Update metadata

2026-06-08 13:40:04 +08:00 · 2025-08-08 08:42:25 +10:00
1825 changed files with 15413 additions and 94085 deletions
@@ -1,24 +0,0 @@
-runners:
-  x86-small-runner:
-    cpu: [1, 2]
-    ram: [1, 4]
-    disk: default
-    spot: price-capacity-optimized
-    image: ubuntu24-full-x64
-    extras: s3-cache
-  x86-firmware-builder:
-    cpu: [4, 8]
-    ram: [8, 16]
-    disk: default
-    family: ["c7i", "m7i", "r7i"]
-    spot: price-capacity-optimized
-    image: ubuntu24-full-x64
-    extras: s3-cache
-  arm64-firmware-builder:
-    cpu: [4, 8]
-    ram: [8, 16]
-    disk: default
-    family: ["c7g", "m7g", "r7g"]
-    spot: price-capacity-optimized
-    image: ubuntu24-full-arm64
-    extras: s3-cache
@@ -26,15 +26,11 @@ concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

-permissions:
-  contents: write
-  actions: read
-
 jobs:
  group_targets:
    name: Scan for Board Targets
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
@@ -42,14 +38,6 @@ jobs:
    steps:
      - uses: actions/checkout@v4

-      - name: Cache Python pip
-        uses: actions/cache@v4
-        with:
-          path: ~/.cache/pip
-          key: ${{ runner.os }}-pip-${{ hashFiles('**./Tools/setup/requirements.txt') }}
-          restore-keys: |
-            ${{ runner.os }}-pip-
-
      - name: Update python packaging to avoid canonicalize_version() error
        run: |
            pip3 install -U packaging
@@ -60,15 +48,12 @@ jobs:
          path: "./Tools/setup/requirements.txt"

      - id: set-matrix
-        name: Generate Build Matrix
-        run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT
+        run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"

      - id: set-timestamp
-        name: Save Current Timestamp
-        run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"

      - id: set-branch
-        name: Save Current Branch Name
        run: |
          echo "branchname=${{
            github.event_name == 'pull_request' &&
@@ -85,7 +70,7 @@ jobs:
          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"

  setup:
-    name: Build [${{ matrix.runner }}][${{ matrix.group }}]
+    name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
    # runs-on: ubuntu-latest
    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
    needs: group_targets
@@ -95,7 +80,6 @@ jobs:
    container:
      image: ${{ matrix.container }}
    steps:
-      - uses: runs-on/action@v2
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
@@ -103,24 +87,14 @@ jobs:
      - name: Git ownership workaround
        run: git config --system --add safe.directory '*'

-      # ccache key breakdown:
-      # ccache-<system os>-<system arch>-<builder group>-
-      # ccache-<linux>-<arm64>-<aarch64-0>-
-      # ccache-<linux>-<x64>-<nuttx-0>-
-      - name: Cache Restore from Key
-        id: cc_restore
-        uses: actions/cache/restore@v4
+      - name: Setup ccache
+        uses: actions/cache@v4
        with:
          path: ~/.ccache
-          key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
-          restore-keys: |
-            ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-
-            ccache-
+          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}

-      - name: Cache Config and Stats
+      - name: Configure ccache
        run: |
            mkdir -p ~/.ccache
            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
@@ -128,11 +102,10 @@ jobs:
            echo "compression_level = 6" >> ~/.ccache/ccache.conf
            echo "max_size = 120M" >> ~/.ccache/ccache.conf
            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            echo "compiler_check = content" >> ~/.ccache/ccache.conf
            ccache -s
            ccache -z

-      - name: Building Artifacts for [${{ matrix.targets }}]
+      - name: Building [${{ matrix.group }}]
        run: |
            ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}

@@ -146,27 +119,15 @@ jobs:
          name: px4_${{matrix.group}}_build_artifacts
          path: artifacts/

-      - name: Cache Post Build Stats
-        if: always()
-        run: |
-            ccache -s
-            ccache -z
-
      - name: Cache Save
-        if: always()
-        uses: actions/cache/save@v4
-        with:
-          path: ~/.ccache
-          key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+        run: ccache -s

  artifacts:
-    name: Upload Artifacts
+    name: Upload Artifacts to S3
    # runs-on: ubuntu-latest
    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/v') || contains(fromJSON('["main","stable","beta"]'), needs.group_targets.outputs.branchname)
-    outputs:
-      uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
+    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
    steps:
      - name: Download Artifacts
        uses: actions/download-artifact@v4
@@ -174,36 +135,11 @@ jobs:
          path: artifacts/
          merge-multiple: true

-      - name: Choose Upload Location
-        id: upload-location
+      - name: Branch Name
        run: |
-          # Determine upload location based on branch or tag with the following considerations:
-          # Destination: AWS S3 bucket px4-travis in folder Firmware/
-          # - If branch is main -> upload to master/
-          #   - Older versions of QGC are hardocded to look for master/
-          # - If branch is stable or beta -> upload to stable/ or beta/
-          # - If a tag vX.Y.Z -> upload to vX.Y.Z/
-          #   - Also update stable/ to point to the same version
-          #.  - Older versions of QGC are hardocded to look for stable/
-          # - If a pull request -> do not upload
-          set -euo pipefail
+          echo "${{ needs.group_targets.outputs.branchname }}"

-          ref="${GITHUB_REF}"
-          branch=${{ needs.group_targets.outputs.branchname  }}
-          location="$branch"
-
-          if [[ "$branch" == "main" ]]; then
-            location="master"
-          fi
-
-          if [[ "$ref" == refs/tags/v[0-9]* ]]; then
-            tag="${ref#refs/tags/}"
-            location="$tag"
-          fi
-
-          echo "uploadlocation=$location" >> $GITHUB_OUTPUT
-
-      - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
+      - name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
        uses: jakejarvis/s3-sync-action@master
        with:
          args: --acl public-read
@@ -213,30 +149,25 @@ jobs:
          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
          AWS_REGION: 'us-west-1'
          SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/
+          DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/

-      # if we are uploading artifacts to a versioned folder
-      # we should also update the stable folder in the s3 bucket
-      - name: Uploading Artifacts to S3 [stable]
-        uses: jakejarvis/s3-sync-action@master
-        if: startsWith(github.ref, 'refs/tags/v')
+  release:
+    name: Create Release and Upload Artifacts
+    permissions:
+      contents: write
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    needs: [setup, group_targets]
+    if: startsWith(github.ref, 'refs/tags/')
+    steps:
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
        with:
-          args: --acl public-read
-        env:
-          AWS_S3_BUCKET: 'px4-travis'
-          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-          AWS_REGION: 'us-west-1'
-          SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/stable/
+          path: artifacts/
+          merge-multiple: true

-      # if build is a release triggered by a versioned tag then create a github release
-      # and upload the build artifacts. A draft release is created so that the release
-      # can be reviewed before publishing
-      - name: Upload Artifacts to GitHub Release
+      - name: Upload Binaries to Release
        uses: softprops/action-gh-release@v2
-        if: startsWith(github.ref, 'refs/tags/v')
        with:
          draft: true
          files: artifacts/*.px4
-          name: ${{ steps.upload-location.outputs.uploadlocation }}
@@ -29,7 +29,7 @@ jobs:
      fail-fast: false
      matrix:
        version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
    container:
      image: ${{ matrix.version }}
      volumes:
@@ -39,7 +39,7 @@ jobs:
    name: Set Tags and Variables
    permissions:
      contents: read
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    outputs:
      px4_version: ${{ steps.px4_version.outputs.px4_version }}
      meta_tags: ${{ steps.meta.outputs.tags }}
@@ -87,7 +87,7 @@ jobs:
          - platform: linux/amd64
            arch: amd64
            runner: x64
-    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    steps:
      - uses: runs-on/action@v1
      - uses: actions/checkout@v4
@@ -130,15 +130,15 @@ jobs:
          load: false
          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
          provenance: false
-          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
-          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}
+          cache-from: type=gha,version=1
+          cache-to: type=gha,version=1,mode=max

  deploy:
    name: Deploy To Registry
    permissions:
      contents: read
      packages: write
-    runs-on: [runs-on,"runner=4cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    needs: [build, setup]
    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
    steps:
@@ -1,6 +1,19 @@
-name: Docs - Deploy PX4 User Guide to Github pages (Manual)
+name: Docs - Deploy PX4 User Guide

 on:
+  push:
+    branches:
+      - 'main'
+      - 'release/**'
+    paths:
+      - 'docs/en/**'
+  pull_request:
+    branches:
+      - '**'
+    paths:
+      - 'docs/en/**'
+
+  # Allows you to run this workflow manually from the Actions tab
  workflow_dispatch:

 # Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
@@ -20,7 +33,7 @@ env:

 jobs:
  build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    steps:
      - uses: runs-on/action@v1
      - name: Checkout
@@ -55,7 +68,7 @@ jobs:
  deploy:
    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
    needs: build
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]

    steps:
      - name: Download Artifact
@@ -1,116 +0,0 @@
-name: Docs - Deploy PX4 User Guide to AWS
-
-on:
-  push:
-    branches:
-      - "main"
-      - "release/**"
-    paths:
-      - "docs/en/**"
-      - "docs/zh/**"
-      - "docs/uk/**"
-      - "docs/ko/**"
-  pull_request:
-    paths:
-      - "docs/en/**"
-      - "docs/zh/**"
-      - "docs/uk/**"
-      - "docs/ko/**"
-
-  workflow_dispatch:
-
-permissions:
-  contents: read
-  actions: read
-  id-token: write # for AWS OIDC
-
-concurrency:
-  group: docs-deploy
-  cancel-in-progress: false
-
-jobs:
-  build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    outputs:
-      branchname: ${{ steps.set-branch.outputs.branchname }}
-      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-
-      - id: set-branch
-        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
-
-      - id: set-version
-        run: |
-          branch="${{ steps.set-branch.outputs.branchname }}"
-          if [[ "$branch" == "main" ]]; then
-            version="main"
-          else
-            version="v${branch#release/}"
-          fi
-          echo "releaseversion=$version" >> $GITHUB_OUTPUT
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        env:
-          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
-        run: |
-          npm run docs:build_ubuntu
-          touch .vitepress/dist/.nojekyll
-          npm run docs:sitemap
-
-      - name: Upload artifact
-        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  deploy:
-    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-    needs: build
-    runs-on: ubuntu-latest
-
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Configure AWS from OIDC
-        uses: aws-actions/configure-aws-credentials@v4
-        with:
-          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
-          aws-region: us-west-2
-
-      - name: Sanity check AWS credentials
-        run: aws sts get-caller-identity
-
-      - name: Upload HTML with short cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*" --include "*.html" \
-            --cache-control "public, max-age=60"
-
-      - name: Upload assets with long cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*.html" \
-            --cache-control "public, max-age=86400, immutable"
@@ -29,7 +29,7 @@ jobs:

      - name: Get changed english doc files
        id: get_changed_markdown_english
-        uses: tj-actions/changed-files@v46.0.5
+        uses: tj-actions/changed-files@v35.9.2
        with:
          json: true
          base_sha: "${{ github.event.pull_request.base.sha }}"
@@ -42,24 +42,14 @@ jobs:

      - name: Save JSON file containing files to link check
        run: |
-          echo "$ALL_CHANGED_FILES"
-          # echo "$ALL_CHANGED_FILES" > ./logs/prFiles.json
-          echo "$ALL_CHANGED_FILES" | sed 's/\\//g' | jq '.' > ./logs/prFiles.json
-        env:
-          ALL_CHANGED_FILES: ${{ steps.get_changed_markdown_english.outputs.all_changed_files }}
+          echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}"
+          echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}" > ./logs/prFiles.json

      - name: Run link checker
        id: link-check
        run: |
          npm -g install markdown_link_checker_sc@0.0.138
-          markdown_link_checker_sc \
-            -r "$GITHUB_WORKSPACE" \
-            -d docs \
-            -e en \
-            -f ./logs/prFiles.json \
-            -i assets \
-            -u docs.px4.io/main/ \
-            > ./logs/errorsFilteredByPrPages.md
+          markdown_link_checker_sc -r ${{ github.workspace }} -d docs -e en -f ./logs/prFiles.json -i assets -u docs.px4.io/main/ > ./logs/errorsFilteredByPrPages.md
          mkdir -p ./pr
          cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md

@@ -70,15 +60,14 @@ jobs:
          path: ./logs/errorsFilteredByPrPages.md

      - name: Echo Errors by Page
-        run: echo "$ERRORS"
-        env:
-          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
+        run: echo "${{ steps.read-errors-by-page.outputs.content }}"

      - name: Save PR number
-        run: echo "$PR_NUMBER" > ./pr/pr_number
        env:
          PR_NUMBER: ${{ github.event.number }}
-
+        run: |
+          #mkdir -p ./pr
+          echo $PR_NUMBER > ./pr/pr_number
      - uses: actions/upload-artifact@v4
        with:
          name: pr_number
@@ -4,7 +4,6 @@ on:
    workflows: ["Docs - Check for flaws in PX4 Guide Source"]
    types:
      - completed
-
 jobs:
  comment:
    permissions:
@@ -57,11 +56,8 @@ jobs:

      - name: File detail info
        run: |
-          echo "$ERRORS"
-          echo "$PRNUM"
-        env:
-          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
-          PRNUM: ${{ steps.read-error-pr-number.outputs.content }}
+          echo "${{ steps.read-errors-by-page.outputs.content }}"
+          echo "${{ steps.read-error-pr-number.outputs.content }}"

      - name: Create or update comment
        id: comment_to_pr
@@ -48,7 +48,6 @@ jobs:
        run: |
          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
          cd _emscripten_sdk
-          git checkout 4.0.15
          ./emsdk install latest
          ./emsdk activate latest

@@ -24,7 +24,7 @@ env:
 jobs:
  analyze_flash:
    name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
    strategy:
@@ -97,7 +97,7 @@ jobs:
  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
  post_pr_comment:
    name: Publish Results
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: [analyze_flash]
    env:
      V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
@@ -5,7 +5,6 @@ on:

 permissions:
  contents: read
-  issues: write # for JasonEtco/create-an-issue

 env:
  RUNS_IN_DOCKER: true
@@ -22,7 +22,7 @@ concurrency:
 jobs:
  check_itcm:
    name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
    strategy:
@@ -41,10 +41,6 @@ jobs:
            scripts: >
              boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
              boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
-          - target: nxp_mr-tropic
-            scripts: >
-              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
    steps:
      - uses: actions/checkout@v4
        with:
@@ -23,7 +23,7 @@ concurrency:

 jobs:
  build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
      image: px4io/px4-dev-ros2-galactic:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -21,7 +21,7 @@ concurrency:
 jobs:
  build_and_test:
    name: Build and test
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    strategy:
      fail-fast: false
      matrix:
@@ -24,7 +24,7 @@ concurrency:
 jobs:
  build:
    name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
      image: px4io/px4-dev-simulation-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -7,15 +7,10 @@ jobs:
  stale:
    runs-on: ubuntu-latest
    steps:
-      - uses: actions/stale@v10
+      - uses: actions/stale@v8
        with:
-          operations-per-run: 250
-          days-before-stale: 90
-          days-before-close: 30
+          days-before-stale: 30
+          days-before-close: -1
          stale-issue-label: 'stale'
          stale-pr-label: 'stale'
          remove-stale-when-updated: true
-          stale-issue-message: 'This issue has been marked as stale due to 90 days of inactivity. If no further activity occurs, it will be automatically closed in 30 days. Please leave a comment, add a reaction, make an update, or remove the stale label if you’d like to keep it open.'
-          close-issue-message: 'This issue has been closed due to prolonged inactivity after being marked as stale. If you believe this was closed in error or the topic is still relevant, please feel free to reopen it or create a new issue.'
-          stale-pr-message: 'This PR was identified as stale and it will be closed in 30 days unless any activity is detected.'
-          close-pr-message: 'This pull request has been closed after being marked as stale with no further activity. Thank you for the time and effort you put into this contribution. If you’d like to continue the discussion or update the work, please feel free to reopen it or submit a new PR.'
@@ -92,14 +92,9 @@
 [submodule "test/fuzztest"]
 	path = test/fuzztest
 	url = https://github.com/google/fuzztest.git
-	branch = main
 [submodule "src/lib/tensorflow_lite_micro/tflite_micro"]
 	path = src/lib/tensorflow_lite_micro/tflite_micro
 	url = https://github.com/PX4/tflite-micro.git
-	branch = main
 [submodule "src/drivers/ins/microstrain/mip_sdk"]
 	path = src/drivers/ins/microstrain/mip_sdk
 	url = https://github.com/PX4/LORD-MicroStrain_mip_sdk.git
-[submodule "src/drivers/ins/sbgecom/sbgECom"]
-	path = src/drivers/ins/sbgecom/sbgECom
-	url = https://github.com/PX4/sbgECom.git
@@ -36,11 +36,6 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_test
-    px4_sitl_zenoh:
-      short: px4_sitl_zenoh
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_test
    px4_io-v2_default:
      short: px4_io-v2
      buildType: MinSizeRel
@@ -141,11 +136,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-flow_canbootloader
-    ark_can-flow-mr_default:
-      short: ark_can-flow-mr_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow-mr_default
    ark_can-flow-mr_canbootloader:
      short: ark_can-flow-mr_canbootloader
      buildType: MinSizeRel
@@ -201,26 +191,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_cannode_canbootloader
-    ark_dist_default:
-      short: ark_dist_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_dist_default
-    ark_dist_canbootloader:
-      short: ark_dist_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_dist_canbootloader
-    ark_f9p-gps_default:
-      short: ark_f9p-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_f9p-gps_default
-    ark_f9p-gps_canbootloader:
-      short: ark_f9p-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_f9p-gps_canbootloader
    ark_fmu-v6x_bootloader:
      short: ark_fmu-v6x_bootloader
      buildType: MinSizeRel
@@ -241,16 +211,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_fpv_default
-    ark_mag_canbootloader:
-      short: ark_mag_canbootloader
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: ark_mag_canbootloader
-    ark_mag_default:
-      short: ark_mag_default
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: ark_mag_default
    ark_pi6x_bootloader:
      short: ark_pi6x_bootloader
      buildType: MinSizeRel
@@ -261,16 +221,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_pi6x_default
-    ark_x20-gps_default:
-      short: ark_x20-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_x20-gps_default
-    ark_x20-gps_canbootloader:
-      short: ark_x20-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_x20-gps_canbootloader
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
@@ -316,16 +266,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_7-nano_default
-    cuav_fmu-v6x_default:
-      short: cuav_fmu-v6x
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_fmu-v6x_default
-    cuav_x25_default:
-      short: cuav_x25-evo
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_x25-evo_default
    cubepilot_cubeorange_test:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
@@ -421,16 +361,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: micoair_h743-v2_default
-    micoair_h743-lite_bootloader:
-      short: micoair_h743-lite_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-lite_bootloader
-    micoair_h743-lite_default:
-      short: micoair_h743-lite
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-lite_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -481,16 +411,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: nxp_mr-canhubk3_fmu
-    nxp_mr-tropic_default:
-      short: nxp_mr-tropic_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-tropic_default
-    nxp_mr-tropic_bootloader:
-      short: nxp_mr-tropic_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-tropic_bootloader
    nxp_tropic-community_default:
      short: nxp_tropic-community_default
      buildType: MinSizeRel
@@ -521,13 +441,3 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: x-mav_ap-h743v2_default
-    svehicle_e2_bootloader:
-      short: svehicle_e2_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: svehicle_e2_bootloader
-    svehicle_e2_default:
-      short: svehicle_e2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: svehicle_e2_default
@@ -43,7 +43,7 @@
        "files.watcherExclude": {
                "**/build/**": true
        },
-        "git.detectSubmodulesLimit": 25,
+        "git.detectSubmodulesLimit": 20,
        "git.ignoreLimitWarning": true,
        "githubPullRequests.defaultMergeMethod": "squash",
        "githubPullRequests.telemetry.enabled": false,
@@ -73,11 +73,6 @@ menu "Toolchain"
        help
            relative path to the ROMFS root directory

