WIP: parameter export hacks

.ci/Jenkinsfile-compile

@@ -9,10 +9,10 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-04-29",
-            arm64: "px4io/px4-dev-aarch64:2021-04-29",
-            base: "px4io/px4-dev-base-bionic:2021-04-29",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
+            armhf: "px4io/px4-dev-armhf:2021-02-04",
+            arm64: "px4io/px4-dev-aarch64:2021-02-04",
+            base: "px4io/px4-dev-base-bionic:2021-02-04",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
             snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
           ]
 
@@ -45,19 +45,21 @@ pipeline {
                      "cuav_can-gps-v1_canbootloader",
                      "cuav_can-gps-v1_default",
                      "cuav_nora_default",
+                     "cuav_nora_test",
                      "cuav_x7pro_default",
+                     "cuav_x7pro_test",
+                     "cubepilot_cubeorange_console",
                      "cubepilot_cubeorange_default",
+                     "cubepilot_cubeyellow_console",
                      "cubepilot_cubeyellow_default",
-                     "freefly_can-rtk-gps_canbootloader",
-                     "freefly_can-rtk-gps_default",
                      "holybro_can-gps-v1_canbootloader",
                      "holybro_can-gps-v1_default",
                      "holybro_durandal-v1_default",
+                     "holybro_durandal-v1_test",
                      "holybro_kakutef7_default",
                      "holybro_pix32v5_default",
                      "modalai_fc-v1_default",
                      "modalai_fc-v1_rtps",
-                     "modalai_fc-v2_default",
                      "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
                      "mro_ctrl-zero-h7_default",
@@ -79,6 +81,7 @@ pipeline {
                      "px4_fmu-v2_fixedwing",
                      "px4_fmu-v2_multicopter",
                      "px4_fmu-v2_rover",
+                     "px4_fmu-v2_test",
                      "px4_fmu-v3_default",
                      "px4_fmu-v4_cannode",
                      "px4_fmu-v4_default",
@@ -97,6 +100,7 @@ pipeline {
                      "px4_fmu-v5x_base_phy_DP83848C",
                      "px4_fmu-v5x_default",
                      "px4_fmu-v6u_default",
+                     "px4_fmu-v6u_test",
                      "px4_fmu-v6x_default",
                      "px4_io-v2_default",
                      "spracing_h7extreme_default",
@@ -133,7 +137,7 @@ pipeline {
     // TODO: actually upload artifacts to S3
     // stage('S3 Upload') {
     //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
     //   }
     //   options {
     //         skipDefaultCheckout()
@@ -158,7 +162,7 @@ pipeline {
   }
   options {
     buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 90, unit: 'MINUTES')
+    timeout(time: 60, unit: 'MINUTES')
   }
 }
 

.ci/Jenkinsfile-hardware

@@ -7,12 +7,12 @@ pipeline {
 
       parallel {
 
-        stage("cubepilot_cubeorange_test") {
+        stage("cubepilot_cubeorange_console") {
           stages {
-            stage("build cubepilot_cubeorange_test") {
+            stage("build cubepilot_cubeorange_console") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -22,10 +22,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make cubepilot_cubeorange_test'
+                sh 'make cubepilot_cubeorange_console'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_console'
               }
               post {
                 always {
@@ -42,9 +42,9 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'cubepilot_cubeorange_test'
+                    unstash 'cubepilot_cubeorange_console'
                     // 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'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
@@ -73,10 +73,13 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI()
+                    cleanupFTDI();
                   }
                 }
               }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
             } // stage test
           }
         }
@@ -86,7 +89,7 @@ pipeline {
             stage("build cuav_x7pro_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -146,20 +149,75 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI()
+                    cleanupFTDI();
                   }
                 }
               }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
             } // stage test
           }
         }
 
-        stage("px4_fmu-v3_test") {
+        // stage("px4_fmu-v2_test") {
+        //   stages {
+        //     stage("build px4_fmu-v2_test") {
+        //       agent {
+        //         docker {
+        //           image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+        //         }
+        //       }
+        //       steps {
+        //         sh 'export'
+        //         sh 'make distclean'
+        //         sh 'ccache -s'
+        //         sh 'git fetch --tags'
+        //         sh 'make px4_fmu-v2_test'
+        //         sh 'make sizes'
+        //         sh 'ccache -s'
+        //         stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
+        //       }
+        //       post {
+        //         always {
+        //             sh 'make distclean'
+        //         }
+        //       }
+        //     } // stage build
+        //     stage("test") {
+        //       agent {
+        //         label 'px4_fmu-v2'
+        //       }
+        //       stages {
+        //         stage("flash") {
+        //           steps {
+        //             sh 'export'
+        //             sh 'find /dev/serial'
+        //             unstash 'px4_fmu-v2_test'
+        //             // flash board and watch bootup
+        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+        //           }
+        //         }
+        //         stage("reset") {
+        //           steps {
+        //             cleanupFTDI();
+        //           }
+        //         }
+        //       }
+        //       options {
+        //         timeout(time: 90, unit: 'MINUTES')
+        //       }
+        //     }
+        //   }
+        // }
+
+        stage("px4_fmu-v3_default") {
           stages {
-            stage("build px4_fmu-v3_test") {
+            stage("build px4_fmu-v3_default") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -169,10 +227,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make px4_fmu-v3_test'
+                sh 'make px4_fmu-v3_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_default'
               }
               post {
                 always {
@@ -189,9 +247,9 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'px4_fmu-v3_test'
+                    unstash 'px4_fmu-v3_default'
                     // 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'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
@@ -219,20 +277,23 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI()
+                    cleanupFTDI();
                   }
                 }
               }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
             } // stage test
           }
         }
 
-        stage("px4_fmu-v4_test") {
+        stage("px4_fmu-v4_default") {
           stages {
-            stage("build px4_fmu-v4_test") {
+            stage("build px4_fmu-v4_default") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -242,10 +303,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make px4_fmu-v4_test'
+                sh 'make px4_fmu-v4_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_default'
               }
               post {
                 always {
@@ -262,9 +323,9 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4_test'
+                    unstash 'px4_fmu-v4_default'
                     // 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'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
@@ -292,20 +353,23 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI()
+                    cleanupFTDI();
                   }
                 }
               }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
             } // stage test
           }
         }
 
-        stage("px4_fmu-v4pro_test") {
+        stage("px4_fmu-v4pro_default") {
           stages {
-            stage("build px4_fmu-v4pro_test") {
+            stage("build px4_fmu-v4pro_default") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -315,10 +379,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make px4_fmu-v4pro_test'
+                sh 'make px4_fmu-v4pro_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_default'
               }
               post {
                 always {
@@ -335,9 +399,9 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4pro_test'
+                    unstash 'px4_fmu-v4pro_default'
                     // 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'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
@@ -365,20 +429,23 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI()
+                    cleanupFTDI();
                   }
                 }
               }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
             } // stage test
           }
         }
 
-        stage("px4_fmu-v5_test") {
+        stage("px4_fmu-v5_default") {
           stages {
-            stage("build px4_fmu-v5_test") {
+            stage("build px4_fmu-v5_default") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -388,10 +455,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make px4_fmu-v5_test'
+                sh 'make px4_fmu-v5_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_default'
               }
               post {
                 always {
@@ -408,9 +475,9 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_test'
+                    unstash 'px4_fmu-v5_default'
                     // 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'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
@@ -438,10 +505,13 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI()
+                    cleanupFTDI();
                   }
                 }
               }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
             } // stage test
           }
         }
@@ -451,7 +521,7 @@ pipeline {
             stage("build px4_fmu-v5_debug") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -515,10 +585,13 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI()
+                    cleanupFTDI();
                   }
                 }
               }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
             } // stage test
           }
         }
@@ -528,7 +601,7 @@ pipeline {
             stage("build px4_fmu-v5_optimized") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -588,10 +661,13 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI()
+                    cleanupFTDI();
                   }
                 }
               }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
             } // stage test
           }
         }
@@ -601,7 +677,7 @@ pipeline {
             stage("build px4_fmu-v5_stackcheck") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -665,20 +741,23 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI()
+                    cleanupFTDI();
                   }
                 }
               }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
             } // stage test
           }
         }
 
-        stage("modalai_fc-v1_test") {
+        stage("modalai_fc-v1_default") {
           stages {
-            stage("build modalai_fc-v1_test") {
+            stage("build modalai_fc-v1_default") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -688,10 +767,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make modalai_fc-v1_test'
+                sh 'make modalai_fc-v1_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_default'
               }
               post {
                 always {
@@ -708,9 +787,9 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'modalai_fc-v1_test'
+                    unstash 'modalai_fc-v1_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
@@ -742,6 +821,9 @@ pipeline {
                   }
                 }
               }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
             } // stage test
           }
         }
@@ -751,7 +833,7 @@ pipeline {
             stage("build holybro_durandal-v1_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -812,20 +894,23 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI()
+                    cleanupFTDI();
                   }
                 }
               }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
             } // stage test
           }
         }
 
-        stage("nxp_fmuk66-v3_test") {
+        stage("nxp_fmuk66-v3_default") {
           stages {
-            stage("build nxp_fmuk66-v3_test") {
+            stage("build nxp_fmuk66-v3_default") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                   args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -835,10 +920,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make nxp_fmuk66-v3_test'
+                sh 'make nxp_fmuk66-v3_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_default'
               }
               post {
                 always {
@@ -855,9 +940,9 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'nxp_fmuk66-v3_test'
+                    unstash 'nxp_fmuk66-v3_default'
                     // 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'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
@@ -885,10 +970,13 @@ pipeline {
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI()
+                    cleanupFTDI();
                   }
                 }
               }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
             } // stage test
           }
         }
@@ -901,8 +989,8 @@ pipeline {
     CI = true
   }
   options {
-    buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
-    timeout(time: 120, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '40'))
+    timeout(time: 90, unit: 'MINUTES')
     skipDefaultCheckout()
   }
 }

