control_allocator: add parameter based ActuatorEffectivenessCustom

- this allows creating a custom actuator effectiveness entirely from parameters of the form CA_ACTn_TRQ_{R,P,Y} and CA_ACTn_THR_{X,Y,Z}
control_allocator: push VTOL flight phase into ActuatorEffectiveness
2026-05-24 14:47:35 +08:00 · 2021-10-27 14:25:03 -04:00 · 2021-10-27 13:42:22 -04:00 · 2021-10-27 12:48:42 -04:00
653 changed files with 6405 additions and 23867 deletions
@@ -59,7 +59,6 @@ pipeline {
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
-                     "matek_h743-slim",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
@@ -80,7 +79,6 @@ pipeline {
                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
-                     "raspberrypi_pico_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
                     "px4_fmu-v2_multicopter",
@@ -18,8 +18,8 @@ pipeline {
              }
              steps {
                checkoutSCM()
-                sh 'make cubepilot_cubeorange_bootloader'
                sh 'make cubepilot_cubeorange_test'
+                sh 'make cubepilot_cubeorange_test bootloader_elf'
                sh 'ccache -s'
                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
              }
@@ -39,7 +39,7 @@ pipeline {
                    sh 'export'
                    sh 'find /dev/serial'
                    unstash 'cubepilot_cubeorange_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/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'
                  }
@@ -89,8 +89,8 @@ pipeline {
              }
              steps {
                checkoutSCM()
-                sh 'make cuav_x7pro_bootloader'
                sh 'make cuav_x7pro_test'
+                sh 'make cuav_x7pro_test bootloader_elf'
                sh 'ccache -s'
                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
              }
@@ -110,7 +110,7 @@ pipeline {
                    sh 'export'
                    sh 'find /dev/serial'
                    unstash 'cuav_x7pro_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/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'
                  }
@@ -399,19 +399,7 @@ pipeline {
                  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 "work_queue status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress" || true'
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u" || true'
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress" || true'
-
-                    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 status" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench" || true'
-                    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 "sd_stress"'
                    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'
                  }
@@ -779,17 +767,6 @@ void runTests() {
  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"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u" || true'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress" || true'
-
-  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 status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench" || true'
-  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 "commander_tests" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
@@ -925,10 +902,6 @@ void printTopics() {
 }

 void resetBoard() {
-  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/" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
-
  resetParameters()

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
@@ -34,7 +34,6 @@ jobs:
          holybro_durandal-v1,
          holybro_kakutef7,
          holybro_pix32v5,
-          matek_h743-slim,
          modalai_fc-v1,
          modalai_fc-v2,
          mro_ctrl-zero-f7,
@@ -49,7 +48,6 @@ jobs:
          nxp_fmurt1062-v1,
          nxp_ucans32k146,
          omnibus_f4sd,
-          raspberrypi_pico,
          px4_fmu-v2,
          px4_fmu-v3,
          px4_fmu-v4,
@@ -84,7 +82,7 @@ jobs:
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 120M" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z
@@ -1,11 +1,11 @@
-[submodule "src/modules/mavlink/mavlink"]
-	path = src/modules/mavlink/mavlink
-	url = https://github.com/mavlink/mavlink.git
+[submodule "mavlink/include/mavlink/v2.0"]
+	path = mavlink/include/mavlink/v2.0
+	url = https://github.com/mavlink/c_library_v2.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/dronecan/libuavcan.git
-	branch = main
+	url = https://github.com/PX4/libuavcan.git
+	branch = px4
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -14,6 +14,10 @@
 	path = Tools/sitl_gazebo
 	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
+[submodule "src/lib/matrix"]
+	path = src/lib/matrix
+	url = https://github.com/PX4/PX4-Matrix.git
+	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
@@ -61,7 +65,7 @@
 	url = https://github.com/mavlink/libevents.git
 [submodule "Tools/simulation-ignition"]
 	path = Tools/simulation-ignition
-	url = https://github.com/PX4/px4-simulation-ignition.git
+	url = https://github.com/Auterion/px4-simulation-ignition.git
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git
@@ -186,11 +186,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: holybro_durandal-v1_default
-    matek_h743-slim_default:
-      short: matek_h743-slim
-      buildType: MinSizeRel
-      settings:
-        CONFIG: matek_h743-slim_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -226,8 +221,3 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: nxp_fmuk66-v3_default
-    raspberrypi_pico_default:
-      short: raspberrypi_pico
-      buildType: MinSizeRel
-      settings:
-        CONFIG: raspberrypi_pico_default
@@ -14,6 +14,7 @@
        "C_Cpp.workspaceParsingPriority": "low",
        "cmake.buildBeforeRun": true,
        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
+        "cmake.buildTask": true,
        "cmake.configureOnOpen": true,
        "cmake.ctest.parallelJobs": 1,
        "cmake.skipConfigureIfCachePresent": true,
@@ -135,6 +136,5 @@
        "workbench.settings.enableNaturalLanguageSearch": false,
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        },
-        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
+        }
 }
@@ -40,7 +40,7 @@
 # * Common functions should be included in px_base.cmake.
 #
 # * OS/ board specific fucntions should be include in
-#	px_impl_${PX4_PLATFORM}.cmake
+#	px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
 #
 # Formatting
 # ---------------------------------------------------------------------------
@@ -101,8 +101,8 @@