-    config BOARD_ADDITIONAL_INIT
-        string "Additional init file"
-        help
-            additional configurable init file to include in the ROMFS
-
    config BOARD_IO
        string "IO board name"
        default "px4_io-v2_default"
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2025, PX4 Development Team
+Copyright (c) 2012 - 2023, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -19,7 +19,7 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
 | Matthias Grob | Multirotor | [@MaEtUgR](https://github.com/MaEtUgR) | maetugr |
 | Silvan Fuhrer | Fixed-Wing / VTOL | [@sfuhrer](https://github.com/sfuhrer) | sfuhrer |
 | Christian Friedrich | Rover | [@chfriedrich98](https://github.com/chfriedrich98) | christian982564 |
-| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <roque@caltech.edu>
+| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <padr@kth.se>
 | Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>


@@ -325,13 +325,9 @@ bootloaders_update: \
 	ark_fmu-v6x_bootloader \
 	ark_fpv_bootloader \
 	ark_pi6x_bootloader \
-	auterion_fmu-v6s_bootloader \
-	auterion_fmu-v6x_bootloader \
 	cuav_nora_bootloader \
 	cuav_x7pro_bootloader \
 	cuav_7-nano_bootloader \
-	cuav_fmu-v6x_bootloader \
-	cuav_x25-evo_bootloader \
 	cubepilot_cubeorange_bootloader \
 	cubepilot_cubeorangeplus_bootloader \
 	hkust_nxt-dual_bootloader \
@@ -346,13 +342,11 @@ bootloaders_update: \
        micoair_h743_bootloader \
        micoair_h743-aio_bootloader \
 	micoair_h743-v2_bootloader \
-	micoair_h743-lite_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \
 	mro_ctrl-zero-h7-oem_bootloader \
 	mro_pixracerpro_bootloader \
-	narinfc_h7_bootloader \
 	px4_fmu-v6c_bootloader \
 	px4_fmu-v6u_bootloader \
 	px4_fmu-v6x_bootloader \
@@ -514,7 +508,6 @@ validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
 	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
-	-not -path "$(SRC_DIR)/src/modules/zenoh/dds_topics.yaml" \
 	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
@@ -85,32 +85,10 @@ endif()
 if(PX4_ETHERNET)
 	set(added_arguments ${added_arguments} --ethernet)
 endif()
-# Check if board has an rc.board_airframes file to filter airframes
-set(board_airframes_file "${PX4_BOARD_DIR}/init/rc.board_airframes")
-set(airframes_whitelist "")
-if(EXISTS "${board_airframes_file}")
-	message(STATUS "ROMFS: Using board-specific airframes list: ${board_airframes_file}")
-	file(STRINGS "${board_airframes_file}" airframes_whitelist)
-	# Remove comments and empty lines
-	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*#")
-	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*$")
-endif()
-
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)
 	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
-
-	# If we have an airframes whitelist, filter airframe files
-	if(airframes_whitelist AND romfs_file_rel MATCHES "^init.d/airframes/")
-		# Extract just the filename
-		get_filename_component(airframe_name "${romfs_file_rel}" NAME)
-		# Check if it's in the whitelist
-		if(NOT "${airframe_name}" IN_LIST airframes_whitelist)
-			continue()
-		endif()
-	endif()
-
 	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
 endforeach()
 # copy the ROMFS files by creating a tar and extracting it to the build
@@ -224,31 +202,6 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})

 endforeach()

-if(config_additional_init)
-	if(EXISTS "${PX4_BOARD_DIR}/init/${config_additional_init}")
-		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${config_additional_init})
-		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/rc.additional_init")
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/init.d/rc.additional_init
-				${config_additional_init}.stamp
-			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${config_additional_init} ${romfs_gen_root_dir}/init.d/rc.additional_init
-			COMMAND ${CMAKE_COMMAND} -E touch ${config_additional_init}.stamp
-			DEPENDS
-				${PX4_BOARD_DIR}/init/${config_additional_init}
-				romfs_copy.stamp
-			COMMENT "ROMFS: copying ${config_additional_init}"
-		)
-
-		list(APPEND extras_dependencies
-			${config_additional_init}.stamp
-			)
-	else()
-		message(FATAL_ERROR "BOARD_ADDITIONAL_INIT file not found at: ${PX4_BOARD_DIR}/init/${config_additional_init}")
-	endif()
-endif()
-

 # board extras
 set(OPTIONAL_BOARD_EXTRAS)
@@ -56,17 +56,6 @@ then
 fi
 unset BOARD_RC_DEFAULTS

-#
-# Optional additional init file: rc.additional_init
-#
-set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
-if [ -f $BOARD_RC_ADDITIONAL_INIT ]
-then
-	echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
-	. $BOARD_RC_ADDITIONAL_INIT
-fi
-unset BOARD_RC_ADDITIONAL_INIT
-
 #
 # Start system state indicator.
 #
@@ -27,6 +27,7 @@ param set-default SIH_KDV 0.2
 param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)

+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -44,6 +44,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -46,6 +46,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -46,6 +46,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -30,6 +30,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -38,6 +38,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -44,6 +44,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -35,6 +35,8 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -35,6 +35,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -46,6 +46,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -43,6 +43,8 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -48,6 +48,8 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -53,6 +53,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default COM_PREARM_MODE 2

 param set-default CA_ROTOR_COUNT 1
@@ -48,6 +48,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1

 param set-default CA_SV_CS_COUNT 6
@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Generic Ackermann Rover
+# @name Rover Ackermann
 # @type Rover
 # @class Rover

@@ -14,32 +14,30 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default NAV_ACC_RAD 0.5

 # Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.5
+param set-default RA_WHEEL_BASE 0.321
 param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 1.5
+param set-default RA_ACC_RAD_MAX 3
 param set-default RA_MAX_STR_ANG 0.5236
 param set-default RA_STR_RATE_LIM 360

-# Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 130
-param set-default RO_YAW_ACCEL_LIM 800
-param set-default RO_YAW_DECEL_LIM 800
-param set-default RO_YAW_RATE_CORR 1
-param set-default RO_YAW_EXPO 0.85
-param set-default RO_YAW_SUPEXPO 0.3
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 15
+param set-default RO_MAX_THR_SPEED 3.1

-# Attitude Control Parameters
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 1
+param set-default RO_YAW_RATE_LIM 180
+param set-default RO_YAW_RATE_CORR 1
+
+# Rover Attitude Control Parameters
 param set-default RO_YAW_P 3

-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 4
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 3.1
-param set-default RO_SPEED_LIM 2.5
-param set-default RO_SPEED_I 0.01
+# Rover Velocity Control Parameters
+param set-default RO_SPEED_LIM 3
+param set-default RO_SPEED_I 0.1
 param set-default RO_SPEED_P 1
 param set-default RO_SPEED_RED 1

@@ -50,8 +48,8 @@ param set-default PP_LOOKAHD_MIN 1

 # Wheels
 param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 70
-param set-default SIM_GZ_WH_MAX1 130
+param set-default SIM_GZ_WH_MIN1 0
+param set-default SIM_GZ_WH_MAX1 200
 param set-default SIM_GZ_WH_DIS1 100

 # Steering
@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Generic Mecanum Rover
+# @name Aion Robotics R1 Rover
 # @type Rover
 # @class Rover

@@ -7,15 +7,14 @@

 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_mecanum}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

 param set-default NAV_ACC_RAD 0.5

 # Mecanum Parameters
-param set-default RM_WHEEL_TRACK 0.6
-param set-default RM_YAW_STK_GAIN 0.6
+param set-default RM_WHEEL_TRACK 0.3

 # Rover Control Parameters
 param set-default RO_ACCEL_LIM 3
@@ -30,21 +29,15 @@ param set-default RO_YAW_RATE_LIM 120
 param set-default RO_YAW_ACCEL_LIM 240
 param set-default RO_YAW_DECEL_LIM 1000
 param set-default RO_YAW_RATE_CORR 1.75
-param set-default RO_YAW_EXPO 0.85
-param set-default RO_YAW_SUPEXPO 0.3

