WIP: device tree MVP

mavsdk_tests: trigger flush to stdout every second
mavsdk_tests: add timestamp to log output
2026-05-26 22:10:05 +08:00 · 2022-01-06 17:20:17 -05:00 · 2022-01-06 09:24:32 -05:00 · 2022-01-06 09:24:32 -05:00 · 2022-01-06 09:24:32 -05:00 · 2022-01-05 16:20:06 -05:00
2194 changed files with 90440 additions and 15418 deletions
@@ -66,8 +66,11 @@ pipeline {
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7_default",
+                     "mro_ctrl-zero-h7_rtps",
                     "mro_ctrl-zero-h7-oem_default",
+                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_pixracerpro_default",
+                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
                     "mro_x21_default",
                     "nxp_fmuk66-e_default",
@@ -94,7 +97,6 @@ pipeline {
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5_uavcanv1",
-                     "px4_fmu-v5x_base_phy_DP83848C",
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
@@ -168,7 +170,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
            try {
              sh('export')
              checkout(scm)
-              sh('make distclean')
+              sh('make distclean; git clean -ff -x -d .')
              sh('git fetch --tags')
              sh('ccache -s')
              sh('make ' + target)
@@ -185,7 +187,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
              throw (exc)
            }
            finally {
-              sh('make distclean')
+              sh('make distclean; git clean -ff -x -d .')
            }
          }
        }
@@ -21,11 +21,11 @@ pipeline {
                sh 'make cubepilot_cubeorange_bootloader'
                sh 'make cubepilot_cubeorange_test'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -42,12 +42,16 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                  }
                }
                stage("tests") {
                  steps {
                    // run tests
                    runTests()
+
+                    // load all airframes
+                    // sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
                  }
                }
                stage("status") {
@@ -69,9 +73,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                }
              }
            } // stage test
@@ -92,11 +98,11 @@ pipeline {
                sh 'make cuav_x7pro_bootloader'
                sh 'make cuav_x7pro_test'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -113,6 +119,7 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                  }
                }
                stage("tests") {
@@ -138,9 +145,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                }
              }
            } // stage test
@@ -161,11 +170,11 @@ pipeline {
                sh 'make px4_fmu-v3_test'
                sh 'make px4_fmu-v3_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -182,6 +191,7 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                  }
                }
                stage("tests") {
@@ -207,9 +217,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                }
              }
            } // stage test
@@ -230,11 +242,11 @@ pipeline {
                sh 'make px4_fmu-v4_test'
                sh 'make px4_fmu-v4_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -251,6 +263,7 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                  }
                }
                stage("tests") {
@@ -275,9 +288,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                }
              }
            } // stage test
@@ -298,11 +313,11 @@ pipeline {
                sh 'make px4_fmu-v4pro_test'
                sh 'make px4_fmu-v4pro_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -319,6 +334,7 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                  }
                }
                stage("tests") {
@@ -344,9 +360,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                }
              }
            } // stage test
@@ -367,11 +385,11 @@ pipeline {
                sh 'make px4_fmu-v5_debug'
                sh 'make px4_fmu-v5_debug bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -393,13 +411,24 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
+                    resetBoard()
                  }
                }
                stage("tests") {
                  steps {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
                    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 "sd_stress"'
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
+
+                    // test dataman
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
                  }
@@ -412,7 +441,6 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -424,9 +452,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                }
              }
            } // stage test
@@ -447,11 +477,11 @@ pipeline {
                sh 'make px4_fmu-v5_stackcheck'
                sh 'make px4_fmu-v5_stackcheck bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -473,6 +503,7 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                  }
                }
                stage("tests") {
@@ -481,6 +512,9 @@ pipeline {
                    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 "uorb_tests"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
+
+                    // test dataman
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
                  }
                }
                stage("status") {
@@ -491,7 +525,6 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -503,9 +536,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                }
              }
            } // stage test
@@ -526,11 +561,11 @@ pipeline {
                sh 'make px4_fmu-v5_test'
                sh 'make px4_fmu-v5_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -547,6 +582,7 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                  }
                }
                stage("tests") {
@@ -572,9 +608,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                }
              }
            } // stage test
@@ -595,11 +633,11 @@ pipeline {
                sh 'make nxp_fmuk66-v3_test'
                //sh 'make nxp_fmuk66-v3_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
              }
              post {
                always {
-                    sh 'make distclean'
+                  sh 'make distclean; git clean -ff -x -d .'
                }
              }
            } // stage build
@@ -616,6 +654,7 @@ pipeline {
                    //sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
                  }
                }
                stage("tests") {
@@ -641,9 +680,11 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
-                    resetBoard()
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                }
              }
            } // stage test
@@ -669,7 +710,7 @@ void checkoutSCM() {
  retry(3) {
    checkout scm
    sh 'export'
-    sh 'make distclean'
+    sh 'make distclean; git clean -ff -x -d .'
    sh 'git fetch --tags'
    sh 'ccache -z'
  }
@@ -702,30 +743,37 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'

  // run logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
  // status commands
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
  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 "ekf2 status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
  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 "listener cpuload; top once; listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
@@ -746,7 +794,7 @@ void checkStatus() {
  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"'
  // stop logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
 }

 void resetParameters() {
@@ -756,13 +804,17 @@ void resetParameters() {
 }

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

  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
@@ -774,35 +826,32 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'

-  sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
-
-  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'

+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'

-  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'

+  // tests (stop modules first)
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
+  sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
+
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'

-  // test rebooting multiple times
-  resetParameters()
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
+  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
 }

 void printTopics() {
@@ -909,28 +958,6 @@ void resetBoard() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
-
-  // check SD card
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
-  // format
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd" || true'
-  // check SD card
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
 }
@@ -35,11 +35,11 @@ jobs:

    - name: parameter & events metadata
      run: |
-        make ${{matrix.target}} ver_gen events_json
+        make ${{matrix.target}} ver_gen events_json actuators_json
        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
        cd build/${{ matrix.target }}
        mkdir _metadata || true
-        cp parameters.* events/*.xz _metadata
+        cp parameters.* events/*.xz actuators.json* _metadata

    - uses: jakejarvis/s3-sync-action@master
      with:
@@ -15,10 +15,10 @@ jobs:
      fail-fast: false
      matrix:
        config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo",   model: "iris"          } # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo",   model: "tailsitter"    } # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich
+          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
+          - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
+          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich

    container:
      image: px4io/px4-dev-simulation-focal:2021-09-08
@@ -96,7 +96,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
      timeout-minutes: 45

    - name: Look at core files
@@ -105,8 +105,4 @@ src/lib/version/build_git_version.h
 src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp

-# SITL
-dataman
-eeprom/
-
 !src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
@@ -42,12 +42,6 @@
 [submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
 	path = src/drivers/uavcan_v1/public_regulated_data_types
 	url = https://github.com/UAVCAN/public_regulated_data_types.git
-[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
-	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types.git
-[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
-	path = src/drivers/uavcannode_gps_demo/libcanard
-	url = https://github.com/UAVCAN/libcanard.git
 [submodule "src/drivers/uavcan_v1/legacy_data_types"]
 	path = src/drivers/uavcan_v1/legacy_data_types
 	url = https://github.com/PX4/public_regulated_data_types.git
@@ -70,3 +64,6 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
+[submodule "platforms/nuttx/src/px4/stm/hal_stm32"]
+	path = platforms/nuttx/src/px4/stm/hal_stm32
+	url = git@github.com:zephyrproject-rtos/hal_stm32.git
@@ -61,6 +61,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v5_default
+    px4_fmu-v5_debug:
+      short: px4_fmu-v5_debug
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v5_debug
    px4_fmu-v5x_default:
      short: px4_fmu-v5x
      buildType: MinSizeRel
@@ -413,6 +413,8 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)
 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
 add_subdirectory(platforms EXCLUDE_FROM_ALL)

+include(dts)
+
 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
 endif()
@@ -423,6 +425,8 @@ endforeach()

 # add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
 add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
+# metadata needs PX4_MODULE_CONFIG_FILES
+add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)

 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
@@ -88,7 +88,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
            sh 'git fetch --all --tags'
            sh 'make airframe_metadata'
            dir('build/px4_sitl_default/docs') {
@@ -98,7 +98,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
            }
          }
        }
@@ -108,7 +108,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
            sh 'git fetch --all --tags'
            sh 'make parameters_metadata'
            dir('build/px4_sitl_default/docs') {
@@ -118,7 +118,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
            }
          }
        }
@@ -128,7 +128,7 @@ pipeline {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
            sh 'git fetch --all --tags'
            sh 'make module_documentation'
            dir('build/px4_sitl_default/docs') {
@@ -138,7 +138,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
            }
          }
        }
@@ -156,7 +156,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
            }
          }
        }
@@ -170,7 +170,7 @@ pipeline {
          }
          steps {
            sh 'export'
-            sh 'make distclean'
+            sh 'make distclean; git clean -ff -x -d .'
            sh 'git fetch --all --tags'
            sh 'make uorb_graphs'
            dir('Tools/uorb_graph') {
@@ -180,7 +180,7 @@ pipeline {
          }
          post {
            always {
-              sh 'make distclean'
+              sh 'make distclean; git clean -ff -x -d .'
            }
          }
        }
@@ -261,7 +261,7 @@ pipeline {
          steps {
            sh('export')
            sh('git fetch --all --tags')
-            sh('make distclean')
+            sh('make distclean; git clean -ff -x -d .')
            sh('make px4_sitl_rtps')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
@@ -290,7 +290,7 @@ pipeline {
          }
          steps {
            sh('export')
-            sh('make distclean')
+            sh('make distclean; git clean -ff -x -d .')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
              // 'master' branch
@@ -319,7 +319,7 @@ pipeline {
          }
          steps {
            sh('export')
-            sh('make distclean')
+            sh('make distclean; git clean -ff -x -d .')
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
              // deploy uORB RTPS ID map
@@ -114,14 +114,9 @@ config BOARD_ETHERNET
        flag to indicate that ethernet is enabled

 config BOARD_CRYPTO
-    string "Crypto"
+    bool "Crypto support"
    help
-        Crypto implementation selection
-
-config BOARD_KEYSTORE
-    string "Keystore"
-    help
-        Keystore implememntation selection
+        Enable PX4 Crypto Support. Select the implementation under drivers

 menu "Serial ports"

