don't change EKF2_MIN_RNG

in_air default to true for tests
ekf2: range fusion: while on the ground the rangefinder quality checks are bypassed and a synthetic measurement is fused using the minimum rangefinder distance. The intention of this logic is to ensure the rangefinder can be fused immediately during takeoff even if it's reporting 0 quality while on the ground. This was not working since the rangefinder _time_bad_quality_us was being updated while on the ground. This results in range fusion being disabled as soon as the in_air flag is set, since the time since the last bad quality value has not exceeded the EKF2_RNG_QLTY_T. This commit moves the logic into the SensorRangeFinder::isQualityOk function where the _time_bad_quality_us is only set once airborne.
2026-06-14 06:50:06 +08:00 · 2025-09-16 09:54:12 -08:00 · 2025-09-15 12:49:13 -08:00 · 2025-09-15 12:29:14 -08:00 · 2025-09-12 14:16:16 +02:00 · 2025-09-11 19:30:27 -08:00
453 changed files with 18754 additions and 4480 deletions
@@ -43,7 +43,8 @@ jobs:
      - name: Save JSON file containing files to link check
        run: |
          echo "$ALL_CHANGED_FILES"
-          echo "$ALL_CHANGED_FILES" > ./logs/prFiles.json
+          # echo "$ALL_CHANGED_FILES" > ./logs/prFiles.json
+          echo "$ALL_CHANGED_FILES" | sed 's/\\//g' | jq '.' > ./logs/prFiles.json
        env:
          ALL_CHANGED_FILES: ${{ steps.get_changed_markdown_english.outputs.all_changed_files }}

@@ -100,3 +100,6 @@
 [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
@@ -36,6 +36,11 @@ 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
@@ -43,7 +43,7 @@
        "files.watcherExclude": {
                "**/build/**": true
        },
-        "git.detectSubmodulesLimit": 20,
+        "git.detectSubmodulesLimit": 25,
        "git.ignoreLimitWarning": true,
        "githubPullRequests.defaultMergeMethod": "squash",
        "githubPullRequests.telemetry.enabled": false,
@@ -73,6 +73,11 @@ 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"
@@ -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 | <padr@kth.se>
+| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <roque@caltech.edu>
 | Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>


@@ -511,6 +511,7 @@ 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/*" \
@@ -202,6 +202,31 @@ 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)
@@ -56,6 +56,17 @@ 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.
 #
@@ -34,7 +34,6 @@ 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
@@ -1,10 +1,21 @@
 #!/bin/sh
 #
-# @name 3DoF Spacecraft Model
+# @name KTH-ATMOS
 #
-# @type 2D Freeflyer with 8 thrusters - Planar motion
+# @type Free-Flyer
+# @class Spacecraft
 #
-# @maintainer Pedro Roque <padr@kth.se>
+# @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
 #

 . ${R}etc/init.d/rc.sc_defaults
@@ -34,7 +45,6 @@ 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
@@ -324,6 +324,11 @@ 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
@@ -45,7 +45,6 @@ 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
@@ -5,7 +5,17 @@
 # @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
@@ -25,7 +35,6 @@ 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
@@ -8,6 +8,9 @@
 #                 End Setup for board specific configurations.                #
 ###############################################################################

+#
+# Set SD logging mode
+#
 if param compare SDLOG_MODE 1
 then
 	set LOGGER_ARGS "${LOGGER_ARGS} -e"
@@ -28,8 +31,28 @@ then
 	set LOGGER_ARGS "${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_MODE -1
+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
 then
 	logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
 fi
@@ -237,6 +237,7 @@ 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
@@ -217,6 +217,17 @@ 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 ]
+	then
+		echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
+		. $BOARD_RC_ADDITIONAL_INIT
+	fi
+	unset BOARD_RC_ADDITIONAL_INIT
+
 	# Load airframe configuration based on SYS_AUTOSTART parameter
 	if ! param compare SYS_AUTOSTART 0
 	then
@@ -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']  # TODO: fix and enable
+excluded_boards = ['modalai_voxl2', 'px4_ros2', 'espressif_esp32']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
 excluded_platforms = ['qurt']
 excluded_labels = [
@@ -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_msg_%s px4_msg_px4__msg__%s;' % (name,name))
+            print('typedef px4_msgs_msg_%s px4_msgs_msg_px4_msgs__msg__%s;' % (name,name))
 }@



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

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

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

-
    def AddAirframe(self, airframe):
        """
        Add airframe to the airframe group
@@ -107,6 +106,8 @@ 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):
@@ -29,6 +29,8 @@ 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"]
@@ -54,6 +54,22 @@ 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?
@@ -155,7 +171,14 @@ 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
@@ -42,6 +42,7 @@ import os
 import argparse
 import re
 import sys
+import json

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


-def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
+def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir, rihs_path):
    # 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")]:
@@ -138,11 +139,27 @@ 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",""))

-    topics = []
-    for msg_filename in files:
-        topics.extend(get_topics(msg_filename))
+    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_'

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

@@ -162,13 +179,15 @@ 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)
+        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[0], args.templatedir, args.rihs)
        exit(0)
    elif args.zenoh_pub_sub:
-        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[1], args.templatedir)
+        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[1], args.templatedir, args.rihs)
        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([e for e in topic_names_all if e.startswith(topic_name)])
+type_topic_count = len(datatypes_with_topics[topic_name])
 }@
 #ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
 #  define CONFIG_ZENOH_PUBSUB_@(topic_name.upper())_COUNT @(type_topic_count)
@@ -88,9 +88,28 @@ type_topic_count = len([e for e in topic_names_all if e.startswith(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 orb_metadata* orb_meta;
+	const uint8_t *hash;
+	const orb_metadata** orb_topic;
+	const uint8_t orb_topics_size;
 } UorbPubSubTopicBinder;

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

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


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


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


-Zenoh_Subscriber* genSubscriber(const char *name) {
+Zenoh_Subscriber* genSubscriber(const char *name, int instance) {
    for (auto &sub : _topics) {
-        if(strcmp(sub.orb_meta->o_name, name) == 0) {
-            return new uORB_Zenoh_Subscriber(sub.orb_meta, sub.ops);
+        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;
+            }
        }
    }
    return NULL;
@@ -36,7 +36,6 @@ param set-default EKF2_MULTI_IMU 0
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_N_MIN 0.05
 param set-default EKF2_RNG_A_HMAX 25
-param set-default EKF2_RNG_QLTY_T 0.1

 param set-default SENS_FLOW_RATE 150
 param set-default SENS_IMU_MODE 1
@@ -21,6 +21,7 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -14,7 +14,7 @@ param set-default SYS_DM_BACKEND 1
 # Set TELEM1 as default mavlink connection
 param set-default MAV_0_CONFIG 0
 # Disable logger writing to FRAM, only stream over MAVLINK
-set LOGGER_ARGS "-m mavlink"
+param set-default SDLOG_BACKEND 2

 # 200kOhm/10kOhm voltage divider on V_BAT
 param set-default BAT1_V_DIV 21
@@ -12,17 +12,20 @@ board_adc start
 bmi088 -A -R 0 -s start
 bmi088 -G -R 0 -s start

+# MAG on I2C4, ROTATION_ROLL_180=8
 if ver hwtypecmp V6S013 V6S015
 then
-	# Revision(s) with BMM150
-	# MAG on I2C4, ROTATION_ROLL_180=8
 	bmm150 -I -R 8 start
 else
-	# Revision(s) with BMM350
-	# MAG on I2C4, ROTATION_ROLL_180=8
 	bmm350 -I -R 8 start
 fi

+# BARO on I2C4
+bmp388 -I -b 4 -a 0x77 start
+
+
+# External sensors on I2C1
+
 if param compare SENS_EN_INA226 1
 then
 	# Start Digital power monitors
@@ -59,14 +62,17 @@ fi

 if param compare BAT1_V_CHANNEL -2
 then
-    if [ "$INA_CONFIGURED" != "yes" ]
-    then
-        param set BAT1_V_CHANNEL -1
-    fi
+	if [ "$INA_CONFIGURED" != "yes" ]
+	then
+		param set BAT1_V_CHANNEL -1
+	fi
 fi

-# 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)
+# External compass IST8310 on I2C1
 ist8310 -X -b 1 -R 10 start

