cmake IDE improvements

generate_board_targets_json.py: exclude uavcanv1 for now
px4_fmu-v4_uavcanv1 fails to build: ../../src/drivers/uavcan_v1/Uavcan.cpp: In static member function 'static int UavcanNode::start(uint32_t, uint32_t)': ../../src/drivers/uavcan_v1/Uavcan.cpp:140:29: error: 'interface' was not declared in this scope 140 | _instance = new UavcanNode(interface, node_id);
2026-06-14 12:40:04 +08:00 · 2021-03-24 10:22:56 -04:00 · 2021-03-24 10:08:41 -04:00 · 2021-03-24 10:08:41 -04:00 · 2021-03-24 10:08:41 -04:00 · 2021-03-24 10:08:41 -04:00
355 changed files with 6439 additions and 2721 deletions
@@ -71,6 +71,7 @@ pipeline {
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_default",
+                     "nxp_ucans32k146_canbootloader",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
@@ -95,6 +96,7 @@ pipeline {
                     "px4_fmu-v5x_base_phy_DP83848C",
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6u_default",
+                     "px4_fmu-v6u_test",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
                     "spracing_h7extreme_default",
@@ -1009,6 +1009,7 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
@@ -1071,6 +1072,7 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
  // stop logger
@@ -50,6 +50,7 @@ jobs:
          nxp_fmuk66-v3_socketcan,
          nxp_fmurt1062-v1_default,
          nxp_ucans32k146_default,
+          nxp_ucans32k146_canbootloader,
          omnibus_f4sd_default,
          px4_fmu-v2_default,
          px4_fmu-v2_fixedwing,
@@ -72,6 +73,7 @@ jobs:
          px4_fmu-v5x_base_phy_DP83848C,
          px4_fmu-v5x_default,
          px4_fmu-v6u_default,
+          px4_fmu-v6u_test,
          px4_fmu-v6x_default,
          px4_io-v2_default,
          spracing_h7extreme_default,
@@ -0,0 +1,77 @@
+name: Deploy metadata for all targets
+
+on:
+  push:
+    branches:
+    - 'master'
+    - 'release/*'
+    - 'pr-metadata-test'
+
+jobs:
+  enumerate_targets:
+    runs-on: ubuntu-latest
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - id: set-matrix
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
+  build:
+    runs-on: ubuntu-latest
+    needs: enumerate_targets
+    strategy:
+      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
+    container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.target}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.target}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.target}}
+      run: make ${{matrix.target}}
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: parameter metadata
+      run: |
+        make ${{matrix.target}} ver_gen
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
+        cd build/${{ matrix.target }}
+        mkdir _metadata || true
+        cp parameters.* _metadata
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
+        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
+
@@ -4,9 +4,8 @@ on:
  push:
    branches:
    - 'master'
-  pull_request:
-    branches:
-    - '*'
+    - 'release/*'
+    - 'pr-metadata-test'

 jobs:

@@ -51,9 +50,18 @@ jobs:
    - name: parameter metadata
      run: |
        make parameters_metadata
-        cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy 'parameters.md, parameters.xml to S3 px4-travis:Firmware/master/
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'

  uorb_graph:
    runs-on: ubuntu-latest
@@ -2,12 +2,18 @@
    "configurations": [
        {
            "name": "PX4",
-            "includePath": [
-                "${workspaceFolder}/**"
-            ],
-            "defines": [],
-            "macFrameworkPath": [],
            "configurationProvider": "ms-vscode.cmake-tools",
+            "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
+            "includePath": [
+                ".",
+                "${workspaceFolder}/platforms/common",
+                "${workspaceFolder}/platforms/common/include",
+                "${workspaceFolder}/src",
+                "${workspaceFolder}/src/include",
+                "${workspaceFolder}/src/lib",
+                "${workspaceFolder}/src/lib/matrix",
+                "${workspaceFolder}/src/modules"
+            ],
            "cppStandard": "c++14",
            "cStandard": "c11"
        }
@@ -6,6 +6,16 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
+    px4_sitl_asan:
+      short: px4_sitl (AddressSanitizer)
+      buildType: AddressSanitizer
+      settings:
+        CONFIG: px4_sitl_default
+    px4_sitl_ubsan:
+      short: px4_sitl (UndefinedBehaviorSanitizer)
+      buildType: UndefinedBehaviorSanitizer
+      settings:
+        CONFIG: px4_sitl_default
    px4_sitl_replay:
      short: px4_sitl_replay
      buildType: RelWithDebInfo
@@ -5,7 +5,9 @@
        "breadcrumbs.enabled": true,
        "C_Cpp.autoAddFileAssociations": false,
        "C_Cpp.clang_format_fallbackStyle": "none",
+        "C_Cpp.configurationWarnings": "Disabled",
        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
+        "C_Cpp.default.compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
        "C_Cpp.default.cppStandard": "c++14",
        "C_Cpp.default.cStandard": "c11",
        "C_Cpp.formatting": "Disabled",
@@ -16,8 +18,10 @@
        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
        "cmake.buildTask": true,
        "cmake.configureOnOpen": true,
+        "cmake.copyCompileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
        "cmake.ctest.parallelJobs": 1,
-        "cmake.skipConfigureIfCachePresent": true,
+        "cmake.ignoreKitEnv": true,
+        "cmake.skipConfigureIfCachePresent": false,
        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
        "cmakeExplorer.parallelJobs": 1,
        "cmakeExplorer.suiteDelimiter": "-",
@@ -113,7 +113,7 @@ include(px4_parse_function_args)
 include(px4_git)

 execute_process(
-	COMMAND git describe --always --tags
+	COMMAND git describe --exclude ext/* --always --tags
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -454,3 +454,10 @@ add_custom_target(size
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
 	)
+
+# install python requirements using configured python
+add_custom_target(install_python_requirements
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	USES_TERMINAL
+)
@@ -303,7 +303,6 @@ check_%:
 	@echo

 uorb_graphs:
-	@./Tools/uorb_graph/create_from_startupscript.sh
 	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
@@ -319,7 +318,7 @@ coverity_scan: px4_sitl_default
 .PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen

 parameters_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen

 airframe_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
@@ -21,6 +21,7 @@ fi

 # initialize script variables
 set AUX_MODE                    none
+set AUX_BANK2			none
 set IO_PRESENT                  no
 set MAV_TYPE                    none
 set MIXER                       none
@@ -153,6 +154,8 @@ param set-default SENS_IMU_MODE 0
 param set-default EKF2_MULTI_MAG 2
 param set-default SENS_MAG_MODE 0

+param set-default IMU_GYRO_FFT_EN 1
+
 # By default log from boot until first disarm.
 param set-default SDLOG_MODE 1
 # enable default, estimator replay and vision/avoidance logging profiles
@@ -235,6 +238,16 @@ then
 	camera_feedback start
 fi

+if param compare -s IMU_GYRO_FFT_EN 1
+then
+	gyro_fft start
+fi
+
+if param compare -s IMU_GYRO_CAL_EN 1
+then
+	gyro_calibration start
+fi
+
 # Configure vehicle type specific parameters.
 # Note: rc.vehicle_setup is the entry point for rc.interface,
 #       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
@@ -247,7 +260,7 @@ then
 	sh etc/init.d-posix/rc.mavlink_override
 else
 	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f -p
+	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
 	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
@@ -259,13 +272,13 @@ else
 	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local

 	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote -p
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote

 	# Onboard link to camera
-	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote -p
+	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

 	# Onboard link to gimbal
-	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote -p
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
 fi