@@ -482,7 +482,9 @@ shellcheck_all:
 	@make px4_fmu-v5_default shellcheck

 validate_module_configs:
-	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
+	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

 # Cleanup
 # --------------------------------------------------------------------
@@ -11,40 +11,22 @@

 param set-default SYS_CTRL_ALLOC 1

-param set-default MPC_USE_HTE 0
-
-param set-default VM_MASS 1.5
-param set-default VM_INERTIA_XX 0.03
-param set-default VM_INERTIA_YY 0.03
-param set-default VM_INERTIA_ZZ 0.05

 param set-default CA_AIRFRAME 0
-param set-default CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0

-param set-default CA_MC_R0_PX 0.1515
-param set-default CA_MC_R0_PY 0.245
-param set-default CA_MC_R0_CT 6.5
-param set-default CA_MC_R0_KM 0.05
-param set-default CA_MC_R1_PX -0.1515
-param set-default CA_MC_R1_PY -0.1875
-param set-default CA_MC_R1_CT 6.5
-param set-default CA_MC_R1_KM 0.05
-param set-default CA_MC_R2_PX 0.1515
-param set-default CA_MC_R2_PY -0.245
-param set-default CA_MC_R2_CT 6.5
-param set-default CA_MC_R2_KM -0.05
-param set-default CA_MC_R3_PX -0.1515
-param set-default CA_MC_R3_PY 0.1875
-param set-default CA_MC_R3_CT 6.5
-param set-default CA_MC_R3_KM -0.05
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -5,8 +5,6 @@

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

-#Set data link loss failsafe mode (0: disabled)
-
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -5,8 +5,6 @@

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

-#Set data link loss failsafe mode (0: disabled)
-
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -5,11 +5,66 @@

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

-#Set data link loss failsafe mode (0: disabled)
-
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set PWM_OUT 12345678
-set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
-set MIXER custom
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 7
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 255
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AY -1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PX 0.5000
+param set-default CA_ROTOR0_PY 0.3000
+param set-default CA_ROTOR0_PZ 0.2000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AY 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PX 0.5000
+param set-default CA_ROTOR1_PY -0.3000
+param set-default CA_ROTOR1_PZ 0.2000
+param set-default CA_ROTOR2_AX 1.0000
+param set-default CA_ROTOR2_AY 1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -0.5000
+param set-default CA_ROTOR2_PY 0.3000
+param set-default CA_ROTOR2_PZ 0.2000
+param set-default CA_ROTOR3_AX 1.0000
+param set-default CA_ROTOR3_AY -1.0000
+param set-default CA_ROTOR3_AZ 0.0000
+param set-default CA_ROTOR3_KM 0.0000
+param set-default CA_ROTOR3_PX -0.5000
+param set-default CA_ROTOR3_PY -0.3000
+param set-default CA_ROTOR3_PZ 0.2000
+param set-default CA_ROTOR4_AZ -1.0000
+param set-default CA_ROTOR4_KM 0.0000
+param set-default CA_ROTOR4_PX 0.5000
+param set-default CA_ROTOR4_PY 0.5000
+param set-default CA_ROTOR5_AZ 1.0000
+param set-default CA_ROTOR5_KM 0.0000
+param set-default CA_ROTOR5_PX 0.5000
+param set-default CA_ROTOR5_PY -0.5000
+param set-default CA_ROTOR6_AZ 1.0000
+param set-default CA_ROTOR6_KM 0.0000
+param set-default CA_ROTOR6_PX -0.5000
+param set-default CA_ROTOR6_PY 0.5000
+param set-default CA_ROTOR7_KM 0.0000
+param set-default CA_ROTOR7_PX -0.5000
+param set-default CA_ROTOR7_PY -0.5000
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+param set-default PWM_MAIN_FUNC7 107
+param set-default PWM_MAIN_FUNC8 108
+
+set MIXER skip
+
@@ -29,12 +29,9 @@ param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_THR_CRUISE 0.25

-param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2

 param set-default FW_W_EN 1

@@ -46,5 +43,32 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+#param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -7,6 +7,39 @@

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

+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 2
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
@@ -19,12 +52,9 @@ param set-default FW_RR_P 0.3
 param set-default FW_THR_CRUISE 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2

 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6
@@ -7,14 +7,48 @@

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

+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 4
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_Y -0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_Y 0.5
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 0
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_REV 96 # invert both elevons
+
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_I 0.2
-param set-default FW_PR_P 0.3
+param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_P 0.3
+param set-default FW_RR_P 0.2
 param set-default FW_THR_CRUISE 0.33
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
@@ -36,6 +70,8 @@ param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default NAV_ACC_RAD 5
 param set-default NAV_LOITER_RAD 80

+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.5
 param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0
@@ -7,6 +7,52 @@

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

+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 3
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR1_TILT 2
+param set-default CA_ROTOR2_TILT 3
+param set-default CA_ROTOR3_TILT 4
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_TL0_CT 0
+param set-default CA_SV_TL1_CT 0
+param set-default CA_SV_TL2_CT 0
+param set-default CA_SV_TL3_CT 0
+param set-default CA_SV_TL_COUNT 4
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 204
+param set-default PWM_MAIN_FUNC6 205
+param set-default PWM_MAIN_FUNC7 206
+param set-default PWM_MAIN_FUNC8 207
+param set-default PWM_MAIN_FUNC9 201
+param set-default PWM_MAIN_FUNC10 202
+param set-default PWM_MAIN_FUNC11 203
+
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
@@ -19,12 +65,9 @@ param set-default FW_RR_P 0.3
 param set-default FW_THR_CRUISE 0.38
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2

 param set-default MC_YAW_P 1.6

@@ -28,6 +28,15 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 5
+
+param set-default CA_R_REV 1
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 201
+param set-default PWM_MAIN_FUNC6 101
+param set-default PWM_MAIN_FUNC7 101
+
 set MAV_TYPE 10

-set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
+set MIXER_FILE skip
@@ -28,6 +28,15 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 6
+
+param set-default CA_R_REV 3
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC6 102
+param set-default PWM_MAIN_FUNC7 102
+
 set MAV_TYPE 10

-set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
+set MIXER_FILE skip
@@ -28,6 +28,25 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 9
+
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX -2
+param set-default CA_ROTOR0_PY -1
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX -2
+param set-default CA_ROTOR1_PY 1
+param set-default CA_R_REV 3
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+
 set MAV_TYPE 11

-set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
+set MIXER skip
@@ -11,5 +11,31 @@

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

-set MIXER cloudship
-set PWM_OUT 1234
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 9
+
+param set-default CA_ROTOR_COUNT 3
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PY 2.0000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PY -2.0000
+param set-default CA_ROTOR2_AY -1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -10.0000
+
+param set-default CA_SV_CS_COUNT 1
+param set-default CA_SV_CS0_TRQ_P 1.0000
+
+param set-default CA_R_REV 7
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 201
+param set-default PWM_MAIN_FUNC4 103
+
+set MIXER skip
@@ -29,52 +29,27 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 0
 param set-default MAV_PROTO_VER 2

-param set-default MPC_USE_HTE 0
-
-param set-default VM_MASS 2.66
-param set-default VM_INERTIA_XX 0.06
-param set-default VM_INERTIA_YY 0.06
-param set-default VM_INERTIA_ZZ 0.10
-
 param set-default CA_AIRFRAME 0
-param set-default CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT4_MIN 0.0
-param set-default CA_ACT5_MIN 0.0
-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0
-param set-default CA_ACT4_MAX 1.0
-param set-default CA_ACT5_MAX 1.0
+param set-default CA_ROTOR_COUNT 6

-param set-default CA_MC_R0_PX 0.0
-param set-default CA_MC_R0_PY 1.0
-param set-default CA_MC_R0_CT 9.5
-param set-default CA_MC_R0_KM -0.05
-param set-default CA_MC_R1_PX 0.0
-param set-default CA_MC_R1_PY -1.0
-param set-default CA_MC_R1_CT 9.5
-param set-default CA_MC_R1_KM 0.05
-param set-default CA_MC_R2_PX 0.866025
-param set-default CA_MC_R2_PY -0.5
-param set-default CA_MC_R2_CT 9.5
-param set-default CA_MC_R2_KM -0.05
-param set-default CA_MC_R3_PX -0.866025
-param set-default CA_MC_R3_PY 0.5
-param set-default CA_MC_R3_CT 9.5
-param set-default CA_MC_R3_KM 0.05
-param set-default CA_MC_R4_PX 0.866025
-param set-default CA_MC_R4_PY 0.5
-param set-default CA_MC_R4_CT 9.5
-param set-default CA_MC_R4_KM 0.05
-param set-default CA_MC_R5_PX -0.866025
-param set-default CA_MC_R5_PY -0.5
-param set-default CA_MC_R5_CT 9.5
-param set-default CA_MC_R5_KM -0.05
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.866025
+param set-default CA_ROTOR2_PY -0.5
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.866025
+param set-default CA_ROTOR3_PY 0.5
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR4_PX 0.866025
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR5_PX -0.866025
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -1,5 +1,7 @@
 #!/bin/sh