.devcontainer/devcontainer.json

@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-04-29",
+	"image": "px4io/px4-dev-nuttx-focal:2021-02-04",
 
 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
 

.github/workflows/checks.yml

@@ -23,13 +23,12 @@ jobs:
           "shellcheck_all",
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",
           "NO_NINJA_BUILD=1 px4_sitl_default",
-          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
           "airframe_metadata",
           "module_documentation",
           "parameters_metadata",
         ]
     container:
-      image: px4io/px4-dev-nuttx-focal:2021-04-29
+      image: px4io/px4-dev-nuttx-focal:2021-02-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/clang-tidy.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-04-29
+    container: px4io/px4-dev-clang:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/compile_linux.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-04-29
+    container: px4io/px4-dev-armhf:2021-02-04
     strategy:
       matrix:
         config: [

.github/workflows/compile_linux_arm64.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-04-29
+    container: px4io/px4-dev-aarch64:2021-02-04
     strategy:
       matrix:
         config: [

.github/workflows/compile_nuttx.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-04-29
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
     strategy:
       matrix:
         config: [
@@ -19,9 +19,6 @@ jobs:
           ark_can-flow_canbootloader,
           ark_can-flow_debug,
           ark_can-flow_default,
-          ark_can-gps_canbootloader,
-          ark_can-gps_debug,
-          ark_can-gps_default,
           av_x-v1_default,
           bitcraze_crazyflie21_default,
           bitcraze_crazyflie_default,
@@ -29,23 +26,23 @@ jobs:
           cuav_can-gps-v1_debug,
           cuav_can-gps-v1_default,
           cuav_nora_default,
+          cuav_nora_test,
           cuav_x7pro_default,
+          cuav_x7pro_test,
+          cubepilot_cubeorange_console,
           cubepilot_cubeorange_default,
-          cubepilot_cubeorange_test,
+          cubepilot_cubeyellow_console,
           cubepilot_cubeyellow_default,
-          cubepilot_cubeyellow_test,
           cubepilot_io-v2_default,
-          freefly_can-rtk-gps_canbootloader,
-          freefly_can-rtk-gps_default,
           holybro_can-gps-v1_canbootloader,
           holybro_can-gps-v1_debug,
           holybro_can-gps-v1_default,
           holybro_durandal-v1_default,
+          holybro_durandal-v1_test,
           holybro_kakutef7_default,
           holybro_pix32v5_default,
           modalai_fc-v1_default,
           modalai_fc-v1_rtps,
-          modalai_fc-v2_default,
           mro_ctrl-zero-f7-oem_default,
           mro_ctrl-zero-f7_default,
           mro_ctrl-zero-h7-oem_default,
@@ -67,6 +64,7 @@ jobs:
           px4_fmu-v2_fixedwing,
           px4_fmu-v2_multicopter,
           px4_fmu-v2_rover,
+          px4_fmu-v2_test,
           px4_fmu-v3_default,
           px4_fmu-v4_cannode,
           px4_fmu-v4_default,
@@ -85,6 +83,7 @@ jobs:
           px4_fmu-v5x_base_phy_DP83848C,
           px4_fmu-v5x_default,
           px4_fmu-v6u_default,
+          px4_fmu-v6u_test,
           px4_fmu-v6x_default,
           px4_io-v2_default,
           spracing_h7extreme_default,
@@ -129,8 +128,6 @@ jobs:
       run: make ${{matrix.config}} bloaty_symbols || true
     - name: make ${{matrix.config}} bloaty_templates
       run: make ${{matrix.config}} bloaty_templates || true
-    - name: make ${{matrix.config}} bloaty_ram
-      run: make ${{matrix.config}} bloaty_ram || true
     - name: make ${{matrix.config}} bloaty_compare_master
       run: make ${{matrix.config}} bloaty_compare_master || true
     - name: ccache post-run

.github/workflows/compile_nuttx_cannode.yml

@@ -11,13 +11,12 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-04-29
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
     strategy:
       matrix:
         config: [
           ark_can-flow_default,
           cuav_can-gps-v1_default,
-          freefly_can-rtk-gps_default,
           holybro_can-gps-v1_default,
           #nxp_ucans32k146_default,
           px4_fmu-v4_cannode

.github/workflows/deploy_all.yml

@@ -23,7 +23,7 @@ jobs:
     needs: enumerate_targets
     strategy:
       matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
+    container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/mavros_avoidance_tests.yml

@@ -0,0 +1,131 @@
+name: MAVROS Avoidance Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {test_file: "mavros_posix_test_avoidance.test",    vehicle: "iris_obs_avoid", mission: "avoidance",       build_type: "RelWithDebInfo"}
+          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
+
+    container:
+      image: px4io/px4-dev-ros-melodic:2021-02-04
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: Build PX4 and sitl_gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core
+
+    # - name: ecl EKF analysis
+    #   if: always()
+    #   run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_avoidance
+        file: coverage/lcov.info

.github/workflows/mavros_mission_tests.yml

@@ -25,7 +25,7 @@ jobs:
           #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2021-04-29
+      image: px4io/px4-dev-ros-melodic:2021-02-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/mavros_offboard_tests.yml

@@ -20,7 +20,7 @@ jobs:
           #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
 
     container:
-      image: px4io/px4-dev-ros-melodic:2021-04-29
+      image: px4io/px4-dev-ros-melodic:2021-02-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/metadata.yml

@@ -11,7 +11,7 @@ jobs:
 
   airframe:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -26,7 +26,7 @@ jobs:
 
   module:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -41,7 +41,7 @@ jobs:
 
   parameter:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -65,7 +65,7 @@ jobs:
 
   uorb_graph:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-04-29
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -80,7 +80,7 @@ jobs:
 
   micrortps_agent:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -94,7 +94,7 @@ jobs:
 
   ROS_msgs:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:
@@ -107,7 +107,7 @@ jobs:
 
   ROS2_bridge:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-04-29
+    container: px4io/px4-dev-base-focal:2021-02-04
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/python_checks.yml

@@ -18,7 +18,7 @@ jobs:
     - name: Install Python3
       run: sudo apt-get install python3 python3-setuptools python3-pip -y
     - name: Install tools
-      run: pip3 install --user mypy types-requests flake8
+      run: pip3 install --user mypy flake8
     - name: Check MAVSDK test scripts with mypy
       run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
     - name: Check MAVSDK test scripts with flake8

.github/workflows/sitl_tests.yml

@@ -15,13 +15,12 @@ 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
-
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", 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
     container:
-      image: px4io/px4-dev-simulation-focal:2021-04-29
+      image: px4io/px4-dev-simulation-focal:2021-02-04
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -29,9 +28,9 @@ jobs:
         token: ${{ secrets.ACCESS_TOKEN }}
 
     - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.38.0/mavsdk_0.38.0_ubuntu20.04_amd64.deb
     - name: Install MAVSDK
-      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: dpkg -i mavsdk_0.38.0_ubuntu20.04_amd64.deb
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp

.gitignore

@@ -108,5 +108,3 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # SITL
 dataman
 eeprom/
-
-!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*

.gitmodules

@@ -33,7 +33,7 @@
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/PX4/Micro-CDR.git
-	branch = master
+	branch = px4
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -59,14 +59,7 @@
 	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
+	url = https://github.com/UAVCAN/public_regulated_data_types
 [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
-	branch = legacy
-[submodule "src/lib/crypto/monocypher"]
-	path = src/lib/crypto/monocypher
-	url = https://github.com/PX4/Monocypher.git
+	url = https://github.com/UAVCAN/libcanard

.vscode/cmake-variants.yaml

@@ -66,16 +66,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-flow_canbootloader
-    ark_can-gps_default:
-      short: ark_can-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-gps_default
-    ark_can-gps_canbootloader:
-      short: ark_can-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-gps_canbootloader
     av_x-v1_default:
       short: av_x-v1
       buildType: MinSizeRel
@@ -106,26 +96,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: cuav_x7pro_default
-    cubepilot_cubeorange_test:
+    cubepilot_cubeorange_console:
       short: cubepilot_cubeorange
       buildType: MinSizeRel
       settings:
-        CONFIG: cubepilot_orange_test
+        CONFIG: cubepilot_orange_console
     emlid_navio2_default:
       short: emlid_navio2
       buildType: MinSizeRel
       settings:
         CONFIG: emlid_navio2_default
-    freefly_can-rtk-gps_default:
-      short: freefly_can-rtk-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: freefly_can-rtk-gps_default
-    freefly_can-rtk-gps_canbootloader:
-      short: freefly_can-rtk-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: freefly_can-rtk-gps_canbootloader
     holybro_can-gps-v1_canbootloader:
       short: holybro_can-gps-v1_canbootloader
       buildType: MinSizeRel
@@ -146,11 +126,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: modalai_fc-v1_default
-    modalai_fc-v2_default:
-      short: modalai_fc-v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: modalai_fc-v2_default
     mro_ctrl-zero-f7_default:
       short: mro_ctrl-zero-f7
       buildType: MinSizeRel

.vscode/settings.json

@@ -137,5 +137,8 @@
         "workbench.settings.enableNaturalLanguageSearch": false,
         "yaml.schemas": {
                 "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        }
+        },
+        "python.autoComplete.extraPaths": [
+                "/opt/ros/foxy/lib/python3.8/site-packages"
+        ]
 }

CMakeLists.txt

@@ -185,8 +185,6 @@ if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage")
 	set(MAX_CUSTOM_OPT_LEVEL -O0)
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
 	set(MAX_CUSTOM_OPT_LEVEL -O1)
-elseif(CMAKE_BUILD_TYPE MATCHES "Release")
-	set(MAX_CUSTOM_OPT_LEVEL -O3)
 else()
 	if(px4_constrained_flash_build)
 		set(MAX_CUSTOM_OPT_LEVEL -Os)

