drivers/device/nuttx/I2C: add transfer failure details

2026-05-23 22:17:36 +08:00 · 2022-04-20 15:08:37 -04:00
679 changed files with 13015 additions and 33569 deletions
@@ -52,7 +52,6 @@ pipeline {
                     "cuav_x7pro_default",
                     "cubepilot_cubeorange_default",
                     "cubepilot_cubeyellow_default",
-                     "diatone_mamba-f405-mk2_default",
                     "freefly_can-rtk-gps_canbootloader",
                     "freefly_can-rtk-gps_default",
                     "holybro_can-gps-v1_canbootloader",
@@ -61,20 +60,18 @@ pipeline {
                     "holybro_kakutef7_default",
                     "holybro_kakuteh7_default",
                     "holybro_pix32v5_default",
+                     "matek_h743-slim",
                     "matek_gnss-m9n-f4_canbootloader",
                     "matek_gnss-m9n-f4_default",
-                     "matek_h743-mini_default",
-                     "matek_h743-slim_default",
-                     "matek_h743_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
-                     "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_ctrl-zero-h7_default",
                     "mro_ctrl-zero-h7_rtps",
+                     "mro_ctrl-zero-h7-oem_default",
+                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_pixracerpro_default",
                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
@@ -89,28 +86,24 @@ pipeline {
                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
+                     "raspberrypi_pico_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
-                     "px4_fmu-v2_lto",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_default",
                     "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_cyphal",
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
-                     "px4_fmu-v5_lto",
                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
+                     "px4_fmu-v5_uavcanv1",
                     "px4_fmu-v5x_default",
-                     "px4_fmu-v6c_default",
                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
-                     "raspberrypi_pico_default",
-                     "sky-drones_smartap-airlink_default",
                     "spracing_h7extreme_default",
                     "uvify_core_default"
            ],
@@ -794,7 +794,7 @@ void resetParameters() {
 void runTests() {

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

  resetParameters()

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

 ---

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

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

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

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

 Add screenshots to help explain your problem.

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

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

 ---

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

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

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

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

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

 ---

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

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

 ---

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

 Thanks!
@@ -30,17 +30,14 @@ jobs:
          cuav_x7pro,
          cubepilot_cubeorange,
          cubepilot_cubeyellow,
-          diatone_mamba-f405-mk2,
          freefly_can-rtk-gps,
          holybro_can-gps-v1,
          holybro_durandal-v1,
          holybro_kakutef7,
          holybro_kakuteh7,
          holybro_pix32v5,
-          matek_gnss-m9n-f4,
-          matek_h743,
-          matek_h743-mini,
          matek_h743-slim,
+          matek_gnss-m9n-f4,
          modalai_fc-v1,
          modalai_fc-v2,
          mro_ctrl-zero-f7,
@@ -55,17 +52,15 @@ jobs:
          nxp_fmurt1062-v1,
          nxp_ucans32k146,
          omnibus_f4sd,
+          raspberrypi_pico,
          px4_fmu-v2,
          px4_fmu-v3,
          px4_fmu-v4,
          px4_fmu-v4pro,
          px4_fmu-v5,
          px4_fmu-v5x,
-          px4_fmu-v6c,
          px4_fmu-v6u,
          px4_fmu-v6x,
-          raspberrypi_pico,
-          sky-drones_smartap-airlink,
          spracing_h7extreme,
          uvify_core
          ]
@@ -36,14 +36,14 @@
 [submodule "Tools/jsbsim_bridge"]
 	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/drivers/cyphal/libcanard"]
-	path = src/drivers/cyphal/libcanard
-	url = https://github.com/opencyphal/libcanard.git
-[submodule "src/drivers/cyphal/public_regulated_data_types"]
-	path = src/drivers/cyphal/public_regulated_data_types
-	url = https://github.com/opencyphal/public_regulated_data_types.git
-[submodule "src/drivers/cyphal/legacy_data_types"]
-	path = src/drivers/cyphal/legacy_data_types
+[submodule "src/drivers/uavcan_v1/libcanard"]
+	path = src/drivers/uavcan_v1/libcanard
+	url = https://github.com/UAVCAN/libcanard.git
+[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
+	path = src/drivers/uavcan_v1/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types.git
+[submodule "src/drivers/uavcan_v1/legacy_data_types"]
+	path = src/drivers/uavcan_v1/legacy_data_types
 	url = https://github.com/PX4/public_regulated_data_types.git
 	branch = legacy
 [submodule "src/lib/crypto/monocypher"]
@@ -9,5 +9,3 @@ launch.json
 ipch/

 browse.vc.db*
-
-*.log
@@ -99,7 +99,7 @@
 #
 #=============================================================================

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

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

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

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

-    config BOARD_LTO
-        bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
-        default n
-        help
-            Enables LTO flag in linker
-            Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later
-
    config BOARD_FULL_OPTIMIZATION
        bool "Full optmization (O3)"
        default n
@@ -325,13 +325,12 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
 	# cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

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

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

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

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

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

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

-## Additional context
+**Additional context**
 Add any other related context or media.
@@ -32,4 +32,3 @@
 ############################################################################

 add_subdirectory(init.d)
-add_subdirectory(mixers)
@@ -33,5 +33,4 @@

 px4_add_romfs_files(
 	rcS
-	rc.output_defaults
 )
@@ -1,32 +0,0 @@
-#!/bin/sh
-#
-# UGV default parameters.
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-#
-# Enable servo output on pins 3 and 4 (steering and thrust)
-# but also include 1+2 as they form together one output group
-# and need to be set together.
-#
-set PWM_OUT 12
-
-#
-# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
-# may damage analog servos.
-#
-set PWM_MAIN_RATE 50
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-set PWM_AUX_OUT 12
-
-param set-default PWM_MAIN_DISARM 1500
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_MIN 1000
-
-# Set mixer
-set MIXER IO_pass_ucan
@@ -65,8 +65,8 @@ unset BOARD_RC_DEFAULTS
 #
 # Start system state indicator.
 #
-#rgbled start -X -q
-#rgbled_ncp5623c start -X -q
+rgbled start -X -q
+rgbled_ncp5623c start -X -q

 #
 # board sensors: rc.sensors
@@ -86,10 +86,10 @@ unset BOARD_RC_SENSORS
 . ${R}etc/init.d/rc.serial

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

-#uavcannode start
+uavcannode start
 unset R
@@ -1,12 +0,0 @@
-Passthrough mixer for PX4IO
-============================
-
-This file defines passthrough mixers suitable for testing.
-
-Channel group 0, channels 0-7 are passed directly through to the outputs.
-
-M: 1
-S: 0 0  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 1  10000  10000      0 -10000  10000
@@ -25,8 +25,6 @@ param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3

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

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

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

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

 param set-default MAV_TYPE 21

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

 param set-default CA_ROTOR_COUNT 4
@@ -27,7 +27,9 @@ param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05

 param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR1_TILT 2
 param set-default CA_ROTOR2_TILT 3
+param set-default CA_ROTOR3_TILT 4
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
@@ -1,4 +1,6 @@

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

 # shellcheck disable=SC2154
@@ -95,9 +95,10 @@ fi

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

 # multi-instance setup
@@ -195,6 +196,14 @@ fi

 . "$autostart_file"

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

@@ -55,5 +55,4 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
-	rc.output_defaults
 )
@@ -61,8 +61,6 @@ param set-default HIL_ACT_FUNC6 400

 param set SYS_HITL 1

-param set UAVCAN_ENABLE 0
-
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -0,0 +1,40 @@
+#!/bin/sh
+#
+# @name Steadidrone QU4D
+#
+# @type Quadrotor Wide
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default BAT1_N_CELLS 4
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.13
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.19
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 4
+
+set MIXER quad_w
@@ -15,8 +15,6 @@ set MIXER quad_x

 param set SYS_HITL 1

-param set UAVCAN_ENABLE 0
-
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.15
 param set-default CA_ROTOR0_PY 0.15
@@ -94,8 +94,6 @@ param set-default HIL_ACT_FUNC8 203

