e" option to start logging immediately. Default is
-# to log only when armed. Caution must be used with the "-e" option
-# because if power is removed without stopping the logger gracefully then
-# the log file may be corrupted. Rather than using "-e" option it's better
-# to use the SDLOG_MODE to do that.
-logger start -t -b 256
-
 mavlink boot_complete
 
 # Optional MSP OSD driver for DJI goggles
@@ -263,3 +297,9 @@ for i in "${EXTRA_STEPS[@]}"
 do
     $i
 done
+
+# Start logging module. This is done as the last step because any topics
+# marked as optional will only be logged if they have been advertised when
+# this is started. By starting it last it makes sure to see those
+# advertisements as the other modules are starting before it.
+logger start

docs/.vitepress/theme/style.css

@@ -162,6 +162,15 @@
 }
 
 
+/**
+ * Custom style to hide search on the ome page
+ * -------------------------------------------------------------------------- */
+
+.home #local-search {
+    display: none;
+  }
+
+
 /**
  * Custom styles for wide pages
  * -------------------------------------------------------------------------- */

docs/_link_checker_sc/ignore_errors.json

@@ -1010,5 +1010,142 @@
       "text": "PX4 v1.13 Docs"
     },
     "hideReason": "intended"
+  },
+  {
+    "link": {
+      "url": "https://logs.px4.io/",
+      "text": ""
+    },
+    "hideReason": "405 Method Not Allowed - works in browser"
+  },
+  {
+    "link": { "url": "https://www.st.com/en/development-tools/stsw-stm32080.html", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.molex.com/en-us/products/part-detail/5024430670", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.st.com/en/development-tools/stlink-v3minie.html", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.st.com/en/development-tools/stsw-link004.html", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.st.com/en/mems-and-sensors/iis2mdc.html", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.st.com/en/positioning/teseo-liv4f.html", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.st.com/en/development-tools/st-link-v2.html", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.st.com/en/microcontrollers-microprocessors/stm32f0-series.html", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.st.com/en/microcontrollers-microprocessors/stm32h743ii.html", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.st.com/en/microcontrollers-microprocessors/stm32f745vg.html", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.st.com/en/microcontrollers-microprocessors/stm32f765ii.html", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.st.com/en/microcontrollers/stm32f405rg.html", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.st.com/en/microcontrollers-microprocessors/stm32h750vb.html", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://review.px4.io/plot_app?log=6a1a279c-1df8-4736-9f55-70ec16656d1e", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.skypull.technology/", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.st.com/en/microcontrollers-microprocessors/stm32-32-bit-arm-cortex-mcus.html", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.te.com/usa-en/product-CAT-BLPS0003.html", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://wiki.flightgear.org/Flight_Dynamics_Model", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://wiki.flightgear.org/Howto:Install_Flightgear_from_a_PPA", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://wiki.flightgear.org/Command_line_options", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://wiki.flightgear.org/Suggested_airports", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://wiki.flightgear.org/Howto:Multiplayer", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://wiki.flightgear.org/Property_tree", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.nxp.com/", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
+  },
+  {
+    "link": { "url": "https://www.hovergames.com/", "text": "" },
+    "hideReason": "timeout - bot block",
+    "expiry": "2026-08-26"
   }
 ]

