nxp_fmurt1062-v1:All LPUARTS Use DMA

nxp_fmurt1062-v1:No need to poll for DMA RX
nxp_fmurt1062-v1:Use syslog
2026-06-20 11:20:36 +08:00 · 2022-06-15 11:00:19 -07:00 · 2022-06-15 11:00:19 -07:00 · 2022-06-15 11:00:19 -07:00 · 2022-06-15 11:00:19 -07:00 · 2022-06-15 10:59:59 -07:00
244 changed files with 10974 additions and 7763 deletions
@@ -809,6 +809,9 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'

+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
+
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
@@ -864,12 +867,15 @@ 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'
@@ -126,8 +126,6 @@
        },
        "search.showLineNumbers": true,
        "telemetry.enableTelemetry": false,
-        "terminal.integrated.copyOnSelection": true,
-        "terminal.integrated.rightClickBehavior": "paste",
        "terminal.integrated.scrollback": 5000,
        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
        "workbench.editor.highlightModifiedTabs": true,
@@ -331,7 +331,7 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

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

 .PHONY: coverity_scan
@@ -0,0 +1,101 @@
+#!/bin/sh
+#
+# @name 6DoF Omnicopter SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Jaeyoung Lim <jalim@ethz.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 255
+
+param set-default CA_ROTOR0_PX 0.14435
+param set-default CA_ROTOR0_PY -0.14435
+param set-default CA_ROTOR0_PZ -0.14435
+param set-default CA_ROTOR0_KM 0.05 # CCW
+param set-default CA_ROTOR0_AX -0.788675
+param set-default CA_ROTOR0_AY -0.211325
+param set-default CA_ROTOR0_AZ -0.57735
+
+param set-default CA_ROTOR1_PX -0.14435
+param set-default CA_ROTOR1_PY -0.14435
+param set-default CA_ROTOR1_PZ -0.14435
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR1_AX 0.211325
+param set-default CA_ROTOR1_AY -0.788675
+param set-default CA_ROTOR1_AZ 0.57735
+
+param set-default CA_ROTOR2_PX 0.14435
+param set-default CA_ROTOR2_PY 0.14435
+param set-default CA_ROTOR2_PZ -0.14435
+param set-default CA_ROTOR2_KM 0.05
+param set-default CA_ROTOR2_AX -0.211325
+param set-default CA_ROTOR2_AY 0.788675
+param set-default CA_ROTOR2_AZ 0.57735
+
+param set-default CA_ROTOR3_PX -0.14435
+param set-default CA_ROTOR3_PY 0.14435
+param set-default CA_ROTOR3_PZ -0.14435
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR3_AX 0.788675
+param set-default CA_ROTOR3_AY 0.211325
+param set-default CA_ROTOR3_AZ -0.57735
+
+param set-default CA_ROTOR4_PX 0.14435
+param set-default CA_ROTOR4_PY -0.14435
+param set-default CA_ROTOR4_PZ 0.14435
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR4_AX 0.788675
+param set-default CA_ROTOR4_AY 0.211325
+param set-default CA_ROTOR4_AZ -0.57735
+
+param set-default CA_ROTOR5_PX -0.14435
+param set-default CA_ROTOR5_PY -0.14435
+param set-default CA_ROTOR5_PZ 0.14435
+param set-default CA_ROTOR5_KM 0.05
+param set-default CA_ROTOR5_AX -0.211325
+param set-default CA_ROTOR5_AY 0.788675
+param set-default CA_ROTOR5_AZ 0.57735
+
+param set-default CA_ROTOR6_PX 0.14435
+param set-default CA_ROTOR6_PY 0.14435
+param set-default CA_ROTOR6_PZ 0.14435
+param set-default CA_ROTOR6_KM 0.05
+param set-default CA_ROTOR6_AX 0.211325
+param set-default CA_ROTOR6_AY -0.788675
+param set-default CA_ROTOR6_AZ 0.57735
+
+param set-default CA_ROTOR7_PX -0.14435
+param set-default CA_ROTOR7_PY 0.14435
+param set-default CA_ROTOR7_PZ 0.14435
+param set-default CA_ROTOR7_KM 0.05
+param set-default CA_ROTOR7_AX -0.788675
+param set-default CA_ROTOR7_AY -0.211325
+param set-default CA_ROTOR7_AZ -0.57735
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+param set-default PWM_MAIN_FUNC7 107
+param set-default PWM_MAIN_FUNC8 108
+
+# disable MC desaturation which improves attitude tracking
+param set-default CA_METHOD 0
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+set MIXER skip
+set MIXER_AUX none
@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name QuadrotorX SITL for SIH
+#
+# @type Quadrotor
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set SIH_VEHICLE_TYPE 0
@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name Plane SITL for SIH
+#
+# @type Plane
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+
+. ${R}etc/init.d/rc.fw_defaults
+
+set MIXER AERT
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default BAT_N_CELLS 3
+
+param set SIH_T_MAX 6.0
+param set SIH_MASS 0.3
+param set SIH_IXX 0.00402
+param set SIH_IYY 0.0144
+param set SIH_IZZ 0.0177
+param set SIH_IXZ 0.00046
+param set SIH_KDV 0.2
+
+param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
+param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
@@ -0,0 +1,45 @@
+#!/bin/sh
+#
+# @name SIH Tailsitter Duo
+#
+# @type VTOL
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 0
+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.3
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default MAV_TYPE 19
+set MAV_TYPE 19
+set MIXER vtol_tailsitter_duo_sat
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default BAT_N_CELLS 3
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0.0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.145
+
+# sih as tailsitter
+param set SIH_VEHICLE_TYPE 2
@@ -35,8 +35,12 @@ px4_add_romfs_files(
 	10016_iris
 	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
+	10019_omnicopter
 	10020_if750a
 	10030_px4vision
+	10040_quadx
+	10041_airplane
+	10042_xvert
 	1010_iris_opt_flow
 	1010_iris_opt_flow.post
 	1011_iris_irlock
@@ -30,3 +30,12 @@ mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $ud

 # Onboard link to gimbal
 mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
+
+# To display for SIH sitl
+if [ "$SIM_MODE" = "sihsim" ]; then
+	udp_sihsim_port_local=$((19450+px4_instance))
+	udp_sihsim_port_remote=$((19410+px4_instance))
+	mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote
+	mavlink stream -r 200 -s HIL_ACTUATOR_CONTROLS -u  $udp_sihsim_port_local
+	mavlink stream -r 25 -s HIL_STATE_QUATERNION -u  $udp_sihsim_port_local
+fi
@@ -95,10 +95,9 @@ 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
@@ -155,6 +154,8 @@ param set-default SDLOG_DIRS_MAX 7

 param set-default TRIG_INTERFACE 3

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

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

 dataman start
+# start sih in sih_sim mode, otherwise simulator module
+if [ "$SIM_MODE" = "sihsim" ]; then
+	sih start
 # only start the simulator if not in replay mode, as both control the lockstep time
-if ! replay tryapplyparams
+elif ! replay tryapplyparams
 then
  . px4-rc.simulator
 fi
@@ -21,7 +21,6 @@ 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
@@ -177,13 +176,12 @@ else
 	fi

 	#
-	# Set AUTOCNF flag to use it in AUTOSTART scripts.
+	# 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.
 	#
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# 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
+		# 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*
 	fi