Jenkinsfile

@@ -15,7 +15,7 @@ pipeline {
         // stage('Catkin build on ROS workspace') {
         //   agent {
         //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-04-29'
+        //       image 'px4io/px4-dev-ros-melodic:2021-02-04'
         //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
         //     }
         //   }
@@ -56,7 +56,7 @@ pipeline {
         stage('Colcon build on ROS2 workspace') {
           agent {
             docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-04-29'
+              image 'px4io/px4-dev-ros2-foxy:2021-02-04'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
             }
           }
@@ -85,7 +85,7 @@ pipeline {
 
         stage('Airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh 'make distclean'
@@ -105,7 +105,7 @@ pipeline {
 
         stage('Parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh 'make distclean'
@@ -125,7 +125,7 @@ pipeline {
 
         stage('Module') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh 'make distclean'
@@ -146,7 +146,7 @@ pipeline {
         stage('uORB graphs') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-04-29'
+              image 'px4io/px4-dev-nuttx-focal:2021-02-04'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -176,7 +176,7 @@ pipeline {
 
         stage('Userguide') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -206,7 +206,7 @@ pipeline {
 
         stage('QGroundControl') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -234,7 +234,7 @@ pipeline {
 
         stage('microRTPS agent') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -264,7 +264,7 @@ pipeline {
 
         stage('PX4 ROS msgs') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -293,7 +293,7 @@ pipeline {
 
         stage('PX4 ROS2 bridge') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -336,7 +336,7 @@ pipeline {
 
         stage('S3') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
           }
           steps {
             sh('export')
@@ -374,7 +374,7 @@ pipeline {
     GIT_COMMITTER_NAME = "PX4BuildBot"
   }
   options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
-    timeout(time: 90, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
+    timeout(time: 60, unit: 'MINUTES')
   }
 }

Makefile

@@ -63,7 +63,7 @@ all: px4_sitl_default
 space := $(subst ,, )
 
 define make_list
-     $(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
+     $(shell cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
 endef
 
 # Parsing
@@ -165,11 +165,6 @@ ifdef PYTHON_EXECUTABLE
 	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif
 
-# Check if the microRTPS agent is to be built
-ifdef BUILD_MICRORTPS_AGENT
-  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
-endif
-
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -473,27 +468,25 @@ validate_module_configs:
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
 
 clean:
-	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
-	@git submodule foreach git clean -dX --force # some submodules generate build artifacts in source
+	@rm -rf "$(SRC_DIR)"/build
 
 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
 	@git submodule update --quiet --init --recursive --force || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --force --jobs 4
+	@git submodule update --init --recursive --force
 
 submodulesupdate:
-	@git submodule update --quiet --init --recursive --jobs 4 || true
+	@git submodule update --quiet --init --recursive || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --jobs 4
+	@git submodule update --init --recursive
 
 gazeboclean:
 	@rm -rf ~/.gazebo/*
 
 distclean: gazeboclean
-	@git submodule deinit --force $(SRC_DIR)
-	@rm -rf "$(SRC_DIR)/build"
-	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
+	@git submodule deinit -f .
+	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
 
 # Help / Error
 # --------------------------------------------------------------------

ROMFS/CMakeLists.txt

@@ -115,7 +115,6 @@ add_custom_command(
 set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
 add_custom_command(
 	OUTPUT ${romfs_extract_stamp}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}

ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt

@@ -34,9 +34,6 @@
 add_subdirectory(airframes)
 
 px4_add_romfs_files(
-	px4-rc.params
-	px4-rc.simulator
-	px4-rc.mavlink
 	rc.replay
 	rcS
 )

ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps

@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (RTPS)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris

ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps.post

@@ -0,0 +1,4 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))

ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1

@@ -14,8 +14,7 @@
 
 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
-
-param set-default FW_AIRSPD_STALL 8
+param set-default ASPD_STALL 10.0
 
 param set-default FW_P_RMAX_NEG 20.0
 param set-default FW_P_RMAX_POS 60.0

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -46,6 +46,8 @@ px4_add_romfs_files(
 	1014_solo
 	1015_iris_obs_avoid
 	1015_iris_obs_avoid.post
+	1016_iris_rtps
+	1016_iris_rtps.post
 	1017_iris_opt_flow_mockup
 	1018_iris_vision_velocity
 	1019_iris_dual_gps

ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink

@@ -1,32 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-udp_offboard_port_local=$((14580+px4_instance))
-udp_offboard_port_remote=$((14540+px4_instance))
-[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
-udp_onboard_payload_port_local=$((14280+px4_instance))
-udp_onboard_payload_port_remote=$((14030+px4_instance))
-udp_onboard_gimbal_port_local=$((13030+px4_instance))
-udp_onboard_gimbal_port_remote=$((13280+px4_instance))
-udp_gcs_port_local=$((18570+px4_instance))
-
-# GCS link
-mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
-mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
-
-# API/Offboard link
-mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
-
-# Onboard link to camera
-mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
-
-# Onboard link to gimbal
-mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote

ROMFS/px4fmu_common/init.d-posix/px4-rc.params

@@ -1,5 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-#param set MAV_SYS_ID $((px4_instance+1))
-#param set IMU_INTEG_RATE 250

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -1,20 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-simulator_tcp_port=$((4560+px4_instance))
-
-# Check if PX4_SIM_HOSTNAME environment variable is empty
-# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-# If both are empty use localhost for simulator
-if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-    echo "PX4 SIM HOST: localhost"
-    simulator start -c $simulator_tcp_port
-  else
-    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
-  fi
-else
-  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
-fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -5,8 +5,7 @@
 # shellcheck disable=SC1091
 . px4-alias.sh
 
-#search path for sourcing px4-rc.*
-PATH="$PATH:${R}etc/init.d-posix"
+SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
 
 #
 # Main SITL startup script
@@ -46,9 +45,9 @@ else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
-	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
+	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
 		exit 1
 	else
 		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
@@ -105,6 +104,15 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
+simulator_tcp_port=$((4560+px4_instance))
+udp_offboard_port_local=$((14580+px4_instance))
+udp_offboard_port_remote=$((14540+px4_instance))
+[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
+udp_onboard_payload_port_local=$((14280+px4_instance))
+udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
+udp_gcs_port_local=$((18570+px4_instance))
 
 if [ $AUTOCNF = yes ]
 then
@@ -208,14 +216,25 @@ fi
 # Simulator IMU data provided at 250 Hz
 param set IMU_INTEG_RATE 250
 
-#user defined params for instances can be in PATH
-. px4-rc.params
-
 dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
 then
-  . px4-rc.simulator
+  # Check if PX4_SIM_HOSTNAME environment variable is empty
+  # If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+  # If both are empty use localhost for simulator
+  if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+    if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+      echo "PX4 SIM HOST: localhost"
+      simulator start -c $simulator_tcp_port
+    else
+      echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+      simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port 
+    fi
+  else
+    echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+    simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port 
+  fi
 fi
 load_mon start
 battery_simulator start
@@ -225,12 +244,6 @@ sensors start
 commander start
 navigator start
 
-# Try to start the micrortps_client with UDP transport if module exists
-if px4-micrortps_client status > /dev/null 2>&1
-then
-	# shellcheck disable=SC2154
-	micrortps_client start -t UDP $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
-fi
 
 if param greater -s MNT_MODE_IN -1
 then
@@ -259,8 +272,32 @@ fi
 #
 . ${R}etc/init.d/rc.vehicle_setup
 
-#user defined mavlink streams for instances can be in PATH
-. px4-rc.mavlink
+if [ -e etc/init.d-posix/rc.mavlink_override ]
+then
+	echo "Running non-default mavlink config rc.mavlink_override"
+	. ${R}etc/init.d-posix/rc.mavlink_override
+else
+	# GCS link
+	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
+	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
+	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
+	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
+	mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
+	mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
+	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
+
+	# API/Offboard link
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
+
+	# Onboard link to camera
+	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+
+	# Onboard link to gimbal
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
+fi
 
 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -71,6 +71,7 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
+param set-default MPC_POS_MODE 3
 param set-default MPC_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
@@ -110,6 +111,5 @@ set MAV_TYPE 22
 set MIXER babyshark
 set MIXER_AUX pass
 
-# Mark outputs for the alternate rate
-# or D-Shot
 set PWM_OUT 5678
+set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -2,7 +2,7 @@
 #
 # @name Aion Robotics R1 UGV
 #
-# @url https://www.aionrobotics.com/r1
+# @url http://docs.aionrobotics.com/en/latest/r1-ugv.html
 #
 # @type Rover
 # @class Rover

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -16,8 +16,6 @@ param set-default COM_POS_FS_EPV 30
 param set-default COM_POS_FS_GAIN 0
 param set-default COM_POS_FS_PROB 1
 param set-default COM_VEL_FS_EVH 5
-# Disable preflight disarm to not interfere with external launching
-param set-default COM_DISARM_PRFLT -1
 
 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -26,12 +26,6 @@ then
 	batt_smbus start -X
 fi
 
-# Start batmon driver if enabled using BATMON_DRIVER_EN
-if param compare -s BATMON_DRIVER_EN 1
-then
-	batmon start -X  #start on external bus
-fi
-
 # Sensors on the PWM interface bank
 if param compare -s SENS_EN_LL40LS 1
 then
@@ -117,14 +111,7 @@ fi
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then
-	if param compare -s SENS_OR_ADIS164X 0
-	then
-		adis16448 -S start
-	fi
-	if param compare -s SENS_OR_ADIS164X 4
-	then
-		adis16448 -S start -R 4
-	fi
+	adis16448 -S start
 fi
 