 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5

-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 4
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 3.1
-param set-default RO_SPEED_LIM 2.5
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 0.5
+# Rover Velocity Control Parameters
+param set-default RO_SPEED_LIM 2
+param set-default RO_SPEED_I 0.5
+param set-default RO_SPEED_P 1
+param set-default RO_SPEED_RED 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 0.5
@@ -55,24 +48,24 @@ param set-default PP_LOOKAHD_MIN 1
 param set-default SENS_EN_MAGSIM 1

 # Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 104 # left wheel back
+param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
 param set-default SIM_GZ_WH_MIN1 70
 param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100

-param set-default SIM_GZ_WH_FUNC2 103 # right wheel back
+param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
 param set-default SIM_GZ_WH_MIN2 70
 param set-default SIM_GZ_WH_MAX2 130
 param set-default SIM_GZ_WH_DIS2 100

-param set-default SIM_GZ_WH_FUNC3 102 # left wheel front
+param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
 param set-default SIM_GZ_WH_MIN3 70
 param set-default SIM_GZ_WH_MAX3 130
 param set-default SIM_GZ_WH_DIS3 100

-param set-default SIM_GZ_WH_FUNC4 101 # right wheel front
+param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
 param set-default SIM_GZ_WH_MIN4 70
 param set-default SIM_GZ_WH_MAX4 130
 param set-default SIM_GZ_WH_DIS4 100

-param set-default SIM_GZ_WH_REV 0
+param set-default SIM_GZ_WH_REV 10
@@ -17,7 +17,6 @@ param set-default NAV_ACC_RAD 0.5
 param set-default RD_WHEEL_TRACK 0.6
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.174533
-param set-default RD_YAW_STK_GAIN 0.6

 # Rate Control Parameters
 param set-default RO_YAW_RATE_I 0.01
@@ -26,8 +25,6 @@ param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 400
 param set-default RO_YAW_DECEL_LIM 800
 param set-default RO_YAW_RATE_CORR 1
-param set-default RO_YAW_EXPO 0.85
-param set-default RO_YAW_SUPEXPO 0.3

 # Attitude Control Parameters
 param set-default RO_YAW_P 5
@@ -34,6 +34,7 @@ param set-default COM_LOW_BAT_ACT 0
 param set-default NAV_DLL_ACT 0
 param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2

 # disable attitude failure detection
 param set-default FD_FAIL_P 0
@@ -26,6 +26,7 @@ param set-default TRIG_INTERFACE 3
 param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
+param set-default MAV_PROTO_VER 2

 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 6
@@ -1,21 +1,10 @@
 #!/bin/sh
 #
-# @name KTH-ATMOS
+# @name 3DoF Spacecraft Model
 #
-# @type Free-Flyer
-# @class Spacecraft
+# @type 2D Freeflyer with 8 thrusters - Planar motion
 #
-# @output Motor1 back left thruster, +x thrust
-# @output Motor2 front left thruster, -x thrust
-# @output Motor3 back right thruster, +x thrust
-# @output Motor4 front right thruster, -x thrust
-# @output Motor5 front left thruster, +y thrust
-# @output Motor6 front right thruster, -y thrust
-# @output Motor7 back left thruster, +y thrust
-# @output Motor8 back right thruster, -y thrust
-#
-# @maintainer discower-io
-# @url https://atmos.discower.io
+# @maintainer Pedro Roque <padr@kth.se>
 #

 . ${R}etc/init.d/rc.sc_defaults
@@ -45,6 +34,7 @@ param set-default COM_LOW_BAT_ACT 0
 param set-default NAV_DLL_ACT 0
 param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2

 # disable attitude failure detection
 param set-default FD_FAIL_P 0
@@ -80,8 +80,10 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
+	4012_gz_rover_ackermann
 	4013_gz_x500_lidar_2d
 	4014_gz_x500_mono_cam_down
+	4015_gz_r1_rover_mecanum
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
 	4018_gz_quadtailsitter
@@ -112,8 +114,6 @@ px4_add_romfs_files(
 	17002_flightgear_tf-g2

 	50000_gz_rover_differential
-	51000_gz_rover_ackermann
-	52000_gz_rover_mecanum

 	60002_gz_uuv_bluerov2_heavy

@@ -173,6 +173,7 @@ param set-default COM_RC_IN_MODE 1
 param set-default EKF2_REQ_GPS_H 0.5

 param set-default IMU_GYRO_FFT_EN 1
+param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets

 param set-default -s MC_AT_EN 1

@@ -323,11 +324,6 @@ fi

 uxrce_dds_client start -t udp -p $uxrce_dds_port $uxrce_dds_ns

-if param greater -s ZENOH_ENABLE 0
-then
-	zenoh start
-fi
-
 if param greater -s MNT_MODE_IN -1
 then
 	gimbal start
@@ -14,6 +14,7 @@

 param set UAVCAN_ENABLE 0

+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -1,65 +0,0 @@
-#!/bin/sh
-# @name SIH Rover Ackermann
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-set VEHICLE_TYPE rover_ackermann
-param set-default CA_AIRFRAME 5         # Rover (Ackermann)
-param set-default CA_R_REV 1            # Motor is assumed to be reversible
-param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not driving
-param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-
-param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann
-param set-default SYS_HITL 2 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
-
-param set-default HIL_ACT_FUNC1 201 # Steering
-param set-default HIL_ACT_FUNC2 101 # Throttle
-param set-default SIH_MASS 20
-param set-default SIH_IXX 0.4333
-param set-default SIH_IYY 1.6833
-param set-default SIH_IZZ 2.0833
-param set-default SIH_IXZ 0
-param set-default SIH_KDV 50
-param set-default SIH_KDW 10
-
-# Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
-param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
-param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_STR_RATE_LIM 360
-
-# Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 180
-param set-default RO_YAW_ACCEL_LIM 400
-param set-default RO_YAW_DECEL_LIM 800
-param set-default RO_YAW_RATE_CORR 1
-
-# Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 3
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 3.2
-param set-default RO_SPEED_LIM 3
-param set-default RO_SPEED_I 0.001
-param set-default RO_SPEED_P 0.001
-param set-default RO_SPEED_RED 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
@@ -40,6 +40,8 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -37,6 +37,8 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -10,6 +10,7 @@

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

+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 param set-default CA_SV_CS_COUNT 4
@@ -32,6 +32,7 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0

+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 7
 param set-default CA_SV_CS0_TRQ_R -0.5
@@ -10,6 +10,8 @@

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

+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.15
 param set-default CA_SV_CS_COUNT 2
@@ -7,10 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6s exclude
-# @board ark_fmu-v6x exclude
-# @board auterion_fmu-v6x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>
@@ -7,7 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 #

@@ -13,11 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6s exclude
-# @board ark_fmu-v6x exclude
-# @board auterion_fmu-v6x exclude
-# @board px4_fmu-v6x exclude
-# @board px4_fmu-v6xrt exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -10,7 +10,6 @@
 # @board cuav_x7pro exclude
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 #

@@ -12,7 +12,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
@@ -10,7 +10,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
@@ -14,7 +14,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board diatone_mamba-f405-mk2 exclude
@@ -13,7 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board diatone_mamba-f405-mk2 exclude
 #
@@ -1,31 +0,0 @@
-#!/bin/sh
-#
-# @name NXP B3RB Rover Ackermann
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-param set-default BAT1_N_CELLS 3
-
-# Set geometry & output configration
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 101
-param set-default PWM_MAIN_FUNC3 101
-param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_DIS2 0
-param set-default PWM_MAIN_DIS3 1500
-param set-default PWM_MAIN_MIN1 1000
-param set-default PWM_MAIN_MIN2 2500
-param set-default PWM_MAIN_MIN3 0
-param set-default PWM_MAIN_MAX1 2000
-param set-default PWM_MAIN_MAX2 2500
-param set-default PWM_MAIN_MAX3 50
-param set-default PWM_MAIN_TIM0 400
-param set-default PWM_MAIN_TIM1 400
-param set-default PWM_MAIN_TIM2 20000
@@ -45,6 +45,7 @@ param set-default COM_LOW_BAT_ACT 0
 param set-default NAV_DLL_ACT 0
 param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2

 # disable attitude failure detection
 param set-default FD_FAIL_P 0
@@ -5,17 +5,7 @@
 # @type Free-Flyer
 # @class Spacecraft
 #
-# @output Motor1 back left thruster, +x thrust
-# @output Motor2 front left thruster, -x thrust
-# @output Motor3 back right thruster, +x thrust
-# @output Motor4 front right thruster, -x thrust
-# @output Motor5 front left thruster, +y thrust
-# @output Motor6 front right thruster, -y thrust
-# @output Motor7 back left thruster, +y thrust
-# @output Motor8 back right thruster, -y thrust
-#
 # @maintainer DISCOWER
-# @url https://atmos.discower.io
 #

 . ${R}etc/init.d/rc.sc_defaults
@@ -35,6 +25,7 @@ param set-default COM_LOW_BAT_ACT 0
 param set-default NAV_DLL_ACT 0
 param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2

 # Set Mocap Vision frame
 param set EKF2_EV_CTRL 15
@@ -50,11 +50,6 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
 		1102_tailsitter_duo_sih.hil
 		1103_standard_vtol_sih.hil
 	)
-	if(CONFIG_MODULES_ROVER_ACKERMANN)
-		px4_add_romfs_files(
-			1104_standard_ackermann_sih.hil
-		)
-	endif()
 endif()

 if(CONFIG_MODULES_MC_RATE_CONTROL)
@@ -153,7 +148,6 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 		# [51000, 51999] Ackermann rovers
 		51000_generic_rover_ackermann
 		51001_axial_scx10_2_trail_honcho
-		51002_nxp_b3rb
 	)
 endif()