 # execute autostart post script if any
@@ -26,48 +26,48 @@

 param set-default BAT_N_CELLS 6

-param set-default FW_AIRSPD_MAX   30
-param set-default FW_AIRSPD_MIN   19
-param set-default FW_AIRSPD_TRIM  23
+param set-default FW_AIRSPD_MAX 30
+param set-default FW_AIRSPD_MIN 19
+param set-default FW_AIRSPD_TRIM 23
 param set-default FW_L1_R_SLEW_MAX 40
 param set-default FW_LND_EARLYCFG 1
-param set-default FW_MAN_P_MAX	30
-param set-default FW_PR_I	0.1
-param set-default FW_PSP_OFF	3
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_I 0.1
+param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
-param set-default FW_RLL_TO_YAW_FF	0.1
-param set-default FW_RR_I	0.1
-param set-default FW_RR_P	0.08
+param set-default FW_RLL_TO_YAW_FF 0.1
+param set-default FW_RR_I 0.1
+param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 45
-param set-default FW_R_RMAX	50
+param set-default FW_R_RMAX 50
 param set-default FW_THR_CRUISE 0.65
 param set-default FW_THR_MIN 0.3
 param set-default FW_THR_SLEW_MAX 0.6
 param set-default FW_T_HRATE_FF 0
-param set-default FW_T_SINK_MAX	15
-param set-default FW_T_SINK_MIN	3
-param set-default FW_YR_I	0.1
-param set-default FW_YR_P	0.15
+param set-default FW_T_SINK_MAX 15
+param set-default FW_T_SINK_MIN 3
+param set-default FW_YR_I 0.1
+param set-default FW_YR_P 0.15

 param set-default IMU_GYRO_CUTOFF 40

 param set-default IMU_DGYRO_CUTOFF 15
-param set-default MC_PITCHRATE_I	0.2
+param set-default MC_PITCHRATE_I 0.2
 param set-default MC_PITCHRATE_MAX 60
-param set-default MC_ROLLRATE_I	0.2
+param set-default MC_ROLLRATE_I 0.2
 param set-default MC_ROLLRATE_MAX 60
 param set-default MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_MAX 40
 param set-default MC_YAWRATE_P 0.3

-param set-default MIS_TAKEOFF_ALT	30
+param set-default MIS_TAKEOFF_ALT 30

-param set-default MPC_ACC_DOWN_MAX	2
-param set-default MPC_ACC_HOR_MAX	2
-param set-default MPC_ACC_UP_MAX	3
+param set-default MPC_ACC_DOWN_MAX 2
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_ACC_UP_MAX 3
 param set-default MC_AIRMODE 1
-param set-default MPC_JERK_AUTO	4
+param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
@@ -76,7 +76,7 @@ param set-default MPC_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8
-param set-default MPC_TKO_SPEED	1
+param set-default MPC_TKO_SPEED 1
 param set-default MPC_VEL_MANUAL 3
 param set-default MPC_XY_CRUISE 3
 param set-default MPC_XY_VEL_MAX 3.5
@@ -84,7 +84,7 @@ param set-default MPC_YAWRAUTO_MAX 40
 param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_Z_VEL_MAX_UP 2

-param set-default NAV_ACC_RAD	3
+param set-default NAV_ACC_RAD 3

 param set-default PWM_MAIN_DIS3 1000
 param set-default PWM_MAIN_MIN3 1120
@@ -112,3 +112,4 @@ set MIXER babyshark
 set MIXER_AUX pass

 set PWM_OUT 5678
+set PWM_AUX_OUT 1234
@@ -1,57 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Quadplane VTOL (PWM14)
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 Aileron 1
-# @output MAIN6 Aileron 2
-# @output MAIN7 Elevator
-# @output MAIN8 Rudder
-# @output MAIN9 Pusher motor
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-
-param set-default PWM_MAIN_RATE 400
-
-param set-default PWM_MAIN_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-param set-default PWM_MAIN_MIN3 1100
-param set-default PWM_MAIN_MIN4 1100
-
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-param set-default PWM_MAIN_MAX4 1900
-
-param set-default PWM_MAIN_DIS1 900
-param set-default PWM_MAIN_DIS2 900
-param set-default PWM_MAIN_DIS3 900
-param set-default PWM_MAIN_DIS4 900
-param set-default PWM_MAIN_DIS5 1500
-param set-default PWM_MAIN_DIS6 1500
-param set-default PWM_MAIN_DIS7 1500
-param set-default PWM_MAIN_DIS8 1500
-param set-default PWM_MAIN_DIS9 900
-
-param set-default VT_TYPE 2
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22
-
-set MIXER quad_x_vtol_AAERT
-set MIXER_AUX none
-
-set PWM_OUT 1234
@@ -0,0 +1,41 @@
+#!/bin/sh
+#
+# @name Generic Quadplane VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Motor tilt front left
+# @output AUX2 Motor tilt front right
+# @output AUX3 Motor tilt rear left
+# @output AUX4 Motor tilt rear right
+# @output AUX5 Aileron left
+# @output AUX6 Aileron right
+# @output AUX7 Elevator
+# @output AUX8 Rudder
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+
+param set-default PWM_MAIN_RATE 400
+
+param set-default VT_IDLE_PWM_MC 1100
+param set-default VT_TYPE 1
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 24
+set MAV_TYPE 21
+
+set MIXER quad_x
+set MIXER_AUX vtol_TTTTAAER
+
+set PWM_OUT 1234
@@ -18,6 +18,7 @@
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
 # @board bitcraze_crazyflie exclude
+# @board cuav_x7pro exclude
 #

 set VEHICLE_TYPE mc
@@ -111,10 +112,12 @@ param set-default NAV_RCL_ACT 6
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
-param set-default MAV_0_MODE 2	# onboard
+# onboard
+param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600

 # TELEM2 ttyS2 - Sub 1-Ghz
 param set-default MAV_1_CONFIG 102
-param set-default MAV_1_MODE 0	# normal
+# normal
+param set-default MAV_1_MODE 0
 param set-default SER_TEL2_BAUD 57600
@@ -15,6 +15,8 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
+# @board cuav_x7pro exclude
 #
 # @maintainer Hyon Lim <lim@uvify.com>
 #
@@ -119,12 +121,14 @@ param set-default NAV_RCL_ACT 6
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
-param set-default MAV_0_MODE 2	# onboard
+# onboard
+param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600

 # TELEM2 ttyS2 - Sub 1-Ghz
 param set-default MAV_1_CONFIG 102
-param set-default MAV_1_MODE 0	# normal
+# normal
+param set-default MAV_1_MODE 0
 param set-default SER_TEL2_BAUD 57600

 # DSHOT
@@ -122,7 +122,7 @@ param set-default BAT_V_DIV 10.133

 # TELEM1 ttyS1
 param set-default MAV_0_CONFIG 101
-param set-default MAV_0_MODE 0	# onboard
+param set-default MAV_0_MODE 0
 param set-default MAV_0_FORWARD 1
 param set-default SER_TEL1_BAUD 57600

@@ -137,7 +137,7 @@ px4_add_romfs_files(
 	13012_convergence
 	13013_deltaquad
 	13014_vtol_babyshark
-	13015_generic_vtol_standard
+	13030_generic_vtol_quad_tiltrotor
 	13050_generic_vtol_octo
 	13200_generic_vtol_tailsitter

@@ -30,9 +30,9 @@ then
 fi

 # USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
-if [ $USE_IO = no ]
+if [ $USE_IO = no -a $AUX_BANK2 = none ]
 then
-	set MIXER_AUX none
+	set AUX_MODE none
 fi