 param set SYS_HITL 1

-param set UAVCAN_ENABLE 0
-
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -0,0 +1,48 @@
+#!/bin/sh
+#
+# @name Steadidrone MAVRIK
+#
+# @type Octo Coax Wide
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+# @output MAIN7 motor 7
+# @output MAIN8 motor 8
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default MC_PITCH_P 4
+param set-default MC_PITCHRATE_P 0.24
+param set-default MC_PITCHRATE_I 0.09
+param set-default MC_PITCHRATE_D 0.013
+param set-default MC_PITCHRATE_MAX 180
+
+param set-default MC_ROLL_P 4
+param set-default MC_ROLLRATE_P 0.16
+param set-default MC_ROLLRATE_I 0.07
+param set-default MC_ROLLRATE_D 0.009
+param set-default MC_ROLLRATE_MAX 180
+
+param set-default MC_YAW_P 3
+
+param set-default MPC_HOLD_MAX_XY 0.25
+param set-default MPC_THR_MIN 0.15
+param set-default MPC_Z_VEL_MAX_DN 2
+
+param set-default BAT1_N_CELLS 4
+
+set MIXER octo_cox_w
+
+set PWM_OUT 12345678
@@ -7,8 +7,8 @@
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
+# @output MAIN3 motor 4
+# @output MAIN4 motor 5
 # @output MAIN5 elevon left
 # @output MAIN6 elevon right
 # @output MAIN7 canard surface
@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name CruiseAder Claire
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer Samay Siga <samay_s@icloud.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-defualt MAV_TYPE 21
+
+param set-default PWM_AUX_DISARM 1000
+param set-default PWM_AUX_MAX 2000
+param set-default PWM_AUX_MIN 1000
+param set-default PWM_AUX_RATE 50
+
+param set-default PWM_MAIN_MAX 2000
+
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 13
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TILT_FW 0.9
+param set-default VT_TILT_MC 0.08
+param set-default VT_TILT_TRANS 0.5
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 1
+
+set MIXER claire
+set MIXER_AUX claire
+
+set PWM_OUT 1234
@@ -22,7 +22,7 @@

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

-param set-default MAV_TYPE 21
+param set-defualt MAV_TYPE 21

 param set-default CBRK_AIRSPD_CHK 162128

@@ -69,9 +69,4 @@ param set-default VT_TYPE 1

 set MIXER vtol_convergence

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

@@ -1,21 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Output
-#
-# @maintainer
-#
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.output_defaults
-
-
-# Provide ESC a constant 1500 us pulse
-param set-default PWM_MAIN_DISARM 1500
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_MIN 1000
-
-# Set mixer
-set MIXER IO_pass
-
-set PWM_OUT 12
@@ -0,0 +1,45 @@
+#!/bin/sh
+#
+# @name IO Camflyer
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MAX 15
+param set-default FW_AIRSPD_TRIM 13
+param set-default FW_R_TC 0.3
+param set-default FW_P_TC 0.3
+param set-default FW_L1_DAMPING 0.74
+param set-default FW_L1_PERIOD 16
+param set-default FW_LND_ANG 15
+param set-default FW_LND_FLALT 5
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_PR_FF 0.35
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_P 0.04
+
+param set-default PWM_MAIN_DISARM 1000
+
+
+set MIXER fw_generic_wing
+
+# Provide ESC a constant 1000 us pulse while disarmed
+set PWM_OUT 4
@@ -0,0 +1,29 @@
+#!/bin/sh
+#
+# @name FX-79 Buffalo Flying Wing
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 right aileron
+# @output MAIN2 left aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MAX 30
+param set-default FW_AIRSPD_MIN 13
+
+param set-default NAV_LOITER_RAD 150
+
+set MIXER fw_generic_wing
@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name Viper
+#
+# @type Flying Wing
+# @class Plane
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+set MIXER Viper
@@ -0,0 +1,53 @@
+#!/bin/sh
+#
+# @name Modified Parrot Disco
+#
+# @url
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Jan Liphardt <JTLiphardt@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+####################################
+# Airspeed
+####################################
+param set-default FW_AIRSPD_MAX  27 # = 52 knots
+
+####################################
+# Pitch
+####################################
+
+# Pitch rate feed forward (def = 0.5 %/rad/sec)
+param set-default FW_PR_FF 0.35
+
+####################################
+# Roll
+####################################
+
+# Basic limits (def = 50 deg)
+param set-default FW_R_LIM 40
+
+# Roll rate upper limit (def = 70 deg/s)
+param set-default FW_R_RMAX 50
+
+param set-default PWM_MAIN_DISARM 1000
+
+set MIXER fw_generic_wing.main.mix
+
+# Provide ESC a constant 1000 us pulse
+set PWM_OUT 4
@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# @name DJI F330 w/ DJI ESCs
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_I 0.05
+
+
+# DJI ESCs do not support calibration and need a higher min
+param set-default PWM_MAIN_MIN 1230
@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# @name DJI F450 w/ DJI ESCs
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_YAWRATE_P 0.3
+
+# DJI ESCs do not support calibration and need a higher min
+param set-default PWM_MAIN_MIN 1230
@@ -0,0 +1,27 @@
+#!/bin/sh
+#
+# @name DJI Matrice 100
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer James Goppert <james.goppert@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default BAT1_N_CELLS 6
+
+param set-default MC_ROLLRATE_P 0.05
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.001
+param set-default MC_PITCHRATE_P 0.05
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.001
+
+param set-default MC_YAWRATE_I 0
+
+param set-default PWM_MAIN_MIN 1200
@@ -52,16 +52,22 @@ px4_add_romfs_files(

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

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

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

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

 	# [13000, 13999] VTOL
 	13000_generic_vtol_standard
@@ -124,6 +133,7 @@ px4_add_romfs_files(
 	13007_vtol_AAVVT_quad
 	13008_QuadRanger
 	13009_vtol_spt_ranger
+	13010_claire
 	13012_convergence
 	13013_deltaquad
 	13014_vtol_babyshark
@@ -147,7 +157,7 @@ px4_add_romfs_files(
 	18001_TF-B1

 	# [22000, 22999] Reserve for custom models
-	22222_generic_output
+
 	24001_dodeca_cox

 	50000_generic_ground_vehicle
@@ -1,25 +0,0 @@
-#!/bin/sh
-#
-# UGV default parameters.
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-#
-# Enable servo output on pins 3 and 4 (steering and thrust)
-# but also include 1+2 as they form together one output group
-# and need to be set together.
-#
-set PWM_OUT 12
-
-#
-# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
-# may damage analog servos.
-#
-set PWM_MAIN_RATE 50
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-set PWM_AUX_OUT 12
@@ -101,6 +101,12 @@ then
 	pmw3901 -S start
 fi

+# Check for px4flow sensor
+if param compare -s SENS_EN_PX4FLOW 1
+then
+	px4flow start -X
+fi
+
 # vl53l1x i2c distance sensor
 if param compare -s SENS_EN_VL53L1X 1
 then
@@ -129,31 +135,13 @@ fi
 # Sensirion SDP3X differential pressure sensor external I2C
 if param compare -s SENS_EN_SDP3X 1
 then
-	if ! sdp3x start -X
+	if ! sdp3x_airspeed start -X
 	then
 		# try another common address
-		sdp3x start -X -a 0x22
+		sdp3x_airspeed start -X -a 0x22
 	fi
 fi

-# TE MS4515 differential pressure sensor external I2C
-if param compare -s SENS_EN_MS4515 1
-then
-	ms4515 start -X
-fi
-
-# TE MS4525DO differential pressure sensor external I2C
-if param compare -s SENS_EN_MS4525DO 1
-then
-	ms4525do start -X
-fi
-
-# TE MS5525DSO differential pressure sensor external I2C
-if param compare -s SENS_EN_MS5525DS 1
-then
-	ms5525dso start -X
-fi
-
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
@@ -161,6 +149,18 @@ then
 	sht3x start -X -a 0x45
 fi

+# TE MS4525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS4525 1
+then
+	ms4525_airspeed start -X
+fi
+
+# TE MS5525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS5525 1
+then
+	ms5525_airspeed start -X
+fi
+
 # IR-LOCK sensor external I2C
 if param compare -s SENS_EN_IRLOCK 1
 then
@@ -198,3 +198,9 @@ then
 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
 fi
+
+###############################################################################
+#                            End Optional drivers                             #
+###############################################################################
+
+sensors start
@@ -21,6 +21,7 @@ set +e
 # it wastes flash
 #
 set R /
+set AUTOCNF no
 set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
 set FRC /fs/microsd/etc/rc.txt
@@ -176,12 +177,13 @@ else
 	fi

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

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

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

@@ -395,7 +405,6 @@ else
 			battery_status start
 		fi

-		sensors start
 		commander start
 	fi

@@ -499,12 +508,6 @@ else
 		gyro_calibration start
 	fi

-	# Check for px4flow sensor
-	if param compare -s SENS_EN_PX4FLOW 1
-	then
-		px4flow start -X &
-	fi
-
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -555,6 +558,7 @@ fi
 # Unset all script parameters to free RAM.
 #
 unset R
+unset AUTOCNF
 unset FCONFIG
 unset FEXTRAS
 unset FRC
@@ -21,16 +21,14 @@ O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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