@@ -10,8 +10,6 @@ set VEHICLE_TYPE fw
 # MAV_TYPE_FIXED_WING 1
 param set-default MAV_TYPE 1

-param set-default CA_AIRFRAME 1
-
 #
 # Default parameters for fixed wing UAVs.
 #
@@ -28,7 +26,6 @@ param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
-param set-default EKF2_REQ_PDOP 4
 param set-default EKF2_REQ_SACC 1
 param set-default EKF2_REQ_VDRIFT 1
 param set-default EKF2_RNG_QLTY_T 3
@@ -8,9 +8,6 @@
 #                 End Setup for board specific configurations.                #
 ###############################################################################

-#
-# Set SD logging mode
-#
 if param compare SDLOG_MODE 1
 then
 	set LOGGER_ARGS "${LOGGER_ARGS} -e"
@@ -31,28 +28,8 @@ then
 	set LOGGER_ARGS "${LOGGER_ARGS} -a"
 fi

-#
-# Set logging backend
-#
-if param compare SDLOG_BACKEND 1
-then
-	set LOGGER_ARGS "${LOGGER_ARGS} -m file"
-fi

-if param compare SDLOG_BACKEND 2
-then
-	set LOGGER_ARGS "${LOGGER_ARGS} -m mavlink"
-fi
-
-if param compare SDLOG_BACKEND 3
-then
-	set LOGGER_ARGS "${LOGGER_ARGS} -m all"
-fi
-
-#
-# Start logger if any logging backend is enabled
-#
-if ! param compare SDLOG_BACKEND 0
+if ! param compare SDLOG_MODE -1
 then
 	logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
 fi
@@ -154,12 +154,6 @@ then
 	fi
 fi

-# Microchip MCP9808 temperature sensor external I2C
-if param compare -s SENS_EN_MCP9808 1
-then
-	mcp9808 start -X
-fi
-
 # TE MS4515 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4515 1
 then
@@ -225,12 +219,6 @@ then
 	pcf8583 start -X -a 0x51
 fi

-# ADC sensor ADS7953 external SPI
-if param compare -s ADC_ADS7953_EN 1
-then
-	ads7953 start -S
-fi
-
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -249,7 +237,6 @@ then
 	qmc5883p -X -q start
 	rm3100 -X -q start
 	bmm350 -X -q start
-	iis2mdc -X -q start

 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
@@ -217,37 +217,30 @@ else
 	fi
 	unset BOARD_RC_DEFAULTS

-	#
-	# Optional additional init file: rc.additional_init
-	#
-	set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
-	if [ -f $BOARD_RC_ADDITIONAL_INIT ]
+	# Load airframe configuration based on SYS_AUTOSTART parameter
+	if ! param compare SYS_AUTOSTART 0
 	then
-		echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
-		. $BOARD_RC_ADDITIONAL_INIT
-	fi
-	unset BOARD_RC_ADDITIONAL_INIT
+		# rc.autostart directly run the right airframe script which sets the VEHICLE_TYPE
+		# Look for airframe in ROMFS
+		. ${R}etc/init.d/rc.autostart

-	# Load airframe configuration based on SYS_AUTOSTART parameter if successful VEHICLE_TYPE gets set
-	# Run autogenerated ROMFS airframe script
-	. ${R}etc/init.d/rc.autostart
-
-	if [ ${VEHICLE_TYPE} = none ]
-	then
-		# Run external airframe script on SD card
-		if [ $STORAGE_AVAILABLE = yes ]
+		if [ ${VEHICLE_TYPE} = none ]
 		then
-			. ${R}etc/init.d/rc.autostart_ext
-		else
-			echo "ERROR [init] SD not mounted, skipping external airframe"
+			# Use external startup file
+			if [ $STORAGE_AVAILABLE = yes ]
+			then
+				. ${R}etc/init.d/rc.autostart_ext
+			else
+				echo "ERROR [init] SD card not mounted - can't load external airframe"
+			fi
 		fi
-	fi

-	if [ ${VEHICLE_TYPE} = none ]
-	then
-		echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
-		param set SYS_AUTOSTART 0
-		tune_control play error
+		if [ ${VEHICLE_TYPE} = none ]
+		then
+			echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
+			param set SYS_AUTOSTART 0
+			tune_control play error
+		fi
 	fi

 	# Check parameter version and reset upon airframe configuration version mismatch.
@@ -15,4 +15,4 @@ ignore-exclude-errors-x
 lineend=linux
 exclude=EASTL
 add-brackets
-max-code-length=140
+max-code-length=120
@@ -12,7 +12,6 @@ exec find boards msg src platforms test \
    -path platforms/nuttx/NuttX -prune -o \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/ins/ilabs -prune -o \
-		-path src/drivers/ins/microstrain/mip_sdk -prune -o \
    -path src/drivers/ins/vectornav/libvnc -prune -o \
    -path src/drivers/uavcan/libdronecan -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
@@ -39,5 +38,4 @@ exec find boards msg src platforms test \
    -path boards/modalai/voxl2/libfc-sensor-api -prune -o \
    -path src/drivers/actuators/vertiq_io/iq-module-communication-cpp -prune -o \
    -path src/lib/tensorflow_lite_micro/tflite_micro -prune -o \
-    -path src/drivers/ins/sbgecom/sbgECom -prune -o \
    \( -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) -print \) | grep $PATTERN
@@ -7,7 +7,6 @@ fi

 ssh_port=22
 ssh_user=root
-ssh_opts="-o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no"

 while getopts ":f:c:d:p:u:r" opt; do
 	case ${opt} in
@@ -68,7 +67,7 @@ target_file_name="update-dev.tar"
 if [ "$revert" == true ]; then
 	# revert to the release version which was originally deployed
 	cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
-	ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"
+	ssh -t -p $ssh_port $ssh_user@$device "$cmd"
 else
 	# create custom update-dev.tar
 	tmp_dir="$(mktemp -d)"
@@ -106,11 +105,11 @@ else
 	$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path

 	# send it to the target to start flashing
-	scp $ssh_opts -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
+	scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
 	popd &>/dev/null
 	rm -rf "$tmp_dir"
 fi

 # grab status output for flashing progress
 cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
-ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"
+ssh -t -p $ssh_port $ssh_user@$device "$cmd"
@@ -38,7 +38,7 @@ if args.filter:
 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
 build_configs = []
 grouped_targets = {}
-excluded_boards = ['modalai_voxl2', 'px4_ros2', 'espressif_esp32']  # TODO: fix and enable
+excluded_boards = ['modalai_voxl2', 'px4_ros2']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
 excluded_platforms = ['qurt']
 excluded_labels = [
@@ -191,7 +191,7 @@ def main():
                        cur_history_index = len(command_history)
                    mav_serialport.write(cur_line+'\n')
                    cur_line = ''
-                elif ord(ch) == 8: # backspace
+                elif ord(ch) == 127: # backslash
                    if len(cur_line) > 0:
                        erase_last_n_chars(1)
                        cur_line = cur_line[:-1]
@@ -49,14 +49,14 @@ for field in spec.parsed_fields():
            (package, name) = genmsg.names.package_resource_name(field.base_type)
            package = package or spec.package # convert '' to package

-            print('typedef px4_msgs_msg_%s px4_msgs_msg_px4_msgs__msg__%s;' % (name,name))
+            print('typedef px4_msg_%s px4_msg_px4__msg__%s;' % (name,name))
 }@



-typedef struct @uorb_struct px4_msgs_msg_@(file_base_name);
+typedef struct @uorb_struct px4_msg_@(file_base_name);

-extern const struct dds_cdrstream_desc px4_msgs_msg_@(file_base_name)_cdrstream_desc;
+extern const struct dds_cdrstream_desc px4_msg_@(file_base_name)_cdrstream_desc;

 #ifdef __cplusplus
 }
@@ -14,6 +14,7 @@ class AirframeGroup(object):
        self.af_class = af_class
        self.airframes = []

+
    def AddAirframe(self, airframe):
        """
        Add airframe to the airframe group
@@ -106,8 +107,6 @@ class AirframeGroup(object):
            return "Balloon"
        elif (self.type == "Vectored 6 DOF UUV"):
            return "Vectored6DofUUV"
-        elif self.type == "Free-Flyer":
-            return "FreeFlyer"
        return "AirframeUnknown"

    def GetAirframes(self):
@@ -15,7 +15,7 @@ class ModuleDocumentation(object):
    # TOC in https://github.com/PX4/PX4-Autopilot/blob/main/docs/en/SUMMARY.md
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
-    valid_subcategories = ['', 'adc', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
+    valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
                           'magnetometer', 'baro', 'optical_flow', 'radio_control','rpm_sensor', 'transponder']

    max_line_length = 80 # wrap lines that are longer than this
@@ -29,8 +29,6 @@ RUN git config --global --add safe.directory '*'
 # Create user with id 1001 (jenkins docker workflow default)
 RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user

-ENV PATH="${PATH}:/opt/xtensa-esp-elf/bin"
-
 ENTRYPOINT ["/usr/local/bin/docker-entrypoint.sh"]

 CMD ["/bin/bash"]
@@ -6,7 +6,6 @@ future
 jinja2>=2.8
 jsonschema
 kconfiglib
-lark
 lxml
 matplotlib>=3.0
 numpy>=1.13
@@ -15,8 +14,8 @@ packaging
 pandas>=0.21
 pkgconfig
 psutil
-pycryptodome
 pygments
+wheel>=0.31.1
 pymavlink
 pyros-genmsg
 pyserial
@@ -25,6 +24,7 @@ pyyaml
 requests
 setuptools>=39.2.0
 six>=1.12.0
-sympy>=1.10.1
 toml>=0.9
-wheel>=0.31.1
+sympy>=1.10.1
+pycryptodome
+lark
@@ -54,22 +54,6 @@ if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
 	return 1
 fi