 #
@@ -147,6 +147,7 @@ then
 	if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
 	then
 		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
+
 	else
 		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}"
 		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
@@ -178,6 +179,7 @@ then

 	if [ $MIXER_AUX_FILE != none ]
 	then
+		# Start the output module
 		if $OUTPUT_CMD mode_${AUX_MODE}
 		then
 			# Append aux mixer to main device.
@@ -199,6 +201,7 @@ then
 					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
 				fi
 			else
+				echo "INFO  [init] setting PWM_AUX_OUT none"
 				set PWM_AUX_OUT none
 			fi
 		else
@@ -223,6 +226,36 @@ then
 	fi
 fi

+if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
+then
+	#
+	# Load aux mixer.
+	#
+	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
+	then
+		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
+	else
+
+		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
+		then
+			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
+		fi
+	fi
+
+	if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
+	then
+		echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
+
+		# Set PWM_AUX output frequency.
+		if [ $PWM_AUX_RATE != none ]
+		then
+			pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
+		fi
+	else
+		echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
+	fi
+fi
+
 if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
 then
 	if [ $PWM_OUT != none ]
@@ -124,26 +124,25 @@ then
 	# differential pressure sensors
 	if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
 	then
-		if param compare CBRK_AIRSPD_CHK 0
+		# Always try to start the airspeed sensors
+		# even if their usage might be disabled
+		sdp3x_airspeed start -X -q
+		sdp3x_airspeed start -X -a 0x22 -q
+
+		# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
+		# detected as MS5525 because the chip manufacturer was so
+		# clever to assign the same I2C address and skip a WHO_AM_I
+		# register.
+		if [ $BOARD_FMUV3 = 21 ]
 		then
-			sdp3x_airspeed start -X -q
-			sdp3x_airspeed start -X -a 0x22 -q
-
-			# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
-			# detected as MS5525 because the chip manufacturer was so
-			# clever to assign the same I2C address and skip a WHO_AM_I
-			# register.
-			if [ $BOARD_FMUV3 = 21 ]
-			then
-				ms5525_airspeed start -X -b 2 -q
-			else
-				ms5525_airspeed start -X -q
-			fi
-
-			ms4525_airspeed start -X -q
-
-			ets_airspeed start -X -q
+			ms5525_airspeed start -X -b 2 -q
+		else
+			ms5525_airspeed start -X -q
 		fi
+
+		ms4525_airspeed start -X -q
+
+		ets_airspeed start -X -q
 	fi
 fi

@@ -516,6 +516,11 @@ else
 		gyro_fft start
 	fi

+	if param compare -s IMU_GYRO_CAL_EN 1
+	then
+		gyro_calibration start
+	fi
+
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -90,6 +90,7 @@ px4_add_romfs_files(
 	Viper.main.mix
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix
+	vtol_TTTTAAER.aux.mix
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
@@ -0,0 +1,39 @@
+# Generic quadplane tiltrotor servo mixer
+
+# Tilt mechanism servo mixer
+---------------------------
+# front left up:2000 down:1000
+M: 1
+S: 1 4      0 -20000  10000 -10000  10000
+
+# front right up:1000 down:2000
+M: 1
+S: 1 4      0  20000 -10000 -10000  10000
+
+# rear left up:2000 down:1000
+M: 1
+S: 1 4      0 -20000  10000 -10000  10000
+
+# rear right up:1000 down:2000
+M: 1
+S: 1 4      0  20000 -10000 -10000  10000
+
+
+# Aileron mixer
+# ---------------------------------
+M: 1
+S: 1 0  10000  10000      0 -10000  10000
+
+M: 1
+S: 1 0  10000  10000      0 -10000  10000
+
+
+# Elevator mixer
+# ------------
+M: 1
+S: 1 1  -10000  -10000    0 -10000  10000
+
+# Rudder mixer
+# ------------
+M: 1
+S: 1 2  10000  10000      0 -10000  10000
@@ -103,12 +103,6 @@ class TestHardwareMethods(unittest.TestCase):
    def test_bson(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))

-    def test_commander(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "commander"))
-
-    def test_controllib(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "controllib"))
-
    # def test_dataman(self):
    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))

@@ -172,9 +166,6 @@ class TestHardwareMethods(unittest.TestCase):
    def test_time(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "time"))

-    def test_uorb(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb"))
-
    def test_versioning(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))

@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+""" Script to generate a JSON config with all build targets (for CI) """
+
+import argparse
+import os
+import sys
+import json
+import re
+
+source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')
+
+parser = argparse.ArgumentParser(description='Generate build targets')
+
+parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                    help='Verbose Output')
+parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
+                    help='Pretty output instead of a single line')
+
+args = parser.parse_args()
+verbose = args.verbose
+
+build_configs = []
+excluded_manufacturers = ['atlflight']
+excluded_platforms = ['qurt']
+excluded_labels = [
+    'stackcheck',
+    'nolockstep', 'replay', 'test',
+    'uavcanv1' # TODO: fix and enable
+    ]
+
+def process_target(cmake_file, target_name):
+    ret = None
+    is_board_def = False
+    platform = None
+    toolchain = None
+    for line in open(cmake_file, 'r'):
+        if 'px4_add_board' in line:
+            is_board_def = True
+        if not is_board_def:
+            continue
+
+        re_platform = re.search('PLATFORM\s+([^\s]+)', line)
+        if re_platform: platform = re_platform.group(1)
+
+        re_toolchain = re.search('TOOLCHAIN\s+([^\s]+)', line)
+        if re_toolchain: toolchain = re_toolchain.group(1)
+
+    if is_board_def:
+        assert platform, f"PLATFORM not found in {cmake_file}"
+
+        if platform not in excluded_platforms:
+            # get the container based on the platform and toolchain
+            container = platform
+            if platform == 'posix':
+                container = 'base-focal'
+                if toolchain:
+                    if toolchain.startswith('aarch64'):
+                        container = 'aarch64'
+                    elif toolchain == 'arm-linux-gnueabihf':
+                        container = 'armhf'
+                    else:
+                        if verbose: print(f'possibly unmatched toolchain: {toolchain}')
+            elif platform == 'nuttx':
+                container = 'nuttx-focal'
+
+            ret = {'target': target_name, 'container': container}
+    return ret
+
+for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
+    if not manufacturer.is_dir():
+        continue
+    if manufacturer.name in excluded_manufacturers:
+        if verbose: print(f'excluding manufacturer {manufacturer.name}')
+        continue
+
+    for board in os.scandir(manufacturer.path):
+        if not board.is_dir():
+            continue
+        for files in os.scandir(board.path):
+            if files.is_file() and files.name.endswith('.cmake'):
+                label = files.name[:-6]
+                target_name = manufacturer.name + '_' + board.name + '_' + label
+                if label in excluded_labels:
+                    if verbose: print(f'excluding label {label} ({target_name})')
+                    continue
+                target = process_target(files.path, target_name)
+                if target is not None:
+                    build_configs.append(target)
+
+
+github_action_config = { 'include': build_configs }
+extra_args = {}
+if args.pretty:
+    extra_args['indent'] = 2
+print(json.dumps(github_action_config, **extra_args))
+
@@ -65,7 +65,7 @@ def get_version():