+set -e
+
 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
 # shellcheck disable=SC1091
@@ -38,3 +38,4 @@ param set SIH_IXZ 0.00046
 param set SIH_KDV 0.2

 param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
+param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
@@ -64,7 +64,6 @@ param set-default FW_BAT_SCALE_EN 1
 param set-default FW_THR_ALT_SCL 2.7
 param set-default FW_T_RLL2THR 20

-param set-default LNDMC_ALT_MAX 9999
 param set-default LNDMC_XY_VEL_MAX 1
 param set-default LNDMC_Z_VEL_MAX 0.7

@@ -17,40 +17,21 @@ set MIXER_AUX none

 param set-default SYS_CTRL_ALLOC 1

-param set-default MPC_USE_HTE 0
-
-param set-default VM_MASS 1.5
-param set-default VM_INERTIA_XX 0.03
-param set-default VM_INERTIA_YY 0.03
-param set-default VM_INERTIA_ZZ 0.05
-
 param set-default CA_AIRFRAME 0
-param set-default CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0

-param set-default CA_MC_R0_PX 0.177
-param set-default CA_MC_R0_PY 0.177
-param set-default CA_MC_R0_CT 6.5
-param set-default CA_MC_R0_KM 0.05
-param set-default CA_MC_R1_PX -0.177
-param set-default CA_MC_R1_PY -0.177
-param set-default CA_MC_R1_CT 6.5
-param set-default CA_MC_R1_KM 0.05
-param set-default CA_MC_R2_PX 0.177
-param set-default CA_MC_R2_PY -0.177
-param set-default CA_MC_R2_CT 6.5
-param set-default CA_MC_R2_KM -0.05
-param set-default CA_MC_R3_PX -0.177
-param set-default CA_MC_R3_PY 0.177
-param set-default CA_MC_R3_CT 6.5
-param set-default CA_MC_R3_KM -0.05
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.177
+param set-default CA_ROTOR0_PY 0.177
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.177
+param set-default CA_ROTOR1_PY -0.177
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.177
+param set-default CA_ROTOR2_PY -0.177
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.177
+param set-default CA_ROTOR3_PY 0.177
+param set-default CA_ROTOR3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -13,9 +13,6 @@

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

-
-#Set data link loss failsafe mode (0: disabled)
-
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -13,9 +13,6 @@

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

-
-#Set data link loss failsafe mode (0: disabled)
-
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -22,7 +22,6 @@

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

-#Set data link loss failsafe mode (0: disabled)

 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
@@ -13,58 +13,33 @@
 . ${R}etc/init.d/rc.mc_defaults

 param set-default SYS_CTRL_ALLOC 1
-param set-default MPC_USE_HTE 0
-
-param set-default VM_MASS 1.5
-param set-default VM_INERTIA_XX 0.03
-param set-default VM_INERTIA_YY 0.03
-param set-default VM_INERTIA_ZZ 0.05

 param set-default CA_AIRFRAME 0
-param set-default CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT4_MIN 0.0
-param set-default CA_ACT5_MIN 0.0
+param set-default CA_ROTOR_COUNT 6

-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0
-param set-default CA_ACT4_MAX 1.0
-param set-default CA_ACT5_MAX 1.0
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 0.275
+param set-default CA_ROTOR0_KM -0.05

-param set-default CA_MC_R0_PX 0.0
-param set-default CA_MC_R0_PY 0.275
-param set-default CA_MC_R0_CT 6.5
-param set-default CA_MC_R0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -0.275
+param set-default CA_ROTOR1_KM 0.05

-param set-default CA_MC_R1_PX 0.0
-param set-default CA_MC_R1_PY -0.275
-param set-default CA_MC_R1_CT 6.5
-param set-default CA_MC_R1_KM 0.05
+param set-default CA_ROTOR2_PX 0.238
+param set-default CA_ROTOR2_PY -0.1375
+param set-default CA_ROTOR2_KM -0.05

-param set-default CA_MC_R2_PX 0.238
-param set-default CA_MC_R2_PY -0.1375
-param set-default CA_MC_R2_CT 6.5
-param set-default CA_MC_R2_KM -0.05
+param set-default CA_ROTOR3_PX -0.238
+param set-default CA_ROTOR3_PY 0.1375
+param set-default CA_ROTOR3_KM 0.05

-param set-default CA_MC_R3_PX -0.238
-param set-default CA_MC_R3_PY 0.1375
-param set-default CA_MC_R3_CT 6.5
-param set-default CA_MC_R3_KM 0.05
+param set-default CA_ROTOR4_PX 0.238
+param set-default CA_ROTOR4_PY 0.1375
+param set-default CA_ROTOR4_KM 0.05

-param set-default CA_MC_R4_PX 0.238
-param set-default CA_MC_R4_PY 0.1375
-param set-default CA_MC_R4_CT 6.5
-param set-default CA_MC_R4_KM 0.05
-
-param set-default CA_MC_R5_PX -0.238
-param set-default CA_MC_R5_PY -0.1375
-param set-default CA_MC_R5_CT 6.5
-param set-default CA_MC_R5_KM -0.05
+param set-default CA_ROTOR5_PX -0.238
+param set-default CA_ROTOR5_PY -0.1375
+param set-default CA_ROTOR5_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -48,6 +48,14 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################

+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi
+
 #
 # Start Airship Attitude Controller.
 #
@@ -10,6 +10,14 @@
 #
 ekf2 start &

+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi
+
 #
 # Start attitude controller.
 #
@@ -18,8 +18,17 @@ set OUTPUT_AUX_DEV /dev/pwm_output1
 set OUTPUT_EXTRA_DEV /dev/pwm_output0

 # set these before starting the modules
-param set PWM_AUX_OUT ${PWM_AUX_OUT}
-param set PWM_MAIN_OUT ${PWM_OUT}
+if [ $PWM_AUX_OUT != none ]
+then
+
+	param set PWM_AUX_OUT ${PWM_AUX_OUT}
+fi
+
+
+if [ $PWM_OUT != none ]
+then
+	param set PWM_MAIN_OUT ${PWM_OUT}
+fi

 #
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux
@@ -54,14 +54,6 @@ then
 	# Start Control Allocator
 	#
 	control_allocator start
-
-	#
-	# Disable hover thrust estimator and prearming
-	# These features are currently incompatible with control allocation
-	#
-	# TODO: fix
-	#
-	param set MPC_USE_HTE 0
 fi

 #
@@ -12,6 +12,13 @@ ekf2 start &
 #attitude_estimator_q start
 #local_position_estimator start

+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi

 #
 # Start attitude controllers.
@@ -4,19 +4,6 @@
 #
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
-
-if ! ver hwcmp OMNIBUS_F4SD
-then
-	if ! ver hwcmp BITCRAZE_CRAZYFLIE
-	then
-		# Configure all I2C buses to 100 KHz as they
-		# are all external or slow
-		# TODO: move this
-		pwm_out i2c 1 100000
-		pwm_out i2c 2 100000
-	fi
-fi
-
 ###############################################################################
 #                           Begin Optional drivers                            #
 ###############################################################################
@@ -15,6 +15,14 @@ ekf2 start &
 #                        End Estimator Group Selection                        #
 ###############################################################################

+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi
+
 #
 # Start UUV Attitude Controller.
 #
@@ -15,6 +15,14 @@ ekf2 start &
 #                        End Estimator group selection                        #
 ###############################################################################

+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+fi
+
 airspeed_selector start

 vtol_att_control start
@@ -35,7 +35,7 @@ set MIXER_AUX none
 set MIXER_FILE none
 set MIXER_EXTRA none
 set OUTPUT_MODE none
-set PARAM_FILE /fs/microsd/params
+set PARAM_FILE ""
 set PWM_OUT none
 set PWM_MAIN_RATE p:PWM_MAIN_RATE
 set PWM_AUX_OUT none
@@ -46,6 +46,7 @@ set EXTRA_MIXER_MODE none
 set RC_INPUT_ARGS ""
 set SDCARD_AVAILABLE no
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
+set SDCARD_FORMAT no
 set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 set STARTUP_TUNE 1
 set USE_IO no
@@ -59,51 +60,56 @@ ver all
 #
 # Try to mount the microSD card.
 #
-# REBOOTWORK this needs to start after the flight control loop.
-if mount -t vfat /dev/mmcsd0 /fs/microsd
+if [ -b "/dev/mmcsd0" ]
 then
-	set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
-	date >> $PX4_INIT_TEST_FILE
-
-	if [ -f $PX4_INIT_TEST_FILE ]
+	if mount -t vfat /dev/mmcsd0 /fs/microsd
 	then
-		cat $PX4_INIT_TEST_FILE
-		rm $PX4_INIT_TEST_FILE
-
-		if [ ! -f $PX4_INIT_TEST_FILE ]
+		if [ -f "/fs/microsd/.format" ]
 		then
+			echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
+			set SDCARD_FORMAT yes
+			rm /fs/microsd/.format
+			umount /fs/microsd
+
+		else
 			set SDCARD_AVAILABLE yes
 		fi
 	fi
-fi

-if [ $SDCARD_AVAILABLE = no ]
-then
-	set STARTUP_TUNE 14 # tune 14 = SD_INIT
-	if mkfatfs -F 32 /dev/mmcsd0
+	if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
 	then
-		if mount -t vfat /dev/mmcsd0 /fs/microsd
+		echo "INFO [init] formatting /dev/mmcsd0"
+		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
+
+		if mkfatfs -F 32 /dev/mmcsd0
 		then
-			set SDCARD_AVAILABLE yes
 			echo "INFO [init] card formatted"

+			if mount -t vfat /dev/mmcsd0 /fs/microsd
+			then
+				set SDCARD_AVAILABLE yes
+				set STARTUP_TUNE 14 # tune 14 = SD_INIT
+			else
+				echo "ERROR [init] card mount failed"
+			fi
 		else
-			set STARTUP_TUNE 15 # tune 15 = SD_ERROR
 			echo "ERROR [init] format failed"
 		fi
 	fi
-fi