 	#
@@ -274,14 +272,6 @@ 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.
 	#
@@ -565,7 +555,6 @@ fi
 # Unset all script parameters to free RAM.
 #
 unset R
-unset AUTOCNF
 unset FCONFIG
 unset FEXTRAS
 unset FRC
@@ -95,7 +95,7 @@ def do_nsh_cmd(port_url, baudrate, cmd):


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

    return_code = 0

@@ -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_estimator_check_flags
+from analysis.post_processing import get_gps_check_fail_flags

 def analyse_ekf(
        ulog: ULog, check_levels: Dict[str, float], multi_instance: int = 0,
@@ -40,6 +40,11 @@ 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:
@@ -61,14 +66,14 @@ 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)}

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

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

    metrics = calculate_ecl_ekf_metrics(
-        ulog, innov_flags, innov_fail_checks, sensor_checks, in_air, in_air_no_ground_effects,
+        ulog, estimator_status_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(
@@ -78,12 +83,12 @@ def analyse_ekf(


 def find_checks_that_apply(
-    control_mode: dict, estimator_status: dict, pos_checks_when_sensors_not_fused: bool = False) ->\
+    estimator_status_flags: 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 control_mode:
+    :param estimator_status_flags:
    :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
@@ -97,7 +102,7 @@ def find_checks_that_apply(
    innov_fail_checks.append('posv')

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

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

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

    # Position Sensor Checks
-    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)):
+    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)):
        sensor_checks.append('pos')
        innov_fail_checks.append('posh')

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

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

@@ -123,7 +123,8 @@ def perform_sensor_innov_checks(
                                              ('magy', 'magy_fail_percentage', 'mag'),
                                              ('magz', 'magz_fail_percentage', 'mag'),
                                              ('yaw', 'yaw_fail_percentage', 'yaw'),
-                                              ('vel', 'vel_fail_percentage', 'vel'),
+                                              ('velh', 'vel_fail_percentage', 'vel'),
+                                              ('velv', '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, innov_flags: Dict[str, float], innov_fail_checks: List[str],
+        ulog: ULog, estimator_status_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(
-        innov_flags, innov_fail_checks, in_air, in_air_no_ground_effects)
+        estimator_status_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(
-        innov_flags: dict, innov_fail_checks: List[str], in_air: InAirDetector,
+        estimator_status_flags: dict, innov_fail_checks: List[str], in_air: InAirDetector,
        in_air_no_ground_effects: InAirDetector) -> dict:
    """
-    :param innov_flags:
+    :param estimator_status_flags:
    :param innov_fail_checks:
    :param in_air:
    :param in_air_no_ground_effects:
@@ -103,17 +103,18 @@ def calculate_innov_fail_metrics(
    innov_fail_metrics = dict()

    # calculate innovation check fail metrics
-    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')]:
+    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')]:

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

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

    return innov_fail_metrics
@@ -152,7 +153,7 @@ 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 [('delta_angle_coning_metric', 'imu_coning'),
+                for signal, result in [('gyro_coning_vibration', 'imu_coning'),
                                       ('gyro_vibration_metric', 'imu_hfgyro'),
                                       ('accel_vibration_metric', 'imu_hfaccel')]:

@@ -7,115 +7,6 @@ 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:
@@ -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_estimator_check_flags
+from analysis.post_processing import magnetic_field_estimates_from_states, get_gps_check_fail_flags
 from plotting.data_plots import TimeSeriesPlot, InnovationPlot, ControlModeSummaryPlot, \
    CheckFlagsPlot
 from analysis.detectors import PreconditionError
@@ -33,6 +33,11 @@ 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:
@@ -68,12 +73,13 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
    except:
        raise PreconditionError('could not find innovation data')

-    control_mode, innov_flags, gps_fail_flags = get_estimator_check_flags(estimator_status)
+    gps_fail_flags = get_gps_check_fail_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(control_mode, status_time)
+    on_ground_transition_time = detect_airtime(estimator_status_flags, status_flags_time)

    with PdfPages(output_plot_filename) as pdf_pages:

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

        # plot control mode summary A
        data_plot = ControlModeSummaryPlot(
-            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']],
+            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']],
            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',
@@ -188,7 +194,7 @@ 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(control_mode['airborne'])) > -0.5:
+        if np.amin(np.diff(estimator_status_flags['cs_in_air'])) > -0.5:
            airborne_annotations.append(
                (on_ground_transition_time, 'air to ground transition not detected'))
        else:
@@ -197,7 +203,7 @@ 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(control_mode['airborne'])) < 0.5:
+        if np.amax(np.diff(estimator_status_flags['cs_in_air'])) < 0.5:
            airborne_annotations.append(
                (in_air_transition_time, 'ground to air transition not detected'))
        else:
@@ -205,7 +211,7 @@ 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_time, control_mode, [['airborne'], ['estimating_wind']],
+            status_flags_time, estimator_status_flags, [['cs_in_air'], ['cs_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)
@@ -214,15 +220,15 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str

        # plot innovation_check_flags summary
        data_plot = CheckFlagsPlot(
-            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)',
+            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)',
            y_labels=['failed', 'failed', 'failed', 'failed', 'failed', 'failed'],
            y_lim=(-0.1, 1.1),
-            legend=[['vel NED', 'pos NE'], ['hgt absolute', 'hgt above ground'],
+            legend=[['vel NE', 'pos NE'], ['vel D', '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)
@@ -344,33 +350,33 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        data_plot.close()


-def detect_airtime(control_mode, status_time):
+def detect_airtime(estimator_status_flags, status_flags_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(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)
+    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)
        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(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)
+    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)
        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(control_mode['airborne'])) > 0.5) and (np.amin(np.diff(control_mode['airborne'])) < -0.5):
+    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 ((on_ground_transition_time - in_air_transition_time) > 0.0):
            in_air_duration = on_ground_transition_time - in_air_transition_time
        else:
@@ -5,12 +5,13 @@ set -e
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 cd "$SCRIPT_DIR/jMAVSim"

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

 if [ "$device" == "" ]; then
-	device="-tcp $ip:$tcp_port"
+	if [ "$protocol" == "tcp" ]; then
+		device="-tcp $ip:$port"
+	else
+		device="-udp $port"
+	fi
 else
 	device="-serial $device $baudrate"
 fi
@@ -74,6 +74,9 @@ if [ "$model" == "" ] || [ "$model" == "none" ]; then
 	if [ "$program" == "jsbsim" ]; then
 		echo "empty model, setting rascal as default for jsbsim"
 		model="rascal"
+	elif [ "$program" == "sihsim" ]; then
+		echo "empty model, setting quadx as default for sihsim"
+		model="quadx"
 	else
 		echo "empty model, setting iris as default"
 		model="iris"
@@ -214,6 +217,12 @@ elif [ "$program" == "jsbsim" ] && [ -z "$no_sim" ]; then
 	fi
 	"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml" 2> /dev/null &
 	JSBSIM_PID=$!
+elif [ "$program" == "sihsim" ] && [ ! -n "$no_sim" ]; then
+	export SIM_MODE="sihsim"
+	if [ "$model" != "airplane" ] && [ "$model" != "quadx" ] && [ "$model" != "xvert" ]; then
+		echo "Model ${model} not compatible with with sih. sih supports [quadx,airplane,xvert]."
+		exit 1
+	fi
 fi