-# BARO on I2C4
-bmp388 -I -b 4 -a 0x77 start
+# Start an external PWM generator
+if param greater PCA9685_EN_BUS 0
+then
+	pca9685_pwm_out start -b 1
+fi
@@ -0,0 +1,39 @@
+CONFIG_BOARD_TOOLCHAIN="xtensa-esp32-elf"
+CONFIG_BOARD_ARCHITECTURE="esp32"
+CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_EXTERNAL_METADATA=y
+CONFIG_BOARD_ETHERNET=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+# CONFIG_DATAMAN_PERSISTENT_STORAGE is not set
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_LOGGER_STACK_SIZE=4000
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_NAVIGATOR=y
+# CONFIG_NAVIGATOR_ADSB is not set
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_I2CDETECT=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_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_BOARD_PWM_FREQ=250
@@ -0,0 +1,13 @@
+{
+    "board_id": 42,
+    "magic": "ESP32",
+    "description": "Firmware for the ESP32",
+    "image": "",
+    "build_time": 0,
+    "summary": "ESP32",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1032192,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+dhcpd_start wlan0
+mavlink start -u 14550 -o 14550 -m 0 -r 1000 -x -p -s
+mavlink start -d /dev/ttyS1 -b 115200 -f -w -Z
@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# board specific MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
@@ -0,0 +1,4 @@
+#!/bin/sh
+#
+# board specific sensors init
+#------------------------------------------------------------------------------
@@ -0,0 +1,61 @@
+/************************************************************************************
+ * configs/px4fmu/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <arch/board/esp32_board.h>
+
+#define LED_STARTED       0  /* LED2 */
+#define LED_HEAPALLOCATE  1  /* LED3 */
+#define LED_IRQSENABLED   2  /* LED3 + LED2 */
+#define LED_STACKCREATED  3  /* LED3 */
+#define LED_INIRQ         4  /* LED1 + LED3 */
+#define LED_SIGNAL        5  /* LED2 + LED3 */
+#define LED_ASSERTION     6  /* LED1 + LED2 + LED3 */
+#define LED_PANIC         7  /* LED1  + N/C  + N/C */
+
+
+#endif  /* __ARCH_BOARD_BOARD_H */
@@ -0,0 +1,85 @@
+/****************************************************************************
+ * boards/xtensa/esp32/esp32-devkitc/include/board.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_ESP32_CORE_INCLUDE_BOARD_H
+#define __BOARDS_XTENSA_ESP32_ESP32_CORE_INCLUDE_BOARD_H
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Clocking *****************************************************************/
+
+/* The ESP32 Core board V2 is fitted with either a 26 a 40MHz crystal */
+
+#ifdef CONFIG_ESP32_XTAL_26MHz
+#  define BOARD_XTAL_FREQUENCY  26000000
+#else
+#  define BOARD_XTAL_FREQUENCY  40000000
+#endif
+
+/* Clock reconfiguration is currently disabled, so the CPU will be running
+ * at the XTAL frequency or at two times the XTAL frequency, depending upon
+ * how we load the code:
+ *
+ * - If we load the code into FLASH at address 0x1000 where it is started by
+ *   the second level bootloader, then the frequency is the crystal
+ *   frequency.
+ * - If we load the code into IRAM after the second level bootloader has run
+ *   this frequency will be  twice the crystal frequency.
+ *
+ * Don't ask me for an explanation.
+ */
+
+/* Note: The bootloader (esp-idf bootloader.bin) configures:
+ *
+ * - CPU frequency to 80MHz
+ * - The XTAL frequency according to the SDK config CONFIG_ESP32_XTAL_FREQ,
+ *   which is 40MHz by default.
+ *
+ * Reference:
+ *     https://github.com/espressif/esp-idf/blob
+ *           /6fd855ab8d00d23bad4660216bc2122c2285d5be/components
+ *           /bootloader_support/src/bootloader_clock.c#L38-L62
+ */
+
+#ifdef CONFIG_ESP32_RUN_IRAM
+#  define BOARD_CLOCK_FREQUENCY (2 * BOARD_XTAL_FREQUENCY)
+#else
+#ifdef CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ
+#  define BOARD_CLOCK_FREQUENCY (CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ * 1000000)
+#else
+#  define BOARD_CLOCK_FREQUENCY 80000000
+#endif
+#endif
+
+/* LED definitions **********************************************************/
+
+/* Define how many LEDs this board has (needed by userleds) */
+
+#define BOARD_NLEDS       1
+
+/* GPIO pins used by the GPIO Subsystem */
+
+#define BOARD_NGPIOOUT    1 /* Amount of GPIO Output pins */
+#define BOARD_NGPIOIN     1 /* Amount of GPIO Input without Interruption */
+#define BOARD_NGPIOINT    1 /* Amount of GPIO Input w/ Interruption pins */
+
+#endif /* __BOARDS_XTENSA_ESP32_ESP32_CORE_INCLUDE_BOARD_H */
@@ -0,0 +1,219 @@
+#
+# 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_ESP32_SPI3_DMA is not set
+# CONFIG_ESP32_SPI_SWCS is not set
+# CONFIG_ESP32_WIFI_RX_AMPDU is not set
+# CONFIG_ESP32_WIFI_TX_AMPDU is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_SPI_CALLBACK is not set
+CONFIG_ALLOW_BSD_COMPONENTS=y
+CONFIG_ARCH="xtensa"
+CONFIG_ARCH_BOARD_COMMON=y
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/espressif/esp32/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME=""
+CONFIG_ARCH_CHIP="esp32"
+CONFIG_ARCH_CHIP_ESP32=y
+CONFIG_ARCH_CHIP_ESP32WROOM32=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_XTENSA=y
+CONFIG_BOARDCTL_MKRD=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DEV_URANDOM=y
+CONFIG_DRIVERS_IEEE80211=y
+CONFIG_DRIVERS_WIRELESS=y
+CONFIG_ELF=y
+CONFIG_ESP32_FLASH_FREQ_80M=y
+CONFIG_ESP32_FLASH_MODE_QIO=y
+CONFIG_ESP32_I2C0=y
+CONFIG_ESP32_I2CTIMEOMS=10
+CONFIG_ESP32_LEDC=y
+CONFIG_ESP32_LEDC_CHANNEL1_PIN=13
+CONFIG_ESP32_LEDC_CHANNEL2_PIN=16
+CONFIG_ESP32_LEDC_CHANNEL3_PIN=17
+CONFIG_ESP32_LEDC_TIM0=y
+CONFIG_ESP32_LEDC_TIM0_CHANNELS=4
+CONFIG_ESP32_SPI3=y
+CONFIG_ESP32_SPIFLASH=y
+CONFIG_ESP32_SPIFLASH_SPIFFS=y
+CONFIG_ESP32_UART0=y
+CONFIG_ESP32_UART1=y
+CONFIG_ESP32_UART1_RXPIN=14
+CONFIG_ESP32_UART1_TXPIN=12
+CONFIG_ESP32_WIFI=y
+CONFIG_ESP32_WIFI_DYNAMIC_RXBUF_NUM=16
+CONFIG_ESP32_WIFI_DYNAMIC_TXBUF_NUM=16
+CONFIG_ESP32_WIFI_SAVE_PARAM=y
+CONFIG_ESP32_WIFI_STATION_SOFTAP_COEXISTENCE=y
+CONFIG_EXAMPLES_CALIB_UDELAY=y
+CONFIG_EXAMPLES_DHCPD=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FAT_LFN_UTF8=y
+CONFIG_FSUTILS_IPCFG=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_IDLETHREAD_STACKSIZE=2048
+CONFIG_IEEE80211_BROADCOM_DEFAULT_COUNTRY="27"
+CONFIG_IEEE80211_BROADCOM_SCHED_PRIORITY=50
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=6000
+CONFIG_INTELHEX_BINARY=y
+CONFIG_IOB_THROTTLE=0
+CONFIG_IPCFG_BINARY=y
+CONFIG_IPCFG_CHARDEV=y
+CONFIG_IPCFG_PATH="/fs/mtd_net"
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_MMCSD=y
+CONFIG_MM_REGIONS=3
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=48
+CONFIG_NETDB_DNSCLIENT=y
+CONFIG_NETDEVICES=y
+CONFIG_NETDEV_LATEINIT=y
+CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NETDEV_WIRELESS_IOCTL=y
+CONFIG_NETDOWN_NOTIFIER=y
+CONFIG_NETINIT_DNS=y
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0XA290AFE
+CONFIG_NETINIT_IPADDR=0xC0A80001
+CONFIG_NETINIT_MONITOR=y
+CONFIG_NETINIT_THREAD=y
+CONFIG_NETINIT_THREAD_PRIORITY=49
+CONFIG_NETINIT_WAPI_ALG=0
+CONFIG_NETINIT_WAPI_AUTHWPA=0x00000001
+CONFIG_NETINIT_WAPI_CIPHERMODE=0x00000001
+CONFIG_NETINIT_WAPI_PASSPHRASE="px4-esp32"
+CONFIG_NETINIT_WAPI_SSID="px4-esp32"
+CONFIG_NETINIT_WAPI_STAMODE=3
+CONFIG_NETUTILS_DHCPC_BOOTP_FLAGS=0x0000
+CONFIG_NETUTILS_DHCPD=y
+CONFIG_NETUTILS_DHCPD_DNSIP=0xc0a80001
+CONFIG_NETUTILS_DHCPD_MAXLEASES=2
+CONFIG_NETUTILS_DHCPD_ROUTERIP=0xc0a80001
+CONFIG_NETUTILS_DHCPD_STACKSIZE=3048
+CONFIG_NETUTILS_DHCPD_STARTIP=0xc0a80002
+CONFIG_NETUTILS_TELNETC=y
+CONFIG_NETUTILS_TELNETD=y
+CONFIG_NET_ARP_IPIN=y
+CONFIG_NET_ARP_SEND=y
+CONFIG_NET_BROADCAST=y
+CONFIG_NET_ETH_PKTSIZE=1518
+CONFIG_NET_ICMP=y
+CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_NETLINK=y
+CONFIG_NET_SOLINGER=y
+CONFIG_NET_TCP=y
+CONFIG_NET_TCPBACKLOG=y
+CONFIG_NET_TCP_DELAYED_ACK=y
+CONFIG_NET_TCP_WRITE_BUFFERS=y
+CONFIG_NET_UDP=y
+CONFIG_NET_UDP_WRITE_BUFFERS=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_BASENAME=y
+CONFIG_NSH_DISABLE_CMP=y
+CONFIG_NSH_DISABLE_DD=y
+CONFIG_NSH_DISABLE_DIRNAME=y
+CONFIG_NSH_DISABLE_HEXDUMP=y
+CONFIG_NSH_DISABLE_LOSETUP=y
+CONFIG_NSH_DISABLE_MKFIFO=y
+CONFIG_NSH_DISABLE_MKRD=y
+CONFIG_NSH_DISABLE_PRINTF=y
+CONFIG_NSH_DISABLE_PUT=y
+CONFIG_NSH_DISABLE_TRUNCATE=y
+CONFIG_NSH_DISABLE_UNAME=y
+CONFIG_NSH_DISABLE_WGET=y
+CONFIG_NSH_DISABLE_XD=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_READLINE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_PWM_MULTICHAN=y
+CONFIG_PWM_NCHANNELS=4
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=10
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=10
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=114688
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_CMD_HISTORY_LEN=4
+CONFIG_READLINE_CMD_HISTORY_LINELEN=64
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIOMAX=178
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGCONDTIMEDOUT=19
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=20
+CONFIG_SPIFFS_NAME_MAX=48
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_SYSTEM_DHCPC_RENEW=y
+CONFIG_SYSTEM_MDIO=y
+CONFIG_SYSTEM_NETDB=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_NSH_STACKSIZE=1000
+CONFIG_SYSTEM_PING=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TLS_TASK_NELEM=4
+CONFIG_UART0_SERIAL_CONSOLE=y
+CONFIG_USEC_PER_TICK=1000
+CONFIG_WIRELESS=y
+CONFIG_WIRELESS_WAPI=y
+CONFIG_WIRELESS_WAPI_CMDTOOL=y
+CONFIG_WIRELESS_WAPI_STACKSIZE=4096
@@ -0,0 +1,296 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/scripts/esp32.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Default entry point: */
+
+ENTRY(__start);
+
+SECTIONS
+{
+  /* Send .iram0 code to iram */
+
+  .iram0.vectors :
+  {
+    /* Vectors go to IRAM */
+
+    _init_start = ABSOLUTE(.);
+
+    /* Vectors according to builds/RF-2015.2-win32/esp108_v1_2_s5_512int_2/config.html */
+
+    . = 0x0;
+    KEEP (*(.window_vectors.text));
+    . = 0x180;
+    KEEP (*(.xtensa_level2_vector.text));
+    . = 0x1c0;
+    KEEP (*(.xtensa_level3_vector.text));
+    . = 0x200;
+    KEEP (*(.xtensa_level4_vector.text));
+    . = 0x240;
+    KEEP (*(.xtensa_level5_vector.text));
+    . = 0x280;
+    KEEP (*(.debug_exception_vector.text));
+    . = 0x2c0;
+    KEEP (*(.nmi_vector.text));
+    . = 0x300;
+    KEEP (*(.kernel_exception_vector.text));
+    . = 0x340;
+    KEEP (*(.user_exception_vector.text));
+    . = 0x3c0;
+    KEEP (*(.double_exception_vector.text));
+    . = 0x400;
+    *(.*_vector.literal)
+
+    . = ALIGN (16);
+    *(.entry.text)
+    *(.init.literal)
+    *(.init)
+    _init_end = ABSOLUTE(.);
+  } > iram0_0_seg
+
+  .iram0.text :
+  {
+    /* Code marked as running out of IRAM */
+
+    _iram_text_start = ABSOLUTE(.);
+    *(.iram1 .iram1.*)
+    *librtc.a:(.literal .text .literal.* .text.*)
+    *libarch.a:esp32_spiflash.*(.literal .text .literal.* .text.*)
+    *libarch.a:xtensa_cpupause.*(.literal .text .literal.* .text.*)
+    *libarch.a:xtensa_copystate.*(.literal .text .literal.* .text.*)
+    *libarch.a:xtensa_interruptcontext.*(.literal .text .literal.* .text.*)
+    *libarch.a:xtensa_testset.*(.literal .text .literal.* .text.*)
+
+    *libsched.a:sched_suspendscheduler.*(.literal .text .literal.* .text.*)
+    *libsched.a:sched_note.*(.literal .text .literal.* .text.*)
+    *libsched.a:sched_thistask.*(.literal .text .literal.* .text.*)
+    *libsched.a:spinlock.*(.literal .text .literal.* .text.*)
+    *libsched.a:irq_csection.*(.literal .text .literal.* .text.*)
+    *libsched.a:irq_dispatch.*(.literal .text .literal.* .text.*)
+
+    *(.wifirxiram .wifirxiram.*)
+    *(.wifi0iram  .wifi0iram.*)
+    *(.wifislpiram .wifislpiram.*)
+    *(.wifislprxiram .wifislprxiram.*)
+    *(.phyiram .phyiram.*)
+    _iram_text_end = ABSOLUTE(.);
+
+    /* IRAM heap starts at the end of iram0_0_seg */
+
+    . = ALIGN (4);
+    _siramheap = ABSOLUTE(.);
+  } > iram0_0_seg
+
+  /* Shared RAM */
+
+  .dram0.bss (NOLOAD) :
+  {
+    /* .bss initialized on power-up */
+
+    . = ALIGN (8);
+    _sbss = ABSOLUTE(.);
+    _bss_start = ABSOLUTE(.);
+    *(.ext_ram.bss*)
+    _bt_bss_start = ABSOLUTE(.);
+    *libbt.a:(.bss .bss.* COMMON)
+    . = ALIGN (4);
+    _bt_bss_end = ABSOLUTE(.);
+    _btdm_bss_start = ABSOLUTE(.);
+    *libbtdm_app.a:(.bss .bss.* COMMON)
+    . = ALIGN (4);
+    _btdm_bss_end = ABSOLUTE(.);
+    . = ALIGN (8);
+    *(.dynsbss)
+    *(.sbss)
+    *(.sbss.*)
+    *(.gnu.linkonce.sb.*)
+    *(.scommon)
+    *(.sbss2)
+    *(.sbss2.*)
+    *(.gnu.linkonce.sb2.*)
+    *(.dynbss)
+    KEEP (*(.bss))
+    *(.bss.*)
+    *(.share.mem)
+    *(.gnu.linkonce.b.*)
+    *(COMMON)
+    *libarch.a:esp32_spiflash.*(.bss  .bss.*  COMMON)
+    *libarch.a:xtensa_cpupause.*(.bss  .bss.*  COMMON)
+    *libarch.a:xtensa_copystate.*(.bss  .bss.*  COMMON)
+    *libarch.a:xtensa_interruptcontext.*(.bss  .bss.*  COMMON)
+    *libarch.a:xtensa_testset.*(.bss  .bss.*  COMMON)
+
+    *libsched.a:sched_suspendscheduler.*(.bss  .bss.*  COMMON)
+    *libsched.a:sched_thistask.*(.bss  .bss.*  COMMON)
+    *libsched.a:sched_note.*(.bss  .bss.*  COMMON)
+    *libsched.a:spinlock.*(.bss  .bss.*  COMMON)
+    *libsched.a:irq_csection.*(.bss  .bss.*  COMMON)
+    *libsched.a:irq_dispatch.*(.bss  .bss.*  COMMON)
+
+    . = ALIGN(8);
+    _bss_end = ABSOLUTE(.);
+    _ebss = ABSOLUTE(.);
+  } >dram0_0_seg
+
+  .noinit (NOLOAD):
+  {
+    /* This section contains data that is not initialized during load,
+     * or during the application's initialization sequence.
+     */
+
+    *(.noinit)
+  } >dram0_0_seg
+
+  .dram0.data :
+  {
+    /* .data initialized on power-up in ROMed configurations. */
+
+    _sdata = ABSOLUTE(.);
+    _bt_data_start = ABSOLUTE(.);
+    *libbt.a:(.data .data.*)
+    . = ALIGN (4);
+    _bt_data_end = ABSOLUTE(.);
+    _btdm_data_start = ABSOLUTE(.);
+    *libbtdm_app.a:(.data .data.*)
+    . = ALIGN (4);
+    _btdm_data_end = ABSOLUTE(.);
+    KEEP (*(.data))
+    KEEP (*(.data.*))
+    KEEP (*(.gnu.linkonce.d.*))
+    KEEP (*(.data1))
+    KEEP (*(.sdata))
+    KEEP (*(.sdata.*))
+    KEEP (*(.gnu.linkonce.s.*))
+    KEEP (*(.sdata2))
+    KEEP (*(.sdata2.*))
+    KEEP (*(.gnu.linkonce.s2.*))
+    KEEP (*(.jcr))
+    *(.dram1 .dram1.*)
+    *libphy.a:(.rodata  .rodata.*)
+    *libarch.a:esp32_spiflash.*(.rodata  .rodata.*)
+    *libarch.a:xtensa_cpupause.*(.rodata  .rodata.*)
+    *libarch.a:xtensa_copystate.*(.rodata  .rodata.*)
+    *libarch.a:xtensa_interruptcontext.*(.rodata  .rodata.*)
+    *libarch.a:xtensa_testset.*(.rodata  .rodata.*)
+
+    *libsched.a:sched_suspendscheduler.*(.rodata  .rodata.*)
+    *libsched.a:sched_thistask.*(.rodata  .rodata.*)
+    *libsched.a:sched_note.*(.rodata  .rodata.*)
+    *libsched.a:spinlock.*(.rodata  .rodata.*)
+    *libsched.a:irq_csection.*(.rodata  .rodata.*)
+    *libsched.a:irq_dispatch.*(.rodata  .rodata.*)
+
+    . = ALIGN(4);
+    _edata = ABSOLUTE(.);
+
+    /* Heap starts at the end of .data */
+
+    _sheap = ABSOLUTE(.);
+  } >dram0_0_seg
+
+  /* External memory bss, from any global variable with EXT_RAM_ATTR attribute */
+
+  .extmem.bss (NOLOAD) :
+  {
+    _sbss_extmem = ABSOLUTE(.);
+    *(.extmem.bss .extmem.bss.*)
+    . = ALIGN(4);
+    _ebss_extmem = ABSOLUTE(.);
+  } > extmem_seg
+
+  .flash.rodata :
+  {
+    _srodata = ABSOLUTE(.);
+    *(.rodata)
+    *(.rodata.*)
+    *(.irom1.text) /* catch stray ICACHE_RODATA_ATTR */
+    *(.gnu.linkonce.r.*)
+    *(.rodata1)
+    __XT_EXCEPTION_TABLE_ = ABSOLUTE(.);
+    *(.xt_except_table)
+    *(.gcc_except_table)
+    *(.gcc_except_table.*)
+    *(.gnu.linkonce.e.*)
+    *(.gnu.version_r)
+    *(.eh_frame)
+
+    . = (. + 3) & ~ 3;
+
+    /* C++ constructor and destructor tables, properly ordered: */
+
+    _sinit = ABSOLUTE(.);
+    KEEP (*crtbegin.o(.ctors))
+    KEEP (*(EXCLUDE_FILE (*crtend.o) .ctors))
+    KEEP (*(SORT(.ctors.*)))
+    KEEP (*(.ctors))
+    _einit = ABSOLUTE(.);
+    KEEP (*crtbegin.o(.dtors))
+    KEEP (*(EXCLUDE_FILE (*crtend.o) .dtors))
+    KEEP (*(SORT(.dtors.*)))
+    KEEP (*(.dtors))
+
+    /* C++ exception handlers table: */
+
+    __XT_EXCEPTION_DESCS_ = ABSOLUTE(.);
+    *(.xt_except_desc)
+    *(.gnu.linkonce.h.*)
+    __XT_EXCEPTION_DESCS_END__ = ABSOLUTE(.);
+    *(.xt_except_desc_end)
+    *(.dynamic)
+    *(.gnu.version_d)
+    _erodata = ABSOLUTE(.);
+    /* Literals are also RO data. */
+    _lit4_start = ABSOLUTE(.);
+    *(*.lit4)
+    *(.lit4.*)
+    *(.gnu.linkonce.lit4.*)
+    _lit4_end = ABSOLUTE(.);
+    . = ALIGN(4);
+  } >default_rodata_seg
+
+  .flash.text :
+  {
+    _stext = .;
+    _text_start = ABSOLUTE(.);
+    *(.literal .text .literal.* .text.* .stub .gnu.warning .gnu.linkonce.literal.* .gnu.linkonce.t.*.literal .gnu.linkonce.t.*)
+    *(.irom0.text) /* catch stray ICACHE_RODATA_ATTR */
+    *(.fini.literal)
+    *(.fini)
+    *(.gnu.version)
+    _text_end = ABSOLUTE(.);
+    _etext = .;
+  } >default_code_seg
+
+  .rtc.text :
+  {
+    . = ALIGN(4);
+    *(.rtc.literal .rtc.text)
+  } >rtc_iram_seg
+
+  .rtc.data :
+  {
+    *(.rtc.data)
+    *(.rtc.rodata)
+
+   /* Whatever is left from the RTC memory is used as a special heap. */
+
+    . = ALIGN (4);
+    _srtcheap = ABSOLUTE(.);
+  } > rtc_slow_seg
+}
@@ -0,0 +1,121 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/scripts/esp32.template.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+/****************************************************************************
+ * ESP32 Linker Script Memory Layout
+ *
+ * This file describes the memory layout (memory blocks) as virtual
+ * memory addresses.
+ *
+ * esp32.ld contains output sections to link compiler output into these
+ * memory blocks.
+ *
+ * NOTE: That this is not the actual linker script but rather a "template"
+ * for the esp32_out.ld script.  This template script is passed through
+ * the C preprocessor to include selected configuration options.
+ *
+ ****************************************************************************/
+/* config.h -- Autogenerated! Do not edit. */
+/* Used to represent the values of tristate options */
+/* General Definitions ***********************************/
+/* Sanity Checks *****************************************/
+/* If the end of RAM is not specified then it is assumed to be
+ * the beginning of RAM plus the RAM size.
+ */
+/* If the end of FLASH is not specified then it is assumed to be
+ * the beginning of FLASH plus the FLASH size.
+ */
+/****************************************************************************
+ * boards/xtensa/esp32/common/scripts/esp32_aliases.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+/* config.h -- Autogenerated! Do not edit. */
+/* Lower-case aliases for symbols not compliant to nxstyle */
+/* Bluetooth needs symbol alias, to be removed after IDF rename it */
+MEMORY
+{
+  /* Below values assume the flash cache is on, and have the blocks this
+   * uses subtracted from the length of the various regions. The 'data access
+   * port' dram/drom regions map to the same iram/irom regions but are
+   * connected to the data port of the CPU and e.g. allow bytewise access.
+   */
+  /* IRAM for PRO cpu. Not sure if happy with this, this is MMU area... */
+  iram0_0_seg (RX) : org = 0x40080000, len = 0x20000
+  /* Flash mapped instruction data. */
+  /* The 0x20 offset is a convenience for the app binary image generation.
+   * Flash cache has 64KB pages. The .bin file which is flashed to the chip
+   * has a 0x18 byte file header, and each segment has a 0x08 byte segment
+   * header. Setting this offset makes it simple to meet the flash cache MMU's
+   * constraint that (paddr % 64KB == vaddr % 64KB).
+   */
+  irom0_0_seg (RX) : org = 0x400d0020, len = 0x330000 - 0x20
+  /* Shared data RAM, excluding memory reserved for ROM bss/data/stack.
+   * Enabling Bluetooth & Trace Memory features in menuconfig will decrease
+   * the amount of RAM available.
+   *
+   * Note: The length of this section should be 0x50000, and this extra
+   * DRAM is available in heap at runtime. However due to static ROM memory
+   * usage at this 176KB mark, the additional static memory temporarily cannot
+   * be used.
+   */
+  dram0_0_seg (RW) : org = 0x3ffb0000 + 0,
+                         len = 0x2c200 - 0 - 0
+  /* Flash mapped constant data */
+  /* The 0x20 offset is a convenience for the app binary image generation.
+   * Flash cache has 64KB pages. The .bin file which is flashed to the chip
+   * has a 0x18 byte file header, and each segment has a 0x08 byte segment
+   * header. Setting this offset makes it simple to meet the flash cache MMU's
+   * constraint that (paddr % 64KB == vaddr % 64KB).
+   */
+  drom0_0_seg (R) : org = 0x3f400020, len = 0x400000 - 0x20
+  /* RTC fast memory (executable). Persists over deep sleep. */
+  rtc_iram_seg (RWX) : org = 0x400c0000, len = 0x2000
+  /* RTC slow memory (data accessible). Persists over deep sleep.
+   * Start of RTC slow memory is reserved for ULP co-processor code + data,
+   * if enabled.
+   */
+  rtc_slow_seg (RW) : org = 0x50000000 + 0,
+                         len = 0x1000 - 0
+  /* External memory, including data and text */
+  extmem_seg (RWX) : org = 0x3f800000, len = 0x400000
+}
+  REGION_ALIAS("default_rodata_seg", drom0_0_seg);
+  REGION_ALIAS("default_code_seg", irom0_0_seg);
+/* Heap ends at top of dram0_0_seg */
+_eheap = 0x40000000 - 0;
+/* IRAM heap ends at top of dram0_0_seg */
+_eiramheap = 0x400a0000;
+/* Mark the end of the RTC heap (top of the RTC region) */
+_ertcheap = 0x50001fff;
+EXTERN(board_get_manifest)
@@ -0,0 +1,78 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/scripts/esp32.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Default entry point: */
+
+
+MEMORY
+{
+  /* Below values assume the flash cache is on, and have the blocks this
+   * uses subtracted from the length of the various regions. The 'data access
+   * port' dram/drom regions map to the same iram/irom regions but are
+   * connected to the data port of the CPU and e.g. allow bytewise access.
+   */
+  /* IRAM for PRO cpu. Not sure if happy with this, this is MMU area... */
+  iram0_0_seg (RX) : org = 0x40080000, len = 0x20000
+  /* Flash mapped instruction data. */
+  /* The 0x20 offset is a convenience for the app binary image generation.
+   * Flash cache has 64KB pages. The .bin file which is flashed to the chip
+   * has a 0x18 byte file header, and each segment has a 0x08 byte segment
+   * header. Setting this offset makes it simple to meet the flash cache MMU's
+   * constraint that (paddr % 64KB == vaddr % 64KB).
+   */
+  irom0_0_seg (RX) : org = 0x400d0020, len = 0x330000 - 0x20
+  /* Shared data RAM, excluding memory reserved for ROM bss/data/stack.
+   * Enabling Bluetooth & Trace Memory features in menuconfig will decrease
+   * the amount of RAM available.
+   *
+   * Note: The length of this section should be 0x50000, and this extra
+   * DRAM is available in heap at runtime. However due to static ROM memory
+   * usage at this 176KB mark, the additional static memory temporarily cannot
+   * be used.
+   */
+  dram0_0_seg (RW) : org = 0x3ffb0000 + 0,
+                         len = 0x2c200 - 0 - 0
+  /* Flash mapped constant data */
+  /* The 0x20 offset is a convenience for the app binary image generation.
+   * Flash cache has 64KB pages. The .bin file which is flashed to the chip
+   * has a 0x18 byte file header, and each segment has a 0x08 byte segment
+   * header. Setting this offset makes it simple to meet the flash cache MMU's
+   * constraint that (paddr % 64KB == vaddr % 64KB).
+   */
+  drom0_0_seg (R) : org = 0x3f400020, len = 0x400000 - 0x20
+  /* RTC fast memory (executable). Persists over deep sleep. */
+  rtc_iram_seg (RWX) : org = 0x400c0000, len = 0x2000
+  /* RTC slow memory (data accessible). Persists over deep sleep.
+   * Start of RTC slow memory is reserved for ULP co-processor code + data,
+   * if enabled.
+   */
+  rtc_slow_seg (RW) : org = 0x50000000 + 0,
+                         len = 0x1000 - 0
+  /* External memory, including data and text */
+  extmem_seg (RWX) : org = 0x3f800000, len = 0x400000
+}
+  REGION_ALIAS("default_rodata_seg", drom0_0_seg);
+  REGION_ALIAS("default_code_seg", irom0_0_seg);
+/* Heap ends at top of dram0_0_seg */
+_eheap = 0x40000000 - 0;
+/* IRAM heap ends at top of dram0_0_seg */
+_eiramheap = 0x400a0000;
+/* Mark the end of the RTC heap (top of the RTC region) */
+_ertcheap = 0x50001fff;
@@ -0,0 +1,72 @@
+############################################################################
+# boards/xtensa/esp32/esp32-devkitc/scripts/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(TOPDIR)/.config
+include $(TOPDIR)/tools/Config.mk
+include $(TOPDIR)/tools/esp32/Config.mk
+include $(TOPDIR)/arch/xtensa/src/lx6/Toolchain.defs
+
+ARCHSCRIPT += $(BOARD_COMMON_DIR)$(DELIM)scripts$(DELIM)esp32_rom.ld
+
+# Pick the linker scripts from the board level if they exist, if not
+# pick the common linker scripts.
+
+ifeq ($(CONFIG_BUILD_PROTECTED),y)
+  ARCHSCRIPT += $(call FINDSCRIPT,protected_memory.ld)
+  ARCHSCRIPT += $(call FINDSCRIPT,kernel-space.ld)
+else
+  ARCHSCRIPT += $(call FINDSCRIPT,flat_memory.ld)
+
+  ifeq ($(CONFIG_ESP32_APP_FORMAT_MCUBOOT),y)
+    ARCHSCRIPT += $(call FINDSCRIPT,mcuboot_sections.ld)
+  else
+    ARCHSCRIPT += $(call FINDSCRIPT,legacy_sections.ld)
+  endif
+endif
+
+ARCHPICFLAGS = -fpic
+
+# if SPIRAM/PSRAM is used then we need to include a workaround
+
+ifeq ($(CONFIG_ESP32_SPIRAM),y)
+  ARCHCFLAGS += -mfix-esp32-psram-cache-issue
+endif
+
+CFLAGS := $(ARCHCFLAGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS) -pipe
+CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS := $(ARCHCXXFLAGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS) -pipe
+CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS := $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS)
+AFLAGS := $(CFLAGS) -D__ASSEMBLY__
+
+# Loadable module definitions
+
+CMODULEFLAGS = $(CFLAGS) -mtext-section-literals
+
+LDMODULEFLAGS = -r -e module_initialize
+LDMODULEFLAGS += -T $(call CONVERT_PATH,$(TOPDIR)/libs/libc/modlib/gnu-elf.ld)
+
+# ELF module definitions
+
+CELFFLAGS = $(CFLAGS) -mtext-section-literals
+CXXELFFLAGS = $(CXXFLAGS) -mtext-section-literals
+
+LDELFFLAGS = -r -e main
+LDELFFLAGS += -T $(call CONVERT_PATH,$(TOPDIR)$(DELIM)binfmt$(DELIM)libelf$(DELIM)gnu-elf.ld)
@@ -0,0 +1,54 @@
+############################################################################
+#
+#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(drivers_board
+	i2c.cpp
+	init.c
+	led.c
+	spi.cpp
+	timer_config.cpp
+	# usb.c
+	esp32_board_spiflash.c
+	esp32_board_wlan_setup.c
+	mtd.cpp
+)
+
+target_link_libraries(drivers_board
+	PRIVATE
+		arch_io_pins
+		arch_spi
+		drivers__led # drv_led_start
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		px4_layer
+)
@@ -0,0 +1,120 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * board internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* LEDs */
+#define GPIO_LED_BLUE	4 | GPIO_OUTPUT
+
+/* GPIOs available*/
+#define GPIO_1	4 | GPIO_OUTPUT
+#define GPIO_2	4 | GPIO_OUTPUT
+#define GPIO_3	4 | GPIO_OUTPUT
+#define GPIO_4	4 | GPIO_OUTPUT
+
+#define PX4_NUMBER_I2C_BUSES 2
+
+#define BOARD_SPI_BUS_MAX_BUS_ITEMS 2
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
+ */
+#define ADC_CHANNELS (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3)	// Change this later based on the adc channels actually used
+
+#define ADC_BATTERY_VOLTAGE_CHANNEL  1			// Corresponding GPIO 27. Used in init.c for disabling GPIO_IE
+#define ADC_BATTERY_CURRENT_CHANNEL  2			// Corresponding GPIO 28. Used in init.c for disabling GPIO_IE
+#define ADC_RC_RSSI_CHANNEL          0
+
+/* High-resolution timer */
+/*
+ * For wifi to work, it needs to use its own timer.
+ * Make sure you are not using the timer for hrt
+ * that is being using for the wifi
+*/
+#define HRT_TIMER 2
+