-if [ $SDCARD_AVAILABLE = yes ]
-then
-	if hardfault_log check
+	if [ $SDCARD_AVAILABLE = yes ]
 	then
-		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
-		if hardfault_log commit
+		if hardfault_log check
 		then
-			hardfault_log reset
+			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+			if hardfault_log commit
+			then
+				hardfault_log reset
+			fi
 		fi
 	fi
+
+	set PARAM_FILE /fs/microsd/params
 fi

 #
@@ -136,8 +142,36 @@ else
 	param select $PARAM_FILE
 	if ! param import
 	then
-		param reset_all
+		echo "ERROR [init] param import failed"
+		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+
+		param dump $PARAM_FILE
+
+		if [ -d "/fs/microsd" ]
+		then
+			dmesg >> /fs/microsd/param_import_fail.txt &
+
+			# try to make a backup copy
+			cp $PARAM_FILE /fs/microsd/param_import_fail.bson &
+		fi
+
+		# try importing from backup file
+		if [ -f "/fs/microsd/parameters_backup.bson" ]
+		then
+			echo "[init] importing from parameter backup"
+
+			# dump current backup file contents for comparison
+			param dump /fs/microsd/parameters_backup.bson
+
+			param import /fs/microsd/parameters_backup.bson
+		fi
 	fi
+
+	if [ $SDCARD_AVAILABLE = yes ]
+	then
+		param select-backup /fs/microsd/parameters_backup.bson
+	fi
+
 	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
 	then
 		netman update -i eth0
@@ -185,7 +219,16 @@ else
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
 	#
-	dataman start
+	if param compare SYS_DM_BACKEND 1
+	then
+		dataman start -r
+	else
+		if param compare SYS_DM_BACKEND 0
+		then
+			# dataman start default
+			dataman start
+		fi
+	fi

 	#
 	# Start the socket communication send_event handler.
@@ -418,6 +461,12 @@ else
 		rc_input start $RC_INPUT_ARGS
 	fi

+	# PPS capture driver (before pwm_out)
+	if param greater -s PPS_CAP_ENABLE 0
+	then
+		pps_capture start
+	fi
+
 	# Camera capture driver (before pwm_out)
 	if param greater -s CAM_CAP_FBACK 0
 	then
@@ -547,6 +596,7 @@ unset PWM_EXTRA_RATE
 unset RC_INPUT_ARGS
 unset SDCARD_AVAILABLE
 unset SDCARD_EXT_PATH
+unset SDCARD_FORMAT
 unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
 unset USE_IO
@@ -33,15 +33,11 @@

 px4_add_romfs_files(
 	autogyro_sitl.main.mix
-	boat_sitl.main.mix
 	delta_wing_sitl.main.mix
 	package_drop.aux.mix
 	plane_sitl.main.mix
 	quad_x_vtol.main.mix
-	rover_ackermann_sitl.main.mix
-	rover_diff_sitl.main.mix
 	standard_vtol_sitl.main.mix
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
-	vectored6dof_sitl.main.mix
 )
@@ -1,15 +0,0 @@
-Mixer for SITL boat
-=========================================================
-
-Throttle of left propeller of boat on Output 0
---------------------------------------
-M: 2
-S: 0 2    10000   10000      0  -10000  10000
-S: 0 3    10000   10000      0  -10000  10000
-
-
-Throttle of right propeller of boat on Output 1
---------------------------------------
-M: 2
-S: 0 2   -10000  -10000      0  -10000  10000
-S: 0 3    10000   10000      0  -10000  10000
@@ -1,46 +0,0 @@
-Mixer for SITL rover
-=========================================================
-
-Output 0
---------------------------------------
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 2   10000   10000      0 -10000  10000
-
-Output 1
---------------------------------------
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 2   10000   10000      0 -10000  10000
-
-Output 2
---------------------------------------
-Z:
-
-Output 3
---------------------------------------
-Z:
-
-Output 4
---------------------------------------
-Z:
-
-Output 5
---------------------------------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
-
-Output 6
---------------------------------------
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3  10000  10000      0 -10000  10000
-
-Output 7
---------------------------------------
-Z:
-
-Output 8
---------------------------------------
-Z:
@@ -1,46 +0,0 @@
-Mixer for SITL rover
-=========================================================
-
-Output 0
---------------------------------------
-M: 2
-S: 0 2  10000   10000      0 -10000  10000
-S: 0 3  10000   10000      0 -10000  10000
-
-Output 1
---------------------------------------
-M: 2
-S: 0 2  10000   10000      0 -10000  10000
-S: 0 3  10000   10000      0 -10000  10000
-
-Output 2
---------------------------------------
-Z:
-
-Output 3
---------------------------------------
-Z:
-
-Output 4
---------------------------------------
-Z:
-
-Output 5
---------------------------------------
-M: 2
-S: 0 2  -10000  -10000      0 -10000  10000
-S: 0 3   10000   10000      0 -10000  10000
-
-Output 6
---------------------------------------
-M: 2
-S: 0 2  -10000  -10000      0 -10000  10000
-S: 0 3   10000   10000      0 -10000  10000
-
-Output 7
---------------------------------------
-Z:
-
-Output 8
---------------------------------------
-Z:
@@ -1,40 +0,0 @@
-# Motor 1
-M: 3
-S: 0 2  -4000  -4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-S: 0 4  -4000  -4000  0   -4000  +4000
-# Motor 2
-M: 3
-S: 0 2  +4000  +4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-S: 0 4  +4000  +4000  0   -4000  +4000
-# Motor 3
-M: 3
-S: 0 2  -4000  -4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-S: 0 4  +4000  +4000  0   -4000  +4000
-# Motor 4
-M: 3
-S: 0 2  +4000  +4000  0   -4000  +4000
-S: 0 3  +4000  +4000  0   -4000  +4000
-S: 0 4  -4000  -4000  0   -4000  +4000
-# Motor 5
-M: 3
-S: 0 0  -4000  -4000  0   -4000  +4000
-S: 0 1  +4000  +4000  0   -4000  +4000
-S: 0 5  -4000  -4000  0   -4000  +4000
-# Motor 6
-M: 3
-S: 0 0  -4000  -4000  0   -4000  +4000
-S: 0 1  -4000  -4000  0   -4000  +4000
-S: 0 5  +4000  +4000  0   -4000  +4000
-# Motor 7
-M: 3
-S: 0 0  +4000  +4000  0   -4000  +4000
-S: 0 1  +4000  +4000  0   -4000  +4000
-S: 0 5  +4000  +4000  0   -4000  +4000
-# Motor 8
-M: 3
-S: 0 0  +4000  +4000  0   -4000  +4000
-S: 0 1  -4000  -4000  0   -4000  +4000
-S: 0 5  -4000  -4000  0   -4000  +4000
@@ -7,6 +7,8 @@ from argparse import ArgumentParser
 import re
 import sys
 import datetime
+import serial.tools.list_ports as list_ports
+import tempfile

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -36,12 +38,13 @@ def print_line(line):
    else:
        print('{0}'.format(line), end='')

-def monitor_firmware_upload(port, baudrate):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
+
+def monitor_firmware_upload(port_url, baudrate):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)

    timeout = 180  # 3 minutes
-    timeout_start = time.time()
-    timeout_newline = time.time()
+    timeout_start = time.monotonic()
+    timeout_newline = time.monotonic()

    return_code = 0

@@ -49,33 +52,59 @@ def monitor_firmware_upload(port, baudrate):
        serial_line = ser.readline().decode("ascii", errors='ignore')

        if len(serial_line) > 0:
-            if "ERROR" in serial_line:
-                return_code = -1

            print_line(serial_line)

-        if "NuttShell (NSH)" in serial_line:
-            sys.exit(return_code)
-        elif "nsh>" in serial_line:
-            sys.exit(return_code)
+            if "NuttShell (NSH)" in serial_line:
+                sys.exit(return_code)
+            elif "nsh>" in serial_line:
+                sys.exit(return_code)

-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
+        else:
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout")
+                sys.exit(-1)
+
+            # newline every 10 seconds if still running
+            if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
+                timeout_newline = time.monotonic()
+                ser.write("\n".encode("ascii"))

-        # newline every 10 seconds if still running
-        if time.time() - timeout_newline > 10:
-            timeout_newline = time.time()
-            ser.write("\n".encode("ascii"))
-            ser.flush()

 def main():
+
+    default_device = None
+    device_required = True
+
+    # select USB UART as default if there's only 1
+    ports = list(serial.tools.list_ports.grep('USB UART'))
+
+    if (len(ports) == 1):
+        default_device = ports[0].device
+        device_required = False
+
+        print("Default USB UART port: {0}".format(ports[0].name))
+        print(" device: {0}".format(ports[0].device))
+        print(" description: \"{0}\" ".format(ports[0].description))
+        print(" hwid: {0}".format(ports[0].hwid))
+        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
+        #print(" serial_number: {0}".format(ports[0].serial_number))
+        #print(" location: {0}".format(ports[0].location))
+        print(" manufacturer: {0}".format(ports[0].manufacturer))
+        #print(" product: {0}".format(ports[0].product))
+        #print(" interface: {0}".format(ports[0].interface))
+
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
    args = parser.parse_args()

-    monitor_firmware_upload(args.device, args.baudrate)
+    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
+    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
+
+    print("pyserial url: {0}".format(port_url))
+
+    monitor_firmware_upload(port_url, args.baudrate)

 if __name__ == "__main__":
   main()
@@ -6,6 +6,9 @@ from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
 import sys
+import datetime
+import serial.tools.list_ports as list_ports
+import tempfile