 pushd "$rootfs" >/dev/null
@@ -130,8 +130,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -174,7 +173,7 @@ CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI4=y
 CONFIG_STM32_SPI4_DMA=y
-CONFIG_STM32_SPI4_DMA_BUFFER=1024
+CONFIG_STM32_SPI4_DMA_BUFFER=512
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_SPI_DMATHRESHOLD=8
 CONFIG_STM32_TIM10=y
@@ -105,8 +105,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -107,8 +107,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -107,8 +107,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -107,8 +107,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -140,8 +140,7 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -162,8 +162,7 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -126,8 +126,7 @@ 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_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -125,8 +125,7 @@ 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_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -108,8 +108,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -139,8 +139,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -111,6 +111,7 @@ MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
 	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
 	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
@@ -186,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > AXI_SRAM AT > FLASH
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -60,6 +60,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
@@ -138,8 +139,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -111,6 +111,7 @@ MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
 	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
 	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
@@ -186,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > AXI_SRAM AT > FLASH
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -0,0 +1,245 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/x7pro/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743XI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x004c
+CONFIG_CDCACM_PRODUCTSTR="PX4 CUAV X7Pro"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3163
+CONFIG_CDCACM_VENDORSTR="CUAV"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_EXAMPLES_CALIB_UDELAY=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=4
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C2=y
+CONFIG_STM32H7_I2C3=y
+CONFIG_STM32H7_I2C4=y
+CONFIG_STM32H7_I2C_DYNTIMEO=y
+CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_HSECLOCK=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SDMMC1=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI4=y
+CONFIG_STM32H7_SPI4_DMA=y
+CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI5=y
+CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI6_DMA=y
+CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI_DMA=y
+CONFIG_STM32H7_TIM12=y
+CONFIG_STM32H7_TIM15=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_TIM5=y
+CONFIG_STM32H7_TIM8=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TESTING_OSTEST=y
+CONFIG_TESTING_OSTEST_FPUTESTDISABLE=y
+CONFIG_TESTING_OSTEST_STACKSIZE=10240
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGTSTP=y
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_SERIAL_CONSOLE=y
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_IFLOWCONTROL=y
+CONFIG_USART6_OFLOWCONTROL=y
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_WATCHDOG=y
@@ -140,8 +140,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -187,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > AXI_SRAM AT > FLASH
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -60,6 +60,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
@@ -138,8 +139,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -197,6 +197,9 @@ CONFIG_STM32H7_USART_SWAP=y
 CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
+CONFIG_TESTING_OSTEST=y
+CONFIG_TESTING_OSTEST_FPUTESTDISABLE=y
+CONFIG_TESTING_OSTEST_STACKSIZE=10240
 CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGTSTP=y
 CONFIG_UART4_BAUD=57600
@@ -141,8 +141,7 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -120,8 +120,7 @@ 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_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -158,7 +157,7 @@ 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_SPI1_DMA_BUFFER=512
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI2_DMA=y
 CONFIG_STM32_SPI3=y
@@ -122,8 +122,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -108,8 +108,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -140,8 +140,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -109,16 +109,17 @@

 MEMORY
 {
-	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1920K
-	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
-	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
-	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
-	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
-	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
-	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -156,7 +157,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > flash
+	} > FLASH

 	/*
 	 * Init functions (static constructors and the like)
@@ -165,17 +166,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > flash
+	} > FLASH


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > flash
+	} > FLASH

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > flash
+	} > FLASH
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -186,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > sram AT > flash
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -195,7 +201,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > sram
+	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -204,7 +210,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > sram4
+	} > SRAM4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -140,8 +140,7 @@ 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_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -139,8 +139,7 @@ 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_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -109,16 +109,17 @@

 MEMORY
 {
-	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
-	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
-	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
-	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
-	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
-	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
-	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -156,7 +157,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > flash
+	} > FLASH

 	/*
 	 * Init functions (static constructors and the like)
@@ -165,17 +166,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > flash
+	} > FLASH


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > flash
+	} > FLASH

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > flash
+	} > FLASH
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -186,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > sram AT > flash
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -195,7 +201,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > sram
+	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -204,7 +210,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > sram4
+	} > SRAM4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -140,8 +140,7 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -126,8 +126,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_PASSTHRU_UBLOX=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -126,8 +126,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -1,7 +1,7 @@
 /****************************************************************************
 * scripts/script.ld
 *
- *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2020 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 *
@@ -34,7 +34,7 @@
 *
 ****************************************************************************/

-/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
+/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
 * The flash memory is partitioned into a User Flash memory and a System
 * Flash memory. Each of these memories has two banks:
 *
@@ -59,8 +59,8 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
+ * There's a switch on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
 * The STM32H743ZI also has 1024Kb of data SRAM.
@@ -109,16 +109,17 @@

 MEMORY
 {
-	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1920K
-	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
-	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
-	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
-	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
-	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
-	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -156,7 +157,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > flash
+	} > FLASH

 	/*
 	 * Init functions (static constructors and the like)
@@ -165,17 +166,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > flash
+	} > FLASH


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > flash
+	} > FLASH

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > flash
+	} > FLASH
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -186,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > sram AT > flash
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -195,7 +201,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > sram
+	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -204,7 +210,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > sram4
+	} > SRAM4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -130,8 +130,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -34,7 +34,7 @@
 *
 ****************************************************************************/

-/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
+/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
 * The flash memory is partitioned into a User Flash memory and a System
 * Flash memory. Each of these memories has two banks:
 *
@@ -59,8 +59,8 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
+ * There's a switch on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
 * The STM32H743ZI also has 1024Kb of data SRAM.
@@ -109,16 +109,17 @@

 MEMORY
 {
-	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1920K
-	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
-	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
-	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
-	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
-	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
-	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -156,7 +157,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > flash
+	} > FLASH

 	/*
 	 * Init functions (static constructors and the like)
@@ -165,17 +166,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > flash
+	} > FLASH


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > flash
+	} > FLASH

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > flash
+	} > FLASH
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -186,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > sram AT > flash
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -195,7 +201,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > sram
+	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -204,7 +210,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > sram4
+	} > SRAM4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -127,8 +127,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -34,7 +34,7 @@
 *
 ****************************************************************************/

-/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
+/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
 * The flash memory is partitioned into a User Flash memory and a System
 * Flash memory. Each of these memories has two banks:
 *
@@ -59,8 +59,8 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
+ * There's a switch on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
 * The STM32H743ZI also has 1024Kb of data SRAM.
@@ -109,16 +109,17 @@

 MEMORY
 {
-	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1920K
-	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
-	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
-	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
-	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
-	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
-	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -156,7 +157,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > flash
+	} > FLASH

 	/*
 	 * Init functions (static constructors and the like)
@@ -165,17 +166,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > flash
+	} > FLASH


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > flash
+	} > FLASH

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > flash
+	} > FLASH
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -186,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > sram AT > flash
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -195,7 +201,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > sram
+	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -204,7 +210,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > sram4
+	} > SRAM4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -138,8 +138,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC2_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -140,8 +140,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC2_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -109,16 +109,17 @@

 MEMORY
 {
-	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1920K
-	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
-	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
-	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
-	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
-	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
-	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -157,7 +158,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > flash
+	} > FLASH