    if os.path.isdir(os.path.join(px4_dir, '.git')):
        # If inside a clone PX4 Firmware repository, get version from "git describe"
-        cmd = 'git describe --abbrev=0 --tags'
+        cmd = 'git describe --exclude ext/* --abbrev=0 --tags'
        try:
            version = subprocess.check_output(
                cmd, cwd=px4_dir, shell=True).decode().strip()
@@ -99,13 +99,13 @@ if args.summary != None:
 if args.description != None:
 	desc['description']	= str(args.description)
 if args.git_identity != None:
-	cmd = "git --git-dir '{:}/.git' describe --always --tags".format(args.git_identity)
+	cmd = "git --git-dir '{:}/.git' describe --exclude ext/* --always --tags".format(args.git_identity)
 	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
-	desc['git_identity']	= str(p.read().strip())
+	desc['git_identity']	= p.read().strip().decode('utf-8')
 	p.close()
 	cmd = "git --git-dir '{:}/.git' rev-parse --verify HEAD".format(args.git_identity)
 	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
-	desc['git_hash']	= str(p.read().strip())
+	desc['git_hash']	= p.read().strip().decode('utf-8')
 	p.close()
 if args.parameter_xml != None:
 	f = open(args.parameter_xml, "rb")
@@ -61,6 +61,8 @@ def main():
                        help="Board architecture for this run")
    args = parser.parse_args()

+    err_count = 0
+
    # go through temp folder
    for (root, dirs, files) in os.walk(args.folder):
        for file in files:
@@ -90,8 +92,17 @@ def main():
            # read file line by line
            pruned_content = ""
            board_excluded = False
+
            with io.open(file_path, "r", newline=None) as f:
                for line in f:
+                    # abort if spurious tabs are found
+                    if re.search(r"[a-zA-Z0-9]+\t.+", line):
+                        file_local = re.sub(args.folder, '', file_path)
+                        print("ERROR: Spurious TAB character in file " + file_local)
+                        print("Line: " + line)
+                        err_count += 1
+
+                    # find excluded boards
                    if re.search(r'\b{0} exclude\b'.format(args.board), line):
                        board_excluded = True
                    # handle mixer files differently than startup files
@@ -116,6 +127,9 @@ def main():
            else:
                os.remove(file_path)

+    if (err_count > 0):
+        exit(1)
+

 if __name__ == '__main__':
    main()
@@ -13,6 +13,7 @@

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
+INSTALL_ARCH=`uname -m`

 # Parse arguments
 for arg in "$@"
@@ -149,7 +150,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then

 	else
 		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-x86_64-linux.tar.bz2 && \
+		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
 			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;

 		# add arm-none-eabi-gcc to user's PATH
@@ -1,2 +1,4 @@
 *.json

+*.fv
+*.fv.pdf
@@ -1,13 +0,0 @@
-#! /bin/bash
-# create the graph from a posix (e.g. SITL) startup script
-
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-
-startup_file="$SCRIPT_DIR"/../../posix-configs/SITL/init/ekf2/typhoon_h480
-[ -n "$1" ] && startup_file=$1
-# get the modules as comma-separated list
-modules=$(cat "$startup_file"|cut -f1 -d' '|sort|uniq|tr '\n' ,)
-
-cd "$SCRIPT_DIR/../.."
-"$SCRIPT_DIR"/create.py --src-path src -m "$modules" -f "$SCRIPT_DIR/graph_runtime_sitl"
-
@@ -15,7 +15,6 @@ px4_add_board(
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -32,12 +31,13 @@ px4_add_board(
 		imu/invensense/mpu6000
 		imu/invensense/mpu6500
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		#lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -45,7 +45,6 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -58,11 +57,11 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -74,15 +73,12 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -90,7 +86,6 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -117,8 +112,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -0,0 +1,33 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-flow
+	LABEL debug
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 1
+	DRIVERS
+		bootloaders
+		imu/bosch/bmi088
+		optical_flow/paw3902
+		uavcannode
+	MODULES
+		#ekf2
+		load_mon
+		#sensors
+	SYSTEMCMDS
+		mft
+		mtd
+		param
+		perf
+		reboot
+		system_time
+		top
+		topic_listener
+		ver
+		work_queue
+)
@@ -7,6 +7,7 @@ px4_add_board(
 	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
+	CONSTRAINED_FLASH
 	CONSTRAINED_MEMORY
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 1
@@ -17,14 +18,17 @@ px4_add_board(
 		uavcannode
 	MODULES
 		#ekf2
-		load_mon
+		#load_mon
 		#sensors
 	SYSTEMCMDS
+		mft
+		mtd
 		param
-		perf
-		reboot
-		top
-		topic_listener
-		ver
-		work_queue
+		#perf
+		#reboot
+		#system_time
+		#top
+		#topic_listener
+		#ver
+		#work_queue
 )
@@ -4,6 +4,6 @@
 #------------------------------------------------------------------------------

 # Internal SPI
-paw3902 -s start
-bmi088 -A -s -R 0 start
-bmi088 -G -s -R 0 start
+paw3902 -s start -Y 90
+bmi088 -A -s -R 4 start
+bmi088 -G -s -R 4 start
@@ -51,12 +51,14 @@ else()
 		can.c
 		i2c.cpp
 		init.c
+		led.c
 		spi.cpp
 	)

 	target_link_libraries(drivers_board
 		PRIVATE
 			arch_spi
+			drivers__led # drv_led_start
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
@@ -53,8 +53,12 @@
 #define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)

 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-#define GPIO_LED_RED          /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
-#define GPIO_LED_BLUE         /* PA8  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
+#define GPIO_nLED_RED          /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_nLED_BLUE         /* PA8  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_STATE_LED  LED_BLUE

 #define FLASH_BASED_PARAMS

@@ -49,6 +49,12 @@

 #include <nuttx/board.h>

+__BEGIN_DECLS
+extern void led_init(void);
+extern void bootloader_led_on(int led);
+extern void bootloader_led_off(int led);
+__END_DECLS
+
 /************************************************************************************
 * Name: stm32_boardinitialize
 *
@@ -69,6 +75,8 @@ __EXPORT void stm32_boardinitialize(void)
 	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
 	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);

+	led_init();
+
 #if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
 	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
 #endif
@@ -152,48 +160,27 @@ size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
 *   None
 *
 ****************************************************************************/
-// #define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
-
-// typedef begin_packed_struct struct led_t {
-// 	uint8_t red;
-// 	uint8_t green;
-// 	uint8_t blue;
-// 	uint8_t hz;
-// } end_packed_struct led_t;
-
-// static const  led_t i2l[] = {
-
-// 	led(0, off,                             0,     0,     0,     0),
-// 	led(1, reset,                          128,   128,   128,   30),
-// 	led(2, autobaud_start,                  0,   128,     0,     1),
-// 	led(3, autobaud_end,                    0,   128,     0,     2),
-// 	led(4, allocation_start,                0,     0,    64,     2),
-// 	led(5, allocation_end,                  0,   128,    64,     3),
-// 	led(6, fw_update_start,                32,   128,    64,     3),
-// 	led(7, fw_update_erase_fail,           32,   128,    32,     3),
-// 	led(8, fw_update_invalid_response,     64,     0,     0,     1),
-// 	led(9, fw_update_timeout,              64,     0,     0,     2),
-// 	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
-// 	led(b, jump_to_app,                     0,   128,     0,    10),
-
-// };
-
 void board_indicate(uiindication_t indication)
 {
-	// switch(indication) {
-	// 	case off:
-	// 		led_off(GPIO_nLED_RED);
-	// 		led_off(GPIO_nLED_BLUE);
-	// 		break;
-	// 	case reset:
-	// 		led_on(GPIO_nLED_RED);
-	// 		led_on(GPIO_nLED_BLUE);
-	// 		break;
-	// 	case jump_to_app:
-	// 		led_on(GPIO_nLED_RED);
-	// 		led_off(GPIO_nLED_BLUE);
-	// 		break;
-	// 	default:
-	// 		break;
-	// }
+	if (indication == off) {
+		bootloader_led_off(GPIO_nLED_RED);
+		bootloader_led_off(GPIO_nLED_BLUE);
+
+	} else if (indication == fw_update_start) {
+		bootloader_led_on(GPIO_nLED_RED);
+		bootloader_led_on(GPIO_nLED_BLUE);
+
+	} else if ((indication == fw_update_erase_fail) || (indication == fw_update_invalid_response)
+		   || (indication == fw_update_timeout) || (indication == fw_update_invalid_crc)) {
+		bootloader_led_on(GPIO_nLED_RED);
+		bootloader_led_off(GPIO_nLED_BLUE);
+
+	} else if (indication == allocation_start) {
+		bootloader_led_on(GPIO_nLED_RED);
+		bootloader_led_off(GPIO_nLED_BLUE);
+
+	} else {
+		bootloader_led_off(GPIO_nLED_RED);
+		bootloader_led_on(GPIO_nLED_BLUE);
+	}
 }
@@ -69,6 +69,12 @@
 #  include <parameters/flashparams/flashfs.h>
 #endif

