new INA231 power_monitor driver

2026-08-19 16:30:35 +08:00 · 2022-05-20 15:42:14 -04:00
123 changed files with 6839 additions and 9507 deletions
@@ -105,7 +105,6 @@ pipeline {
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5x_default",
-                     "px4_fmu-v6c_default",
                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
@@ -794,7 +794,7 @@ void resetParameters() {
 void runTests() {

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

  resetParameters()

@@ -1,34 +1,32 @@
 ---
-name: 🐛 Bug report
+name: Bug report
 about: Create a report to help us improve
-labels: bug-report

 ---

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

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

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

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

 Add screenshots to help explain your problem.

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

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

 ---

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

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

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

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

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

 ---

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

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

 ---

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

 Thanks!
@@ -61,7 +61,6 @@ jobs:
          px4_fmu-v4pro,
          px4_fmu-v5,
          px4_fmu-v5x,
-          px4_fmu-v6c,
          px4_fmu-v6u,
          px4_fmu-v6x,
          raspberrypi_pico,
@@ -325,7 +325,6 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
 	# cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
@@ -1,17 +1,17 @@
 Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.

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

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

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

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

-## Additional context
+**Additional context**
 Add any other related context or media.
@@ -61,8 +61,6 @@ param set-default HIL_ACT_FUNC6 400

 param set SYS_HITL 1

-param set UAVCAN_ENABLE 0
-
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -15,8 +15,6 @@ set MIXER quad_x

 param set SYS_HITL 1

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

 param set SYS_HITL 1

-param set UAVCAN_ENABLE 0
-
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -181,6 +181,30 @@ then
 	pcf8583 start -X -a 0x51
 fi

+# INA226 digital power monitor
+if param compare SENS_EN_INA226 1
+then
+	ina226 -X start
+fi
+
+# INA228 digital power monitor
+if param compare SENS_EN_INA228 1
+then
+	ina228 -X start
+fi
+
+# INA231 digital power monitor
+if param compare SENS_EN_INA231 1
+then
+	ina231 -X start
+fi
+
+# INA238 digital power monitor
+if param compare SENS_EN_INA238 1
+then
+	ina238 -X start
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -136,11 +136,8 @@ class firmware(object):

        self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))

-        # PX4 bootloader in theory requires only 4-byte padding,
-        # but a bug exists with the flash block caching where if the data
-        # does not fill up the block, it will not be written (left as all 1s).
-        # So pad up to the flash block size (8 words).
-        while ((len(self.image) % (4 * 8)) != 0):
+        # pad image to 4-byte length
+        while ((len(self.image) % 4) != 0):
            self.image.extend(b'\xff')