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

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

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

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


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

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

 Elevon mixers
@@ -16,15 +16,15 @@ if board_adc start
 then
 fi

-if sdp3x start -X
+if sdp3x_airspeed start -X
 then
 fi

-if ms5525dso start -X
+if ms5525_airspeed start -X
 then
 fi

-if ms4525do start -X
+if ms4525_airspeed start -X
 then
 fi

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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


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

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

 Elevon mixers
@@ -13,7 +13,8 @@ exec find boards msg src platforms test \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
-    -path src/drivers/cyphal/libcanard -prune -o \
+    -path src/drivers/uavcan_v1/libcanard -prune -o \
+    -path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/events/libevents -prune -o \
    -path src/lib/parameters/uthash -prune -o \
@@ -11,7 +11,7 @@ from pyulog import ULog
 from analysis.detectors import InAirDetector, PreconditionError
 from analysis.metrics import calculate_ecl_ekf_metrics
 from analysis.checks import perform_ecl_ekf_checks
-from analysis.post_processing import get_gps_check_fail_flags
+from analysis.post_processing import get_estimator_check_flags

 def analyse_ekf(
        ulog: ULog, check_levels: Dict[str, float], multi_instance: int = 0,
@@ -40,11 +40,6 @@ def analyse_ekf(
    except:
        raise PreconditionError('could not find estimator_status instance', multi_instance)

-    try:
-        estimator_status_flags = ulog.get_dataset('estimator_status_flags', multi_instance).data
-    except:
-        raise PreconditionError('could not find estimator_status_flags instance', multi_instance)
-
    try:
        _ = ulog.get_dataset('estimator_innovations', multi_instance).data
    except:
@@ -66,14 +61,14 @@ def analyse_ekf(
        'in_air_transition_time': round(in_air.take_off + in_air.log_start, 2),
        'on_ground_transition_time': round(in_air.landing + in_air.log_start, 2)}

-    gps_fail_flags = get_gps_check_fail_flags(estimator_status)
+    control_mode, innov_flags, gps_fail_flags = get_estimator_check_flags(estimator_status)

    sensor_checks, innov_fail_checks = find_checks_that_apply(
-        estimator_status_flags, estimator_status,
+        control_mode, estimator_status,
        pos_checks_when_sensors_not_fused=pos_checks_when_sensors_not_fused)

    metrics = calculate_ecl_ekf_metrics(
-        ulog, estimator_status_flags, innov_fail_checks, sensor_checks, in_air, in_air_no_ground_effects,
+        ulog, innov_flags, innov_fail_checks, sensor_checks, in_air, in_air_no_ground_effects,
        multi_instance, red_thresh=red_thresh, amb_thresh=amb_thresh)

    check_status, master_status = perform_ecl_ekf_checks(
@@ -83,12 +78,12 @@ def analyse_ekf(


 def find_checks_that_apply(
-    estimator_status_flags: dict, estimator_status: dict, pos_checks_when_sensors_not_fused: bool = False) ->\
+    control_mode: dict, estimator_status: dict, pos_checks_when_sensors_not_fused: bool = False) ->\
        Tuple[List[str], List[str]]:
    """
    finds the checks that apply and stores them in lists for the std checks and the innovation
    fail checks.
-    :param estimator_status_flags:
+    :param control_mode:
    :param estimator_status:
    :param b_pos_only_when_sensors_fused:
    :return: a tuple of two lists that contain strings for the std checks and for the innovation
@@ -102,7 +97,7 @@ def find_checks_that_apply(
    innov_fail_checks.append('posv')

    # Magnetometer Sensor Checks
-    if (np.amax(estimator_status_flags['cs_yaw_align']) > 0.5):
+    if (np.amax(control_mode['yaw_aligned']) > 0.5):
        sensor_checks.append('mag')

        innov_fail_checks.append('magx')
@@ -111,14 +106,13 @@ def find_checks_that_apply(
        innov_fail_checks.append('yaw')

    # Velocity Sensor Checks
-    if (np.amax(estimator_status_flags['cs_gps']) > 0.5):
+    if (np.amax(control_mode['using_gps']) > 0.5):
        sensor_checks.append('vel')
-        innov_fail_checks.append('velh')
-        innov_fail_checks.append('velv')
+        innov_fail_checks.append('vel')

    # Position Sensor Checks
-    if (pos_checks_when_sensors_not_fused or (np.amax(estimator_status_flags['cs_gps']) > 0.5)
-        or (np.amax(estimator_status_flags['cs_ev_pos']) > 0.5)):
+    if (pos_checks_when_sensors_not_fused or (np.amax(control_mode['using_gps']) > 0.5)
+        or (np.amax(control_mode['using_evpos']) > 0.5)):
        sensor_checks.append('pos')
        innov_fail_checks.append('posh')

@@ -134,7 +128,7 @@ def find_checks_that_apply(
        innov_fail_checks.append('hagl')

    # optical flow sensor checks
-    if (np.amax(estimator_status_flags['cs_opt_flow']) > 0.5):
+    if (np.amax(control_mode['using_optflow']) > 0.5):
        innov_fail_checks.append('ofx')
        innov_fail_checks.append('ofy')

@@ -123,8 +123,7 @@ def perform_sensor_innov_checks(
                                              ('magy', 'magy_fail_percentage', 'mag'),
                                              ('magz', 'magz_fail_percentage', 'mag'),
                                              ('yaw', 'yaw_fail_percentage', 'yaw'),
-                                              ('velh', 'vel_fail_percentage', 'vel'),
-                                              ('velv', 'vel_fail_percentage', 'vel'),
+                                              ('vel', 'vel_fail_percentage', 'vel'),
                                              ('posh', 'pos_fail_percentage', 'pos'),
                                              ('tas', 'tas_fail_percentage', 'tas'),
                                              ('hagl', 'hagl_fail_percentage', 'hagl'),
@@ -11,7 +11,7 @@ import numpy as np
 from analysis.detectors import InAirDetector

 def calculate_ecl_ekf_metrics(
-        ulog: ULog, estimator_status_flags: Dict[str, float], innov_fail_checks: List[str],
+        ulog: ULog, innov_flags: Dict[str, float], innov_fail_checks: List[str],
        sensor_checks: List[str], in_air: InAirDetector, in_air_no_ground_effects: InAirDetector,
        multi_instance: int = 0, red_thresh: float = 1.0, amb_thresh: float = 0.5) -> Tuple[dict, dict, dict, dict]:

@@ -20,7 +20,7 @@ def calculate_ecl_ekf_metrics(
        red_thresh=red_thresh, amb_thresh=amb_thresh)

    innov_fail_metrics = calculate_innov_fail_metrics(
-        estimator_status_flags, innov_fail_checks, in_air, in_air_no_ground_effects)
+        innov_flags, innov_fail_checks, in_air, in_air_no_ground_effects)

    imu_metrics = calculate_imu_metrics(ulog, multi_instance, in_air_no_ground_effects)

@@ -90,10 +90,10 @@ def calculate_sensor_metrics(


 def calculate_innov_fail_metrics(
-        estimator_status_flags: dict, innov_fail_checks: List[str], in_air: InAirDetector,
+        innov_flags: dict, innov_fail_checks: List[str], in_air: InAirDetector,
        in_air_no_ground_effects: InAirDetector) -> dict:
    """
-    :param estimator_status_flags:
+    :param innov_flags:
    :param innov_fail_checks:
    :param in_air:
    :param in_air_no_ground_effects:
@@ -103,18 +103,17 @@ def calculate_innov_fail_metrics(
    innov_fail_metrics = dict()

    # calculate innovation check fail metrics
-    for signal_id, signal, result in [('posv', 'reject_ver_pos', 'hgt_fail_percentage'),
-                                      ('magx', 'reject_mag_x', 'magx_fail_percentage'),
-                                      ('magy', 'reject_mag_y', 'magy_fail_percentage'),
-                                      ('magz', 'reject_mag_z', 'magz_fail_percentage'),
-                                      ('yaw', 'reject_yaw', 'yaw_fail_percentage'),
-                                      ('velh', 'reject_hor_vel', 'vel_fail_percentage'),
-                                      ('velv', 'reject_ver_vel', 'vel_fail_percentage'),
-                                      ('posh', 'reject_hor_pos', 'pos_fail_percentage'),
-                                      ('tas', 'reject_airspeed', 'tas_fail_percentage'),
-                                      ('hagl', 'reject_hagl', 'hagl_fail_percentage'),
-                                      ('ofx', 'reject_optflow_x', 'ofx_fail_percentage'),
-                                      ('ofy', 'reject_optflow_y', 'ofy_fail_percentage')]:
+    for signal_id, signal, result in [('posv', 'posv_innov_fail', 'hgt_fail_percentage'),
+                                      ('magx', 'magx_innov_fail', 'magx_fail_percentage'),
+                                      ('magy', 'magy_innov_fail', 'magy_fail_percentage'),
+                                      ('magz', 'magz_innov_fail', 'magz_fail_percentage'),
+                                      ('yaw', 'yaw_innov_fail', 'yaw_fail_percentage'),
+                                      ('vel', 'vel_innov_fail', 'vel_fail_percentage'),
+                                      ('posh', 'posh_innov_fail', 'pos_fail_percentage'),
+                                      ('tas', 'tas_innov_fail', 'tas_fail_percentage'),
+                                      ('hagl', 'hagl_innov_fail', 'hagl_fail_percentage'),
+                                      ('ofx', 'ofx_innov_fail', 'ofx_fail_percentage'),
+                                      ('ofy', 'ofy_innov_fail', 'ofy_fail_percentage')]:

        # only run innov fail checks, if they apply.
        if signal_id in innov_fail_checks:
@@ -126,7 +125,7 @@ def calculate_innov_fail_metrics(
                in_air_detector = in_air

            innov_fail_metrics[result] = calculate_stat_from_signal(
-                estimator_status_flags, 'estimator_status_flags', signal, in_air_detector,
+                innov_flags, 'estimator_status', signal, in_air_detector,
                lambda x: 100.0 * np.mean(x > 0.5))

    return innov_fail_metrics
@@ -153,7 +152,7 @@ def calculate_imu_metrics(ulog: ULog, multi_instance, in_air_no_ground_effects:

            if vehicle_imu_status_data['accel_device_id'][0] == estimator_status_data['accel_device_id'][0]:

-                for signal, result in [('gyro_coning_vibration', 'imu_coning'),
+                for signal, result in [('delta_angle_coning_metric', 'imu_coning'),
                                       ('gyro_vibration_metric', 'imu_hfgyro'),
                                       ('accel_vibration_metric', 'imu_hfaccel')]:

@@ -7,6 +7,115 @@ from typing import Tuple

 import numpy as np

+
+def get_estimator_check_flags(estimator_status: dict) -> Tuple[dict, dict, dict]:
+    """
+    :param estimator_status:
+    :return:
+    """
+    control_mode = get_control_mode_flags(estimator_status)
+    innov_flags = get_innovation_check_flags(estimator_status)
+    gps_fail_flags = get_gps_check_fail_flags(estimator_status)
+    return control_mode, innov_flags, gps_fail_flags
+
+
+def get_control_mode_flags(estimator_status: dict) -> dict:
+    """
+    :param estimator_status:
+    :return:
+    """
+
+    control_mode = dict()
+    # extract control mode metadata from estimator_status.control_mode_flags
+    # 0 - true if the filter tilt alignment is complete
+    # 1 - true if the filter yaw alignment is complete
+    # 2 - true if GPS measurements are being fused
+    # 3 - true if optical flow measurements are being fused
+    # 4 - true if a simple magnetic yaw heading is being fused
+    # 5 - true if 3-axis magnetometer measurement are being fused
+    # 6 - true if synthetic magnetic declination measurements are being fused
+    # 7 - true when the vehicle is airborne
+    # 8 - true when wind velocity is being estimated
+    # 9 - true when baro height is being fused as a primary height reference
+    # 10 - true when range finder height is being fused as a primary height reference
+    # 11 - true when range finder height is being fused as a primary height reference
+    # 12 - true when local position data from external vision is being fused
+    # 13 - true when yaw data from external vision measurements is being fused
+    # 14 - true when height data from external vision measurements is being fused
+    # 15 - true when synthetic sideslip measurements are being fused
+    # 16 - true true when the mag field does not match the expected strength
+    # 17 - true true when the vehicle is operating as a fixed wing vehicle
+    # 18 - true when the magnetometer has been declared faulty and is no longer being used
+    # 19 - true true when airspeed measurements are being fused
+    # 20 - true true when protection from ground effect induced static pressure rise is active
+    # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
+    # 22 - true when yaw (not ground course) data from a GPS receiver is being fused
+    # 23 - true when the in-flight mag field alignment has been completed
+    # 24 - true when local earth frame velocity data from external vision measurements are being fused
+    # 25 - true when we are using a synthesized measurement for the magnetometer Z component
+    control_mode['tilt_aligned'] = ((2 ** 0 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['yaw_aligned'] = ((2 ** 1 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_gps'] = ((2 ** 2 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_optflow'] = ((2 ** 3 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_magyaw'] = ((2 ** 4 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_mag3d'] = ((2 ** 5 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_magdecl'] = ((2 ** 6 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['airborne'] = ((2 ** 7 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['estimating_wind'] = ((2 ** 8 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_barohgt'] = ((2 ** 9 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_rnghgt'] = ((2 ** 10 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_gpshgt'] = ((2 ** 11 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_evpos'] = ((2 ** 12 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_evyaw'] = ((2 ** 13 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_evhgt'] = ((2 ** 14 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['fuse_beta'] = ((2 ** 15 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['mag_field_disturbed'] = ((2 ** 16 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['fixed_wing'] = ((2 ** 17 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['mag_fault'] = ((2 ** 18 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['fuse_aspd'] = ((2 ** 19 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['gnd_effect'] = ((2 ** 20 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['rng_stuck'] = ((2 ** 21 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['gps_yaw'] = ((2 ** 22 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['mag_aligned_in_flight'] = ((2 ** 23 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['ev_vel'] = ((2 ** 24 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['synthetic_mag_z'] = ((2 ** 25 & estimator_status['control_mode_flags']) > 0) * 1
+    return control_mode
+
+def get_innovation_check_flags(estimator_status: dict) -> dict:
+    """
+    :param estimator_status:
+    :return:
+    """
+
+    innov_flags = dict()
+    # innovation_check_flags summary
+    # 0 - true if velocity observations have been rejected
+    # 1 - true if horizontal position observations have been rejected
+    # 2 - true if true if vertical position observations have been rejected
+    # 3 - true if the X magnetometer observation has been rejected
+    # 4 - true if the Y magnetometer observation has been rejected
+    # 5 - true if the Z magnetometer observation has been rejected
+    # 6 - true if the yaw observation has been rejected
+    # 7 - true if the airspeed observation has been rejected
+    # 8 - true if synthetic sideslip observation has been rejected
+    # 9 - true if the height above ground observation has been rejected
+    # 10 - true if the X optical flow observation has been rejected
+    # 11 - true if the Y optical flow observation has been rejected
+    innov_flags['vel_innov_fail'] = ((2 ** 0 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['posh_innov_fail'] = ((2 ** 1 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['posv_innov_fail'] = ((2 ** 2 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['magx_innov_fail'] = ((2 ** 3 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['magy_innov_fail'] = ((2 ** 4 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['magz_innov_fail'] = ((2 ** 5 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['yaw_innov_fail'] = ((2 ** 6 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['tas_innov_fail'] = ((2 ** 7 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['sli_innov_fail'] = ((2 ** 8 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['hagl_innov_fail'] = ((2 ** 9 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['ofx_innov_fail'] = ((2 ** 10 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['ofy_innov_fail'] = ((2 ** 11 & estimator_status['innovation_check_flags']) > 0) * 1
+    return innov_flags
+
+
 def get_gps_check_fail_flags(estimator_status: dict) -> dict:
    """
    :param estimator_status:
@@ -29,12 +29,12 @@
    ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    POSSIBILITY OF SUCH DAMAGE.