 cmake_minimum_required(VERSION 3.2 FATAL_ERROR)

-set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
-set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
+set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")

 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
 include(px4_parse_function_args)
@@ -63,10 +63,13 @@ menu "Toolchain"
        help
            relative path to the ROMFS root directory

+    config BOARD_BUILD_BOOTLOADER
+        bool "Enable bootloader"
+        help
+            flag to enable building and including the bootloader config
+
    config BOARD_IO
        string "IO board name"
-        default "px4_io-v2_default"
-        depends on DRIVERS_PX4IO
        help
            name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)

@@ -309,24 +309,6 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph

-px4io_update: px4_io-v2_default cubepilot_io-v2_default
-	# px4_io-v2_default
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
-	# cubepilot_io-v2_default
-	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
-	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
-	git status
-
-bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
-	git status

 .PHONY: coverity_scan

@@ -143,14 +143,38 @@ add_custom_command(
 	COMMENT "ROMFS: copying, generating airframes"
 	)

-if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
-	set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-	configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
-endif()
-
 # copy extras into ROMFS
 set(extras_dependencies)

+# copy px4io binary if configured
+if(config_io_board)
+	list(APPEND extras_dependencies
+		copy_px4io_bin
+		${fw_io_bin}
+	)
+	file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
+	message(STATUS "ROMFS:  Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
+endif()
+
+
+# board bootloader (built or included)
+if(TARGET copy_bootloader_bin)
+
+	if(board_bootloader_firmware)
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	else()
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	endif()
+
+	list(APPEND extras_dependencies
+		copy_bootloader_bin
+		${bootloader_bin}
+	)
+endif()
+
+
 # optional board architecture defaults
 set(board_arch_rc_file "rc.board_arch_defaults")
 if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
@@ -175,7 +199,6 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/
 endif()


-# board custom init files
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
 	rc.board_defaults
@@ -210,59 +233,21 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 endforeach()


-# board extras
-set(OPTIONAL_BOARD_EXTRAS)
-file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
-
-foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
-
-	if(EXISTS "${board_extra_file}")
-		file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
-		file(RELATIVE_PATH extra_file_relative_source ${PX4_SOURCE_DIR} ${board_extra_file})
-		message(STATUS "ROMFS:  Adding ${extra_file_relative_source} -> /etc/extras/${extra_file_base_name}")
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/extras/${extra_file_base_name}
-				${extra_file_base_name}.stamp
-			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${extra_file_base_name} ${romfs_gen_root_dir}/extras/${extra_file_base_name}
-			COMMAND ${CMAKE_COMMAND} -E touch ${extra_file_base_name}.stamp
-			DEPENDS
-				${board_extra_file}
-				romfs_copy.stamp
-			COMMENT "ROMFS: copying ${board_extra_file}"
-		)
-
-		list(APPEND extras_dependencies
-			${extra_file_base_name}.stamp
-		)
-	endif()
-
-endforeach()
-
-
-
 if(config_uavcan_peripheral_firmware)

 	include(ExternalProject)

 	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
-		# include the UAVCAN peripheral binaries in ROMFS
+		# include the px4io binary in ROMFS
 		message(STATUS "ROMFS:  Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
-
-		# ExternalProject_Add() with GIT_SUBMODULES "" initializes no submodules.
-		cmake_policy(SET CMP0097 NEW)
-
-		include(ExternalProject)
-
 		ExternalProject_Add(build_${uavcan_peripheral_config}
-			GIT_REPOSITORY ${CMAKE_SOURCE_DIR}
-			GIT_TAG ${PX4_GIT_TAG}
-			GIT_SUBMODULES ""
-			DOWNLOAD_NO_PROGRESS true
+			SOURCE_DIR ${CMAKE_SOURCE_DIR}
+			DOWNLOAD_COMMAND ""
+			UPDATE_COMMAND ""
 			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
 			INSTALL_COMMAND ""
 			USES_TERMINAL_BUILD true
+			DEPENDS git_nuttx git_nuttx_apps
 			BUILD_ALWAYS 1
 		)