+/* This board provides a DMA pool and APIs */			// Needs to be figured out
+#define BOARD_DMA_ALLOC_POOL_SIZE 2048
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
+
+/* PWM
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS      4
+
+// Has pwm outputs
+#define BOARD_HAS_PWM    DIRECT_PWM_OUTPUT_CHANNELS
+
+// #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_USB_VBUS_VALID));
+int esp32_spiflash_init(void);
+int esp32_partition_init(void);
+
+__BEGIN_DECLS
+
+#ifndef __ASSEMBLY__
+
+
+/****************************************************************************************************
+ * Name: rp2040_usbinitialize
+ *
+ * Description:
+ *   Called to configure USB IO.
+ *
+ ****************************************************************************************************/
+
+extern void esp32_spiinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,574 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/src/esp32_board_spiflash.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <assert.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/fs/fs.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/mtd/mtd.h>
+#include <nuttx/spi/spi.h>
+#ifdef CONFIG_ESP32_SPIFLASH_NXFFS
+#include <nuttx/fs/nxffs.h>
+#endif
+#ifdef CONFIG_BCH
+#include <nuttx/drivers/drivers.h>
+#endif
+
+#include "esp32_spiflash.h"
+#include "esp32_board_spiflash_setup.h"
+
+// #define CONFIG_ESP32_SPIFLASH_SPIFFS
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define ARRAYSIZE(x)                (sizeof((x)) / sizeof((x)[0]))
+
+#ifdef CONFIG_ESP32_OTA_PARTITION_ENCRYPT
+#  define OTA_ENCRYPT true
+#else
+#  define OTA_ENCRYPT false
+#endif
+
+#ifdef CONFIG_ESP32_WIFI_MTD_ENCRYPT
+#  define WIFI_ENCRYPT true
+#else
+#  define WIFI_ENCRYPT false
+#endif
+
+#ifdef CONFIG_ESP32_STORAGE_MTD_ENCRYPT
+#  define STORAGE_ENCRYPT true
+#else
+#  define STORAGE_ENCRYPT false
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_HAVE_OTA_PARTITION
+struct ota_partition_s {
+	uint32_t    offset;          /* Partition offset from the beginning of MTD */
+	uint32_t    size;            /* Partition size in bytes */
+	const char *devpath;         /* Partition device path */
+};
+#endif
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_HAVE_OTA_PARTITION
+static int init_ota_partitions(void);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_HAVE_OTA_PARTITION
+static const struct ota_partition_s g_ota_partition_table[] = {
+	{
+		.offset  = CONFIG_ESP32_OTA_PRIMARY_SLOT_OFFSET,
+		.size    = CONFIG_ESP32_OTA_SLOT_SIZE,
+		.devpath = CONFIG_ESP32_OTA_PRIMARY_SLOT_DEVPATH
+	},
+	{
+		.offset  = CONFIG_ESP32_OTA_SECONDARY_SLOT_OFFSET,
+		.size    = CONFIG_ESP32_OTA_SLOT_SIZE,
+		.devpath = CONFIG_ESP32_OTA_SECONDARY_SLOT_DEVPATH
+	},
+	{
+		.offset  = CONFIG_ESP32_OTA_SCRATCH_OFFSET,
+		.size    = CONFIG_ESP32_OTA_SCRATCH_SIZE,
+		.devpath = CONFIG_ESP32_OTA_SCRATCH_DEVPATH
+	}
+};
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_HAVE_OTA_PARTITION
+static int init_ota_partitions(void)
+{
+	struct mtd_dev_s *mtd;
+#ifdef CONFIG_BCH
+	char blockdev[18];
+#endif
+	int ret = OK;
+
+	for (int i = 0; i < ARRAYSIZE(g_ota_partition_table); ++i) {
+		const struct ota_partition_s *part = &g_ota_partition_table[i];
+		mtd = esp32_spiflash_alloc_mtdpart(part->offset, part->size,
+						   OTA_ENCRYPT);
+
+		ret = ftl_initialize(i, mtd);
+
+		if (ret < 0) {
+			ferr("ERROR: Failed to initialize the FTL layer: %d\n", ret);
+			return ret;
+		}
+
+#ifdef CONFIG_BCH
+		snprintf(blockdev, sizeof(blockdev), "/dev/mtdblock%d", i);
+
+		ret = bchdev_register(blockdev, part->devpath, false);
+
+		if (ret < 0) {
+			ferr("ERROR: bchdev_register %s failed: %d\n", part->devpath, ret);
+			return ret;
+		}
+
+#endif
+	}
+
+	return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: setup_smartfs
+ *
+ * Description:
+ *   Provide a block driver wrapper around MTD partition and mount a
+ *   SMART FS over it.
+ *
+ * Parameters:
+ *   smartn - Number used to register the mtd partition: /dev/smartx, where
+ *            x = smartn.
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_SPIFLASH_SMARTFS
+static int setup_smartfs(int smartn, struct mtd_dev_s *mtd,
+			 const char *mnt_pt)
+{
+	int ret = OK;
+	char path[22];
+
+	ret = smart_initialize(smartn, mtd, NULL);
+
+	if (ret < 0) {
+		finfo("smart_initialize failed, Trying to erase first...\n");
+		ret = mtd->ioctl(mtd, MTDIOC_BULKERASE, 0);
+
+		if (ret < 0) {
+			ferr("ERROR: ioctl(BULKERASE) failed: %d\n", ret);
+			return ret;
+		}
+
+		finfo("Erase successful, initializing it again.\n");
+		ret = smart_initialize(smartn, mtd, NULL);
+
+		if (ret < 0) {
+			ferr("ERROR: smart_initialize failed: %d\n", ret);
+			return ret;
+		}
+	}
+
+	if (mnt_pt != NULL) {
+		snprintf(path, sizeof(path), "/dev/smart%d", smartn);
+
+		ret = nx_mount(path, mnt_pt, "smartfs", 0, NULL);
+
+		if (ret < 0) {
+			ferr("ERROR: Failed to mount the FS volume: %d\n", ret);
+			return ret;
+		}
+	}
+
+	return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: setup_littlefs
+ *
+ * Description:
+ *   Register a mtd driver and mount a Little FS over it.
+ *
+ * Parameters:
+ *   path   - Path name used to register the mtd driver.
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *   priv   - Privileges
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_SPIFLASH_LITTLEFS
+static int setup_littlefs(const char *path, struct mtd_dev_s *mtd,
+			  const char *mnt_pt, int priv)
+{
+	int ret = OK;
+
+	ret = register_mtddriver(path, mtd, priv, NULL);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to register MTD: %d\n", ret);
+		return -ENOMEM;
+	}
+
+	if (mnt_pt != NULL) {
+		ret = nx_mount(path, mnt_pt, "littlefs", 0, NULL);
+
+		if (ret < 0) {
+			ret = nx_mount(path, mnt_pt, "littlefs", 0, "forceformat");
+
+			if (ret < 0) {
+				ferr("ERROR: Failed to mount the FS volume: %d\n", ret);
+				return ret;
+			}
+		}
+	}
+
+	return OK;
+}
+#endif
+
+/****************************************************************************
+ * Name: setup_spiffs
+ *
+ * Description:
+ *   Register a mtd driver and mount a SPIFFS over it.
+ *
+ * Parameters:
+ *   path   - Path name used to register the mtd driver.
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *   priv   - Privileges
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_SPIFLASH_SPIFFS
+static int setup_spiffs(const char *path, struct mtd_dev_s *mtd,
+			const char *mnt_pt, int priv)
+{
+	int ret = OK;
+
+	ret = register_mtddriver(path, mtd, priv, NULL);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to register MTD: %d\n", ret);
+		return -ENOMEM;
+	}
+
+	if (mnt_pt != NULL) {
+		ret = nx_mount(path, mnt_pt, "spiffs", 0, NULL);
+
+		if (ret < 0) {
+			ferr("ERROR: Failed to mount the FS volume: %d\n", ret);
+			return ret;
+		}
+	}
+
+	return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: setup_nxffs
+ *
+ * Description:
+ *   Register a mtd driver and mount a SPIFFS over it.
+ *
+ * Parameters:
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_SPIFLASH_NXFFS
+static int setup_nxffs(struct mtd_dev_s *mtd, const char *mnt_pt)
+{
+	int ret = OK;
+
+	ret = nxffs_initialize(mtd);
+
+	if (ret < 0) {
+		ferr("ERROR: NXFFS init failed: %d\n", ret);
+		return ret;
+	}
+
+	if (mnt_pt != NULL) {
+		ret = nx_mount(NULL, mnt_pt, "nxffs", 0, NULL);
+
+		if (ret < 0) {
+			ferr("ERROR: Failed to mount the FS volume: %d\n", ret);
+			return ret;
+		}
+	}
+
+	return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: init_wifi_partition
+ *
+ * Description:
+ *   Initialize partition that is dedicated to Wi-Fi.
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_WIFI_SAVE_PARAM
+static int init_wifi_partition(void)
+{
+	int ret = OK;
+	struct mtd_dev_s *mtd;
+
+	mtd = esp32_spiflash_alloc_mtdpart(CONFIG_ESP32_WIFI_MTD_OFFSET,
+					   CONFIG_ESP32_WIFI_MTD_SIZE,
+					   WIFI_ENCRYPT);
+
+	if (!mtd) {
+		ferr("ERROR: Failed to alloc MTD partition of SPI Flash\n");
+		return -ENOMEM;
+	}
+
+#ifdef CONFIG_ESP32_SPIFLASH_SMARTFS
+
+	ret = setup_smartfs(1, mtd, CONFIG_ESP32_WIFI_FS_MOUNTPT);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to setup smartfs\n");
+		return ret;
+	}
+
+#elif defined(CONFIG_ESP32_SPIFLASH_LITTLEFS)
+
+	const char *path = "/dev/mtdblock1";
+	ret = setup_littlefs(path, mtd, CONFIG_ESP32_WIFI_FS_MOUNTPT, 0777);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to setup littlefs\n");
+		return ret;
+	}
+
+#elif defined(CONFIG_ESP32_SPIFLASH_SPIFFS)
+
+	const char *path = "/dev/mtdblock1";
+	ret = setup_spiffs(path, mtd, CONFIG_ESP32_WIFI_FS_MOUNTPT, 0777);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to setup spiffs\n");
+		return ret;
+	}
+
+#else
+
+	ferr("ERROR: No supported FS selected. Wi-Fi partition "
+	     "should be mounted before Wi-Fi initialization\n");
+
+#endif
+
+	return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: init_storage_partition
+ *
+ * Description:
+ *   Initialize partition that is dedicated to general use.
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+static int init_storage_partition(void)
+{
+	int ret = OK;
+	struct mtd_dev_s *mtd;
+
+	mtd = esp32_spiflash_alloc_mtdpart(CONFIG_ESP32_STORAGE_MTD_OFFSET,
+					   CONFIG_ESP32_STORAGE_MTD_SIZE,
+					   STORAGE_ENCRYPT);
+
+	if (!mtd) {
+		ferr("ERROR: Failed to alloc MTD partition of SPI Flash\n");
+		return -ENOMEM;
+	}
+
+#ifdef CONFIG_ESP32_SPIFLASH_SMARTFS
+
+	ret = setup_smartfs(0, mtd, NULL);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to setup smartfs\n");
+		return ret;
+	}
+
+#elif defined(CONFIG_ESP32_SPIFLASH_NXFFS)
+
+	ret = setup_nxffs(mtd, "/mnt");
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to setup nxffs\n");
+		return ret;
+	}
+
+#elif defined(CONFIG_ESP32_SPIFLASH_LITTLEFS)
+
+	const char *path = "/dev/esp32flash";
+	ret = setup_littlefs(path, mtd, NULL, 0755);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to setup littlefs\n");
+		return ret;
+	}
+
+#elif defined(CONFIG_ESP32_SPIFLASH_SPIFFS)
+	const char *path = "/dev/esp32flash";
+	ret = setup_spiffs(path, mtd, NULL, 0755);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to setup spiffs\n");
+		return ret;
+	}
+
+#else
+
+	ret = register_mtddriver("/dev/esp32flash", mtd, 0755, NULL);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to register MTD: %d\n", ret);
+		return ret;
+	}
+
+#endif
+
+	return ret;
+}
+
+#define CONFIG_ESP32_PARAM_MTD_OFFSET   0x330000
+#define CONFIG_ESP32_PARAM_MTD_SIZE     0x10000
+
+static int init_param_partition(void)
+{
+	int ret = OK;
+	struct mtd_dev_s *mtd;
+
+	mtd = esp32_spiflash_alloc_mtdpart(CONFIG_ESP32_PARAM_MTD_OFFSET,
+					   CONFIG_ESP32_PARAM_MTD_SIZE,
+					   STORAGE_ENCRYPT);
+
+	if (!mtd) {
+		ferr("ERROR: Failed to alloc PARAM MTD partition of SPI Flash\n");
+		return -ENOMEM;
+	}
+
+	ret = register_mtddriver("/fs/mtd_params", mtd, 0755, NULL);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to register PARAM MTD: %d\n", ret);
+		return ret;
+	}
+
+	return ret;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp32_spiflash_init
+ *
+ * Description:
+ *   Initialize the SPI Flash and register the MTD.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success. A negated errno value is returned
+ *   on failure.
+ *
+ ****************************************************************************/
+
+int esp32_spiflash_init(void)
+{
+	int ret = OK;
+
+#ifdef CONFIG_ESP32_HAVE_OTA_PARTITION
+	ret = init_ota_partitions();
+
+	if (ret < 0) {
+		return ret;
+	}
+
+#endif
+
+#ifdef CONFIG_ESP32_WIFI_SAVE_PARAM
+	ret = init_wifi_partition();
+
+	if (ret < 0) {
+		return ret;
+	}
+
+#endif
+
+	ret = init_storage_partition();
+
+	if (ret < 0) {
+		return ret;
+	}
+
+	ret = init_param_partition();
+
+	if (ret < 0) {
+		return ret;
+	}
+
+
+	return ret;
+}
@@ -0,0 +1,353 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/src/esp32_board_spiflash.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <assert.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/fs/fs.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/mtd/mtd.h>
+#include <nuttx/spi/spi.h>
+#ifdef CONFIG_ESP32_SPIFLASH_NXFFS
+#include <nuttx/fs/nxffs.h>
+#endif
+#ifdef CONFIG_BCH
+#include <nuttx/drivers/drivers.h>
+#endif
+
+#include <px4_platform_common/log.h>
+#define MODULE_NAME "spiflash"
+
+#include "esp32_spiflash.h"
+#include "esp32_partition.h"
+// #include "esp32_board_spiflash_setup.h"
+
+#include "board_config.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define ARRAYSIZE(x)                (sizeof((x)) / sizeof((x)[0]))
+
+#ifdef CONFIG_ESP32_OTA_PARTITION_ENCRYPT
+#  define OTA_ENCRYPT true
+#else
+#  define OTA_ENCRYPT false
+#endif
+
+#ifdef CONFIG_ESP32_WIFI_MTD_ENCRYPT
+#  define WIFI_ENCRYPT true
+#else
+#  define WIFI_ENCRYPT false
+#endif
+
+#ifdef CONFIG_ESP32_STORAGE_MTD_ENCRYPT
+#  define STORAGE_ENCRYPT true
+#else
+#  define STORAGE_ENCRYPT false
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+int esp32_spiflash_init(void);
+int esp32_partition_init(void);
+
+static int init_ota_partitions(void)
+{
+	struct mtd_dev_s *mtd;
+	char blockdev[18];
+	int ret = OK;
+
+	mtd = esp32_spiflash_alloc_mtdpart(CONFIG_ESP32_STORAGE_MTD_OFFSET, CONFIG_ESP32_STORAGE_MTD_SIZE, false);
+
+	ret = ftl_initialize(0, mtd);
+
+	if (ret < 0) {
+		PX4_INFO("ERROR: Failed to initialize the FTL layer: %d\n", ret);
+		return ret;
+	}
+
+	snprintf(blockdev, sizeof(blockdev), "/dev/mtdblock%d", 0);
+
+	ret = bchdev_register(blockdev, "/fs/mtd_params", false);
+
+	if (ret < 0) {
+		PX4_INFO("ERROR: bchdev_register %s failed: %d\n", "/fs/mtd_params", ret);
+		return ret;
+	}
+
+	return ret;
+}
+
+/****************************************************************************
+ * Name: setup_smartfs
+ *
+ * Description:
+ *   Provide a block driver wrapper around MTD partition and mount a
+ *   SMART FS over it.
+ *
+ * Parameters:
+ *   smartn - Number used to register the mtd partition: /dev/smartx, where
+ *            x = smartn.
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: setup_littlefs
+ *
+ * Description:
+ *   Register a mtd driver and mount a Little FS over it.
+ *
+ * Parameters:
+ *   path   - Path name used to register the mtd driver.
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *   priv   - Privileges
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+static int setup_littlefs(const char *path, struct mtd_dev_s *mtd,
+			  const char *mnt_pt, int priv)
+{
+	int ret = OK;
+
+	ret = register_mtddriver(path, mtd, priv, NULL);
+
+	if (ret < 0) {
+		PX4_INFO("ERROR: Failed to register MTD: %d\n", ret);
+		return -ENOMEM;
+	}
+
+	// if (mnt_pt != NULL)
+	//   {
+	//     ret = nx_mount(path, "/mnt/lfs", "littlefs", 0, "");
+	//     if (ret < 0)
+	//       {
+	//         ret = nx_mount(path, "/fs/lfs", "littlefs", 0, "forceformat");
+	//         if (ret < 0)
+	//           {
+	//             PX4_INFO("ERROR: Failed to mount the FS volume: %d\n", ret);
+	//             return ret;
+	//           }
+	//       }
+	//   }
+
+	return OK;
+}
+
+/****************************************************************************
+ * Name: setup_spiffs
+ *
+ * Description:
+ *   Register a mtd driver and mount a SPIFFS over it.
+ *
+ * Parameters:
+ *   path   - Path name used to register the mtd driver.
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *   priv   - Privileges
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+static int setup_spiffs(const char *path, struct mtd_dev_s *mtd,
+			const char *mnt_pt, int priv)
+{
+	int ret = OK;
+
+	ret = register_mtddriver(path, mtd, priv, NULL);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to register MTD: %d\n", ret);
+		return -ENOMEM;
+	}
+
+	if (mnt_pt != NULL) {
+		ret = nx_mount(path, mnt_pt, "spiffs", 0, NULL);
+
+		if (ret < 0) {
+			ferr("ERROR: Failed to mount the FS volume: %d\n", ret);
+			return ret;
+		}
+	}
+
+	return ret;
+}
+
+/****************************************************************************
+ * Name: setup_nxffs
+ *
+ * Description:
+ *   Register a mtd driver and mount a SPIFFS over it.
+ *
+ * Parameters:
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_SPIFLASH_NXFFS
+static int setup_nxffs(struct mtd_dev_s *mtd, const char *mnt_pt)
+{
+	int ret = OK;
+
+	ret = nxffs_initialize(mtd);
+
+	if (ret < 0) {
+		ferr("ERROR: NXFFS init failed: %d\n", ret);
+		return ret;
+	}
+
+	if (mnt_pt != NULL) {
+		ret = nx_mount(NULL, mnt_pt, "nxffs", 0, NULL);
+
+		if (ret < 0) {
+			ferr("ERROR: Failed to mount the FS volume: %d\n", ret);
+			return ret;
+		}
+	}
+
+	return ret;
+}
+#endif
+
+
+/****************************************************************************
+ * Name: init_storage_partition
+ *
+ * Description:
+ *   Initialize partition that is dedicated to general use.
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+static int init_storage_partition(void)
+{
+	int ret = OK;
+	struct mtd_dev_s *mtd;
+
+
+	mtd = esp32_spiflash_alloc_mtdpart(CONFIG_ESP32_STORAGE_MTD_OFFSET,
+					   CONFIG_ESP32_STORAGE_MTD_SIZE,
+					   STORAGE_ENCRYPT);
+
+	if (!mtd) {
+		PX4_INFO("ERROR: Failed to alloc MTD partition of SPI Flash\n");
+		return -ENOMEM;
+	}
+
+	const char *path = "/dev/esp32flash";
+	ret = setup_littlefs(path, mtd, "/mnt/esp32", 0755);
+
+	if (ret < 0) {
+		PX4_INFO("ERROR: Failed to setup littlefs\n");
+		return ret;
+	}
+
+	// const char *path = "/dev/esp32flash";
+	// ret = setup_spiffs(path, mtd, "/mnt/spiffs/", 0755);
+	// if (ret < 0)
+	//   {
+	//     ferr("ERROR: Failed to setup spiffs\n");
+	//     return ret;
+	//   }
+
+
+	return ret;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp32_spiflash_init
+ *
+ * Description:
+ *   Initialize the SPI Flash and register the MTD.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success. A negated errno value is returned
+ *   on failure.
+ *
+ ****************************************************************************/
+
+int esp32_spiflash_init(void)
+{
+	int ret = OK;
+
+	ret = init_ota_partitions();
+	PX4_INFO("ret = %d = init_ota_paritions()\n", ret);
+
+	if (ret < 0) {
+		return ret;
+	}
+
+	// ret = esp32_partition_init();
+	// if (ret < 0)
+	//   {
+	//     syslog(LOG_ERR, "ERROR: Failed to initialize partition error=%d\n",
+	//            ret);
+	//   }
+//
+	// ret = init_storage_partition();
+	// PX4_INFO("ret = %d = init_storage_paritions()\n", ret);
+
+	// if (ret < 0)
+	//   {
+	//     return ret;
+	//   }
+
+	return ret;
+}
@@ -0,0 +1,68 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/include/esp32_board_spiflash.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_SPIFLASH_H
+#define __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_SPIFLASH_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp32_spiflash_init
+ *
+ * Description:
+ *   Initialize the SPI Flash and register the MTD.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success. A negated errno value is returned
+ *   on failure.
+ *
+ ****************************************************************************/
+
+int esp32_spiflash_init(void);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_SPIFLASH_H */
@@ -0,0 +1,91 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/src/esp32_board_wlan.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/stat.h>
+#include <syslog.h>
+#include <debug.h>
+
+#include <nuttx/wireless/wireless.h>
+
+#include "esp32_spiflash.h"
+#include "esp32_wlan.h"
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_wlan_init
+ *
+ * Description:
+ *   Configure the wireless subsystem.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; A negated errno value is returned
+ *   to indicate the nature of any failure.
+ *
+ ****************************************************************************/
+
+int board_wlan_init(void)
+{
+	int ret = OK;
+
+
+#ifdef ESP32_WLAN_HAS_STA
+	// ret = esp32_wlan_sta_initialize();
+	// if (ret)
+	//   {
+	//     printf("ERROR: Failed to initialize Wi-Fi station\n");
+	//     return ret;
+	//   }
+#endif
+
+
+#ifdef ESP32_WLAN_HAS_SOFTAP
+	ret = esp32_wlan_softap_initialize();
+
+	if (ret) {
+		wlerr("ERROR: Failed to initialize Wi-Fi softAP\n");
+		return ret;
+	}
+
+#endif
+
+	// netlib_ifup("wlan1");
+	// dhcpd_start("wlan1");
+
+	return ret;
+}
@@ -0,0 +1,73 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/include/esp32_board_wlan.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_WLAN_H
+#define __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_WLAN_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_WIRELESS
+
+/****************************************************************************
+ * Name: board_wlan_init
+ *
+ * Description:
+ *   Configure the wireless subsystem.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; A negated errno value is returned
+ *   to indicate the nature of any failure.
+ *
+ ****************************************************************************/
+
+int board_wlan_init(void);
+
+#endif /* CONFIG_ESP32_WIRELESS */
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_WLAN_H */
@@ -0,0 +1,38 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+};
@@ -0,0 +1,300 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * board specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/mm/gran.h>
+
+
+#include <chip.h>
+#include "board_config.h"
+
+#include <arch/board/board.h>
+#include <px4_platform_common/px4_manifest.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform/board_dma_alloc.h>
+
+#define LEDC_LS_SIG_OUT0_IDX 79
+
+#include "esp32_board_wlan_setup.h"
+#ifdef CONFIG_ESP32_SPIFLASH
+#include "esp32_board_spiflash_setup.h"
+#endif
+
+#include "esp32_rt_timer.h"
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/**
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	UNUSED(ms);
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	// Configure the GPIO pins to outputs and keep them low.
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
+		esp32_gpio_matrix_out(timer_io_channels[i].gpio_out, LEDC_LS_SIG_OUT0_IDX + timer_io_channels[i].timer_channel, 0, 0);
+	}
+
+	/*
+	 * On resets invoked from system (not boot) insure we establish a low
+	 * output state (discharge the pins) on PWM pins before they become inputs.
+	 */
+
+	if (status >= 0) {
+		up_mdelay(400);
+	}
+}
+
+/************************************************************************************
+ * Name: board_read_VBUS_state
+ *
+ * Description:
+ *   All boards must provide a way to read the state of VBUS, this my be simple
+ *   digital input on a GPIO. Or something more complicated like a Analong input
+ *   or reading a bit from a USB controller register.
+ *
+ * Returns -  0 if connected.
+ *
+ ************************************************************************************/
+
+int board_read_VBUS_state(void)
+{
+	// return BOARD_ADC_USB_CONNECTED ? 0 : 1;
+	return 0;
+}
+
+/************************************************************************************
+ * Name: esp32_board_initialize
+ *
+ * Description:
+ *   All architectures must provide the following entry point. This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+esp32_board_initialize(void)
+{
+	// /* Reset all PWM to Low outputs */
+	board_on_reset(-1);
+
+	// /* configure LEDs */
+	board_autoled_initialize();
+	up_mdelay(2);
+	esp32_spiinitialize();
+
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_SPI2
+static struct spi_dev_s *spi2;
+#endif
+
+#ifdef CONFIG_ESP32_SPI3
+static struct spi_dev_s *spi3;
+#endif
+
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+	/* configure the DMA allocator */				// Needs to be figured out
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "DMA alloc FAILED\n");
+	}
+
+
+	/* initial LED state */
+	drv_led_start();
+
+#ifdef CONFIG_ESP32_SPI2
+	spi2 = esp32_spibus_initialize(2);
+
+	if (!spi2) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 2\n");
+		// led_on(LED_RED);
+	}
+
+	// Default SPI1 to 10MHz
+	SPI_SETFREQUENCY(spi2, 10000000);
+	SPI_SETBITS(spi2, 8);
+	SPI_SETMODE(spi2, SPIDEV_MODE3);
+	up_udelay(20);
+
+#endif
+
+#ifdef CONFIG_ESP32_SPI3
+	spi3 = esp32_spibus_initialize(3);
+
+	if (!spi3) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 3\n");
+		// led_on(LED_RED);
+	}
+
+	/* Now bind the SPI interface to the MMCSD driver */
+	int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
+	}
+
+#endif
+	int ret = esp32_spiflash_init();
+
+	if (ret) {
+		syslog(LOG_ERR, "ERROR: Failed to initialize SPI Flash\n");
+	}
+
+	esp32_rt_timer_init();
+
+	led_on(GPIO_LED_BLUE);
+	up_mdelay(100);
+	led_off(GPIO_LED_BLUE);
+	up_mdelay(100);
+	led_on(GPIO_LED_BLUE);
+	up_mdelay(100);
+	led_off(GPIO_LED_BLUE);
+
+
+
+	/* Configure the HW based on the manifest */
+	px4_platform_configure();
+
+	up_mdelay(1000);
+
+	board_wlan_init();
+
+	return OK;
+}
@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * PX4FMU LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+
+
+static uint32_t g_ledmap[] = {
+	GPIO_LED_BLUE,    // Indexed by LED_BLUE
+};
+
+__EXPORT void led_init(void)
+{
+	/* Configure LED GPIOs for output */
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		px4_arch_configgpio(g_ledmap[l]);
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Pull Down to switch on */
+	px4_arch_gpiowrite(g_ledmap[led], !state);
+}
+
+static bool phy_get_led(int led)
+{
+
+	return !px4_arch_gpioread(g_ledmap[led]);
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(led, true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(led, false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+
+	phy_set_led(led, !phy_get_led(led));
+}
@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+//                                                                      KiB BS    nB
+static const px4_mft_device_t flash = {             // 24AA64FT on Base  8K 32 X 256
+	.bus_type = px4_mft_device_t::ONCHIP
+};
+
+
+static const px4_mtd_entry_t fmu_flash = {
+	.device = &flash,
+	.npart = 1,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/fs/mtd_params",
+			.nblocks = 1
+		}
+	},
+};
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs   = 1,
+	.entries = {
+		&fmu_flash,
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = {&mtd_mft}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+const constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+#ifdef CONFIG_ESP32_SPI2
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::Pin(CONFIG_ESP32_SPI2_CSPIN)}),
+
+	}),
+#endif
+#ifdef CONFIG_ESP32_SPI3
+	initSPIBus(SPI::Bus::SPI3, {
+		initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::Pin(CONFIG_ESP32_SPI3_CSPIN)})
+
+	}),
+#endif
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer0), // this refers to LEDC periherals
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer0, Timer::Channel0}, {GPIO::Pin(CONFIG_ESP32_LEDC_CHANNEL0_PIN)}),
+	initIOTimerChannel(io_timers, {Timer::Timer0, Timer::Channel1}, {GPIO::Pin(CONFIG_ESP32_LEDC_CHANNEL1_PIN)}),
+	initIOTimerChannel(io_timers, {Timer::Timer0, Timer::Channel2}, {GPIO::Pin(CONFIG_ESP32_LEDC_CHANNEL2_PIN)}),
+	initIOTimerChannel(io_timers, {Timer::Timer0, Timer::Channel3}, {GPIO::Pin(CONFIG_ESP32_LEDC_CHANNEL3_PIN)}),
+};
+
+// constexpr io_timers_channel_mapping_t io_timers_channel_mapping = initIOTimerChannelMapping(io_timers,
+// 		timer_io_channels);
@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <xtensa.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Name: rp2040_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the omnibusf4sd board.
+ *
+ ************************************************************************************/
+
+__EXPORT void esp32_usbinitialize(void)
+{
+	// px4_arch_configgpio(GPIO_USB_VBUS_VALID);
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void esp32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
@@ -38,5 +38,5 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0