-File: mc_wind_estimator_tuning.py
+File: drag_replay.py
 Author: Mathieu Bresciani <mathieu@auterion.com>
 License: BSD 3-Clause
 Description:
    Find the best ballistic and momentum drag coefficients for wind estimation
-    using flight test data from a `.ulg` file.
+    using EKF2 replay data.
    NOTE: this script currently assumes no wind.
 """

@@ -191,7 +191,7 @@ if __name__ == '__main__':

    # Parse arguments
    parser = argparse.ArgumentParser(
-        description='Estimate the ballistic and momentum drag coefficients of a multirotor using a ULog file')
+        description='Estimate mag biases from ULog file')

    # Provide parameter file path and name
    parser.add_argument('logfile', help='Full ulog file path, name and extension', type=str)
@@ -11,7 +11,7 @@ import numpy as np
 from matplotlib.backends.backend_pdf import PdfPages
 from pyulog import ULog

-from analysis.post_processing import magnetic_field_estimates_from_states, get_gps_check_fail_flags
+from analysis.post_processing import magnetic_field_estimates_from_states, get_estimator_check_flags
 from plotting.data_plots import TimeSeriesPlot, InnovationPlot, ControlModeSummaryPlot, \
    CheckFlagsPlot
 from analysis.detectors import PreconditionError
@@ -33,11 +33,6 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
    except:
        raise PreconditionError('could not find estimator_status instance', multi_instance)

-    try:
-        estimator_status_flags = ulog.get_dataset('estimator_status_flags', multi_instance).data
-    except:
-        raise PreconditionError('could not find estimator_status_flags instance', multi_instance)
-
    try:
        estimator_states = ulog.get_dataset('estimator_states', multi_instance).data
    except:
@@ -73,13 +68,12 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
    except:
        raise PreconditionError('could not find innovation data')

-    gps_fail_flags = get_gps_check_fail_flags(estimator_status)
+    control_mode, innov_flags, gps_fail_flags = get_estimator_check_flags(estimator_status)

    status_time = 1e-6 * estimator_status['timestamp']
-    status_flags_time = 1e-6 * estimator_status_flags['timestamp']

    b_finishes_in_air, b_starts_in_air, in_air_duration, in_air_transition_time, \
-    on_ground_transition_time = detect_airtime(estimator_status_flags, status_flags_time)
+    on_ground_transition_time = detect_airtime(control_mode, status_time)

    with PdfPages(output_plot_filename) as pdf_pages:

@@ -179,9 +173,9 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str

        # plot control mode summary A
        data_plot = ControlModeSummaryPlot(
-            status_flags_time, estimator_status_flags, [['cs_tilt_align', 'cs_yaw_align'],
-            ['cs_gps', 'cs_opt_flow', 'cs_ev_pos'], ['cs_baro_hgt', 'cs_gps_hgt',
-             'cs_rng_hgt', 'cs_ev_hgt'], ['cs_mag_hdg', 'cs_mag_3d', 'cs_mag_dec']],
+            status_time, control_mode, [['tilt_aligned', 'yaw_aligned'],
+            ['using_gps', 'using_optflow', 'using_evpos'], ['using_barohgt', 'using_gpshgt',
+             'using_rnghgt', 'using_evhgt'], ['using_magyaw', 'using_mag3d', 'using_magdecl']],
            x_label='time (sec)', y_labels=['aligned', 'pos aiding', 'hgt aiding', 'mag aiding'],
            annotation_text=[['tilt alignment', 'yaw alignment'], ['GPS aiding', 'optical flow aiding',
             'external vision aiding'], ['Baro aiding', 'GPS aiding', 'rangefinder aiding',
@@ -194,7 +188,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        # plot control mode summary B
        # construct additional annotations for the airborne plot
        airborne_annotations = list()
-        if np.amin(np.diff(estimator_status_flags['cs_in_air'])) > -0.5:
+        if np.amin(np.diff(control_mode['airborne'])) > -0.5:
            airborne_annotations.append(
                (on_ground_transition_time, 'air to ground transition not detected'))
        else:
@@ -203,7 +197,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        if in_air_duration > 0.0:
            airborne_annotations.append(((in_air_transition_time + on_ground_transition_time) / 2,
                                         'duration = {:.1f} sec'.format(in_air_duration)))
-        if np.amax(np.diff(estimator_status_flags['cs_in_air'])) < 0.5:
+        if np.amax(np.diff(control_mode['airborne'])) < 0.5:
            airborne_annotations.append(
                (in_air_transition_time, 'ground to air transition not detected'))
        else:
@@ -211,7 +205,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
                (in_air_transition_time, 'in-air at {:.1f} sec'.format(in_air_transition_time)))

        data_plot = ControlModeSummaryPlot(
-            status_flags_time, estimator_status_flags, [['cs_in_air'], ['cs_wind']],
+            status_time, control_mode, [['airborne'], ['estimating_wind']],
            x_label='time (sec)', y_labels=['airborne', 'estimating wind'], annotation_text=[[], []],
            additional_annotation=[airborne_annotations, []],
            plot_title='EKF Control Status - Figure B', pdf_handle=pdf_pages)
@@ -220,15 +214,15 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str

        # plot innovation_check_flags summary
        data_plot = CheckFlagsPlot(
-            status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
-                                                                               'reject_hagl'],
-                                       ['reject_mag_x', 'reject_mag_y', 'reject_mag_z',
-                                        'reject_yaw'], ['reject_airspeed'], ['reject_sideslip'],
-                                       ['reject_optflow_x',
-                                        'reject_optflow_y']], x_label='time (sec)',
+            status_time, innov_flags, [['vel_innov_fail', 'posh_innov_fail'], ['posv_innov_fail',
+                                                                               'hagl_innov_fail'],
+                                       ['magx_innov_fail', 'magy_innov_fail', 'magz_innov_fail',
+                                        'yaw_innov_fail'], ['tas_innov_fail'], ['sli_innov_fail'],
+                                       ['ofx_innov_fail',
+                                        'ofy_innov_fail']], x_label='time (sec)',
            y_labels=['failed', 'failed', 'failed', 'failed', 'failed', 'failed'],
            y_lim=(-0.1, 1.1),
-            legend=[['vel NE', 'pos NE'], ['vel D', 'hgt absolute', 'hgt above ground'],
+            legend=[['vel NED', 'pos NE'], ['hgt absolute', 'hgt above ground'],
                    ['mag_x', 'mag_y', 'mag_z', 'yaw'], ['airspeed'], ['sideslip'],
                    ['flow X', 'flow Y']],
            plot_title='EKF Innovation Test Fails', annotate=False, pdf_handle=pdf_pages)
@@ -350,33 +344,33 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        data_plot.close()


-def detect_airtime(estimator_status_flags, status_flags_time):
+def detect_airtime(control_mode, status_time):
    # define flags for starting and finishing in air
    b_starts_in_air = False
    b_finishes_in_air = False
    # calculate in-air transition time
-    if (np.amin(estimator_status_flags['cs_in_air']) < 0.5) and (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
-        in_air_transtion_time_arg = np.argmax(np.diff(estimator_status_flags['cs_in_air']))
-        in_air_transition_time = status_flags_time[in_air_transtion_time_arg]
-    elif (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
-        in_air_transition_time = np.amin(status_flags_time)
+    if (np.amin(control_mode['airborne']) < 0.5) and (np.amax(control_mode['airborne']) > 0.5):
+        in_air_transtion_time_arg = np.argmax(np.diff(control_mode['airborne']))
+        in_air_transition_time = status_time[in_air_transtion_time_arg]
+    elif (np.amax(control_mode['airborne']) > 0.5):
+        in_air_transition_time = np.amin(status_time)
        print('log starts while in-air at ' + str(round(in_air_transition_time, 1)) + ' sec')
        b_starts_in_air = True
    else:
        in_air_transition_time = float('NaN')
        print('always on ground')
    # calculate on-ground transition time
-    if (np.amin(np.diff(estimator_status_flags['cs_in_air'])) < 0.0):
-        on_ground_transition_time_arg = np.argmin(np.diff(estimator_status_flags['cs_in_air']))
-        on_ground_transition_time = status_flags_time[on_ground_transition_time_arg]
-    elif (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
-        on_ground_transition_time = np.amax(status_flags_time)
+    if (np.amin(np.diff(control_mode['airborne'])) < 0.0):
+        on_ground_transition_time_arg = np.argmin(np.diff(control_mode['airborne']))
+        on_ground_transition_time = status_time[on_ground_transition_time_arg]
+    elif (np.amax(control_mode['airborne']) > 0.5):
+        on_ground_transition_time = np.amax(status_time)
        print('log finishes while in-air at ' + str(round(on_ground_transition_time, 1)) + ' sec')
        b_finishes_in_air = True
    else:
        on_ground_transition_time = float('NaN')
        print('always on ground')
-    if (np.amax(np.diff(estimator_status_flags['cs_in_air'])) > 0.5) and (np.amin(np.diff(estimator_status_flags['cs_in_air'])) < -0.5):
+    if (np.amax(np.diff(control_mode['airborne'])) > 0.5) and (np.amin(np.diff(control_mode['airborne'])) < -0.5):
        if ((on_ground_transition_time - in_air_transition_time) > 0.0):
            in_air_duration = on_ground_transition_time - in_air_transition_time
        else:
@@ -1,7 +0,0 @@
-if SWD
-speed 1000
-r
-loadbin /Users/landon/git/px4/build/nxp_ucans32k146_nxp_demo/deploy/34.bin,0x6000
-r
-g
-q
@@ -1,3 +0,0 @@
-#!/bin/zsh
-
-JLinkExe -device S32K146 -CommandFile /Users/landon/git/px4/Tools/flash_nxp/flash_ucan.jlink
@@ -200,12 +200,13 @@ if [[ $INSTALL_SIM == "true" ]]; then