@@ -144,8 +144,6 @@ param set-default SENS_MAG_MODE 0

 param set-default IMU_GYRO_FFT_EN 1

-param set-default -s MC_AT_EN 1
-
 # By default log from boot until first disarm.
 param set-default SDLOG_MODE 1
 # enable default, estimator replay and vision/avoidance logging profiles
@@ -219,7 +217,6 @@ load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
-manual_control start
 sensors start
 commander start
 navigator start
@@ -73,11 +73,7 @@ mc_rate_control start
 # Start Multicopter Attitude Controller.
 #
 mc_att_control start
-
-if param greater -s MC_AT_EN 0
-then
-	mc_autotune_attitude_control start
-fi
+mc_autotune_attitude_control start

 #
 # Start Multicopter Position Controller.
@@ -24,11 +24,7 @@ mc_att_control start vtol
 flight_mode_manager start
 mc_pos_control start vtol
 mc_hover_thrust_estimator start
-
-if param greater -s MC_AT_EN 0
-then
-	mc_autotune_attitude_control start
-fi
+mc_autotune_attitude_control start

 fw_att_control start vtol
 fw_pos_control_l1 start vtol
@@ -325,7 +325,6 @@ else
 	#  start before commander
 	#
 	rc_update start
-	manual_control start

 	#
 	# Sensors System (start before Commander so Preflight checks are properly run).
@@ -507,13 +506,21 @@ else
 		. ${R}etc/init.d/rc.autostart.post
 	fi

-
-	set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade
-	if [ -f $BOARD_BOOTLOADER_UPGRADE ]
+	#
+	# Bootloader upgrade
+	#
+	if param compare -s SYS_BL_UPDATE 1
 	then
-		sh $BOARD_BOOTLOADER_UPGRADE
+		if [ -f "/etc/extras/bootloader.bin" ]
+		then
+			param set SYS_BL_UPDATE 0
+			param save
+			echo "bootloader update..."
+			bl_update "/etc/extras/bootloader.bin"
+			echo "bootloader update done, rebooting"
+			reboot
+		fi
 	fi
-	unset BOARD_BOOTLOADER_UPGRADE

 #
 # End of autostart.
@@ -142,8 +142,9 @@ class TestHardwareMethods(unittest.TestCase):
    def test_bson(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))

-    def test_dataman(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
+    # TODO: review
+    # 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"))
@@ -17,10 +17,10 @@ exec find boards msg src platforms test \
    -path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/events/libevents -prune -o \
+    -path src/lib/matrix -prune -o \
    -path src/lib/parameters/uthash -prune -o \
    -path src/modules/ekf2/EKF -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
-    -path src/modules/mavlink/mavlink -prune -o \
    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
@@ -9,7 +9,6 @@ if [[ -f $1"/.git" || -d $1"/.git" ]]; then
 	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then
 		git submodule --quiet sync --recursive -- $1
 		git submodule --quiet update --init --recursive --jobs=8 -- $1  || true
-		git submodule --quiet sync --recursive -- $1
 		git submodule --quiet update --init --recursive --jobs=8 -- $1
 		exit 0
 	fi
@@ -52,7 +51,6 @@ if [[ -f $1"/.git" || -d $1"/.git" ]]; then
 else
 	git submodule --quiet sync --recursive --quiet -- $1
 	git submodule --quiet update --init --recursive -- $1  || true
-	git submodule --quiet sync --recursive --quiet -- $1
 	git submodule --quiet update --init --recursive -- $1
 fi

@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
 world=${WORLD:=empty}
 target=${TARGET:=px4_sitl_default}
 vehicle_model=${VEHICLE_MODEL:="iris"}
-export PX4_SIM_MODEL=${vehicle_model}
+export PX4_SIM_MODEL=${vehicle_model}${LABEL}

 echo ${SCRIPT}
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
@@ -126,7 +126,7 @@ else

 		m=0
 		while [ $m -lt ${target_number} ]; do
-			export PX4_SIM_MODEL=${target_vehicle}
+			export PX4_SIM_MODEL=${target_vehicle}${LABEL}
 			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))
@@ -115,11 +115,10 @@ def main(kconfig_file, config1, config2):
            sym_name = match.group(1)
            kconf.syms[sym_name].unset_value()