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -29,109 +32,140 @@ def print_line(line):
    if "FAILED" in line:
        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)

-    print(line, end='')
+    if "\n" in line:
+        current_time = datetime.datetime.now()
+        print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
+    else:
+        print('{0}'.format(line), end='')

-def do_param_set_cmd(port, baudrate, param_name, param_value):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)

-    timeout_start = time.time()
+def do_param_set_cmd(port_url, baudrate, param_name, param_value):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
+
+    timeout_start = time.monotonic()
    timeout = 30  # 30 seconds

+    ser.write("\n\n\n".encode("ascii"))
+
    # wait for nsh prompt
    while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if "nsh>" in serial_line:
-            break
+        if len(serial_line) > 0:
+            if "nsh>" in serial_line:
+                break
        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for prompt")
+                sys.exit(1)
+
+            ser.write("\n".encode("ascii"))

-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for prompt")
-            sys.exit(1)

    # clear
-    ser.readlines()
+    ser.reset_input_buffer()

    # run command
-    timeout_start = time.time()
+    timeout_start = time.monotonic()
    timeout = 10  # 10 seconds

    cmd = "param set " + param_name + " " + param_value

    # write command (param set) and wait for command echo
-    serial_cmd = '{0}\r\n'.format(cmd)
+    print("Running command: \'{0}\'".format(cmd))
+    serial_cmd = '{0}\n'.format(cmd)
+
    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
+
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if cmd in serial_line:
-            print_line(serial_line)
-            break
-        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
+        if len(serial_line) > 0:
+            if cmd in serial_line:
+                break

-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for command echo")
-            break
+            print_line(serial_line)
+
+        else:
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for command echo")
+                break
+
+    # clear
+    ser.reset_input_buffer()

    # verify param value
    cmd = "param show " + param_name
-    serial_cmd = '{0}\r\n'.format(cmd)
+    print("Running command: \'{0}\'".format(cmd))
+    serial_cmd = '{0}\n'.format(cmd)
    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()

    param_show_response = param_name + " ["

-    timeout_start = time.time()
-    timeout = 2  # 2 seconds
+    timeout_start = time.monotonic()
+    timeout = 3  # 3 seconds

    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if param_show_response in serial_line:
+        if len(serial_line) > 0:
            print_line(serial_line)
-            current_param_value = serial_line.split(":")[-1].strip()

-            if (current_param_value == param_value):
-                sys.exit(0)
+            if param_show_response in serial_line:
+                current_param_value = serial_line.split(":")[-1].strip()
+
+                if (current_param_value == param_value):
+                    sys.exit(0)
+                else:
+                    sys.exit(1)
            else:
-                sys.exit(1)
+                if time.monotonic() > timeout_start + timeout:
+                    if "nsh>" in serial_line:
+                        sys.exit(1) # error, command didn't complete successfully
+                    elif "NuttShell (NSH)" in serial_line:
+                        sys.exit(1) # error, command didn't complete successfully
        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout")
+                sys.exit(-1)

-            if time.time() > timeout_start + timeout:
-                if "nsh>" in serial_line:
-                    sys.exit(1) # error, command didn't complete successfully
-                elif "NuttShell (NSH)" in serial_line:
-                    sys.exit(1) # error, command didn't complete successfully
-
-        if len(serial_line) <= 0:
-            ser.write("\r\n".encode("ascii"))
-            ser.flush()
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
-
-    ser.close()

 def main():
+
+    default_device = None
+    device_required = True
+
+    # select USB UART as default if there's only 1
+    ports = list(serial.tools.list_ports.grep('USB UART'))
+
+    if (len(ports) == 1):
+        default_device = ports[0].device
+        device_required = False
+
+        print("Default USB UART port: {0}".format(ports[0].name))
+        print(" device: {0}".format(ports[0].device))
+        print(" description: \"{0}\" ".format(ports[0].description))
+        print(" hwid: {0}".format(ports[0].hwid))
+        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
+        #print(" serial_number: {0}".format(ports[0].serial_number))
+        #print(" location: {0}".format(ports[0].location))
+        print(" manufacturer: {0}".format(ports[0].manufacturer))
+        #print(" product: {0}".format(ports[0].product))
+        #print(" interface: {0}".format(ports[0].interface))
+
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
    parser.add_argument("--name", "-p", dest="param_name", help="Parameter name")
    parser.add_argument("--value", "-v", dest="param_value", help="Parameter value")
    args = parser.parse_args()

-    do_param_set_cmd(args.device, args.baudrate, args.param_name, args.param_value)
+    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
+    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
+
+    print("pyserial url: {0}".format(port_url))
+
+    do_param_set_cmd(port_url, args.baudrate, args.param_name, args.param_value)

 if __name__ == "__main__":
   main()
@@ -0,0 +1,111 @@
+#! /usr/bin/env python3
+
+import serial, time
+import subprocess
+from subprocess import call, Popen
+from argparse import ArgumentParser
+import re
+import sys
+import datetime
+import serial.tools.list_ports as list_ports
+import tempfile
+
+COLOR_RED    = "\x1b[31m"
+COLOR_GREEN  = "\x1b[32m"
+COLOR_YELLOW = "\x1b[33m"
+COLOR_WHITE  = "\x1b[37m"
+COLOR_RESET  = "\x1b[0m"
+
+def print_line(line):
+    if "WARNING" in line:
+        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
+    elif "WARN" in line:
+        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
+    elif "ERROR" in line:
+        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
+    elif "INFO" in line:
+        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
+
+    if "PASSED" in line:
+        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
+
+    if "FAILED" in line:
+        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
+
+    if "\n" in line:
+        current_time = datetime.datetime.now()
+        print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
+    else:
+        print('{0}'.format(line), end='')
+
+
+def reboot(port_url, baudrate):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
+
+    time_start = time.monotonic()
+
+    ser.write("\n\n\n".encode("ascii"))
+
+    ser.write("reboot\n".encode("ascii"))
+    time_reboot_cmd = time_start
+
+    timeout_reboot_cmd = 90
+    timeout = 300  # 5 minutes
+
+    return_code = 0
+
+    while True:
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+
+        if len(serial_line) > 0:
+            print_line(serial_line)
+
+            if "ERROR" in serial_line:
+                return_code = -1
+
+            if "NuttShell (NSH)" in serial_line:
+                sys.exit(return_code)
+
+        else:
+            if time.monotonic() > time_start + timeout:
+                print("Error, timeout")
+                sys.exit(-1)
+
+            if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
+                time_reboot_cmd = time.monotonic()
+                print("sending reboot cmd again")
+                ser.write("reboot\n".encode("ascii"))
+
+
+def main():
+
+    default_device = None
+    device_required = True
+
+    # select USB UART as default if there's only 1
+    ports = list(serial.tools.list_ports.grep('USB UART'))
+
+    if (len(ports) == 1):
+        default_device = ports[0].device
+        device_required = False
+
+        print("Default USB UART port: {0}".format(ports[0].name))
+        print(" device: {0}".format(ports[0].device))
+        print(" description: \"{0}\" ".format(ports[0].description))
+        print(" hwid: {0}".format(ports[0].hwid))
+        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
+        #print(" serial_number: {0}".format(ports[0].serial_number))
+        #print(" location: {0}".format(ports[0].location))
+        print(" manufacturer: {0}".format(ports[0].manufacturer))
+        #print(" product: {0}".format(ports[0].product))
+        #print(" interface: {0}".format(ports[0].interface))
+
+    parser = ArgumentParser(description=__doc__)
+    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    args = parser.parse_args()
+
+    reboot(args.device, args.baudrate)
+
+if __name__ == "__main__":
+   main()
@@ -7,6 +7,8 @@ from argparse import ArgumentParser
 import re
 import sys
 import datetime
+import serial.tools.list_ports as list_ports
+import tempfile

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -37,101 +39,123 @@ def print_line(line):
        print('{0}'.format(line), end='')


-def do_nsh_cmd(port, baudrate, cmd):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
+def do_nsh_cmd(port_url, baudrate, cmd):
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)

-    timeout_start = time.time()
+    timeout_start = time.monotonic()
    timeout = 30  # 30 seconds

+    ser.write("\n\n\n".encode("ascii"))
+
    # wait for nsh prompt
    while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if "nsh>" in serial_line:
-            break
+        if len(serial_line) > 0:
+            if "nsh>" in serial_line:
+                break
        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for prompt")
+                sys.exit(1)
+
+            ser.write("\n".encode("ascii"))

-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for prompt")
-            sys.exit(1)

    # clear
-    ser.readlines()
+    ser.reset_input_buffer()

    # run command
-    timeout_start = time.time()
-    timeout = 1  # 1 second
+    timeout_start = time.monotonic()
+    timeout = 5  # 5 seconds

    success_cmd = "cmd succeeded!"