-# Don't try to log onto SD card
-param set-default SDLOG_MODE -1
+# Disable logging
+param set-default SDLOG_BACKEND 0
@@ -38,5 +38,5 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0

-# Don't try to log onto SD card
-param set-default SDLOG_MODE -1
+# Disable logging
+param set-default SDLOG_BACKEND 0
@@ -14,6 +14,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_ZENOH=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
@@ -182,6 +182,7 @@ CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
+CONFIG_NET_TCP_KEEPALIVE=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
@@ -207,6 +208,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=272000
 CONFIG_RAM_START=0x20400000
@@ -1,57 +0,0 @@
-# CONFIG_BOARD_ROMFSROOT is not set
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
-CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_COMMON_LIGHT=y
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IRLOCK=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_SAFETY_BUTTON=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_EXAMPLES_FAKE_GPS=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_ESC_BATTERY=y
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
-CONFIG_MODULES_FW_RATE_CONTROL=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_MODULES_ZENOH=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REFLECT=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
@@ -75,6 +75,7 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_MODULES_ZENOH=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -49,6 +49,7 @@ CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DEV_URANDOM=y
 CONFIG_ETH0_PHY_DP83825I=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -155,8 +156,8 @@ CONFIG_NETDEV_LATEINIT=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_RETRY_MOUNTPATH=10
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
@@ -167,15 +168,18 @@ CONFIG_NET_BROADCAST=y
 CONFIG_NET_CAN=y
 CONFIG_NET_CAN_EXTID=y
 CONFIG_NET_CAN_NOTIFIER=y
+CONFIG_NET_CAN_RAW_FILTER_MAX=1
 CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ETH_PKTSIZE=1518
 CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_IGMP=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
+CONFIG_NET_TCP_KEEPALIVE=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
@@ -196,6 +200,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=1048576
 CONFIG_RAM_START=0x20200000
@@ -89,6 +89,7 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_MODULES_ZENOH=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -55,6 +55,7 @@ CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DEV_URANDOM=y
 CONFIG_ETH0_PHY_MULTI=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -214,15 +215,18 @@ CONFIG_NET_BROADCAST=y
 CONFIG_NET_CAN=y
 CONFIG_NET_CAN_EXTID=y
 CONFIG_NET_CAN_NOTIFIER=y
+CONFIG_NET_CAN_RAW_FILTER_MAX=1
 CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ETH_PKTSIZE=1518
 CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_IGMP=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
+CONFIG_NET_TCP_KEEPALIVE=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
@@ -243,6 +247,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=1835008
@@ -339,6 +339,11 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		endif()
 	endif()