 	/*
 	 * Init functions (static constructors and the like)
@@ -166,17 +167,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > flash
+	} > FLASH


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > flash
+	} > FLASH

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > flash
+	} > FLASH
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -187,7 +188,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > sram AT > flash
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -196,7 +202,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > sram
+	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -205,7 +211,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > sram4
+	} > SRAM4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -141,8 +141,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -187,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > AXI_SRAM AT > FLASH
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -199,6 +204,7 @@ SECTIONS
 	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */
+
 	.sram4_reserve (NOLOAD) :
 	{
 		*(.sram4)
@@ -206,7 +212,6 @@ SECTIONS
 		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4

-
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
@@ -220,13 +225,4 @@ SECTIONS
 	.debug_line 0 : { *(.debug_line) }
 	.debug_pubnames 0 : { *(.debug_pubnames) }
 	.debug_aranges 0 : { *(.debug_aranges) }
-
-	.ramfunc : {
-		_sramfuncs = .;
-		*(.ramfunc  .ramfunc.*)
-		. = ALIGN(4);
-		_eramfuncs = .;
-	} > ITCM_RAM AT > FLASH
-
-	_framfuncs = LOADADDR(.ramfunc);
 }
@@ -139,8 +139,7 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -139,8 +139,7 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -141,8 +141,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -187,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > AXI_SRAM AT > FLASH
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -199,6 +204,7 @@ SECTIONS
 	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */
+
 	.sram4_reserve (NOLOAD) :
 	{
 		*(.sram4)
@@ -206,7 +212,6 @@ SECTIONS
 		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4

-
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
@@ -220,13 +225,4 @@ SECTIONS
 	.debug_line 0 : { *(.debug_line) }
 	.debug_pubnames 0 : { *(.debug_pubnames) }
 	.debug_aranges 0 : { *(.debug_aranges) }
-
-	.ramfunc : {
-		_sramfuncs = .;
-		*(.ramfunc  .ramfunc.*)
-		. = ALIGN(4);
-		_eramfuncs = .;
-	} > ITCM_RAM AT > FLASH
-
-	_framfuncs = LOADADDR(.ramfunc);
 }
@@ -141,8 +141,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -187,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > AXI_SRAM AT > FLASH
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -199,6 +204,7 @@ SECTIONS
 	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */
+
 	.sram4_reserve (NOLOAD) :
 	{
 		*(.sram4)
@@ -206,7 +212,6 @@ SECTIONS
 		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4

-
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
@@ -220,13 +225,4 @@ SECTIONS
 	.debug_line 0 : { *(.debug_line) }
 	.debug_pubnames 0 : { *(.debug_pubnames) }
 	.debug_aranges 0 : { *(.debug_aranges) }
-
-	.ramfunc : {
-		_sramfuncs = .;
-		*(.ramfunc  .ramfunc.*)
-		. = ALIGN(4);
-		_eramfuncs = .;
-	} > ITCM_RAM AT > FLASH
-
-	_framfuncs = LOADADDR(.ramfunc);
 }
@@ -139,8 +139,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -111,6 +111,7 @@ MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
 	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
 	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
@@ -186,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > AXI_SRAM AT > FLASH
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -86,9 +86,9 @@
 #define DIRECT_PWM_OUTPUT_CHANNELS  8

 /* Power supply control and monitoring GPIOs */
-#define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_POWER_IN_A                 /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)

-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
+#define GPIO_VDD_BRICK1_VALID           GPIO_POWER_IN_A /* Brick 1 Is Chosen */
 #define BOARD_NUMBER_BRICKS             1

 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
@@ -143,7 +143,7 @@
 */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
 #define BOARD_ADC_USB_VALID     BOARD_ADC_USB_CONNECTED
-#define BOARD_ADC_BRICK_VALID   (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))