docs/en/SUMMARY.md

@@ -174,6 +174,7 @@
       - [CUAV V5 nano (FMUv5)](flight_controller/cuav_v5_nano.md)
         - [CUAV V5 nano Wiring Quickstart](assembly/quick_start_cuav_v5_nano.md)
       - [CUAV X25 EVO](flight_controller/cuav_x25-evo.md)
+      - [CUAV X25 SUPER](flight_controller/cuav_x25-super.md)
       - [CubePilot Cube Orange+ (CubePilot)](flight_controller/cubepilot_cube_orangeplus.md)
       - [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md)
       - [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md)
@@ -328,10 +329,11 @@
       - [Vertiq Motor/ESC Modules](peripherals/vertiq.md)
       - [VESC Project ESCs](peripherals/vesc.md)
       - [Zubax Telega ESCs](dronecan/zubax_telega.md)
-  - [Radio Control (RC)](getting_started/rc_transmitter_receiver.md)
-    - [Radio Setup](config/radio.md)
-    - [Flight Modes](config/flight_mode.md)
-  - [Joysticks](config/joystick.md)
+  - [Manual Control](config/manual_control.md)
+    - [Radio Control (RC)](getting_started/rc_transmitter_receiver.md)
+      - [Radio Setup](config/radio.md)
+      - [Flight Modes](config/flight_mode.md)
+    - [Joysticks](config/joystick.md)
   - [Data Links](data_links/index.md)
     - [MAVLink Telemetry (OSD/GCS)](peripherals/mavlink_peripherals.md)
     - [Telemetry Radios](telemetry/index.md)
@@ -527,6 +529,8 @@
         - [LongitudinalControlConfiguration](msg_docs/LongitudinalControlConfiguration.md)
         - [ManualControlSetpoint](msg_docs/ManualControlSetpoint.md)
         - [ModeCompleted](msg_docs/ModeCompleted.md)
+        - [RaptorInput](msg_docs/RaptorInput.md)
+        - [RaptorStatus](msg_docs/RaptorStatus.md)
         - [RegisterExtComponentReply](msg_docs/RegisterExtComponentReply.md)
         - [RegisterExtComponentRequest](msg_docs/RegisterExtComponentRequest.md)
         - [TrajectorySetpoint](msg_docs/TrajectorySetpoint.md)
@@ -748,6 +752,7 @@
         - [VehicleThrustSetpoint](msg_docs/VehicleThrustSetpoint.md)
         - [VehicleTorqueSetpoint](msg_docs/VehicleTorqueSetpoint.md)
         - [VelocityLimits](msg_docs/VelocityLimits.md)
+        - [Vtx](msg_docs/Vtx.md)
         - [WheelEncoders](msg_docs/WheelEncoders.md)
         - [Wind](msg_docs/Wind.md)
         - [YawEstimatorStatus](msg_docs/YawEstimatorStatus.md)
@@ -761,8 +766,11 @@
         - [RegisterExtComponentReplyV0](msg_docs/RegisterExtComponentReplyV0.md)
         - [RegisterExtComponentRequestV0](msg_docs/RegisterExtComponentRequestV0.md)
         - [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md)
+        - [VehicleCommandAckV0](msg_docs/VehicleCommandAckV0.md)
+        - [VehicleGlobalPositionV0](msg_docs/VehicleGlobalPositionV0.md)
         - [VehicleLocalPositionV0](msg_docs/VehicleLocalPositionV0.md)
         - [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
+        - [VehicleStatusV1](msg_docs/VehicleStatusV1.md)
     - [MAVLink Messaging](mavlink/index.md)
       - [Adding Messages](mavlink/adding_messages.md)
       - [Streaming Messages](mavlink/streaming_messages.md)

docs/en/advanced_config/tuning_the_ecl_ekf.md

@@ -594,7 +594,7 @@ When this has been done, the performance metadata files can be processed to prov
 - Attitude output data is found in the [VehicleAttitude](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg) message.
 - Local position output data is found in the [VehicleLocalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg) message.
 - Global \(WGS-84\) output data is found in the [VehicleGlobalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg) message.
-- Wind velocity output data is found in the [Wind.msg](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Wind.msg) message.
+- Wind velocity output data is found in the [AirspeedWind.msg](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedWind.msg) message.
 
 ### States
 

docs/en/advanced_features/satcom_roadblock.md

@@ -9,7 +9,7 @@ Given good signal quality, users can expect a latency between 10 to 15 seconds.
 