 # probe for optional external I2C devices

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -23,7 +23,6 @@ param set-default MPC_XY_ERR_MAX 5
 param set-default MPC_XY_VEL_MAX 4
 param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_JERK_MAX 4.5
-param set-default MPC_YAW_MODE 4
 
 param set-default NAV_ACC_RAD 3
 

ROMFS/px4fmu_common/init.d/rcS

@@ -30,7 +30,7 @@ set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
-set LOGGER_BUF 8
+set LOGGER_BUF  14
 set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
@@ -81,6 +81,33 @@ then
 			hardfault_log reset
 		fi
 	fi
+
+	# Prevent MacOS and Ubuntu from creating unnecessary temporary files on the microSD card
+
+	# block MacOS Spotlight indexing (.Spotlight-V100 folder)
+	if [ ! -f "/fs/microsd/.metadata_never_index" ]; then
+		cat > /fs/microsd/.metadata_never_index
+	fi
+
+	# block MacOS trashes
+	if [ ! -f "/fs/microsd/.Trashes" ]; then
+		cat > /fs/microsd/.Trashes
+	fi
+
+	# block MacOS logging of filesystem events
+	if [ ! -d "/fs/microsd/.fseventsd" ]; then
+		mkdir /fs/microsd/.fseventsd
+	fi
+
+	if [ ! -f "/fs/microsd/.fseventsd/no_log" ]; then
+		cat > /fs/microsd/.fseventsd/no_log
+	fi
+
+	# block Ubuntu trash
+	if [ ! -f "/fs/microsd/.Trash-1000" ]; then
+		cat > /fs/microsd/.Trash-1000
+	fi
+
 else
 	# tune SD_INIT
 	set STARTUP_TUNE 14 # tune 14 = SD_INIT
@@ -377,30 +404,21 @@ else
 
 	if param greater -s TRIG_MODE 0
 	then
-		if param compare TRIG_PINS_EX 0
+		# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
+		if param compare TRIG_PINS 56
 		then
-			# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
-			if param compare TRIG_PINS 56
-			then
-				# clear pins 5 and 6
-				set FMU_MODE pwm4
-				set AUX_MODE pwm4
-			else
-				if param compare TRIG_PINS 78
-				then
-					# clear pins 7 and 8
-					set FMU_MODE pwm6
-					set AUX_MODE pwm6
-				else
-					set FMU_MODE none
-					set AUX_MODE none
-				fi
-			fi
+			# clear pins 5 and 6
+			set FMU_MODE pwm4
+			set AUX_MODE pwm4
 		else
-			if param compare TRIG_PINS_EX 12288
+			if param compare TRIG_PINS 78
 			then
-				set FMU_MODE pwm12
-				set AUX_MODE pwm12
+				# clear pins 7 and 8
+				set FMU_MODE pwm6
+				set AUX_MODE pwm6
+			else
+				set FMU_MODE none
+				set AUX_MODE none
 			fi
 		fi
 

Tools/astyle/check_code_style_all.sh

@@ -59,7 +59,7 @@ if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ]; then
 	fi
 fi
 
-${DIR}/files_to_check_code_style.sh | xargs -P 8 -I % ${DIR}/check_code_style.sh %
+${DIR}/files_to_check_code_style.sh | xargs -n 1 -P 8 -I % ${DIR}/check_code_style.sh %
 
 if [ $? -eq 0 ]; then
     echo "Format checks passed"

Tools/astyle/files_to_check_code_style.sh

@@ -22,5 +22,4 @@ exec find boards msg src platforms test \
     -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 \
-    -path src/lib/crypto/monocypher -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/bloaty_static_ram.bloaty

@@ -1,13 +0,0 @@
-custom_data_source: {
-  name: "bloaty_static_ram"
-  base_data_source: "sections"
-
-  rewrite: {
-    pattern: "^\\.bss"
-    replacement: "ram"
-  }
-  rewrite: {
-    pattern: "^\\.data"
-    replacement: "ram"
-  }
-}

Tools/build_micrortps_agent.sh

@@ -1,15 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-SCRIPT_DIR=$0
-if [[ ${SCRIPT_DIR:0:1} != '/' ]]; then
-  SCRIPT_DIR=$(dirname $(realpath -s "$PWD/$0"))
-fi
-
-PX4_DIR=$(cd "$(dirname $(dirname $SCRIPT_DIR))" && pwd)
-
-if [ -d $PX4_DIR/build/*_rtps ]; then
-  cd $PX4_DIR/build/*_rtps/src/modules/micrortps_bridge/micrortps_agent/
-  cmake -Bbuild
-  cmake --build build -j$(nproc --all)
-fi

Tools/cryptotools.py

@@ -81,8 +81,7 @@ def sign(bin_file_path, key_file_path=None, generated_key_file=None):
         # Align to 4 bytes. Signature always starts at
         # 4 byte aligned address, but the signee size
         # might not be aligned
-        if len(signee_bin)%4 != 0:
-            signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)
+        signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)
 
     try:
         with open(key_file_path,mode='r') as f:
@@ -134,7 +133,7 @@ if(__name__ == "__main__"):
     parser.add_argument("signee", help=".bin file to add signature", nargs='?', default=None)
     parser.add_argument("signed", help="signed output .bin", nargs='?', default=None)
 
-    parser.add_argument("--key", help="key.json file", default="Tools/test_keys/test_keys.json")
+    parser.add_argument("--key", help="key.json file", default="Tools/test_keys.json")
     parser.add_argument("--rdct", help="binary R&D certificate file", default=None)
     parser.add_argument("--genkey", help="new generated key", default=None)
     args = parser.parse_args()
@@ -153,7 +152,7 @@ if(__name__ == "__main__"):
         sys.exit(1)
 
     # Issue a warning when signing with testing key
-    if args.key=='Tools/test_keys/test_keys.json':
+    if args.key=='Tools/test_keys.json':
         print("WARNING: Signing with PX4 test key")
 
     # Sign the binary

Tools/docker_run.sh

@@ -4,7 +4,7 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-02-04"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
@@ -30,7 +30,7 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
 fi
 
 # docker hygiene

Tools/gazebo_sitl_multiple_run.sh

@@ -20,7 +20,7 @@ function spawn_model() {
 	X=${X:=0.0}
 	Y=${Y:=$((3*${N}))}
 
-	SUPPORTED_MODELS=("iris" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
+	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
 	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
 	then
 		echo "ERROR: Currently only vehicle model $MODEL is not supported!"

Tools/mavlink_shell.py

@@ -12,7 +12,6 @@ import sys, select
 import termios
 from timeit import default_timer as timer
 from argparse import ArgumentParser
-import os
 
 try:
     from pymavlink import mavutil
@@ -136,20 +135,15 @@ def main():
 
     mav_serialport.write('\n') # make sure the shell is started
 
-    # disable echo & avoid buffering on stdin
+    # setup the console, so we can read one char at a time
     fd_in = sys.stdin.fileno()
-    try:
-        old_attr = termios.tcgetattr(fd_in)
-        new_attr = termios.tcgetattr(fd_in)
-        new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
-        new_attr[3] = new_attr[3] & ~termios.ICANON
-        termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
-    except termios.error:
-        # tcgetattr can fail if stdin is not a tty
-        old_attr = None
-    ubuf_stdin = os.fdopen(fd_in, 'rb', buffering=0)
+    old_attr = termios.tcgetattr(fd_in)
+    new_attr = termios.tcgetattr(fd_in)
+    new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
+    new_attr[3] = new_attr[3] & ~termios.ICANON
 
     try:
+        termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
         cur_line = ''
         command_history = []
         cur_history_index = 0
@@ -162,19 +156,11 @@ def main():
 
         next_heartbeat_time = timer()
 
-        quit_time = None
-        while quit_time is None or quit_time > timer():
+        while True:
             while True:
-                i, o, e = select.select([ubuf_stdin], [], [], 0)
+                i, o, e = select.select([sys.stdin], [], [], 0)
                 if not i: break
-                ch = ubuf_stdin.read(1).decode('utf8')
-
-                if len(ch) == 0: # EOF
-                    if quit_time is None:
-                        # run a bit longer to read the response (we could also
-                        # read until we get a prompt)
-                        quit_time = timer() + 1
-                    break
+                ch = sys.stdin.read(1)
 
                 # provide a simple shell with command history
                 if ch == '\n':
@@ -196,8 +182,8 @@ def main():
                         cur_line = cur_line[:-1]
                         sys.stdout.write(ch)
                 elif ord(ch) == 27:
-                    ch = ubuf_stdin.read(1).decode('utf8') # skip one
-                    ch = ubuf_stdin.read(1).decode('utf8')
+                    ch = sys.stdin.read(1) # skip one
+                    ch = sys.stdin.read(1)
                     if ch == 'A': # arrow up
                         if cur_history_index > 0:
                             cur_history_index -= 1
@@ -237,8 +223,7 @@ def main():
         mav_serialport.close()
 
     finally:
-        if old_attr:
-            termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)
+        termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)
 
 
 if __name__ == '__main__':

Tools/process_sensor_caldata.py

@@ -1,4 +1,4 @@
-#! /usr/bin/env python3
+#! /usr/bin/env python
 
 from __future__ import print_function
 
@@ -7,7 +7,6 @@ import os
 import math
 import matplotlib.pyplot as plt
 import numpy as np
-import scipy as sp
 
 from pyulog import *
 
@@ -64,9 +63,6 @@ def resampleWithDeltaX(x,y):
 
     return resampledX,resampledY
 
-def median_filter(data):
-    return sp.signal.medfilt(data, 31)
-
 parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
 parser.add_argument('filename', metavar='file.ulg', help='ULog input file')
 parser.add_argument('--no_resample', dest='noResample', action='store_const',
@@ -188,16 +184,12 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
     temp_rel_resample = np.linspace(gyro_0_params['TC_G0_TMIN']-gyro_0_params['TC_G0_TREF'], gyro_0_params['TC_G0_TMAX']-gyro_0_params['TC_G0_TREF'], 100)
     temp_resample = temp_rel_resample + gyro_0_params['TC_G0_TREF']
 