 #define BOARD_NUM_IO_TIMERS 3
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
@@ -160,7 +160,7 @@
 		GPIO_CAN2_SILENT_S0,              \
 		GPIO_LEVEL_SHIFTER_OE,            \
 		GPIO_PWM_VOLT_SEL,                \
-		GPIO_nPOWER_IN_A,                 \
+		GPIO_POWER_IN_A,                  \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
 		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
@@ -139,8 +139,7 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -199,9 +198,9 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART4_RXBUFSIZE=1200
+CONFIG_UART4_RXDMA=n
+CONFIG_UART4_TXBUFSIZE=1200
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_SERIAL_CONSOLE=y
@@ -226,10 +225,10 @@ CONFIG_USART3_RXBUFSIZE=600
 CONFIG_USART3_RXDMA=y
 CONFIG_USART3_TXBUFSIZE=3000
 CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USART6_TXDMA=y
+CONFIG_USART6_RXBUFSIZE=1200
+CONFIG_USART6_RXDMA=n
+CONFIG_USART6_TXBUFSIZE=1200
+CONFIG_USART6_TXDMA=n
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -131,8 +131,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -172,7 +171,7 @@ 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_SPI1_DMA_BUFFER=512
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_SPI_DMATHRESHOLD=8
@@ -187,8 +187,7 @@ 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_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -187,8 +187,7 @@ 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_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -185,8 +185,7 @@ 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_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -186,8 +186,7 @@ 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_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -0,0 +1,226 @@
+#
+# 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_KINETIS_EDMA_HOE is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/nxp/fmuk66-v3/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="kinetis"
+CONFIG_ARCH_CHIP_KINETIS=y
+CONFIG_ARCH_CHIP_MK66FN2M0VMD18=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=15175
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_BULKIN_REQLEN=96
+CONFIG_CDCACM_PRODUCTID=0x001c
+CONFIG_CDCACM_PRODUCTSTR="PX4 FMUK66 v3.x"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=8000
+CONFIG_CDCACM_VENDORID=0x1FC9
+CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_POSIX_TIMERS=y
+CONFIG_ETH0_PHY_TJA1100=y
+CONFIG_EXAMPLES_CALIB_UDELAY=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_AUTOMOUNTER=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_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_THROTTLE=0
+CONFIG_KINETIS_ADC0=y
+CONFIG_KINETIS_ADC1=y
+CONFIG_KINETIS_CRC=y
+CONFIG_KINETIS_EDMA=y
+CONFIG_KINETIS_EDMA_ELINK=y
+CONFIG_KINETIS_EDMA_ERCA=y
+CONFIG_KINETIS_EDMA_ERGA=y
+CONFIG_KINETIS_EDMA_NTCD=16
+CONFIG_KINETIS_EMAC_RMIICLK1588CLKIN=y
+CONFIG_KINETIS_ENET=y
+CONFIG_KINETIS_FLEXCAN0=y
+CONFIG_KINETIS_FLEXCAN1=y
+CONFIG_KINETIS_GPIOIRQ=y
+CONFIG_KINETIS_I2C0=y
+CONFIG_KINETIS_I2C1=y
+CONFIG_KINETIS_LPTMR0=y
+CONFIG_KINETIS_LPUART0=y
+CONFIG_KINETIS_LPUART0_RXDMA=y
+CONFIG_KINETIS_MERGE_TTY=y
+CONFIG_KINETIS_PDB=y
+CONFIG_KINETIS_PIT=y
+CONFIG_KINETIS_PORTAINTS=y
+CONFIG_KINETIS_PORTBINTS=y
+CONFIG_KINETIS_PORTCINTS=y
+CONFIG_KINETIS_PORTDINTS=y
+CONFIG_KINETIS_PORTEINTS=y
+CONFIG_KINETIS_RTC=y
+CONFIG_KINETIS_SDHC=y
+CONFIG_KINETIS_SERIALBRK_BSDCOMPAT=y
+CONFIG_KINETIS_SPI0=y
+CONFIG_KINETIS_SPI1=y
+CONFIG_KINETIS_SPI2=y
+CONFIG_KINETIS_UART0=y
+CONFIG_KINETIS_UART0_RXDMA=y
+CONFIG_KINETIS_UART1=y
+CONFIG_KINETIS_UART1_RXDMA=y
+CONFIG_KINETIS_UART2=y
+CONFIG_KINETIS_UART2_RXDMA=y
+CONFIG_KINETIS_UART4=y
+CONFIG_KINETIS_UART4_RXDMA=y
+CONFIG_KINETIS_UARTFIFOS=y
+CONFIG_KINETIS_UART_BREAKS=y
+CONFIG_KINETIS_UART_EXTEDED_BREAK=y
+CONFIG_KINETIS_UART_INVERT=y
+CONFIG_KINETIS_USBDCD=y
+CONFIG_KINETS_LPUART_LOWEST=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LPUART0_BAUD=57600
+CONFIG_LPUART0_SERIAL_CONSOLE=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NETINIT_THREAD=y
+CONFIG_NETINIT_THREAD_PRIORITY=49
+CONFIG_NETUTILS_TELNETD=y
+CONFIG_NET_ARP_IPIN=y
+CONFIG_NET_ARP_SEND=y
+CONFIG_NET_BROADCAST=y
+CONFIG_NET_ICMP=y
+CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_SOCKOPTS=y
+CONFIG_NET_SOLINGER=y
+CONFIG_NET_TCP=y
+CONFIG_NET_TCPBACKLOG=y
+CONFIG_NET_TCP_WRITE_BUFFERS=y
+CONFIG_NET_UDP=y
+CONFIG_NET_UDP_CHECKSUMS=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_BASENAME=y
+CONFIG_NSH_DISABLE_DIRNAME=y
+CONFIG_NSH_DISABLE_EXPORT=y
+CONFIG_NSH_DISABLE_HEXDUMP=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_FILEIOSIZE=512
+CONFIG_NSH_IOBUFFER_SIZE=256
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_READLINE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_TELNETD_CLIENTSTACKSIZE=1280
+CONFIG_NSH_TELNETD_DAEMONSTACKSIZE=1024
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x1fff0000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC=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_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=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_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_CUTERM=y
+CONFIG_SYSTEM_CUTERM_DEFAULT_BAUD=57600
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_PING=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TELNET_IOTHREAD_STACKSIZE=512
+CONFIG_TELNET_MAXLCLIENTS=1
+CONFIG_TELNET_RXBUFFER_SIZE=128
+CONFIG_TELNET_TXBUFFER_SIZE=128
+CONFIG_TESTING_OSTEST=y
+CONFIG_TESTING_OSTEST_FPUTESTDISABLE=y
+CONFIG_TESTING_OSTEST_STACKSIZE=10240
+CONFIG_UART1_RXBUFSIZE=600
+CONFIG_UART1_TXBUFSIZE=1100
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_IFLOWCONTROL=y
+CONFIG_UART4_OFLOWCONTROL=y
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1100
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_DUALSPEED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_WATCHDOG=y
@@ -71,6 +71,10 @@ CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_IMXRT_BOOTLOADER_HEAP=y
 CONFIG_IMXRT_DTCM_HEAP=y
+CONFIG_IMXRT_EDMA=y
+CONFIG_IMXRT_EDMA_EDBG=y
+CONFIG_IMXRT_EDMA_ELINK=y
+CONFIG_IMXRT_EDMA_NTCD=64
 CONFIG_IMXRT_GPIO1_0_15_IRQ=y
 CONFIG_IMXRT_GPIO1_16_31_IRQ=y
 CONFIG_IMXRT_GPIO2_0_15_IRQ=y
@@ -94,6 +98,8 @@ CONFIG_IMXRT_ITCM=0
 CONFIG_IMXRT_LPI2C1=y
 CONFIG_IMXRT_LPI2C2=y
 CONFIG_IMXRT_LPI2C3=y
+CONFIG_IMXRT_LPI2C_DMA=y
+CONFIG_IMXRT_LPI2C_DMA_MAXMSG=16
 CONFIG_IMXRT_LPI2C_DYNTIMEO=y
 CONFIG_IMXRT_LPI2C_DYNTIMEO_STARTSTOP=10
 CONFIG_IMXRT_LPSPI1=y
@@ -117,29 +123,44 @@ CONFIG_IMXRT_USDHC1_INVERT_CD=y
 CONFIG_IMXRT_USDHC1_WIDTH_D1_D4=y
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_LPI2C1_DMA=y
+CONFIG_LPI2C2_DMA=y
+CONFIG_LPI2C3_DMA=y
 CONFIG_LPUART2_BAUD=57600
 CONFIG_LPUART2_RXBUFSIZE=600
+CONFIG_LPUART2_RXDMA=y
 CONFIG_LPUART2_TXBUFSIZE=1500
+CONFIG_LPUART2_TXDMA=y
 CONFIG_LPUART3_BAUD=57600
 CONFIG_LPUART3_IFLOWCONTROL=y
 CONFIG_LPUART3_OFLOWCONTROL=y
 CONFIG_LPUART3_RXBUFSIZE=600
+CONFIG_LPUART3_RXDMA=y
 CONFIG_LPUART3_TXBUFSIZE=3000
+CONFIG_LPUART3_TXDMA=y
 CONFIG_LPUART4_BAUD=57600
 CONFIG_LPUART4_IFLOWCONTROL=y
 CONFIG_LPUART4_OFLOWCONTROL=y
 CONFIG_LPUART4_RXBUFSIZE=600
+CONFIG_LPUART4_RXDMA=y
 CONFIG_LPUART4_TXBUFSIZE=1500
+CONFIG_LPUART4_TXDMA=y
 CONFIG_LPUART5_BAUD=57600
 CONFIG_LPUART5_RXBUFSIZE=600
+CONFIG_LPUART5_RXDMA=y
 CONFIG_LPUART5_TXBUFSIZE=1500
+CONFIG_LPUART5_TXDMA=y
 CONFIG_LPUART6_BAUD=57600
 CONFIG_LPUART6_RXBUFSIZE=600
+CONFIG_LPUART6_RXDMA=y
 CONFIG_LPUART6_TXBUFSIZE=1500
+CONFIG_LPUART6_TXDMA=y
 CONFIG_LPUART7_BAUD=57600
 CONFIG_LPUART7_RXBUFSIZE=120
+CONFIG_LPUART7_RXDMA=y
 CONFIG_LPUART7_SERIAL_CONSOLE=y
 CONFIG_LPUART7_TXBUFSIZE=1500
+CONFIG_LPUART7_TXDMA=y
 CONFIG_LPUART8_BAUD=57600
 CONFIG_LPUART8_RXBUFSIZE=600
 CONFIG_LPUART8_TXBUFSIZE=1500
@@ -205,8 +226,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -70,8 +70,6 @@
 #include <chip.h>
 #include "board_config.h"