    def property(self, propname):
@@ -9,4 +9,5 @@ CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
@@ -33,6 +33,7 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA231=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -1,3 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""
@@ -1,91 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_COMMON_BAROMETERS=y
-CONFIG_DRIVERS_BATT_SMBUS=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_HEATER=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-CONFIG_DRIVERS_POWER_MONITOR_INA228=y
-CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_PWM_OUT_SIM=y
-CONFIG_DRIVERS_PX4IO=y
-CONFIG_COMMON_TELEMETRY=y
-CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_ESC_BATTERY=y
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
-CONFIG_MODULES_GIMBAL=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIH=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_TEST=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PWM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,13 +0,0 @@
-{
-    "board_id": 56,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the PX4FMUv6C board",
-    "image": "",
-    "build_time": 0,
-    "summary": "PX4FMUv6C",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1966080,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,20 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-
-param set-default BAT1_V_DIV 18.1
-param set-default BAT2_V_DIV 18.1
-
-param set-default BAT1_A_PER_V 36.367515152
-param set-default BAT2_A_PER_V 36.367515152
-
-# Mavlink ethernet (CFG 1000)
-param set-default MAV_2_CONFIG 1000
-param set-default MAV_2_BROADCAST 1
-param set-default MAV_2_MODE 0
-param set-default MAV_2_RADIO_CTL 0
-param set-default MAV_2_RATE 100000
-param set-default MAV_2_REMOTE_PRT 14550
-param set-default MAV_2_UDP_PRT 14550
@@ -1,21 +0,0 @@
-#!/bin/sh
-#
-# PX4 FMUv6C specific board sensors init
-#------------------------------------------------------------------------------
-board_adc start
-
-# Internal SPI bus BMI055 accel/gyro
-bmi055 -A -R 4 -s start
-bmi055 -G -R 4 -s start
-
-# Internal SPI bus ICM42688p
-icm42688p -R 6 -s start
-
-# Internal barometer on I2C4
-ms5611 -I -b 4 -a 0x77 start
-
-# Internal compass on IMU I2C4
-ist8310 -I -b 4 -a 0xc -R 6 start
-
-# External compass on GPS/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
-ist8310 -X -b 1 -R 10 start
@@ -1,17 +0,0 @@
-#
-# For a description of the syntax of this configuration file,
-# see misc/tools/kconfig-language.txt.
-#
-config BOARD_HAS_PROBES
-	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
-	default y
-	---help---
-		This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
-
-config BOARD_USE_PROBES
-	bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
-	default n
-	depends on BOARD_HAS_PROBES
-
-	---help---
-		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.
@@ -1,96 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DEV_CONSOLE is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_SPI_EXCHANGE is not set
-# CONFIG_STM32H7_SYSCFG is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v6c/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H753II=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_INITTHREAD_PRIORITY=254
-CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0038
-CONFIG_CDCACM_PRODUCTSTR="PX4 BL FMU v6C.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3185
-CONFIG_CDCACM_VENDORSTR="Auterion"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_DISABLE_PTHREAD=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_LIB_BOARDCTL=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SPI=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_UART7=y
-CONFIG_SYSTEMTICK_HOOK=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGINT_CHAR=0x03
-CONFIG_TTY_SIGTSTP=y
-CONFIG_UART7_RXBUFSIZE=512
-CONFIG_UART7_RXDMA=y
-CONFIG_UART7_TXBUFSIZE=512
-CONFIG_UART7_TXDMA=y
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
@@ -1,505 +0,0 @@
-/************************************************************************************
- * nuttx-configs/px4_fmu-v6c/include/board.h
- *
- *   Copyright (C) 2016-2019 Gregory Nutt. All rights reserved.
- *   Authors: David Sidrane <david.sidrane@nscdg.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-#ifndef __NUTTX_CONFIG_PX4_FMU_V6C_INCLUDE_BOARD_H
-#define __NUTTX_CONFIG_PX4_FMU_V6C_INCLUDE_BOARD_H
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include "board_dma_map.h"
-
-#include <nuttx/config.h>
-
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include "stm32_rcc.h"
-#include "stm32_sdmmc.h"
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
-/* Clocking *************************************************************************/
-/* The px4_fmu-v6C  board provides the following clock sources:
- *
- *   X1: 16 MHz crystal for HSE
- *
- * So we have these clock source available within the STM32
- *
- *   HSI: 16 MHz RC factory-trimmed
- *   HSE: 16 MHz crystal for HSE
- */
-
-#define STM32_BOARD_XTAL        16000000ul
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     32768
-
-/* Main PLL Configuration.
- *
- * PLL source is HSE = 16,000,000
- *
- * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
- * Subject to:
- *
- *     1 <= PLLM <= 63
- *     4 <= PLLN <= 512
- *   150 MHz <= PLL_VCOL <= 420MHz
- *   192 MHz <= PLL_VCOH <= 836MHz
- *
- * SYSCLK  = PLL_VCO / PLLP
- * CPUCLK  = SYSCLK / D1CPRE
- * Subject to
- *
- *   PLLP1   = {2, 4, 6, 8, ..., 128}
- *   PLLP2,3 = {2, 3, 4, ..., 128}
- *   CPUCLK <= 480 MHz
- */
-
-#define STM32_BOARD_USEHSE
-
-#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
-
-/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
- *
- *   PLL1_VCO = (16,000,000 / 1) * 60 = 960 MHz
- *
- *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
- *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
- *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
- */
-
-#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVP1EN | \
-				 RCC_PLLCFGR_DIVQ1EN | \
-				 RCC_PLLCFGR_DIVR1EN)
-#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
-#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(60)
-#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
-#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
-#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
-
-#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 60)
-#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
-#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
-#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
-
-/* PLL2 */
-
-#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
-				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
-				  RCC_PLLCFGR_DIVP2EN | \
-				  RCC_PLLCFGR_DIVQ2EN | \
-				  RCC_PLLCFGR_DIVR2EN)
-#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(4)
-#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
-#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
-#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
-#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
-
-#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 4) * 48)
-#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-
-/* PLL3 */
-
-#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVQ3EN)
-#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(4)
-#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
-#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
-#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
-#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
-
-#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 4) * 48)
-#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
-#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-
-/* SYSCLK = PLL1P = 480MHz
- * CPUCLK = SYSCLK / 1 = 480 MHz
- */
-
-#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
-#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
-#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
-
-/* Configure Clock Assignments */
-
-/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
- * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
- */
-
-#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
-#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
-#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
-#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
-
-#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
-#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* Timer clock frequencies */
-
-/* Timers driven from APB1 will be twice PCLK1 */
-
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* Timers driven from APB2 will be twice PCLK2 */
-
-#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-
-/* Kernel Clock Configuration
- *
- * Note: look at Table 54 in ST Manual
- */
-
-/* I2C123 clock source */
-
-#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
-
-/* I2C4 clock source */
-
-#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
-
-/* SPI123 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
-
-/* SPI45 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
-
-/* SPI6 clock source */
-
-#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
-
-/* USB 1 and 2 clock source */
-
-#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
-
-/* ADC 1 2 3 clock source */
-
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
-
-/* FDCAN 1 2 clock source */
-
-#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
-
-#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
-
-/* FLASH wait states
- *
- *  ------------ ---------- -----------
- *  Vcore        MAX ACLK   WAIT STATES
- *  ------------ ---------- -----------
- *  1.15-1.26 V     70 MHz    0
- *  (VOS1 level)   140 MHz    1
- *                 210 MHz    2
- *  1.05-1.15 V     55 MHz    0
- *  (VOS2 level)   110 MHz    1
- *                 165 MHz    2
- *                 220 MHz    3
- *  0.95-1.05 V     45 MHz    0
- *  (VOS3 level)    90 MHz    1
- *                 135 MHz    2
- *                 180 MHz    3
- *                 225 MHz    4
- *  ------------ ---------- -----------
- */
-
-#define BOARD_FLASH_WAITSTATES 2
-
-/* SDMMC definitions ********************************************************/
-
-/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
-
-#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-
-/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
- * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
- */
-
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-
-#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
-
-/* LED definitions ******************************************************************/
-/* The PX4 FMUV6C board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
- * LED_RED a Red LED, that can be controlled by software.
- *
- * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
- * The following definitions are used to access individual LEDs.
- */
-
-/* LED index values for use with board_userled() */
-
-/* LED definitions ******************************************************************/
-/* The px4_fmu-v6c board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
- * LED_RED a Red LED, that can be controlled by software.
- *
- * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
- * The following definitions are used to access individual LEDs.
- */
-
-/* LED index values for use with board_userled() */
-
-#define BOARD_LED1        0
-#define BOARD_LED2        1
-#define BOARD_LED3        2
-#define BOARD_NLEDS       3
-
-#define BOARD_LED_RED     BOARD_LED1
-#define BOARD_LED_GREEN   BOARD_LED2
-#define BOARD_LED_BLUE    BOARD_LED3
-
-/* LED bits for use with board_userled_all() */
-
-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
-#define BOARD_LED2_BIT    (1 << BOARD_LED2)
-#define BOARD_LED3_BIT    (1 << BOARD_LED3)
-
-/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
- * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
- * events as follows:
- *
- *
- *   SYMBOL                     Meaning                      LED state
- *                                                        Red   Green Blue
- *   ----------------------  --------------------------  ------ ------ ----*/
-
-#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
-#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
-#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
-#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
-#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
-#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
-#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
-#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
-#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
-
-/* Thus if the Green LED is statically on, NuttX has successfully booted and
- * is, apparently, running normally.  If the Red LED is flashing at
- * approximately 2Hz, then a fatal error has been detected and the system
- * has halted.
- */
-
-/* Alternate function pin selections ************************************************/
-
-#define GPIO_USART1_RX   GPIO_USART1_RX_2    /* PA10 */
-#define GPIO_USART1_TX   GPIO_USART1_TX_3    /* PB6 */
-
-#define GPIO_USART2_RX   GPIO_USART2_RX_1   /* PA3   */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5   */
-
-#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9   */
-#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8   */
-
-#define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
-#define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
-// GPIO_UART5_RTS   no remap                /* PC8  */
-// GPIO_UART5_CTS  No remap                 /* PC9  */
-
-#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
-#define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */
-
-#define GPIO_UART7_RX    GPIO_UART7_RX_3    /* PE7  */
-#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
-#define GPIO_UART7_RTS   GPIO_UART7_RTS_1   /* PE9  */
-#define GPIO_UART7_CTS   GPIO_UART7_CTS_1   /* PE10 */
-
-#define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
-#define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1 */
-
-
-/* CAN
- *
- * CAN1 is routed to transceiver.
- * CAN2 is routed to transceiver.
- */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1  */
-#define GPIO_CAN2_RX     GPIO_CAN2_RX_2     /* PB5 */
-#define GPIO_CAN2_TX     GPIO_CAN2_TX_1     /* PB13  */
-
-/* SPI
- * SPI1 is sensors
- * SPI2 is FRAM
- *
- */
-
-#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
-
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1               /* PA7  */
-#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5  */
-
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_2               /* PC2  */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_3               /* PC3  */
-#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_5) /* PD3  */
-
-/* I2C
- *
- *   The optional _GPIO configurations allow the I2C driver to manually
- *   reset the bus to clear stuck slaves.  They match the pin configuration,
- *   but are normally-high GPIOs.
- *
- */
-
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */
-
-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
-
-#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1       /* PB10 */
-#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1       /* PB11*/
-
-#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
-#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN11)
-
-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_1       /* PD12 */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_1       /* PD13 */
-
-#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
-#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
-
-/* SDMMC2
- *
- *      VDD 3.3
- *      GND
- *      SDMMC2_CK                           PD6
- *      SDMMC2_CMD                          PD7
- *      SDMMC2_D0                           PB14
- *      SDMMC2_D1                           PB15
- *      SDMMC2_D2                           PB3
- *      SDMMC2_D3                           PB4
- */
-
-#define GPIO_SDMMC2_CK   GPIO_SDMMC2_CK_1  /* PD6  */
-#define GPIO_SDMMC2_CMD  GPIO_SDMMC2_CMD_1 /* PD7  */
-//      GPIO_SDMMC2_D0   No Remap          /* PB14 */
-//      GPIO_SDMMC2_D1   No Remap          /* PB15 */
-#define GPIO_SDMMC2_D2   GPIO_SDMMC2_D2_2  /* PB3  */
-//      GPIO_SDMMC2_D3    No Remap         /* PB4  */
-
-/* USB
- *
- *      OTG_FS_DM                           PA11
- *      OTG_FS_DP                           PA12
- *      VBUS                                PA9
- */
-
-
-/* Board provides GPIO or other Hardware for signaling to timing analyzer */
-
-#if defined(CONFIG_BOARD_USE_PROBES)
-# include "stm32_gpio.h"
-# define PROBE_N(n) (1<<((n)-1))
-# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)   /* PA8  AUX1 */
-# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)  /* PE11 AUX2 */
-# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)  /* PE13 AUX3 */
-# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)  /* PE14 AUX4 */
-# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)  /* PD14 AUX5 */
-# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)  /* PD15 AUX6 */
-# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)   /* PA0  AUX7 */
-# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)   /* PA1  AUX8 */
-
-# define PROBE_INIT(mask) \
-	do { \
-		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
-		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
-		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
-		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
-		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
-		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
-		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
-		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
-	} while(0)
-
-# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
-# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
-#else
-# define PROBE_INIT(mask)
-# define PROBE(n,s)
-# define PROBE_MARK(n)
-#endif
-
-#endif  /*__NUTTX_CONFIG_PX4_FMU_V6C_INCLUDE_BOARD_H  */
@@ -1,79 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-// DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
-//                                                     V
-
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     /* 1 DMA1:37 BMI055, ICM-42688-P */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     /* 2 DMA1:38 BMI055, ICM-42688-P  */
-
-#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0     /* 3 DMA1:39 FRAM */
-#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0     /* 4 DMA1:40 FRAM */
-
-//#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
-//#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
-
-//#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0 /*  DMA1:43 Telem3 */
-//#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0 /*  DMA1:44 Telem3 */
-
-//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
-//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
-
-//#define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 EXT2 */
-//#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 EXT2 */
-
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
-#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */
-
-// Assigned in timer_config.cpp
-
-// Timer 4                                          /* 7 DMA1:32 TIM4UP */
-// Timer 5                                          /* 8 DMA1:50 TIM5UP */
-
-// DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
-//                                                     V
-
-
-#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
-#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
-
-#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
-#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66  TELEM2 */
-
-#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79  TELEM1 */
-#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80  TELEM1 */
-
-//#define DMAMAP_UART8_RX   DMAMAP_DMA12_UART8RX_1  /*  DMA1:81  GPS2 */
-//#define DMAMAP_UART8_TX   DMAMAP_DMA12_UART8TX_1  /*  DMA1:82  GPS2 */
@@ -1,241 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v6c/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743VI=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=95751
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0038
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v6C.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3185
-CONFIG_CDCACM_VENDORSTR="Auterion"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=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_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_IOB_NBUFFERS=24
-CONFIG_IOB_NCHAINS=24
-CONFIG_LIBC_FLOATINGPOINT=y
-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_IOB=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_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_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-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_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_SDMMC2=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI2_DMA=y
-CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
-CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_TIM12=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_TIM5=y
-CONFIG_STM32H7_UART5=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_USART1=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
-CONFIG_STM32H7_USART6=y
-CONFIG_STM32H7_USART_BREAKS=y
-CONFIG_STM32H7_USART_INVERT=y
-CONFIG_STM32H7_USART_SINGLEWIRE=y
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART5_IFLOWCONTROL=y
-CONFIG_UART5_OFLOWCONTROL=y
-CONFIG_UART5_RXDMA=y
-CONFIG_UART5_TXBUFSIZE=3000
-CONFIG_UART5_TXDMA=y
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_IFLOWCONTROL=y
-CONFIG_UART7_OFLOWCONTROL=y
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_RXDMA=y
-CONFIG_UART7_TXBUFSIZE=3000
-CONFIG_UART7_TXDMA=y
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=3000
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_RXBUFSIZE=180
-CONFIG_USART3_RXDMA=y
-CONFIG_USART3_SERIAL_CONSOLE=y
-CONFIG_USART3_TXBUFSIZE=1500
-CONFIG_USART3_TXDMA=y
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_WATCHDOG=y
-CONFIG_WQUEUE_NOTIFIER=y
@@ -1,215 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The PX4 FMUV6C uses an STM32H753II has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743II, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * The PX4 FMUV6C has a test point on board, the BOOT0 pin is at ground so by
- * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
- * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
- *
- * The STM32H743II also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- *
- * The bootloader uses the first sector of the flash, which is 128K in length.
- */
-
-MEMORY
-{
-	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	flash (rx)  : ORIGIN = 0x08000000, LENGTH =  128K
-	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
-	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
-	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
-	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
-	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
-	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		KEEP(*(.init_array .init_array.*))
-		_einit = ABSOLUTE(.);
-	} > flash
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}
@@ -1,223 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The PX4 FMUV6C uses an STM32H753II has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743II, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * The PX4 FMUV6C has a test point on board, the BOOT0 pin is at ground so by
- * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
- * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
- *
- * The STM32H743II also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- */
-
-MEMORY
-{
-	itcm  (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
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-EXTERN(board_get_manifest)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		KEEP(*(.init_array .init_array.*))
-		_einit = ABSOLUTE(.);
-	} > flash
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* Emit the the D3 power domain section for locating BDMA data */
-
-	.sram4_reserve (NOLOAD) :
-	{
-		*(.sram4)
-		. = ALIGN(4);
-		_sram4_heap_start = ABSOLUTE(.);
-	} > sram4
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}
@@ -1,321 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * PX4FMU-v6c internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-
-#include <stm32_gpio.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
-#undef TRACE_PINS
-
-/* PX4IO connection configuration */
-
-#define BOARD_USES_PX4IO_VERSION       2
-#define PX4IO_SERIAL_DEVICE            "/dev/ttyS4"
-#define PX4IO_SERIAL_TX_GPIO           GPIO_USART6_TX
-#define PX4IO_SERIAL_RX_GPIO           GPIO_USART6_RX
-#define PX4IO_SERIAL_BASE              STM32_USART6_BASE
-#define PX4IO_SERIAL_VECTOR            STM32_IRQ_USART6
-#define PX4IO_SERIAL_TX_DMAMAP         DMAMAP_USART6_TX
-#define PX4IO_SERIAL_RX_DMAMAP         DMAMAP_USART6_RX
-#define PX4IO_SERIAL_RCC_REG           STM32_RCC_APB2ENR
-#define PX4IO_SERIAL_RCC_EN            RCC_APB2ENR_USART6EN
-#define PX4IO_SERIAL_CLOCK             STM32_PCLK2_FREQUENCY
-#define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
-
-/* PX4FMU GPIOs ***********************************************************************************/
-
-
-/* LEDs are driven with push pull Anodes to 3.3V */
-
-#define GPIO_nLED_RED        /* PD10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
-#define GPIO_nLED_BLUE       /* PD11 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
-
-#define BOARD_HAS_CONTROL_STATUS_LEDS      1
-#define BOARD_OVERLOAD_LED     LED_RED
-#define BOARD_ARMED_STATE_LED  LED_BLUE
-
-/*
- * ADC channels
- *
- * These are the channel numbers of the ADCs of the microcontroller that
- * can be used by the Px4 Firmware in the adc driver
- */
-
-/* ADC defines to be used in sensors.cpp to read from a particular channel */
-
-#define ADC1_CH(n)                  (n)
-
-/* N.B. there is no offset mapping needed for ADC3 because */
-#define ADC3_CH(n)                  (n)
-
-/* We are only use ADC3 for REV/VER. */
-
-/* Define GPIO pins used as ADC N.B. Channel numbers must match below  */
-
-#define PX4_ADC_GPIO  \
-	/* PC4  */  GPIO_ADC12_INP4,   \
-	/* PB1  */  GPIO_ADC12_INP5,   \
-	/* PC5  */  GPIO_ADC12_INP8,   \
-	/* PC0  */  GPIO_ADC123_INP10, \
-	/* PC1  */  GPIO_ADC123_INP11, \
-	/* PA2  */  GPIO_ADC12_INP14,  \
-	/* PA4  */  GPIO_ADC12_INP18   \
-
-/* Define Channel numbers must match above GPIO pin IN(n)*/
-#define ADC_BATTERY1_CURRENT_CHANNEL            /* PC4 */  ADC1_CH(4)
-#define ADC_BATTERY2_VOLTAGE_CHANNEL            /* PB1 */  ADC1_CH(5)
-#define ADC_BATTERY1_VOLTAGE_CHANNEL            /* PC5 */  ADC1_CH(8)
-#define ADC_HW_REV_SENSE_CHANNEL                /* PC0 */  ADC3_CH(10)
-#define ADC_HW_VER_SENSE_CHANNEL                /* PC1 */  ADC3_CH(11)
-#define ADC_BATTERY2_CURRENT_CHANNEL            /* PA2 */  ADC1_CH(14)
-#define ADC_SCALED_V5_CHANNEL                   /* PA4 */  ADC1_CH(18)
-
-#define ADC_CHANNELS \
-	((1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
-	 (1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \
-	 (1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
-	 (1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
-	 (1 << ADC_SCALED_V5_CHANNEL       ))
-
-#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
-
-#define SYSTEM_ADC_BASE STM32_ADC1_BASE
-
-/* HW has to large of R termination on ADC todo:change when HW value is chosen */
-#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
-
-/* HW Version and Revision drive signals Default to 1 to detect */
-#define BOARD_HAS_HW_VERSIONING
-
-#define GPIO_HW_VER_REV_DRIVE  /* PE12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
-#define GPIO_HW_REV_SENSE      /* PC0 */  GPIO_ADC123_INP10
-#define GPIO_HW_VER_SENSE      /* PC1 */  GPIO_ADC123_INP11
-#define HW_INFO_INIT           {'V','6','C','x', 'x',0}
-#define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */
-
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0, 10 Sensor sets
-//                 Base/FMUM
-#define V6C00   HW_VER_REV(0x0,0x0) // FMUV6C,                 Rev 0
-#define V6C10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
-
-
-/* HEATER
- * PWM in future
- */
-#define GPIO_HEATER_OUTPUT   /* PB9  T17CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
-
-/* PWM
- */
-#define DIRECT_PWM_OUTPUT_CHANNELS   8
-
-
-/* Power supply control and monitoring GPIOs */
-
-#define GPIO_nPOWER_IN_A                /* PA15  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN15)
-#define GPIO_nPOWER_IN_B                /* PB12  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN12)
-#define GPIO_nPOWER_IN_C                /* PE15  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
-
-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
-#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_B /* Brick 2 Is Chosen  */
-#define BOARD_NUMBER_BRICKS             2
-#define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */
-
-#define GPIO_VDD_5V_PERIPH_nEN          /* PE2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
-#define GPIO_VDD_5V_PERIPH_nOC          /* PE3  */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN3)
-#define GPIO_VDD_5V_HIPOWER_nEN         /* PC10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN10)
-#define GPIO_VDD_5V_HIPOWER_nOC         /* PC11 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTC|GPIO_PIN11)
-#define GPIO_VDD_3V3_SENSORS_EN         /* PB2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN2)
-
-/* Define True logic Power Control in arch agnostic form */
-
-#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
-#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
-
-/* Tone alarm output */
-
-#define TONE_ALARM_TIMER        3  /* Timer 3 */
-#define TONE_ALARM_CHANNEL      3  /* PB0 GPIO_TIM3_CH3OUT_1 */
-
-#define GPIO_BUZZER_1           /* PPB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
-
-#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
-#define GPIO_TONE_ALARM         GPIO_TIM3_CH3OUT_1
-
-/* USB OTG FS
- *
- * PA9  OTG_FS_VBUS VBUS sensing
- */
-#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
-
-/* High-resolution timer */
-#define HRT_TIMER               8  /* use timer8 for the HRT */
-#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
-
-/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 3 */
-#define PWMIN_TIMER                       4
-#define PWMIN_TIMER_CHANNEL    /* T4C3 */ 3
-#define GPIO_PWM_IN            /* PD14 */ GPIO_TIM4_CH3IN_2
-
-#define SDIO_SLOTNO                    0  /* Only one slot */
-#define SDIO_MINOR                     0
-
-/* SD card bringup does not work if performed on the IDLE thread because it
- * will cause waiting.  Use either:
- *
- *  CONFIG_LIB_BOARDCTL=y, OR
- *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
- */
-
-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
-   !defined(CONFIG_BOARD_INITTHREAD)
-#  warning SDIO initialization cannot be perfomed on the IDLE thread
-#endif
-
-/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
- * this board support the ADC system_power interface, and therefore
- * provides the true logic GPIO BOARD_ADC_xxxx macros.
- */
-#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-#define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
-
-/* FMUv6C never powers off the Servo rail */
-
-#define BOARD_ADC_SERVO_VALID     (1)
-
-#define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
-
-#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
-#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
-
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-
-#define BOARD_HAS_ON_RESET 1
-
-#define PX4_GPIO_INIT_LIST { \
-		PX4_ADC_GPIO,                     \
-		GPIO_HW_VER_REV_DRIVE,            \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_CAN2_TX,                     \
-		GPIO_CAN2_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
-		GPIO_nPOWER_IN_A,                 \
-		GPIO_nPOWER_IN_B,                 \
-		GPIO_nPOWER_IN_C,                 \
-		GPIO_VDD_5V_PERIPH_nEN,           \
-		GPIO_VDD_5V_PERIPH_nOC,           \
-		GPIO_VDD_5V_HIPOWER_nEN,          \
-		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,          \
-		GPIO_TONE_ALARM_IDLE,             \
-	}
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-#define PX4_I2C_BUS_MTD      4,5
-
-
-#define BOARD_NUM_IO_TIMERS 5
-
-__BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************
- * Name: stm32_sdio_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int stm32_sdio_initialize(void);
-
-/****************************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
- *
- ****************************************************************************************************/
-
-extern void stm32_spiinitialize(void);
-
-extern void stm32_usbinitialize(void);
-
-extern void board_peripheral_reset(int ms);
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS
@@ -1,128 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file px4fmu_can.c
- *
- * Board-specific CAN functions.
- */
-
-#ifdef CONFIG_CAN
-
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/can/can.h>
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "arm_arch.h"
-
-#include "chip.h"
-#include "stm32_can.h"
-#include "board_config.h"
-
-#ifdef CONFIG_CAN
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-/* Configuration ********************************************************************/
-
-#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
-#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
-#  undef CONFIG_STM32_CAN2
-#endif
-
-#ifdef CONFIG_STM32_CAN1
-#  define CAN_PORT 1
-#else
-#  define CAN_PORT 2
-#endif
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-int can_devinit(void);
-
-/************************************************************************************
- * Name: can_devinit
- *
- * Description:
- *   All STM32 architectures must provide the following interface to work with
- *   examples/can.
- *
- ************************************************************************************/
-
-int can_devinit(void)
-{
-	static bool initialized = false;
-	struct can_dev_s *can;
-	int ret;
-
-	/* Check if we have already initialized */
-
-	if (!initialized) {
-		/* Call stm32_caninitialize() to get an instance of the CAN interface */
-
-		can = stm32_caninitialize(CAN_PORT);
-
-		if (can == NULL) {
-			canerr("ERROR:  Failed to get CAN interface\n");
-			return -ENODEV;
-		}
-
-		/* Register the CAN driver at "/dev/can0" */
-
-		ret = can_register("/dev/can0", can);
-
-		if (ret < 0) {
-			canerr("ERROR: can_register failed: %d\n", ret);
-			return ret;
-		}
-
-		/* Now we are initialized */
-
-		initialized = true;
-	}
-
-	return OK;
-}
-
-#endif
-
-#endif /* CONFIG_CAN */
@@ -1,128 +0,0 @@
-/*
- * hw_config.h
- *
- *  Created on: May 17, 2015
- *      Author: david_s5
- */
-
-#ifndef HW_CONFIG_H_
-#define HW_CONFIG_H_
-
-/****************************************************************************
- * 10-8--2016:
- *  To simplify the ripple effect on the tools, we will be using
- *  /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
- *  moving forward all Bootloaders must contain the prefix "PX4 BL "
- *  in the USBDEVICESTRING
- *  This Change will be made in an upcoming BL release
- ****************************************************************************/
-/*
- * Define usage to configure a bootloader
- *
- *
- * Constant                example          Usage
- * APP_LOAD_ADDRESS     0x08004000            - The address in Linker Script, where the app fw is org-ed
- * BOOTLOADER_DELAY     5000                  - Ms to wait while under USB pwr or bootloader request
- * BOARD_FMUV2
- * INTERFACE_USB        1                     - (Optional) Scan and use the USB interface for bootloading
- * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
- * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
- * USBPRODUCTID         0x0011                - PID Should match defconfig
- * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
- *                                               delay provided by an APP FW
- * BOARD_TYPE           9                     - Must match .prototype boad_id
- * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
- * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
- * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
- * BOARD_FLASH_SIZE     (_FLASH_KBYTES*1024)-   Total Flash size of device, determined at run time.
- *                         (1024 * 1024)      - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
- *                                              programmatically
- *
- * BOARD_FIRST_FLASH_SECTOR_TO_ERASE  2        - Optional sectors index in the flash_sectors table  (F4 only), to begin erasing.
- *                                               This is to allow sectors to be reserved for app fw usage. That will NOT be erased
- *                                               during a FW upgrade.
- *                                               The default is 0, and selects the first sector to be erased, as the 0th entry in the
- *                                               flash_sectors table. Which is the second physical sector of FLASH in the device.
- *                                               The first physical sector of FLASH is used by the bootloader, and is not defined
- *                                               in the table.
- *
- * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
- *                                                                        BOOTLOADER_RESERVATION_SIZE  will be deducted from
- *                                                                        BOARD_FLASH_SIZE to determine the size of the App FW
- *                                                                        and hence the address space of FLASH to erase and program.
- * USBMFGSTRING            "PX4 AP"            - Optional USB MFG string (default is '3D Robotics' if not defined.)
- * SERIAL_BREAK_DETECT_DISABLED                -  Optional prevent break selection on Serial port from entering or staying in BL
- *
- * * Other defines are somewhat self explanatory.
- */
-
-/* Boot device selection list*/
-#define USB0_DEV       0x01
-#define SERIAL0_DEV    0x02
-#define SERIAL1_DEV    0x04
-
-#define APP_LOAD_ADDRESS               0x08020000
-#define BOOTLOADER_DELAY               5000
-#define INTERFACE_USB                  1
-#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
-#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
-
-//#define USE_VBUS_PULL_DOWN
-#define INTERFACE_USART                1
-#define INTERFACE_USART_CONFIG         "/dev/ttyS0,115200"
-#define BOOT_DELAY_ADDRESS             0x000001a0
-#define BOARD_TYPE                     56
-#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
-#define BOARD_FLASH_SECTORS            (15)
-#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
-
-#define OSC_FREQ                       16
-
-#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE // BLUE
-#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_RED // RED
-#define BOARD_LED_ON                   0
-#define BOARD_LED_OFF                  1
-
-#define SERIAL_BREAK_DETECT_DISABLED   1
-
-/*
- * Uncommenting this allows to force the bootloader through
- * a PWM output pin. As this can accidentally initialize
- * an ESC prematurely, it is not recommended. This feature
- * has not been used and hence defaults now to off.
- *
- * # define BOARD_FORCE_BL_PIN_OUT         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
- * # define BOARD_FORCE_BL_PIN_IN          (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
- *
- * # define BOARD_POWER_PIN_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
- * # define BOARD_POWER_ON                 1
- * # define BOARD_POWER_OFF                0
- * # undef  BOARD_POWER_PIN_RELEASE        // Leave pin enabling Power - un comment to release (disable power)
- *
-*/
-
-#if !defined(ARCH_SN_MAX_LENGTH)
-# define ARCH_SN_MAX_LENGTH 12
-#endif
-
-#if !defined(APP_RESERVATION_SIZE)
-#  define APP_RESERVATION_SIZE 0
-#endif
-
-#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
-#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
-#endif
-
-#if !defined(USB_DATA_ALIGN)
-# define USB_DATA_ALIGN
-#endif
-
-#ifndef BOOT_DEVICES_SELECTION
-#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
-#endif
-
-#ifndef BOOT_DEVICES_FILTER_ONUSB
-#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
-#endif
-
-#endif /* HW_CONFIG_H_ */
@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(1),
-	initI2CBusExternal(2),
-	initI2CBusInternal(4),
-};
@@ -1,259 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file init.c
- *
- * PX4FMU-specific early startup code.  This file implements the
- * board_app_initialize() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialization.
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include "board_config.h"
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
-#include <syslog.h>
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/mm/gran.h>
-#include <chip.h>
-#include <stm32_uart.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-#include <systemlib/px4_macros.h>
-#include <px4_arch/io_timer.h>
-#include <px4_platform_common/init.h>
-#include <px4_platform/gpio.h>
-#include <px4_platform/board_determine_hw_info.h>
-#include <px4_platform/board_dma_alloc.h>
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-__END_DECLS
-
-
-/************************************************************************************
- * Name: board_peripheral_reset
- *
- * Description:
- *
- ************************************************************************************/
-__EXPORT void board_peripheral_reset(int ms)
-{
-	/* set the peripheral rails off */
-
-	VDD_5V_PERIPH_EN(false);
-	board_control_spi_sensors_power(false, 0xffff);
-
-	/* wait for the peripheral rail to reach GND */
-	usleep(ms * 1000);
-	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
-
-	/* re-enable power */
-
-	/* switch the peripheral rail back on */
-	board_control_spi_sensors_power(true, 0xffff);
-	VDD_5V_PERIPH_EN(true);
-
-}
-
-/************************************************************************************
- * Name: board_on_reset
- *
- * Description:
- * Optionally provided function called on entry to board_system_reset
- * It should perform any house keeping prior to the rest.
- *
- * status - 1 if resetting to boot loader
- *          0 if just resetting
- *
- ************************************************************************************/
-__EXPORT void board_on_reset(int status)
-{
-	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
-	}
-
-	if (status >= 0) {
-		up_mdelay(6);
-	}
-}
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-__EXPORT void
-stm32_boardinitialize(void)
-{
-	board_on_reset(-1); /* Reset PWM first thing */
-
-	/* configure LEDs */
-
-	board_autoled_initialize();
-
-	/* configure pins */
-
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-
-	/* configure USB interfaces */
-
-	stm32_usbinitialize();
-}
-
-/****************************************************************************
- * Name: board_app_initialize
- *
- * Description:
- *   Perform application specific initialization.  This function is never
- *   called directly from application code, but only indirectly via the
- *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
- *
- * Input Parameters:
- *   arg - The boardctl() argument is passed to the board_app_initialize()
- *         implementation without modification.  The argument has no
- *         meaning to NuttX; the meaning of the argument is a contract
- *         between the board-specific initalization logic and the the
- *         matching application logic.  The value cold be such things as a
- *         mode enumeration value, a set of DIP switch switch settings, a
- *         pointer to configuration data read from a file or serial FLASH,
- *         or whatever you would like to do with it.  Every implementation
- *         should accept zero/NULL as a default configuration.
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated errno value is returned on
- *   any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-#if !defined(BOOTLOADER)
-
-	/* Power on Interfaces */
-	VDD_5V_PERIPH_EN(true);
-	VDD_5V_HIPOWER_EN(true);
-
-	/* Need hrt running before using the ADC */
-
-	px4_platform_init();
-
-
-	if (OK == board_determine_hw_info()) {
-		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
-		       board_get_hw_type_name());
-
-	} else {
-		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
-	}
-
-	stm32_spiinitialize();
-
-	board_spi_reset(10, 0xffff);
-
-	/* configure the DMA allocator */
-
-	if (board_dma_alloc_init() < 0) {
-		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
-	}
-
-#  if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#  endif
-
-	/* initial LED state */
-	drv_led_start();
-	led_off(LED_RED);
-	led_off(LED_BLUE);
-
-	if (board_hardfault_init(2, true) != 0) {
-		led_on(LED_RED);
-	}
-
-#  ifdef CONFIG_MMCSD
-	int ret = stm32_sdio_initialize();
-
-	if (ret != OK) {
-		led_on(LED_RED);
-	}
-
-#  endif /* CONFIG_MMCSD */
-
-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-#endif
-	return OK;
-}
@@ -1,235 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file px4fmu2_led.c
- *
- * PX4FMU LED backend.
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-extern void led_toggle(int led);
-__END_DECLS
-
-#ifdef CONFIG_ARCH_LEDS
-static bool nuttx_owns_leds = true;
-//                                B  R  S  G
-//                                0  1  2  3
-static const uint8_t xlatpx4[] = {1, 2, 4, 0};
-#  define xlat(p) xlatpx4[(p)]
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
-	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
-	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
-	GPIO_nSAFETY_SWITCH_LED_OUT,  // Indexed by LED_SAFETY by xlatpx4
-};
-
-#else
-
-#  define xlat(p) (p)
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
-	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
-	0,                                  // Indexed by LED_SAFETY (defaulted to an input)
-	0,                                  // Indexed by LED_GREEN
-};
-
-#endif
-
-__EXPORT void led_init(void)
-{
-	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
-		if (g_ledmap[l] != 0) {
-			stm32_configgpio(g_ledmap[l]);
-		}
-	}
-}
-
-static void phy_set_led(int led, bool state)
-{
-	/* Drive Low to switch on */
-
-	if (g_ledmap[led] != 0) {
-		stm32_gpiowrite(g_ledmap[led], !state);
-	}
-}
-
-static bool phy_get_led(int led)
-{
-	/* If Low it is on */
-	if (g_ledmap[led] != 0) {
-		return !stm32_gpioread(g_ledmap[led]);
-	}
-
-	return false;
-}
-
-__EXPORT void led_on(int led)
-{
-	phy_set_led(xlat(led), true);
-}
-
-__EXPORT void led_off(int led)
-{
-	phy_set_led(xlat(led), false);
-}
-
-__EXPORT void led_toggle(int led)
-{
-	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
-}
-
-#ifdef CONFIG_ARCH_LEDS
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: board_autoled_initialize
- ****************************************************************************/
-
-void board_autoled_initialize(void)
-{
-	led_init();
-}
-
-/****************************************************************************
- * Name: board_autoled_on
- ****************************************************************************/
-
-void board_autoled_on(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_HEAPALLOCATE:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_IRQSENABLED:
-		phy_set_led(BOARD_LED_BLUE, false);
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_STACKCREATED:
-		phy_set_led(BOARD_LED_GREEN, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-
-	case LED_IDLE : /* IDLE */
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-	}
-}
-
-/****************************************************************************
- * Name: board_autoled_off
- ****************************************************************************/
-
-void board_autoled_off(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, false);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, false);
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-
-	case LED_IDLE : /* IDLE */
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-	}
-}
-
-#endif /* CONFIG_ARCH_LEDS */
@@ -1,147 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018, 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file manifest.c
- *
- * This module supplies the interface to the manifest of hardware that is
- * optional and dependent on the HW REV and HW VER IDs
- *
- * The manifest allows the system to know whether a hardware option
- * say for example the PX4IO is an no-pop option vs it is broken.
- *
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <inttypes.h>
-#include <stdbool.h>
-#include <syslog.h>
-
-#include "systemlib/px4_macros.h"
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-typedef struct {
-	uint32_t                hw_ver_rev; /* the version and revision */
-	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
-} px4_hw_mft_list_entry_t;
-
-typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
-#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
-
-static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
-
-// List of components on a specific board configuration
-// The index of those components is given by the enum (px4_hw_mft_item_id_t)
-// declared in board_common.h
-static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
-	{
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
-	{
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-
-static px4_hw_mft_list_entry_t mft_lists[] = {
-//  ver_rev
-	{V6C00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
-	{V6C10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
-};
-
-/************************************************************************************
- * Name: board_query_manifest
- *
- * Description:
- *   Optional returns manifest item.
- *
- * Input Parameters:
- *   manifest_id - the ID for the manifest item to retrieve
- *
- * Returned Value:
- *   0 - item is not in manifest => assume legacy operations
- *   pointer to a manifest item
- *
- ************************************************************************************/
-
-__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
-{
-	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
-
-	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
-		ver_rev |= board_get_hw_revision();
-
-		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
-			if (mft_lists[i].hw_ver_rev == ver_rev) {
-				boards_manifest = &mft_lists[i];
-				break;
-			}
-		}
-
-		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
-		}
-	}
-
-	px4_hw_mft_item rv = &device_unsupported;
-
-	if (boards_manifest != px4_hw_mft_list_uninitialized &&
-	    id < boards_manifest->entries) {
-		rv = &boards_manifest->mft[id];
-	}
-
-	return rv;
-}
@@ -1,104 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <nuttx/spi/spi.h>
-#include <px4_platform_common/px4_manifest.h>
-//                                                              KiB BS    nB
-static const px4_mft_device_t spi2 = {             // FM25V02A on FMUM 32K 512 X 64
-	.bus_type = px4_mft_device_t::SPI,
-	.devid    = SPIDEV_FLASH(0)
-};
-
-static const px4_mft_device_t i2c4 = {             // 24LC64T on IMU   8K 32 X 256
-	.bus_type =  px4_mft_device_t::I2C,
-	.devid    =  PX4_MK_I2C_DEVID(4, 0x50)
-};
-
-
-static const px4_mtd_entry_t fmum_fram = {
-	.device = &spi2,
-	.npart = 2,
-	.partd = {
-		{
-			.type = MTD_PARAMETERS,
-			.path = "/fs/mtd_params",
-			.nblocks = 32
-		},
-		{
-			.type = MTD_WAYPOINTS,
-			.path = "/fs/mtd_waypoints",
-			.nblocks = 32
-
-		}
-	},
-};
-
-static const px4_mtd_entry_t imu_eeprom = {
-	.device = &i2c4,
-	.npart = 2,
-	.partd = {
-		{
-			.type = MTD_CALDATA,
-			.path = "/fs/mtd_caldata",
-			.nblocks = 248
-		},
-		{
-			.type = MTD_ID,
-			.path = "/fs/mtd_id",
-			.nblocks = 8 // 256 = 32 * 8
-		}
-	},
-};
-
-static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs   = 2,
-	.entries = {
-		&fmum_fram,
-		&imu_eeprom
-	}
-};
-
-static const px4_mft_entry_s mtd_mft = {
-	.type = MTD,
-	.pmft = (void *) &board_mtd_config,
-};
-
-static const px4_mft_s mft = {
-	.nmft = 1,
-	.mfts = &mtd_mft
-};
-
-const px4_mft_s *board_get_manifest(void)
-{
-	return &mft;
-}
@@ -1,177 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-
-#include "chip.h"
-#include "board_config.h"
-#include "stm32_gpio.h"
-#include "stm32_sdmmc.h"
-
-#ifdef CONFIG_MMCSD
-
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/* Card detections requires card support and a card detection GPIO */
-
-#define HAVE_NCD   1
-#if !defined(GPIO_SDMMC1_NCD)
-#  undef HAVE_NCD
-#endif
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-static FAR struct sdio_dev_s *sdio_dev;
-#ifdef HAVE_NCD
-static bool g_sd_inserted = 0xff; /* Impossible value */
-#endif
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: stm32_ncd_interrupt
- *
- * Description:
- *   Card detect interrupt handler.
- *
- ****************************************************************************/
-
-#ifdef HAVE_NCD
-static int stm32_ncd_interrupt(int irq, FAR void *context)
-{
-	bool present;
-
-	present = !stm32_gpioread(GPIO_SDMMC1_NCD);
-
-	if (sdio_dev && present != g_sd_inserted) {
-		sdio_mediachange(sdio_dev, present);
-		g_sd_inserted = present;
-	}
-
-	return OK;
-}
-#endif
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: stm32_sdio_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int stm32_sdio_initialize(void)
-{
-	int ret;
-
-#ifdef HAVE_NCD
-	/* Card detect */
-
-	bool cd_status;
-
-	/* Configure the card detect GPIO */
-
-	stm32_configgpio(GPIO_SDMMC1_NCD);
-
-	/* Register an interrupt handler for the card detect pin */
-
-	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
-#endif
-
-	/* Mount the SDIO-based MMC/SD block driver */
-	/* First, get an instance of the SDIO interface */
-
-	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
-
-	sdio_dev = sdio_initialize(SDIO_SLOTNO);
-
-	if (!sdio_dev) {
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
-		return -ENODEV;
-	}
-
-	/* Now bind the SDIO interface to the MMC/SD driver */
-
-	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
-
-	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
-
-	if (ret != OK) {
-		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
-		return ret;
-	}
-
-	finfo("Successfully bound SDIO to the MMC/SD driver\n");
-
-#ifdef HAVE_NCD
-	/* Use SD card detect pin to check if a card is g_sd_inserted */
-
-	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
-	finfo("Card detect : %d\n", cd_status);
-
-	sdio_mediachange(sdio_dev, cd_status);
-#else
-	/* Assume that the SD card is inserted.  What choice do we have? */
-
-	sdio_mediachange(sdio_dev, true);
-#endif
-
-	return OK;
-}
-
-#endif /* CONFIG_MMCSD */
@@ -1,61 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020, 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
-	initSPIHWVersion(V6C00, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_GYR_DEVTYPE_BMI055,  SPI::CS{GPIO::PortC, GPIO::Pin14}, SPI::DRDY{GPIO::PortE, GPIO::Pin5}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI055,  SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin6}),
-		}, {GPIO::PortB, GPIO::Pin2}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4})
-		}),
-	}),
-	initSPIHWVersion(V6C10, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_GYR_DEVTYPE_BMI055,  SPI::CS{GPIO::PortC, GPIO::Pin14}, SPI::DRDY{GPIO::PortE, GPIO::Pin5}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI055,  SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin6}),
-		}, {GPIO::PortB, GPIO::Pin2}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4})
-		}),
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);
@@ -1,73 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/io_timer_hw_description.h>
-
-/* Timer allocation
- *
- * TIM1_CH1  T FMU_CH1
- * TIM1_CH2  T FMU_CH2
- * TIM1_CH3  T FMU_CH3
- * TIM1_CH4  T FMU_CH4
- *
- * TIM4_CH3  T FMU_CH5
- * TIM4_CH4  T FMU_CH6
- *
- * TIM5_CH1  T FMU_CH7
- * TIM5_CH2  T FMU_CH8
- *
- * TIM17_CH1 T HEATER                 > PWM OUT or GPIO
- *
- * TIM3_CH3  T BUZZER_1              - Driven by other driver
- */
-
-constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer5),
-	initIOTimer(Timer::Timer17),
-};
-
-constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
-	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
-};
-
-constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
-	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -1,105 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file px4fmu_usb.c
- *
- * Board-specific USB functions.
- */
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
-#include <nuttx/usb/usbdev.h>
-#include <nuttx/usb/usbdev_trace.h>
-
-#include <arm_arch.h>
-#include <chip.h>
-#include <stm32_gpio.h>
-#include <stm32_otg.h>
-#include "board_config.h"
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the PX4FMU board.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32H7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
-/************************************************************************************
- * Name:  stm32_usbsuspend
- *
- * Description:
- *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
- *   used.  This function is called whenever the USB enters or leaves suspend mode.
- *   This is an opportunity for the board logic to shutdown clocks, power, etc.
- *   while the USB is suspended.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
-{
-	uinfo("resume: %d\n", resume);
-}
@@ -25,23 +25,17 @@ then
 	ina238 -X -b 2 -t 2 -k start
 fi