-    sensor_gyro_0['x'] = median_filter(sensor_gyro_0['x'])
-    sensor_gyro_0['y'] = median_filter(sensor_gyro_0['y'])
-    sensor_gyro_0['z'] = median_filter(sensor_gyro_0['z'])
-
     # fit X axis
     if noResample:
-        coef_gyro_0_x = np.polyfit(temp_rel, sensor_gyro_0['x'], 3)
+        coef_gyro_0_x = np.polyfit(temp_rel,sensor_gyro_0['x'],3)
     else:
-        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['x'])
-        coef_gyro_0_x = np.polyfit(temp, sens, 3)
+        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['x'])
+        coef_gyro_0_x = np.polyfit(temp, sens ,3)
 
     gyro_0_params['TC_G0_X3_0'] = coef_gyro_0_x[0]
     gyro_0_params['TC_G0_X2_0'] = coef_gyro_0_x[1]
@@ -208,10 +200,10 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
 
     # fit Y axis
     if noResample:
-        coef_gyro_0_y = np.polyfit(temp_rel, sensor_gyro_0['y'], 3)
+        coef_gyro_0_y = np.polyfit(temp_rel,sensor_gyro_0['y'],3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['y'])
-        coef_gyro_0_y = np.polyfit(temp, sens, 3)
+        coef_gyro_0_y = np.polyfit(temp, sens ,3)
 
     gyro_0_params['TC_G0_X3_1'] = coef_gyro_0_y[0]
     gyro_0_params['TC_G0_X2_1'] = coef_gyro_0_y[1]
@@ -222,9 +214,9 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
 
     # fit Z axis
     if noResample:
-        coef_gyro_0_z = np.polyfit(temp_rel, sensor_gyro_0['z'],3)
+        coef_gyro_0_z = np.polyfit(temp_rel,sensor_gyro_0['z'],3)
     else:
-        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['z'])
+        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['z'])
         coef_gyro_0_z = np.polyfit(temp, sens ,3)
 
     gyro_0_params['TC_G0_X3_2'] = coef_gyro_0_z[0]
@@ -300,10 +292,6 @@ if num_gyros >= 2 and not math.isnan(sensor_gyro_1['temperature'][0]):
     temp_rel_resample = np.linspace(gyro_1_params['TC_G1_TMIN']-gyro_1_params['TC_G1_TREF'], gyro_1_params['TC_G1_TMAX']-gyro_1_params['TC_G1_TREF'], 100)
     temp_resample = temp_rel_resample + gyro_1_params['TC_G1_TREF']
 
-    sensor_gyro_1['x'] = median_filter(sensor_gyro_1['x'])
-    sensor_gyro_1['y'] = median_filter(sensor_gyro_1['y'])
-    sensor_gyro_1['z'] = median_filter(sensor_gyro_1['z'])
-
     # fit X axis
     if noResample:
         coef_gyro_1_x = np.polyfit(temp_rel,sensor_gyro_1['x'],3)
@@ -412,10 +400,6 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
     temp_rel_resample = np.linspace(gyro_2_params['TC_G2_TMIN']-gyro_2_params['TC_G2_TREF'], gyro_2_params['TC_G2_TMAX']-gyro_2_params['TC_G2_TREF'], 100)
     temp_resample = temp_rel_resample + gyro_2_params['TC_G2_TREF']
 
-    sensor_gyro_2['x'] = median_filter(sensor_gyro_2['x'])
-    sensor_gyro_2['y'] = median_filter(sensor_gyro_2['y'])
-    sensor_gyro_2['z'] = median_filter(sensor_gyro_2['z'])
-
     # fit X axis
     if noResample:
         coef_gyro_2_x = np.polyfit(temp_rel,sensor_gyro_2['x'],3)
@@ -432,10 +416,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
 
     # fit Y axis
     if noResample:
-        coef_gyro_2_y = np.polyfit(temp_rel, sensor_gyro_2['y'], 3)
+        coef_gyro_2_y = np.polyfit(temp_rel,sensor_gyro_2['y'],3)
     else:
-        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_2['y'])
-        coef_gyro_2_y = np.polyfit(temp, sens, 3)
+        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['y'])
+        coef_gyro_2_y = np.polyfit(temp, sens ,3)
 
     gyro_2_params['TC_G2_X3_1'] = coef_gyro_2_y[0]
     gyro_2_params['TC_G2_X2_1'] = coef_gyro_2_y[1]
@@ -446,10 +430,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
 
     # fit Z axis
     if noResample:
-        coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'], 3)
+        coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'],3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['z'])
-        coef_gyro_2_z = np.polyfit(temp, sens, 3)
+        coef_gyro_2_z = np.polyfit(temp, sens ,3)
 
     gyro_2_params['TC_G2_X3_2'] = coef_gyro_2_z[0]
     gyro_2_params['TC_G2_X2_2'] = coef_gyro_2_z[1]
@@ -524,12 +508,8 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
     temp_rel_resample = np.linspace(gyro_3_params['TC_G3_TMIN']-gyro_3_params['TC_G3_TREF'], gyro_3_params['TC_G3_TMAX']-gyro_3_params['TC_G3_TREF'], 100)
     temp_resample = temp_rel_resample + gyro_3_params['TC_G3_TREF']
 
-    sensor_gyro_3['x'] = median_filter(sensor_gyro_3['x'])
-    sensor_gyro_3['y'] = median_filter(sensor_gyro_3['y'])
-    sensor_gyro_3['z'] = median_filter(sensor_gyro_3['z'])
-
     # fit X axis
-    coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'], 3)
+    coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'],3)
     gyro_3_params['TC_G3_X3_0'] = coef_gyro_3_x[0]
     gyro_3_params['TC_G3_X2_0'] = coef_gyro_3_x[1]
     gyro_3_params['TC_G3_X1_0'] = coef_gyro_3_x[2]
@@ -538,7 +518,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
     gyro_3_x_resample = fit_coef_gyro_3_x(temp_rel_resample)
 
     # fit Y axis
-    coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'], 3)
+    coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'],3)
     gyro_3_params['TC_G3_X3_1'] = coef_gyro_3_y[0]
     gyro_3_params['TC_G3_X2_1'] = coef_gyro_3_y[1]
     gyro_3_params['TC_G3_X1_1'] = coef_gyro_3_y[2]
@@ -547,7 +527,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
     gyro_3_y_resample = fit_coef_gyro_3_y(temp_rel_resample)
 
     # fit Z axis
-    coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'], 3)
+    coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'],3)
     gyro_3_params['TC_G3_X3_2'] = coef_gyro_3_z[0]
     gyro_3_params['TC_G3_X2_2'] = coef_gyro_3_z[1]
     gyro_3_params['TC_G3_X1_2'] = coef_gyro_3_z[2]
@@ -560,8 +540,8 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
 
     # draw plots
     plt.subplot(3,1,1)
-    plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'], 'b')
-    plt.plot(temp_resample,gyro_3_x_resample, 'r')
+    plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'],'b')
+    plt.plot(temp_resample,gyro_3_x_resample,'r')
     plt.title('Gyro 2 ({}) Bias vs Temperature'.format(gyro_3_params['TC_G3_ID']))
     plt.ylabel('X bias (rad/s)')
     plt.xlabel('temperature (degC)')
@@ -621,17 +601,13 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
     temp_rel_resample = np.linspace(accel_0_params['TC_A0_TMIN']-accel_0_params['TC_A0_TREF'], accel_0_params['TC_A0_TMAX']-accel_0_params['TC_A0_TREF'], 100)
     temp_resample = temp_rel_resample + accel_0_params['TC_A0_TREF']
 
-    sensor_accel_0['x'] = median_filter(sensor_accel_0['x'])
-    sensor_accel_0['y'] = median_filter(sensor_accel_0['y'])
-    sensor_accel_0['z'] = median_filter(sensor_accel_0['z'])
-
     # fit X axis
     correction_x = sensor_accel_0['x'] - np.median(sensor_accel_0['x'])
     if noResample:
-        coef_accel_0_x = np.polyfit(temp_rel,correction_x, 3)
+        coef_accel_0_x = np.polyfit(temp_rel,correction_x,3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_0_x = np.polyfit(temp, sens, 3)
+        coef_accel_0_x = np.polyfit(temp, sens ,3)
 
     accel_0_params['TC_A0_X3_0'] = coef_accel_0_x[0]
     accel_0_params['TC_A0_X2_0'] = coef_accel_0_x[1]
@@ -641,12 +617,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
     correction_x_resample = fit_coef_accel_0_x(temp_rel_resample)
 
     # fit Y axis
-    correction_y = sensor_accel_0['y'] - np.median(sensor_accel_0['y'])
+    correction_y = sensor_accel_0['y']-np.median(sensor_accel_0['y'])
     if noResample:
-        coef_accel_0_y = np.polyfit(temp_rel, correction_y, 3)
+        coef_accel_0_y = np.polyfit(temp_rel,correction_y,3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,correction_y)
-        coef_accel_0_y = np.polyfit(temp, sens, 3)
+        coef_accel_0_y = np.polyfit(temp, sens ,3)
 
     accel_0_params['TC_A0_X3_1'] = coef_accel_0_y[0]
     accel_0_params['TC_A0_X2_1'] = coef_accel_0_y[1]
@@ -656,12 +632,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
     correction_y_resample = fit_coef_accel_0_y(temp_rel_resample)
 