-            if kconf.syms[sym_name].type is BOOL:
-                for default, cond in kconf.syms[sym_name].orig_defaults:
-                    if(cond.str_value == 'y'):
-                        # Default is y, our diff is unset thus we've set it to no
-                        kconf.syms[sym_name].set_value(0)
+            for default, cond in kconf.syms[sym_name].orig_defaults:
+                if(cond.str_value == 'y'):
+                    # Default is y, our diff is unset thus we've set it to no
+                    kconf.syms[sym_name].set_value(0)

    f.close()

@@ -137,8 +137,8 @@ class ModuleDocumentation(object):
            "\"board-specific bus (default=all) (external SPI: n-th bus (default=1))\"", 'true'])

        if self._is_bool_true(args[1]):
-            self._handle_usage_param_int(['\'c\'', '-1', '0', '31',
-                "\"chip-select pin (for internal SPI) or index (for external SPI)\"", 'true'])
+            self._handle_usage_param_int(['\'c\'', '1', '1', '10',
+                "\"chip-select index (for external SPI)\"", 'true'])
            self._handle_usage_param_int(['\'m\'', '-1', '0', '3', "\"SPI mode\"", 'true'])

        self._handle_usage_param_int(['\'f\'', '-1', '0', '1000000', "\"bus frequency in kHz\"", 'true'])
@@ -3,11 +3,9 @@ argparse>=1.2
 cerberus
 coverage
 empy>=3.3
-future
 jinja2>=2.8
 jsonschema
 kconfiglib
-lxml
 matplotlib>=3.0.*
 numpy>=1.13
 nunavut>=1.1.0
@@ -86,8 +86,6 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	gdb \
 	git \
 	lcov \
-	libxml2-dev \
-	libxml2-utils \
 	make \
 	ninja-build \
 	python3 \
@@ -143,7 +141,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		libisl-dev \
 		libmpc-dev \
 		libmpfr-dev \
-		libncurses5 \
 		libncurses5-dev \
 		libncursesw5-dev \
 		libtool \
@@ -58,7 +58,6 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -25,7 +25,7 @@
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/airmind/mindpx-v2/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -92,6 +92,7 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -7,7 +7,7 @@
 #
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -40,6 +40,13 @@ CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0
+CONFIG_NXFONTS_DISABLE_16BPP=y
+CONFIG_NXFONTS_DISABLE_1BPP=y
+CONFIG_NXFONTS_DISABLE_24BPP=y
+CONFIG_NXFONTS_DISABLE_2BPP=y
+CONFIG_NXFONTS_DISABLE_32BPP=y
+CONFIG_NXFONTS_DISABLE_4BPP=y
+CONFIG_NXFONTS_DISABLE_8BPP=y
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=262144
@@ -124,6 +124,10 @@
 #define GPIO_CAN1_RX	GPIO_CAN1_RX_2
 #define GPIO_CAN1_TX	GPIO_CAN1_TX_2

+/* I2C */
+#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
+#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_1
+
 /* SPI */
 #define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
 #define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
@@ -21,7 +21,7 @@
 # CONFIG_STM32_DMACAPABLE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -57,6 +57,8 @@ CONFIG_GRAN=y
 CONFIG_GRAN_INTR=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
@@ -70,6 +72,7 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -124,6 +127,7 @@ CONFIG_STM32_DMA1=y
 CONFIG_STM32_DMA2=y
 CONFIG_STM32_FLASH_PREFETCH=y
 CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
 CONFIG_STM32_JTAG_SW_ENABLE=y
 CONFIG_STM32_PWR=y
 CONFIG_STM32_RTC=y
@@ -49,6 +49,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
 else()
 	add_library(drivers_board
 		can.c
+		i2c.cpp
 		init.c
 		led.c
 		spi.cpp
@@ -35,5 +35,4 @@