-if ver hwtypecmp V6X04 V6X14
-then
-	# Internal SPI bus ICM20649
-	icm20649 -s -R 6 start
-else
 # Internal SPI BMI088
-	bmi088 -A -R 4 -s start
-	bmi088 -G -R 4 -s start
-fi
+bmi088 -A -R 4 -s start
+bmi088 -G -R 4 -s start

 # Internal SPI bus ICM42688p
 icm42688p -R 6 -s start

-if ver hwtypecmp V6X03 V6X13 V6X04 V6X14
+if ver hwtypecmp V6X03 V6X13
 then
 	# Internal SPI bus ICM-42670-P (hard-mounted)
-	icm42670p -R 10 -s start
+	icm42670p -R 14 -s start
 else
 	# Internal SPI bus ICM-20649 (hard-mounted)
 	icm20649 -R 14 -s start
@@ -215,15 +215,13 @@
 #define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
 #define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */

-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3 // Rev 0 and Rev 3,4 Sensor sets
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 and Rev 3 Sensor sets
 //                 Base/FMUM
 #define V6X00   HW_VER_REV(0x0,0x0) // FMUV6X,                 Rev 0
 #define V6X01   HW_VER_REV(0x0,0x1) // FMUV6X,     BMI388 I2C2 Rev 1
 #define V6X03   HW_VER_REV(0x0,0x3) // FMUV6X,     Sensor Set  Rev 3
-#define V6X04   HW_VER_REV(0x0,0x4) // FMUV6X,     Sensor Set  Rev 4
 #define V6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
 #define V6X13   HW_VER_REV(0x1,0x3) // NO PX4IO,   Sensor Set  Rev 3
-#define V6X14   HW_VER_REV(0x1,0x4) // NO PX4IO,   Sensor Set  Rev 4


 /* HEATER
@@ -102,8 +102,6 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
 	{V6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
 	{V6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
 	{V6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
-	{V6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4
-	{V6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4
 };

 /************************************************************************************
@@ -83,29 +83,6 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
 		}),
 	}),
-
-	initSPIHWVersion(HW_VER_REV(0, 4), {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
 };

 static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);
@@ -137,6 +137,7 @@ set(msg_files
 	rc_parameter_map.msg
 	rpm.msg
 	rtl_time_estimate.msg
+	safety.msg
 	satellite_info.msg
 	sensor_accel.msg
 	sensor_accel_fifo.msg
@@ -19,7 +19,7 @@ bool status_rc_ppm
 bool status_rc_sbus
 bool status_rc_st24
 bool status_rc_sumd
-bool status_safety_button_event # px4io safety button was pressed for longer than 1 second
+bool status_safety_off

 # PX4IO alarms (PX4IO_P_STATUS_ALARMS)
 bool alarm_pwm_error
@@ -0,0 +1,3 @@
+uint64 timestamp		# time since system start (microseconds)
+bool safety_switch_available		# Set to true if a safety switch is connected
+bool safety_off			# Set to true if safety is off
@@ -116,6 +116,3 @@ uint8 latest_disarming_reason
 uint64 armed_time       # Arming timestamp (microseconds)

 uint64 takeoff_time     # Takeoff timestamp (microseconds)
-
-bool safety_button_available	# Set to true if a safety button is connected
-bool safety_off					# Set to true if safety is off
@@ -92,13 +92,7 @@ enum Timer {
 	Timer13,
 	Timer14,
 #ifdef STM32_TIM15_BASE
-	Timer15,
-#endif
-#ifdef STM32_TIM16_BASE
-	Timer16,
-#endif
-#ifdef STM32_TIM17_BASE
-	Timer17
+	Timer15
 #endif
 };
 enum Channel {
@@ -167,16 +161,6 @@ static inline constexpr uint32_t timerBaseRegister(Timer::Timer timer)
 	case Timer::Timer15: return STM32_TIM15_BASE;
 #endif

-#ifdef STM32_TIM16_BASE
-
-	case Timer::Timer16: return STM32_TIM16_BASE;
-#endif
-
-#ifdef STM32_TIM17_BASE
-
-	case Timer::Timer17: return STM32_TIM17_BASE;
-#endif
-
 	default: break;
 	}

@@ -86,8 +86,6 @@ static inline constexpr uint32_t getTimerUpdateDMAMap(Timer::Timer timer, const
 	case Timer::Timer13:
 	case Timer::Timer14:
 	case Timer::Timer15:
-	case Timer::Timer16:
-	case Timer::Timer17:
 		break;
 	}

@@ -49,8 +49,6 @@ static inline constexpr timer_io_channels_t initIOTimerGPIOInOut(Timer::TimerCha
 	switch (timer.timer) {
 	case Timer::Timer1:
 	case Timer::Timer2:
-	case Timer::Timer16:
-	case Timer::Timer17:
 		gpio_af = GPIO_AF1;
 		break;

@@ -276,28 +274,6 @@ static inline constexpr io_timers_t initIOTimer(Timer::Timer timer, DMA dshot_dm
 		ret.vectorno =  STM32_IRQ_TIM15;
 #ifdef CONFIG_STM32_TIM15
 		nuttx_config_timer_enabled = true;
-#endif
-		break;
-
-	case Timer::Timer16:
-		ret.base = STM32_TIM16_BASE;
-		ret.clock_register = STM32_RCC_APB2ENR;
-		ret.clock_bit = RCC_APB2ENR_TIM16EN;
-		ret.clock_freq = STM32_APB2_TIM16_CLKIN;
-		ret.vectorno =  STM32_IRQ_TIM16;
-#ifdef CONFIG_STM32_TIM16
-		nuttx_config_timer_enabled = true;
-#endif
-		break;
-
-	case Timer::Timer17:
-		ret.base = STM32_TIM17_BASE;
-		ret.clock_register = STM32_RCC_APB2ENR;
-		ret.clock_bit = RCC_APB2ENR_TIM17EN;
-		ret.clock_freq = STM32_APB2_TIM17_CLKIN;
-		ret.vectorno =  STM32_IRQ_TIM17;
-#ifdef CONFIG_STM32_TIM17
-		nuttx_config_timer_enabled = true;
 #endif
 		break;
 	}
@@ -188,6 +188,12 @@ typedef uint16_t	servo_position_t;
 /** get the maximum PWM value the output will send */
 #define PWM_SERVO_GET_MAX_PWM	_PX4_IOC(_PWM_SERVO_BASE, 19)

+/** force safety switch off (to disable use of safety switch) */
+#define PWM_SERVO_SET_FORCE_SAFETY_OFF		_PX4_IOC(_PWM_SERVO_BASE, 25)
+
+/** force safety switch on (to enable use of safety switch) */
+#define PWM_SERVO_SET_FORCE_SAFETY_ON		_PX4_IOC(_PWM_SERVO_BASE, 28)
+
 /*
 *
 *
@@ -149,9 +149,6 @@
 #define DRV_DIST_DEVTYPE_SRF02        0x74
 #define DRV_DIST_DEVTYPE_TERARANGER   0x75
 #define DRV_DIST_DEVTYPE_VL53L0X      0x76
-#define DRV_POWER_DEVTYPE_INA226      0x77
-#define DRV_POWER_DEVTYPE_INA228      0x78
-#define DRV_POWER_DEVTYPE_VOXLPM      0x79

 #define DRV_LED_DEVTYPE_RGBLED        0x7a
 #define DRV_LED_DEVTYPE_RGBLED_NCP5623C 0x7b
@@ -188,7 +185,6 @@
 #define DRV_DIST_DEVTYPE_GY_US42       0x9C

 #define DRV_BAT_DEVTYPE_BATMON_SMBUS   0x9d
-#define DRV_POWER_DEVTYPE_INA238       0x9E
 #define DRV_GPIO_DEVTYPE_MCP23009      0x9F

 #define DRV_GPS_DEVTYPE_ASHTECH 0xA0
@@ -208,6 +204,12 @@

 #define DRV_HYGRO_DEVTYPE_SHT3X 0xB1

+#define DRV_POWER_DEVTYPE_INA226 0xC0
+#define DRV_POWER_DEVTYPE_INA228 0xC1
+#define DRV_POWER_DEVTYPE_INA231 0xC2
+#define DRV_POWER_DEVTYPE_INA238 0xC3
+#define DRV_POWER_DEVTYPE_VOXLPM 0xC4
+
 #define DRV_DEVTYPE_UNUSED		0xff

 #endif /* _DRV_SENSOR_H */
@@ -492,7 +492,9 @@ int PCA9685Wrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg)
 		break;

 	case PWM_SERVO_SET_ARM_OK:
+	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
 	case PWM_SERVO_CLEAR_ARM_OK:
+	case PWM_SERVO_SET_FORCE_SAFETY_ON:
 	case PWM_SERVO_ARM:
 	case PWM_SERVO_DISARM:
 		break;
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2022 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -30,46 +30,15 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
-	add_compile_definitions(BOOTLOADER)
-	add_library(drivers_board
-		bootloader_main.c
-		init.c
-		usb.c
-		timer_config.cpp
+px4_add_module(
+	MODULE drivers__power_monitor__ina231
+	MAIN ina231
+	COMPILE_FLAGS
+		-Wno-cast-align # TODO: fix and enable
+	SRCS
+		ina231_main.cpp
+		ina231.cpp
+	DEPENDS
+		battery
+		px4_work_queue
 	)
-	target_link_libraries(drivers_board
-		PRIVATE
-			nuttx_arch # sdio
-			nuttx_drivers # sdio
-			px4_layer #gpio
-			arch_io_pins # iotimer
-			bootloader
-	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
-
-else()
-	add_library(drivers_board
-		can.c
-		i2c.cpp
-		init.c
-		led.c
-		mtd.cpp
-		manifest.c
-		sdio.c
-		spi.cpp
-		timer_config.cpp
-		usb.c
-	)
-	add_dependencies(drivers_board arch_board_hw_info)
-
-	target_link_libraries(drivers_board
-		PRIVATE
-			arch_spi
-			arch_board_hw_info
-			drivers__led # drv_led_start
-			nuttx_arch # sdio
-			nuttx_drivers # sdio
-			px4_layer
-	)
-endif()
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_POWER_MONITOR_INA231
+	bool "ina231"
+	default n
+	---help---
+		Enable support for ina231
@@ -0,0 +1,322 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ina231.h"
+
+INA231::INA231(const I2CSPIDriverConfig &config, int battery_index) :
+	I2C(config),
+	ModuleParams(nullptr),
+	I2CSPIDriver(config),
+	_sample_perf(perf_alloc(PC_ELAPSED, "ina231_read")),
+	_comms_errors(perf_alloc(PC_COUNT, "ina231_com_err")),
+	_collection_errors(perf_alloc(PC_COUNT, "ina231_collection_err")),
+	_measure_errors(perf_alloc(PC_COUNT, "ina231_measurement_err")),
+	_battery(battery_index, this, INA231_SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE)
+{
+	float fvalue = MAX_CURRENT;
+	_max_current = fvalue;
+	param_t ph = param_find("INA231_CURRENT");
+
+	if (ph != PARAM_INVALID && param_get(ph, &fvalue) == PX4_OK) {
+		_max_current = fvalue;
+	}
+
+	fvalue = INA231_SHUNT;
+	_rshunt = fvalue;
+	ph = param_find("INA231_SHUNT");
+
+	if (ph != PARAM_INVALID && param_get(ph, &fvalue) == PX4_OK) {
+		_rshunt = fvalue;
+	}
+
+	ph = param_find("INA231_CONFIG");
+	int32_t value = INA231_CONFIG;
+	_config = (uint16_t)value;
+
+	if (ph != PARAM_INVALID && param_get(ph, &value) == PX4_OK) {
+		_config = (uint16_t)value;
+	}
+
+	_mode_triggered = ((_config & INA231_MODE_MASK) >> INA231_MODE_SHIFTS) <=
+			  ((INA231_MODE_SHUNT_BUS_TRIG & INA231_MODE_MASK) >>
+			   INA231_MODE_SHIFTS);
+
+	_current_lsb = _max_current / DN_MAX;
+	_power_lsb = 25 * _current_lsb;
+
+	// We need to publish immediately, to guarantee that the first instance of the driver publishes to uORB instance 0
+	_battery.setConnected(false);
+	_battery.updateVoltage(0.f);
+	_battery.updateCurrent(0.f);
+	_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
+}
+
+INA231::~INA231()
+{
+	/* free perf counters */
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+	perf_free(_collection_errors);
+	perf_free(_measure_errors);
+}
+
+int INA231::read(uint8_t address, int16_t &data)
+{
+	// read desired little-endian value via I2C
+	uint16_t received_bytes;
+	int ret = PX4_ERROR;
+
+	for (size_t i = 0; i < 3; i++) {
+		ret = transfer(&address, 1, (uint8_t *)&received_bytes, sizeof(received_bytes));
+
+		if (ret == PX4_OK) {
+			data = swap16(received_bytes);
+			break;
+
+		} else {
+			perf_count(_comms_errors);
+			PX4_DEBUG("i2c::transfer returned %d", ret);
+		}
+	}
+
+	return ret;
+}
+
+int INA231::write(uint8_t address, uint16_t value)
+{
+	uint8_t data[3] = {address, ((uint8_t)((value & 0xff00) >> 8)), (uint8_t)(value & 0xff)};
+	return transfer(data, sizeof(data), nullptr, 0);
+}
+
+int
+INA231::init()
+{
+	int ret = PX4_ERROR;
+
+	/* do I2C init (and probe) first */
+	if (I2C::init() != PX4_OK) {
+		return ret;
+	}
+
+	write(INA231_REG_CONFIGURATION, INA231_RST);
+
+	_cal = INA231_CONST / (_current_lsb * _rshunt);
+
+	if (write(INA231_REG_CALIBRATION, _cal) < 0) {
+		return -3;
+	}
+
+	// If we run in continuous mode then start it here
+
+	if (!_mode_triggered) {
+		ret = write(INA231_REG_CONFIGURATION, _config);
+
+	} else {
+		ret = PX4_OK;
+	}
+
+	start();
+	_sensor_ok = true;
+
+	_initialized = ret == PX4_OK;
+	return ret;
+}
+
+int
+INA231::force_init()
+{
+	int ret = init();
+
+	start();
+
+	return ret;
+}
+
+int
+INA231::probe()
+{
+	int16_t read1 = 0;
+
+	if (read(INA231_REG_CONFIGURATION, read1) != PX4_OK) {
+		return PX4_ERROR;
+	}
+
+	int16_t read2 = 0;
+
+	if (read(INA231_REG_CONFIGURATION, read2) != PX4_OK) {
+		return PX4_ERROR;
+	}
+
+	if (read1 != read2) {
+		return PX4_ERROR;
+	}
+
+	return PX4_OK;
+}
+
+int
+INA231::measure()
+{
+	int ret = PX4_OK;
+
+	if (_mode_triggered) {
+		ret = write(INA231_REG_CONFIGURATION, _config);
+
+		if (ret < 0) {
+			perf_count(_comms_errors);
+			PX4_DEBUG("i2c::transfer returned %d", ret);
+		}
+	}
+
+	return ret;
+}
+
+int
+INA231::collect()
+{
+	perf_begin(_sample_perf);
+
+	if (_parameter_update_sub.updated()) {
+		// Read from topic to clear updated flag
+		parameter_update_s parameter_update;
+		_parameter_update_sub.copy(&parameter_update);
+
+		updateParams();
+	}
+
+	// read from the sensor
+	// Note: If the power module is connected backwards, then the values of _power, _current, and _shunt will be negative but otherwise valid.
+	bool success{true};
+	success = success && (read(INA231_REG_BUSVOLTAGE, _bus_voltage) == PX4_OK);
+	// success = success && (read(INA231_REG_POWER, _power) == PX4_OK);
+	success = success && (read(INA231_REG_CURRENT, _current) == PX4_OK);
+	// success = success && (read(INA231_REG_SHUNTVOLTAGE, _shunt) == PX4_OK);
+
+	if (!success) {
+		PX4_DEBUG("error reading from sensor");
+		_bus_voltage = _power = _current = _shunt = 0;
+	}
+
+	_battery.setConnected(success);
+	_battery.updateVoltage(static_cast<float>(_bus_voltage * INA231_VSCALE));
+	_battery.updateCurrent(static_cast<float>(_current * _current_lsb));
+	_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
+
+	perf_end(_sample_perf);
+
+	if (success) {
+		return PX4_OK;
+
+	} else {
+		return PX4_ERROR;
+	}
+}
+
+void
+INA231::start()
+{
+	ScheduleClear();
+
+	/* reset the report ring and state machine */
+	_collect_phase = false;
+
+	_measure_interval = INA231_CONVERSION_INTERVAL;
+
+	/* schedule a cycle to start things */
+	ScheduleDelayed(5);
+}
+
+void
+INA231::RunImpl()
+{
+	if (_initialized) {
+		if (_collect_phase) {
+			/* perform collection */
+			if (collect() != PX4_OK) {
+				perf_count(_collection_errors);
+				/* if error restart the measurement state machine */
+				start();
+				return;
+			}
+
+			/* next phase is measurement */
+			_collect_phase = !_mode_triggered;
+
+			if (_measure_interval > INA231_CONVERSION_INTERVAL) {
+				/* schedule a fresh cycle call when we are ready to measure again */
+				ScheduleDelayed(_measure_interval - INA231_CONVERSION_INTERVAL);
+				return;
+			}
+		}
+
+		/* Measurement  phase */
+
+		/* Perform measurement */
+		if (measure() != PX4_OK) {
+			perf_count(_measure_errors);
+		}
+
+		/* next phase is collection */
+		_collect_phase = true;
+
+		/* schedule a fresh cycle call when the measurement is done */
+		ScheduleDelayed(INA231_CONVERSION_INTERVAL);
+
+	} else {
+		_battery.setConnected(false);
+		_battery.updateVoltage(0.f);
+		_battery.updateCurrent(0.f);
+		_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
+
+		if (init() != PX4_OK) {
+			ScheduleDelayed(INA231_INIT_RETRY_INTERVAL_US);
+		}
+	}
+}
+
+void
+INA231::print_status()
+{
+	I2CSPIDriverBase::print_status();
+
+	if (_initialized) {
+		perf_print_counter(_sample_perf);
+		perf_print_counter(_comms_errors);
+
+		printf("poll interval:  %u \n", _measure_interval);
+
+	} else {
+		PX4_INFO("Device not initialized. Retrying every %d ms until battery is plugged in.",
+			 INA231_INIT_RETRY_INTERVAL_US / 1000);
+	}
+}
@@ -0,0 +1,216 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ina231.h
+ *
+ */
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <drivers/device/i2c.h>
+#include <lib/perf/perf_counter.h>
+#include <battery/battery.h>
+#include <drivers/drv_hrt.h>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/topics/parameter_update.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+
+using namespace time_literals;
+
+/* Configuration Constants */
+#define INA231_BASEADDR 	                    0x40 /* 7-bit address. 8-bit address is 0x44 */
+// If initialization is forced (with the -f flag on the command line), but it fails, the drive will try again to
+// connect to the INA231 every this many microseconds
+#define INA231_INIT_RETRY_INTERVAL_US			500000
+
+/* INA231 Registers addresses */
+#define INA231_REG_CONFIGURATION             (0x00)
+#define INA231_REG_SHUNTVOLTAGE              (0x01)
+#define INA231_REG_BUSVOLTAGE                (0x02)
+#define INA231_REG_POWER                     (0x03)
+#define INA231_REG_CURRENT                   (0x04)
+#define INA231_REG_CALIBRATION               (0x05)
+#define INA231_REG_MASKENABLE                (0x06)
+#define INA231_REG_ALERTLIMIT                (0x07)
+#define INA231_MFG_ID                        (0xfe)
+#define INA231_MFG_DIEID                     (0xff)
+
+/* INA231 Configuration Register */
+#define INA231_MODE_SHIFTS                   (0)
+#define INA231_MODE_MASK                     (7 << INA231_MODE_SHIFTS)
+#define INA231_MODE_SHUTDOWN                 (0 << INA231_MODE_SHIFTS)
+#define INA231_MODE_SHUNT_TRIG               (1 << INA231_MODE_SHIFTS)
+#define INA231_MODE_BUS_TRIG                 (2 << INA231_MODE_SHIFTS)
+#define INA231_MODE_SHUNT_BUS_TRIG           (3 << INA231_MODE_SHIFTS)
+#define INA231_MODE_ADC_OFF                  (4 << INA231_MODE_SHIFTS)
+#define INA231_MODE_SHUNT_CONT               (5 << INA231_MODE_SHIFTS)
+#define INA231_MODE_BUS_CONT                 (6 << INA231_MODE_SHIFTS)
+#define INA231_MODE_SHUNT_BUS_CONT           (7 << INA231_MODE_SHIFTS)
+
+#define INA231_VSHCT_SHIFTS                  (3)
+#define INA231_VSHCT_MASK                    (7 << INA231_VSHCT_SHIFTS)
+#define INA231_VSHCT_140US                   (0 << INA231_VSHCT_SHIFTS)
+#define INA231_VSHCT_204US                   (1 << INA231_VSHCT_SHIFTS)
+#define INA231_VSHCT_332US                   (2 << INA231_VSHCT_SHIFTS)
+#define INA231_VSHCT_588US                   (3 << INA231_VSHCT_SHIFTS)
+#define INA231_VSHCT_1100US                  (4 << INA231_VSHCT_SHIFTS)
+#define INA231_VSHCT_2116US                  (5 << INA231_VSHCT_SHIFTS)
+#define INA231_VSHCT_4156US                  (6 << INA231_VSHCT_SHIFTS)
+#define INA231_VSHCT_8244US                  (7 << INA231_VSHCT_SHIFTS)
+
+#define INA231_VBUSCT_SHIFTS                 (6)
+#define INA231_VBUSCT_MASK                   (7 << INA231_VBUSCT_SHIFTS)
+#define INA231_VBUSCT_140US                  (0 << INA231_VBUSCT_SHIFTS)
+#define INA231_VBUSCT_204US                  (1 << INA231_VBUSCT_SHIFTS)
+#define INA231_VBUSCT_332US                  (2 << INA231_VBUSCT_SHIFTS)
+#define INA231_VBUSCT_588US                  (3 << INA231_VBUSCT_SHIFTS)
+#define INA231_VBUSCT_1100US                 (4 << INA231_VBUSCT_SHIFTS)
+#define INA231_VBUSCT_2116US                 (5 << INA231_VBUSCT_SHIFTS)
+#define INA231_VBUSCT_4156US                 (6 << INA231_VBUSCT_SHIFTS)
+#define INA231_VBUSCT_8244US                 (7 << INA231_VBUSCT_SHIFTS)
+
+#define INA231_AVERAGES_SHIFTS                (9)
+#define INA231_AVERAGES_MASK                  (7 << INA231_AVERAGES_SHIFTS)
+#define INA231_AVERAGES_1                     (0 << INA231_AVERAGES_SHIFTS)
+#define INA231_AVERAGES_4                     (1 << INA231_AVERAGES_SHIFTS)
+#define INA231_AVERAGES_16                    (2 << INA231_AVERAGES_SHIFTS)
+#define INA231_AVERAGES_64                    (3 << INA231_AVERAGES_SHIFTS)
+#define INA231_AVERAGES_128                   (4 << INA231_AVERAGES_SHIFTS)
+#define INA231_AVERAGES_256                   (5 << INA231_AVERAGES_SHIFTS)
+#define INA231_AVERAGES_512                   (6 << INA231_AVERAGES_SHIFTS)
+#define INA231_AVERAGES_1024                  (7 << INA231_AVERAGES_SHIFTS)
+
+#define INA231_CONFIG (INA231_MODE_SHUNT_BUS_CONT | INA231_VSHCT_588US | INA231_VBUSCT_588US | INA231_AVERAGES_64)
+
+#define INA231_RST                            (1 << 15)
+
+/* INA231 Enable / Mask Register */
+
+#define INA231_LEN                           (1 << 0)
+#define INA231_APOL                          (1 << 1)
+#define INA231_OVF                           (1 << 2)
+#define INA231_CVRF                          (1 << 3)
+#define INA231_AFF                           (1 << 4)
+
+#define INA231_CNVR                          (1 << 10)
+#define INA231_POL                           (1 << 11)
+#define INA231_BUL                           (1 << 12)
+#define INA231_BOL                           (1 << 13)
+#define INA231_SUL                           (1 << 14)
+#define INA231_SOL                           (1 << 15)
+
+#define INA231_SAMPLE_FREQUENCY_HZ            10
+#define INA231_SAMPLE_INTERVAL_US             (1_s / INA231_SAMPLE_FREQUENCY_HZ)
+#define INA231_CONVERSION_INTERVAL            (INA231_SAMPLE_INTERVAL_US - 7)
+#define MAX_CURRENT                           164.0f    /* 164 Amps */
+#define DN_MAX                                32768.0f  /* 2^15 */
+#define INA231_CONST                          0.00512f  /* is an internal fixed value used to ensure scaling is maintained properly  */
+#define INA231_SHUNT                          0.0005f   /* Shunt is 500 uOhm */
+#define INA231_VSCALE                         0.00125f  /* LSB of voltage is 1.25 mV  */
+
+#define swap16(w)                       __builtin_bswap16((w))
+
+class INA231 : public device::I2C, public ModuleParams, public I2CSPIDriver<INA231>
+{
+public:
+	INA231(const I2CSPIDriverConfig &config, int battery_index);
+	virtual ~INA231();
+
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
+	static void print_usage();
+
+	void	RunImpl();
+
+	int 		  init() override;
+
+	/**
+	 * Tries to call the init() function. If it fails, then it will schedule to retry again in
+	 * INA231_INIT_RETRY_INTERVAL_US microseconds. It will keep retrying at this interval until initialization succeeds.
+	 *
+	 * @return PX4_OK if initialization succeeded on the first try. Negative value otherwise.
+	 */
+	int force_init();
+
+	/**
+	* Diagnostics - print some basic information about the driver.
+	*/
+	void				      print_status() override;
+
+protected:
+	int	  		probe() override;
+
+private:
+	bool			        _sensor_ok{false};
+	unsigned                        _measure_interval{0};
+	bool			        _collect_phase{false};
+	bool 					_initialized{false};
+
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_comms_errors;
+	perf_counter_t 		_collection_errors;
+	perf_counter_t 		_measure_errors;
+
+	int16_t           _bus_voltage{0};
+	int16_t           _power{0};
+	int16_t           _current{0};
+	int16_t           _shunt{0};
+	int16_t           _cal{0};
+	bool              _mode_triggered{false};
+
+	float             _max_current{MAX_CURRENT};
+	float             _rshunt{INA231_SHUNT};
+	uint16_t          _config{INA231_CONFIG};
+	float             _current_lsb{_max_current / DN_MAX};
+	float             _power_lsb{25.0f * _current_lsb};
+
+	Battery 		  _battery;
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
+	int read(uint8_t address, int16_t &data);
+	int write(uint8_t address, uint16_t data);
+
+	/**
+	* Initialise the automatic measurement state machine and start it.
+	*
+	* @note This function is called at open and error time.  It might make sense
+	*       to make it more aggressive about resetting the bus in case of errors.
+	*/
+	void				      start();
+
+	int					     measure();
+	int					     collect();
+
+};
@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+
+#include "ina231.h"
+
+I2CSPIDriverBase *INA231::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
+{
+	INA231 *instance = new INA231(config, config.custom1);
+
+	if (instance == nullptr) {
+		PX4_ERR("alloc failed");
+		return nullptr;
+	}
+
+	if (config.keep_running) {
+		if (instance->force_init() != PX4_OK) {
+			PX4_INFO("Failed to init INA231 on bus %d, but will try again periodically.", config.bus);
+		}
+
+	} else if (instance->init() != PX4_OK) {
+		delete instance;
+		return nullptr;
+	}
+
+	return instance;
+}
+
+void
+INA231::print_usage()
+{
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Driver for the INA231 power monitor.
+
+Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
+
+For example, one instance can run on Bus 2, address 0x44, and one can run on Bus 2, address 0x45.
+
+If the INA231 module is not powered, then by default, initialization of the driver will fail. To change this, use
+the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again
+every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without
+this flag set, the battery must be plugged in before starting the driver.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("ina231", "driver");
+
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x40);
+	PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG();
+	PRINT_MODULE_USAGE_PARAM_INT('t', 1, 1, 2, "battery index for calibration values (1 or 2)", true);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+extern "C" int
+ina231_main(int argc, char *argv[])
+{
+	int ch;
+	using ThisDriver = INA231;
+	BusCLIArguments cli{true, false};
+	cli.i2c_address = INA231_BASEADDR;
+	cli.default_i2c_frequency = 100000;
+	cli.support_keep_running = true;
+	cli.custom1 = 1;
+
+	while ((ch = cli.getOpt(argc, argv, "t:")) != EOF) {
+		switch (ch) {
+		case 't': // battery index
+			cli.custom1 = (int)strtol(cli.optArg(), NULL, 0);
+			break;
+		}
+	}
+
+	const char *verb = cli.optArg();
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_POWER_DEVTYPE_INA231);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2019, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -32,31 +32,45 @@
 ****************************************************************************/