     # fit Z axis
-    correction_z = sensor_accel_0['z'] - np.median(sensor_accel_0['z'])
+    correction_z = sensor_accel_0['z']-np.median(sensor_accel_0['z'])
     if noResample:
-        coef_accel_0_z = np.polyfit(temp_rel,correction_z, 3)
+        coef_accel_0_z = np.polyfit(temp_rel,correction_z,3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,correction_z)
-        coef_accel_0_z = np.polyfit(temp, sens, 3)
+        coef_accel_0_z = np.polyfit(temp, sens ,3)
 
     accel_0_params['TC_A0_X3_2'] = coef_accel_0_z[0]
     accel_0_params['TC_A0_X2_2'] = coef_accel_0_z[1]
@@ -736,17 +712,13 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
     temp_rel_resample = np.linspace(accel_1_params['TC_A1_TMIN']-accel_1_params['TC_A1_TREF'], accel_1_params['TC_A1_TMAX']-accel_1_params['TC_A1_TREF'], 100)
     temp_resample = temp_rel_resample + accel_1_params['TC_A1_TREF']
 
-    sensor_accel_1['x'] = median_filter(sensor_accel_1['x'])
-    sensor_accel_1['y'] = median_filter(sensor_accel_1['y'])
-    sensor_accel_1['z'] = median_filter(sensor_accel_1['z'])
-
     # fit X axis
-    correction_x = sensor_accel_1['x'] - np.median(sensor_accel_1['x'])
+    correction_x = sensor_accel_1['x']-np.median(sensor_accel_1['x'])
     if noResample:
-        coef_accel_1_x = np.polyfit(temp_rel, correction_x, 3)
+        coef_accel_1_x = np.polyfit(temp_rel,correction_x,3)
     else:
-        temp, sens = resampleWithDeltaX(temp_rel, correction_x)
-        coef_accel_1_x = np.polyfit(temp, sens, 3)
+        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
+        coef_accel_1_x = np.polyfit(temp, sens ,3)
 
     accel_1_params['TC_A1_X3_0'] = coef_accel_1_x[0]
     accel_1_params['TC_A1_X2_0'] = coef_accel_1_x[1]
@@ -756,7 +728,7 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
     correction_x_resample = fit_coef_accel_1_x(temp_rel_resample)
 
     # fit Y axis
-    correction_y = sensor_accel_1['y'] - np.median(sensor_accel_1['y'])
+    correction_y = sensor_accel_1['y']-np.median(sensor_accel_1['y'])
     if noResample:
         coef_accel_1_y = np.polyfit(temp_rel,correction_y,3)
     else:
@@ -771,12 +743,12 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
     correction_y_resample = fit_coef_accel_1_y(temp_rel_resample)
 
     # fit Z axis
-    correction_z = sensor_accel_1['z'] - np.median(sensor_accel_1['z'])
+    correction_z = (sensor_accel_1['z'])-np.median(sensor_accel_1['z'])
     if noResample:
-        coef_accel_1_z = np.polyfit(temp_rel,correction_z, 3)
+        coef_accel_1_z = np.polyfit(temp_rel,correction_z,3)
     else:
         temp, sens = resampleWithDeltaX(temp_rel,correction_z)
-        coef_accel_1_z = np.polyfit(temp, sens, 3)
+        coef_accel_1_z = np.polyfit(temp, sens ,3)
 
     accel_1_params['TC_A1_X3_2'] = coef_accel_1_z[0]
     accel_1_params['TC_A1_X2_2'] = coef_accel_1_z[1]
@@ -852,17 +824,13 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
     temp_rel_resample = np.linspace(accel_2_params['TC_A2_TMIN']-accel_2_params['TC_A2_TREF'], accel_2_params['TC_A2_TMAX']-accel_2_params['TC_A2_TREF'], 100)
     temp_resample = temp_rel_resample + accel_2_params['TC_A2_TREF']
 
-    sensor_accel_2['x'] = median_filter(sensor_accel_2['x'])
-    sensor_accel_2['y'] = median_filter(sensor_accel_2['y'])
-    sensor_accel_2['z'] = median_filter(sensor_accel_2['z'])
-
     # fit X axis
-    correction_x = sensor_accel_2['x'] - np.median(sensor_accel_2['x'])
+    correction_x = sensor_accel_2['x']-np.median(sensor_accel_2['x'])
     if noResample:
-        coef_accel_2_x = np.polyfit(temp_rel,correction_x, 3)
+        coef_accel_2_x = np.polyfit(temp_rel,correction_x,3)
     else:
-        temp, sens = resampleWithDeltaX(temp_rel, correction_x)
-        coef_accel_2_x = np.polyfit(temp, sens, 3)
+        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
+        coef_accel_2_x = np.polyfit(temp, sens ,3)
 
     accel_2_params['TC_A2_X3_0'] = coef_accel_2_x[0]
     accel_2_params['TC_A2_X2_0'] = coef_accel_2_x[1]
@@ -872,7 +840,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
     correction_x_resample = fit_coef_accel_2_x(temp_rel_resample)
 
     # fit Y axis
-    correction_y = sensor_accel_2['y'] - np.median(sensor_accel_2['y'])
+    correction_y = sensor_accel_2['y']-np.median(sensor_accel_2['y'])
     if noResample:
         coef_accel_2_y = np.polyfit(temp_rel,correction_y,3)
     else:
@@ -887,7 +855,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
     correction_y_resample = fit_coef_accel_2_y(temp_rel_resample)
 
     # fit Z axis
-    correction_z = sensor_accel_2['z'] - np.median(sensor_accel_2['z'])
+    correction_z = sensor_accel_2['z']-np.median(sensor_accel_2['z'])
     if noResample:
         coef_accel_2_z = np.polyfit(temp_rel,correction_z,3)
     else:
@@ -967,13 +935,9 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
     temp_rel_resample = np.linspace(accel_3_params['TC_A3_TMIN']-accel_3_params['TC_A3_TREF'], accel_3_params['TC_A3_TMAX']-accel_3_params['TC_A3_TREF'], 100)
     temp_resample = temp_rel_resample + accel_3_params['TC_A3_TREF']
 
-    sensor_accel_3['x'] = median_filter(sensor_accel_3['x'])
-    sensor_accel_3['y'] = median_filter(sensor_accel_3['y'])
-    sensor_accel_3['z'] = median_filter(sensor_accel_3['z'])
-
     # fit X axis
-    correction_x = sensor_accel_3['x'] - np.median(sensor_accel_3['x'])
-    coef_accel_3_x = np.polyfit(temp_rel, correction_x, 3)
+    correction_x = sensor_accel_3['x']-np.median(sensor_accel_3['x'])
+    coef_accel_3_x = np.polyfit(temp_rel,correction_x,3)
     accel_3_params['TC_A3_X3_0'] = coef_accel_3_x[0]
     accel_3_params['TC_A3_X2_0'] = coef_accel_3_x[1]
     accel_3_params['TC_A3_X1_0'] = coef_accel_3_x[2]
@@ -982,8 +946,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
     correction_x_resample = fit_coef_accel_3_x(temp_rel_resample)
 
     # fit Y axis
-    correction_y = sensor_accel_3['y'] - np.median(sensor_accel_3['y'])
-    coef_accel_3_y = np.polyfit(temp_rel, correction_y, 3)
+    correction_y = sensor_accel_3['y']-np.median(sensor_accel_3['y'])
+    coef_accel_3_y = np.polyfit(temp_rel,correction_y,3)
     accel_3_params['TC_A3_X3_1'] = coef_accel_3_y[0]
     accel_3_params['TC_A3_X2_1'] = coef_accel_3_y[1]
     accel_3_params['TC_A3_X1_1'] = coef_accel_3_y[2]
@@ -992,8 +956,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
     correction_y_resample = fit_coef_accel_3_y(temp_rel_resample)
 
     # fit Z axis
-    correction_z = sensor_accel_3['z'] - np.median(sensor_accel_3['z'])
-    coef_accel_3_z = np.polyfit(temp_rel, correction_z, 3)
+    correction_z = sensor_accel_3['z']-np.median(sensor_accel_3['z'])
+    coef_accel_3_z = np.polyfit(temp_rel,correction_z,3)
     accel_3_params['TC_A3_X3_2'] = coef_accel_3_z[0]
     accel_3_params['TC_A3_X2_2'] = coef_accel_3_z[1]
     accel_3_params['TC_A3_X1_2'] = coef_accel_3_z[2]
@@ -1060,10 +1024,8 @@ temp_rel = sensor_baro_0['temperature'] - baro_0_params['TC_B0_TREF']
 temp_rel_resample = np.linspace(baro_0_params['TC_B0_TMIN']-baro_0_params['TC_B0_TREF'], baro_0_params['TC_B0_TMAX']-baro_0_params['TC_B0_TREF'], 100)
 temp_resample = temp_rel_resample + baro_0_params['TC_B0_TREF']
 
-sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
-
 # fit data
-median_pressure = np.median(sensor_baro_0['pressure'])
+median_pressure = np.median(sensor_baro_0['pressure']);
 if noResample:
     coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
 else:
@@ -1119,10 +1081,8 @@ if num_baros >= 2:
     temp_rel_resample = np.linspace(baro_1_params['TC_B1_TMIN']-baro_1_params['TC_B1_TREF'], baro_1_params['TC_B1_TMAX']-baro_1_params['TC_B1_TREF'], 100)
     temp_resample = temp_rel_resample + baro_1_params['TC_B1_TREF']
 
-    sensor_baro_1['pressure'] = median_filter(sensor_baro_1['pressure'])
-
     # fit data
-    median_pressure = np.median(sensor_baro_1['pressure'])
+    median_pressure = np.median(sensor_baro_1['pressure']);
     if noResample:
         coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
     else:
@@ -1179,10 +1139,8 @@ if num_baros >= 3:
     temp_rel_resample = np.linspace(baro_2_params['TC_B2_TMIN']-baro_2_params['TC_B2_TREF'], baro_2_params['TC_B2_TMAX']-baro_2_params['TC_B2_TREF'], 100)
     temp_resample = temp_rel_resample + baro_2_params['TC_B2_TREF']
 