 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
 	initI2CBusExternal(1),
-	initI2CBusInternal(2),
 };
@@ -7,7 +7,7 @@
 #
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-gps/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -40,6 +40,13 @@ CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0
+CONFIG_NXFONTS_DISABLE_16BPP=y
+CONFIG_NXFONTS_DISABLE_1BPP=y
+CONFIG_NXFONTS_DISABLE_24BPP=y
+CONFIG_NXFONTS_DISABLE_2BPP=y
+CONFIG_NXFONTS_DISABLE_32BPP=y
+CONFIG_NXFONTS_DISABLE_4BPP=y
+CONFIG_NXFONTS_DISABLE_8BPP=y
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=262144
@@ -21,7 +21,7 @@
 # CONFIG_STM32_DMACAPABLE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-gps/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -72,6 +72,7 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -1,5 +1,6 @@
 CONFIG_BOARD_CONSTRAINED_FLASH=n
 CONFIG_BOARD_NO_HELP=n
-CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_UORB=y
@@ -7,7 +7,7 @@
 #
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-rtk-gps/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -40,6 +40,13 @@ CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0
+CONFIG_NXFONTS_DISABLE_16BPP=y
+CONFIG_NXFONTS_DISABLE_1BPP=y
+CONFIG_NXFONTS_DISABLE_24BPP=y
+CONFIG_NXFONTS_DISABLE_2BPP=y
+CONFIG_NXFONTS_DISABLE_32BPP=y
+CONFIG_NXFONTS_DISABLE_4BPP=y
+CONFIG_NXFONTS_DISABLE_8BPP=y
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=262144
@@ -21,7 +21,7 @@
 # CONFIG_STM32_DMACAPABLE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-rtk-gps/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -72,6 +72,7 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -17,7 +17,6 @@ CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -25,7 +25,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/atl/mantis-edu/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32f7"
@@ -97,6 +97,7 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -44,8 +44,8 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -55,7 +55,6 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -37,7 +37,7 @@
 # CONFIG_NSH_DISABLE_XD is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/av/x-v1/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32f7"
@@ -123,6 +123,7 @@ CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NET_UDP_WRITE_BUFFERS=y
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -39,7 +39,6 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -48,16 +48,11 @@


 // I2C
-#define CONFIG_I2C 1
 #define PX4_NUMBER_I2C_BUSES    2

 #define PX4_I2C_OBDEV_MPU9250 0x68


-// SPI
-#define CONFIG_SPI 1
-
-
 // ADC channels:
 #define ADC_CHANNELS (1 << 5)
 #define BOARD_ADC_POS_REF_V (1.8f)
@@ -35,8 +35,4 @@
 #include <drivers/drv_sensor.h>

 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(1, {
-		initSPIDevice(DRV_DEVTYPE_UNUSED, 1), // spidev1.1
-		initSPIDevice(DRV_DEVTYPE_UNUSED, 2), // spidev1.2
-	}),
 };
@@ -21,7 +21,6 @@ CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -25,7 +25,7 @@
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/bitcraze/crazyflie/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -88,6 +88,7 @@ CONFIG_MTD_AT24XX=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -21,7 +21,6 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -24,7 +24,7 @@
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/bitcraze/crazyflie21/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -86,6 +86,7 @@ CONFIG_MTD_AT24XX=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -7,7 +7,7 @@
 #
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/can-gps-v1/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -40,6 +40,13 @@ CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0
+CONFIG_NXFONTS_DISABLE_16BPP=y
+CONFIG_NXFONTS_DISABLE_1BPP=y
+CONFIG_NXFONTS_DISABLE_24BPP=y
+CONFIG_NXFONTS_DISABLE_2BPP=y
+CONFIG_NXFONTS_DISABLE_32BPP=y
+CONFIG_NXFONTS_DISABLE_4BPP=y
+CONFIG_NXFONTS_DISABLE_8BPP=y
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=262144
@@ -21,7 +21,7 @@
 # CONFIG_STM32_DMACAPABLE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/can-gps-v1/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -72,6 +72,7 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -1,5 +1,6 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
@@ -62,7 +63,6 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -11,7 +11,7 @@
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/nora/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
@@ -24,7 +24,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/nora/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
@@ -98,6 +98,7 @@ CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -189,6 +190,7 @@ CONFIG_STM32H7_SPI6=y
 CONFIG_STM32H7_SPI6_DMA=y
 CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
+CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM12=y
 CONFIG_STM32H7_TIM15=y
 CONFIG_STM32H7_TIM1=y
@@ -1,5 +1,6 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
@@ -63,7 +64,6 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -11,7 +11,7 @@
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/x7pro/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
@@ -24,7 +24,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/x7pro/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
@@ -98,6 +98,7 @@ CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -189,6 +190,7 @@ CONFIG_STM32H7_SPI6=y
 CONFIG_STM32H7_SPI6_DMA=y
 CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
+CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM12=y
 CONFIG_STM32H7_TIM15=y
 CONFIG_STM32H7_TIM1=y
@@ -1,5 +1,6 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_IO="cubepilot_io-v2_default"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS5"
@@ -58,7 +59,6 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -11,7 +11,7 @@
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
@@ -25,7 +25,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
@@ -99,6 +99,7 @@ CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -183,6 +184,7 @@ CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y
 CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
+CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
@@ -24,7 +24,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
@@ -98,6 +98,7 @@ CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -182,6 +183,7 @@ CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y
 CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
+CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
@@ -58,7 +58,6 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -26,7 +26,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeyellow/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32f7"
@@ -98,6 +98,7 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -8,7 +8,7 @@
 # CONFIG_DEV_NULL is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/io-v2/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -164,4 +164,7 @@