    # wait for command echo
-    serial_cmd = '{0}; echo "{1}"; echo "{2}";\r\n'.format(cmd, success_cmd, success_cmd)
+    print("Running command: \'{0}\'".format(cmd))
+    serial_cmd = '{0}; echo "{1}"; echo "{2}";\n'.format(cmd, success_cmd, success_cmd)
    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
+
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if cmd in serial_line:
-            break
-        elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
-            print_line(serial_line)
-            # we missed the echo, but command ran and succeeded
-            sys.exit(0)
-        else:
-            if len(serial_line) > 0:
+        if len(serial_line) > 0:
+            if cmd in serial_line:
+                break
+            elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
                print_line(serial_line)
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for command echo")
-            break
+                # we missed the echo, but command ran and succeeded
+                sys.exit(0)
+            else:
+                print_line(serial_line)
+        else:
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for command echo")
+                break


-    timeout_start = time.time()
-    timeout = 180 # 3 minutes
+    timeout_start = time.monotonic()
+    timeout = 240 # 4 minutes

    return_code = 0

    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if success_cmd in serial_line:
-            sys.exit(return_code)
-            break
-        else:
-            if len(serial_line) > 0:
+        if len(serial_line) > 0:
+            if success_cmd in serial_line:
+                sys.exit(return_code)
+            else:
                if "ERROR " in serial_line:
                    return_code = -1

                print_line(serial_line)

-            if "nsh>" in serial_line:
-                sys.exit(1) # error, command didn't complete successfully
-            elif "NuttShell (NSH)" in serial_line:
-                sys.exit(1) # error, command didn't complete successfully
+                if "nsh>" in serial_line:
+                    sys.exit(1) # error, command didn't complete successfully
+                elif "NuttShell (NSH)" in serial_line:
+                    sys.exit(1) # error, command didn't complete successfully
+        else:
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout")
+                sys.exit(-1)

-        if len(serial_line) <= 0:
-            ser.write("\r\n".encode("ascii"))
-            ser.flush()
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
-
-    ser.close()

 def main():
+
+    default_device = None
+    device_required = True
+
+    # select USB UART as default if there's only 1
+    ports = list(serial.tools.list_ports.grep('USB UART'))
+
+    if (len(ports) == 1):
+        default_device = ports[0].device
+        device_required = False
+
+        print("Default USB UART port: {0}".format(ports[0].name))
+        print(" device: {0}".format(ports[0].device))
+        print(" description: \"{0}\" ".format(ports[0].description))
+        print(" hwid: {0}".format(ports[0].hwid))
+        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
+        #print(" serial_number: {0}".format(ports[0].serial_number))
+        #print(" location: {0}".format(ports[0].location))
+        print(" manufacturer: {0}".format(ports[0].manufacturer))
+        #print(" product: {0}".format(ports[0].product))
+        #print(" interface: {0}".format(ports[0].interface))
+
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
    parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
    args = parser.parse_args()

-    do_nsh_cmd(args.device, args.baudrate, args.cmd)
+    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
+    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
+
+    print("pyserial url: {0}".format(port_url))
+
+    do_nsh_cmd(port_url, args.baudrate, args.cmd)

 if __name__ == "__main__":
   main()
@@ -9,6 +9,9 @@ import unittest
 import os
 import sys
 import datetime
+import serial.tools.list_ports as list_ports
+import tempfile
+import warnings

 COLOR_RED    = "\x1b[31m"
 COLOR_GREEN  = "\x1b[32m"
@@ -38,33 +41,36 @@ def print_line(line):
    else:
        print('{0}'.format(line), end='')

-def do_test(port, baudrate, test_name):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)

-    timeout_start = time.time()
+def do_test(port_url, baudrate, test_name):
+
+    # ignore pyserial spy:// resource warnings
+    warnings.filterwarnings(action="ignore", message="unclosed", category=ResourceWarning)
+
+    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
+
+    timeout_start = time.monotonic()
    timeout = 30  # 30 seconds

+    ser.write("\n\n\n".encode("ascii"))
+
    # wait for nsh prompt
    while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if "nsh>" in serial_line:
-            break
+        if len(serial_line) > 0:
+            if "nsh>" in serial_line:
+                break
        else:
-            if len(serial_line) > 0:
-                print(serial_line, end='')
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for prompt")
+                return False
+
+            ser.write("\n".encode("ascii"))

-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for prompt")
-            return False

    # clear
-    ser.readlines()
-
-    success = False
+    ser.reset_input_buffer()

    # run test cmd
    print('\n|======================================================================')
@@ -72,30 +78,28 @@ def do_test(port, baudrate, test_name):
    print("| Running:", cmd)
    print('|======================================================================')

-    timeout_start = time.time()
+    timeout_start = time.monotonic()
    timeout = 2  # 2 seconds

    # wait for command echo
+    print("Running command: \'{0}\'".format(cmd))
    serial_cmd = '{0}\n'.format(cmd)
    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
+
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if cmd in serial_line:
-            break
+        if len(serial_line) > 0:
+            if cmd in serial_line:
+                break
        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for command echo")
-            break
-
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout waiting for command echo")
+                break

    # print results, wait for final result (PASSED or FAILED)
    timeout = 300  # 5 minutes
-    timeout_start = time.time()
+    timeout_start = time.monotonic()
    timeout_newline = timeout_start

    while True:
@@ -104,27 +108,26 @@ def do_test(port, baudrate, test_name):
        if len(serial_line) > 0:
            print_line(serial_line)

-        if test_name + " PASSED" in serial_line:
-            success = True
-            break
-        elif test_name + " FAILED" in serial_line:
-            success = False
-            break
+            if test_name + " PASSED" in serial_line:
+                ser.close()
+                return True
+            elif test_name + " FAILED" in serial_line:
+                ser.close()
+                return False
+        else:
+            if time.monotonic() > timeout_start + timeout:
+                print("Error, timeout")
+                print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
+                ser.close()
+                return False

-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
-            success = False
-            break
-
-        # newline every 10 seconds if still running
-        if time.time() - timeout_newline > 10:
-            ser.write("\n".encode("ascii"))
-            timeout_newline = time.time()
+            # newline every 30 seconds if still running
+            if time.monotonic() - timeout_newline > 30:
+                ser.write("\n".encode("ascii"))
+                timeout_newline = time.monotonic()

    ser.close()
-
-    return success
+    return False

 class TestHardwareMethods(unittest.TestCase):
    TEST_DEVICE = 0
@@ -142,9 +145,8 @@ class TestHardwareMethods(unittest.TestCase):
    def test_bson(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))

-    # TODO: review
-    # def test_dataman(self):
-    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
+    def test_dataman(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))

    # def test_file(self):
    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file"))
@@ -207,12 +209,39 @@ class TestHardwareMethods(unittest.TestCase):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))

 def main():
+
+    default_device = None
+    device_required = True
+
+    # select USB UART as default if there's only 1
+    ports = list(serial.tools.list_ports.grep('USB UART'))
+
+    if (len(ports) == 1):
+        default_device = ports[0].device
+        device_required = False
+
+        print("Default USB UART port: {0}".format(ports[0].name))
+        print(" device: {0}".format(ports[0].device))
+        print(" description: \"{0}\" ".format(ports[0].description))
+        print(" hwid: {0}".format(ports[0].hwid))
+        #print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
+        #print(" serial_number: {0}".format(ports[0].serial_number))
+        #print(" location: {0}".format(ports[0].location))
+        print(" manufacturer: {0}".format(ports[0].manufacturer))
+        #print(" product: {0}".format(ports[0].product))
+        #print(" interface: {0}".format(ports[0].interface))
+
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
    args = parser.parse_args()

-    TestHardwareMethods.TEST_DEVICE = args.device
+    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
+    port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
+
+    print("pyserial url: {0}".format(port_url))
+
+    TestHardwareMethods.TEST_DEVICE = port_url
    TestHardwareMethods.TEST_BAUDRATE = args.baudrate

    unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])
@@ -0,0 +1,47 @@
+#! /bin/bash
+
+# exit when any command fails
+set -e
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+SERIAL_DEVICE=$1
+
+if [ ! -e "${SERIAL_DEVICE}" ]
+then
+	echo "Invalid serial device ${SERIAL_DEVICE}"
+	exit -1
+fi
+
+# all airframes (from ROMFS/px4fmu_common/init.d/airframes/)
+# $(find . -regex '.*/[0-9].*' -exec basename {} \; | cut -d "_" -f 1)
+ALL_AIRFRAMES=${@:2}
+echo "airframes: ${ALL_AIRFRAMES}"
+
+for airframe in $ALL_AIRFRAMES
+do
+	echo
+	echo "##########################################################################################"
+	echo " Airframe: $airframe"
+	echo "##########################################################################################"
+	echo
+
+	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART  --value $airframe
+	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER    --value 782097
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'
+
+	${DIR}/reboot.py --device ${SERIAL_DEVICE}
+
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/param_import_fail.bson' || true
+
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
+
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'
+
+done
@@ -10,6 +10,7 @@ fi
 exec find boards msg src platforms test \
    -path msg/templates/urtps -prune -o \
    -path platforms/nuttx/NuttX -prune -o \
+    -path platforms/nuttx/src/px4/stm/hal_stm32 -prune -o \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
@@ -19,7 +19,7 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
 	elif [[ $@ =~ .*tests* ]]; then
 		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-02-04"
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
 	fi
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
@@ -0,0 +1,32 @@
+This directory used to contain the edtlib.py and dtlib.py libraries
+and tests, alongside the gen_defines.py script that uses them for
+converting DTS to the C macros used by Zephyr.
+
+The libraries and tests have now been moved to the 'python-devicetree'
+subdirectory.
+
+We are now in the process of extracting edtlib and dtlib into a
+standalone source code library that we intend to share with other
+projects.
+
+Links related to the work making this standalone:
+
+    https://pypi.org/project/devicetree/
+    https://python-devicetree.readthedocs.io/en/latest/
+    https://github.com/zephyrproject-rtos/python-devicetree
+
+The 'python-devicetree' subdirectory you find here next to this
+README.txt matches the standalone python-devicetree repository linked
+above.
+
+For now, the 'main' copy will continue to be hosted here in the zephyr
+repository. We will mirror changes into the standalone repository as
+needed; you can just ignore it for now.
+
+Code in the zephyr repository which needs these libraries will import
+devicetree.edtlib from now on, but the code will continue to be found
+by manipulating sys.path for now.
+
+Eventually, as APIs stabilize, the python-devicetree code in this
+repository will disappear, and a standalone repository will be the
+'main' one.
@@ -0,0 +1,151 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2021 Nordic Semiconductor ASA
+# SPDX-License-Identifier: Apache-2.0
+
+'''
+This script uses edtlib and the devicetree data in the build directory
+to generate a CMake file which contains devicetree data.
+
+That data can then be used in the rest of the build system.
+
+The generated CMake file looks like this:
+
+  add_custom_target(devicetree_target)
+  set_target_properties(devicetree_target PROPERTIES
+                        "DT_PROP|/soc|compatible" "vnd,soc;")
+  ...
+
+It defines a special CMake target, and saves various values in the
+devicetree as CMake target properties.
+
+Be careful:
+
+  "Property" here can refer to a CMake target property or a
+  DTS property. DTS property values are stored inside
+  CMake target properties, along with other devicetree data.
+
+The build system includes this generated file early on, so
+devicetree values can be used at CMake processing time.
+
+Accss is not done directly, but with Zephyr CMake extension APIs,
+like this:
+
+  # sets 'compat' to "vnd,soc" in CMake
+  dt_prop(compat PATH "/soc" PROPERTY compatible INDEX 0)
+
+This is analogous to how DTS values are encoded as C macros,
+which can be read in source code using C APIs like
+DT_PROP(node_id, foo) from devicetree.h.
+'''
+
+import argparse
+import os
+import pickle
+import sys
+
+sys.path.append(os.path.join(os.path.dirname(__file__), 'python-devicetree',
+                             'src'))
+
+
+def parse_args():
+    # Returns parsed command-line arguments
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--cmake-out", required=True,
+                        help="path to write the CMake property file")
+    parser.add_argument("--edt-pickle", required=True,
+                        help="path to read the pickled edtlib.EDT object from")
+
+    return parser.parse_args()
+
+
+def main():
+    args = parse_args()
+
+    with open(args.edt_pickle, 'rb') as f:
+        edt = pickle.load(f)
+
+    # In what looks like an undocumented implementation detail, CMake
+    # target properties are stored in a C++ standard library map whose
+    # keys and values are each arbitrary strings, so we can use
+    # whatever we want as target property names.
+    #
+    # We therefore use '|' as a field separator character below within
+    # because it's not a valid character in DTS node paths or property
+    # names. This lets us store the "real" paths and property names
+    # without conversion to lowercase-and-underscores like we have to
+    # do in C.
+    #
+    # If CMake adds restrictions on target property names later, we
+    # can just tweak the generated file to use a more restrictive
+    # property encoding, perhaps reusing the same style documented in
+    # macros.bnf for C macros.
+
+    cmake_props = []
+    chosen_nodes = edt.chosen_nodes
+    for node in chosen_nodes:
+        path = chosen_nodes[node].path
+        cmake_props.append(f'"DT_CHOSEN|{node}" "{path}"')
+
+    # The separate loop over edt.nodes here is meant to keep
+    # all of the alias-related properties in one place.
+    for node in edt.nodes:
+        path = node.path
+        for alias in node.aliases:
+            cmake_props.append(f'"DT_ALIAS|{alias}" "{path}"')
+
+    for node in edt.nodes:
+        cmake_props.append(f'"DT_NODE|{node.path}" TRUE')
+
+        for label in node.labels:
+            cmake_props.append(f'"DT_NODELABEL|{label}" "{node.path}"')
+
+        for item in node.props:
+            # We currently do not support phandles for edt -> cmake conversion.
+            if "phandle" not in node.props[item].type:
+                if "array" in node.props[item].type:
+                    # Convert array to CMake list
+                    cmake_value = ''
+                    for val in node.props[item].val:
+                        cmake_value = f'{cmake_value}{val};'
+                else:
+                    cmake_value = node.props[item].val
+
+                # Encode node's property 'item' as a CMake target property
+                # with a name like 'DT_PROP|<path>|<property>'.
+                cmake_prop = f'DT_PROP|{node.path}|{item}'
+                cmake_props.append(f'"{cmake_prop}" "{cmake_value}"')
+
+        if node.regs is not None:
+            cmake_props.append(f'"DT_REG|{node.path}|NUM" "{len(node.regs)}"')
+            cmake_addr = ''
+            cmake_size = ''
+
+            for reg in node.regs:
+                if reg.addr is None:
+                    cmake_addr = f'{cmake_addr}NONE;'
+                else:
+                    cmake_addr = f'{cmake_addr}{hex(reg.addr)};'
+
+                if reg.size is None:
+                    cmake_size = f'{cmake_size}NONE;'
+                else:
+                    cmake_size = f'{cmake_size}{hex(reg.size)};'
+
+            cmake_props.append(f'"DT_REG|{node.path}|ADDR" "{cmake_addr}"')
+            cmake_props.append(f'"DT_REG|{node.path}|SIZE" "{cmake_size}"')
+
+    with open(args.cmake_out, "w", encoding="utf-8") as cmake_file:
+        print('add_custom_target(devicetree_target)', file=cmake_file)
+        print(file=cmake_file)
+
+        for prop in cmake_props:
+            print(
+                f'set_target_properties(devicetree_target PROPERTIES {prop})',
+                file=cmake_file
+            )
+
+
+if __name__ == "__main__":
+    main()
@@ -0,0 +1,7 @@
+dist/
+src/devicetree.egg-info/
+build/
+devicetree.egg-info/
+__pycache__/
+.tox/
+doc/build/
@@ -0,0 +1 @@
+sphinx_rtd_theme                # docs
@@ -0,0 +1,42 @@
+# Copyright (c) 2021, Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: Apache-2.0
+
+import setuptools
+
+long_description = '''
+Placeholder
+===========
+
+This is just a placeholder for moving Zephyr's devicetree libraries
+to PyPI.
+'''
+
+version = '0.0.1'
+
+setuptools.setup(
+    # TBD, just use these for now.
+    author='Zephyr Project',
+    author_email='devel@lists.zephyrproject.org',
+
+    name='devicetree',
+    version=version,
+    description='Python libraries for devicetree',
+    long_description=long_description,
+    # http://docutils.sourceforge.net/FAQ.html#what-s-the-official-mime-type-for-restructuredtext-data
+    long_description_content_type="text/x-rst",
+    url='https://github.com/zephyrproject-rtos/python-devicetree',
+    packages=setuptools.find_packages(where='src'),
+    package_dir={'': 'src'},
+    classifiers=[
+        'Programming Language :: Python :: 3 :: Only',
+        'License :: OSI Approved :: Apache Software License',
+        'Operating System :: POSIX :: Linux',
+        'Operating System :: MacOS :: MacOS X',
+        'Operating System :: Microsoft :: Windows',
+    ],
+    install_requires=[
+        'PyYAML>=5.1',
+    ],
+    python_requires='>=3.6',
+)
@@ -0,0 +1,4 @@
+# Copyright (c) 2021 Nordic Semiconductor ASA
+# SPDX-License-Identifier: Apache-2.0
+
+__all__ = ['edtlib', 'dtlib']
@@ -0,0 +1,161 @@
+# Copyright 2009-2013, 2019 Peter A. Bigot
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# This implementation is derived from the one in
+# [PyXB](https://github.com/pabigot/pyxb), stripped down and modified
+# specifically to manage edtlib Node instances.
+
+import collections
+
+class Graph:
+    """
+    Represent a directed graph with edtlib Node objects as nodes.
+
+    This is used to determine order dependencies among nodes in a
+    devicetree.  An edge from C{source} to C{target} indicates that
+    some aspect of C{source} requires that some aspect of C{target}
+    already be available.
+    """
+
+    def __init__(self, root=None):
+        self.__roots = None
+        if root is not None:
+            self.__roots = {root}
+        self.__edge_map = collections.defaultdict(set)
+        self.__reverse_map = collections.defaultdict(set)
+        self.__nodes = set()
+
+    def add_edge(self, source, target):
+        """
+        Add a directed edge from the C{source} to the C{target}.
+
+        The nodes are added to the graph if necessary.
+        """
+        self.__edge_map[source].add(target)
+        if source != target:
+            self.__reverse_map[target].add(source)
+        self.__nodes.add(source)
+        self.__nodes.add(target)
+
+    def roots(self):
+        """
+        Return the set of nodes calculated to be roots (i.e., those
+        that have no incoming edges).
+
+        This caches the roots calculated in a previous invocation.
+
+        @rtype: C{set}
+        """
+        if not self.__roots:
+            self.__roots = set()
+            for n in self.__nodes:
+                if n not in self.__reverse_map:
+                    self.__roots.add(n)
+        return self.__roots
+
+    def _tarjan(self):
+        # Execute Tarjan's algorithm on the graph.
+        #
+        # Tarjan's algorithm
+        # (http://en.wikipedia.org/wiki/Tarjan%27s_strongly_connected_components_algorithm)
+        # computes the strongly-connected components
+        # (http://en.wikipedia.org/wiki/Strongly_connected_component)
+        # of the graph: i.e., the sets of nodes that form a minimal