-# Linux Mint compatibility: use upstream Ubuntu values
-if [ -r /etc/upstream-release/lsb-release ]; then
-    . /etc/upstream-release/lsb-release
-    UBUNTU_CODENAME="${DISTRIB_CODENAME:-${UBUNTU_CODENAME:-}}"
-    UBUNTU_RELEASE="${DISTRIB_RELEASE:-${UBUNTU_RELEASE:-}}"
-
-    lsb_release() {
-        if [ "$1" = "-cs" ]; then
-            printf '%s' "$UBUNTU_CODENAME"
-        elif [ "$1" = "-rs" ]; then
-            printf '%s' "$UBUNTU_RELEASE"
-        else
-            command lsb_release "$@"
-        fi
-    }
-fi

 # check ubuntu version
 # otherwise warn and point to docker?
@@ -171,14 +155,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 			g++-multilib \
 			gcc-arm-none-eabi \
 			gcc-multilib \
-			esptool \
 			;
-
-		echo
-		echo "Fetching Xtensa compilers"
-		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
-		sudo tar -xf $DIR/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz -C /opt
-		echo 'export PATH=$PATH:/opt/xtensa-esp-elf/bin/' >> /home/$USER/.bashrc
 	fi

 	if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then
@@ -25,6 +25,10 @@ except ImportError as e:
    sys.exit(1)


+SERVER = 'https://logs.px4.io'
+#SERVER = 'http://localhost:5006' # for testing locally
+UPLOAD_URL = SERVER+'/upload'
+
 quiet = False

 def ask_value(text, default=None):
@@ -56,8 +60,6 @@ def main():
    parser = ArgumentParser(description=__doc__)
    parser.add_argument('--quiet', '-q', dest='quiet', action='store_true', default=False,
            help='Quiet mode: do not ask for values which were not provided as parameters')
-    parser.add_argument('--server', dest='server', type=str, default='https://logs.px4.io',
-                      help='Server URL (default: https://logs.px4.io), use http://localhost:5006 for testing locally')
    parser.add_argument("--description", dest="description", type=str,
                      help="Log description", default=None)
    parser.add_argument("--feedback", dest="feedback", type=str,
@@ -97,9 +99,6 @@ def main():
    else:
        email = args.email

-    server = args.server
-    upload_url = server + '/upload'
-
    payload = {'type': args.type, 'description': description,
               'feedback': feedback, 'email': email, 'source': args.source}

@@ -114,13 +113,13 @@ def main():
            print('Uploading '+file_name+'...')

        with open(file_name, 'rb') as f:
-            r = requests.post(upload_url, data=payload, files={'filearg': f},
+            r = requests.post(UPLOAD_URL, data=payload, files={'filearg': f},
                    allow_redirects=False)
            if r.status_code == 302: # redirect
                if 'Location'  in r.headers:
                    plot_url = r.headers['Location']
                    if len(plot_url) > 0 and plot_url[0] == '/':
-                        plot_url = server + plot_url
+                        plot_url = SERVER + plot_url
                    print('URL: '+plot_url)


@@ -42,7 +42,6 @@ import os
 import argparse
 import re
 import sys
-import json

 try:
    import em
@@ -125,7 +124,7 @@ def generate_by_template(output_file, template_file, em_globals):
    return True


-def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir, rihs_path):
+def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
    # generate cpp file with topics list
    filenames = []
    for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
@@ -139,27 +138,11 @@ def generate_topics_list_file_from_files(files, outputdir, template_filename, te
    for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
        full_base_names.append(filename.replace(".msg",""))

-    rihs01_hashes = dict()
-    if rihs_path != '':
-        for topic in full_base_names:
-            with open(rihs_path + "/msg/" + topic + ".json") as f:
-                d = json.load(f)
-                assert d['type_hashes'][0]['hash_string'][:7] == 'RIHS01_'
-
-                rihs01_hash = d['type_hashes'][0]['hash_string'][7:]
-
-                byte_array = [f"0x{rihs01_hash[i:i+2]}" for i in range(0, len(rihs01_hash), 2)]
-                c_code = f"{{ {', '.join(byte_array)} }};"
-                rihs01_hashes[topic] = c_code
-
    topics = []
-    datatypes_with_topics = dict()
    for msg_filename in files:
-        datatype = re.sub(r'(?<!^)(?=[A-Z])', '_', os.path.basename(msg_filename)).lower().replace(".msg","")
-        datatypes_with_topics[datatype] = get_topics(msg_filename)
-        topics.extend(datatypes_with_topics[datatype])
+        topics.extend(get_topics(msg_filename))

-    tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names, "rihs01_hashes": rihs01_hashes, "datatypes_with_topics": datatypes_with_topics}
+    tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names}
    tl_template_file = os.path.join(templatedir, template_filename)
    tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))

@@ -179,15 +162,13 @@ if __name__ == "__main__":
    parser.add_argument('-p', dest='prefix', default='',
                        help='string added as prefix to the output file '
                        ' name when converting directories')
-    parser.add_argument('--rihs', dest='rihs', default='',
-                        help='path where rihs01 json files located')
    args = parser.parse_args()

    if args.zenoh_config:
-        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[0], args.templatedir, args.rihs)
+        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[0], args.templatedir)
        exit(0)
    elif args.zenoh_pub_sub:
-        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[1], args.templatedir, args.rihs)
+        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[1], args.templatedir)
        exit(0)
    else:
        print('Error: either --headers or --sources must be specified')
@@ -74,7 +74,7 @@ full_base_names.sort()

@[for idx, topic_name in enumerate(datatypes)]@
@{
-type_topic_count = len(datatypes_with_topics[topic_name])
+type_topic_count = len([e for e in topic_names_all if e.startswith(topic_name)])
 }@
 #ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
 #  define CONFIG_ZENOH_PUBSUB_@(topic_name.upper())_COUNT @(type_topic_count)
@@ -88,28 +88,9 @@ type_topic_count = len(datatypes_with_topics[topic_name])
        CONFIG_ZENOH_PUBSUB_@(topic_name.upper())_COUNT + \
@[end for]        0

-@[for topic_name, rihs01_hash in rihs01_hashes.items()]@
-const uint8_t @(topic_name)_hash[32] = @(rihs01_hash)
-@[end for]
-
-@[for idx, topic_name in enumerate(datatypes)]@
-#ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
-@{
-topic_names = datatypes_with_topics[topic_name]
-}@
-const orb_metadata* @(topic_name)_topic_meta[@(len(topic_names))] = {
-@[for topic_name_inst in topic_names]@
-	ORB_ID(@(topic_name_inst)),
-@[end for]};
-#endif
-@[end for]
-
 typedef struct {
-	const char *data_type_name;
 	const uint32_t *ops;
-	const uint8_t *hash;
-	const orb_metadata** orb_topic;
-	const uint8_t orb_topics_size;
+	const orb_metadata* orb_meta;
 } UorbPubSubTopicBinder;

 const UorbPubSubTopicBinder _topics[ZENOH_PUBSUB_COUNT] {
@@ -119,95 +100,54 @@ uorb_id_idx = 0
@[for idx, topic_name in enumerate(datatypes)]@
 #ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
@{
-topic_names = datatypes_with_topics[topic_name]
+topic_names = [e for e in topic_names_all if e.startswith(topic_name)]
 }@
+@[for topic_name_inst in topic_names]@
 		{
-		  "@(topic_name)",
-		  px4_msgs_msg_@(topic_dict[topic_name])_cdrstream_desc.ops.ops,
-		  @(topic_dict[topic_name])_hash,
-		  @(topic_name)_topic_meta,
-		  @(len(topic_names)),
+		  px4_msg_@(topic_dict[topic_name])_cdrstream_desc.ops.ops,
+		  ORB_ID(@(topic_name_inst))
 		},
-#endif
+@{
+uorb_id_idx += 1
+}@
+@[end for]#endif
@[end for]
 };

-uORB_Zenoh_Publisher* genPublisher(const orb_metadata *meta, int instance) {
+uORB_Zenoh_Publisher* genPublisher(const orb_metadata *meta) {
    for (auto &pub : _topics) {
-        for(int i = 0; i < pub.orb_topics_size; i++) {
-            if(pub.orb_topic[i]->o_id == meta->o_id) {
-                return new uORB_Zenoh_Publisher(meta, pub.ops, instance);
-            }
+        if(pub.orb_meta->o_id == meta->o_id) {
+            return new uORB_Zenoh_Publisher(meta, pub.ops);
        }
    }
    return NULL;
 }


-uORB_Zenoh_Publisher* genPublisher(const char *name, int instance) {
+uORB_Zenoh_Publisher* genPublisher(const char *name) {
    for (auto &pub : _topics) {
-        for(int i = 0; i < pub.orb_topics_size; i++) {
-            if(strcmp(pub.orb_topic[i]->o_name, name) == 0) {
-                return new uORB_Zenoh_Publisher(pub.orb_topic[i], pub.ops, instance);
-            }
+        if(strcmp(pub.orb_meta->o_name, name) == 0) {
+            return new uORB_Zenoh_Publisher(pub.orb_meta, pub.ops);
        }
    }
    return NULL;
 }