-    sensor_baro_2['pressure'] = median_filter(sensor_baro_2['pressure'])
-
     # fit data
-    median_pressure = np.median(sensor_baro_2['pressure'])
+    median_pressure = np.median(sensor_baro_2['pressure']);
     if noResample:
         coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
     else:
@@ -1239,8 +1197,6 @@ if num_baros >= 4:
     temp_rel_resample = np.linspace(baro_3_params['TC_B3_TMIN']-baro_3_params['TC_B3_TREF'], baro_3_params['TC_B3_TMAX']-baro_3_params['TC_B3_TREF'], 100)
     temp_resample = temp_rel_resample + baro_3_params['TC_B3_TREF']
 
-    sensor_baro_3['pressure'] = median_filter(sensor_baro_3['pressure'])
-
     # fit data
     median_pressure = np.median(sensor_baro_3['pressure'])
     coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa

Tools/px4airframes/markdownout.py

@@ -6,7 +6,7 @@ import html
 class MarkdownTablesOutput():
     def __init__(self, groups, board, image_path):
         result = ("# Airframes Reference\n"
-                  "> **Note** **This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/master/Tools/px4airframes/markdownout.py) from the source code**.\n"
+                  "> **Note** **This list is [auto-generated](https://github.com/PX4/Firmware/edit/master/Tools/px4airframes/markdownout.py) from the source code**.\n"
                   "> \n"
                   "> **AUX** channels may not be present on some flight controllers.\n"
                   "> If present, PWM AUX channels are commonly labelled **AUX OUT**.\n"

Tools/px4airframes/srcparser.py

@@ -98,8 +98,6 @@ class ParameterGroup(object):
             return "Boat"
         elif (self.name == "Balloon"):
             return "Balloon"
-        elif (self.name == "Vectored 6 DOF UUV"):
-            return "Vectored6DofUUV"
         return "AirframeUnknown"
 
     def GetParams(self):

Tools/px4moduledoc/markdownout.py

@@ -28,7 +28,7 @@ available commands, and in most cases `command help` will print the usage.
 Since this is generated from source, errors must be reported/fixed
 in the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository.
 The documentation pages can be generated by running the following command from
-the root of the PX4-Autopilot directory:
+the root of the Firmware directory:
 ```
 make module_documentation
 ```
@@ -66,7 +66,7 @@ The generated files will be written to the `modules` directory.
         result = ''
         for module in module_list:
             result += "## %s\n" % module.name()
-            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/master/src/%s)\n\n" % (module.scope(), module.scope())
+            result += "Source: [%s](https://github.com/PX4/Firmware/tree/master/src/%s)\n\n" % (module.scope(), module.scope())
             doc = module.documentation()
             if len(doc) > 0:
                 result += "%s\n" % doc

Tools/px_uploader.py

@@ -56,6 +56,7 @@ from __future__ import print_function
 import sys
 import argparse
 import binascii
+import serial
 import socket
 import struct
 import json
@@ -67,16 +68,6 @@ import os
 
 from sys import platform as _platform
 
-try:
-    import serial
-except ImportError as e:
-    print("Failed to import serial: " + str(e))
-    print("")
-    print("You may need to install it using:")
-    print("    pip3 install --user pyserial")
-    print("")
-    sys.exit(1)
-
 # Detect python version
 if sys.version_info[0] < 3:
     runningPython3 = False
@@ -735,6 +726,29 @@ def main():
         print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
         print("==========================================================================================================")
 
+    # We need to check for pyserial because the import itself doesn't
+    # seem to fail, at least not on macOS.
+    pyserial_installed = False
+    try:
+        if serial.__version__:
+            pyserial_installed = True
+    except:
+        pass
+
+    try:
+        if serial.VERSION:
+            pyserial_installed = True
+    except:
+        pass
+
+    if not pyserial_installed:
+        print("Error: pyserial not installed!")
+        print("")
+        print("You may need to install it using:")
+        print("    pip3 install --user pyserial")
+        print("")
+        sys.exit(1)
+
     # Load the firmware file
     fw = firmware(args.firmware)
 

Tools/setup/arch.sh

@@ -155,7 +155,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
 			# fix VMWare 3D graphics acceleration for gazebo
 			exportline="export SVGA_VGPU10=0"
 
-			if !grep -Fxq "$exportline" $HOME/.profile; then
+			if grep -Fxq "$exportline" $HOME/.profile; then
+			else
 				echo $exportline >> $HOME/.profile;
 			fi
 		fi

Tools/setup/macos.sh

@@ -45,7 +45,7 @@ fi
 
 # Python dependencies
 echo "Installing PX4 Python3 dependencies"
-python3 -m pip install --user -r ${DIR}/requirements.txt
+pip3 install --user -r ${DIR}/requirements.txt
 
 # Optional, but recommended additional simulation tools:
 if [[ $INSTALL_SIM == "--sim-tools" ]]; then

Tools/setup/requirements.txt

@@ -6,7 +6,7 @@ empy>=3.3
 jinja2>=2.8
 matplotlib>=3.0.*
 numpy>=1.13
-nunavut>=1.1.0
+nunavut
 packaging
 pandas>=0.21
 pkgconfig
@@ -15,7 +15,7 @@ pygments
 wheel>=0.31.1
 pymavlink
 pyros-genmsg
-pyserial
+pyserial>=3.0
 pyulog>=0.5.0
 pyyaml
 requests

Tools/setup/ubuntu.sh

@@ -115,32 +115,18 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo "Installing NuttX dependencies"
 
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		autoconf \
 		automake \
-		binutils-dev \
 		bison \
-		build-essential \
+		bzip2 \
+		file \
 		flex \
-		g++-multilib \
-		gcc-multilib \
 		gdb-multiarch \
-		genromfs \
-		gettext \
 		gperf \
-		kconfig-frontends \
-		libelf-dev \
-		libexpat-dev \
-		libgmp-dev \
-		libisl-dev \
-		libmpc-dev \
-		libmpfr-dev \
-		libncurses5-dev \
-		libncursesw5-dev \
+		libncurses-dev \
 		libtool \
 		pkg-config \
 		screen \
-		texinfo \
-		u-boot-tools \
-		util-linux \
 		vim-common \
 		;
 

Tools/test_keys/key0.pub

@@ -1,5 +0,0 @@
-//Public key to verify signed binaries
-0x4d, 0xb0, 0xc2, 0x1, 0x5, 0x55, 0x2a, 0x3c, 
-0xd7, 0xfb, 0xaf, 0x5c, 0xba, 0x7a, 0xb0, 0x81, 
-0x1b, 0x36, 0x63, 0xdb, 0x28, 0x52, 0x5e, 0xdb, 
-0x14, 0x36, 0xf2, 0x57, 0x8d, 0x2, 0xb7, 0xfd, 

boards/airmind/mindpx-v2/default.cmake

@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -46,8 +47,8 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
-		smart_battery/batmon
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -109,6 +110,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -118,15 +120,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_imu
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)

boards/airmind/mindpx-v2/src/init.c

@@ -53,7 +53,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>
 
 #include <nuttx/board.h>
 #include <nuttx/spi/spi.h>

boards/ark/can-flow/debug.cmake

@@ -12,9 +12,7 @@ px4_add_board(
 	UAVCAN_INTERFACES 1
 	DRIVERS
 		bootloaders
-		distance_sensor/broadcom/afbrs50
 		imu/bosch/bmi088
-		imu/invensense/icm42688p
 		optical_flow/paw3902
 		uavcannode
 	MODULES
@@ -22,13 +20,14 @@ px4_add_board(
 		load_mon
 		#sensors
 	SYSTEMCMDS
+		mft
+		mtd
 		param
 		perf
 		reboot
 		system_time
 		top
-		#topic_listener
-		uorb
+		topic_listener
 		ver
 		work_queue
 )

boards/ark/can-flow/default.cmake

@@ -13,9 +13,7 @@ px4_add_board(
 	UAVCAN_INTERFACES 1
 	DRIVERS
 		bootloaders
-		distance_sensor/broadcom/afbrs50
 		imu/bosch/bmi088
-		imu/invensense/icm42688p
 		optical_flow/paw3902
 		uavcannode
 	MODULES
@@ -23,13 +21,14 @@ px4_add_board(
 		#load_mon
 		#sensors
 	SYSTEMCMDS
+		mft
+		mtd
 		param
 		#perf
 		#reboot
 		#system_time
 		#top
 		#topic_listener
-		#uorb
 		#ver
 		#work_queue
 )

boards/ark/can-flow/init/rc.board_sensors

@@ -4,12 +4,6 @@
 #------------------------------------------------------------------------------
 
 # Internal SPI
-paw3902 -s start -Y 180
-
-if ! icm42688p -R 0 -s start
-then
-	bmi088 -A -s -R 4 start
-	bmi088 -G -s -R 4 start
-fi
-
-afbrs50 start
+paw3902 -s start -Y 90
+bmi088 -A -s -R 4 start
+bmi088 -G -s -R 4 start

boards/ark/can-flow/nuttx-config/include/board.h

@@ -133,8 +133,8 @@
 #define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
 #define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
 
-#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1 /* PB14 */
-#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1 /* PB15 */
-#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_1  /* PB10 */
+#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1
+#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1
+#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_1
 
 #endif /* __ARCH_BOARD_BOARD_H */

boards/ark/can-flow/nuttx-config/include/board_dma_map.h

@@ -40,4 +40,6 @@
 //  DMA2 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
 #define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
+#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX     // DMA2, Stream 3, Channel 0
+#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX     // DMA2, Stream 4, Channel 0
 #define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3

boards/ark/can-flow/nuttx-config/nsh/defconfig

@@ -144,6 +144,8 @@ CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI1_DMA=y
 CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
+CONFIG_STM32_SPI2_DMA=y
+CONFIG_STM32_SPI2_DMA_BUFFER=1024
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM8=y
 CONFIG_STM32_USART2=y

boards/ark/can-flow/src/board_config.h

@@ -56,13 +56,6 @@
 #define GPIO_nLED_RED          /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
 #define GPIO_nLED_BLUE         /* PA8  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
 