+	# ADDITIONAL INIT
+	if(ADDITIONAL_INIT)
+		set(config_additional_init ${ADDITIONAL_INIT} CACHE INTERNAL "additional init" FORCE)
+	endif()
+
 	if(UAVCAN_INTERFACES)
 		set(config_uavcan_num_ifaces ${UAVCAN_INTERFACES} CACHE INTERNAL "UAVCAN interfaces" FORCE)
 	endif()
@@ -71,18 +71,15 @@ add_custom_target(metadata_parameters

 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
-		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--markdown ${PX4_BINARY_DIR}/docs/parameters.md

 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
-		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--json ${PX4_BINARY_DIR}/docs/parameters.json
 		--compress

 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
-		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--xml ${PX4_BINARY_DIR}/docs/parameters.xml

 	COMMENT "Generating full parameter metadata (markdown, xml, and json)"
@@ -1,8 +1,8 @@
 # Onboard parameters for Vehicle 1
 #
 # Stack: PX4 Pro
-# Vehicle: śŕĐýŇí
-# Version: 1.15.4 
+# Vehicle: Multi-Rotor
+# Version: 1.15.4
 # Git Revision: 99c40407ff000000
 #
 # Vehicle-Id Component-Id Name Value Type
@@ -318,7 +318,6 @@
 1	1	COM_OBS_AVOID	0	6
 1	1	COM_OF_LOSS_T	1.000000000000000000	9
 1	1	COM_PARACHUTE	0	6
-1	1	COM_POSCTL_NAVL	0	6
 1	1	COM_POS_FS_DELAY	1	6
 1	1	COM_POS_FS_EPH	5.000000000000000000	9
 1	1	COM_POS_LOW_EPH	-1.000000000000000000	9
@@ -0,0 +1,197 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Generator: Adobe Illustrator 19.2.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+
+<svg
+   version="1.1"
+   id="draw"
+   x="0px"
+   y="0px"
+   viewBox="0 0 291.424 291.77"
+   enable-background="new 0 0 291.424 291.77"
+   xml:space="preserve"
+   sodipodi:docname="FreeFlyer.svg"
+   inkscape:version="1.2.2 (b0a8486541, 2022-12-01)"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:cc="http://creativecommons.org/ns#"
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@@ -157,6 +157,7 @@
        - [mRo (3DR) Pixhawk Wiring Quickstart](assembly/quick_start_pixhawk.md)
      - [Holybro Pixhawk Mini (FMUv3) - Discontinued](flight_controller/pixhawk_mini.md)
    - [Manufacturer-Supported Autopilots](flight_controller/autopilot_manufacturer_supported.md)
+      - [Accton Godwit GA1](flight_controller/accton-godwit_ga1.md)
      - [AirMind MindPX](flight_controller/mindpx.md)
      - [AirMind MindRacer](flight_controller/mindracer.md)
      - [ARK Electronics ARKV6X](flight_controller/ark_v6x.md)
@@ -281,6 +282,7 @@
      - [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md)
    - [INS (Inertial Navigation/GNSS)](sensor/inertial_navigation_systems.md)
      - [InertialLabs](sensor/inertiallabs.md)
+      - [sbgECom](sensor/sbgecom.md)
      - [VectorNav](sensor/vectornav.md)
    - [Optical Flow](sensor/optical_flow.md)
      - [ARK Flow](dronecan/ark_flow.md)
@@ -659,6 +661,8 @@
        - [RoverPositionSetpoint](msg_docs/RoverPositionSetpoint.md)
        - [RoverRateSetpoint](msg_docs/RoverRateSetpoint.md)
        - [RoverRateStatus](msg_docs/RoverRateStatus.md)
+        - [RoverSpeedSetpoint](msg_docs/RoverSpeedSetpoint.md)
+        - [RoverSpeedStatus](msg_docs/RoverSpeedStatus.md)
        - [RoverSteeringSetpoint](msg_docs/RoverSteeringSetpoint.md)
        - [RoverThrottleSetpoint](msg_docs/RoverThrottleSetpoint.md)
        - [RoverVelocitySetpoint](msg_docs/RoverVelocitySetpoint.md)
@@ -719,6 +723,7 @@
        - [YawEstimatorStatus](msg_docs/YawEstimatorStatus.md)
        - [AirspeedValidatedV0](msg_docs/AirspeedValidatedV0.md)
        - [ArmingCheckReplyV0](msg_docs/ArmingCheckReplyV0.md)
+        - [ArmingCheckRequestV0](msg_docs/ArmingCheckRequestV0.md)
        - [BatteryStatusV0](msg_docs/BatteryStatusV0.md)
        - [EventV0](msg_docs/EventV0.md)
        - [HomePositionV0](msg_docs/HomePositionV0.md)
@@ -823,6 +828,8 @@
      - [Test MC_04 - Failsafe Testing](test_cards/mc_04_failsafe_testing.md)
      - [Test MC_05 - Manual Modes (Inside)](test_cards/mc_05_indoor_flight_manual_modes.md)
      - [Test MC_06 - Optical Flow (Inside)](test_cards/mc_06_optical_flow.md)
+      - [Test MC_07 - VIO (Inside)](test_cards/mc_07_vio.md)
+      - [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md)
    - [Unit Tests](test_and_ci/unit_tests.md)
      - [Fuzz Tests](test_and_ci/fuzz_tests.md)
    - [Continuous Integration](test_and_ci/continous_integration.md)
@@ -1,10 +1,9 @@
 <!-- GENERATED CONTENT: DO NOT EDIT -->
- [Introduction](/index.md)

+- [Introduction](/index.md)
  - [Basic Concepts](/getting_started/px4_basic_concepts.md)

 - [Multicopters](/frames_multicopter/index.md)
-
  - [Features](/features_mc/index.md)
    - [Flight Modes](/flight_modes_mc/index.md)
      - [Position Mode (MC)](/flight_modes_mc/position.md)
@@ -37,7 +36,7 @@
    - [Static Pressure Buildup](/advanced_config/static_pressure_buildup.md)
  - [Flying (Basics)](/flying/basic_flying_mc.md)
  - [Complete Vehicles](/complete_vehicles_mc/index.md)
-    - [ModalAI Starling](/complete_vehicles_mc/modalai_starling.md)
+    - [ModalAI Starling (PX4 Dev Kit)](/complete_vehicles_mc/modalai_starling.md)
    - [PX4 Vision Kit](/complete_vehicles_mc/px4_vision_kit.md)
    - [MindRacer BNF & RTF](/complete_vehicles_mc/mindracer_BNF_RTF.md)
      - [MindRacer 210](/complete_vehicles_mc/mindracer210.md)
@@ -58,7 +57,6 @@
    - [DJI F450 (CUAV v5 nano)](/frames_multicopter/dji_f450_cuav_5nano.md)

 - [Planes (Fixed-Wing)](/frames_plane/index.md)
-
  - [Assembly](/assembly/assembly_fw.md)
  - [Config/Tuning](/config_fw/index.md)
    - [Auto-tune](/config/autotune_fw.md)
@@ -86,7 +84,6 @@
    - [Wing Wing Z84 (Pixracer)](/frames_plane/wing_wing_z84.md)

 - [VTOL](/frames_vtol/index.md)
-
  - [Assembly](/assembly/assembly_vtol.md)
  - [VTOL Config/Tuning](/config_vtol/index.md)
    - [Auto-tune](/config/autotune_vtol.md)
@@ -111,7 +108,6 @@
  - [Complete Vehicles](/complete_vehicles_vtol/index.md)

 - [Operations](/config/operations.md)
-
  - [Safety](/config/safety_intro.md)
    - [Safety Configuration (Failsafes)](/config/safety.md)
    - [Failsafe Simulation](/config/safety_simulation.md)
@@ -132,7 +128,6 @@
    - [QGroundControl Flight-Readiness Status](/flying/pre_flight_checks.md)

 - [Hardware Selection & Setup](/hardware/drone_parts.md)
-
  - [Flight Controllers (Autopilots)](/flight_controller/index.md)
    - [Flight Controller Selection](/getting_started/flight_controller_selection.md)
    - [Pixhawk Series](/flight_controller/pixhawk_series.md)
@@ -164,18 +159,18 @@
        - [mRo (3DR) Pixhawk Wiring Quickstart](/assembly/quick_start_pixhawk.md)
      - [Holybro Pixhawk Mini (FMUv3) - Discontinued](/flight_controller/pixhawk_mini.md)
    - [Manufacturer-Supported Autopilots](/flight_controller/autopilot_manufacturer_supported.md)
+      - [Accton Godwit GA1](/flight_controller/accton-godwit_ga1.md)
      - [AirMind MindPX](/flight_controller/mindpx.md)
      - [AirMind MindRacer](/flight_controller/mindracer.md)
      - [ARK Electronics ARKV6X](/flight_controller/ark_v6x.md)
      - [ARK FPV Flight Controller](/flight_controller/ark_fpv.md)
      - [ARK Pi6X Flow Flight Controller](/flight_controller/ark_pi6x.md)
-      - [CUAV X7](/flight_controller/cuav_x7.md)
      - [CUAV Nora](/flight_controller/cuav_nora.md)
      - [CUAV V5+ (FMUv5)](/flight_controller/cuav_v5_plus.md)
        - [Wiring Quickstart](/assembly/quick_start_cuav_v5_plus.md)
      - [CUAV V5 nano (FMUv5)](/flight_controller/cuav_v5_nano.md)
        - [CUAV V5 nano Wiring Quickstart](/assembly/quick_start_cuav_v5_nano.md)
-      - [CUAV Pixhack v3 (FMUv3)](/flight_controller/pixhack_v3.md)
+      - [CUAV X25 EVO](/flight_controller/cuav_x25-evo.md)
      - [CubePilot Cube Orange+ (CubePilot)](/flight_controller/cubepilot_cube_orangeplus.md)
      - [CubePilot Cube Orange (CubePilot)](/flight_controller/cubepilot_cube_orange.md)
      - [CubePilot Cube Yellow (CubePilot)](/flight_controller/cubepilot_cube_yellow.md)
@@ -188,11 +183,8 @@
        - [Wiring Quickstart](/assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md)
-      - [ModalAI Flight Core v1](/flight_controller/modalai_fc_v1.md)
-      - [ModalAI VOXL Flight](/flight_controller/modalai_voxl_flight.md)
      - [ModalAI VOXL 2](/flight_controller/modalai_voxl_2.md)
-      - [mRobotics-X2.1 (FMUv2)](/flight_controller/mro_x2.1.md)
-      - [mRo Control Zero F7)](/flight_controller/mro_control_zero_f7.md)
+      - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md)
      - [Sky-Drones AIRLink](/flight_controller/airlink.md)
      - [SPRacing SPRacingH7EXTREME](/flight_controller/spracingh7extreme.md)
      - [ThePeach FCC-K1](/flight_controller/thepeach_k1.md)
@@ -206,18 +198,20 @@
    - [Discontinued Autopilots/Vehicles](/flight_controller/autopilot_discontinued.md)
      - [Drotek Dropix (FMUv2)](/flight_controller/dropix.md)
      - [Omnibus F4 SD](/flight_controller/omnibus_f4_sd.md)
-      - [BetaFPV Beta75X 2S Brushless Whoop](/complete_vehicles_mc/betafpv_beta75x.md)
      - [Bitcraze Crazyflie 2.0 ](/complete_vehicles_mc/crazyflie2.md)
      - [Aerotenna OcPoC-Zynq Mini](/flight_controller/ocpoc_zynq.md)
+      - [CUAV X7](/flight_controller/cuav_x7.md)
      - [CUAV v5](/flight_controller/cuav_v5.md)
+      - [CUAV Pixhack v3 (FMUv3)](/flight_controller/pixhack_v3.md)
      - [Holybro Kakute F7](/flight_controller/kakutef7.md)
      - [Holybro Pixfalcon](/flight_controller/pixfalcon.md)
      - [Holybro pix32 (FMUv2)](/flight_controller/holybro_pix32.md)
+      - [ModalAI Flight Core v1](/flight_controller/modalai_fc_v1.md)
+      - [ModalAI VOXL Flight](/flight_controller/modalai_voxl_flight.md)
+      - [mRo X2.1 (FMUv2)](/flight_controller/mro_x2.1.md)
      - [mRo AUAV-X2](/flight_controller/auav_x2.md)
      - [NXP RDDRONE-FMUK66 FMU](/flight_controller/nxp_rddrone_fmuk66.md)
      - [3DR Pixhawk 1](/flight_controller/pixhawk.md)
-      - [Snapdragon Flight](/flight_controller/snapdragon_flight.md)
-      - [Intel® Aero RTF Drone](/complete_vehicles_mc/intel_aero.md)
    - [Pixhawk Autopilot Bus (PAB) & Carriers](/flight_controller/pixhawk_autopilot_bus.md)
      - [ARK Electronics Pixhawk Autopilot Bus Carrier](/flight_controller/ark_pab.md)
    - [Mounting the Flight Controller](/assembly/mount_and_orient_controller.md)
@@ -241,6 +235,7 @@
      - [Compass Power Compensation](/advanced_config/compass_power_compensation.md)
    - [Airspeed Sensors](/sensor/airspeed.md)
      - [Calibration](/config/airspeed.md)
+      - [Airspeed Validation](/advanced_config/airspeed_validation.md)
      - [TFSlot Airspeed Sensor](/sensor/airspeed_tfslot.md)
    - [Barometers](/sensor/barometer.md)
    - [Distance Sensors \(Rangefinders\)](/sensor/rangefinders.md)
@@ -272,6 +267,7 @@
      - [CUAV C-RTK](/gps_compass/rtk_gps_cuav_c-rtk.md)
      - [CUAV C-RTK2 PPK/RTK GNSS](/gps_compass/rtk_gps_cuav_c-rtk2.md)
      - [CUAV C-RTK 9Ps](/gps_compass/rtk_gps_cuav_c-rtk-9ps.md)
+      - [DATAGNSS NANO HRTK GNSS](/gps_compass/rtk_gps_datagnss_nano_hrtk.md)
      - [DATAGNSS GEM1305 RTK GNSS](/gps_compass/rtk_gps_gem1305.md)
      - [Femtones MINI2 Receiver](/gps_compass/rtk_gps_fem_mini2.md)
      - [Freefly RTK GPS](/gps_compass/rtk_gps_freefly.md)
@@ -287,6 +283,7 @@
      - [Trimble MB-Two](/gps_compass/rtk_gps_trimble_mb_two.md)
      - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md)
    - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md)
+      - [InertialLabs](/sensor/inertiallabs.md)
      - [VectorNav](/sensor/vectornav.md)
    - [Optical Flow](/sensor/optical_flow.md)
      - [ARK Flow](/dronecan/ark_flow.md)
@@ -308,7 +305,6 @@
        - [Zubax Telega](/dronecan/zubax_telega.md)
        - [PX4 Sapog ESC Firmware](/dronecan/sapog.md)
          - [Holybro Kotleta](/dronecan/holybro_kotleta.md)
-          - [Zubax Orel](/dronecan/zubax_orel.md)
      - [Vertiq](/peripherals/vertiq.md)
      - [VESC](/peripherals/vesc.md)
  - [Radio Control (RC)](/getting_started/rc_transmitter_receiver.md)
@@ -320,6 +316,7 @@
    - [Telemetry Radios](/telemetry/index.md)
      - [SiK Radio](/telemetry/sik_radio.md)
        - [RFD900 (SiK) Telemetry Radio](/telemetry/rfd900_telemetry.md)
+        - [ThunderFly TFSIK01 Telemetry Radio](/telemetry/tfsik_telemetry.md)
        - [HolyBro (SIK) Telemetry Radio](/telemetry/holybro_sik_radio.md)
      - [Telemetry Wifi](/telemetry/telemetry_wifi.md)
        - [ESP8266 WiFi Module](/telemetry/esp8266_wifi_module.md)
@@ -335,6 +332,7 @@
    - [FrSky Telemetry](/peripherals/frsky_telemetry.md)
    - [TBS Crossfire (CRSF) Telemetry](/telemetry/crsf_telemetry.md)
    - [Satellite Comms (Iridium/RockBlock)](/advanced_features/satcom_roadblock.md)
+
  - [Power Systems](/power_systems/index.md)
    - [Battery Estimation Tuning](/config/battery.md)
    - [Battery Chemistry Overview](/power_systems/battery_chemistry.md)
@@ -401,7 +399,6 @@
    - [Full Parameter Reference](/advanced_config/parameter_reference.md)