-Zenoh_Subscriber* genSubscriber(const orb_metadata *meta, int instance) {
+Zenoh_Subscriber* genSubscriber(const orb_metadata *meta) {
    for (auto &sub : _topics) {
-        for(int i = 0; i < sub.orb_topics_size; i++) {
-            if(sub.orb_topic[i]->o_id == meta->o_id) {
-                return new uORB_Zenoh_Subscriber(meta, sub.ops, instance);
-            }
+        if(sub.orb_meta->o_id == meta->o_id) {
+            return new uORB_Zenoh_Subscriber(meta, sub.ops);
        }
    }
    return NULL;
 }


-Zenoh_Subscriber* genSubscriber(const char *name, int instance) {
+Zenoh_Subscriber* genSubscriber(const char *name) {
    for (auto &sub : _topics) {
-        for(int i = 0; i < sub.orb_topics_size; i++) {
-            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
-                return new uORB_Zenoh_Subscriber(sub.orb_topic[i], sub.ops, instance);
-            }
-        }
-    }
-    return NULL;
-}
-
-const char* getTypeName(const char *name) {
-    for (auto &sub : _topics) {
-        for(int i = 0; i < sub.orb_topics_size; i++) {
-            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
-                return sub.data_type_name;
-            }
-        }
-    }
-    return NULL;
-}
-
-
-const uint8_t* getRIHS01_Hash(const orb_metadata *meta) {
-    for (auto &sub : _topics) {
-        for(int i = 0; i < sub.orb_topics_size; i++) {
-            if(sub.orb_topic[i]->o_id == meta->o_id) {
-                return sub.hash;
-            }
-        }
-    }
-    return NULL;
-}
-
-const uint8_t* getRIHS01_Hash(const char *name) {
-    for (auto &sub : _topics) {
-        for(int i = 0; i < sub.orb_topics_size; i++) {
-            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
-                return sub.hash;
-            }
+        if(strcmp(sub.orb_meta->o_name, name) == 0) {
+            return new uORB_Zenoh_Subscriber(sub.orb_meta, sub.ops);
        }
    }
    return NULL;
@@ -1,3 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""
@@ -1,105 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ETHERNET=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
-CONFIG_DRIVERS_ADC_ADS1115=y
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
-CONFIG_DRIVERS_GPIO_MCP23009=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_HEATER=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
-CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
-CONFIG_DRIVERS_OSD_MSP_OSD=y
-CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-CONFIG_DRIVERS_POWER_MONITOR_INA228=y
-CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_SAFETY_BUTTON=y
-CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_ESC_BATTERY=y
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_RATE_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_HARDFAULT_STREAM=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_MAVLINK_DIALECT="development"
-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_MODE_NAVIGATOR_VTOL_TAKEOFF=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_UXRCE_DDS_CLIENT=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NETMAN=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,13 +0,0 @@
-{
-    "board_id": 7120,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the AcctonGodwitGA1 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "AcctonGodwitGA1",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1966080,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,21 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-# By disabling all 3 INA modules, we use the
-# i2c_launcher instead.
-param set - default SENS_EN_INA238 0
-param set - default SENS_EN_INA228 0
-param set - default SENS_EN_INA226 0
-
-# 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
-
-safety_button start
@@ -1,92 +0,0 @@
-#!/bin/sh
-#
-# PX4 FMUv6X specific board sensors init
-#------------------------------------------------------------------------------
-set HAVE_PM2 yes
-set INA_CONFIGURED no
-
-if mft query -q -k MFT -s MFT_PM2 -v 0
-then
-	set HAVE_PM2 no
-fi
-if param compare -s ADC_ADS1115_EN 1
-then
-	ads1115 start -X
-	board_adc start -n
-else
-	board_adc start
-fi
-
-
-if param compare SENS_EN_INA226 1
-then
-	# Start Digital power monitors
-	ina226 -X -b 1 -t 1 -k start
-
-	if [ $HAVE_PM2 = yes ]
-	then
-		ina226 -X -b 2 -t 2 -k start
-	fi
-
-	set INA_CONFIGURED yes
-fi
-
-if param compare SENS_EN_INA228 1
-then
-	# Start Digital power monitors
-	ina228 -X -b 1 -t 1 -k start
-	if [ $HAVE_PM2 = yes ]
-	then
-		ina228 -X -b 2 -t 2 -k start
-	fi
-
-	set INA_CONFIGURED yes
-fi
-
-if param compare SENS_EN_INA238 1
-then
-	# Start Digital power monitors
-	ina238 -X -b 1 -t 1 -k start
-	if [ $HAVE_PM2 = yes ]
-	then
-		ina238 -X -b 2 -t 2 -k start
-	fi
-
-	set INA_CONFIGURED yes
-fi
-
-if [ $INA_CONFIGURED = no ]
-then
-	# INA226, INA228, INA238 auto-start
-	i2c_launcher start -b 1
-	if [ $HAVE_PM2 = yes ]
-	then
-		i2c_launcher start -b 2
-	fi
-fi
-
-# Internal SPI BMI088
-bmi088 -A -R 4 -s start
-bmi088 -G -R 4 -s start
-
-# Internal SPI bus ICM42688p
-icm42688p -R 6 -s -b 2 start
-icm42688p -R 14 -s -b 1 start
-
-# Internal magnetometer on I2c
-rm3100 -I -b 4 start
-
-# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
-ist8310 -X -b 1 -R 10 start
-
-# Possible internal Baro
-if param compare SENS_INT_BARO_EN 1
-then
-	icp201xx -I -a 0x64 start
-fi
-
-#external baro
-icp201xx -X start
-
-unset INA_CONFIGURED
-unset HAVE_PM2
@@ -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.
@@ -1,95 +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_DISABLE_PTHREAD is not set
-# CONFIG_SPI_EXCHANGE is not set
-# CONFIG_STM32H7_SYSCFG is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/accton-godwit/ga1/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=768
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_INITTHREAD_PRIORITY=254
-CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x1BD0
-CONFIG_CDCACM_PRODUCTSTR="PX4 BL Accton Godwit GA1"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x083A
-CONFIG_CDCACM_VENDORSTR="Accton"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3194
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SPI=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_UART5=y
-CONFIG_SYSTEMTICK_HOOK=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGINT_CHAR=0x03
-CONFIG_TTY_SIGTSTP=y
-CONFIG_UART5_RXBUFSIZE=512
-CONFIG_UART5_RXDMA=y
-CONFIG_UART5_TXBUFSIZE=512
-CONFIG_UART5_TXDMA=y
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
@@ -1,566 +0,0 @@
-/************************************************************************************
- * nuttx-configs/accton-godwit_ga1/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_ACCTON_GODWIT_GA1_INCLUDE_BOARD_H
-#define __NUTTX_CONFIG_ACCTON_GODWIT_GA1_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-v6X  board provides the following clock sources:
- *
- *   X1: 16 MHz crystal for HSE
- *
- * So we have these clock source available within the STM32
- *
- *   HSI: 16 MHz RC factory-trimmed
- *   HSE: 16 MHz crystal for HSE
- */
-
-#define STM32_BOARD_XTAL        16000000ul
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     32768
-
-/* Main PLL Configuration.
- *
- * PLL source is HSE = 16,000,000
- *
- * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
- * Subject to:
- *
- *     1 <= PLLM <= 63
- *     4 <= PLLN <= 512
- *   150 MHz <= PLL_VCOL <= 420MHz
- *   192 MHz <= PLL_VCOH <= 836MHz
- *
- * SYSCLK  = PLL_VCO / PLLP
- * CPUCLK  = SYSCLK / D1CPRE
- * Subject to
- *
- *   PLLP1   = {2, 4, 6, 8, ..., 128}
- *   PLLP2,3 = {2, 3, 4, ..., 128}
- *   CPUCLK <= 480 MHz
- */
-
-#define STM32_BOARD_USEHSE
-
-#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
-
-/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
- *
- *   PLL1_VCO = (16,000,000 / 1) * 60 = 960 MHz
- *
- *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
- *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
- *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
- */
-
-#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVP1EN | \
-				 RCC_PLLCFGR_DIVQ1EN | \
-				 RCC_PLLCFGR_DIVR1EN)
-#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
-#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(60)
-#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
-#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
-#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
-
-#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 60)
-#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
-#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
-#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
-
-/* PLL2 */
-
-#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
-				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
-				  RCC_PLLCFGR_DIVP2EN | \
-				  RCC_PLLCFGR_DIVQ2EN | \
-				  RCC_PLLCFGR_DIVR2EN)
-#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(4)
-#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
-#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
-#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
-#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
-
-#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 4) * 48)
-#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-
-/* PLL3 */
-
-#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVQ3EN)
-#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(4)
-#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
-#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
-#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
-#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
-
-#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 4) * 48)
-#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
-#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-
-/* SYSCLK = PLL1P = 480MHz
- * CPUCLK = SYSCLK / 1 = 480 MHz
- */
-
-#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
-#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
-#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
-
-/* Configure Clock Assignments */
-
-/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
- * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
- */
-
-#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
-#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
-#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
-#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
-
-#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
-#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* Timer clock frequencies */
-
-/* Timers driven from APB1 will be twice PCLK1 */
-
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* Timers driven from APB2 will be twice PCLK2 */
-
-#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-
-/* Kernel Clock Configuration
- *
- * Note: look at Table 54 in ST Manual
- */
-
-/* I2C123 clock source */
-
-#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
-
-/* I2C4 clock source */
-
-#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
-
-/* SPI123 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
-
-/* SPI45 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
-
-/* SPI6 clock source */
-
-#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
-
-/* USB 1 and 2 clock source */
-
-#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
-
-/* ADC 1 2 3 clock source */
-
-#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
-
-/* UART clock selection */
-/* reset to default to overwrite any changes done by any bootloader */
-
-#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
-#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
-
-/* FDCAN 1 2 clock source */
-
-#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
-