+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
 /************************************************************************************
 * Name: stm32_boardinitialize
 *
@@ -121,6 +127,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	px4_platform_init();

+	// Configure LEDs.
+	board_autoled_initialize();
+
 #if defined(FLASH_BASED_PARAMS)
 	static sector_descriptor_t params_sector_map[] = {
 		{2, 16 * 1024, 0x08008000},
@@ -138,7 +147,14 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif // FLASH_BASED_PARAMS

-	//px4_platform_configure();
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_on(LED_BLUE);
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();

 	return OK;
 }
@@ -55,14 +55,17 @@
 */
 __BEGIN_DECLS
 extern void led_init(void);
+extern void bootloader_led_on(int led);
+extern void bootloader_led_off(int led);
 extern void led_on(int led);
 extern void led_off(int led);
 extern void led_toggle(int led);
 __END_DECLS

+#  define xlat(p) (p)
 static uint32_t g_ledmap[] = {
-	GPIO_LED_RED,
-	GPIO_LED_BLUE,
+	GPIO_nLED_BLUE,
+	GPIO_nLED_RED,
 };

 __EXPORT void led_init(void)
@@ -70,10 +73,21 @@ __EXPORT void led_init(void)
 	/* Configure LED GPIOs for output */
 	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
 		stm32_configgpio(g_ledmap[l]);
-		stm32_gpiowrite(g_ledmap[l], true);
 	}
 }

+__EXPORT void bootloader_led_on(int led)
+{
+	/* Pull Down to switch on */
+	stm32_gpiowrite(led, false);
+}
+
+__EXPORT void bootloader_led_off(int led)
+{
+	/* Pull Up to switch on */
+	stm32_gpiowrite(led, true);
+}
+
 static void phy_set_led(int led, bool state)
 {
 	/* Pull Down to switch on */
@@ -82,21 +96,20 @@ static void phy_set_led(int led, bool state)

 static bool phy_get_led(int led)
 {
-
 	return !stm32_gpioread(g_ledmap[led]);
 }

 __EXPORT void led_on(int led)
 {
-	phy_set_led(led, true);
+	phy_set_led(xlat(led), true);
 }

 __EXPORT void led_off(int led)
 {
-	phy_set_led(led, false);
+	phy_set_led(xlat(led), false);
 }

 __EXPORT void led_toggle(int led)
 {
-	phy_set_led(led, !phy_get_led(led));
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
 }
@@ -67,6 +67,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -58,6 +58,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -66,6 +66,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -58,6 +58,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -31,12 +31,13 @@ px4_add_board(
 		imu/adis16477
 		imu/adis16497
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		#lights/rgbled
+		#lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
-		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -44,7 +45,6 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		#tone_alarm
@@ -57,11 +57,11 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -73,23 +73,19 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
-		bl_update
+		#bl_update
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -113,8 +109,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -43,6 +43,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -1,22 +1,5 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

-
-# UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major 0)
-set(uavcanblid_sw_version_minor 1)
-add_definitions(
-	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
-)
-
-set(uavcanblid_hw_version_major 1)
-set(uavcanblid_hw_version_minor 0)
-set(uavcanblid_name "\"org.cuav.can-gps-v1\"")
-
-add_definitions(
-	-DHW_UAVCAN_NAME=${uavcanblid_name}
-	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)
 add_definitions(-DUSE_S_RGB_LED_DMA)

 px4_add_board(
@@ -26,6 +9,7 @@ px4_add_board(
 	LABEL debug
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 1
 	DRIVERS
@@ -48,6 +32,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 )
@@ -22,17 +22,17 @@ px4_add_board(
 		tone_alarm
 		uavcannode
 	MODULES
-		load_mon
+		#load_mon
 	SYSTEMCMDS
-		i2cdetect
-		led_control
+		#i2cdetect
+		#led_control
 		param
-		perf
-		reboot
-		top
-		topic_listener
-		tune_control
-		uorb
-		ver
-		work_queue
+		#perf
+		#reboot
+		#top
+		#topic_listener
+		#tune_control
+		#uorb
+		#ver
+		#work_queue
 )
@@ -3,6 +3,8 @@
 # board specific defaults
 #------------------------------------------------------------------------------

+param set-default CBRK_IO_SAFETY 0
+
 neopixel start
 safety_button start
 tone_alarm start
@@ -19,7 +19,6 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -31,24 +30,24 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
-		imu/analog_devices/adis16448
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -62,11 +61,11 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -78,15 +77,12 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -94,7 +90,6 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -110,7 +105,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -122,7 +116,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
 		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific MAVLink startup script.
+# board specific board MAVLink startup script.
 #------------------------------------------------------------------------------

 # Start MAVLink on the USB port
@@ -16,7 +16,7 @@ bmi088 -s -b 4 -G -R 2 start
 ms5611 -s -b 4 start

 # SPI6
-#icm20649 -s -b 6 -R 2 start # TODO: not started by default until NuttX SPI6 BDMA is fixed
+icm20649 -s -b 6 -R 2 start
 ms5611 -s -b 6 start

 # External compass on GPS1/I2C1: standard CUAV GPS/compass puck (with lights, safety button, and buzzer)
@@ -220,61 +220,55 @@

 #define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE

-
 /* UART/USART */
-#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6  */
-#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7  */
+#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6 */

-#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
-#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6 */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5 */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4 */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3 */

-#define GPIO_UART4_TX    GPIO_UART4_TX_5       /* PD1  */
-#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_5       /* PD1 */

-#define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
 #define GPIO_USART6_RX   GPIO_USART6_RX_2      /* PG9  */
+#define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
 #define GPIO_USART6_RTS  GPIO_USART6_RTS_2     /* PG8  */
 #define GPIO_USART6_CTS  GPIO_USART6_CTS_NSS_2 /* PG15 */

-#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
-#define GPIO_UART7_RX    GPIO_UART7_RX_4       /* PF6  */
-
-#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
-#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
+#define GPIO_UART7_RX    GPIO_UART7_RX_4       /* PF6 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8 */

+#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1 */

 /* CAN */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_4        /* PH13 */
 #define GPIO_CAN1_RX     GPIO_CAN1_RX_5        /* PI9  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_4        /* PH13 */
 #define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
 #define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */

-
 /* SPI */
-#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
+#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_3    /* PG11 */
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3   /* PD7 */

-#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3               /* PD7  */
+#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_6    /* PI1 */
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3   /* PI2 */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4   /* PI3 */

-#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1  */
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3               /* PI2  */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4               /* PI3  */
+#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_2    /* PE2 */
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1   /* PE13 */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2   /* PE6 */

-#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2  */
-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1               /* PE13 */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2               /* PE6  */
-
-#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
-#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
-
-#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
-#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12 */
-#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2               /* PA7  */
+#define GPIO_SPI5_SCK    GPIO_SPI5_SCK_1    /* PF7 */
+#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1   /* PF8 */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2   /* PF9 */

+#define GPIO_SPI6_SCK    GPIO_SPI6_SCK_1    /* PG13 */
+#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1   /* PG12 */
+#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2   /* PA7 */

 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
@@ -88,7 +88,6 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -154,8 +153,10 @@ CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
@@ -187,6 +188,8 @@ CONFIG_STM32H7_SPI4_DMA=y
 CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI6_DMA=y
+CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM12=y
@@ -19,7 +19,6 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -30,25 +29,24 @@ px4_add_board(
 		dshot
 		gps
 		heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
+		#imu # all relevant IMU drivers
+		imu/analog_devices/adis16470
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		irlock
-		lights # all available light drivers
+		lights/rgbled
+		#lights/rgbled_ncp5623c
+		#lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
 		pwm_out
 		rc_input
-		roboclaw
-		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -62,11 +60,11 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -78,15 +76,12 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -94,7 +89,6 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -110,7 +104,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -3,6 +3,9 @@
 # board specific defaults
 #------------------------------------------------------------------------------

+# Enables the 2nd bank of mixers
+set AUX_BANK2 yes
+
 param set-default BAT_V_DIV 18
 param set-default BAT1_V_DIV 18
 param set-default BAT2_V_DIV 18
@@ -14,5 +17,7 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1

+param set-default IMU_GYRO_FFT_EN 1
+
 rgbled_pwm start
 safety_button start
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific MAVLink startup script.
+# board specific board MAVLink startup script.
 #------------------------------------------------------------------------------

 # Start MAVLink on the USB port
@@ -5,8 +5,10 @@
 board_adc start

 # SPI1
-#adis16470 -s start
-icm20689 -s -b 1 -R 2 start
+if ! icm20689 -s -b 1 -R 2 start
+then
+	adis16470 -s -b 1 -R 2 start
+fi

 # SPI2
 rm3100 -s -b 2 start
@@ -220,38 +220,35 @@

 #define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE

-
 /* UART/USART */
-#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6  */
-#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7  */
+#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6 */

-#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
-#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6 */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5 */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4 */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3 */

-#define GPIO_UART4_TX    GPIO_UART4_TX_5       /* PD1  */
-#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_5       /* PD1 */

-#define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
 #define GPIO_USART6_RX   GPIO_USART6_RX_2      /* PG9  */
+#define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
 #define GPIO_USART6_RTS  GPIO_USART6_RTS_2     /* PG8  */
 #define GPIO_USART6_CTS  GPIO_USART6_CTS_NSS_2 /* PG15 */

-#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
-#define GPIO_UART7_RX    GPIO_UART7_RX_4       /* PF6  */
-
-#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
-#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
+#define GPIO_UART7_RX    GPIO_UART7_RX_4       /* PF6 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8 */

+#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1 */

 /* CAN */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_4        /* PH13 */
 #define GPIO_CAN1_RX     GPIO_CAN1_RX_5        /* PI9  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_4        /* PH13 */
 #define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
 #define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */

-
 /* SPI */
 #define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))

@@ -275,7 +272,6 @@
 #define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12 */
 #define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2               /* PA7  */

-
 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
@@ -88,7 +88,6 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -154,8 +153,10 @@ CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
@@ -187,6 +188,8 @@ CONFIG_STM32H7_SPI4_DMA=y
 CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI6_DMA=y
+CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM12=y
@@ -37,7 +37,7 @@

 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}), // ADIS16470
+		initSPIDevice(DRV_IMU_DEVTYPE_ADIS16470, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortG, GPIO::Pin6}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
 	}, {GPIO::PortE, GPIO::Pin3}),
 	initSPIBus(SPI::Bus::SPI2, {
@@ -57,7 +57,7 @@ px4_add_board(
 		uavcan
 	MODULES
 		airspeed_selector
-		attitude_estimator_q
+		#attitude_estimator_q
 		battery_status
 		camera_feedback
 		commander
@@ -68,11 +68,12 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
-		#gyro_fft
+		gyro_calibration
+		gyro_fft
 		land_detector
 		landing_target_estimator
 		load_mon
-		local_position_estimator
+		#local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -82,10 +83,10 @@ px4_add_board(
 		#micrortps_bridge
 		navigator
 		rc_update
-		rover_pos_control
+		#rover_pos_control
 		sensors
-		sih
-		temperature_compensation
+		#sih
+		#temperature_compensation
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -66,6 +66,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -107,8 +108,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
-		system_time
 		#tests # tests and test runner
 		top
 		topic_listener
@@ -155,6 +155,7 @@ CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
 CONFIG_STM32H7_BKPSRAM=y
@@ -156,6 +156,7 @@ CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
 CONFIG_STM32H7_BKPSRAM=y
@@ -30,8 +30,6 @@ px4_add_board(
 		#heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/invensense/icm20602
 		imu/invensense/icm20649
 		imu/invensense/icm20948
@@ -67,6 +65,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -49,7 +49,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		#test_ppm
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -65,6 +65,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -106,9 +107,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
-		system_time
-		#tests # tests and test runner
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -44,6 +44,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -10,7 +10,7 @@ px4_add_board(
 	BUILD_BOOTLOADER
 	IO px4_io-v2_default
 	TESTING
-	UAVCAN_INTERFACES 2
+#	UAVCAN_INTERFACES 2  - No H7 or FD can support in UAVCAN
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
@@ -33,23 +33,25 @@ px4_add_board(
 		imu/bosch/bmi088
 		imu/invensense/icm20689
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
+#		pwm_input  - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate
+#					   all arch dependant code there
 		pwm_out_sim
 		pwm_out
 		px4io
 		roboclaw
-		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
-		#uavcan
+#		uavcan - No H7 or FD can support in UAVCAN yet
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
@@ -58,11 +60,11 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -74,15 +76,12 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -90,7 +89,6 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -117,8 +115,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -89,7 +89,6 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -153,8 +152,10 @@ CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
@@ -7,7 +7,6 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
-	CONSTRAINED_FLASH
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0 # UART1
 		TEL2:/dev/ttyS1 # UART2
@@ -22,13 +21,15 @@ px4_add_board(
 		gps
 		imu/invensense/icm20689
 		imu/invensense/mpu6000
-		magnetometer
-		optical_flow/px4flow
+		#magnetometer
+		magnetometer/isentek/ist8310
+		#optical_flow/px4flow
 		osd
-		pwm_out_sim
+		#pwm_out_sim
 		pwm_out
 		rc_input
-		telemetry
+		#telemetry
+		telemetry/frsky_telemetry
 		tone_alarm
 	MODULES
 		attitude_estimator_q
@@ -38,6 +39,7 @@ px4_add_board(
 		#ekf2
 		events
 		flight_mode_manager
+		gyro_calibration
 		#gyro_fft
 		land_detector
 		load_mon
@@ -55,26 +57,26 @@ px4_add_board(
 	SYSTEMCMDS
 		bl_update
 		dmesg
-		dumpfile
-		esc_calib
+		#dumpfile
+		#esc_calib
 		hardfault_log
-		i2cdetect
-		led_control
+		#i2cdetect
+		#led_control
 		mixer
 		#motor_ramp
-		motor_test
-		nshterm
+		#motor_test
+		#nshterm
 		param
 		perf
 		pwm
 		reboot
-		reflect
-		sd_bench
+		#reflect
+		#sd_bench
 		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
+		#topic_listener
+		#tune_control
+		#uorb
+		#usb_connected
 		ver
 		work_queue
 	)
@@ -29,8 +29,6 @@ px4_add_board(
 		#heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
@@ -70,6 +68,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -28,7 +28,7 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm42688p
 		irlock
-		#lights/blinkm
+		lights/blinkm
 		lights/rgbled
 		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
@@ -43,7 +43,6 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -61,6 +60,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -72,15 +72,12 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -88,7 +85,6 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -115,8 +111,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -41,9 +41,12 @@ then
 		if param compare MAV_1_CONFIG 0
 		then
 			echo "V106 - Defualt configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
-			param set-default MAV_1_CONFIG 102 # TELEM2
-			param set-default MAV_1_MODE 2	# Onboard
-			param set-default SER_TEL2_BAUD 921600 # VIO data
+			# TELEM2
+			param set-default MAV_1_CONFIG 102
+			# Onboard
+			param set-default MAV_1_MODE 2
+			# VIO data
+			param set-default SER_TEL2_BAUD 921600
 		fi
 	fi