-#include <hardware/imxrt_lpuart.h>
-
 #include <arch/board/board.h>

 #include <drivers/drv_hrt.h>
@@ -276,12 +274,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

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

@@ -345,7 +345,7 @@ __EXPORT void board_spi_reset(int ms, int bus_mask)

 	/* wait for the sensor rail to reach GND */
 	usleep(ms * 1000);
-	warnx("reset done, %d ms", ms);
+	syslog(LOG_INFO, "reset done, %d ms\n", ms);

 	/* re-enable power */

@@ -1,4 +0,0 @@
-CONFIG_DRIVERS_OSD=n
-CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=n
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_EKF2=y
@@ -115,8 +115,7 @@ 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_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -153,7 +152,7 @@ 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_SPI1_DMA_BUFFER=512
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI2_DMA=y
 CONFIG_STM32_SPI3=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
David Sidrane	b6b3f46bdf	nxp_fmurt1062-v1:All LPUARTS Use DMA	2022-06-15 11:00:19 -07:00
David Sidrane	1edf4afd04	nxp_fmurt1062-v1:No need to poll for DMA RX	2022-06-15 11:00:19 -07:00
David Sidrane	001e58f940	nxp_fmurt1062-v1:Use syslog	2022-06-15 11:00:19 -07:00
David Sidrane	542276c0a2	nxp_fmurt1062-v1:Configure I2C to Use DMA	2022-06-15 11:00:19 -07:00
David Sidrane	396d72ba73	NuttX with imx eDMA looping and I2C DMA	2022-06-15 10:59:59 -07:00
Junwoo Hwang	377338109c	uLog message definition comment improvements - Added more comments - Converted to DOxygen comment format for the comments on struct members	2022-06-13 10:31:07 +02:00
Junwoo Hwang	1ddd1573be	Improve uLog message struct definitions 1. Rename _header_s structs to _s, since the _header postfix is not helpful 2. Rename the "key" string variables in the message structs to "key_value_str" as the string actually contains not just the key but the key and value pair information 3. Add comments on other uLog messages to clarify use (need more improvement / can be even more simplified)	2022-06-13 10:31:07 +02:00
achim	e6f90bcb81	disable uart´s dma Still no way to get GPS and auto flash of the IO without disabling their uart´s dma	2022-06-11 13:39:01 -04:00
fury1895	283aad01fd	Airspeed params: change default for ASPD_SCALE_APPLY to 2	2022-06-10 14:02:41 +02:00
David Sidrane	f15eb91814	px4_fmu-v6x:HB Mini add Ver 3, Ver 4 init	2022-06-10 04:20:26 -07:00
PX4 BuildBot	e33199c182	Update submodule mavlink to latest Fri Jun 10 00:38:25 UTC 2022 - mavlink in PX4/Firmware (59630bcc7e7e983db2d9138c8254144c77855adc): https://github.com/mavlink/mavlink/commit/0909631552187b998dd6359f998ee78ee8765728 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/05864e218e204f1ebeee5555988150fcddbd873e - Changes: https://github.com/mavlink/mavlink/compare/0909631552187b998dd6359f998ee78ee8765728...05864e218e204f1ebeee5555988150fcddbd873e 05864e21 2022-06-09 Peter Barker - common.xml: add ignition_voltage to EFI_STATUS (#1854) adc9c3f5 2022-06-01 olliw42 - update storm32.xml (nfc) (#1851) 49dbdb66 2022-06-01 Randy Mackay - ardupilotmega: add nav_attitude_time command (#1852)	2022-06-10 01:01:20 -04:00
Thomas Debrunner	46c9d1e288	SIH in SITL with lockstep (#19028 ) * sih: Move sih out of work queue This reverts commit `bb7dd0cf00`. * sih-sim: Enable sih in sitl, together with lockstep * sih-sim: new files for sih: quadx and airplane * sih: Added tailsitter for sih-sitl simulation * sitl_target: Added seperate target loop for sih * jmavsim_run: Allow jmavsim to run in UDP mode * lockstep: Post semaphore on last lockstep component removed * sih-sim: Added display for effectively achieved speed * sih: increase stack size * sih-sim: Improved sleep time computation, fixes bug of running too fast * sitl_target: place omnicopter in alphabethic order Co-authored-by: romain-chiap <romain.chiap@gmail.com> Co-authored-by: Matthias Grob <maetugr@gmail.com>	2022-06-09 09:52:34 +02:00
Thomas Stastny	a7e11464c1	fw pos ctrl: update method documentation	2022-06-09 09:23:02 +02:00
Thomas Stastny	594a6d6e80	fw pos ctrl: some incremental clean up of the class - documentation of units, params, returns, and descriptions for variables and methods - rename ambiguous or erroneous state variables - remove unused or unecessary input arguments to functions - remove ugly header white space	2022-06-09 09:23:02 +02:00
Silvan Fuhrer	9863c24b40	navigator_main: DO_REPOSITION: only trigger reposition setpoint update if vehicle is armed Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-06-08 21:47:06 +02:00
Thomas Stastny	cbf0fe8803	fw pos ctrl: centralize parameter and state resets	2022-06-08 08:44:30 -05:00
Thomas Stastny	ccfbbb553a	fw pos ctrl: only manipulate heading hold yaw in manual position control mode	2022-06-08 08:44:30 -05:00
Thomas Stastny	67d8dd359d	fw pos ctrl: calculate control interval once - Use the same time interval for all position control logic (including TECS) - Sync naming in control methods - Remove some unused input arguments	2022-06-08 08:44:30 -05:00
Matthias Grob	f5e7b1e6a8	Commander: switch battery bitflied to dedicated datatype	2022-06-08 11:32:26 +02:00
Matthias Grob	9b2166de72	manual_control_params: configure arm gesture doesn't require reboot I added wrong documentation here.	2022-06-08 05:12:05 -04:00
Matthias Grob	bd50a52c9c	Commander: fix startup sound interrupted by safety button initialization The safetyButtonHandler() reports that the safety statatus changed on the first loop iteration when safety is disabled which makes sense to inform the system that safety is off but the tune for the user should not be played because it interrupts the startup tune.	2022-06-08 05:12:05 -04:00
Matthias Grob	71103e6114	Safety: keep initialized constant flags when safety disabled	2022-06-08 05:12:05 -04:00
Matthias Grob	44c4b8fa85	Style refactoring related to safety button	2022-06-08 05:12:05 -04:00
Daniel Agar	ce70b6f4ac	sensors/vehicle_angular_velocity: add IMU_GYRO_RATEMAX constraints	2022-06-07 15:45:47 -04:00
Daniel Agar	01f0992f49	sensors/vehicle_imu: don't bother checking IMU_GYRO_RATEMAX	2022-06-07 15:45:47 -04:00
Matthias Grob	5df266cedc	MulticopterRateControl: use constructor to copy thrust setpoint array	2022-06-07 11:45:59 -04:00
bresch	4f1091792f	ekf2 preflight: only check innovation of active height sources	2022-06-07 11:44:56 -04:00