 - [Other Vehicles](/airframes/index.md)
-
  - [Airships (experimental)](/frames_airship/index.md)
  - [Autogyros (experimental)](/frames_autogyro/index.md)
    - [ThunderFly Auto-G2 (Holybro pix32)](/frames_autogyro/thunderfly_auto_g2.md)
@@ -409,17 +406,17 @@
  - [Helicopter (experimental)](/frames_helicopter/index.md)
    - [Helicopter Config/Tuning](/config_heli/index.md)
  - [Rovers (experimental)](/frames_rover/index.md)
-    - [Ackermann Rovers](/frames_rover/ackermann.md)
-      - [Drive Modes](/flight_modes_rover/ackermann.md)
-      - [Configuration/Tuning](/config_rover/ackermann.md)
-    - [Differential Rovers](/frames_rover/differential.md)
-      - [Drive Modes](/flight_modes_rover/differential.md)
-      - [Configuration/Tuning](/config_rover/differential.md)
-      - [Aion Robotics R1](/frames_rover/aion_r1.md)
-    - [Mecanum Rovers](/frames_rover/mecanum.md)
-      - [Drive Modes](/flight_modes_rover/mecanum.md)
-      - [Configuration/Tuning](/config_rover/mecanum.md)
-    - [(Deprecated) Rover Position Control](/frames_rover/rover_position_control.md)
+    - [Drive Modes](/flight_modes_rover/index.md)
+      - [Manual](/flight_modes_rover/manual.md)
+      - [Auto](/flight_modes_rover/auto.md)
+    - [Configuration/Tuning](/config_rover/index.md)
+      - [Basic Setup](/config_rover/basic_setup.md)
+      - [Rate Tuning](/config_rover/rate_tuning.md)
+      - [Attitude Tuning](/config_rover/attitude_tuning.md)
+      - [Velocity Tuning](/config_rover/velocity_tuning.md)
+      - [Position Tuning](/config_rover/position_tuning.md)
+    - [Complete Vehicles](/complete_vehicles_rover/index.md)
+      - [Aion Robotics R1](/complete_vehicles_rover/aion_r1.md)
  - [Submarines (experimental)](/frames_sub/index.md)
    - [BlueROV2](/frames_sub/bluerov2.md)
  - [Airframes Reference](/airframes/airframe_reference.md)
@@ -531,6 +528,7 @@
        - [Airspeed](/msg_docs/Airspeed.md)
        - [AirspeedWind](/msg_docs/AirspeedWind.md)
        - [AutotuneAttitudeControlStatus](/msg_docs/AutotuneAttitudeControlStatus.md)
+        - [BatteryInfo](/msg_docs/BatteryInfo.md)
        - [ButtonEvent](/msg_docs/ButtonEvent.md)
        - [CameraCapture](/msg_docs/CameraCapture.md)
        - [CameraStatus](/msg_docs/CameraStatus.md)
@@ -549,6 +547,7 @@
        - [DifferentialPressure](/msg_docs/DifferentialPressure.md)
        - [DistanceSensor](/msg_docs/DistanceSensor.md)
        - [DistanceSensorModeChangeRequest](/msg_docs/DistanceSensorModeChangeRequest.md)
+        - [DronecanNodeStatus](/msg_docs/DronecanNodeStatus.md)
        - [Ekf2Timestamps](/msg_docs/Ekf2Timestamps.md)
        - [EscReport](/msg_docs/EscReport.md)
        - [EscStatus](/msg_docs/EscStatus.md)
@@ -623,6 +622,7 @@
        - [MountOrientation](/msg_docs/MountOrientation.md)
        - [NavigatorMissionItem](/msg_docs/NavigatorMissionItem.md)
        - [NavigatorStatus](/msg_docs/NavigatorStatus.md)
+        - [NeuralControl](/msg_docs/NeuralControl.md)
        - [NormalizedUnsignedSetpoint](/msg_docs/NormalizedUnsignedSetpoint.md)
        - [ObstacleDistance](/msg_docs/ObstacleDistance.md)
        - [OffboardControlMode](/msg_docs/OffboardControlMode.md)
@@ -662,6 +662,8 @@
        - [RoverPositionSetpoint](/msg_docs/RoverPositionSetpoint.md)
        - [RoverRateSetpoint](/msg_docs/RoverRateSetpoint.md)
        - [RoverRateStatus](/msg_docs/RoverRateStatus.md)
+        - [RoverSpeedSetpoint](/msg_docs/RoverSpeedSetpoint.md)
+        - [RoverSpeedStatus](/msg_docs/RoverSpeedStatus.md)
        - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md)
        - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md)
        - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md)
@@ -721,7 +723,13 @@
        - [Wind](/msg_docs/Wind.md)
        - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
        - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md)
+        - [ArmingCheckReplyV0](/msg_docs/ArmingCheckReplyV0.md)
+        - [ArmingCheckRequestV0](/msg_docs/ArmingCheckRequestV0.md)
+        - [BatteryStatusV0](/msg_docs/BatteryStatusV0.md)
+        - [EventV0](/msg_docs/EventV0.md)
+        - [HomePositionV0](/msg_docs/HomePositionV0.md)
        - [VehicleAttitudeSetpointV0](/msg_docs/VehicleAttitudeSetpointV0.md)
+        - [VehicleLocalPositionV0](/msg_docs/VehicleLocalPositionV0.md)
        - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
    - [MAVLink Messaging](/mavlink/index.md)
      - [Adding Messages](/mavlink/adding_messages.md)
@@ -761,7 +769,7 @@
    - [Debugging with GDB](/debug/gdb_debugging.md)
      - [SWD Debug Port](/debug/swd_debug.md)
      - [JLink Probe](/debug/probe_jlink.md)
-      - [Black Magic/DroneCode Probe](/debug/probe_bmp.md)
+      - [Black Magic/Zubax BugFace BF1 Probe](/debug/probe_bmp.md)
      - [STLink Probe](/debug/probe_stlink.md)
      - [MCU-Link Probe](/debug/probe_mculink.md)
      - [Hardfault Debugging](/debug/gdb_hardfault.md)
@@ -785,6 +793,9 @@
    - [Camera Integration/Architecture](/camera/camera_architecture.md)
    - [Computer Vision](/advanced/computer_vision.md)
      - [Motion Capture (VICON, Optitrack, NOKOV)](/tutorials/motion-capture.md)
+    - [Neural Networks](/advanced/neural_networks.md)
+      - [Neural Network Module Utilities](/advanced/nn_module_utilities.md)
+      - [TensorFlow Lite Micro (TFLM)](/advanced/tflm.md)
    - [Installing driver for Intel RealSense R200](/advanced/realsense_intel_driver.md)
    - [Switching State Estimators](/advanced/switching_state_estimators.md)
    - [Out-of-Tree Modules](/advanced/out_of_tree_modules.md)
@@ -816,8 +827,12 @@
      - [Test MC_02 - Full Autonomous](/test_cards/mc_02_full_autonomous.md)
      - [Test MC_03 - Auto Manual Mix](/test_cards/mc_03_auto_manual_mix.md)
      - [Test MC_04 - Failsafe Testing](/test_cards/mc_04_failsafe_testing.md)
-      - [Test MC_05 - Indoor Flight (Manual Modes)](/test_cards/mc_05_indoor_flight_manual_modes.md)
+      - [Test MC_05 - Manual Modes (Inside)](/test_cards/mc_05_indoor_flight_manual_modes.md)
+      - [Test MC_06 - Optical Flow (Inside)](/test_cards/mc_06_optical_flow.md)
+      - [Test MC_07 - VIO (Inside)](/test_cards/mc_07_vio.md)
+      - [Test MC_08 - DSHOT ESC](/test_cards/mc_08_dshot.md)
    - [Unit Tests](/test_and_ci/unit_tests.md)
+      - [Fuzz Tests](/test_and_ci/fuzz_tests.md)
    - [Continuous Integration](/test_and_ci/continous_integration.md)
    - [Integration Testing](/test_and_ci/integration_testing.md)
      - [MAVSDK Integration Testing](/test_and_ci/integration_testing_mavsdk.md)
@@ -692,6 +692,16 @@ to 0 and 4096. Other standard params follows the same rule.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 65535    |           | 0       |

+### PCA9685_EN_BUS (`INT32`) {#PCA9685_EN_BUS}
+
+Enable the PCA9685 output driver.
+
+The integer refers to the I2C bus number where PCA9685 is connected.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 10       |           | 0       |
+
 ### PCA9685_FAIL1 (`INT32`) {#PCA9685_FAIL1}

 PCA9685 Output Channel 1 Failsafe Value.
@@ -14435,9 +14445,9 @@ Set bits in the following positions to enable:

 ### FW_AT_MAN_AUX (`INT32`) {#FW_AT_MAN_AUX}

-Enable/disable auto tuning using an RC AUX input.
+Enable/disable auto tuning using a manual control AUX input.

-Defines which RC_MAP_AUXn parameter maps the RC channel used to enable/disable auto tuning.
+Defines which RC_MAP_AUXn parameter maps the manual control channel used to enable/disable auto tuning.

 **Values:**

@@ -16242,21 +16252,6 @@ Expect and require a healthy MAVLink parachute system.
 | ------ | -------- | -------- | --------- | ------------ | ---- |
 | &nbsp; |          |          |           | Disabled (0) |

-### COM_POSCTL_NAVL (`INT32`) {#COM_POSCTL_NAVL}
-
-Position mode navigation loss response.
-
-This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control in manual Position mode.
-
-**Values:**
-
- `0`: Altitude mode
- `1`: Land mode (descend)
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; |          |          |           | 0       |
-
 ### COM_POS_FS_EPH (`FLOAT`) {#COM_POS_FS_EPH}

 Horizontal position error threshold for hovering systems.
@@ -16363,7 +16358,7 @@ A negative value disables the check.

 ### COM_RCL_EXCEPT (`INT32`) {#COM_RCL_EXCEPT}

-RC loss exceptions.
+Manual control loss exceptions.

 Specify modes where manual control loss is ignored and no failsafe is triggered.
 External modes requiring stick input will still failsafe.
@@ -16381,7 +16376,7 @@ External modes requiring stick input will still failsafe.

 ### COM_RC_ARM_HYST (`INT32`) {#COM_RC_ARM_HYST}

-RC input arm/disarm command duration.
+Manual control input arm/disarm command duration.

 The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.

@@ -16429,9 +16424,9 @@ Ensure the value is not set lower than the update interval of the RC or Joystick

 ### COM_RC_OVERRIDE (`INT32`) {#COM_RC_OVERRIDE}

-Enable RC stick override of auto and/or offboard modes.
+Enable manual control stick override.

-When RC stick override is enabled, moving the RC sticks more than COM_RC_STICK_OV
+When enabled, moving the sticks more than COM_RC_STICK_OV
 immediately gives control back to the pilot by switching to Position mode and
 if position is unavailable Altitude mode.
 Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
@@ -16447,7 +16442,7 @@ Note: Only has an effect on multicopters, and VTOLs in multicopter mode.

 ### COM_RC_STICK_OV (`FLOAT`) {#COM_RC_STICK_OV}

-RC stick override threshold.
+Stick override threshold.

 If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold
 the autopilot the pilot takes over control.
@@ -16591,11 +16586,10 @@ action will be executed.

 ### NAV_RCL_ACT (`INT32`) {#NAV_RCL_ACT}

-Set RC loss failsafe mode.
+Set manual control loss failsafe mode.

-The RC loss failsafe will only be entered after a timeout,
-set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled
-by setting the COM_RC_IN_MODE param it will not be triggered.
+The manual control loss failsafe will only be entered after a timeout,
+set by COM_RC_LOSS_T in seconds.

 **Values:**

@@ -16876,7 +16870,7 @@ armed.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 1        | 0.01      | 0.055   | %    |
+| &nbsp; | 0        | 1        | 0.01      | 0.055   | norm |

 ### DSHOT_TEL_CFG (`INT32`) {#DSHOT_TEL_CFG}

@@ -19929,7 +19923,7 @@ Yaw behaviour during orbit flight.
 - `1`: Hold Initial Heading
 - `2`: Uncontrolled
 - `3`: Hold Front Tangent to Circle
- `4`: RC Controlled
+- `4`: Manually (yaw stick) Controlled

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -20268,6 +20262,7 @@ Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In additi
 F9P units are connected to each other.
 Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required.
 RTK is still possible with this setup.
+Mode 6 is intended for use with a ground control station (not necessarily an RTK correction base).