 The following components are needed for the satellite communication link:
 
-- A [RockBlock 9603 Iridium Satellite Modem](https://www.iridium.com/products/ground-control-rockblock-9603/) module connected to a Pixhawk flashed with the PX4 Autopilot.
+- A [RockBlock 9603 Iridium Satellite Modem](https://www.iridium.com/products/rockblock-9603) module connected to a Pixhawk flashed with the PX4 Autopilot.
 - A message relay server running Ubuntu Linux.
 - A ground station computer running _QGroundControl_ on Ubuntu Linux
 
@@ -55,15 +55,15 @@ The default baud rate of the module is 19200. However, the PX4 _iridiumsbd_ driv
 
 1. Connect to the module with using a 19200/8-N-1 setting and check if the communication is working using the command: `AT`.
    The response should be: `OK`.
-1. Change the baud rate:
+2. Change the baud rate:
 
-   ```
+   ```sh
    AT+IPR=9
    ```
 
-1. Reconnect to the model now with a 115200/8-N-1 setting and save the configuration using:
+3. Reconnect to the model now with a 115200/8-N-1 setting and save the configuration using:
 
-   ```
+   ```sh
    AT&W0
    ```
 
@@ -77,7 +77,7 @@ There is no need to set the baud rate for the port, as this is configured by the
 ::: info
 If the configuration parameter is not available in _QGroundControl_ then you may need to [add the driver to the firmware](../peripherals/serial_configuration.md#parameter_not_in_firmware):
 