 #define BOARD_NUM_IO_TIMERS 3

+#define BOARD_DISABLE_I2C_SPI
+
+
 #include <px4_platform_common/board_common.h>
@@ -40,7 +40,6 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -49,13 +49,9 @@


 // I2C
-#define CONFIG_I2C 1
 #define PX4_NUMBER_I2C_BUSES    1


-// SPI
-#define CONFIG_SPI 1
-
 // ADC channels:
 // A0 - board voltage (shows 5V)
 // A1 - servo rail voltage
@@ -7,7 +7,7 @@
 #
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/freefly/can-rtk-gps/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32f7"
@@ -20,7 +20,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/freefly/can-rtk-gps/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32f7"
@@ -82,6 +82,7 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -7,7 +7,7 @@
 #
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/can-gps-v1/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -40,6 +40,13 @@ CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0
+CONFIG_NXFONTS_DISABLE_16BPP=y
+CONFIG_NXFONTS_DISABLE_1BPP=y
+CONFIG_NXFONTS_DISABLE_24BPP=y
+CONFIG_NXFONTS_DISABLE_2BPP=y
+CONFIG_NXFONTS_DISABLE_32BPP=y
+CONFIG_NXFONTS_DISABLE_4BPP=y
+CONFIG_NXFONTS_DISABLE_8BPP=y
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=262144
@@ -21,7 +21,7 @@
 # CONFIG_STM32_DMACAPABLE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/can-gps-v1/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -72,6 +72,7 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -1,5 +1,7 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_BUILD_BOOTLOADER=y
+CONFIG_BOARD_IO="px4_io-v2_default"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
@@ -54,7 +56,6 @@ CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -11,7 +11,7 @@
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/durandal-v1/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
@@ -24,7 +24,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/durandal-v1/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
@@ -99,6 +99,7 @@ CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -186,6 +187,7 @@ CONFIG_STM32H7_SPI6=y
 CONFIG_STM32H7_SPI6_DMA=y
 CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
+CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
@@ -26,8 +26,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -37,9 +37,12 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_DMESG=n
+CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_VER=y
@@ -24,7 +24,7 @@
 # CONFIG_SPI_CALLBACK is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/kakutef7/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32f7"
@@ -98,6 +98,7 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -134,6 +134,8 @@
 		GPIO_RSSI_IN,                \
 	}

+#define BOARD_ENABLE_CONSOLE_BUFFER
+
 #define BOARD_NUM_IO_TIMERS 4

 __BEGIN_DECLS
@@ -63,7 +63,6 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -25,7 +25,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/pix32v5/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32f7"
@@ -97,6 +97,7 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -1,3 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""
@@ -1,83 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_COMMON_BAROMETERS=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_PWM_OUT_SIM=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_RPM=y
-CONFIG_COMMON_TELEMETRY=y
-CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VMOUNT=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_TEST=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PWM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_FAKE_GPS=y
@@ -1,13 +0,0 @@
-{
-    "board_id": 139,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the MatekH743-slim board",
-    "image": "",
-    "build_time": 0,
-    "summary": "MatekH743-slim",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1966080,
-    "git_identity": "",
-    "board_revision": 0
-}
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	a88c6434b6	control_allocator: add parameter based ActuatorEffectivenessCustom - this allows creating a custom actuator effectiveness entirely from parameters of the form CA_ACTn_TRQ_{R,P,Y} and CA_ACTn_THR_{X,Y,Z}	2021-10-27 14:25:03 -04:00
Daniel Agar	43d7d83a4b	control_allocator: push VTOL flight phase into ActuatorEffectiveness	2021-10-27 13:42:22 -04:00
Daniel Agar	eb362f2f63	control_allocator: replace ModuleParams with generated parameter strings as needed	2021-10-27 12:48:42 -04:00