@@ -51,9 +54,12 @@ then
 	if [ $AUTOCNF = yes ]
 	then
 		echo "V106 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
-		param set-default MAV_1_CONFIG 102 # TELEM2
-		param set-default MAV_1_MODE 2	# Onboard
-		param set-default SER_TEL2_BAUD 921600 # VIO data
+		# TELEM2
+		param set-default MAV_1_CONFIG 102
+		# Onboard
+		param set-default MAV_1_MODE 2
+		# VIO data
+		param set-default SER_TEL2_BAUD 921600
 	fi
 fi

@@ -74,9 +80,11 @@ then
 	then
 		if ! param compare MAV_1_CONFIG 102
 		then
-			echo "V110 - Defualt configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
-			param set-default MAV_1_CONFIG 102 # TELEM2
-			param set-default MAV_1_MODE 2	# Onboard
+			echo "V110 - Default configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
+			# TELEM2
+			param set-default MAV_1_CONFIG 102
+			# Onboard
+			param set-default MAV_1_MODE 2
 			param set-default SER_TEL2_BAUD 921600
 		fi
 	fi
@@ -85,8 +93,10 @@ then
 	if [ $AUTOCNF = yes ]
 	then
 		echo "V110 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
-		param set-default MAV_1_CONFIG 102 # TELEM2
-		param set-default MAV_1_MODE 2	# Onboard
+		# TELEM2
+		param set-default MAV_1_CONFIG 102
+		# Onboard
+		param set-default MAV_1_MODE 2
 		param set-default SER_TEL2_BAUD 921600
 	fi
 fi
@@ -17,7 +17,6 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		#FRSKY:/dev/ttyS5
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -26,7 +25,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		dshot
+		#dshot
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -34,12 +33,13 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
+		#optical_flow # all available optical flow drivers
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -47,7 +47,6 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -61,11 +60,11 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -84,8 +83,6 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -93,7 +90,6 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -120,8 +116,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -17,7 +17,6 @@ px4_add_board(
 		#CONSOLE:/dev/ttyS4
 		#FRSKY:/dev/ttyS5
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -26,7 +25,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		dshot
+		#dshot
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -34,12 +33,13 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
+		#optical_flow # all available optical flow drivers
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -47,7 +47,6 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -61,11 +60,11 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -84,8 +83,6 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -93,7 +90,6 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -120,8 +116,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -48,6 +48,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
+		#safety_button TODO
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -65,6 +66,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -106,26 +108,23 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
 		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
-		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
-		fake_gps
 		fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific MAVLink startup script.
+# Board specific MAVLink startup script.
 #------------------------------------------------------------------------------

 # Start MAVLink on the USB port
@@ -187,7 +187,7 @@
 *  Note: look at Table 54 in ST Manual
 */
 #define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI  /* I2C123 clock source */
-#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI     /* I2C4 clock source */
+#define STM32_RCC_D3CCIPR_I2C4SRC	   RCC_D3CCIPR_I2C4SEL_HSI	 /* I2C4 clock source */
 #define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
 #define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2  /* SPI45 clock source */
 #define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2    /* SPI6 clock source */
@@ -222,35 +222,34 @@


 /* UART/USART */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
-#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
-#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2       /* PD6 */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2       /* PD5 */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2      /* PD4 */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2  /* PD3 */

-#define GPIO_USART3_TX   GPIO_USART3_TX_3      /* PD8  */
-#define GPIO_USART3_RX   GPIO_USART3_RX_3      /* PD9  */
-#define GPIO_USART3_CTS  GPIO_USART3_CTS_NSS_2 /* PD11 */
-#define GPIO_USART3_RTS  GPIO_USART3_RTS_2     /* PD12 */
+#define GPIO_USART3_RX   GPIO_USART3_RX_3       /* PD9 */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3       /* PD8 */
+#define GPIO_USART3_RTS  GPIO_USART3_RTS_2      /* PD12 */
+#define GPIO_USART3_CTS  GPIO_USART3_CTS_NSS_2  /* PD11 */

-#define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
-#define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_1        /* PA1 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_1        /* PA0 */

-#define GPIO_USART6_TX   0
-#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
+#define GPIO_USART6_RX   GPIO_USART6_RX_1       /* PC7 */
+#define GPIO_USART6_TX   GPIO_USART6_TX_2       /* PG14 */

-#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
-#define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */
+#define GPIO_UART7_RX    GPIO_UART7_RX_1        /* PE7 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_1        /* PE8 */

-#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
-#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1        /* PE0 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1        /* PE1 */


 /* CAN */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_3        /* PD0  */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_3        /* PD1  */
-
-#define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
-#define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1 */
+#define GPIO_CAN2_RX     GPIO_CAN2_RX_1     /* PB12 */
+#define GPIO_CAN2_TX     GPIO_CAN2_TX_1     /* PB13 */


 /* SPI */
@@ -266,15 +265,15 @@

 #define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
 #define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_1               /* PF9  */


 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */

-#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2       /* PH7  */
-#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8  */
+#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2       /* PH7 */
+#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */

-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4       /* PB6  */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4       /* PB7  */
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4       /* PB6 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4       /* PB7 */
@@ -37,5 +37,8 @@
 #define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
 #define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */

-#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:85 */
-#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:86 */
+#define DMAMAP_USART6_RX   DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */
+#define DMAMAP_USART6_TX   DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */
+
+#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */
+#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */
@@ -156,8 +156,10 @@ CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
@@ -196,11 +196,6 @@ SECTIONS
 		_ebss = ABSOLUTE(.);
 	} > AXI_SRAM

-	/* Emit the the D3 power domain section for locating BDMA data */
-	.SRAM4 (NOLOAD) :
-	{
-	} > SRAM4
-
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
@@ -199,7 +199,7 @@ SECTIONS
 	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */
-	.SRAM4 (NOLOAD) :
+	.sram4 (NOLOAD) :
 	{
 	} > SRAM4