-```
+```txt
 drivers/telemetry/iridiumsbd
 ```
 
@@ -103,38 +103,38 @@ The relay server should be run on either Ubuntu 16.04 or 14.04 OS.
    - `5672` for the _RabbitMQ_ message broker (can be changed in the _rabbitmq_ settings)
    - `45679` for the HTTP POST interface (can be changed in the **relay.cfg** file)
 
-1. Install the required python modules:
+2. Install the required python modules:
 
    ```sh
    sudo pip install pika tornado future
    ```
 
-1. Install the `rabbitmq` message broker:
+3. Install the `rabbitmq` message broker:
 
    ```sh
    sudo apt install rabbitmq-server
    ```
 
-1. Configure the broker's credentials (change PWD to your preferred password):
+4. Configure the broker's credentials (change PWD to your preferred password):
 
    ```sh
    sudo rabbitmqctl add_user iridiumsbd PWD
    sudo rabbitmqctl set_permissions iridiumsbd ".*" ".*" ".*"
    ```
 
-1. Clone the [SatComInfrastructure](https://github.com/acfloria/SatComInfrastructure) repository:
+5. Clone the [SatComInfrastructure](https://github.com/acfloria/SatComInfrastructure) repository:
 
    ```sh
    git clone https://github.com/acfloria/SatComInfrastructure.git
    ```
 
-1. Go to the location of the _SatComInfrastructure_ repo and configure the broker's queues:
+6. Go to the location of the _SatComInfrastructure_ repo and configure the broker's queues:
 
    ```sh
    ./setup_rabbit.py localhost iridiumsbd PWD
    ```
 
-1. Verify the setup:
+7. Verify the setup:
 
    ```sh
    sudo rabbitmqctl list_queues
@@ -142,8 +142,8 @@ The relay server should be run on either Ubuntu 16.04 or 14.04 OS.
 
    This should give you a list of 4 queues: `MO`, `MO_LOG`, `MT`, `MT_LOG`
 
-1. Edit the `relay.cfg` configuration file to reflect your settings.
-1. Start the relay script in the detached mode:
+8. Edit the `relay.cfg` configuration file to reflect your settings.
+9. Start the relay script in the detached mode:
 
    ```sh
    screen -dm bash -c 'cd SatcomInfrastructure/; ./relay.py
@@ -216,15 +216,15 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o
 
    ![Connect the High Latency link](../../assets/satcom/linkconnect.png)
 
-1. Open a terminal on the ground station computer and change to the location of the _SatComInfrastructure_ repository.
+2. Open a terminal on the ground station computer and change to the location of the _SatComInfrastructure_ repository.
    Then start the **udp2rabbit.py** script:
 
    ```sh
    ./udp2rabbit.py
    ```
 
-1. Power up the vehicle.
-1. Wait until the first `HIGH_LATENCY2` message is received on QGC.
+3. Power up the vehicle.
+4. Wait until the first `HIGH_LATENCY2` message is received on QGC.
    This can be checked either using the _MAVLink Inspector_ widget or on the toolbar with the _LinkIndicator_.
    If more than one link is connected to the active vehicle the _LinkIndicator_ shows all of them by clicking on the name of the shown link:
 
@@ -232,7 +232,7 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o
 
    The link indicator always shows the name of the priority link.
 
-1. The satellite communication system is now ready to use.
+5. The satellite communication system is now ready to use.
    The priority link, which is the link over which commands are send, is determined the following ways:
    - If no link is commanded by the user a regular radio telemetry link is preferred over the high latency link.
    - The autopilot and QGC will fall back from the regular radio telemetry to the high latency link if the vehicle is armed and the radio telemetry link is lost (no MAVLink messages received for a certain time).

docs/en/airframes/airframe_reference.md

@@ -402,7 +402,7 @@ div.frame_variant td, div.frame_variant th {
  <td>Maintainer: Lorenz Meier &lt;lorenz@px4.io&gt;<p><code>SYS_AUTOSTART</code> = 4050</p></td>
 </tr>
 <tr id="copter_quadrotor_x_holybro_qav250">
- <td><a href="https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html">HolyBro QAV250</a></td>
+ <td><a href="https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini">HolyBro QAV250</a></td>
  <td>Maintainer: Beat Kueng &lt;beat-kueng@gmx.net&gt;<p><code>SYS_AUTOSTART</code> = 4052</p></td>
 </tr>
 <tr id="copter_quadrotor_x_holybro_kopis_2">
@@ -604,7 +604,7 @@ div.frame_variant td, div.frame_variant th {
  <td>Maintainer: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 50000</p></td>
 </tr>
 <tr id="rover_rover_aion_robotics_r1_ugv">
- <td><a href="https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1.html">Aion Robotics R1 UGV</a></td>
+ <td><a href="https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1">Aion Robotics R1 UGV</a></td>
  <td>Maintainer: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 50001</p></td>
 </tr>
 <tr id="rover_rover_generic_rover_ackermann">

docs/en/assembly/quick_start_cuav_v5_nano.md

@@ -33,7 +33,7 @@ We'll go through each of these in detail in the following sections.
 | DSM/SBUS/RSSI  | Includes DSM, SBUS, RSSI signal input interface, DSM interface can be connected to DSM satellite receiver, SBUS interface to SBUS remote control receiver, RSSI for signal strength return module. |
 
 ::: info
-For more interface information, please read [V5 nano Manual](http://manual.cuav.net/V5-nano.pdf).
+For more interface information, please read [V5 nano Manual](https://manual.cuav.net/V5-nano.pdf).
 :::
 
 ![quickstart](../../assets/flight_controller/cuav_v5_nano/connection/v5_nano_quickstart_03.png)
@@ -128,6 +128,6 @@ Motors/servos are connected to the MAIN ports in the order specified for your ve
 
 - [Airframe buildlog using CUAV v5 nano on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5nano.md)
 - [CUAV V5 nano](../flight_controller/cuav_v5_nano.md)
-- [V5 nano manual](http://manual.cuav.net/V5-nano.pdf) (CUAV)