Daniel Agar	cb2738e187	Update submodule GPSDrivers to latest Sat Jun 4 12:38:49 UTC 2022 (#19766 ) - GPSDrivers in PX4/Firmware (6e77a084cd43830c8b13018b7fd5470da9bc4ff5): https://github.com/PX4/PX4-GPSDrivers/commit/181fae1a4b5e33576d786755782adb2f195ecc48 - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/016c37cd1f18c716427e2465d8daa6aa1054b0f1 - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/181fae1a4b5e33576d786755782adb2f195ecc48...016c37cd1f18c716427e2465d8daa6aa1054b0f1 016c37c 2022-06-01 Julian Oes - sbf: fix overrun on invalid length	2022-06-04 15:58:56 -04:00
PX4BuildBot	a247b42907	[AUTO COMMIT] update change indication	2022-06-04 15:57:11 -04:00
PX4 BuildBot	e86a74321e	Update world_magnetic_model to latest Sat Jun 4 11:14:10 UTC 2022	2022-06-04 15:57:11 -04:00
Beat Küng	da55256f2f	test_multicopter_failure_injection: remove 'Reject before arming' test Not sure why injection should fail before arming.	2022-06-04 07:40:29 +02:00
Beat Küng	d1142008f6	FailureDetector: check if ESCs have current And increase the timeout to 300ms, as some ESCs only update with 10Hz.	2022-06-04 07:40:29 +02:00
Beat Küng	8bf18e31be	SITL: enable failure command (SYS_FAILURE_EN=1)	2022-06-04 07:40:29 +02:00
Beat Küng	56faaae959	failure: fix invalid memory access failure_units[unit].key was incorrect	2022-06-04 07:40:29 +02:00
Beat Küng	0ab61aee2e	control_allocator: show motor axis for MC (as advanced)	2022-06-04 07:40:29 +02:00
Beat Küng	99a329f937	mc_rate_control: pass through 3D thrust	2022-06-04 07:40:29 +02:00
Beat Küng	82eb71d70b	failure_detector: allow disabling attitude failure (as already documented)	2022-06-04 07:40:29 +02:00
Jaeyoung-Lim	bf68d3433e	Add omnicopter SITL model F	2022-06-04 07:40:29 +02:00
bresch	e2955bdd61	terrain est: clear innovation/var/test ration when aiding stops	2022-06-03 17:31:14 -04:00
Matthias Grob	fad3d46907	Use signNoZero() where possible	2022-06-03 16:08:16 +02:00
abarcis	4fc2640ee3	vehicle_command.msg: unneeded comment closings removed (#19759 ) They cause problems with building px4_msgs in ROS2 Humble Hawksbill and removing them fixes the issue. Co-authored-by: Agata Barcis <agata.barcis@tii.ae>	2022-06-03 07:25:05 +02:00
BA-ED	b9be783b69	dshot: corrected DShot motor spin direction command Some ESCs don't store DShot_cmd_spin_direction_reversed persistently	2022-06-02 13:36:40 +02:00
Thomas Watson	d390e6d46d	boards/mro/pixracerpro: fix voltage/current monitoring This corrects the board definition to use the proper polarity for the brick power valid signal, thus allowing the board to detect the battery and monitor it properly.	2022-06-02 08:11:15 +02:00
Mark Sauder	c19e74784a	attitude_estimator_q: Run() method refactoring (#19526 ) * Refactor attitude_estimator_q_main.cpp Run() method by breaking apart into separate method calls: * update_vehicle_local_position() * update_motion_capture_odometry() * update_visual_odometry() * update_magnetometer() * update_vehicle_attitude() * update_sensors() * Rename init_attitude_q() * Standardize whitespace formatting * Add remaining c++ style initializers.	2022-06-01 13:41:42 -04:00
Daniel Agar	21b1c933dc	ekf2: EKFGSF_yaw delete unnecessary internal state	2022-06-01 13:16:06 -04:00
Daniel Agar	3889b79342	ekf2: yaw estimator add yaw_composite_valid boolean	2022-06-01 13:16:06 -04:00
Igor Mišić	a218f4bfaf	drivers/px4io: support legacy px4io firmware to enter BL	2022-06-01 13:15:13 -04:00
Igor Mišić	25488da944	px4io: replace safety_off state with safety button event (#19558 ) internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.	2022-06-01 13:15:13 -04:00
Matthias Grob	a9cdfff7a3	FlightModeManager: only execute flight task commands when multicopter	2022-06-01 15:14:07 +02:00
Matthias Grob	96b0304049	PreFlightCheck: disallow arming in land mode after the automatic switch to Hold mode was introduced.	2022-06-01 12:08:32 +12:00
Matthias Grob	83c15fca9f	Commander: switch back to Hold mode after autonomous landing	2022-06-01 12:08:32 +12:00
Matthias Grob	33df8b24f2	Commander: differentiate clearly between to arm and to disarm transition	2022-06-01 12:08:32 +12:00
Matthias Grob	400e1f8214	Commander: only initialize to tablet mode and don't switch back on RC loss	2022-06-01 12:08:32 +12:00
Daniel Agar	002579b3e0	Jenkins: reboot after ostest completes - temporary workaround to ostest apparently leaving the system in a bad state	2022-05-31 01:41:07 -07:00
Daniel Agar	5b6e5a0968	boards: NuttX update all boards to preallocated sem holder list - CONFIG_SEM_PREALLOCHOLDERS=32 - CONFIG_SEM_NNESTPRIO=16 (default)	2022-05-31 01:41:07 -07:00
Beat Küng	0074894637	control_allocator: disable backup schedule with lockstep The backup schedule triggers updates too early and leads to simulator errors: ERROR [simulator] poll timeout 0, 22	2022-05-31 07:17:30 +02:00
Daniel Agar	132a07f53c	boards: test boards add NuttX ostest and run on Jenkins test rack	2022-05-29 13:41:16 -04:00
Daniel Agar	0420d697e5	update NuttX and apps to latest with sem holder fixes and updated ostest	2022-05-29 13:41:16 -04:00
Daniel Agar	cb8b5ae872	mavlink: MavlinkStatustextHandlerTest ignore Wcast-align	2022-05-29 09:44:48 -04:00
Daniel Agar	d97bb168cf	lib/motion_planning: VelocitySmoothingTest delete set but not used variable	2022-05-29 09:44:48 -04:00
Daniel Agar	095e0f0604	ekf2: sensor_simulator fix enum shadow	2022-05-29 00:21:08 -04:00
PX4 BuildBot	63155b5b01	Update submodule mavlink to latest Sat May 28 00:38:55 UTC 2022 - mavlink in PX4/Firmware (56106be4805cb2f70d22ad31b87fbd9774f0d0f3): https://github.com/mavlink/mavlink/commit/99e82cad70494903a23a67de08ff9cbb5918d8f3 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/0909631552187b998dd6359f998ee78ee8765728 - Changes: https://github.com/mavlink/mavlink/compare/99e82cad70494903a23a67de08ff9cbb5918d8f3...0909631552187b998dd6359f998ee78ee8765728 09096315 2022-05-26 Hamish Willee - Clarify and cross reference home position everywhere (#1836) 38c1a99f 2022-05-25 Julian Oes - WIND_COV: clarify description and unknown value (#1845)	2022-05-28 00:06:05 -04:00
David Lechner	995265c95e	vscode: remove terminal settings These terminal settings are a matter of personal preference and should not be part of the project configuration.	2022-05-27 21:01:33 -04:00