@@ -77,14 +77,14 @@

 /* CAN Silence: Silent mode control */
 #define GPIO_CAN1_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
-//#define GPIO_CAN2_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
+#define GPIO_CAN2_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)

 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS  8
 #define DIRECT_INPUT_TIMER_CHANNELS  8

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

 #define GPIO_VDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
 #define BOARD_NUMBER_BRICKS             1
@@ -109,7 +109,7 @@

 /* High-resolution timer */
 #define HRT_TIMER               3  /* use timer3 for the HRT */
-#define HRT_TIMER_CHANNEL       2  /* use capture/compare channel 2 */
+#define HRT_TIMER_CHANNEL       1 /* use capture/compare channel 1 */

 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
@@ -148,11 +148,20 @@
 #define BOARD_ADC_SERVO_VALID   (1) /* never powers off the Servo rail */
 #define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))

+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+#define BOARD_HAS_ON_RESET 1
+
+#define BOARD_HAS_STATIC_MANIFEST 1
+
 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
+
 #define BOARD_NUM_IO_TIMERS 3
+
 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
-#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
+
 #define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
@@ -162,15 +171,9 @@
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
 		GPIO_CAN1_SILENT_S0,              \
-		GPIO_LEVEL_SHIFTER_OE,            \
-		GPIO_PWM_VOLT_SEL,                \
+		GPIO_CAN2_SILENT_S0,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
-		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
-		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
-		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
-		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \
-		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_OTGFS_VBUS,                  \
@@ -164,6 +164,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

+
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -194,6 +195,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif /* CONFIG_MMCSD */

 	/* Configure the HW based on the manifest */
+
 	px4_platform_configure();

 	return OK;
@@ -37,10 +37,21 @@
 * Board-specific USB functions.
 */

-#include "board_config.h"
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
+
+#include <arm_arch.h>
+#include <chip.h>
+#include <stm32_gpio.h>
 #include <stm32_otg.h>
+#include "board_config.h"

 /************************************************************************************
 * Name:  stm32_usbsuspend
@@ -52,6 +63,19 @@
 *   while the USB is suspended.
 *
 ************************************************************************************/
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32H7_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+#endif
+}
+
+
+
 __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
 {
 	uinfo("resume: %d\n", resume);
@@ -48,6 +48,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
+		#safety_button TODO
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -65,6 +66,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -106,26 +108,23 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
 		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
-		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
-		fake_gps
 		fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -1,5 +1,5 @@
 {
-    "board_id": 1024,
+    "board_id": 1023,
    "magic": "mRo-ctrl-zero-h7",
    "description": "Firmware for the mRo-ctrl-zero-h7 board",
    "image": "",
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific MAVLink startup script.
+# Board specific MAVLink startup script.
 #------------------------------------------------------------------------------

 # Start MAVLink on the USB port
@@ -187,7 +187,6 @@
 *  Note: look at Table 54 in ST Manual
 */
 #define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI  /* I2C123 clock source */
-#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI     /* I2C4 clock source */
 #define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
 #define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2  /* SPI45 clock source */
 #define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2    /* SPI6 clock source */
@@ -222,32 +221,32 @@


 /* UART/USART */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
-#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
-#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2       /* PD6 */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2       /* PD5 */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2      /* PD4 */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2  /* PD3 */

-#define GPIO_USART3_TX   GPIO_USART3_TX_3      /* PD8  */
-#define GPIO_USART3_RX   GPIO_USART3_RX_3      /* PD9  */
-#define GPIO_USART3_CTS  GPIO_USART3_CTS_NSS_2 /* PD11 */
-#define GPIO_USART3_RTS  GPIO_USART3_RTS_2     /* PD12 */
+#define GPIO_USART3_RX   GPIO_USART3_RX_3       /* PD9 */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3       /* PD8 */
+#define GPIO_USART3_RTS  GPIO_USART3_RTS_2      /* PD12 */
+#define GPIO_USART3_CTS  GPIO_USART3_CTS_NSS_2  /* PD11 */

-#define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
-#define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_1        /* PA1 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_1        /* PA0 */

-#define GPIO_USART6_TX   0
-#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
+#define GPIO_USART6_RX   GPIO_USART6_RX_1       /* PC7 */
+#define GPIO_USART6_TX   GPIO_USART6_TX_2       /* PG14 */

-#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
-#define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */
+#define GPIO_UART7_RX    GPIO_UART7_RX_1        /* PE7 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_1        /* PE8 */

-#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
-#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1        /* PE0 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1        /* PE1 */


 /* CAN */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_3        /* PD0  */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_3        /* PD1  */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1 */


 /* SPI */
@@ -263,7 +262,7 @@

 #define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
 #define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_1               /* PF9  */


 /* I2C */
@@ -37,5 +37,8 @@
 #define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
 #define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */

-#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:85 */
-#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:86 */
+#define DMAMAP_USART6_RX   DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */
+#define DMAMAP_USART6_TX   DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */
+
+#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */
+#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */
@@ -44,7 +44,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x1024
+CONFIG_CDCACM_PRODUCTID=0x1023
 CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroH7"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
@@ -156,6 +156,7 @@ CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
 CONFIG_STM32H7_BKPSRAM=y
@@ -196,11 +196,6 @@ SECTIONS
 		_ebss = ABSOLUTE(.);
 	} > AXI_SRAM

-	/* Emit the the D3 power domain section for locating BDMA data */
-	.SRAM4 (NOLOAD) :
-	{
-	} > SRAM4
-
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
@@ -199,7 +199,7 @@ SECTIONS
 	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */
-	.SRAM4 (NOLOAD) :
+	.sram4 (NOLOAD) :
 	{
 	} > SRAM4

@@ -76,17 +76,14 @@
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)

 /* CAN Silence: Silent mode control */
-#define GPIO_CAN1_SILENT_S0  /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
-
-#define GPIO_LEVEL_SHIFTER_OE /* PI3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN3)
-#define GPIO_PWM_VOLT_SEL     /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6)
+#define GPIO_CAN1_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)

 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS  8
 #define DIRECT_INPUT_TIMER_CHANNELS  8

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

 #define GPIO_VDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
 #define BOARD_NUMBER_BRICKS             1
@@ -111,7 +108,7 @@

 /* High-resolution timer */
 #define HRT_TIMER               3  /* use timer3 for the HRT */
-#define HRT_TIMER_CHANNEL       2  /* use capture/compare channel 2 */
+#define HRT_TIMER_CHANNEL       1 /* use capture/compare channel 1 */

 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
@@ -150,11 +147,20 @@
 #define BOARD_ADC_SERVO_VALID   (1) /* never powers off the Servo rail */
 #define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))

+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+#define BOARD_HAS_ON_RESET 1
+
+#define BOARD_HAS_STATIC_MANIFEST 1
+
 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
+
 #define BOARD_NUM_IO_TIMERS 3
+
 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
-#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
+
 #define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
@@ -162,15 +168,8 @@
 		GPIO_CAN1_TX,                     \
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN1_SILENT_S0,              \
-		GPIO_LEVEL_SHIFTER_OE,            \
-		GPIO_PWM_VOLT_SEL,                \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
-		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
-		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
-		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
-		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \
-		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_OTGFS_VBUS,                  \
@@ -164,6 +164,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

+
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -194,6 +195,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif /* CONFIG_MMCSD */

 	/* Configure the HW based on the manifest */
+
 	px4_platform_configure();

 	return OK;
--- a/Show More
+++ b/Show More