 **Values:**

@@ -20277,6 +20272,7 @@ RTK is still possible with this setup.
 - `3`: Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
 - `4`: Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
 - `5`: Rover with Static Base on UART2 (similar to Default, except coming in on UART2)
+- `6`: Ground Control Station (UART2 outputs NMEA)

 | Reboot  | minValue | maxValue | increment | default | unit |
 | ------- | -------- | -------- | --------- | ------- | ---- |
@@ -29542,6 +29538,16 @@ Distance from the center of the right wheel to the center of the left wheel.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 100      | 0.001     | 0       | m    |

+### RD_YAW_STK_GAIN (`FLOAT`) {#RD_YAW_STK_GAIN}
+
+Yaw stick gain for Manual mode.
+
+Assign value <1.0 to decrease stick response for yaw control.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.1      | 1        | 0.01      | 1       |
+
 ## Rover Mecanum

 ### RM_COURSE_CTL_TH (`FLOAT`) {#RM_COURSE_CTL_TH}
@@ -29567,6 +29573,16 @@ Distance from the center of the right wheel to the center of the left wheel.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 100      | 0.001     | 0       | m    |

+### RM_YAW_STK_GAIN (`FLOAT`) {#RM_YAW_STK_GAIN}
+
+Yaw stick gain for Manual mode.
+
+Assign value <1.0 to decrease stick response for yaw control.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.1      | 1        | 0.01      | 1       |
+
 ## Rover Rate Control

 ### RO_YAW_ACCEL_LIM (`FLOAT`) {#RO_YAW_ACCEL_LIM}
@@ -29591,6 +29607,18 @@ Set to -1 to disable.
 | ------ | -------- | -------- | --------- | ------- | ------- |
 | &nbsp; | -1       | 10000    | 0.01      | -1.     | deg/s^2 |

+### RO_YAW_EXPO (`FLOAT`) {#RO_YAW_EXPO}
+
+Yaw rate expo factor.
+
+Exponential factor for tuning the input curve shape.
+0 Purely linear input curve
+1 Purely cubic input curve
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1        |           | 0.      |
+
 ### RO_YAW_RATE_CORR (`FLOAT`) {#RO_YAW_RATE_CORR}

 Yaw rate correction factor.
@@ -29651,6 +29679,19 @@ Percentage of stick input range that will be interpreted as zero around the stic
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 1        | 0.01      | 0.1     |

+### RO_YAW_SUPEXPO (`FLOAT`) {#RO_YAW_SUPEXPO}
+
+Yaw rate super expo factor.
+
+"Superexponential" factor for refining the input curve shape tuned using RO_YAW_EXPO.
+0 Pure Expo function
+0.7 reasonable shape enhancement for intuitive stick feel
+0.95 very strong bent input curve only near maxima have effect
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 0.95     |           | 0.      |
+
 ## Rover Velocity Control

 ### RO_ACCEL_LIM (`FLOAT`) {#RO_ACCEL_LIM}
@@ -29838,6 +29879,24 @@ Selects the algorithm used for logfile encryption
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          |           | 2       |

+### SDLOG_BACKEND (`INT32`) {#SDLOG_BACKEND}
+
+Logging Backend (integer bitmask).
+
+If no logging is set the logger will not be started.
+Set bits true to enable:
+0: SD card logging
+1: Mavlink logging
+
+**Bitmask:**
+
+- `0`: SD card logging
+- `1`: Mavlink logging
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| &check; | 0        | 3        |           | 3       |
+
 ### SDLOG_BOOT_BAT (`INT32`) {#SDLOG_BOOT_BAT}

 Battery-only Logging.
@@ -29924,10 +29983,12 @@ Logging Mode.

 Determines when to start and stop logging. By default, logging is started
 when arming the system, and stopped when disarming.
+Note: The logging start/end points that can be configured here only apply to
+SD logging. The mavlink backend is started/stopped independently
+of these points.

 **Values:**

- `-1`: disabled
 - `0`: when armed until disarm (default)
 - `1`: from boot until disarm
 - `2`: from boot until shutdown
@@ -33018,6 +33079,31 @@ The mode will switch from long to short range when the distance is less than the
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 1        | 50       |           | 4       | m    |

+### SENS_BAHRS_CFG (`INT32`) {#SENS_BAHRS_CFG}
+
+Serial Configuration for EULER-NAV BAHRS.
+
+Configure on which serial port to run EULER-NAV BAHRS.
+
+**Values:**
+
+- `0`: Disabled
+- `6`: UART 6
+- `101`: TELEM 1
+- `102`: TELEM 2
+- `103`: TELEM 3
+- `104`: TELEM/SERIAL 4
+- `201`: GPS 1
+- `202`: GPS 2
+- `203`: GPS 3
+- `300`: Radio Controller
+- `301`: Wifi Port
+- `401`: EXT2
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| &check; |          |          |           | 0       |
+
 ### SENS_BARO_QNH (`FLOAT`) {#SENS_BARO_QNH}

 QNH for barometer.
@@ -35562,6 +35648,86 @@ Note: certain drivers such as the GPS can determine the Baudrate automatically.
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | &check; |          |          |           | 1       |

+## Simulation
+
+### SIM_GZ_EN_ASPD (`INT32`) {#SIM_GZ_EN_ASPD}
+
+Enable airspeed sensor in Gazebo bridge.
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Enabled
+
+| Reboot  | minValue | maxValue | increment | default     | unit |
+| ------- | -------- | -------- | --------- | ----------- | ---- |
+| &check; |          |          |           | Enabled (1) |
+
+### SIM_GZ_EN_BARO (`INT32`) {#SIM_GZ_EN_BARO}
+
+Enable barometer/air pressure sensor in Gazebo bridge.
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Enabled
+
+| Reboot  | minValue | maxValue | increment | default     | unit |
+| ------- | -------- | -------- | --------- | ----------- | ---- |
+| &check; |          |          |           | Enabled (1) |
+
+### SIM_GZ_EN_FLOW (`INT32`) {#SIM_GZ_EN_FLOW}
+
+Enable optical flow sensor in Gazebo bridge.
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Enabled
+
+| Reboot  | minValue | maxValue | increment | default     | unit |
+| ------- | -------- | -------- | --------- | ----------- | ---- |
+| &check; |          |          |           | Enabled (1) |
+
+### SIM_GZ_EN_GPS (`INT32`) {#SIM_GZ_EN_GPS}
+
+Enable GPS/NavSat sensor in Gazebo bridge.
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Enabled
+
+| Reboot  | minValue | maxValue | increment | default     | unit |
+| ------- | -------- | -------- | --------- | ----------- | ---- |
+| &check; |          |          |           | Enabled (1) |
+
+### SIM_GZ_EN_LIDAR (`INT32`) {#SIM_GZ_EN_LIDAR}
+
+Enable laser/lidar sensors in Gazebo bridge.
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Enabled
+
+| Reboot  | minValue | maxValue | increment | default     | unit |
+| ------- | -------- | -------- | --------- | ----------- | ---- |
+| &check; |          |          |           | Enabled (1) |
+
+### SIM_GZ_EN_ODOM (`INT32`) {#SIM_GZ_EN_ODOM}
+
+Enable odometry in Gazebo bridge.
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Enabled
+
+| Reboot  | minValue | maxValue | increment | default     | unit |
+| ------- | -------- | -------- | --------- | ----------- | ---- |
+| &check; |          |          |           | Enabled (1) |
+
 ## Simulation In Hardware

 ### SIH_DISTSNSR_MAX (`FLOAT`) {#SIH_DISTSNSR_MAX}
@@ -41075,3 +41241,11 @@ SPC_VEHICLE_RESP.
 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          |           | 0.5     |
+
+### ZENOH_DOMAIN_ID (`INT32`) {#ZENOH_DOMAIN_ID}
+
+ROS2 RMW_ZENOH_CPP Domain id.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 232      |           | 0       |
@@ -628,7 +628,16 @@ div.frame_variant td, div.frame_variant th {
 ### Free-Flyer

 <div class="frame_common">
-<img src="../../assets/airframes/types/AirframeUnknown.svg"/>
+<img src="../../assets/airframes/types/FreeFlyer.svg"/>
+<table>
+ <thead>
+   <tr><th>Common Outputs</th></tr>
+ </thead>
+ <tbody>
+<tr>
+ <td><ul><li><b>Motor1</b>: back left thruster, +x thrust</li><li><b>Motor2</b>: front left thruster, -x thrust</li><li><b>Motor3</b>: back right thruster, +x thrust</li><li><b>Motor4</b>: front right thruster, -x thrust</li><li><b>Motor5</b>: front left thruster, +y thrust</li><li><b>Motor6</b>: front right thruster, -y thrust</li><li><b>Motor7</b>: back left thruster, +y thrust</li><li><b>Motor8</b>: back right thruster, -y thrust</li></ul></td>
+</tr>
+</tbody></table>
 </div>

 <div class="frame_variant">
@@ -638,7 +647,7 @@ div.frame_variant td, div.frame_variant th {
 </thead>
 <tbody>
 <tr id="spacecraft_free-flyer_kth-atmos">
- <td>KTH-ATMOS</td>
+ <td><a href="https://atmos.discower.io">KTH-ATMOS</a></td>
 <td>Maintainer: DISCOWER<p><code>SYS_AUTOSTART</code> = 70000</p></td>
 </tr>
 </tbody>
@@ -290,7 +290,7 @@ If you're using [DroneCAN ESC](../peripherals/esc_motors.md#dronecan) the contro
 ### Flight Controller Power

 Pixhawk FCs require a regulated power supply that can supply at around 5V/3A continuous (check your specific FC)!
-This is sufficient to power the controller itself and a few low-power peripherals, such as a GNSS module, RC transmitter, and low power telemetry radio, but not for motors, actuators, and other peripherals.
+This is sufficient to power the controller itself and a few low-power peripherals, such as a GNSS module, RC receiver, and low power telemetry radio, but not for motors, actuators, and other peripherals.

 [Power modules](../power_module/index.md) are commonly used to "split off" this regulated power supply for the FC and also to provide measurements of the battery voltage and total current to the whole system — which PX4 can use to estimate power levels.
 The power module is connected to the FC power port, which is normally labeled `POWER` (or `POWER 1` or `POWER 2` for FCs that have redundant power supply).
@@ -13,9 +13,9 @@ The first executed file is the [init.d/rcS](https://github.com/PX4/PX4-Autopilot

 The following sections are split according to the operating system that PX4 runs on.

-## Posix (Linux/MacOS)
+## POSIX (Linux/MacOS)

-On Posix, the system shell is used as script interpreter (e.g. /bin/sh, being symlinked to dash on Ubuntu).
+On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being symlinked to dash on Ubuntu).
 For that to work, a few things are required:

 - PX4 modules need to look like individual executables to the system.
@@ -54,7 +54,7 @@ cd <PX4-Autopilot>/build/px4_sitl_default/bin
 ### Dynamic Modules

 Normally, all modules are compiled into a single PX4 executable.
-However, on Posix, there's the option of compiling a module into a separate file, which can be loaded into PX4 using the `dyn` command.
+However, on POSIX, there's the option of compiling a module into a separate file, which can be loaded into PX4 using the `dyn` command.

 ```sh
 dyn ./test.px4mod
@@ -90,6 +90,8 @@ This is documented below.
 The best way to customize the system startup is to introduce a [new frame configuration](../dev_airframes/adding_a_new_frame.md).
 The frame configuration file can be included in the firmware or on an SD Card.

+#### Dynamic Customization
+
 If you only need to "tweak" the existing configuration, such as starting one more application or setting the value of a few parameters, you can specify these by creating two files in the `/etc/` directory of the SD Card:

 - [/etc/config.txt](#customizing-the-configuration-config-txt): modify parameter values
@@ -106,7 +108,7 @@ If editing on Windows use a suitable editor.
 These files are referenced in PX4 code as `/fs/microsd/etc/config.txt` and `/fs/microsd/etc/extras.txt`, where the root folder of the microsd card is identified by the path `/fs/microsd`.
 :::

-#### Customizing the Configuration (config.txt)
+##### Customizing the Configuration (config.txt)

 The `config.txt` file can be used to modify parameters.
 It is loaded after the main system has been configured and _before_ it is booted.
@@ -118,7 +120,7 @@ param set-default PWM_MAIN_DIS3 1000
 param set-default PWM_MAIN_MIN3 1120
 ```

-#### Starting Additional Applications (extras.txt)
+##### Starting Additional Applications (extras.txt)

 The `extras.txt` can be used to start additional applications after the main system boot.
 Typically these would be payload controllers or similar optional custom components.
@@ -145,3 +147,37 @@ The following example shows how to start custom applications:

  mandatory_app start     # Will abort boot if mandatory_app is unknown or fails
  ```
+
+#### Additional Init-File Customization
+
+In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization, you can add a script that will be compiled into the binary for a particular `make` target build variant.
+
+::: warning
+In almost all cases, you should use a frame configuration.
+This method should only be used for edge-cases such as customizing `cannode` based boards.
+:::
+
+The steps are:
+
+- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup.
+  For example:
+
+  ```sh
+  # File: boards/<vendor>/<board>/init/rc.additional
+  param set-default <param> <value>
+  ```
+
+- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script.
+  For example:
+
+  ```sh
+  # File: boards/<vendor>/<board>/var.px4board
+  CONFIG_BOARD_ADDITIONAL_INIT="rc.additional"
+  ```
+
+- Compile the firmware with your new variant by appending the variant name to the compile target.
+  For example:
+
+  ```sh
+  make <target>_var
+  ```
@@ -206,23 +206,13 @@ The relevant parameters shown below.

 ### Position Loss Failsafe Action

-The failure action is controlled by [COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL), based on whether RC control is assumed to be available (and altitude information):
-
- `0`: Remote control available.
-  Switch to _Altitude mode_ if a height estimate is available, otherwise _Stabilized mode_.
- `1`: Remote control _not_ available.
-  Switch to _Descend mode_ if a height estimate is available, otherwise enter flight termination.
-  _Descend mode_ is a landing mode that does not require a position estimate.
-
+Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a height estimate is available, otherwise [Stabilized mode](../flight_modes_mc/manual_stabilized.md).
+ 
 Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
 If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.

 The relevant parameters for all vehicles shown below.

-| Parameter                                                                                                | Description                                                                                                   |
-| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_POSCTL_NAVL"></a>[COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL) | Position control navigation loss response during mission. Values: `0` - assume use of RC, `1` - Assume no RC. |
-
 Parameters that only affect Fixed-wing vehicles:

 | Parameter                                                                                 | Description                                                                                                 |
@@ -26,10 +26,18 @@

 That is the minimum setup to use the rover in [Manual mode](../flight_modes_rover/manual.md#manual-mode).

+::: info
+The rest of the tuning on this page is not mandatory for [Manual mode](../flight_modes_rover/manual.md#manual-mode), but it will have an effect on the behaviour of the rover.
+:::
+
+::: warning
+Do not skip the rest of this setup if you intend to use more sophisticated modes!
+All parameters will be mandatory for all subsequent modes, except those tagged as `(Optional)`.
+:::
+
 ## Geometric Parameters

-Manual mode is also affected by (optional) acceleration/deceleration limits set using the geometric described below.
-These limits are mandatory for all other modes.
+First, we set up the geometric parameters of the rover:

 ![Geometric parameters](../../assets/config/rover/geometric_parameters.png)

@@ -41,7 +49,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
 2. [RA_MAX_STR_ANG](#RA_MAX_STR_ANG) [deg]: Measure the maximum steering angle.
 3. (Optional) [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) [deg/s]: Maximum steering rate you want to allow for your rover.

-   :::tip
+   ::: tip
   This value depends on your rover and use case.
   For bigger rovers there might be a mechanical limit that is easy to identify by steering the rover at a standstill and increasing
   [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) until you observe the steering rate to no longer be limited by the parameter.
@@ -49,7 +57,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
   Increase the parameter until you reach the maximum steering rate you are comfortable with.
   :::

-   :::warning
+   ::: warning
   A low maximum steering rate makes the rover worse at tracking steering setpoints, which can lead to a poor performance in the subsequent modes.
   :::

@@ -79,14 +87,12 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
   This may or may not be appropriate for your vehicle and use case.

   One approach to determine an appropriate value is:
-
   1. From a standstill, give the rover full throttle until it reaches the maximum speed.
   2. Disarm the rover and plot the `measured_speed_body_x` from [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md).
   3. Divide the maximum speed by the time it took to reach it and set this as the value for [RO_ACCEL_LIM](#RO_ACCEL_LIM).

   Some RC rovers have enough torque to lift up if the maximum acceleration is not limited.
   If that is the case:
-
   1. Set [RO_ACCEL_LIM](#RO_ACCEL_LIM) to a low value, give the rover full throttle from a standstill and observe its behaviour.
   2. Increase [RO_ACCEL_LIM](#RO_ACCEL_LIM) until the rover starts to lift up during the acceleration.
   3. Set [RO_ACCEL_LIM](#RO_ACCEL_LIM) to the highest value that does not cause the rover to lift up.
@@ -102,6 +108,39 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
   This parameter is also used for the calculation of the speed setpoint in modes that are [position controlled](position_tuning.md).
   :::

+## (Optional) Stick Input Mapping
+
+Input shaping can be used to adjust the default linear mapping from stick inputs $\in [-1, 1]$ to normalized setpoints $\in [-1, 1]$. Applying this specifically to the steering input, can provide a smoother driving experience, by enabling the user to make small adjustments when the stick is close to the center, but still send large inputs when moving them to the edges.
+We provide this input shaping through the super exponential function:
+
+$$
+\delta = \frac{(f \cdot x^3 + x(1-f)) \cdot (1-g)}{1-g \cdot |x|}
+$$
+
+with:
+
+- $\delta \in [-1, 1]=$ Normalized steering setpoint.
+- $x \in [-1, 1]=$ Normalized stick input.
+- $f=$ [RO_YAW_EXPO](#RO_YAW_EXPO): `0` Purely linear input curve, `1` Purely cubic input curve.
+- $g=$ [RO_YAW_SUPEXPO](#RO_YAW_SUPEXPO): `0` Pure Expo function, `0.7` reasonable shape enhancement for intuitive stick feel, `0.95` very strong bent input curve only near maxima have effect.
+
+In [Manual mode](../flight_modes_rover/manual.md#manual-mode) we can additionally scale $\delta$ with an additional parameter $r$:
+
+- Differential Rover: $r=$ [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)].
+- Mecanum Rover: $r=$ [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN)].
+
+This scaling is useful to limit the normalized steering setpoint, if it is too aggresive for your rover in manual mode.
+
+You can experiment with the relationships graphically using the [PX4 SuperExpo Rover calculator](https://www.desmos.com/calculator/gwm8lrlanx).
+
+::: info
+In [Acro](../flight_modes_rover/manual.md#acro-mode), [Stabilized](../flight_modes_rover/manual.md#stabilized-mode) and [Position](../flight_modes_rover/manual.md#position-mode) Mode, $\delta$ is instead scaled by $r=$ [RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) for all rovers. This leads to a yaw rate setpoint $\dot{\psi} = \delta \cdot r \in$ [-[RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED), [RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED)]. This parameter is setup during [rate tuning](rate_tuning.md).
+:::
+
+::: info
+The input shaping through [RO_YAW_EXPO](#RO_YAW_EXPO) and [RO_YAW_SUPEXPO](#RO_YAW_SUPEXPO) applies for all manual modes, while [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)/[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN) only affects full manual mode.
+:::
+
 You can now continue the configuration process with [rate tuning](rate_tuning.md).

 ## Parameter Overview
@@ -111,6 +150,8 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
 | <a id="RO_MAX_THR_SPEED"></a>[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) | Speed the rover drives at maximum throttle | $m/s$   |
 | <a id="RO_ACCEL_LIM"></a>[RO_ACCEL_LIM](../advanced_config/parameter_reference.md#RO_ACCEL_LIM)             | (Optional) Maximum allowed acceleration    | $m/s^2$ |
 | <a id="RO_DECEL_LIM"></a>[RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM)             | (Optional) Maximum allowed deceleration    | $m/s^2$ |
+| <a id="RO_YAW_EXPO"></a>[RO_YAW_EXPO](../advanced_config/parameter_reference.md#RO_YAW_EXPO)                | (Optional) Yaw rate expo factor            | $-$     |
+| <a id="RO_YAW_SUPEXPO"></a>[RO_YAW_SUPEXPO](../advanced_config/parameter_reference.md#RO_YAW_SUPEXPO)       | (Optional) Yaw rate super expo factor      | $-$     |

 ### Ackermann Specific

@@ -122,12 +163,14 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md

 ### Differential Specific

-| Parameter                                                                                             | Description | Unit |
-| ----------------------------------------------------------------------------------------------------- | ----------- | ---- |
-| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK) | Wheel track | m    |
+| Parameter                                                                                                | Description                               | Unit |
+| -------------------------------------------------------------------------------------------------------- | ----------------------------------------- | ---- |
+| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK)    | Wheel track                               | $m$  |
+| <a id="RD_YAW_STK_GAIN"></a>[RD_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RD_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$  |

 ### Mecanum Specific

-| Parameter                                                                                             | Description | Unit |
-| ----------------------------------------------------------------------------------------------------- | ----------- | ---- |
-| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK) | Wheel track | m    |
+| Parameter                                                                                                | Description                               | Unit |
+| -------------------------------------------------------------------------------------------------------- | ----------------------------------------- | ---- |
+| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK)    | Wheel track                               | $m$  |
+| <a id="RM_YAW_STK_GAIN"></a>[RM_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RM_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$  |
@@ -86,7 +86,7 @@ These steps are only necessary if you are tuning/want to unlock the manual [Posi

 The rover is now ready to drive in [Position mode](../flight_modes_rover/manual.md#position-mode) and the configuration can be continued with [position tuning](position_tuning.md).

-## Attitude Controller Structure (Info Only)
+## Velocity Controller Structure (Info Only)

 This section provides additional information for developers and people with experience in control system design.

@@ -35,14 +35,15 @@ The parameters you are most likely to change are listed below.

 | Parameter                                                                | Description                                                                                                                                                                                                                                                                                                                                                                      |
 | ------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Logging Mode. Defines when logging starts and stops.<br />- `-1`: Logging disabled.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
+| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Logging Mode. Defines when logging starts and stops.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
+| [SDLOG_BACKEND](../advanced_config/parameter_reference.md#SDLOG_BACKEND) | Logging Backend (bitmask). Setting a bit enables the corresponding backend. If no backend is selected, the logger is disabled.<br />- bit `0`: SD card logging.</br >- bit `1`: Mavlink logging.
 | [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) | Logging profile. Use this to enable less common logging/analysis (e.g. for EKF2 replay, high rate logging for PID & filter tuning, thermal temperature calibration).                                                                                                                                                                                                             |
 | [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | Create very small additional "Mission Log".<br>This log can _not_ be used with [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool), but is useful when you need a small log for geotagging or regulatory compliance.                                                                                                                                        |

 Useful settings for specific cases:

 - Raw sensor data for comparison: [SDLOG_MODE=1](../advanced_config/parameter_reference.md#SDLOG_MODE) and [SDLOG_PROFILE=64](../advanced_config/parameter_reference.md#SDLOG_PROFILE).
- Disabling logging altogether: [SDLOG_MODE=`-1`](../advanced_config/parameter_reference.md#SDLOG_MODE)
+- Disabling logging altogether: [SDLOG_BACKEND=`0`](../advanced_config/parameter_reference.md#SDLOG_BACKEND)

 ### Logger module

@@ -33,7 +33,7 @@ _QGroundControl for Windows_ is additionally required if you need to:
  Note that you can also use it to monitor a simulation, but you must manually [connect to the simulation running in WSL](#qgroundcontrol-on-windows).

 ::: info
-Connecting to an USB device from within WSL is not natively supported, however it can still be achieved by using the [USBIPD-WIN](https://learn.microsoft.com/en-us/windows/wsl/connect-usb) project. With this you can automatically upload firmware from the command line in WSL using the  [`upload`](../dev_setup/building_px4.md#uploading-firmware-flashing-the-board) function.
+Connecting to an USB device from within WSL is not natively supported, however it can still be achieved by using the [USBIPD-WIN](https://learn.microsoft.com/en-us/windows/wsl/connect-usb) project. With this you can automatically upload firmware from the command line in WSL using the [`upload`](../dev_setup/building_px4.md#uploading-firmware-flashing-the-board) function.
 :::

 ::: info
@@ -325,3 +325,9 @@ sudo add-apt-repository ppa:kisak/kisak-mesa
 sudo apt update
 sudo apt upgrade
 ```
+
+### QGroundControl not connecting to PX4 SITL
+
+- The connection between PX4 SITL on WSL2 and QGroundControl on Windows requires [broadcasting](../simulation/index.md#enable-udp-broadcasting) or [streaming to a specific address](../simulation/index.md#enable-streaming-to-specific-address) to be enabled.
+  Streaming to a specific address should be enabled by default, but is something to check if a connection can't be established.
+- Network traffic might be blocked by firewall or antivirus on you system.
@@ -0,0 +1,153 @@
+# Accton Godwit G-A1
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.
+:::
+
+The G-A1 is a state-of-the-art flight controller developed derived from the [Pixhawk Autopilot v6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf).
+
+It includes an STM32H753 double-precision floating-point FMU processor and an STM32F103 IO coprocessor, multiple IMUs with 6-axis inertial sensors, two pressure/temperature sensors, and a geomagnetic sensor.
+It also has independent buses and power supplies, and is designed for safety and rich expansion capabilities.
+
+With an integrated 10/100M Ethernet Physical Layer (PHY), the G-A1 can also communicate with a mission computer (airborne computer), high-end surveying and mapping cameras, and other UxV-mounted equipment for high-speed communications, meeting the needs of advanced UxV systems.
+
+:::tip
+Visit [Accton-IoT Godwit](https://www.accton-iot.com/godwit/) for more information.
+:::
+
+![AccGodwitGA1](../../assets/flight_controller/accton-godwit/ga1/outlook.png "Accton Godwit G-A1")
+
+![AccGodwitGA1 Top View](../../assets/flight_controller/accton-godwit/ga1/orientation.png "Accton Godwit G-A1 Top View")
+
+::: info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+## Specifications
+
+### Processor
+
+- STM32H753IIK (Arm® Cortex®-M7 480MHz)
+- STM32F103 (Arm® Cortex®-M3, 72MHz)
+
+### Sensors
+
+- Bosch BMI088 (vibration isolated)
+- TDK InvenSense ICM-42688-P x 2 (one vibration isolated)
+- TDK Barometric Pressure and Temperature Sensor CP-20100 x 2 (one vibration isolated)
+- PNI RM3100 Geomagnetic Sensor (vibration isolated)
+
+### Power
+
+- 4.6V to 5.7V
+
+### External ports
+
+- 2 CAN Buses (CAN1 and CAN2)
+- 3 TELEM Ports (TELEM1, TELEM2 and TELEM3)
+- 2 GPS Ports (GPS1 with safety switch, LED, buzzer, and GPS2)
+- 1 PPM IN
+- 1 SBUS OUT
+- 2 USB Ports (1 TYPE-C and 1 JST GH1.25)
+- 1 10/100Base-T Ethernet Port
+- 1 DSM/SBUS RC
+- 1 UART 4
+- 1 AD&IO Port
+- 2 Debug Ports (1 IO Debug and 1 FMU Debug)
+- 1 SPI6 Bus
+- 4 Power Inputs (Power 1, Power 2, Power C1 and Power C2)
+- 16 PWM Servo Outputs (A1-A8 from FMU and M1-M8 from IO)
+- Micro SD Socket (supports SD 4.1 & SDIO 4.0 in two databus modes: 1 bit (default) and 4 bits)
+
+### Size and Dimensions
+
+- 92.2 (L) x 51.2 (W) x 28.3 (H) mm
+- 77.6g (carrier board with IMU)
+
+## Where to Buy
+
+- [Accton-IoT Godwit](https://www.accton-iot.com/godwit/)
+- [sales@accton-iot.com](sales@accton-iot.com)
+
+## Pinout
+
+![G-A1 Pin definition](../../assets/flight_controller/accton-godwit/ga1/pin_definition.png "G-A1 Pin definition")
+
+## UART Mapping
+
+| Serial# | Protocol  | Port   | Notes      |
+| ------- | --------- | ------ | ---------- |
+| SERIAL1 | Telem1    | UART7  | /dev/ttyS6 |
+| SERIAL2 | Telem2    | UART5  | /dev/ttyS4 |
+| SERIAL3 | GPS1      | USART1 | /dev/ttyS0 |
+| SERIAL4 | GPS2      | UART8  | /dev/ttyS7 |
+| SERIAL5 | Telem3    | USART2 | /dev/ttyS1 |
+| SERIAL6 | UART4     | UART4  | /dev/ttyS3 |
+| SERIAL7 | FMU Debug | USART3 |            |
+| SERIAL8 | OTG2      | USB    |            |
+
+## Wiring Diagram
+
+![G-A1 Wiring](../../assets/flight_controller/accton-godwit/ga1/wiring.png "G-A1 Wiring")
+
+## PWM Output
+
+PWM M1-M8 (IO Main PWM), A1-A8(FMU PWM).
+All these 16 support normal PWM output formats.
+FMU PWM A1-A6 can support DShot and B-Directional DShot.
+A1-A8(FMU PWM) are grouped as:
+
+- Group 1: A1, A2, A3, A4
+- Group 2: A5, A6
+- Group 3: A7, A8
+
+The motor and servo system should be connected to these ports according to the order outlined in the fuselage reference for your carrier.
+
+![G-A1 PWM Motor Servo](../../assets/flight_controller/accton-godwit/ga1/motor_servo.png "G-A1 PWM Motor Servo")
+
+## RC Input
+
+For DSM/SBUS receivers, connect them to the DSM/SBUS interface which provides dedicated 3.3V and 5V power pins respectively, and check above "Pinout" for detailed pin definition.
+PPM receivers should be connected to the PPM interface. And other RC systems can be connected via other spare telemetry ports.
+
+![G-A1 Radio](../../assets/flight_controller/accton-godwit/ga1/radio.png "G-A1 Radio")
+
+## GPS/Compass
+
+The Godwit G-A1 has a built-in compass
+Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination.
+
+![G-A1 GPS](../../assets/flight_controller/accton-godwit/ga1/gps.png "G-A1 GPS")
+
+## Power Connection and Battery Monitor
+
+This universal controller features a CAN PMU module that supports 3 to 14s lithium batteries.
+To ensure proper connection, attach the module's 6-pin connector to the flight control Power C1 and/or Power C2 interface.
+
+This universal controller does not provide power to the servos.
+To power them, an external BEC must be connected to the positive and negative terminals of any A1–A8 or M1–M8 port.
+
+![G-A1 Power](../../assets/flight_controller/accton-godwit/ga1/power.png "G-A1 Power")
+
+## SD Card
+
+The SD card is NOT included in the package, you need to prepare the SD card and insert it into the slot.
+
+![G-A1 SD Card](../../assets/flight_controller/accton-godwit/ga1/sdcard.png "G-A1 SD Card")
+
+## Firmware
+
+The autopilot is compatible with PX4 firmware. And G-A1 can be detected by QGroundControl automatically. Users can also build it with target "accton-godwit_ga1"
+
+To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter:
+
+```sh
+make accton-godwit_ga1
+```
+
+## More Information and Support
+
+- [Accton-IoT Godwit](https://www.accton-iot.com/godwit/)
+- [sales@accton-iot.com](sales@accton-iot.com)
+- [support@accton-iot.com](mailto:support@accton-iot.com)
@@ -12,6 +12,7 @@ This category includes boards that are not fully compliant with the pixhawk stan

 The boards in this category are:

+- [Accton Godwit GA1](../flight_controller/accton-godwit_ga1.md)
 - [AirMind MindPX](../flight_controller/mindpx.md)
 - [AirMind MindRacer](../flight_controller/mindracer.md)
 - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md))
@@ -45,6 +45,41 @@ MicroStrain <command> [arguments...]
   status        Driver status
 ```

+## eulernav_bahrs
+
+Source: [drivers/ins/eulernav_bahrs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/eulernav_bahrs)
+
+### Description
+
+Serial bus driver for the EULER-NAV Baro-Inertial AHRS.
+
+### Examples
+
+Attempt to start driver on a specified serial device.
+
+```
+eulernav_bahrs start -d /dev/ttyS1
+```
+
+Stop driver
+
+```
+eulernav_bahrs stop
+```
+
+### Usage {#eulernav_bahrs_usage}
+
+```
+eulernav_bahrs <command> [arguments...]
+ Commands:
+   start         Start driver
+     -d <val>    Serial device
+
+   status        Print driver status
+
+   stop          Stop driver
+```
+
 ## ilabs

 Source: [drivers/ins/ilabs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/ilabs)
@@ -15,25 +15,25 @@ Request are published by `manual_control` and subscribed by the `commander` and
 # It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action.
 # Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules.

-uint64 timestamp # [us] Time since system start
+uint64 timestamp  # [us] Time since system start

-uint8 action # [@enum ACTION] Requested action
-uint8 ACTION_DISARM = 0 # Disarm vehicle
-uint8 ACTION_ARM = 1 # Arm vehicle
-uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming
-uint8 ACTION_UNKILL = 3 # Revert a kill action
-uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
-uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field.
-uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight
-uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight
-uint8 ACTION_TERMINATION = 8 # Irreversably output failsafe values on all outputs, trigger parachute
+uint8 action                                     # [@enum ACTION] Requested action
+uint8 ACTION_DISARM = 0                          # Disarm vehicle
+uint8 ACTION_ARM = 1                             # Arm vehicle
+uint8 ACTION_TOGGLE_ARMING = 2                   # Toggle arming
+uint8 ACTION_UNKILL = 3                          # Revert a kill action
+uint8 ACTION_KILL = 4                            # Kill vehicle (instantly stop the motors)
+uint8 ACTION_SWITCH_MODE = 5                     # Switch mode. The target mode is set in the `mode` field.
+uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6  # Transition to hover flight
+uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7    # Transition to fast forward flight
+uint8 ACTION_TERMINATION = 8                     # Irreversibly output failsafe values on all outputs, trigger parachute

-uint8 source # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
-uint8 SOURCE_STICK_GESTURE = 0 # Triggered by holding the sticks in a certain position
-uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position
-uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held
-uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism
+uint8 source                    # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
+uint8 SOURCE_STICK_GESTURE = 0  # Triggered by holding the sticks in a certain position
+uint8 SOURCE_RC_SWITCH = 1      # Triggered by an RC switch moving into a certain position
+uint8 SOURCE_RC_BUTTON = 2      # Triggered by a momentary button on the RC being pressed or held
+uint8 SOURCE_RC_MODE_SLOT = 3   # Mode change through the RC mode selection mechanism

-uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.
+uint8 mode  # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.

 ```
@@ -15,14 +15,14 @@ Published by the vehicle's allocation and consumed by the ESC protocol drivers e

 uint32 MESSAGE_VERSION = 0

-uint64 timestamp # [us] Time since system start
-uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
+uint64 timestamp         # [us] Time since system start
+uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on

-uint16 reversible_flags # Bitset indicating which motors are configured to be reversible
+uint16 reversible_flags  # Bitset indicating which motors are configured to be reversible

-uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #

-uint8 NUM_CONTROLS = 12
-float32[12] control # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
+uint8 NUM_CONTROLS = 12  #
+float32[12] control                  # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)

 ```
@@ -15,10 +15,10 @@ Published by the vehicle's allocation and consumed by the actuator output driver

 uint32 MESSAGE_VERSION = 0

-uint64 timestamp # [us] Time since system start
-uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
+uint64 timestamp         # [us] Time since system start
+uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on

-uint8 NUM_CONTROLS = 8
-float32[8] control # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
+uint8 NUM_CONTROLS = 8  #
+float32[8] control      # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.

 ```
@@ -13,10 +13,10 @@ It is subscribed by the airspeed selector module, which validates the data from
 # This is published by airspeed sensor drivers, CAN airspeed sensors, simulators.
 # It is subscribed by the airspeed selector module, which validates the data from multiple sensors and passes on a single estimation to the EKF, controllers and telemetry providers.

-uint64 timestamp # [us] Time since system start
-uint64 timestamp_sample # [us] Timestamp of the raw data
-float32 indicated_airspeed_m_s # [m/s] Indicated airspeed
-float32 true_airspeed_m_s # [m/s] True airspeed
-float32 confidence # [@range 0,1] Confidence value for this sensor
+uint64 timestamp                 # [us] Time since system start
+uint64 timestamp_sample          # [us] Timestamp of the raw data
+float32 indicated_airspeed_m_s   # [m/s] Indicated airspeed
+float32 true_airspeed_m_s        # [m/s] True airspeed
+float32 confidence               # [@range 0,1] Confidence value for this sensor

 ```
--- a/Show More
+++ b/Show More