 /**
- * @file bootloader_main.c
+ * Enable INA231 Power Monitor
 *
- * FMU-specific early startup code for bootloader
+ * For systems a INA231 Power Monitor, this should be set to true
+ *
+ * @group Sensors
+ * @boolean
+ * @reboot_required true
 */
+PARAM_DEFINE_INT32(SENS_EN_INA231, 0);

-#include "board_config.h"
-#include "bl.h"
+/**
+ * INA231 Power Monitor Config
+ *
+ * @group Sensors
+ * @min 0
+ * @max 65535
+ * @decimal 1
+ * @increment 1
+*/
+PARAM_DEFINE_INT32(INA231_CONFIG, 18139);

-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <chip.h>
-#include <stm32_uart.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-#include <px4_platform_common/init.h>
+/**
+ * INA231 Power Monitor Max Current
+ *
+ * @group Sensors
+ * @min 0.1
+ * @max 200.0
+ * @decimal 2
+ * @increment 0.1
+ */
+PARAM_DEFINE_FLOAT(INA231_CURRENT, 164.0f);

-extern int sercon_main(int c, char **argv);
-
-void board_late_initialize(void)
-{
-	sercon_main(0, NULL);
-}
-
-extern void sys_tick_handler(void);
-void board_timerhook(void)
-{
-	sys_tick_handler();
-}
+/**
+ * INA231 Power Monitor Shunt
+ *
+ * @group Sensors
+ * @min 0.000000001
+ * @max 0.1
+ * @decimal 10
+ * @increment .000000001
+ */
+PARAM_DEFINE_FLOAT(INA231_SHUNT, 0.0005f);
@@ -717,6 +717,8 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)

 	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
+	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
+	case PWM_SERVO_SET_FORCE_SAFETY_ON:
 		break;

 	case PWM_SERVO_DISARM:
@@ -74,7 +74,6 @@
 #include <uORB/topics/input_rc.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
-#include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/px4io_status.h>
 #include <uORB/topics/parameter_update.h>

@@ -197,8 +196,7 @@ private:
 	uint16_t		_last_written_arming_c{0};	///< the last written arming state reg

 	uORB::Subscription	_t_actuator_armed{ORB_ID(actuator_armed)};		///< system armed control topic
-	uORB::Subscription	_t_vehicle_command{ORB_ID(vehicle_command)};	///< vehicle command topic
-	uORB::Subscription	_t_vehicle_status{ORB_ID(vehicle_status)};		///< vehicle status topic
+	uORB::Subscription	_t_vehicle_command{ORB_ID(vehicle_command)};		///< vehicle command topic

 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};

@@ -445,14 +443,15 @@ int PX4IO::init()
 		// the startup script to be able to load a new IO
 		// firmware

+		// If IO has already safety off it won't accept going into bootloader mode,
+		// therefore we need to set safety on first.
+		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
+
 		// Now the reboot into bootloader mode should succeed.
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, PX4IO_REBOOT_BL_MAGIC);
 		return -1;
 	}

-	/* Set safety_off to false when FMU boot*/
-	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SAFETY_OFF, 0);
-
 	if (_max_rc_input > input_rc_s::RC_INPUT_MAX_CHANNELS) {
 		_max_rc_input = input_rc_s::RC_INPUT_MAX_CHANNELS;
 	}
@@ -477,6 +476,14 @@ int PX4IO::init()
 		return ret;
 	}

+	/* set safety to off if circuit breaker enabled */
+	if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) {
+		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
+
+	} else {
+		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
+	}
+
 	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
 	if (_param_sys_hitl.get() <= 0 && _param_sys_use_io.get() == 1) {
 		_class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH);
@@ -614,6 +621,11 @@ void PX4IO::Run()

 			update_params();

+			/* Check if the IO safety circuit breaker has been updated */
+			bool circuit_breaker_io_safety_enabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
+			/* Bypass IO safety switch logic by setting FORCE_SAFETY_OFF */
+			io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, circuit_breaker_io_safety_enabled);
+
 			/* Check if the flight termination circuit breaker has been updated */
 			bool disable_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY);
 			/* Tell IO that it can terminate the flight if FMU is not responding or if a failure has been reported by the FailureDetector logic */
@@ -962,12 +974,15 @@ int PX4IO::io_handle_status(uint16_t status)
 	 */

 	/* check for IO reset - force it back to armed if necessary */
-	if (!(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
+	if (_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF && !(status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
+	    && !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
 		/* set the arming flag */
-		ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARM_SYNC);
+		ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0,
+				    PX4IO_P_STATUS_FLAGS_SAFETY_OFF | PX4IO_P_STATUS_FLAGS_ARM_SYNC);

 		/* set new status */
 		_status = status;
+		_status &= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;

 	} else if (!(_status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {

@@ -984,26 +999,18 @@ int PX4IO::io_handle_status(uint16_t status)
 	}

 	/**
-	 * Get and handle the safety button status
+	 * Get and handle the safety status
 	 */
-	const bool safety_button_pressed = status & PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT;
+	const bool safety_off = status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF;

-	if (safety_button_pressed) {
-		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SAFETY_BUTTON_ACK, 0);
+	/* px4io board will change safety_off from false to true and stay like that until the vehicle is rebooted
+	 * where safety will change back to false. Here we are triggering the safety button event once.
+	 * TODO: change px4io firmware to act on the event. This will enable the "force safety on disarming" feature. */
+	if (_previous_safety_off != safety_off) {
 		_button_publisher.safetyButtonTriggerEvent();
 	}

-	/**
-	 * Inform PX4IO board about safety_off state for LED control
-	 */
-	vehicle_status_s vehicle_status;
-
-	if (_t_vehicle_status.update(&vehicle_status)) {
-		if (_previous_safety_off != vehicle_status.safety_off) {
-			io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SAFETY_OFF, vehicle_status.safety_off);
-			_previous_safety_off = vehicle_status.safety_off;
-		}
-	}
+	_previous_safety_off = safety_off;

 	return ret;
 }
@@ -1026,17 +1033,37 @@ int PX4IO::dsm_bind_ioctl(int dsmMode)
 		return -EINVAL;
 	}

+	// Check if safety was off
+	bool safety_off = (_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
+	int ret = -1;
+
+	// Put safety on
+	if (safety_off) {
+		// re-enable safety
+		ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, PX4IO_P_STATUS_FLAGS_SAFETY_OFF, 0);
+
+		// set new status
+		_status &= ~(PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
+	}
+
 	PX4_INFO("Binding DSM%s RX", (dsmMode == DSM2_BIND_PULSES) ? "2" : ((dsmMode == DSMX_BIND_PULSES) ? "-X" : "-X8"));

-	int ret = OK;
-	ret |= io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
+	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
 	px4_usleep(500000);
-	ret |= io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
-	ret |= io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
+	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
+	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
 	px4_usleep(72000);
-	ret |= io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (dsmMode << 4));
+	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (dsmMode << 4));
 	px4_usleep(50000);
-	ret |= io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
+	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
+	ret = OK;
+
+	// Put safety back off
+	if (safety_off) {
+		ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0,
+				    PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
+		_status |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
+	}

 	if (ret != OK) {
 		PX4_INFO("Binding DSM failed");
@@ -1106,7 +1133,7 @@ int PX4IO::io_get_status()
 		status.status_arm_sync        = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_ARM_SYNC;
 		status.status_init_ok         = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_INIT_OK;
 		status.status_failsafe        = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_FAILSAFE;
-		status.status_safety_button_event = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT;
+		status.status_safety_off      = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_SAFETY_OFF;

 		// PX4IO_P_STATUS_ALARMS
 		status.alarm_rc_lost       = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_RC_LOST;
@@ -1617,6 +1644,18 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		*(unsigned *)arg = _max_actuators;
 		break;

+	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
+		PX4_DEBUG("PWM_SERVO_SET_FORCE_SAFETY_OFF");
+		/* force safety swith off */
+		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
+		break;
+
+	case PWM_SERVO_SET_FORCE_SAFETY_ON:
+		PX4_DEBUG("PWM_SERVO_SET_FORCE_SAFETY_ON");
+		/* force safety switch on */
+		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
+		break;
+
 	case DSM_BIND_START:
 		/* bind a DSM receiver */
 		ret = dsm_bind_ioctl(arg);
@@ -1686,6 +1725,16 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)

 		}

+		// re-enable safety
+		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
+
+		if (ret != PX4_OK) {
+			PX4_WARN("IO refused to re-enable safety");
+		}
+
+		// set new status
+		_status &= ~(PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
+
 		/* reboot into bootloader - arg must be PX4IO_REBOOT_BL_MAGIC */
 		usleep(1);
 		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, arg);
@@ -2009,6 +2058,29 @@ int PX4IO::custom_command(int argc, char *argv[])
 		return 1;
 	}

+
+	if (!strcmp(verb, "safety_off")) {
+		int ret = get_instance()->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
+
+		if (ret != OK) {
+			PX4_ERR("failed to disable safety (%i)", ret);
+			return 1;
+		}
+
+		return 0;
+	}
+
+	if (!strcmp(verb, "safety_on")) {
+		int ret = get_instance()->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_ON, 0);
+
+		if (ret != OK) {
+			PX4_ERR("failed to enable safety (%i)", ret);
+			return 1;
+		}
+
+		return 0;
+	}
+
 	if (!strcmp(verb, "debug")) {
 		if (argc <= 1) {
 			PX4_ERR("usage: px4io debug LEVEL");
@@ -2090,6 +2162,8 @@ Output driver communicating with the IO co-processor.
 	PRINT_MODULE_USAGE_ARG("<filename>", "Firmware file", false);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("update", "Update IO firmware");
 	PRINT_MODULE_USAGE_ARG("<filename>", "Firmware file", true);
+	PRINT_MODULE_USAGE_COMMAND_DESCR("safety_off", "Turn off safety (force)");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("safety_on", "Turn on safety (force)");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("debug", "set IO debug level");
 	PRINT_MODULE_USAGE_ARG("<debug_level>", "0=disabled, 9=max verbosity", false);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("bind", "DSM bind");
@@ -951,6 +951,8 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
 	switch (cmd) {
 	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
+	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
+		// these are no-ops, as no safety switch
 		break;