+- [V5 nano manual](https://manual.cuav.net/V5-nano.pdf) (CUAV)
 - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) (CUAV)
 - [CUAV Github](https://github.com/cuav) (CUAV)

docs/en/assembly/quick_start_cuav_v5_plus.md

@@ -33,7 +33,7 @@ We'll go through each of these in detail in the following sections.
 | DSM/SBUS/RSSI  | Includes DSM, SBUS, RSSI signal input interface, DSM interface can be connected to DSM satellite receiver, SBUS interface to SBUS remote control receiver, RSSI for signal strength return module. |
 
 ::: info
-For more interface information, please read [V5+ Manual](http://manual.cuav.net/V5-Plus.pdf).
+For more interface information, please read [V5+ Manual](https://manual.cuav.net/V5-Plus.pdf).
 :::
 
 ![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_02.png)
@@ -122,12 +122,12 @@ Motors/servos are connected to the MAIN and AUX ports in the order specified for
 
 ## Pinouts
 
-Download **V5+** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf).
+See [CUAV V5+ Manual](https://manual.cuav.net/V5-Plus.pdf).
 
 ## Further Information
 
 - [Airframe build-log using CUAV v5+ on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5plus.md)
-- [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf) (CUAV)
+- [CUAV V5+ Manual](https://manual.cuav.net/V5-Plus.pdf) (CUAV)
 - [CUAV V5+ docs](https://doc.cuav.net/controller/v5-autopilot/en/v5+.html) (CUAV)
 - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) (CUAV)
 - [CUAV Github](https://github.com/cuav) (CUAV)

docs/en/assembly/quick_start_cube.md

@@ -18,7 +18,7 @@ Further/updated information may be available in the [Cube User Manual](https://d
 
 ## Accessories
 
-Cube comes with most (or all) of the accessories you will need when [purchased](../flight_controller/pixhawk-2.md#stores).
+Cube comes with most (or all) of the accessories you will need when [purchased](../flight_controller/pixhawk-2.md#store).
 
 ![Cube Accessories](../../assets/flight_controller/cube/cube_accessories.jpg)
 

docs/en/assembly/quick_start_pixhawk5x.md

@@ -52,7 +52,7 @@ You can press the safety switch again to enable safety and disarm the vehicle (t
 ## Power
 
 Connect the output of the _PM02D Power Module_ (PM board) that comes with the Standard Set to one of the **POWER** port of _Pixhawk 5X_ using the 6-wire cable.
-The PM02D and Power ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
+The PM02D and Power ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/en-us/products/part-detail/5024390600).
 
 The PM02D Power Module supports **2~6S** battery, the board input should be connected to your LiPo battery. Note that the PM board does not supply power to the + and - pins of **FMU PWM OUT** and **I/O PWM OUT**.
 

docs/en/assembly/quick_start_pixhawk6x.md

@@ -65,7 +65,7 @@ You can press the safety switch again to enable safety and disarm the vehicle (t
 ## Power
 
 Connect the output of the _PM02D Power Module_ (PM board) that comes with the Standard Set to one of the **POWER** port of _Pixhawk 6X_ using the 6-wire cable.
-The PM02D and Power ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
+The PM02D and Power ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/en-us/products/part-detail/5024390600).
 
 The PM02D Power Module supports **2~6S** battery, the board input should be connected to your LiPo battery. Note that the PM board does not supply power to the + and - pins of **FMU PWM OUT** and **I/O PWM OUT**.
 

docs/en/camera/camera_intel_realsense_t265_vio.md

@@ -18,17 +18,20 @@ No longer available.
 
 At a high level:
 
-- The [`realsense-ros` wrapper](https://github.com/IntelRealSense/realsense-ros) provided by Intel should be used to extract the raw data from the camera.
+- The [`realsense-ros` wrapper](https://github.com/realsenseai/realsense-ros) provided by Intel should be used to extract the raw data from the camera.
 - The camera should be mounted with lenses facing down (default).
   Be sure to specify the camera orientation by publishing the static transform between the `base_link` and `camera_pose_frame` in a ROS launch file, for example:
+
   ```xml
   <node pkg="tf" type="static_transform_publisher" name="tf_baseLink_cameraPose"
       args="0 0 0 0 1.5708 0 base_link camera_pose_frame 1000"/>
   ```
+
   This is a static transform that links the camera ROS frame `camera_pose_frame` to the MAVROS drone frame `base_link`.
   - the first three `args` specify _translation_ x,y,z in metres from the center of the flight controller to the camera.
     For example, if the camera is 10cm in front of the controller and 4cm up, the first three numbers would be : [0.1, 0, 0.04,...]
   - the next three `args` specify rotation in radians (yaw, pitch, roll).
     So `[... 0, 1.5708, 0]` means pitch down by 90° (facing the ground). Facing straight forward would be [... 0 0 0].
+
 - The camera is sensitive to high-frequency vibrations!
   It should be soft-mounted with, for example, vibration isolation foam.

docs/en/companion_computer/companion_computer_peripherals.md

@@ -54,8 +54,8 @@ They are in no way guaranteed to be plug and play with your companion computer.
 
 Popular stereo cameras include:
 
-- [Intel® RealSense™ Depth Camera D435](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d435/)
-- [Intel® RealSense™ Depth Camera D415](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d415/)
+- [Intel® RealSense™ Depth Camera D435](https://www.realsenseai.com/products/stereo-depth-camera-d435/)
+- [Intel® RealSense™ Depth Camera D415](https://www.realsenseai.com/products/stereo-depth-camera-d415/)
 - [DUO MLX](https://duo3d.com/product/duo-minilx-lv1)
 
 ### VIO Cameras/Sensors

docs/en/companion_computer/video_streaming.md

@@ -20,7 +20,7 @@ For a Ubuntu companion, a minimal set might be:
 sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
 ```
 