-#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
-
-/* FLASH wait states
- *
- *  ------------ ---------- -----------
- *  Vcore        MAX ACLK   WAIT STATES
- *  ------------ ---------- -----------
- *  1.15-1.26 V     70 MHz    0
- *  (VOS1 level)   140 MHz    1
- *                 210 MHz    2
- *  1.05-1.15 V     55 MHz    0
- *  (VOS2 level)   110 MHz    1
- *                 165 MHz    2
- *                 220 MHz    3
- *  0.95-1.05 V     45 MHz    0
- *  (VOS3 level)    90 MHz    1
- *                 135 MHz    2
- *                 180 MHz    3
- *                 225 MHz    4
- *  ------------ ---------- -----------
- */
-
-#define BOARD_FLASH_WAITSTATES 2
-
-/* SDMMC definitions ********************************************************/
-
-/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
-
-#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-
-/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
- * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
- */
-
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-
-#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
-
-/* LED definitions ******************************************************************/
-/* The Accton Godwit GA1 board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
- * LED_RED a Red LED, that can be controlled by software.
- *
- * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
- * The following definitions are used to access individual LEDs.
- */
-
-/* LED index values for use with board_userled() */
-
-/* LED definitions ******************************************************************/
-/* The px4_fmu-v6x board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
- * LED_RED a Red LED, that can be controlled by software.
- *
- * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
- * The following definitions are used to access individual LEDs.
- */
-
-/* LED index values for use with board_userled() */
-
-#define BOARD_LED1        0
-#define BOARD_LED2        1
-#define BOARD_LED3        2
-#define BOARD_NLEDS       3
-
-#define BOARD_LED_RED     BOARD_LED1
-#define BOARD_LED_GREEN   BOARD_LED2
-#define BOARD_LED_BLUE    BOARD_LED3
-
-/* LED bits for use with board_userled_all() */
-
-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
-#define BOARD_LED2_BIT    (1 << BOARD_LED2)
-#define BOARD_LED3_BIT    (1 << BOARD_LED3)
-
-/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
- * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
- * events as follows:
- *
- *
- *   SYMBOL                     Meaning                      LED state
- *                                                        Red   Green Blue
- *   ----------------------  --------------------------  ------ ------ ----*/
-
-#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
-#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
-#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
-#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
-#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
-#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
-#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
-#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
-#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
-
-/* Thus if the Green LED is statically on, NuttX has successfully booted and
- * is, apparently, running normally.  If the Red LED is flashing at
- * approximately 2Hz, then a fatal error has been detected and the system
- * has halted.
- */
-
-/* Alternate function pin selections ************************************************/
-
-#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
-#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6 */
-
-#define GPIO_USART2_RX   GPIO_USART2_RX_1       /* PA3   */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2       /* PD5   */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2      /* PD4   */
-#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2  /* PD3   */
-
-#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9   */
-#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8   */
-
-#define GPIO_UART4_RX    GPIO_UART4_RX_6    /* PH14 */
-#define GPIO_UART4_TX    GPIO_UART4_TX_6    /* PH13 */
-
-#define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
-#define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
-// GPIO_UART5_RTS   no remap                /* PC8  */
-#undef GPIO_UART5_CTS
-#define GPIO_UART5_CTS   ((GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9) | GPIO_PULLDOWN) /* 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_4    /* PF6  */
-#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
-#define GPIO_UART7_RTS   GPIO_UART7_RTS_2   /* PF8  */
-#define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN)   /* PE10 */
-
-#define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
-#define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1 */
-
-
-/* CAN
- *
- * CAN1 is routed to transceiver.
- * CAN2 is routed to transceiver.
- */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1  */
-#define GPIO_CAN2_RX     GPIO_CAN2_RX_1     /* PB12 */
-#define GPIO_CAN2_TX     GPIO_CAN2_TX_1     /* PB13  */
-
-/* SPI
- * SPI1 is sensors1
- * SPI2 is sensors2
- * SPI3 is sensors3
- * SPI4 is Not Used
- * SPI5 is FRAM
- * SPI6 is EXTERNAL1
- *
- */
-
-#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
-
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_3               /* PG9  */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_2               /* PB5  */
-#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5  */
-
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3               /* PI2  */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4               /* PI3  */
-#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1  */
-
-#define GPIO_SPI3_MISO   GPIO_SPI3_MISO_2               /* PC11 */
-#define GPIO_SPI3_MOSI   GPIO_SPI3_MOSI_3               /* PB2  */
-#define GPIO_SPI3_SCK    ADJ_SLEW_RATE(GPIO_SPI3_SCK_2) /* PC10 */
-
-#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_2               /* PH7  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_1               /* PF11 */
-#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
-
-#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_2               /* PA6  */
-#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_1               /* PG14 */
-#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_3) /* PB3  */
-
-/* I2C
- *
- *   The optional _GPIO configurations allow the I2C driver to manually
- *   reset the bus to clear stuck slaves.  They match the pin configuration,
- *   but are normally-high GPIOs.
- *
- */
-
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
-
-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
-
-#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2       /* PF1 */
-#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2       /* PF0 */
-
-#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN1)
-#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN0)
-
-#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1       /* PA8 */
-#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */
-
-#define GPIO_I2C3_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN8)
-#define GPIO_I2C3_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN8)
-
-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */
-
-#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14)
-#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15)
-
-/* SDMMC2
- *
- *      VDD 3.3
- *      GND
- *      SDMMC2_CK                           PD6
- *      SDMMC2_CMD                          PD7
- *      SDMMC2_D0                           PB14
- *      SDMMC2_D1                           PB15
- *      SDMMC2_D2                           PG11
- *      SDMMC2_D3                           PB4
- */
-
-#define GPIO_SDMMC2_CK   GPIO_SDMMC2_CK_1  /* PD6 */
-#define GPIO_SDMMC2_CMD  GPIO_SDMMC2_CMD_1 /* PD7 */
-//      GPIO_SDMMC2_D0   No Remap          /* PB14 */
-//      GPIO_SDMMC2_D1   No Remap          /* PB15 */
-#define GPIO_SDMMC2_D2   GPIO_SDMMC2_D2_1  /* PG11 */
-//      GPIO_SDMMC2_D3    No Remap         /* PB4 */
-
-/* The STM32 H7 connects to a TI DP83848TSQ/NOPB
- * using RMII
- *
- *   STM32 H7 BOARD        DP83848TSQ/NOPB
- *   GPIO     SIGNAL       PIN NAME
- *   -------- ------------ -------------
- *   PA7     ETH_CRS_DV    CRS_DV
- *   PC1     ETH_MDC       MDC
- *   PA2     ETH_MDIO      MDIO
- *   PA1     ETH_REF_CL    X1
- *   PC4     ETH_RXD0      RX_D0
- *   PC5     ETH_RXD1      RX_D1
- *   PB11    ETH_TX_EN     TX_EN
- *   PG13    ETH_TXD0      TX_D0
- *   PG12    ETH_TXD1      TX_D1
- *
- * The PHY address is 1, since COL/PHYAD0 features a pull up.
- */
-
-#define GPIO_ETH_RMII_TX_EN	GPIO_ETH_RMII_TX_EN_1 /* PB11 */
-#define GPIO_ETH_RMII_TXD0	GPIO_ETH_RMII_TXD0_2  /* PG13 */
-#define GPIO_ETH_RMII_TXD1	GPIO_ETH_RMII_TXD1_2  /* PG12 */
-
-
-/* USB
- *
- *      OTG_FS_DM                           PA11
- *      OTG_FS_DP                           PA12
- *      VBUS                                PA9
- */
-
-
-/* Board provides GPIO or other Hardware for signaling to timing analyzer */
-
-#if defined(CONFIG_BOARD_USE_PROBES)
-# include "stm32_gpio.h"
-# define PROBE_N(n) (1<<((n)-1))
-# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)   /* PI0 AUX1 */
-# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12)  /* PH12 AUX2 */
-# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11)  /* PH11 AUX3 */
-# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10)  /* PH10 AUX4 */
-# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)  /* PD13 AUX5 */
-# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)  /* PD14 AUX6 */
-# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6)   /* PH6  AUX7 */
-# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9)   /* PH9  AUX8 */
-# define PROBE_9    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)  /* PE11  CAP1 */
-
-# define PROBE_INIT(mask) \
-	do { \
-		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
-		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
-		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
-		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
-		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
-		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
-		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
-		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
-		if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \
-	} while(0)
-
-# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
-# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
-#else
-# define PROBE_INIT(mask)
-# define PROBE(n,s)
-# define PROBE_MARK(n)
-#endif
-
-#endif  /*__NUTTX_CONFIG_ACCTON_GODWIT_GA1_INCLUDE_BOARD_H  */
@@ -1,87 +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 ICM-20649 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     /* 2 DMA1:38 ICM-20649 */
-
-#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0     /* 3 DMA1:39 ICM-42688-P */
-#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0     /* 4 DMA1:40 ICM-42688-P */
-
-//#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_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 DMA2:61 BMI088 */
-#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 DMA2:62 BMI088 */
-
-#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 */
-
-// DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
-//                                                     V
-
-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       /* 1 BDMA:11 SPI J11 */
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       /* 2 BDMA:12 SPI J11 */
--- a/Show More
+++ b/Show More