 	case MIXERIOCRESET:
@@ -146,34 +146,38 @@
                            "description": "mission start"
                        },
                        "6": {
+                            "name": "safety_button",
+                            "description": "safety button"
+                        },
+                        "7": {
                            "name": "auto_disarm_land",
                            "description": "landing"
                        },
-                        "7": {
+                        "8": {
                            "name": "auto_disarm_preflight",
                            "description": "auto preflight disarming"
                        },
-                        "8": {
+                        "9": {
                            "name": "kill_switch",
                            "description": "kill switch"
                        },
-                        "9": {
+                        "10": {
                            "name": "lockdown",
                            "description": "lockdown"
                        },
-                        "10": {
+                        "11": {
                            "name": "failure_detector",
                            "description": "failure detector"
                        },
-                        "11": {
+                        "12": {
                            "name": "shutdown",
                            "description": "shutdown request"
                        },
-                        "12": {
+                        "13": {
                            "name": "unit_test",
                            "description": "unit tests"
                        },
-                        "13": {
+                        "14": {
                            "name": "rc_button",
                            "description": "RC (button)"
                        }
@@ -47,80 +47,80 @@ static constexpr int LON_DIM = 37;
 // Magnetic declination data in radians * 10^-4
 // Model: WMM-2020,
 // Version: 0.5.1.11,
-// Date: 2022.3835,
+// Date: 2022.2767,
 static constexpr const int16_t declination_table[19][37] {
 	//    LONGITUDE:   -180,  -170,  -160,  -150,  -140,  -130,  -120,  -110,  -100,   -90,   -80,   -70,   -60,   -50,   -40,   -30,   -20,   -10,     0,    10,    20,    30,    40,    50,    60,    70,    80,    90,   100,   110,   120,   130,   140,   150,   160,   170,   180,
-	/* LAT: -90 */ {  25991, 24246, 22500, 20755, 19010, 17264, 15519, 13774, 12028, 10283,  8538,  6792,  5047,  3302,  1557,  -189, -1934, -3679, -5425, -7170, -8915,-10660,-12406,-14151,-15896,-17642,-19387,-21133,-22878,-24623,-26369,-28114,-29859, 31227, 29482, 27736, 25991, },
-	/* LAT: -80 */ {  22558, 20425, 18485, 16710, 15069, 13531, 12067, 10655,  9280,  7930,  6598,  5279,  3970,  2665,  1357,    38, -1303, -2674, -4084, -5535, -7029, -8565,-10142,-11761,-13425,-15142,-16927,-18799,-20781,-22899,-25173,-27607,-30176, 30016, 27397, 24889, 22558, },
-	/* LAT: -70 */ {  14975, 13577, 12452, 11491, 10623,  9792,  8951,  8064,  7112,  6093,  5023,  3929,  2844,  1788,   766,  -244, -1281, -2385, -3585, -4884, -6264, -7693, -9140,-10581,-12007,-13423,-14851,-16336,-17958,-19870,-22386,-26179, 30734, 24153, 19624, 16847, 14975, },
-	/* LAT: -60 */ {   8410,  8167,  7888,  7615,  7364,  7112,  6805,  6373,  5759,  4941,  3940,  2829,  1708,   679,  -203,  -962, -1691, -2513, -3514, -4710, -6038, -7407, -8728, -9938,-11003,-11903,-12619,-13114,-13286,-12837,-10739, -3521,  4880,  7637,  8413,  8542,  8410, },
-	/* LAT: -50 */ {   5477,  5514,  5460,  5372,  5300,  5264,  5231,  5105,  4763,  4101,  3092,  1820,   479,  -703, -1576, -2143, -2541, -2980, -3662, -4672, -5914, -7190, -8331, -9234, -9834,-10075, -9883, -9128, -7621, -5261, -2357,   390,  2499,  3923,  4798,  5272,  5477, },
-	/* LAT: -40 */ {   3948,  4042,  4051,  4008,  3949,  3916,  3922,  3912,  3740,  3208,  2187,   747,  -818, -2134, -3001, -3455, -3641, -3701, -3868, -4433, -5406, -6482, -7368, -7909, -8019, -7644, -6757, -5374, -3662, -1959,  -499,   723,  1766,  2631,  3287,  3717,  3948, },
-	/* LAT: -30 */ {   2978,  3065,  3097,  3084,  3027,  2949,  2890,  2857,  2732,  2256,  1223,  -294, -1902, -3158, -3901, -4249, -4331, -4124, -3690, -3465, -3823, -4569, -5269, -5621, -5499, -4914, -3956, -2750, -1540,  -595,    83,   683,  1307,  1909,  2418,  2779,  2978, },
-	/* LAT: -20 */ {   2336,  2382,  2401,  2405,  2364,  2271,  2165,  2089,  1945,  1451,   398, -1089, -2568, -3633, -4169, -4288, -4088, -3533, -2673, -1873, -1592, -1944, -2594, -3064, -3103, -2746, -2111, -1295,  -518,   -28,   235,   536,   977,  1454,  1876,  2183,  2336, },
-	/* LAT: -10 */ {   1942,  1937,  1917,  1916,  1889,  1806,  1698,  1608,  1424,   875,  -184, -1560, -2835, -3668, -3939, -3715, -3142, -2362, -1516,  -760,  -293,  -323,  -791, -1298, -1512, -1424, -1111,  -612,  -114,   128,   177,   337,   707,  1144,  1536,  1823,  1942, },
-	/* LAT:   0 */ {   1729,  1696,  1642,  1635,  1625,  1558,  1455,  1342,  1089,   470,  -569, -1795, -2851, -3441, -3445, -2948, -2182, -1400,  -747,  -210,   204,   318,    41,  -376,  -632,  -688,  -590,  -328,   -38,    52,    -9,    80,   420,   862,  1281,  1600,  1729, },
-	/* LAT:  10 */ {   1594,  1602,  1561,  1579,  1606,  1559,  1439,  1254,   879,   162,  -858, -1934, -2763, -3107, -2907, -2303, -1528,  -815,  -298,    83,   409,   559,   399,    77,  -158,  -266,  -290,  -209,  -104,  -145,  -285,  -258,    43,   497,   977,  1384,  1594, },
-	/* LAT:  20 */ {   1411,  1560,  1621,  1715,  1802,  1783,  1630,  1330,   786,   -69, -1112, -2064, -2664, -2777, -2453, -1853, -1143,  -492,   -31,   280,   539,   686,   597,   354,   154,    35,   -56,  -120,  -200,  -390,  -626,  -685,  -452,    -5,   536,  1054,  1411, },
-	/* LAT:  30 */ {   1111,  1478,  1738,  1963,  2124,  2135,  1949,  1528,   802,  -226, -1344, -2224, -2642, -2583, -2187, -1609,  -954,  -335,   129,   436,   668,   815,   796,   647,   498,   373,   216,     5,  -277,  -651, -1020, -1180, -1021,  -596,   -20,   590,  1111, },
-	/* LAT:  40 */ {    755,  1341,  1836,  2229,  2478,  2523,  2308,  1777,   866,  -361, -1601, -2470, -2795, -2645, -2201, -1609,  -956,  -326,   186,   552,   823,  1022,  1117,  1107,  1031,   883,   614,   204,  -334,  -941, -1462, -1707, -1592, -1176,  -577,    95,   755, },
-	/* LAT:  50 */ {    466,  1213,  1895,  2452,  2819,  2926,  2698,  2045,   904,  -593, -2018, -2937, -3234, -3044, -2555, -1910, -1199,  -500,   117,   624,  1043,  1400,  1681,  1852,  1872,  1685,  1241,   533,  -360, -1263, -1943, -2231, -2107, -1666, -1031,  -298,   466, },
-	/* LAT:  60 */ {    273,  1126,  1932,  2627,  3132,  3345,  3132,  2321,   806, -1155, -2876, -3859, -4114, -3854, -3282, -2536, -1709,  -867,   -58,   695,  1388,  2020,  2564,  2961,  3122,  2937,  2299,  1184,  -230, -1551, -2421, -2732, -2567, -2073, -1379,  -578,   273, },
-	/* LAT:  70 */ {     42,   978,  1876,  2676,  3291,  3585,  3333,  2199,   -41, -2759, -4714, -5542, -5551, -5066, -4295, -3360, -2334, -1266,  -190,   871,  1897,  2865,  3734,  4442,  4891,  4926,  4319,  2850,   658, -1451, -2752, -3197, -3039, -2507, -1756,  -886,    42, },
-	/* LAT:  80 */ {   -650,   272,  1126,  1818,  2203,  2020,   821, -1791, -5004, -7127, -7878, -7749, -7120, -6201, -5109, -3909, -2642, -1335,    -9,  1320,  2635,  3918,  5146,  6285,  7283,  8044,  8389,  7950,  6035,  2276, -1323, -3048, -3419, -3095, -2421, -1572,  -650, },
-	/* LAT:  90 */ { -29901,-28155,-26410,-24665,-22919,-21174,-19428,-17683,-15938,-14193,-12447,-10702, -8957, -7212, -5467, -3722, -1976,  -231,  1514,  3259,  5004,  6750,  8495, 10240, 11986, 13731, 15476, 17222, 18967, 20713, 22458, 24204, 25949, 27695, 29440, 31186,-29901, },
+	/* LAT: -90 */ {  25994, 24248, 22503, 20758, 19012, 17267, 15522, 13776, 12031, 10286,  8540,  6795,  5050,  3304,  1559,  -186, -1931, -3677, -5422, -7167, -8912,-10658,-12403,-14148,-15894,-17639,-19384,-21130,-22875,-24621,-26366,-28111,-29857, 31230, 29484, 27739, 25994, },
+	/* LAT: -80 */ {  22561, 20428, 18487, 16712, 15071, 13532, 12068, 10657,  9281,  7931,  6599,  5280,  3971,  2666,  1359,    40, -1301, -2672, -4082, -5533, -7026, -8562,-10139,-11758,-13421,-15139,-16924,-18795,-20777,-22895,-25169,-27603,-30172, 30020, 27400, 24893, 22561, },
+	/* LAT: -70 */ {  14974, 13576, 12451, 11491, 10623,  9793,  8952,  8065,  7113,  6094,  5024,  3931,  2845,  1789,   767,  -244, -1280, -2384, -3584, -4882, -6261, -7690, -9137,-10578,-12004,-13419,-14847,-16332,-17953,-19864,-22379,-26169, 30744, 24158, 19625, 16846, 14974, },
+	/* LAT: -60 */ {   8407,  8164,  7886,  7614,  7363,  7111,  6805,  6374,  5760,  4942,  3942,  2830,  1709,   680,  -204,  -963, -1692, -2513, -3514, -4708, -6036, -7404, -8724, -9935,-11000,-11899,-12616,-13111,-13283,-12834,-10737, -3530,  4869,  7630,  8408,  8538,  8407, },
+	/* LAT: -50 */ {   5474,  5512,  5458,  5371,  5299,  5264,  5230,  5105,  4763,  4102,  3094,  1822,   481,  -702, -1577, -2145, -2543, -2982, -3663, -4671, -5911, -7186, -8327, -9231, -9831,-10074, -9883, -9128, -7622, -5263, -2360,   387,  2496,  3921,  4795,  5270,  5474, },
+	/* LAT: -40 */ {   3947,  4040,  4049,  4007,  3949,  3916,  3922,  3913,  3741,  3209,  2189,   749,  -815, -2133, -3001, -3457, -3643, -3705, -3871, -4433, -5403, -6478, -7364, -7906, -8017, -7644, -6759, -5376, -3664, -1960,  -499,   722,  1765,  2630,  3285,  3715,  3947, },
+	/* LAT: -30 */ {   2977,  3063,  3095,  3083,  3027,  2950,  2891,  2858,  2733,  2258,  1226,  -290, -1898, -3156, -3900, -4250, -4333, -4128, -3695, -3466, -3821, -4566, -5266, -5620, -5499, -4916, -3959, -2752, -1542,  -595,    83,   683,  1307,  1908,  2417,  2778,  2977, },
+	/* LAT: -20 */ {   2334,  2381,  2400,  2405,  2365,  2272,  2166,  2090,  1946,  1453,   401, -1085, -2564, -3630, -4169, -4290, -4091, -3538, -2678, -1876, -1593, -1942, -2591, -3063, -3103, -2747, -2113, -1296,  -518,   -28,   235,   537,   977,  1454,  1875,  2182,  2334, },
+	/* LAT: -10 */ {   1941,  1935,  1916,  1915,  1890,  1807,  1699,  1609,  1425,   877,  -181, -1556, -2832, -3666, -3940, -3717, -3146, -2367, -1521,  -764,  -295,  -323,  -790, -1297, -1512, -1424, -1112,  -612,  -114,   128,   178,   338,   708,  1144,  1536,  1822,  1941, },
+	/* LAT:   0 */ {   1728,  1695,  1641,  1635,  1626,  1559,  1456,  1344,  1091,   472,  -565, -1792, -2849, -3441, -3446, -2952, -2186, -1404,  -750,  -212,   202,   317,    41,  -375,  -632,  -689,  -591,  -328,   -37,    53,    -7,    82,   422,   862,  1281,  1599,  1728, },
+	/* LAT:  10 */ {   1593,  1601,  1561,  1579,  1607,  1559,  1440,  1256,   881,   165,  -855, -1932, -2762, -3107, -2909, -2307, -1531,  -818,  -301,    81,   407,   558,   399,    77,  -159,  -267,  -290,  -209,  -104,  -144,  -283,  -256,    45,   497,   977,  1383,  1593, },
+	/* LAT:  20 */ {   1410,  1559,  1621,  1715,  1803,  1784,  1632,  1332,   788,   -67, -1110, -2063, -2664, -2779, -2455, -1856, -1146,  -495,   -33,   278,   538,   685,   596,   353,   153,    35,   -56,  -120,  -199,  -388,  -625,  -683,  -450,    -4,   536,  1054,  1410, },
+	/* LAT:  30 */ {   1111,  1478,  1739,  1964,  2125,  2136,  1951,  1530,   804,  -224, -1343, -2223, -2643, -2586, -2190, -1612,  -957,  -338,   126,   434,   666,   814,   795,   647,   497,   372,   216,     6,  -276,  -650, -1018, -1179, -1020,  -595,   -19,   590,  1111, },
+	/* LAT:  40 */ {    756,  1343,  1837,  2230,  2480,  2524,  2310,  1778,   868,  -359, -1600, -2472, -2797, -2648, -2204, -1613,  -959,  -329,   183,   549,   821,  1021,  1116,  1106,  1030,   882,   614,   205,  -332,  -939, -1461, -1706, -1591, -1175,  -576,    97,   756, },
+	/* LAT:  50 */ {    469,  1216,  1897,  2454,  2821,  2928,  2700,  2046,   905,  -593, -2020, -2939, -3238, -3048, -2559, -1914, -1203,  -504,   113,   621,  1041,  1397,  1679,  1851,  1871,  1685,  1241,   535,  -357, -1260, -1941, -2229, -2106, -1665, -1029,  -296,   469, },
+	/* LAT:  60 */ {    277,  1130,  1936,  2631,  3136,  3348,  3134,  2322,   806, -1158, -2881, -3865, -4120, -3860, -3287, -2541, -1714,  -872,   -62,   690,  1384,  2016,  2561,  2958,  3120,  2936,  2300,  1187,  -226, -1547, -2419, -2730, -2566, -2071, -1377,  -574,   277, },
+	/* LAT:  70 */ {     50,   987,  1885,  2684,  3298,  3592,  3338,  2200,   -46, -2770, -4727, -5553, -5561, -5076, -4304, -3367, -2341, -1273,  -196,   865,  1892,  2860,  3729,  4438,  4888,  4924,  4320,  2853,   664, -1445, -2747, -3193, -3034, -2502, -1751,  -879,    50, },
+	/* LAT:  80 */ {   -631,   292,  1145,  1838,  2223,  2036,   828, -1805, -5037, -7161, -7906, -7771, -7138, -6217, -5123, -3921, -2653, -1345,   -18,  1311,  2626,  3909,  5137,  6277,  7274,  8035,  8381,  7944,  6036,  2293, -1297, -3024, -3398, -3075, -2402, -1554,  -631, },
+	/* LAT:  90 */ { -29941,-28196,-26450,-24705,-22959,-21214,-19469,-17723,-15978,-14233,-12488,-10742, -8997, -7252, -5507, -3762, -2017,  -271,  1474,  3219,  4964,  6709,  8455, 10200, 11945, 13691, 15436, 17181, 18927, 20672, 22418, 24163, 25909, 27654, 29400, 31145,-29941, },
 };

 // Magnetic inclination data in radians * 10^-4
 // Model: WMM-2020,
 // Version: 0.5.1.11,
-// Date: 2022.3835,
+// Date: 2022.2767,
 static constexpr const int16_t inclination_table[19][37] {
 	//    LONGITUDE:   -180,  -170,  -160,  -150,  -140,  -130,  -120,  -110,  -100,   -90,   -80,   -70,   -60,   -50,   -40,   -30,   -20,   -10,     0,    10,    20,    30,    40,    50,    60,    70,    80,    90,   100,   110,   120,   130,   140,   150,   160,   170,   180,
-	/* LAT: -90 */ { -12573,-12573,-12573,-12573,-12573,-12573,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12572,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573, },
-	/* LAT: -80 */ { -13658,-13524,-13363,-13183,-12989,-12787,-12583,-12383,-12192,-12016,-11859,-11724,-11614,-11528,-11464,-11423,-11403,-11406,-11433,-11487,-11571,-11685,-11830,-12003,-12201,-12418,-12647,-12880,-13108,-13321,-13507,-13658,-13762,-13813,-13810,-13756,-13658, },
-	/* LAT: -70 */ { -14106,-13788,-13468,-13145,-12813,-12469,-12114,-11757,-11413,-11104,-10851,-10667,-10555,-10502,-10488,-10492,-10499,-10509,-10532,-10589,-10697,-10871,-11117,-11431,-11803,-12221,-12668,-13133,-13599,-14051,-14469,-14814,-15004,-14951,-14720,-14422,-14106, },
-	/* LAT: -60 */ { -13519,-13166,-12828,-12495,-12151,-11779,-11364,-10909,-10441,-10010, -9680, -9503, -9499, -9636, -9840,-10033,-10159,-10204,-10192,-10177,-10224,-10382,-10670,-11078,-11576,-12131,-12718,-13314,-13902,-14464,-14960,-15250,-15075,-14691,-14285,-13892,-13519, },
-	/* LAT: -50 */ { -12496,-12154,-11824,-11502,-11178,-10832,-10432, -9961, -9431, -8909, -8518, -8391, -8590, -9050, -9614,-10127,-10488,-10652,-10624,-10473,-10331,-10335,-10554,-10969,-11510,-12102,-12689,-13228,-13675,-13973,-14081,-14008,-13805,-13521,-13193,-12846,-12496, },
-	/* LAT: -40 */ { -11240,-10892,-10545,-10200, -9860, -9522, -9161, -8736, -8214, -7649, -7221, -7177, -7635, -8457, -9379,-10209,-10869,-11306,-11448,-11283,-10941,-10668,-10659,-10939,-11400,-11905,-12351,-12674,-12833,-12838,-12748,-12611,-12432,-12200,-11913,-11586,-11240, },
-	/* LAT: -30 */ {  -9602, -9224, -8845, -8455, -8063, -7687, -7330, -6939, -6426, -5814, -5361, -5441, -6207, -7408, -8659, -9755,-10670,-11382,-11783,-11777,-11407,-10899,-10564,-10563,-10813,-11135,-11392,-11506,-11443,-11268,-11093,-10959,-10812,-10605,-10324, -9979, -9602, },
-	/* LAT: -20 */ {  -7371, -6932, -6516, -6088, -5644, -5214, -4822, -4409, -3842, -3156, -2707, -2964, -4071, -5682, -7311, -8681, -9748,-10526,-10966,-11003,-10641,-10028, -9470, -9225, -9272, -9435, -9576, -9594, -9422, -9150, -8956, -8869, -8765, -8557, -8240, -7829, -7371, },
-	/* LAT: -10 */ {  -4415, -3881, -3429, -2993, -2535, -2085, -1670, -1215,  -587,   117,   481,    56, -1270, -3186, -5161, -6772, -7870, -8505, -8771, -8710, -8302, -7619, -6955, -6609, -6569, -6662, -6779, -6804, -6616, -6320, -6165, -6174, -6134, -5917, -5534, -5007, -4415, },
-	/* LAT:   0 */ {   -906,  -285,   178,   580,   998,  1415,  1805,  2250,  2836,  3414,  3618,  3124,  1831,   -78, -2122, -3773, -4784, -5214, -5274, -5104, -4664, -3949, -3244, -2873, -2812, -2882, -3007, -3080, -2951, -2715, -2661, -2804, -2866, -2680, -2255, -1626,  -906, },
-	/* LAT:  10 */ {   2562,  3185,  3618,  3958,  4313,  4680,  5032,  5420,  5873,  6245,  6282,  5795,  4714,  3150,  1460,    84,  -723,  -971,  -881,  -645,  -234,   403,  1036,  1373,  1436,  1391,  1291,  1199,  1242,  1346,  1270,  1004,   812,   885,  1237,  1838,  2562, },
-	/* LAT:  20 */ {   5416,  5943,  6321,  6616,  6929,  7272,  7616,  7964,  8299,  8500,  8413,  7952,  7117,  6022,  4897,  3988,  3458,  3339,  3488,  3731,  4061,  4526,  4986,  5241,  5298,  5280,  5231,  5174,  5163,  5145,  4971,  4639,  4342,  4253,  4425,  4847,  5416, },
-	/* LAT:  30 */ {   7569,  7941,  8258,  8540,  8849,  9196,  9554,  9896, 10173, 10288, 10144,  9723,  9095,  8384,  7724,  7212,  6920,  6878,  7020,  7230,  7477,  7776,  8064,  8238,  8295,  8307,  8309,  8300,  8278,  8196,  7974,  7622,  7267,  7047,  7031,  7225,  7569, },
-	/* LAT:  40 */ {   9266,  9486,  9742, 10027, 10354, 10715, 11083, 11423, 11676, 11758, 11609, 11250, 10777, 10304,  9908,  9624,  9475,  9470,  9580,  9741,  9916, 10100, 10272, 10397, 10475, 10535, 10590, 10623, 10607, 10497, 10255,  9906,  9539,  9254,  9111,  9123,  9266, },
-	/* LAT:  50 */ {  10802, 10923, 11124, 11394, 11717, 12072, 12426, 12743, 12966, 13025, 12886, 12589, 12224, 11879, 11603, 11417, 11323, 11320, 11385, 11488, 11602, 11717, 11834, 11949, 12067, 12189, 12303, 12375, 12366, 12242, 11996, 11669, 11330, 11045, 10855, 10775, 10802, },
-	/* LAT:  60 */ {  12319, 12392, 12543, 12761, 13031, 13332, 13635, 13901, 14077, 14105, 13969, 13720, 13431, 13160, 12939, 12782, 12691, 12660, 12675, 12723, 12790, 12875, 12981, 13113, 13272, 13447, 13612, 13721, 13728, 13608, 13384, 13105, 12826, 12589, 12419, 12328, 12319, },
-	/* LAT:  70 */ {  13758, 13801, 13896, 14039, 14218, 14422, 14631, 14812, 14917, 14897, 14760, 14558, 14340, 14136, 13962, 13827, 13733, 13678, 13659, 13672, 13714, 13785, 13888, 14024, 14191, 14378, 14562, 14703, 14750, 14678, 14517, 14319, 14124, 13959, 13839, 13771, 13758, },
-	/* LAT:  80 */ {  14998, 15011, 15048, 15108, 15185, 15270, 15349, 15394, 15376, 15297, 15184, 15060, 14937, 14823, 14723, 14641, 14579, 14538, 14520, 14523, 14550, 14599, 14670, 14763, 14874, 15001, 15136, 15268, 15375, 15420, 15382, 15295, 15200, 15116, 15052, 15012, 14998, },
+	/* LAT: -90 */ { -12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573,-12573, },
+	/* LAT: -80 */ { -13658,-13525,-13364,-13184,-12990,-12788,-12584,-12384,-12192,-12016,-11859,-11725,-11615,-11528,-11465,-11423,-11404,-11406,-11433,-11488,-11571,-11685,-11830,-12003,-12201,-12418,-12648,-12881,-13108,-13321,-13508,-13658,-13762,-13814,-13811,-13757,-13658, },
+	/* LAT: -70 */ { -14107,-13789,-13469,-13146,-12814,-12470,-12115,-11757,-11414,-11105,-10852,-10668,-10555,-10502,-10489,-10492,-10500,-10510,-10533,-10589,-10697,-10871,-11117,-11431,-11803,-12221,-12668,-13132,-13598,-14051,-14469,-14815,-15004,-14951,-14721,-14423,-14107, },
+	/* LAT: -60 */ { -13519,-13166,-12828,-12496,-12152,-11780,-11365,-10910,-10442,-10011, -9680, -9503, -9499, -9635, -9839,-10033,-10159,-10204,-10193,-10178,-10225,-10383,-10671,-11078,-11576,-12131,-12717,-13313,-13902,-14463,-14960,-15250,-15075,-14691,-14285,-13892,-13519, },
+	/* LAT: -50 */ { -12496,-12155,-11824,-11502,-11179,-10832,-10433, -9961, -9431, -8909, -8518, -8390, -8588, -9048, -9612,-10125,-10487,-10652,-10625,-10475,-10332,-10336,-10555,-10969,-11509,-12101,-12688,-13227,-13674,-13972,-14081,-14008,-13805,-13521,-13193,-12846,-12496, },
+	/* LAT: -40 */ { -11240,-10892,-10545,-10200, -9861, -9523, -9162, -8736, -8214, -7649, -7220, -7175, -7632, -8453, -9375,-10206,-10867,-11304,-11448,-11284,-10944,-10670,-10660,-10938,-11399,-11904,-12350,-12673,-12833,-12839,-12748,-12611,-12432,-12200,-11913,-11586,-11240, },
+	/* LAT: -30 */ {  -9602, -9224, -8846, -8456, -8064, -7688, -7331, -6939, -6426, -5814, -5360, -5438, -6202, -7402, -8653, -9750,-10666,-11379,-11782,-11777,-11409,-10901,-10565,-10563,-10813,-11134,-11391,-11506,-11444,-11268,-11094,-10959,-10812,-10605,-10324, -9979, -9602, },
+	/* LAT: -20 */ {  -7371, -6933, -6517, -6090, -5645, -5215, -4823, -4409, -3842, -3156, -2705, -2960, -4065, -5674, -7303, -8675, -9744,-10522,-10964,-11003,-10643,-10030, -9471, -9225, -9273, -9435, -9576, -9595, -9423, -9151, -8957, -8869, -8764, -8556, -8239, -7828, -7371, },
+	/* LAT: -10 */ {  -4414, -3882, -3430, -2995, -2537, -2086, -1671, -1215,  -587,   118,   483,    61, -1262, -3177, -5153, -6765, -7865, -8502, -8770, -8710, -8303, -7621, -6957, -6611, -6570, -6663, -6781, -6805, -6618, -6322, -6166, -6174, -6133, -5916, -5532, -5006, -4414, },
+	/* LAT:   0 */ {   -906,  -286,   176,   578,   996,  1413,  1804,  2249,  2836,  3415,  3621,  3129,  1838,   -69, -2113, -3767, -4780, -5212, -5273, -5104, -4666, -3952, -3247, -2875, -2814, -2884, -3009, -3083, -2953, -2718, -2662, -2804, -2865, -2677, -2253, -1625,  -906, },
+	/* LAT:  10 */ {   2562,  3185,  3616,  3956,  4311,  4678,  5031,  5420,  5874,  6246,  6284,  5799,  4720,  3157,  1467,    89,  -719,  -970,  -880,  -646,  -236,   401,  1034,  1372,  1434,  1389,  1288,  1197,  1239,  1343,  1268,  1004,   814,   887,  1239,  1840,  2562, },
+	/* LAT:  20 */ {   5416,  5942,  6320,  6614,  6927,  7271,  7615,  7964,  8299,  8501,  8415,  7955,  7122,  6028,  4902,  3992,  3461,  3340,  3488,  3731,  4060,  4525,  4984,  5240,  5296,  5278,  5229,  5172,  5161,  5143,  4970,  4639,  4343,  4254,  4426,  4848,  5416, },
+	/* LAT:  30 */ {   7569,  7940,  8257,  8539,  8848,  9196,  9554,  9896, 10174, 10289, 10146,  9726,  9098,  8388,  7727,  7215,  6922,  6879,  7020,  7230,  7476,  7775,  8063,  8237,  8293,  8306,  8307,  8298,  8276,  8194,  7973,  7622,  7268,  7048,  7032,  7226,  7569, },
+	/* LAT:  40 */ {   9266,  9486,  9742, 10027, 10354, 10715, 11084, 11423, 11676, 11760, 11611, 11252, 10779, 10306,  9910,  9626,  9476,  9471,  9580,  9741,  9916, 10099, 10271, 10396, 10474, 10534, 10588, 10621, 10605, 10496, 10255,  9905,  9539,  9254,  9111,  9123,  9266, },
+	/* LAT:  50 */ {  10801, 10923, 11124, 11394, 11718, 12072, 12427, 12744, 12967, 13027, 12888, 12590, 12226, 11880, 11605, 11418, 11324, 11320, 11385, 11488, 11601, 11717, 11833, 11948, 12066, 12188, 12301, 12374, 12365, 12241, 11996, 11669, 11329, 11045, 10855, 10775, 10801, },
+	/* LAT:  60 */ {  12319, 12392, 12543, 12761, 13032, 13333, 13636, 13902, 14078, 14106, 13971, 13721, 13432, 13161, 12940, 12783, 12692, 12660, 12675, 12722, 12790, 12875, 12980, 13112, 13271, 13446, 13611, 13720, 13727, 13608, 13384, 13105, 12826, 12589, 12419, 12327, 12319, },
+	/* LAT:  70 */ {  13758, 13801, 13897, 14039, 14219, 14424, 14632, 14814, 14918, 14898, 14760, 14558, 14340, 14136, 13963, 13828, 13733, 13678, 13659, 13671, 13713, 13785, 13888, 14024, 14190, 14377, 14561, 14702, 14749, 14678, 14517, 14318, 14124, 13959, 13839, 13771, 13758, },
+	/* LAT:  80 */ {  14998, 15011, 15049, 15109, 15186, 15272, 15351, 15396, 15377, 15298, 15185, 15060, 14937, 14823, 14723, 14641, 14579, 14538, 14519, 14523, 14549, 14598, 14670, 14762, 14874, 15000, 15135, 15267, 15374, 15419, 15381, 15295, 15200, 15116, 15052, 15012, 14998, },
 	/* LAT:  90 */ {  15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, 15395, },
 };