-For the full set you can mirror the QGC dependencies installed by [/tools/setup/install-dependencies-debian.sh](https://github.com/mavlink/qgroundcontrol/blob/master/tools/setup/install-dependencies-debian.sh).
+For the full set you can mirror the QGC dependencies installed by [/tools/setup/install_dependencies.py](https://github.com/mavlink/qgroundcontrol/blob/master/tools/setup/install_dependencies.py).
 At time of writing this is:
 
 ```sh

docs/en/complete_vehicles_mc/crazyflie2.md

@@ -2,12 +2,12 @@
 
 <Badge type="info" text="Discontinued" />
 
-:::warning
+::: warning
 _Crazyflie 2.0_ has been [discontinued/superseded](../flight_controller/autopilot_experimental.md).
 Try [Bitcraze Crazyflie 2.1](../complete_vehicles_mc/crazyflie21.md) instead!
 :::
 
-:::warning
+::: warning
 
 - PX4 does not manufacture this (or any) autopilot.
   Contact the [manufacturer](https://www.bitcraze.io/) for hardware support or compliance issues.
@@ -202,7 +202,7 @@ Next, launch the cfbridge by giving the same channel and address as the first an
 - After using _cfbridge_, you can deactivate the virtualenv if you activated it by pressing `CTRL+z`.
   Most of the time, launching _cfbridge_ again from the same terminal doesn't connect to crazyflie, this can be solved by closing the terminal and relaunching _cfbridge_ in a new terminal.
 
-:::tip
+::: tip
 If you change any driver in [crazyflie-lib-python](https://github.com/bitcraze/crazyflie-lib-python) or if launching _cfbridge_ in a new terminal does not find crazyflie, you can try navigating to the crazyflie-lib-python folder and run the script below to rebuild cflib.
 