Daniel Agar	c27b9f3b1e	boards: reduce SPI DMA buffers on older STM32F4 boards - on common IMUs like the mpu6000, mpu9250, icm20602, etc each FIFO sample is only 12 bytes so this is still more than large enough for the worst case transfer	2022-05-27 16:27:41 -04:00
Daniel Agar	4561cf2ce6	boards: pixhawk 2 cube skip starting low quality l3gd20 gyro to save memory and cpu - free memory is getting tight on these older boards (depending on configuratoin) and the pixhawk 2 cube still has 2 other superior IMUs, so this is just dropping dead weight	2022-05-27 16:27:41 -04:00
David Sidrane	74a2930315	px4_fmu-v6X:Added Holybro mini base board	2022-05-27 15:02:28 -04:00
David Sidrane	dd6d7e9979	uc_stm32h7_can:Correct initalization of the mumber of interfaces H7 Only supports 2 not 3 CAN interfaces. CanInitHelper passes in in the run time configuration of the number of interfaces. The code was ignoring these!	2022-05-27 15:02:28 -04:00
David Sidrane	9353c15e8a	px4_fmu-v5X:Added Holybro mini base board	2022-05-27 15:02:28 -04:00
David Sidrane	479b52fd02	Update all H7 Bootloders	2022-05-27 14:25:25 -04:00
David Sidrane	645f4c3428	flash_cache:Flush complete cache line	2022-05-27 14:25:25 -04:00
David Sidrane	fd81951391	boards: STM32H7 pad to 256 bit - 32 bytes (#19724 )	2022-05-27 14:04:51 -04:00
Daniel Agar	1ba3610cfc	boards: delete omnibus_f4sd_ekf2 due to flash overflow	2022-05-27 09:46:07 -04:00
David Sidrane	55cfd8597d	px4_fmu-v6c:Fix mag rotation	2022-05-26 11:26:29 -07:00
Igor Misic	554283655c	Revert "px4io: replace safety_off state with safety button event (#19558 )" This reverts commit `12a81979a8`.	2022-05-26 10:06:32 -04:00
Igor Misic	6aefcbb6cf	Revert "px4iofirmware: fix for bug introduced with #19558 " This reverts commit `79a34b5aed`.	2022-05-26 10:06:32 -04:00
Matthias Grob	c03f5b9481	Commander: fix overlooked rebase naming error	2022-05-25 21:10:19 +02:00
alessandro	29c4119e24	Match commander uORB var names to message names (#19707 ) * match vehicle_status * match home_position * match vehicle_command_ack * match actuator_armed * match vehicle_control_mode * match commander_state	2022-05-25 17:08:48 +02:00
Daniel Agar	98354ba10a	Update submodule GPSDrivers to latest Wed May 25 12:38:58 UTC 2022 - devices in PX4/Firmware (7cc84e0f9e44697475b0f355df9a29de6ea6b9ff): https://github.com/PX4/PX4-GPSDrivers/commit/58968922b718176be8756f11113d16b2cfbc4022 - devices current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/181fae1a4b5e33576d786755782adb2f195ecc48 - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/58968922b718176be8756f11113d16b2cfbc4022...181fae1a4b5e33576d786755782adb2f195ecc48 181fae1 2022-05-23 numan - README: add information for definition.h	2022-05-25 09:56:40 -04:00
Daniel Agar	58ea6235fe	ekf2: estimator aid source status (range height)	2022-05-25 09:25:12 -04:00
Daniel Agar	1e25aee6fa	ekf2: estimator aid source status (baro height)	2022-05-25 09:25:12 -04:00
Silvan Fuhrer	4dbe6f0a1c	simulator_mavlink: fix MAV_TYPE_VTOL_TAILSITTER case This type (23) doesn't specify a motor number, so it can't be properly handled. There are duo (19) and quad (20) tailsitter types that still work in simulation. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-24 17:58:44 -04:00
Daniel Agar	376201e64d	boards: px4_fmu-v5/v5x init all I2C pins	2022-05-24 11:02:03 -04:00
bresch	d04a91a3ae	ekf2_post-processing: use estimator_status_flags instead of bitmasks	2022-05-24 16:15:42 +02:00
Beat Küng	016b8aeb35	MulticopterRateControl: fix thrust sign for acro Regression from `fbc109436f`	2022-05-24 15:03:17 +02:00
Matthias Grob	44be415e0e	mission_block: make "Delay until" item work while landed To enable landing, waiting and taking off again e.g. for delivery.	2022-05-24 13:42:03 +02:00
Matthias Grob	0be474430c	Commander: don't disarm on landing amid a mission	2022-05-24 13:42:03 +02:00
Matthias Grob	4f34207c4e	battery_params: increase default empty cellvoltage to 3.6v Based on feedback that very often the battery is used down too low. I observed this happens consistently when the cell voltage is properly load compensated. The default load compensation before #19429 was very inaccurate and resulted in unpredictable estimate. After that if there is a usable current measurement and the battery is within expected tolerances of the default internal resistance the compensation is pretty good and 3.5V is too low for an empty compensated cell voltage. That was seen in various logs where the compensated cell voltage was already dropping fast after 3.6V. In case the voltage is not load compensated the vehicle estimates the state of charge a bit too low which is safer than to high especially for a default configuration.	2022-05-24 11:26:58 +02:00
Mark Sauder	a1fb9fb7c6	rcS: Keep Mag Cal with AUTOCONFIG param reset in rcS, deprecate rcS AUTOCNF param (#19693 ) * Deprecate the rcS AUTOCNF script param and associated logic. * Update posix rcS to match previous commit.	2022-05-23 20:35:22 -04:00
Daniel Agar	639222dd65	ekf2: estimator aid source status (GPS pos, GPS vel)	2022-05-23 16:21:49 -04:00
Daniel Agar	1ae467e9cd	ekf2: estimator aid source status (starting with fake position)	2022-05-23 16:21:49 -04:00
Igor Misic	79a34b5aed	px4iofirmware: fix for bug introduced with #19558	2022-05-23 14:59:11 -04:00
Daniel Agar	d25a784a3a	icm42688p: only check configured registers periodically (as intended)	2022-05-23 14:58:23 -04:00
bresch	c57c575cfe	ekf2: use explicit flags instead of bitmask position This prevents bitmask mismatch when a new flag is inserted	2022-05-23 14:43:02 -04:00
Matthias Grob	62edcc7a57	battery: only compensate using sane current	2022-05-23 16:40:32 +02:00
Matthias Grob	2cbdcc9671	battery: default to reasonable internal resistance instead of disabling the load compensation using current.	2022-05-23 16:40:32 +02:00
Matthias Grob	58b1139a21	battery: allow setting precise internal resistance with parameter	2022-05-23 16:40:32 +02:00
Matthias Grob	2c5a7ea118	battery: rather undercompensate for load than over compensate which makes the estimate to high and breaks batteries beause they get flown for too long.	2022-05-23 16:40:32 +02:00
Serhat Aksun	bc220ddb82	sensors/vehicle_magnetometer: fix multi_mode check Signed-off-by: Serhat Aksun <serhat.aksun@maxwell-innovations.com>	2022-05-23 10:09:41 -04:00