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

 	# Gazebo
-	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		gazebo_version=9
-		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
-	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		gazebo_packages="gazebo libgazebo-dev"
-	else
-		# default and Ubuntu 20.04
-		gazebo_version=11
-		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
-	fi
-
 	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 	# Update list, since new gazebo-stable.list has been added
 	sudo apt-get update -y --quiet
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		dmidecode \
-		$gazebo_packages \
+		gazebo$gazebo_version \
 		gstreamer1.0-plugins-bad \
 		gstreamer1.0-plugins-base \
 		gstreamer1.0-plugins-good \
 		gstreamer1.0-plugins-ugly \
 		gstreamer1.0-libav \
 		libeigen3-dev \
+		libgazebo$gazebo_version-dev \
 		libgstreamer-plugins-base1.0-dev \
 		libimage-exiftool-perl \
 		libopencv-dev \
@@ -61,10 +61,10 @@ fi
 # Sensirion SDP3X differential pressure sensor external I2C
 if param compare -s SENS_EN_SDP3X 1
 then
-	if ! sdp3x start -X
+	if ! sdp3x_airspeed start -X
 	then
 		# try another common address
-		sdp3x start -X -a 0x22
+		sdp3x_airspeed start -X -a 0x22
 	fi
 fi

@@ -75,16 +75,16 @@ then
 	sht3x start -X -a 0x45
 fi

-# TE MS4525DO differential pressure sensor external I2C
-if param compare -s SENS_EN_MS4525DO 1
+# TE MS4525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS4525 1
 then
-	ms4525do start -X
+	ms4525_airspeed start -X
 fi

-# TE MS5525DSO differential pressure sensor external I2C
-if param compare -s SENS_EN_MS5525DS 1
+# TE MS5525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS5525 1
 then
-	ms5525dso start -X
+	ms5525_airspeed start -X
 fi