 // Magnetic strength data in milli-Gauss * 10
 // Model: WMM-2020,
 // Version: 0.5.1.11,
-// Date: 2022.3835,
+// Date: 2022.2767,
 static constexpr const int16_t strength_table[19][37] {
 	//    LONGITUDE:  -180, -170, -160, -150, -140, -130, -120, -110, -100,  -90,  -80,  -70,  -60,  -50,  -40,  -30,  -20,  -10,    0,   10,   20,   30,   40,   50,   60,   70,   80,   90,  100,  110,  120,  130,  140,  150,  160,  170,  180,
-	/* LAT: -90 */ {  5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, 5452, },
-	/* LAT: -80 */ {  6059, 5995, 5916, 5825, 5722, 5610, 5492, 5370, 5248, 5128, 5014, 4909, 4815, 4735, 4672, 4627, 4603, 4600, 4622, 4668, 4738, 4832, 4946, 5078, 5222, 5371, 5521, 5664, 5795, 5909, 6002, 6071, 6115, 6135, 6131, 6105, 6059, },
-	/* LAT: -70 */ {  6303, 6170, 6020, 5856, 5677, 5485, 5280, 5065, 4846, 4631, 4428, 4246, 4088, 3957, 3853, 3776, 3729, 3716, 3744, 3820, 3948, 4128, 4356, 4624, 4919, 5226, 5529, 5813, 6063, 6267, 6418, 6514, 6556, 6548, 6499, 6415, 6303, },
-	/* LAT: -60 */ {  6188, 5997, 5795, 5587, 5368, 5134, 4877, 4599, 4306, 4017, 3750, 3522, 3342, 3208, 3109, 3035, 2985, 2965, 2990, 3080, 3249, 3500, 3826, 4212, 4634, 5068, 5489, 5873, 6198, 6447, 6610, 6689, 6691, 6628, 6515, 6364, 6188, },
-	/* LAT: -50 */ {  5845, 5616, 5384, 5153, 4921, 4676, 4406, 4103, 3774, 3442, 3140, 2900, 2738, 2647, 2598, 2564, 2530, 2504, 2509, 2581, 2754, 3043, 3439, 3909, 4416, 4922, 5397, 5816, 6155, 6397, 6536, 6577, 6534, 6424, 6263, 6065, 5845, },
-	/* LAT: -40 */ {  5394, 5149, 4904, 4664, 4430, 4193, 3939, 3655, 3341, 3015, 2716, 2493, 2375, 2349, 2369, 2390, 2395, 2383, 2371, 2399, 2529, 2803, 3220, 3733, 4280, 4804, 5271, 5660, 5952, 6140, 6229, 6232, 6162, 6032, 5851, 5633, 5394, },
-	/* LAT: -30 */ {  4879, 4638, 4400, 4166, 3939, 3721, 3502, 3271, 3015, 2740, 2482, 2299, 2229, 2253, 2320, 2391, 2457, 2507, 2530, 2542, 2609, 2806, 3167, 3654, 4185, 4683, 5102, 5419, 5622, 5722, 5749, 5722, 5643, 5511, 5331, 5115, 4879, },
-	/* LAT: -20 */ {  4321, 4109, 3901, 3696, 3500, 3317, 3149, 2986, 2808, 2610, 2419, 2285, 2244, 2286, 2375, 2486, 2614, 2743, 2832, 2868, 2893, 2988, 3226, 3609, 4059, 4486, 4835, 5071, 5176, 5184, 5154, 5107, 5025, 4897, 4731, 4534, 4321, },
-	/* LAT: -10 */ {  3790, 3630, 3477, 3331, 3195, 3075, 2972, 2880, 2784, 2669, 2547, 2448, 2401, 2425, 2510, 2639, 2795, 2954, 3078, 3141, 3156, 3182, 3304, 3555, 3881, 4202, 4468, 4631, 4667, 4615, 4547, 4483, 4395, 4270, 4121, 3958, 3790, },
-	/* LAT:   0 */ {  3412, 3320, 3236, 3163, 3108, 3070, 3044, 3026, 3002, 2954, 2875, 2781, 2700, 2667, 2708, 2811, 2943, 3079, 3194, 3270, 3301, 3323, 3397, 3553, 3762, 3975, 4155, 4262, 4268, 4201, 4113, 4021, 3909, 3777, 3643, 3520, 3412, },
-	/* LAT:  10 */ {  3283, 3252, 3232, 3228, 3253, 3300, 3356, 3410, 3446, 3436, 3367, 3253, 3126, 3030, 3003, 3043, 3124, 3222, 3323, 3408, 3472, 3534, 3621, 3739, 3874, 4012, 4132, 4202, 4205, 4144, 4034, 3891, 3729, 3570, 3435, 3338, 3283, },
-	/* LAT:  20 */ {  3400, 3403, 3429, 3483, 3576, 3697, 3826, 3944, 4025, 4037, 3964, 3822, 3655, 3515, 3438, 3425, 3460, 3532, 3628, 3725, 3816, 3914, 4025, 4136, 4245, 4356, 4458, 4524, 4535, 4477, 4340, 4138, 3911, 3702, 3539, 3438, 3400, },
-	/* LAT:  30 */ {  3723, 3730, 3785, 3885, 4028, 4200, 4375, 4532, 4640, 4667, 4594, 4439, 4249, 4084, 3978, 3931, 3934, 3985, 4071, 4169, 4266, 4372, 4488, 4606, 4725, 4851, 4972, 5058, 5085, 5028, 4872, 4632, 4359, 4104, 3905, 3777, 3723, },
-	/* LAT:  40 */ {  4222, 4221, 4287, 4411, 4578, 4766, 4949, 5106, 5211, 5236, 5168, 5019, 4832, 4657, 4528, 4452, 4426, 4447, 4508, 4587, 4673, 4770, 4884, 5018, 5169, 5330, 5481, 5591, 5631, 5577, 5422, 5184, 4911, 4651, 4441, 4296, 4222, },
-	/* LAT:  50 */ {  4832, 4825, 4881, 4992, 5139, 5298, 5448, 5569, 5643, 5652, 5588, 5461, 5298, 5134, 4996, 4898, 4843, 4831, 4855, 4905, 4974, 5064, 5183, 5333, 5509, 5693, 5859, 5977, 6022, 5978, 5848, 5652, 5427, 5211, 5031, 4902, 4832, },
-	/* LAT:  60 */ {  5392, 5380, 5409, 5472, 5558, 5653, 5740, 5806, 5839, 5830, 5775, 5681, 5560, 5431, 5312, 5216, 5149, 5115, 5112, 5140, 5196, 5282, 5400, 5547, 5713, 5882, 6029, 6134, 6178, 6156, 6074, 5947, 5801, 5658, 5536, 5445, 5392, },
-	/* LAT:  70 */ {  5726, 5706, 5704, 5716, 5739, 5765, 5788, 5803, 5802, 5783, 5744, 5686, 5615, 5539, 5465, 5401, 5353, 5325, 5320, 5340, 5384, 5454, 5545, 5654, 5771, 5885, 5985, 6058, 6097, 6101, 6072, 6018, 5951, 5881, 5816, 5763, 5726, },
-	/* LAT:  80 */ {  5789, 5772, 5758, 5746, 5736, 5726, 5716, 5705, 5690, 5671, 5649, 5624, 5597, 5569, 5544, 5524, 5510, 5505, 5510, 5525, 5550, 5586, 5628, 5676, 5726, 5774, 5817, 5851, 5876, 5889, 5891, 5884, 5870, 5851, 5830, 5809, 5789, },
+	/* LAT: -90 */ {  5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, 5453, },
+	/* LAT: -80 */ {  6059, 5996, 5917, 5825, 5723, 5611, 5493, 5371, 5249, 5129, 5015, 4910, 4816, 4736, 4673, 4628, 4603, 4601, 4622, 4668, 4739, 4832, 4947, 5078, 5222, 5372, 5521, 5665, 5796, 5909, 6002, 6071, 6116, 6135, 6131, 6105, 6059, },
+	/* LAT: -70 */ {  6304, 6171, 6021, 5857, 5678, 5486, 5281, 5066, 4847, 4632, 4429, 4247, 4089, 3958, 3853, 3777, 3729, 3717, 3745, 3821, 3948, 4128, 4356, 4624, 4919, 5226, 5529, 5813, 6063, 6267, 6418, 6514, 6556, 6549, 6499, 6415, 6304, },
+	/* LAT: -60 */ {  6189, 5997, 5796, 5588, 5369, 5135, 4878, 4600, 4308, 4018, 3751, 3523, 3343, 3208, 3109, 3036, 2985, 2965, 2991, 3081, 3249, 3500, 3826, 4211, 4633, 5067, 5489, 5873, 6198, 6447, 6610, 6689, 6691, 6629, 6515, 6365, 6189, },
+	/* LAT: -50 */ {  5846, 5616, 5384, 5154, 4922, 4677, 4407, 4104, 3775, 3443, 3141, 2900, 2739, 2647, 2599, 2564, 2531, 2505, 2510, 2582, 2754, 3043, 3438, 3909, 4416, 4921, 5397, 5816, 6155, 6397, 6535, 6577, 6534, 6424, 6263, 6065, 5846, },
+	/* LAT: -40 */ {  5394, 5149, 4904, 4665, 4431, 4194, 3940, 3656, 3342, 3016, 2717, 2494, 2376, 2350, 2369, 2391, 2396, 2384, 2372, 2400, 2529, 2803, 3219, 3732, 4279, 4803, 5270, 5659, 5952, 6140, 6228, 6231, 6162, 6032, 5851, 5633, 5394, },
+	/* LAT: -30 */ {  4879, 4639, 4400, 4166, 3940, 3721, 3503, 3271, 3016, 2741, 2483, 2300, 2229, 2253, 2320, 2391, 2457, 2508, 2531, 2543, 2609, 2806, 3166, 3653, 4184, 4682, 5101, 5419, 5622, 5722, 5749, 5722, 5643, 5511, 5332, 5115, 4879, },
+	/* LAT: -20 */ {  4321, 4109, 3901, 3697, 3500, 3318, 3150, 2986, 2809, 2611, 2420, 2286, 2244, 2286, 2375, 2486, 2614, 2743, 2832, 2869, 2894, 2988, 3226, 3608, 4058, 4485, 4834, 5070, 5176, 5184, 5154, 5107, 5025, 4897, 4731, 4534, 4321, },
+	/* LAT: -10 */ {  3790, 3630, 3477, 3331, 3196, 3076, 2973, 2881, 2784, 2670, 2548, 2448, 2402, 2425, 2510, 2639, 2794, 2954, 3078, 3142, 3156, 3182, 3304, 3555, 3880, 4202, 4467, 4631, 4667, 4615, 4547, 4483, 4395, 4270, 4121, 3958, 3790, },
+	/* LAT:   0 */ {  3412, 3320, 3236, 3163, 3108, 3070, 3044, 3026, 3002, 2955, 2876, 2781, 2700, 2668, 2708, 2810, 2943, 3078, 3194, 3270, 3301, 3323, 3397, 3553, 3761, 3974, 4155, 4261, 4268, 4201, 4113, 4020, 3909, 3777, 3643, 3519, 3412, },
+	/* LAT:  10 */ {  3283, 3252, 3232, 3229, 3253, 3301, 3357, 3411, 3447, 3437, 3368, 3254, 3126, 3031, 3003, 3043, 3124, 3222, 3322, 3408, 3472, 3534, 3621, 3739, 3873, 4011, 4131, 4202, 4205, 4143, 4034, 3891, 3729, 3570, 3435, 3338, 3283, },
+	/* LAT:  20 */ {  3400, 3403, 3430, 3484, 3576, 3698, 3827, 3945, 4026, 4039, 3965, 3823, 3656, 3515, 3438, 3425, 3459, 3532, 3628, 3725, 3816, 3914, 4024, 4136, 4244, 4355, 4457, 4523, 4534, 4476, 4339, 4138, 3911, 3701, 3539, 3438, 3400, },
+	/* LAT:  30 */ {  3723, 3730, 3785, 3885, 4029, 4200, 4376, 4533, 4641, 4668, 4595, 4440, 4250, 4085, 3978, 3931, 3934, 3984, 4071, 4168, 4266, 4371, 4487, 4605, 4724, 4850, 4971, 5057, 5084, 5027, 4871, 4632, 4358, 4104, 3905, 3777, 3723, },
+	/* LAT:  40 */ {  4222, 4221, 4287, 4411, 4579, 4767, 4950, 5107, 5212, 5238, 5169, 5020, 4833, 4658, 4529, 4452, 4426, 4447, 4507, 4586, 4672, 4769, 4884, 5017, 5168, 5329, 5480, 5591, 5630, 5577, 5422, 5184, 4910, 4651, 4440, 4295, 4222, },
+	/* LAT:  50 */ {  4832, 4825, 4882, 4993, 5140, 5299, 5449, 5570, 5644, 5653, 5589, 5462, 5298, 5134, 4996, 4898, 4843, 4830, 4854, 4904, 4973, 5064, 5182, 5332, 5508, 5692, 5858, 5977, 6021, 5978, 5848, 5652, 5427, 5211, 5031, 4902, 4832, },
+	/* LAT:  60 */ {  5392, 5381, 5410, 5473, 5559, 5654, 5741, 5806, 5839, 5830, 5776, 5681, 5560, 5431, 5312, 5216, 5149, 5114, 5112, 5139, 5195, 5282, 5399, 5546, 5713, 5881, 6029, 6133, 6178, 6156, 6073, 5947, 5801, 5658, 5535, 5445, 5392, },
+	/* LAT:  70 */ {  5726, 5707, 5704, 5717, 5739, 5766, 5789, 5803, 5803, 5783, 5744, 5686, 5615, 5539, 5465, 5401, 5352, 5324, 5319, 5339, 5384, 5453, 5545, 5653, 5770, 5885, 5984, 6057, 6097, 6100, 6071, 6018, 5951, 5880, 5815, 5763, 5726, },
+	/* LAT:  80 */ {  5789, 5772, 5758, 5746, 5736, 5727, 5717, 5705, 5690, 5671, 5649, 5624, 5596, 5569, 5544, 5524, 5510, 5505, 5509, 5524, 5550, 5585, 5628, 5676, 5726, 5774, 5816, 5851, 5875, 5888, 5891, 5884, 5870, 5851, 5830, 5809, 5789, },
 	/* LAT:  90 */ {  5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, 5681, },
 };
@@ -46,6 +46,11 @@

 using namespace time_literals;

+/**
+ * Airship attitude control app start / stop handling function
+ */
+extern "C" __EXPORT int airship_att_control_main(int argc, char *argv[]);
+
 class AirshipAttitudeControl : public ModuleBase<AirshipAttitudeControl>, public ModuleParams,
 	public px4::WorkItem
 {
@@ -75,27 +80,27 @@ private:
 	/**
 	 * Check for parameter update and handle it.
 	 */
-	void parameter_update_poll();
+	void		parameter_update_poll();

-	void publish_actuator_controls();
+	void		publish_actuator_controls();

 	void publishTorqueSetpoint(const hrt_abstime &timestamp_sample);
 	void publishThrustSetpoint(const hrt_abstime &timestamp_sample);

-	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};        /**< parameter updates subscription */
-	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};                         /**< vehicle status subscription */
-	uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)};             /**< manual control setpoint subscription */
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};		/**< parameter updates subscription */
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};			/**< vehicle status subscription */
+	uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)};	/**< manual control setpoint subscription */

 	uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};

-	uORB::Publication<actuator_controls_s>          _actuator_controls_0_pub;
-	uORB::Publication<vehicle_thrust_setpoint_s>    _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
-	uORB::Publication<vehicle_torque_setpoint_s>    _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
+	uORB::Publication<actuator_controls_s>		_actuators_0_pub;
+	uORB::Publication<vehicle_thrust_setpoint_s>	_vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
+	uORB::Publication<vehicle_torque_setpoint_s>	_vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};

-	manual_control_setpoint_s       _manual_control_sp {};  /**< manual control setpoint */
-	vehicle_status_s                _vehicle_status {};     /**< vehicle status */
-	actuator_controls_s             _actuator_controls {};          /**< actuator controls */
+	struct manual_control_setpoint_s	_manual_control_sp {};	/**< manual control setpoint */
+	struct vehicle_status_s			_vehicle_status {};	/**< vehicle status */
+	struct actuator_controls_s		_actuators {};		/**< actuator controls */

-	perf_counter_t  _loop_perf;     /**< loop performance counter */
+	perf_counter_t	_loop_perf;			/**< loop performance counter */

 };
@@ -45,7 +45,7 @@ using namespace matrix;
 AirshipAttitudeControl::AirshipAttitudeControl() :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
-	_actuator_controls_0_pub(ORB_ID(actuator_controls_0)),
+	_actuators_0_pub(ORB_ID(actuator_controls_0)),
 	_loop_perf(perf_alloc(PC_ELAPSED, "airship_att_control"))
 {
 }
@@ -86,20 +86,20 @@ AirshipAttitudeControl::publish_actuator_controls()
 	// zero actuators if not armed
 	if (_vehicle_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
 		for (uint8_t i = 0 ; i < 4 ; i++) {
-			_actuator_controls.control[i] = 0.0f;
+			_actuators.control[i] = 0.0f;
 		}

 	} else {
-		_actuator_controls.control[0] = 0.0f;
-		_actuator_controls.control[1] = _manual_control_sp.x;
-		_actuator_controls.control[2] = _manual_control_sp.r;
-		_actuator_controls.control[3] = _manual_control_sp.z;
+		_actuators.control[0] = 0.0f;
+		_actuators.control[1] = _manual_control_sp.x;
+		_actuators.control[2] = _manual_control_sp.r;
+		_actuators.control[3] = _manual_control_sp.z;
 	}

-	// note: _actuator_controls.timestamp_sample is set in AirshipAttitudeControl::Run()
-	_actuator_controls.timestamp = hrt_absolute_time();
+	// note: _actuators.timestamp_sample is set in AirshipAttitudeControl::Run()
+	_actuators.timestamp = hrt_absolute_time();

-	_actuator_controls_0_pub.publish(_actuator_controls);
+	_actuators_0_pub.publish(_actuators);
 }

 void AirshipAttitudeControl::publishTorqueSetpoint(const hrt_abstime &timestamp_sample)
@@ -107,9 +107,9 @@ void AirshipAttitudeControl::publishTorqueSetpoint(const hrt_abstime &timestamp_
 	vehicle_torque_setpoint_s v_torque_sp = {};
 	v_torque_sp.timestamp = hrt_absolute_time();
 	v_torque_sp.timestamp_sample = timestamp_sample;
-	v_torque_sp.xyz[0] = _actuator_controls.control[0];
-	v_torque_sp.xyz[1] = _actuator_controls.control[1];
-	v_torque_sp.xyz[2] = _actuator_controls.control[2];
+	v_torque_sp.xyz[0] = _actuators.control[0];
+	v_torque_sp.xyz[1] = _actuators.control[1];
+	v_torque_sp.xyz[2] = _actuators.control[2];

 	_vehicle_torque_setpoint_pub.publish(v_torque_sp);
 }
@@ -119,7 +119,7 @@ void AirshipAttitudeControl::publishThrustSetpoint(const hrt_abstime &timestamp_
 	vehicle_thrust_setpoint_s v_thrust_sp = {};
 	v_thrust_sp.timestamp = hrt_absolute_time();
 	v_thrust_sp.timestamp_sample = timestamp_sample;
-	v_thrust_sp.xyz[0] = _actuator_controls.control[3];
+	v_thrust_sp.xyz[0] = _actuators.control[3];
 	v_thrust_sp.xyz[1] = 0.0f;
 	v_thrust_sp.xyz[2] = 0.0f;

@@ -142,7 +142,7 @@ AirshipAttitudeControl::Run()

 	if (_vehicle_angular_velocity_sub.update(&angular_velocity)) {

-		_actuator_controls.timestamp_sample = angular_velocity.timestamp_sample;
+		_actuators.timestamp_sample = angular_velocity.timestamp_sample;

 		/* run the rate controller immediately after a gyro update */
 		publish_actuator_controls();
@@ -190,7 +190,7 @@ int AirshipAttitudeControl::print_status()

 	perf_print_counter(_loop_perf);

-	print_message(ORB_ID(actuator_controls), _actuator_controls);
+	print_message(ORB_ID(actuator_controls), _actuators);

 	return 0;
 }
@@ -227,10 +227,7 @@ To reduce control latency, the module directly polls on the gyro topic published
 	return 0;
 }