+        # closed set under edge transition.  In essence, the loops.
+        # We use this to detect groups of components that have a
+        # dependency cycle, and to impose a total order on components
+        # based on dependencies.
+
+        self.__stack = []
+        self.__scc_order = []
+        self.__index = 0
+        self.__tarjan_index = {}
+        self.__tarjan_low_link = {}
+        for v in self.__nodes:
+            self.__tarjan_index[v] = None
+        roots = sorted(self.roots(), key=node_key)
+        if self.__nodes and not roots:
+            raise Exception('TARJAN: No roots found in graph with {} nodes'.format(len(self.__nodes)))
+
+        for r in roots:
+            self._tarjan_root(r)
+
+        # Assign ordinals for edtlib
+        ordinal = 0
+        for scc in self.__scc_order:
+            # Zephyr customization: devicetree Node graphs should have
+            # no loops, so all SCCs should be singletons.  That may
+            # change in the future, but for now we only give an
+            # ordinal to singletons.
+            if len(scc) == 1:
+                scc[0].dep_ordinal = ordinal
+                ordinal += 1
+
+    def _tarjan_root(self, v):
+        # Do the work of Tarjan's algorithm for a given root node.
+
+        if self.__tarjan_index.get(v) is not None:
+            # "Root" was already reached.
+            return
+        self.__tarjan_index[v] = self.__tarjan_low_link[v] = self.__index
+        self.__index += 1
+        self.__stack.append(v)
+        source = v
+        for target in sorted(self.__edge_map[source], key=node_key):
+            if self.__tarjan_index[target] is None:
+                self._tarjan_root(target)
+                self.__tarjan_low_link[v] = min(self.__tarjan_low_link[v], self.__tarjan_low_link[target])
+            elif target in self.__stack:
+                self.__tarjan_low_link[v] = min(self.__tarjan_low_link[v], self.__tarjan_low_link[target])
+
+        if self.__tarjan_low_link[v] == self.__tarjan_index[v]:
+            scc = []
+            while True:
+                scc.append(self.__stack.pop())
+                if v == scc[-1]:
+                    break
+            self.__scc_order.append(scc)
+
+    def scc_order(self):
+        """Return the strongly-connected components in order.
+
+        The data structure is a list, in dependency order, of strongly
+        connected components (which can be single nodes).  Appearance
+        of a node in a set earlier in the list indicates that it has
+        no dependencies on any node that appears in a subsequent set.
+        This order is preferred over a depth-first-search order for
+        code generation, since it detects loops.
+        """
+        if not self.__scc_order:
+            self._tarjan()
+        return self.__scc_order
+    __scc_order = None
+
+    def depends_on(self, node):
+        """Get the nodes that 'node' directly depends on."""
+        return sorted(self.__edge_map[node], key=node_key)
+
+    def required_by(self, node):
+        """Get the nodes that directly depend on 'node'."""
+        return sorted(self.__reverse_map[node], key=node_key)
+
+def node_key(node):
+    # This sort key ensures that sibling nodes with the same name will
+    # use unit addresses as tiebreakers. That in turn ensures ordinals
+    # for otherwise indistinguishable siblings are in increasing order
+    # by unit address, which is convenient for displaying output.
+
+    if node.parent:
+        parent_path = node.parent.path
+    else:
+        parent_path = '/'
+
+    if node.unit_addr is not None:
+        name = node.name.rsplit('@', 1)[0]
+        unit_addr = node.unit_addr
+    else:
+        name = node.name
+        unit_addr = -1
+
+    return (parent_path, name, unit_addr)
@@ -0,0 +1,5 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Binding in test-bindings-2/
+
+compatible: "in-dir-2"
@@ -0,0 +1 @@
+This directory contains bindings used to test the 'include:' feature.
@@ -0,0 +1,11 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: |
+  An include must not give both an allowlist and a blocklist in a
+  child binding. This binding should cause an error.
+compatible: allow-and-blocklist-child
+include:
+  - name: include.yaml
+    child-binding:
+      property-blocklist: [x]
+      property-allowlist: [y]
@@ -0,0 +1,10 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: |
+  An include must not give both an allowlist and a blocklist.
+  This binding should cause an error.
+compatible: allow-and-blocklist
+include:
+  - name: include.yaml
+    property-blocklist: [x]
+    property-allowlist: [y]
@@ -0,0 +1,10 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: |
+  A property-allowlist, if given, must be a list. This binding should
+  cause an error.
+compatible: allow-not-list
+include:
+  - name: include.yaml
+    property-allowlist:
+      foo:
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Valid property-allowlist.
+compatible: allowlist
+include:
+  - name: include.yaml
+    property-allowlist: [x]
@@ -0,0 +1,10 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: |
+  A property-blocklist, if given, must be a list. This binding should
+  cause an error.
+compatible: block-not-list
+include:
+  - name: include.yaml
+    property-blocklist:
+      foo:
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Valid property-blocklist.
+compatible: blocklist
+include:
+  - name: include.yaml
+    property-blocklist: [x]
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: An empty property-allowlist is valid.
+compatible: empty-allowlist
+include:
+  - name: include.yaml
+    property-allowlist: []
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: An empty property-blocklist is valid.
+compatible: empty-blocklist
+include:
+  - name: include.yaml
+    property-blocklist: []
@@ -0,0 +1,11 @@
+description: Test binding for filtering 'child-binding' properties
+
+include:
+  - name: include.yaml
+    property-allowlist: [x]
+    child-binding:
+      property-blocklist: [child-prop-1]
+      child-binding:
+        property-allowlist: [grandchild-prop-1]
+
+compatible: filter-child-bindings
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Second file for testing "intermixed" includes.
+compatible: include-2
+properties:
+  a:
+    type: int
@@ -0,0 +1,10 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: |
+  Invalid include element: invalid keys are present.
+compatible: include-invalid-keys
+include:
+  - name: include.yaml
+    property-allowlist: [x]
+    bad-key-1: 3
+    bad-key-2: 3
@@ -0,0 +1,5 @@
+description: |
+  Invalid include: wrong top level type.
+compatible: include-invalid-type
+include:
+  a-map-is-not-allowed-here: 3
@@ -0,0 +1,6 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: A map element with just a name is valid, and has no filters.
+compatible: include-no-list
+include:
+  - name: include.yaml
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: |
+  Invalid include element: no name key is present.
+compatible: include-no-name
+include:
+  - property-allowlist: [x]
@@ -0,0 +1,24 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Test file for including other bindings
+compatible: include
+properties:
+  x:
+    type: int
+  y:
+    type: int
+  z:
+    type: int
+child-binding:
+  properties:
+    child-prop-1:
+      type: int
+    child-prop-2:
+      type: int
+
+  child-binding:
+    properties:
+      grandchild-prop-1:
+        type: int
+      grandchild-prop-2:
+        type: int
@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Including intermixed file names and maps is valid.
+compatible: intermixed
+include:
+  - name: include.yaml
+    property-allowlist: [x]
+  - include-2.yaml
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Bar bus controller
+
+compatible: "bar-bus"
+
+bus: "bar"
@@ -0,0 +1,20 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: child-binding with separate compatible than the parent
+
+compatible: "top-binding-with-compat"
+
+child-binding:
+    compatible: child-compat
+    description: child node
+    properties:
+        child-prop:
+            type: int
+            required: true
+
+    child-binding:
+        description: grandchild node
+        properties:
+            grandchild-prop:
+                type: int
+                required: true
@@ -0,0 +1,19 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: child-binding test
+
+compatible: "top-binding"
+
+child-binding:
+    description: child node
+    properties:
+        child-prop:
+            type: int
+            required: true
+
+    child-binding:
+        description: grandchild node
+        properties:
+            grandchild-prop:
+                type: int
+                required: true
@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+include: [grandchild-1.yaml, grandchild-2.yaml, grandchild-3.yaml]
+
+properties:
+    bar:
+        required: true
+        type: int
@@ -0,0 +1,36 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Property default value test
+
+compatible: "defaults"
+
+properties:
+    int:
+        type: int
+        required: false
+        default: 123
+
+    array:
+        type: array
+        required: false
+        default: [1, 2, 3]
+
+    uint8-array:
+        type: uint8-array
+        required: false
+        default: [0x89, 0xAB, 0xCD]
+
+    string:
+        type: string
+        required: false
+        default: "hello"
+
+    string-array:
+        type: string-array
+        required: false
+        default: ["hello", "there"]
+
+    default-not-used:
+        type: int
+        required: false
+        default: 123
@@ -0,0 +1,15 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Property deprecated value test
+
+compatible: "test-deprecated"
+
+properties:
+    oldprop:
+        type: int
+        deprecated: true
+        required: false
+
+    curprop:
+        type: int
+        required: false
@@ -0,0 +1,5 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Device on any bus
+
+compatible: "on-any-bus"
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Device on bar bus
+
+compatible: "on-bus"
+
+on-bus: "bar"
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Device on foo bus
+
+compatible: "on-bus"
+
+on-bus: "foo"
@@ -0,0 +1,36 @@
+# Copyright (c) 2020 Nordic Semiconductor ASA
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Property enum test
+
+compatible: "enums"
+
+properties:
+  int-enum:
+    type: int
+    enum:
+      - 1
+      - 2
+      - 3
+
+  string-enum:                  # not tokenizable
+    type: string
+    enum:
+      - foo bar
+      - foo_bar
+
+  tokenizable-lower-enum:       # tokenizable in lowercase only
+    type: string
+    enum:
+      - bar
+      - BAR
+
+  tokenizable-enum:             # tokenizable in lower and uppercase
+    type: string
+    enum:
+      - bar
+      - whitespace is ok
+      - 123 is ok
+
+  no-enum:
+    type: string
@@ -0,0 +1,4 @@
+# A file that mentions a 'compatible' string without actually implementing it.
+# Used to check for issues with how we optimize binding loading.
+
+# props
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Foo bus controller
+
+compatible: "foo-bus"
+
+bus: "foo"
@@ -0,0 +1,4 @@
+properties:
+    foo:
+        type: int
+        required: false
@@ -0,0 +1,4 @@
+properties:
+    foo:
+        type: int
+        required: true
@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: GPIO destination for mapping test
+
+compatible: "gpio-dst"
+
+gpio-cells:
+    - val
@@ -0,0 +1,9 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: GPIO source for mapping test
+
+compatible: "gpio-src"
+
+properties:
+    foo-gpios:
+        type: phandle-array
@@ -0,0 +1,10 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+properties:
+    foo:
+        required: false
+        type: int
+
+    baz:
+        required: true
+        type: int
@@ -0,0 +1,6 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+properties:
+    baz:
+        required: true
+        type: int
--- a/Show More
+++ b/Show More
				`@@ -0,0 +1 @@`
				`This directory contains bindings used to test the 'include:' feature.`