 ```sh
@@ -212,13 +212,17 @@ make venv
 :::
 
 ::: info
-To use Joystick, set `COM_RC_IN_MODE` in QGroundControl to "Joystick/No RC Checks".
-Calibrate the Joystick and set the Joystick message frequency in QGroundControl to any value between 5 to 14 Hz (10 Hz is recommended).
-To be able to set the frequency, the advanced option should be enabled.
-This is the rate at which Joystick commands are sent from QGroundControl to Crazyflie 2.0 (to do this, you will need to follow the instructions [here](https://github.com/mavlink/qgroundcontrol) to obtain the latest QGroundControl source code (master) and build it).
-:::
+To use a [Joystick](../config/joystick.md):
 
-![](../../assets/hardware/joystick-message-frequency.png)
+- Make sure you're using a [`COM_RC_IN_MODE` that allows Joystick](../config/manual_control.md#px4-configuration).
+- Calibrate the Joystick and set the Joystick message frequency in QGroundControl if needed (25 Hz is the default).
+  To be able to set the frequency, the advanced option should be enabled.
+
+  ![QGC UI for setting message frequency](../../assets/hardware/joystick-message-frequency.png)
+
+  This is the rate at which Joystick commands are sent from QGroundControl to Crazyflie 2.0 (to do this, you will need to follow the instructions [here](https://github.com/mavlink/qgroundcontrol) to obtain the latest QGroundControl source code (master) and build it).
+
+:::
 
 ## Hardware Setup
 
@@ -247,7 +251,7 @@ Then, you need to stick the battery on top of the SD card deck using a double si
 Crazyflie is able to fly in _Altitude_ mode if you use a [Z-ranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck).
 According to the datasheet, the maximum height (above ground) the range finder can sense is 2 m. However, when tested on dark surfaces this value decreases to 0.5 m. On a light floor, it goes up to max 1.3 m. This means you cannot hold altitudes above this value in _Altitude_ or _Position_ flight modes.
 
-:::tip
+::: tip
 If the Crazyflie 2.0 height drifts at mid-throttle command in _Altitude mode_ or _Position mode_, first try rebooting the vehicle. If this does not fix the problem, recalibrate the accel and mag (compass).
 :::
 

docs/en/complete_vehicles_mc/px4_vision_kit.md

@@ -67,7 +67,7 @@ Difference between the PX4 Vision V1 and V1.5 can be found [here](https://docs.h
 
 ![PV4 Vision v1.5](../../assets/hardware/px4_vision_devkit/px4_vision_v1.5_whats_inside.jpg)
 
-What's inside the PX4 Vision V1 can be found here in the [PX4 v1.13 Docs here](https://docs.px4.io/v1.13/en/complete_vehicles/px4_vision_kit.html#what-is-inside).
+What's inside the PX4 Vision V1 can be found here in the [PX4 v1.13 Docs here](https://docs.px4.io/v1.13/en/complete_vehicles/px4_vision_kit#what-is-inside).
 
 The PX4 Vision DevKit contains following components:
 
@@ -381,7 +381,7 @@ The carrier board pinouts and other information are in the [downloads section](h
 ## Other Development Resources
 
 - [_UP Core_ Wiki](https://github.com/up-board/up-community/wiki/Ubuntu) - _Up Core_ companion computer technical information
-- [Occipital Developer Forum](https://structure.io/developers/) - _Structure Core_ camera information
+- [Occipital Developer Forum](https://structure.io/structure-sdk/) - _Structure Core_ camera information
 - [Pixhawk 4 Overview](../flight_controller/pixhawk4.md)
 - [Pixhawk 6C Overview](../flight_controller/pixhawk6c.md)
 

docs/en/computer_vision/path_planning_interface.md

@@ -18,4 +18,4 @@ This interface allows PX4 to stream a proposed path to a companion computer, and
 This enables features such obstacle avoidance in missions and safer landing to be provided by a planner on a companion computer.
 
 This actual code is still present in code at time of writing (PX4 v1.15).
-Information about the API and associated features can be found in the [PX4 v1.14 docs](https://docs.px4.io/v1.14/en/computer_vision/path_planning_interface.html).
+Information about the API and associated features can be found in the [PX4 v1.14 docs](https://docs.px4.io/v1.14/en/computer_vision/path_planning_interface).