-/**
- * Airship attitude control app start / stop handling function
- */
-extern "C" __EXPORT int airship_att_control_main(int argc, char *argv[])
+int airship_att_control_main(int argc, char *argv[])
 {
 	return AirshipAttitudeControl::main(argc, argv);
 }
@@ -39,7 +39,7 @@ constexpr bool
 ArmStateMachine::arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX];

 transition_result_t ArmStateMachine::arming_state_transition(vehicle_status_s &status,
-		const vehicle_control_mode_s &control_mode, const bool safety_button_available, const bool safety_off,
+		const vehicle_control_mode_s &control_mode, const safety_s &safety,
 		const arming_state_t new_arming_state, actuator_armed_s &armed, const bool fRunPreArmChecks,
 		orb_advert_t *mavlink_log_pub, vehicle_status_flags_s &status_flags,
 		const PreFlightCheck::arm_requirements_t &arm_requirements,
@@ -112,9 +112,8 @@ transition_result_t ArmStateMachine::arming_state_transition(vehicle_status_s &s

 					if (fRunPreArmChecks && preflight_check_ret) {
 						// only bother running prearm if preflight was successful
-						prearm_check_ret = PreFlightCheck::preArmCheck(mavlink_log_pub, status_flags, control_mode,
-								   safety_button_available, safety_off,
-								   arm_requirements, status);
+						prearm_check_ret = PreFlightCheck::preArmCheck(mavlink_log_pub, status_flags, control_mode, safety, arm_requirements,
+								   status);
 					}

 					if (!preflight_check_ret || !prearm_check_ret) {
@@ -37,6 +37,7 @@
 #include <drivers/drv_hrt.h>
 #include <px4_platform_common/events.h>
 #include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/safety.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_status_flags.h>
@@ -54,8 +55,8 @@ public:
 	void forceArmState(uint8_t new_arm_state) { _arm_state = new_arm_state; }

 	transition_result_t
-	arming_state_transition(vehicle_status_s &status, const vehicle_control_mode_s &control_mode,
-				const bool safety_button_available, const bool safety_off, const arming_state_t new_arming_state,
+	arming_state_transition(vehicle_status_s &status, const vehicle_control_mode_s &control_mode, const safety_s &safety,
+				const arming_state_t new_arming_state,
 				actuator_armed_s &armed, const bool fRunPreArmChecks, orb_advert_t *mavlink_log_pub,
 				vehicle_status_flags_s &status_flags, const PreFlightCheck::arm_requirements_t &arm_requirements,
 				const hrt_abstime &time_since_boot, arm_disarm_reason_t calling_reason);
@@ -55,7 +55,7 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
 		hil_state_t                     hil_state;                              // Current vehicle_status_s.hil_state
 		bool
 		system_sensors_initialized;   // Current vehicle_status_s.system_sensors_initialized
-		bool                            safety_button_available;                // Current safety_s.safety_button_available
+		bool                            safety_switch_available;                // Current safety_s.safety_switch_available
 		bool                            safety_off;                             // Current safety_s.safety_off
 		arming_state_t                  requested_state;                        // Requested arming state to transition to
 		ArmingTransitionVolatileState_t expected_state;                         // Expected machine state after transition
@@ -166,17 +166,17 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
 			{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, TRANSITION_CHANGED
 		},

-		// Safety button arming tests
+		// Safety switch arming tests

 		{
-			"transition: standby to armed, no safety button",
+			"transition: standby to armed, no safety switch",
 			{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF,
 			vehicle_status_s::ARMING_STATE_ARMED,
 			{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, TRANSITION_CHANGED
 		},

 		{
-			"transition: standby to armed, safety button off",
+			"transition: standby to armed, safety switch off",
 			{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF,
 			vehicle_status_s::ARMING_STATE_ARMED,
 			{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, TRANSITION_CHANGED
@@ -242,10 +242,10 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
 		//    vehicle_status_s::ARMING_STATE_STANDBY,
 		//    { vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },

-		// safety button arming tests
+		// Safety switch arming tests

 		{
-			"no transition: init to armed, safety button on",
+			"no transition: init to armed, safety switch on",
 			{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
 			vehicle_status_s::ARMING_STATE_ARMED,
 			{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, TRANSITION_DENIED
@@ -254,6 +254,7 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)

 	struct vehicle_status_s status {};
 	struct vehicle_status_flags_s status_flags {};
+	struct safety_s safety {};
 	struct actuator_armed_s armed {};

 	size_t cArmingTransitionTests = sizeof(rgArmingTransitionTests) / sizeof(rgArmingTransitionTests[0]);
@@ -269,6 +270,8 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
 		status.hil_state = test->hil_state;
 		// The power status of the test unit is not relevant for the unit test
 		status_flags.circuit_breaker_engaged_power_check = true;
+		safety.safety_switch_available = test->safety_switch_available;
+		safety.safety_off = test->safety_off;

 		vehicle_control_mode_s control_mode{};

@@ -276,8 +279,7 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
 		transition_result_t result = arm_state_machine.arming_state_transition(
 						     status,
 						     control_mode,
-						     test->safety_button_available,
-						     test->safety_off,
+						     safety,
 						     test->requested_state,
 						     armed,
 						     true /* enable pre-arm checks */,
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2019 - 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -41,11 +41,11 @@
 #pragma once

 #include <uORB/uORB.h>
+#include <uORB/topics/safety.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_status_flags.h>
 #include <uORB/topics/vehicle_status.h>
 #include <drivers/drv_hrt.h>
-#include "../../Safety.hpp"

 typedef bool (*sens_check_func_t)(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
 				  const bool is_mandatory, bool &report_fail);
@@ -94,8 +94,8 @@ public:
 	};

 	static bool preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
-				const vehicle_control_mode_s &control_mode, const bool safety_button_available, const bool safety_off,
-				const arm_requirements_t &arm_requirements, vehicle_status_s &status,
+				const vehicle_control_mode_s &control_mode,
+				const safety_s &safety, const arm_requirements_t &arm_requirements, vehicle_status_s &status,
 				bool report_fail = true);

 private:
@@ -39,8 +39,8 @@
 #include <HealthFlags.h>

 bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
-				 const vehicle_control_mode_s &control_mode, const bool safety_button_available, const bool safety_off,
-				 const arm_requirements_t &arm_requirements, vehicle_status_s &status, bool report_fail)
+				 const vehicle_control_mode_s &control_mode,
+				 const safety_s &safety, const arm_requirements_t &arm_requirements, vehicle_status_s &status, bool report_fail)
 {
 	bool prearm_ok = true;

@@ -156,10 +156,10 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
 	}

 	// safety button
-	if (safety_button_available && !safety_off) {
-		// Fail transition if we need safety button press
+	if (safety.safety_switch_available && !safety.safety_off) {
+		// Fail transition if we need safety switch press
 		if (prearm_ok) {
-			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Press safety button first"); }
+			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Press safety switch first"); }
 		}

 		prearm_ok = false;
@@ -301,10 +301,7 @@ int Commander::custom_command(int argc, char *argv[])
 					   true, true, 30_s);
 		PX4_INFO("Preflight check: %s", preflight_check_res ? "OK" : "FAILED");

-		bool dummy_safety_button{false};
-		bool dummy_safety_off{false};
-		bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, vehicle_status_flags, vehicle_control_mode,
-					dummy_safety_button, dummy_safety_off,
+		bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, vehicle_status_flags, vehicle_control_mode, safety_s{},
 					PreFlightCheck::arm_requirements_t{}, vehicle_status);
 		PX4_INFO("Prearm check: %s", prearm_check_res ? "OK" : "FAILED");

@@ -496,8 +493,7 @@ extern "C" __EXPORT int commander_main(int argc, char *argv[])

 bool Commander::shutdown_if_allowed()
 {
-	return TRANSITION_DENIED != _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode,
-			_safety.isButtonAvailable(), _safety.isSafetyOff(),
+	return TRANSITION_DENIED != _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode, _safety,
 			vehicle_status_s::ARMING_STATE_SHUTDOWN,
 			_armed, false /* fRunPreArmChecks */, &_mavlink_log_pub, _status_flags, _arm_requirements,
 			hrt_elapsed_time(&_boot_timestamp), arm_disarm_reason_t::shutdown);
@@ -518,6 +514,8 @@ static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_r

 	case arm_disarm_reason_t::mission_start: return "mission start";

+	case arm_disarm_reason_t::safety_button: return "safety button";
+
 	case arm_disarm_reason_t::auto_disarm_land: return "landing";

 	case arm_disarm_reason_t::auto_disarm_preflight: return "auto preflight disarming";
@@ -748,8 +746,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
 		}
 	}

-	transition_result_t arming_res = _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode,
-					 _safety.isButtonAvailable(), _safety.isSafetyOff(),
+	transition_result_t arming_res = _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode, _safety,
 					 vehicle_status_s::ARMING_STATE_ARMED, _armed, run_preflight_checks,
 					 &_mavlink_log_pub, _status_flags, _arm_requirements, hrt_elapsed_time(&_boot_timestamp),
 					 calling_reason);
@@ -791,8 +788,7 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f
 		}
 	}

-	transition_result_t arming_res = _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode,
-					 _safety.isButtonAvailable(), _safety.isSafetyOff(),
+	transition_result_t arming_res = _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode, _safety,
 					 vehicle_status_s::ARMING_STATE_STANDBY, _armed, false,
 					 &_mavlink_log_pub, _status_flags, _arm_requirements,
 					 hrt_elapsed_time(&_boot_timestamp), calling_reason);
@@ -803,7 +799,7 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f
 				"Disarmed by {1}", calling_reason);

 		if (_param_com_force_safety.get()) {
-			_safety.activateSafety();
+			_safety_handler.enableSafety();
 		}

 		_status_changed = true;
@@ -841,6 +837,7 @@ Commander::Commander() :
 	_status_flags.offboard_control_signal_lost = true;

 	_status_flags.power_input_valid = true;
+	_status_flags.rc_calibration_valid = true;

 	// default for vtol is rotary wing
 	_vtol_status.vehicle_vtol_state = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
@@ -1397,8 +1394,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 			} else {

 				/* try to go to INIT/PREFLIGHT arming state */
-				if (TRANSITION_DENIED == _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode,
-						_safety.isButtonAvailable(), _safety.isSafetyOff(),
+				if (TRANSITION_DENIED == _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode, safety_s{},
 						vehicle_status_s::ARMING_STATE_INIT, _armed,
 						false /* fRunPreArmChecks */, &_mavlink_log_pub, _status_flags,
 						PreFlightCheck::arm_requirements_t{}, // arming requirements not relevant for switching to ARMING_STATE_INIT
@@ -1479,17 +1475,9 @@ Commander::handle_command(const vehicle_command_s &cmd)
 					/* do esc calibration */
 					if (check_battery_disconnected(&_mavlink_log_pub)) {
 						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
-
-						if (_safety.isButtonAvailable() && !_safety.isSafetyOff()) {
-							mavlink_log_critical(&_mavlink_log_pub, "ESC calibration denied! Press safety button first\t");
-							events::send(events::ID("commander_esc_calibration_denied"), events::Log::Critical,
-								     "ESCs calibration denied");
-
-						} else {
-							_status_flags.calibration_enabled = true;
-							_armed.in_esc_calibration_mode = true;
-							_worker_thread.startTask(WorkerThread::Request::ESCCalibration);
-						}
+						_status_flags.calibration_enabled = true;
+						_armed.in_esc_calibration_mode = true;
+						_worker_thread.startTask(WorkerThread::Request::ESCCalibration);

 					} else {
 						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
@@ -1643,7 +1631,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 unsigned
 Commander::handle_command_motor_test(const vehicle_command_s &cmd)
 {
-	if (_arm_state_machine.isArmed() || (_safety.isButtonAvailable() && !_safety.isSafetyOff())) {
+	if (_arm_state_machine.isArmed() || (_safety.safety_switch_available && !_safety.safety_off)) {
 		return vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
 	}

@@ -1691,7 +1679,7 @@ Commander::handle_command_motor_test(const vehicle_command_s &cmd)
 unsigned
 Commander::handle_command_actuator_test(const vehicle_command_s &cmd)
 {
-	if (_arm_state_machine.isArmed() || (_safety.isButtonAvailable() && !_safety.isSafetyOff())) {
+	if (_arm_state_machine.isArmed() || (_safety.safety_switch_available && !_safety.safety_off)) {
 		return vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
 	}

@@ -2287,25 +2275,38 @@ Commander::run()
 			}
 		}

-		/* safety button */
-		bool safety_updated = _safety.safetyButtonHandler();
-		_status.safety_button_available = _safety.isButtonAvailable();
-		_status.safety_off = _safety.isSafetyOff();
+		_safety_handler.safetyButtonHandler();
+
+		/* update safety topic */
+		const bool safety_updated = _safety_sub.updated();

 		if (safety_updated) {
+			const bool previous_safety_valid = (_safety.timestamp != 0);
+			const bool previous_safety_off = _safety.safety_off;

-			set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MOTORCONTROL, _safety.isButtonAvailable(), _safety.isSafetyOff(),
-					 _safety.isButtonAvailable(), _status);
+			if (_safety_sub.copy(&_safety)) {
+				set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MOTORCONTROL, _safety.safety_switch_available, _safety.safety_off,
+						 _safety.safety_switch_available, _status);

-			// Notify the user if the status of the safety button changes
-			if (_safety.isSafetyOff()) {
-				set_tune(tune_control_s::TUNE_ID_NOTIFY_POSITIVE);
+				// disarm if safety is now on and still armed
+				if (_arm_state_machine.isArmed() && _safety.safety_switch_available && !_safety.safety_off
+				    && (_status.hil_state == vehicle_status_s::HIL_STATE_OFF)) {
+					disarm(arm_disarm_reason_t::safety_button);
+				}

-			} else {
-				tune_neutral(true);
+				// Notify the user if the status of the safety switch changes
+				if (previous_safety_valid && _safety.safety_switch_available && previous_safety_off != _safety.safety_off) {
+
+					if (_safety.safety_off) {
+						set_tune(tune_control_s::TUNE_ID_NOTIFY_POSITIVE);
+
+					} else {
+						tune_neutral(true);
+					}
+
+					_status_changed = true;
+				}
 			}
-
-			_status_changed = true;
 		}

 		/* update vtol vehicle status*/
@@ -2452,8 +2453,7 @@ Commander::run()
 		/* If in INIT state, try to proceed to STANDBY state */
 		if (!_status_flags.calibration_enabled && _arm_state_machine.isInit()) {

-			_arm_state_machine.arming_state_transition(_status, _vehicle_control_mode,
-					_safety.isButtonAvailable(), _safety.isSafetyOff(),
+			_arm_state_machine.arming_state_transition(_status, _vehicle_control_mode, _safety,
 					vehicle_status_s::ARMING_STATE_STANDBY, _armed,
 					true /* fRunPreArmChecks */, &_mavlink_log_pub, _status_flags,
 					_arm_requirements, hrt_elapsed_time(&_boot_timestamp),
@@ -2653,7 +2653,98 @@ Commander::run()
 			}
 		}

-		manual_control_check();
+		manual_control_setpoint_s manual_control_setpoint;
+
+		if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
+			if (manual_control_setpoint.valid) {
+				if (!_status_flags.rc_signal_found_once) {
+					_status_flags.rc_signal_found_once = true;
+					set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true,
+							 _status_flags.rc_calibration_valid, _status);
+					_status_changed = true;
+
+				} else {
+					if (_status.rc_signal_lost) {
+						if (_last_valid_manual_control_setpoint > 0) {
+							float elapsed = hrt_elapsed_time(&_last_valid_manual_control_setpoint) * 1e-6f;
+							mavlink_log_info(&_mavlink_log_pub, "Manual control regained after %.1fs\t", (double)elapsed);
+							events::send<float>(events::ID("commander_rc_regained"), events::Log::Info,
+									    "Manual control regained after {1:.1} s", elapsed);
+						}
+
+						set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true,
+								 _status_flags.rc_calibration_valid, _status);
+						_status_changed = true;
+					}
+				}
+
+				const bool is_mavlink = manual_control_setpoint.data_source > manual_control_setpoint_s::SOURCE_RC;
+
+				if (!_arm_state_machine.isArmed() && (is_mavlink || !_mode_switch_mapped)
+				    && (_internal_state.main_state_changes == 0)) {
+					// if there's never been a mode change force position control as initial state
+					_internal_state.main_state = commander_state_s::MAIN_STATE_POSCTL;
+					_internal_state.main_state_changes++;
+				}
+
+				_status.rc_signal_lost = false;
+				_is_throttle_above_center = manual_control_setpoint.z > 0.6f;
+				_is_throttle_low = manual_control_setpoint.z < 0.1f;
+				_last_valid_manual_control_setpoint = manual_control_setpoint.timestamp;
+
+			} else {
+				if (_status_flags.rc_signal_found_once && !_status.rc_signal_lost) {
+					mavlink_log_critical(&_mavlink_log_pub, "Manual control lost\t");
+					events::send(events::ID("commander_rc_lost"), {events::Log::Critical, events::LogInternal::Info},
+						     "Manual control lost");
+					_status.rc_signal_lost = true;
+					set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true,
+							 false, _status);
+					_status_changed = true;
+				}
+			}
+
+
+			const bool override_enabled =
+				((_param_com_rc_override.get() & static_cast<int32_t>(RcOverrideBits::AUTO_MODE_BIT))
+				 && _vehicle_control_mode.flag_control_auto_enabled)
+				|| ((_param_com_rc_override.get() & static_cast<int32_t>(RcOverrideBits::OFFBOARD_MODE_BIT))
+				    && _vehicle_control_mode.flag_control_offboard_enabled);
+
+			// Abort autonomous mode and switch to position mode if sticks are moved significantly
+			// but only if actually in air.
+			if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
+			    && !in_low_battery_failsafe_delay && !_geofence_warning_action_on
+			    && _arm_state_machine.isArmed()
+			    && !_status_flags.rc_calibration_in_progress
+			    && manual_control_setpoint.valid
+			    && manual_control_setpoint.sticks_moving
+			    && override_enabled) {
+				const transition_result_t posctl_result =
+					main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, _internal_state);
+
+				if (posctl_result == TRANSITION_CHANGED) {
+					tune_positive(true);
+					mavlink_log_info(&_mavlink_log_pub, "Pilot took over position control using sticks\t");
+					events::send(events::ID("commander_rc_override_pos"), events::Log::Info,
+						     "Pilot took over position control using sticks");
+					_status_changed = true;
+
+				} else if (posctl_result == TRANSITION_DENIED) {
+					// If transition to POSCTL was denied, then we can try again with ALTCTL.
+					const transition_result_t altctl_result =
+						main_state_transition(_status, commander_state_s::MAIN_STATE_ALTCTL, _status_flags, _internal_state);
+
+					if (altctl_result == TRANSITION_CHANGED) {
+						tune_positive(true);
+						mavlink_log_info(&_mavlink_log_pub, "Pilot took over altitude control using sticks\t");
+						events::send(events::ID("commander_rc_override_alt"), events::Log::Info,
+							     "Pilot took over altitude control using sticks");
+						_status_changed = true;
+					}
+				}
+			}
+		}

 		// data link checks which update the status
 		data_link_check();
@@ -2956,12 +3047,12 @@ Commander::run()
 			break;

 		case PrearmedMode::SAFETY_BUTTON:
-			if (_safety.isButtonAvailable()) {
-				/* safety button is present, go into prearmed if safety is off */
-				_armed.prearmed = _safety.isSafetyOff();
+			if (_safety.safety_switch_available) {
+				/* safety switch is present, go into prearmed if safety is off */
+				_armed.prearmed = _safety.safety_off;

 			} else {
-				/* safety button is not present, do not go into prearmed */
+				/* safety switch is not present, do not go into prearmed */
 				_armed.prearmed = false;
 			}

@@ -2990,9 +3081,8 @@ Commander::run()
 				// skip arm authorization check until actual arming attempt
 				PreFlightCheck::arm_requirements_t arm_req = _arm_requirements;
 				arm_req.arm_authorization = false;
-				bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, _status_flags, _vehicle_control_mode,
-							_safety.isButtonAvailable(), _safety.isSafetyOff(),
-							arm_req, _status, false);
+				bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, _status_flags, _vehicle_control_mode, _safety, arm_req,
+							_status, false);

 				const bool prearm_check_ok = preflight_check_res && prearm_check_res;
 				set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK, true, true, prearm_check_ok, _status);
@@ -3037,7 +3127,8 @@ Commander::run()
 		}

 		/* play arming and battery warning tunes */
-		if (!_arm_tune_played && _arm_state_machine.isArmed()) {
+		if (!_arm_tune_played && _arm_state_machine.isArmed() &&
+		    (_safety.safety_switch_available || (_safety.safety_switch_available && _safety.safety_off))) {

 			/* play tune when armed */
 			set_tune(tune_control_s::TUNE_ID_ARMING_WARNING);
@@ -3062,7 +3153,7 @@ Commander::run()
 		}

 		/* reset arm_tune_played when disarmed */
-		if (!_arm_state_machine.isArmed()) {
+		if (!_arm_state_machine.isArmed() || (_safety.safety_switch_available && !_safety.safety_off)) {

 			// Notify the user that it is safe to approach the vehicle
 			if (_arm_tune_played) {
@@ -4251,123 +4342,6 @@ void Commander::estimator_check()
 	}
 }