 # IR-LOCK sensor external I2C
@@ -11,7 +11,7 @@ lps22hb -s start

 lsm303agr -s -R 4 start

-ms4515 -I -b 3 start
+ms4525_airspeed -T 4515 -I -b 3 start

 if ! param greater SENS_EN_PMW3901 0
 then
@@ -4,7 +4,6 @@ CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_RPM=n
-CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
@@ -4,8 +4,6 @@ CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_RPM=n
-CONFIG_DRIVERS_UAVCAN=n
-CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
@@ -1,47 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m4"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_EXTERNAL_METADATA=y
-CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_BMP280=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_OSD=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MODULES_MC_ATT_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_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PWM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_VER=y
@@ -1,13 +0,0 @@
-{
-    "board_id": 42,
-    "magic": "MAMBAF405MK2",
-    "description": "Firmware for the MambaF405Mk2 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "PX4/MambaF405",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1032192,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,18 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-# system_power unavailable
-param set-default CBRK_SUPPLY_CHK 894281
-
-# Disable safety switch by default
-param set-default CBRK_IO_SAFETY 22027
-
-# use the Q attitude estimator, it works w/o mag or GPS.
-param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_ACC_COMP 0
-param set-default ATT_W_ACC 0.4000
-param set-default ATT_W_GYRO_BIAS 0.0000
-
-param set-default SYS_HAS_MAG 0
@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# Mamba F405 MK2 specific board extras init
-#------------------------------------------------------------------------------
-
-if ! param compare OSD_ATXXXX_CFG 0
-then
-	atxxxx start -s
-fi
@@ -1,25 +0,0 @@
-#!/bin/sh
-#
-# Mamba F405 MK2 specific board sensors init
-#------------------------------------------------------------------------------
-
-board_adc start
-
-if ! mpu6000 -R 6 -s start
-then
-	# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
-	icm20602 -s -R 6 start
-fi
-
-if ! hmc5883 -T -X start
-then	
-	if mpu9250_i2c -X -b 2 -a 0x68 -R 28 start; then
-		sleep 1 # wait for mpu9250 to be configured with bypass enabled
-		ak8963 -X -b 2 -R 30 start # -R 34
-		sleep 1
-		mpu9250_i2c stop
-		ak8963 -X -b 2 -R 30 start # -R 34
-	fi
-fi
-
-bmp280 -X -b 2 start
@@ -1,327 +0,0 @@
-/************************************************************************************
- * nuttx-configs/diatone_mamba-f405-mk2/include/board.h
- * include/arch/board/board.h
- *
- *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
- *   Author: Nathan Tsoi <nathan@vertile.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 __CONFIG_MAMBAF405MK2_INCLUDE_BOARD_H
-#define __CONFIG_MAMBAF405MK2_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_sdio.h"
-#include "stm32.h"
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/* Clocking *************************************************************************/
-/* The mambaf405mk2 board features a single 8MHz crystal.  Space is provided
- * for a 32kHz RTC backup crystal, but it is not stuffed.
- *
- * This is the canonical configuration:
- *   System Clock source           : PLL (HSE)
- *   SYSCLK(Hz)                    : 168000000    Determined by PLL configuration
- *   HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
- *   AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
- *   APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
- *   APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
- *   HSE Frequency(Hz)             : 8000000      (STM32_BOARD_XTAL)
- *   PLLM                          : 8            (STM32_PLLCFG_PLLM)
- *   PLLN                          : 336          (STM32_PLLCFG_PLLN)
- *   PLLP                          : 2            (STM32_PLLCFG_PLLP)
- *   PLLQ                          : 7            (STM32_PLLCFG_PLLQ)
- *   Main regulator output voltage : Scale1 mode  Needed for high speed SYSCLK
- *   Flash Latency(WS)             : 5
- *   Prefetch Buffer               : OFF
- *   Instruction cache             : ON
- *   Data cache                    : ON
- *   Require 48MHz for USB OTG FS, : Enabled
- *   SDIO and RNG clock
- */
-
-/* HSI - 16 MHz RC factory-trimmed
- * LSI - 32 KHz RC
- * HSE - On-board crystal frequency is 8MHz
- * LSE - 32.768 kHz
- */
-
-#define STM32_BOARD_XTAL        8000000ul
-
-#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
- * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
- *         = (8,000,000 / 8) * 336
- *         = 336,000,000
- * SYSCLK  = PLL_VCO / PLLP
- *         = 336,000,000 / 2 = 168,000,000
- * USB OTG FS, SDIO and RNG Clock
- *         =  PLL_VCO / PLLQ
- *         = 48,000,000
- */
-
-#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
-#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
-#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
-
-#define STM32_SYSCLK_FREQUENCY  168000000ul
-
-/* AHB clock (HCLK) is SYSCLK (168MHz) */
-
-#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
-#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
-
-#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
-#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
-
-/* 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)
-
-/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
-
-#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
-
-/* 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_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-
-/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
- * otherwise frequency is 2xAPBx.
- * Note: TIM1,8-11 are on APB2, others on APB1
- */
-
-#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
-#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
-#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
-#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
-#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
-#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
-#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
-#define BOARD_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
-#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
-#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
-#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_CLKIN
-#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
-#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
-#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
-
-/* SDIO dividers.  Note that slower clocking is required when DMA is disabled
- * in order to avoid RX overrun/TX underrun errors due to delayed responses
- * to service FIFOs in interrupt driven mode.  These values have not been
- * tuned!!!
- *
- * SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(118+2)=400 KHz
- */
-
-#define SDIO_INIT_CLKDIV        (118 << SDIO_CLKCR_CLKDIV_SHIFT)
-
-/* DMA ON:  SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
- * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
- */
-
-#ifdef CONFIG_STM32_SDIO_DMA
-#  define SDIO_MMCXFR_CLKDIV    (1 << SDIO_CLKCR_CLKDIV_SHIFT)
-#else
-#  define SDIO_MMCXFR_CLKDIV    (2 << SDIO_CLKCR_CLKDIV_SHIFT)
-#endif
-
-/* DMA ON:  SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
- * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
- */
-
-#ifdef CONFIG_STM32_SDIO_DMA
-#  define SDIO_SDXFR_CLKDIV     (1 << SDIO_CLKCR_CLKDIV_SHIFT)
-#else
-#  define SDIO_SDXFR_CLKDIV     (2 << SDIO_CLKCR_CLKDIV_SHIFT)
-#endif
-
-/* LED definitions ******************************************************************/
-/* 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 stm32_setled() */
-
-#define BOARD_LED1        0
-//#define BOARD_LED2        1
-#define BOARD_NLEDS       1
-
-#define BOARD_LED_BLUE    BOARD_LED1
-//#define BOARD_LED_RED     BOARD_LED2
-
-/* LED bits for use with stm32_setleds() */
-
-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
-#define BOARD_LED2_BIT    (1 << BOARD_LED2)
-
-/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board the
- * omnibusf4sd.  The following definitions describe how NuttX controls the LEDs:
- */
-
-#define LED_STARTED       0  /* LED1 */
-#define LED_HEAPALLOCATE  1  /* LED2 */
-#define LED_IRQSENABLED   2  /* LED1 */
-#define LED_STACKCREATED  3  /* LED1 + LED2 */
-#define LED_INIRQ         4  /* LED1 */
-#define LED_SIGNAL        5  /* LED2 */
-#define LED_ASSERTION     6  /* LED1 + LED2 */
-#define LED_PANIC         7  /* LED1 + LED2 */
-
-/* Alternate function pin selections ************************************************/
-
-/* UART1:
- *
- * PA10 (RX) and PA9 (TX) are broken out on J5
- */
-
-#define GPIO_USART1_RX GPIO_USART1_RX_1
-#define GPIO_USART1_TX GPIO_USART1_TX_1
-
-/* USART3:
- *
- * PC10 (TX) and PC11 (RX) are broken out on J4
- *
- * However, this port is shared with SPI3 which contains the BMP280 and MAX7456
- *
- * The Silkscreen pin labeled SCL is TX
- *                           MISO is RX
- */
-//#define GPIO_USART3_RX	GPIO_USART3_RX_2
-//#define GPIO_USART3_TX	GPIO_USART3_TX_2
-
-/* UART4:
- *
- * PA0 (TX) -- Labeled RSSI on the silkscreen is only broken out on a test pad
- *             on the pro version. It's on a 2.54mm header on other versions
- * PA1 (RX) -- Motor 5 out
- */
-#define GPIO_UART4_RX	GPIO_UART4_RX_1
-#define GPIO_UART4_TX	GPIO_UART4_TX_1
-
-/* UART6:
- *
- * PC6 (TX) and PC7 (RX) are broken out on J10
- */
-
-#define GPIO_USART6_RX GPIO_USART6_RX_1
-#define GPIO_USART6_TX GPIO_USART6_TX_1
-
-/* SPI1:
- *  MPU6000
- *  CS: PA4 -- configured in board_config.h
- *  CLK: PA5
- *  MISO: PA6
- *  MOSI: PA7
- */
-
-#define GPIO_SPI1_SCK  GPIO_SPI1_SCK_1
-#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
-#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
-
-/* SPI2:
- *  SD Card
- *  CS: PB12 -- configured in board_config.h
- *  CLK: PB13
- *  MISO: PB14
- *  MOSI: PB15
- */
-
-#define GPIO_SPI2_SCK	  GPIO_SPI2_SCK_2
-#define GPIO_SPI2_MISO	GPIO_SPI2_MISO_1
-#define GPIO_SPI2_MOSI	GPIO_SPI2_MOSI_1
-
-/* SPI3:
- *  BMP280
- *  CS: PB3 -- configured in board_config.h
- *  CLK: PC10
- *  MISO: PC11
- *  MOSI: PC12
- */
-
-#define GPIO_SPI3_SCK  GPIO_SPI3_SCK_2
-#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2
-#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_2
-
-/*
- * I2C (external)
- *
- * SCL: PB10
- * SDA: PB11
- *
- * TODO:
- *   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_I2C2_SCL		GPIO_I2C2_SCL_1
-#define GPIO_I2C2_SDA		GPIO_I2C2_SDA_1
-
-#endif  /* __CONFIG_OMNIBUSF4SD_INCLUDE_BOARD_H */
@@ -1,94 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020 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
-
-/*
-|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
-|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
-| Channel 0  | SPI3_RX_1        | -                | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1        | -                | SPI3_TX_2        |
-| Channel 1  | I2C1_RX          | -                | TIM7_UP_1        |  -               | TIM7_UP_2        | I2C1_RX_1        | I2C1_TX          | I2C1_TX_1        |
-| Channel 2  | TIM4_CH1         | -                | I2C4_RX          | TIM4_CH2         | -                | I2C4_RX          | TIM4_UP          | TIM4_CH3         |
-| Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | I2C2_EXT_RX      | I2C3_TX          | TIM2_CH1         | TIM2_CH2         | TIM2_UP_2        |
-|            |                  |   TIM2_CH3       |                  |                  |                  |                  |   TIM2_CH4_1     |   TIM2_CH4_2     |
-| Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1      | UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         |
-| Channel 5  | UART8_TX         | UART7_TX         | TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         |
-|            |                  |                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  |                  |
-| Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | -                | TIM5_UP_2        | -                |
-|            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |   TIM5_TRIG_2    |                  |                  |                  |                  |
-| Channel 7  | -                | TIM6_UP          | I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          |
-|            |                  |                  |                  |                  |                  |                  |                  |                  |
-| Usage      |                  | TIM2_UP_1        | TIM3_UP          | SPI2_RX          | SPI2_TX          |                  |                  |                  |