-void Commander::manual_control_check()
-{
-	manual_control_setpoint_s manual_control_setpoint;
-	const bool manual_control_updated = _manual_control_setpoint_sub.update(&manual_control_setpoint);
-
-	if (manual_control_updated && manual_control_setpoint.valid) {
-
-		if (!_status_flags.rc_signal_found_once) {
-			_status_flags.rc_signal_found_once = true;
-
-		} else if (_status.rc_signal_lost) {
-			if (_last_valid_manual_control_setpoint > 0) {
-				float elapsed = hrt_elapsed_time(&_last_valid_manual_control_setpoint) * 1e-6f;
-				mavlink_log_info(&_mavlink_log_pub, "Manual control regained after %.1fs\t", (double)elapsed);
-				events::send<float>(events::ID("commander_rc_regained"), events::Log::Info,
-						    "Manual control regained after {1:.1} s", elapsed);
-			}
-		}
-
-		if (_status.rc_signal_lost) {
-			_status.rc_signal_lost = false;
-			_status_changed = true;
-		}
-
-		_last_valid_manual_control_setpoint = manual_control_setpoint.timestamp;
-		_is_throttle_above_center = (manual_control_setpoint.z > 0.6f);
-		_is_throttle_low = (manual_control_setpoint.z < 0.1f);
-
-		const bool is_mavlink = (manual_control_setpoint.data_source > manual_control_setpoint_s::SOURCE_RC);
-
-		if (is_mavlink) {
-			set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, true, _status);
-
-		} else {
-			// if not mavlink also report valid RC calibration for health
-			set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, _status_flags.rc_calibration_valid, _status);
-		}
-
-		if (_arm_state_machine.isArmed()) {
-			// Abort autonomous mode and switch to position mode if sticks are moved significantly
-			// but only if actually in air.
-			if (manual_control_setpoint.sticks_moving
-			    && !_vehicle_control_mode.flag_control_manual_enabled
-			    && (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
-			   ) {
-				bool override_enabled = false;
-
-				if (_vehicle_control_mode.flag_control_auto_enabled) {
-					if (_param_com_rc_override.get() & static_cast<int32_t>(RcOverrideBits::AUTO_MODE_BIT)) {
-						override_enabled = true;
-					}
-				}
-
-				if (_vehicle_control_mode.flag_control_offboard_enabled) {
-					if (_param_com_rc_override.get() & static_cast<int32_t>(RcOverrideBits::OFFBOARD_MODE_BIT)) {
-						override_enabled = true;
-					}
-				}
-
-				const bool in_low_battery_failsafe_delay = (_battery_failsafe_timestamp != 0);
-
-				if (override_enabled && !in_low_battery_failsafe_delay && !_geofence_warning_action_on) {
-
-					const transition_result_t posctl_result =
-						main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, _internal_state);
-
-					if (posctl_result == TRANSITION_CHANGED) {
-						tune_positive(true);
-						mavlink_log_info(&_mavlink_log_pub, "Pilot took over position control using sticks\t");
-						events::send(events::ID("commander_rc_override_pos"), events::Log::Info,
-							     "Pilot took over position control using sticks");
-						_status_changed = true;
-
-					} else if (posctl_result == TRANSITION_DENIED) {
-						// If transition to POSCTL was denied, then we can try again with ALTCTL.
-						const transition_result_t altctl_result =
-							main_state_transition(_status, commander_state_s::MAIN_STATE_ALTCTL, _status_flags, _internal_state);
-
-						if (altctl_result == TRANSITION_CHANGED) {
-							tune_positive(true);
-							mavlink_log_info(&_mavlink_log_pub, "Pilot took over altitude control using sticks\t");
-							events::send(events::ID("commander_rc_override_alt"), events::Log::Info,
-								     "Pilot took over altitude control using sticks");
-							_status_changed = true;
-						}
-					}
-				}
-			}
-
-		} else {
-			// disarmed
-			// if there's never been a mode change force position control as initial state
-			if (_internal_state.main_state_changes == 0) {
-				if (is_mavlink || !_mode_switch_mapped) {
-					_internal_state.main_state = commander_state_s::MAIN_STATE_POSCTL;
-					_internal_state.main_state_changes++;
-				}
-			}
-		}
-
-	} else if ((manual_control_updated && !manual_control_setpoint.valid)
-		   || hrt_elapsed_time(&_last_valid_manual_control_setpoint) > _param_com_rc_loss_t.get() * 1_s) {
-
-		// prohibit stick use in case of reported invalidity or data timeout
-		if (!_status.rc_signal_lost) {
-			_status.rc_signal_lost = true;
-			_status_changed = true;
-
-			mavlink_log_critical(&_mavlink_log_pub, "Manual control lost\t");
-			events::send(events::ID("commander_rc_lost"), {events::Log::Critical, events::LogInternal::Info},
-				     "Manual control lost");
-
-			set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, false, _status);
-		}
-	}
-}
-
 void
 Commander::offboard_control_update()
 {
@@ -80,6 +80,7 @@
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/power_button_state.h>
 #include <uORB/topics/rtl_time_estimate.h>
+#include <uORB/topics/safety.h>
 #include <uORB/topics/system_power.h>
 #include <uORB/topics/telemetry_status.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
@@ -150,8 +151,6 @@ private:

 	void estimator_check();

-	void manual_control_check();
-
 	bool handle_command(const vehicle_command_s &cmd);

 	unsigned handle_command_motor_test(const vehicle_command_s &cmd);
@@ -196,7 +195,6 @@ private:
 		(ParamInt<px4::params::COM_HLDL_LOSS_T>) _param_com_hldl_loss_t,
 		(ParamInt<px4::params::COM_HLDL_REG_T>) _param_com_hldl_reg_t,

-		(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
 		(ParamInt<px4::params::NAV_RCL_ACT>) _param_nav_rcl_act,
 		(ParamFloat<px4::params::COM_RCL_ACT_T>) _param_com_rcl_act_t,
 		(ParamInt<px4::params::COM_RCL_EXCEPT>) _param_com_rcl_except,
@@ -391,6 +389,7 @@ private:

 	geofence_result_s	_geofence_result{};
 	vehicle_land_detected_s	_vehicle_land_detected{};
+	safety_s		_safety{};
 	vtol_vehicle_status_s	_vtol_status{};

 	hrt_abstime _last_wind_warning{0};
@@ -402,7 +401,7 @@ private:
 	vehicle_status_s        _status{};
 	vehicle_status_flags_s  _status_flags{};

-	Safety _safety{};
+	Safety _safety_handler{};

 	WorkerThread _worker_thread;

@@ -417,6 +416,7 @@ private:
 	uORB::Subscription					_vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
 	uORB::Subscription					_manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription					_rtl_time_estimate_sub{ORB_ID(rtl_time_estimate)};
+	uORB::Subscription					_safety_sub{ORB_ID(safety)};
 	uORB::Subscription					_system_power_sub{ORB_ID(system_power)};
 	uORB::Subscription					_vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
 	uORB::Subscription					_vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
@@ -48,35 +48,36 @@ Safety::Safety()
 	_safety_disabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
 }

-bool Safety::safetyButtonHandler()
+void Safety::safetyButtonHandler()
 {
 	if (_safety_disabled) {
-		_button_available = true;
-		_safety_off = true;
+		_safety.safety_switch_available = true;
+		_safety.safety_off = true;

 	} else {

-		if (!_button_available && _safety_button_sub.advertised()) {
-			_button_available = true;
+		if (!_safety.safety_switch_available && _safety_button_sub.advertised()) {
+			_safety.safety_switch_available = true;
 		}

 		button_event_s button_event;

 		while (_safety_button_sub.update(&button_event)) {
-			_safety_off |= button_event.triggered; // triggered safety button activates safety off
+			_safety.safety_off |= button_event.triggered; // triggered safety button activates safety off
 		}
 	}

-	bool safety_changed = _previous_safety_off != _safety_off;
-
-	_previous_safety_off = _safety_off;
-
-	return safety_changed;
-}
-
-void Safety::activateSafety()
-{
-	if (!_safety_disabled) {
-		_safety_off = false;
+	// publish immediately on change, otherwise at 1 Hz for logging
+	if ((hrt_elapsed_time(&_safety.timestamp) >= 1_s) ||
+	    (_safety.safety_off != _previous_safety_off)) {
+		_safety.timestamp = hrt_absolute_time();
+		_safety_pub.publish(_safety);
 	}
+
+	_previous_safety_off = _safety.safety_off;
+}
+
+void Safety::enableSafety()
+{
+	_safety.safety_off = false;
 }
@@ -40,6 +40,7 @@
 #include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/topics/button_event.h>
+#include <uORB/topics/safety.h>

 class Safety
 {
@@ -49,17 +50,15 @@ public:
 	Safety();
 	~Safety() = default;

-	bool safetyButtonHandler();
-	void activateSafety();
-	bool isButtonAvailable() { return _button_available;}
-	bool isSafetyOff() { return _safety_off;}
+	void safetyButtonHandler();
+	void enableSafety();

 private:

 	uORB::Subscription _safety_button_sub{ORB_ID::safety_button};
+	uORB::Publication<safety_s>	_safety_pub{ORB_ID(safety)};

-	bool _button_available{false};		//<! Set to true if a safety button is connected
-	bool _safety_off{false};			//<! Set to true if safety is off
-	bool _previous_safety_off{false};	//<! Previous safety value
-	bool _safety_disabled{false};		//<! Set to true if safety is disabled
+	safety_s _safety{};
+	bool _safety_disabled{false};
+	bool _previous_safety_off{false};
 };
@@ -927,7 +927,7 @@ PARAM_DEFINE_INT32(COM_PREARM_MODE, 0);
 /**
 * Enable force safety
 *
- * Force safety when the vehicle disarms
+ * Force safety when the vehicle disarms. Not supported when safety button used over PX4IO board.
 *
 * @boolean
 * @group Commander
@@ -52,6 +52,7 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/actuator_test.h>
+#include <uORB/topics/safety.h>
 #include <parameters/param.h>

 using namespace time_literals;
@@ -93,6 +94,15 @@ static void set_motor_actuators(uORB::Publication<actuator_test_s> &publisher, f

 int do_esc_calibration_ctrl_alloc(orb_advert_t *mavlink_log_pub)
 {
+	// check safety
+	uORB::SubscriptionData<safety_s> safety_sub{ORB_ID(safety)};
+	safety_sub.update();
+
+	if (safety_sub.get().safety_switch_available && !safety_sub.get().safety_off) {
+		calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Disable safety first");
+		return PX4_ERROR;
+	}
+
 	int	return_code = PX4_OK;
 	uORB::Publication<actuator_test_s> actuator_test_pub{ORB_ID(actuator_test)};
 	// since we publish multiple at once, make sure the output driver subscribes before we publish
@@ -187,6 +197,13 @@ static int do_esc_calibration_ioctl(orb_advert_t *mavlink_log_pub)
 		goto Out;
 	}

+	/* tell IO to switch off safety without using the safety switch */
+	if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0) != PX4_OK) {
+		calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Unable to force safety off");
+		return_code = PX4_ERROR;
+		goto Out;
+	}
+
 	calibration_log_info(mavlink_log_pub, "[cal] Connect battery now");

 	timeout_start = hrt_absolute_time();
@@ -226,6 +243,9 @@ static int do_esc_calibration_ioctl(orb_advert_t *mavlink_log_pub)
 Out:

 	if (fd != -1) {
+		if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_ON, 0) != PX4_OK) {
+			calibration_log_info(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Safety switch still off");
+		}

 		if (px4_ioctl(fd, PWM_SERVO_DISARM, 0) != PX4_OK) {
 			calibration_log_info(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Servos still armed");
@@ -221,8 +221,8 @@ void FailureDetector::updateAttitudeStatus()
 		const float max_roll(fabsf(math::radians(max_roll_deg)));
 		const float max_pitch(fabsf(math::radians(max_pitch_deg)));

-		const bool roll_status = (max_roll > FLT_EPSILON) && (fabsf(roll) > max_roll);
-		const bool pitch_status = (max_pitch > FLT_EPSILON) && (fabsf(pitch) > max_pitch);
+		const bool roll_status = (max_roll > 0.0f) && (fabsf(roll) > max_roll);
+		const bool pitch_status = (max_pitch > 0.0f) && (fabsf(pitch) > max_pitch);

 		hrt_abstime time_now = hrt_absolute_time();

@@ -384,7 +384,7 @@ void FailureDetector::updateMotorStatus(const vehicle_status_s &vehicle_status,

 			// Check for telemetry timeout
 			const hrt_abstime telemetry_age = time_now - cur_esc_report.timestamp;
-			const bool esc_timed_out = telemetry_age > 300_ms;
+			const bool esc_timed_out = telemetry_age > 100_ms;  // TODO: magic number

 			const bool esc_was_valid = _motor_failure_esc_valid_current_mask & (1 << i_esc);
 			const bool esc_timeout_currently_flagged = _motor_failure_esc_timed_out_mask & (1 << i_esc);
@@ -399,40 +399,35 @@ void FailureDetector::updateMotorStatus(const vehicle_status_s &vehicle_status,
 			}

 			// Check if ESC current is too low
-			if (cur_esc_report.esc_current > FLT_EPSILON) {
-				_motor_failure_escs_have_current = true;
+			float esc_throttle = 0.f;
+
+			if (PX4_ISFINITE(actuator_motors.control[i_esc])) {
+				esc_throttle = fabsf(actuator_motors.control[i_esc]);
 			}

-			if (_motor_failure_escs_have_current) {
-				float esc_throttle = 0.f;
+			const bool throttle_above_threshold = esc_throttle > _param_fd_motor_throttle_thres.get();
+			const bool current_too_low = cur_esc_report.esc_current < esc_throttle *
+						     _param_fd_motor_current2throttle_thres.get();

-				if (PX4_ISFINITE(actuator_motors.control[i_esc])) {
-					esc_throttle = fabsf(actuator_motors.control[i_esc]);
+			if (throttle_above_threshold && current_too_low && !esc_timed_out) {
+				if (_motor_failure_undercurrent_start_time[i_esc] == 0) {
+					_motor_failure_undercurrent_start_time[i_esc] = time_now;
 				}

-				const bool throttle_above_threshold = esc_throttle > _param_fd_motor_throttle_thres.get();
-				const bool current_too_low = cur_esc_report.esc_current < esc_throttle *
-							     _param_fd_motor_current2throttle_thres.get();
-
-				if (throttle_above_threshold && current_too_low && !esc_timed_out) {
-					if (_motor_failure_undercurrent_start_time[i_esc] == 0) {
-						_motor_failure_undercurrent_start_time[i_esc] = time_now;
-					}
-
-				} else {
-					if (_motor_failure_undercurrent_start_time[i_esc] != 0) {
-						_motor_failure_undercurrent_start_time[i_esc] = 0;
-					}
+			} else {
+				if (_motor_failure_undercurrent_start_time[i_esc] != 0) {
+					_motor_failure_undercurrent_start_time[i_esc] = 0;
 				}
-
-				if (_motor_failure_undercurrent_start_time[i_esc] != 0
-				    && (time_now - _motor_failure_undercurrent_start_time[i_esc]) > _param_fd_motor_time_thres.get() * 1_ms
-				    && (_motor_failure_esc_under_current_mask & (1 << i_esc)) == 0) {
-					// Set flag
-					_motor_failure_esc_under_current_mask |= (1 << i_esc);
-
-				} // else: this flag is never cleared, as the motor is stopped, so throttle < threshold
 			}
+
+			if (_motor_failure_undercurrent_start_time[i_esc] != 0
+			    && (time_now - _motor_failure_undercurrent_start_time[i_esc]) > _param_fd_motor_time_thres.get() * 1_ms
+			    && (_motor_failure_esc_under_current_mask & (1 << i_esc)) == 0) {
+				// Set flag
+				_motor_failure_esc_under_current_mask |= (1 << i_esc);
+
+			} // else: this flag is never cleared, as the motor is stopped, so throttle < threshold
+
 		}

 		bool critical_esc_failure = (_motor_failure_esc_timed_out_mask != 0 || _motor_failure_esc_under_current_mask != 0);
@@ -129,7 +129,6 @@ private:
 	uint8_t _motor_failure_esc_valid_current_mask{};  // ESC 1-8, true if ESC telemetry was valid at some point
 	uint8_t _motor_failure_esc_timed_out_mask{};      // ESC telemetry no longer available -> failure
 	uint8_t _motor_failure_esc_under_current_mask{};  // ESC drawing too little current -> failure
-	bool _motor_failure_escs_have_current{false}; // true if some ESC had non-zero current (some don't support it)
 	hrt_abstime _motor_failure_undercurrent_start_time[actuator_motors_s::NUM_CONTROLS] {};

 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
@@ -53,7 +53,7 @@
 *
 * Setting this parameter to 0 disables the check
 *
- * @min 0
+ * @min 60
 * @max 180
 * @unit deg
 * @group Failure Detector
@@ -71,7 +71,7 @@ PARAM_DEFINE_INT32(FD_FAIL_R, 60);
 *
 * Setting this parameter to 0 disables the check
 *
- * @min 0
+ * @min 60
 * @max 180
 * @unit deg
 * @group Failure Detector
@@ -556,18 +556,6 @@ mixer:
                            label: 'Direction CCW'
                            function: 'spin-dir'
                            show_as: 'true-if-positive'
-                          - name: 'CA_ROTOR${i}_AX'
-                            label: 'Axis X'
-                            function: 'axisx'
-                            advanced: true
-                          - name: 'CA_ROTOR${i}_AY'
-                            label: 'Axis Y'
-                            function: 'axisy'
-                            advanced: true
-                          - name: 'CA_ROTOR${i}_AZ'
-                            label: 'Axis Z'
-                            function: 'axisz'
-                            advanced: true

            1: # Fixed Wing
                title: 'Fixed Wing'
@@ -43,23 +43,13 @@ void BaroBiasEstimator::predict(const float dt)
 {
 	// State is constant
 	// Predict state covariance only
-	float delta_state_var = _process_var * dt * dt;
-
-	if (isOffsetDetected()) {
-		// A bias in the state has been detected by the innovation sequence check
-		// Boost the process noise until the offset is removed
-		delta_state_var *= _process_var_boost_gain;
-	}
-
-	_state_var += delta_state_var;
+	_state_var += _process_var * dt * dt;
 	constrainStateVar();

 	if (dt > FLT_EPSILON && fabsf(_dt - dt) > 0.001f) {
-		_signed_innov_test_ratio_lpf.setParameters(dt, _innov_sequence_monitnoring_time_constant);
+		_signed_innov_test_ratio_lpf.setParameters(dt, _lpf_time_constant);
 		_dt = dt;
 	}
-
-	_status.bias_var = _state_var;
 }

 void BaroBiasEstimator::constrainStateVar()
@@ -80,7 +70,14 @@ void BaroBiasEstimator::fuseBias(const float measurement, const float measuremen

 	}

-	updateOffsetDetection(innov, innov_test_ratio);
+	if (isLargeOffsetDetected()) {
+		// A bias in the state has been detected by the innovation
+		// sequence check.
+		bumpStateVariance();
+	}
+
+	const float signed_innov_test_ratio = matrix::sign(innov) * innov_test_ratio;
+	_signed_innov_test_ratio_lpf.update(math::constrain(signed_innov_test_ratio, -1.f, 1.f));

 	_status = packStatus(innov, innov_var, innov_test_ratio);
 }
@@ -106,28 +103,14 @@ inline void BaroBiasEstimator::updateStateCovariance(const float K)
 	constrainStateVar();
 }

-inline void BaroBiasEstimator::updateOffsetDetection(const float innov, const float innov_test_ratio)
+inline bool BaroBiasEstimator::isLargeOffsetDetected() const
 {
-	const float signed_innov_test_ratio = matrix::sign(innov) * innov_test_ratio;
-	_signed_innov_test_ratio_lpf.update(math::constrain(signed_innov_test_ratio, -1.f, 1.f));
-
-	if (innov > 0.f) {
-		_time_since_last_positive_innov = 0.f;
-		_time_since_last_negative_innov += _dt;
-
-	} else {
-		_time_since_last_negative_innov = 0.f;
-		_time_since_last_positive_innov += _dt;
-	}
+	return fabsf(_signed_innov_test_ratio_lpf.getState()) > 0.2f;
 }

-inline bool BaroBiasEstimator::isOffsetDetected() const
+inline void BaroBiasEstimator::bumpStateVariance()
 {
-	// There is an offset in the estimate if the average of innovation is statistically too large
-	// or if the sign of the innovation is constantly the same
-	return fabsf(_signed_innov_test_ratio_lpf.getState()) > 0.2f
-	       || (_time_since_last_positive_innov > _innov_sequence_monitnoring_time_constant)
-	       || (_time_since_last_negative_innov > _innov_sequence_monitnoring_time_constant);
+	_state_var += _process_var_boost_gain * _process_var * _dt * _dt;
 }

 inline BaroBiasEstimator::status BaroBiasEstimator::packStatus(const float innov, const float innov_var,
@@ -78,6 +78,7 @@ public:
 	void setProcessNoiseStdDev(float process_noise)
 	{
 		_process_var = process_noise * process_noise;
+		_state_drift_rate = 3.f * process_noise;
 	}
 	void setBiasStdDev(float state_noise) { _state_var = state_noise * state_noise; }
 	void setInnovGate(float gate_size) { _gate_size = gate_size; }
@@ -91,6 +92,7 @@ public:
 private:
 	float _state{0.f};
 	float _state_max{100.f};
+	float _state_drift_rate{0.005f}; ///< in m/s
 	float _dt{0.01f};

 	float _gate_size{3.f}; ///< Used for innovation filtering (innovation test ratio)
@@ -98,10 +100,7 @@ private:
 	float _process_var{25.0e-6f}; ///< State process noise variance (m^2/s^2)
 	float _state_var_max{2.f}; ///< Used to constrain the state variance (m^2)

-	// Innovation sequence monitoring; used to detect a bias in the state
-	AlphaFilter<float> _signed_innov_test_ratio_lpf;
-	float _time_since_last_negative_innov{0.f};
-	float _time_since_last_positive_innov{0.f};
+	AlphaFilter<float> _signed_innov_test_ratio_lpf; ///< innovation sequence monitoring; used to detect a bias in the state

 	status _status;

@@ -119,12 +118,12 @@ private:
 	void updateState(float K, float innov);
 	void updateStateCovariance(float K);

-	void updateOffsetDetection(float innov, float innov_test_ratio);
-	bool isOffsetDetected() const;
+	bool isLargeOffsetDetected() const;
+	void bumpStateVariance();

 	status packStatus(float innov, float innov_var, float innov_test_ratio) const;

-	static constexpr float _innov_sequence_monitnoring_time_constant{10.f}; ///< in seconds
+	static constexpr float _lpf_time_constant{10.f}; ///< in seconds
 	static constexpr float _process_var_boost_gain{1.0e3f};
 };
 #endif // !EKF_BARO_BIAS_ESTIMATOR_HPP
@@ -4,9 +4,9 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 190000,1,-0.0105,-0.0107,-0.0167,-0.000387,-0.000237,-0.00902,-2.26e-05,-1e-05,-0.000287,0,0,0,0,0,0,0.192,0.00189,0.404,0,0,0,0,0,1.5e-06,0.00251,0.00251,0.00338,25,25,0.563,100,100,0.8,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
 290000,1,-0.0106,-0.011,-0.0167,0.0006,0.000288,-0.0229,-2.94e-05,-3.64e-05,-0.00185,0,0,0,0,0,0,0.192,0.00189,0.404,0,0,0,0,0,1.21e-06,0.00256,0.00256,0.00222,25,25,0.562,101,101,0.337,1e-06,1e-06,9.97e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
 390000,1,-0.0106,-0.0113,-0.0167,0.00209,0.000238,-0.0375,6.41e-05,2.46e-05,-0.00489,-1.63e-13,-6.23e-13,-3.16e-15,3.41e-12,-8.91e-13,-9.32e-14,0.192,0.00189,0.404,0,0,0,0,0,1.1e-06,0.00267,0.00267,0.00169,24.8,24.8,0.557,0.29,0.29,0.209,1e-06,1e-06,9.88e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
-490000,1,-0.0107,-0.0117,-0.0167,0.00463,-0.000559,-0.0529,0.000405,-6.64e-06,-0.00941,-1.63e-13,-6.23e-13,-3.16e-15,3.41e-12,-8.91e-13,-9.32e-14,0.192,0.00189,0.404,0,0,0,0,0,1.08e-06,0.00282,0.00282,0.00141,24.9,24.9,0.544,0.739,0.739,0.159,1e-06,1e-06,9.73e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
-590000,1,-0.0107,-0.012,-0.0167,0.00418,7.22e-05,-0.0661,0.000239,-5.36e-06,-0.0153,-2.19e-11,-5.29e-09,-4.94e-11,1.28e-08,-5.1e-11,-2.89e-10,0.192,0.00189,0.404,0,0,0,0,0,1.11e-06,0.00302,0.00302,0.00125,7.8,7.8,0.527,0.267,0.267,0.141,1e-06,1e-06,9.49e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
-690000,1,-0.0108,-0.0123,-0.0167,0.00685,-0.000979,-0.0813,0.000761,-7.95e-05,-0.0227,-2.19e-11,-5.29e-09,-4.94e-11,1.28e-08,-5.1e-11,-2.89e-10,0.192,0.00189,0.404,0,0,0,0,0,1.17e-06,0.00328,0.00328,0.00116,7.87,7.87,0.497,0.556,0.556,0.13,1e-06,1e-06,9.16e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
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--- a/Show More
+++ b/Show More