-
-
-|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
-|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
-| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_1         | ADC1_2           | SAI1_B_1         | TIM1_CH1_1       | -                |
-|            |                  |                  |   TIM8_CH2_1     |                  |                  |                  |   TIM1_CH2_1     |                  |
-|            |                  |                  |   TIM8_CH3_1     |                  |                  |                  |   TIM1_CH3_1     |                  |
-| Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2           | SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           |
-| Channel 2  | ADC3_1           | ADC3_2           | -                | SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          |
-| Channel 3  | SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | -                | SPI1_TX_2        | -                | QUADSPI          |
-| Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDIO             | -                | USART1_RX_2      | SDIO             | USART1_TX        |
-| Channel 5  | -                | USART6_RX_1      | USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      |
-| Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP          | TIM1_CH3_2       | -                |
-|            |                  |                  |                  |                  |   TIM1_TRIG_2    |                  |                  |                  |
-|            |                  |                  |                  |                  |   TIM1_COM       |                  |                  |                  |
-| Channel 7  | -                | TIM8_UP          | TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         |
-|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_TRIG      |
-|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_COM       |
-|            |                  |                  |                  |                  |                  |                  |                  |                  |
-| Usage      | SPI1_RX_1        | USART6_RX_1      | USART1_RX_1      | SPI1_TX_1        |                  |                  | SDIO             |                  |
- */
-
-// DMA1 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-//      AVAILABLE                             // DMA2, Stream 0
-//      DMAMAP_TIM2_UP                        // DMA1, Stream 1, Channel 3    (DSHOT)
-//      DMAMAP_TIM3_UP                        // DMA1, Stream 2, Channel 5    (DSHOT)
-#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX     // DMA1, Stream 3, Channel 0    (SPI2 RX)
-#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX     // DMA1, Stream 4, Channel 0    (SPI2 TX)
-//      AVAILABLE                             // DMA2, Stream 5
-//      AVAILABLE                             // DMA2, Stream 6
-//      AVAILABLE                             // DMA2, Stream 7
-
-//  DMA2 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_1   // DMA2, Stream 0, Channel 3    (SPI1 RX)
-#define DMAMAP_USART6_RX   DMAMAP_USART6_RX_1 // DMA2, Stream 1, Channel 4
-#define DMAMAP_USART1_RX   DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
-#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 3, Channel 3    (SPI1 TX)
-//      AVAILABLE                             // DMA2, Stream 4
-//      AVAILABLE                             // DMA2, Stream 5
-#define DMAMAP_SDIO        DMAMAP_SDIO_2      // DMA2, Stream 6, Channel 4
-//      AVAILABLE                             // DMA2, Stream 7
@@ -1,193 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DEV_CONSOLE is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_SPI_CALLBACK is not set
-# CONFIG_STM32_CCMEXCLUDE is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/diatone/mamba-f405-mk2/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F405RG=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_CUSTOM_LEDS=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0001
-CONFIG_CDCACM_PRODUCTSTR="DiatoneMambaF405 MK2"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=2000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="Diatone"
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_DISABLE_POSIX_TIMERS=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MM_REGIONS=2
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_W25=y
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_BASENAME=y
-CONFIG_NSH_DISABLE_DD=y
-CONFIG_NSH_DISABLE_DIRNAME=y
-CONFIG_NSH_DISABLE_HEXDUMP=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_LOSETUP=y
-CONFIG_NSH_DISABLE_MKFIFO=y
-CONFIG_NSH_DISABLE_MKRD=y
-CONFIG_NSH_DISABLE_PUT=y
-CONFIG_NSH_DISABLE_REBOOT=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_DISABLE_UNAME=y
-CONFIG_NSH_DISABLE_WGET=y
-CONFIG_NSH_DISABLE_XD=y
-CONFIG_NSH_FATDEVNO=0
-CONFIG_NSH_FILEIOSIZE=512
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_MMCSDSPIPORTNO=2
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_READLINE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=196608
-CONFIG_RAM_START=0x20000000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-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=32
-CONFIG_STM32_ADC1=y
-CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=5
-CONFIG_STM32_BKPSRAM=y
-CONFIG_STM32_CCMDATARAM=y
-CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
-CONFIG_STM32_DMA1=y
-CONFIG_STM32_DMA2=y
-CONFIG_STM32_FLASH_PREFETCH=y
-CONFIG_STM32_FLOWCONTROL_BROKEN=y
-CONFIG_STM32_I2C2=y
-CONFIG_STM32_I2CTIMEOMS=10
-CONFIG_STM32_I2CTIMEOTICKS=10
-CONFIG_STM32_JTAG_SW_ENABLE=y
-CONFIG_STM32_OTGFS=y
-CONFIG_STM32_PWR=y
-CONFIG_STM32_RTC=y
-CONFIG_STM32_RTC_HSECLOCK=y
-CONFIG_STM32_RTC_MAGIC_REG=1
-CONFIG_STM32_SAVE_CRASHDUMP=y
-CONFIG_STM32_SDIO=y
-CONFIG_STM32_SDIO_CARD=y
-CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32_SPI1=y
-CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=1024
-CONFIG_STM32_SPI2=y
-CONFIG_STM32_SPI2_DMA=y
-CONFIG_STM32_SPI3=y
-CONFIG_STM32_SPI_DMA=y
-CONFIG_STM32_SPI_DMATHRESHOLD=8
-CONFIG_STM32_TIM1=y
-CONFIG_STM32_TIM5=y
-CONFIG_STM32_UART4=y
-CONFIG_STM32_USART1=y
-CONFIG_STM32_USART6=y
-CONFIG_STM32_USART_BREAKS=y
-CONFIG_STM32_USART_SINGLEWIRE=y
-CONFIG_STM32_WWDG=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=300
-CONFIG_UART4_TXBUFSIZE=900
-CONFIG_USART1_RXBUFSIZE=300
-CONFIG_USART1_RXDMA=y
-CONFIG_USART1_TXBUFSIZE=300
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=300
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=300
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -1,138 +0,0 @@
-/****************************************************************************
- * configs/omnibus-f4sd/scripts/ld.script
- *
- *   Copyright (C) 2011 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 STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
- * 192Kb of SRAM. SRAM is split up into three blocks:
- *
- * 1) 112Kb of SRAM beginning at address 0x2000:0000
- * 2)  16Kb of SRAM beginning at address 0x2001:c000
- * 3)  64Kb of CCM SRAM beginning at address 0x1000:0000
- *
- * 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 first 16 KiB of flash is reserved for the bootloader.
- * Paramater storage will use the next 16KiB Sector.
- */
-
-MEMORY
-{
-    flash (rx)   : ORIGIN = 0x08008000, LENGTH = 992K
-    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 128K
-    ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
-}
-
-OUTPUT_ARCH(arm)
-
-ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
-EXTERN(_vectors)	/* force the vectors to be included in the output */
-
-/*
- * 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)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.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) }
-}
@@ -1,50 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 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_library(drivers_board
-	i2c.cpp
-	init.c
-	led.c
-	spi.cpp
-	timer_config.cpp
-	usb.c
-)
-
-target_link_libraries(drivers_board
-	PRIVATE
-		arch_spi
-		drivers__led # drv_led_start
-		nuttx_arch # sdio
-		nuttx_drivers # sdio
-		px4_layer
-)
@@ -1,204 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018, 2014 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
- *
- * boards internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-/* Configuration ************************************************************************************/
-
-/* omnibusf4sd GPIOs ***********************************************************************************/
-/* LEDs */
-// power - green
-// LED1 - PB5 - blue
-#define GPIO_LED1       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
-#define GPIO_LED_BLUE   GPIO_LED1
-
-#define BOARD_OVERLOAD_LED     LED_BLUE
-
-#define  FLASH_BASED_PARAMS
-
-/*
- * 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
- */
-#define ADC_CHANNELS (1 << 0) | (1 << 11) | (1 << 12)
-
-#define ADC_BATTERY_VOLTAGE_CHANNEL  11
-#define ADC_BATTERY_CURRENT_CHANNEL  13
-#define ADC_RC_RSSI_CHANNEL          12
-
-/* Define Battery 1 Voltage Divider and A per V
- */
-#define BOARD_BATTERY1_V_DIV         (11.12f)
-#define BOARD_BATTERY1_A_PER_V       (31.f)
-
-/* User GPIOs
- *
- * GPIO0-5 are the PWM servo outputs.
- * GPIO_TIM3_CH3OUT        GPIO_TIM3_CH3OUT_1 //PB0 S1_OUT D1_ST7
- * GPIO_TIM3_CH4OUT        GPIO_TIM3_CH4OUT_1 //PB1 S2_OUT D1_ST2
- * GPIO_TIM2_CH4OUT        GPIO_TIM2_CH4OUT_1 //PA3 S3_OUT D1_ST6
- * GPIO_TIM2_CH3OUT        GPIO_TIM2_CH3OUT_1 //PA2 S4_OUT D1_ST1
- * GPIO_TIM5_CH2OUT        GPIO_TIM5_CH2OUT_1 //PA1 S5_OUT
- * GPIO_TIM1_CH1OUT        GPIO_TIM1_CH1OUT_1 //PA8 S6_OUT
- */
-
-#define _MK_GPIO_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))
-
-#define GPIO_GPIO0_INPUT             _MK_GPIO_INPUT(GPIO_TIM3_CH3IN)
-#define GPIO_GPIO1_INPUT             _MK_GPIO_INPUT(GPIO_TIM3_CH4IN)
-#define GPIO_GPIO2_INPUT             _MK_GPIO_INPUT(GPIO_TIM2_CH3IN)
-#define GPIO_GPIO3_INPUT             _MK_GPIO_INPUT(GPIO_TIM2_CH4IN)
-//#define GPIO_GPIO4_INPUT             _MK_GPIO_INPUT(GPIO_TIM5_CH2IN)
-//#define GPIO_GPIO5_INPUT             _MK_GPIO_INPUT(GPIO_TIM1_CH1IN)
-
-#define _MK_GPIO_OUTPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))
-
-#define GPIO_GPIO0_OUTPUT            _MK_GPIO_OUTPUT(GPIO_TIM3_CH3OUT)
-#define GPIO_GPIO1_OUTPUT            _MK_GPIO_OUTPUT(GPIO_TIM3_CH4OUT)
-#define GPIO_GPIO2_OUTPUT            _MK_GPIO_OUTPUT(GPIO_TIM2_CH3OUT)
-#define GPIO_GPIO3_OUTPUT            _MK_GPIO_OUTPUT(GPIO_TIM2_CH4OUT)
-//#define GPIO_GPIO4_OUTPUT            _MK_GPIO_OUTPUT(GPIO_TIM5_CH2OUT)
-//#define GPIO_GPIO5_OUTPUT            _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT)
-
-/* USB OTG FS
- *
- * PA9  OTG_FS_VBUS VBUS sensing
- */
-#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTC|GPIO_PIN5)
-
-/* PWM
- *
- * Alternatively CH3/CH4 could be assigned to UART6_TX/RX
- */
-#define DIRECT_PWM_OUTPUT_CHANNELS      4
-#define DIRECT_INPUT_TIMER_CHANNELS  4
-
-// Has pwm outputs
-#define BOARD_HAS_PWM    DIRECT_PWM_OUTPUT_CHANNELS
-
-/* High-resolution timer */
-#define HRT_TIMER                    4 // T4C1
-#define HRT_TIMER_CHANNEL            1 // use capture/compare channel 1
-
-#define HRT_PPM_CHANNEL              3 // capture/compare channel 3
-#define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)
-
-#define RC_SERIAL_PORT               "/dev/ttyS0"
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
-
-/*
- * One RC_IN
- *
- * GPIO PPM_IN on PB8 T4CH3
- * SPEKTRUM_RX (it's TX or RX in Bind) on PA10 UART1
- * The FMU can drive GPIO PPM_IN as an output
- */
-// TODO?
-//#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()         px4_arch_configgpio(GPIO_USART1_RX)
-//#define SPEKTRUM_OUT(_one_true)       px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
-
-#define BOARD_HAS_PWM    DIRECT_PWM_OUTPUT_CHANNELS
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-#define BOARD_HAS_ON_RESET 1
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-#define BOARD_CONSOLE_BUFFER_SIZE (1024*2)
-
-
-__BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
- *
- ****************************************************************************************************/
-
-extern void stm32_spiinitialize(void);
-
-
-/****************************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to configure USB IO.
- *
- ****************************************************************************************************/
-
-extern void stm32_usbinitialize(void);
-
-extern void board_peripheral_reset(int ms);
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS
@@ -1,38 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 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(2),
-};
--- a/Show More
+++ b/Show More