-#define BROADCOM_AFBR_S50_S2PI_SPI_BUS 2
-#define BROADCOM_AFBR_S50_S2PI_CS   /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
-#define BROADCOM_AFBR_S50_S2PI_IRQ  /* PB4  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4|GPIO_EXTI)
-#define BROADCOM_AFBR_S50_S2PI_CLK  /* PB10 */  GPIO_SPI2_SCK_1
-#define BROADCOM_AFBR_S50_S2PI_MOSI /* PB15 */  GPIO_SPI2_MOSI_1
-#define BROADCOM_AFBR_S50_S2PI_MISO /* PB14 */  GPIO_SPI2_MISO_1
-
 #define BOARD_HAS_CONTROL_STATUS_LEDS      1
 #define BOARD_OVERLOAD_LED     LED_RED
 #define BOARD_ARMED_STATE_LED  LED_BLUE

boards/ark/can-flow/src/init.c

@@ -49,7 +49,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>
 
 #include <nuttx/board.h>
 
@@ -61,7 +60,6 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
-#include <drivers/drv_watchdog.h>
 
 #include <systemlib/px4_macros.h>
 
@@ -89,8 +87,6 @@ __END_DECLS
 
 __EXPORT void stm32_boardinitialize(void)
 {
-	watchdog_init();
-
 	// Configure CAN interface
 	stm32_configgpio(GPIO_CAN1_RX);
 	stm32_configgpio(GPIO_CAN1_TX);

boards/ark/can-flow/src/spi.cpp

@@ -39,7 +39,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
 		initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
 	}),
 	initSPIBus(SPI::Bus::SPI2, {

boards/ark/can-gps/canbootloader.cmake

@@ -1,13 +0,0 @@
-include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-gps
-	LABEL canbootloader
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	DRIVERS
-		bootloaders
-)

boards/ark/can-gps/debug.cmake

@@ -1,38 +0,0 @@
-include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-gps
-	LABEL debug
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT cannode
-	UAVCAN_INTERFACES 1
-	DRIVERS
-		barometer/bmp388
-		bootloaders
-		gps
-		imu/invensense/icm42688p
-		magnetometer/bosch/bmm150
-		safety_button
-		tone_alarm
-		uavcannode
-	MODULES
-		#ekf2
-		#load_mon
-		#sensors
-	SYSTEMCMDS
-		i2cdetect
-		led_control
-		param
-		perf
-		reboot
-		top
-		topic_listener
-		tune_control
-		uorb
-		ver
-		work_queue
-)

boards/ark/can-gps/default.cmake

@@ -1,38 +0,0 @@
-include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-gps
-	LABEL default
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	#CONSTRAINED_FLASH
-	CONSTRAINED_MEMORY
-	ROMFSROOT cannode
-	UAVCAN_INTERFACES 1
-	DRIVERS
-		barometer/bmp388
-		bootloaders
-		gps
-		imu/invensense/icm42688p
-		magnetometer/bosch/bmm150
-		safety_button
-		tone_alarm
-		uavcannode
-	MODULES
-		#ekf2
-		#load_mon
-		#sensors
-	SYSTEMCMDS
-		#mft
-		#mtd
-		param
-		#perf
-		#reboot
-		#system_time
-		#top
-		#topic_listener
-		#ver
-		#work_queue
-)

boards/ark/can-gps/firmware.prototype

@@ -1,13 +0,0 @@
-{
-    "board_id": 81,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the ARK gps board",
-    "image": "",
-    "build_time": 0,
-    "summary": "ARKGPS",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 2080768,
-    "git_identity": "",
-    "board_revision": 0
-}

boards/ark/can-gps/init/rc.board_defaults

@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default CBRK_IO_SAFETY 0
-
-safety_button start
-tone_alarm start

boards/ark/can-gps/init/rc.board_sensors

@@ -1,11 +0,0 @@
-#!/bin/sh
-#
-# board sensors init
-#------------------------------------------------------------------------------
-gps start -d /dev/ttyS0 -p ubx
-
-icm42688p -R 0 -s start
-
-bmp388 -I -b 2 start
-
-bmm150 -I -b 1 start

boards/ark/can-gps/nuttx-config/canbootloader/defconfig

@@ -1,68 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F412CE=y
-CONFIG_ARCH_INTERRUPTSTACK=4096
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BINFMT_DISABLE=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_C99_BOOL8=y
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DISABLE_MOUNTPOINT=y
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_DISABLE_PTHREAD=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=4096
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_LIB_BOARDCTL=y
-CONFIG_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
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_DISABLE_BUFFERING=y
-CONFIG_STM32_NOEXT_VECTORS=y
-CONFIG_STM32_TIM8=y
-CONFIG_TASK_NAME_SIZE=0
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096

boards/ark/can-gps/nuttx-config/include/board.h

@@ -1,152 +0,0 @@
-/************************************************************************************
- * configs/px4fmu/include/board.h
- * include/arch/board/board.h
- *
- *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-#include "board_dma_map.h"
-
-#ifndef __ARCH_BOARD_BOARD_H
-#define __ARCH_BOARD_BOARD_H
-
-#include <nuttx/config.h>
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include <stm32.h>
-
-/* HSI - 8 MHz RC factory-trimmed
- * LSI - 32 KHz RC
- * HSE - 8  MHz Crystal
- * LSE - not installed
- */
-#define STM32_BOARD_USEHSE      1
-#define STM32_BOARD_XTAL        8000000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-
-/* Main PLL Configuration */
-#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
-#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
-#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
-#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
-
-#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
-
-#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
-#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
-#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
-
-#define STM32_SYSCLK_FREQUENCY  96000000ul
-
-/* AHB clock (HCLK) is SYSCLK (96MHz) */
-#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
-#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
-#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
-
-/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* APB2 clock (PCLK2) is HCLK (96MHz) */
-#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
-#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
-
-/* Timers driven from APB2 will be PCLK2 since no prescale division */
-#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
-
-/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
-#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
-
-/* Alternate function pin selections ************************************************/
-
-/* UARTs */
-#define GPIO_USART1_RX	GPIO_USART1_RX_2
-#define GPIO_USART1_TX	GPIO_USART1_TX_3
-
-#define GPIO_USART2_RX	GPIO_USART2_RX_1
-#define GPIO_USART2_TX	GPIO_USART2_TX_1
-
-/* CAN */
-#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
-#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
-
-/* I2C */
-
-#define GPIO_MCU_I2C1_SCL
-#define GPIO_MCU_I2C1_SDA
-
-#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
-#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_1
-
-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
-
-#define GPIO_I2C2_SCL	GPIO_I2C2_SCL_1
-#define GPIO_I2C2_SDA	GPIO_I2C2_SDA_4
-
-#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
-#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
-
-/* SPI */
-#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
-#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
-#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
-
-#endif /* __ARCH_BOARD_BOARD_H */

boards/ark/can-gps/nuttx-config/include/board_dma_map.h

@@ -1,43 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-// DMA1 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-
-
-//  DMA2 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
-#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3

boards/ark/can-gps/nuttx-config/nsh/defconfig

@@ -1,164 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_OS_API is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_STM32_DMACAPABLE is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F412CE=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MM_REGIONS=2
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x20000000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32_ADC1=y
-CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
-CONFIG_STM32_DMA1=y
-CONFIG_STM32_DMA2=y
-CONFIG_STM32_FLASH_PREFETCH=y
-CONFIG_STM32_FLOWCONTROL_BROKEN=y
-CONFIG_STM32_I2C1=y
-CONFIG_STM32_I2C2=y
-CONFIG_STM32_JTAG_SW_ENABLE=y
-CONFIG_STM32_PWR=y
-CONFIG_STM32_RTC=y
-CONFIG_STM32_RTC_HSECLOCK=y
-CONFIG_STM32_RTC_MAGIC=0xfacefeee
-CONFIG_STM32_RTC_MAGIC_REG=1
-CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
-CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32_SPI1=y
-CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=1024
-CONFIG_STM32_SPI_DMA=y
-CONFIG_STM32_TIM8=y
-CONFIG_STM32_USART1=y
-CONFIG_STM32_USART2=y
-CONFIG_STM32_USART_BREAKS=y
-CONFIG_STM32_WWDG=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1100
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_SERIAL_CONSOLE=y
-CONFIG_USART2_TXBUFSIZE=1100
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"

boards/ark/can-gps/nuttx-config/scripts/canbootloader_script.ld

@@ -1,134 +0,0 @@
-/****************************************************************************
- * nuttx-config/scripts/canbootloader_script.ld
- *
- *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
- * 256Kb of SRAM. SRAM is split up into three blocks:
- *
- * 1) 112Kb of SRAM beginning at address 0x2000:0000
- * 2)  16Kb of SRAM beginning at address 0x2001:c000
- * 3)  64Kb of SRAM beginning at address 0x2002:0000
- * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- *
- * The first 0x10000 of flash is reserved for the bootloader.
- */
-
-MEMORY
-{
-    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
-    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
-}
-
-OUTPUT_ARCH(arm)
-
-ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
-EXTERN(_vectors)	/* force the vectors to be included in the output */
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-        .init_section : {
-                _sinit = ABSOLUTE(.);
-                KEEP(*(.init_array .init_array.*))
-                _einit = ABSOLUTE(.);
-        } > flash
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}

boards/ark/can-gps/nuttx-config/scripts/script.ld

@@ -1,146 +0,0 @@
-/****************************************************************************
- * scripts/ld.script
- *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
- * 256Kb of SRAM. SRAM is split up into three blocks:
- *
- * 1) 112Kb of SRAM beginning at address 0x2000:0000
- * 2)  16Kb of SRAM beginning at address 0x2001:c000
- * 3)  64Kb of SRAM beginning at address 0x2002:0000
- * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- *
- * The first 0x10000 of flash is reserved for the bootloader.
- */
-
-MEMORY
-{
-    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 448K
-    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
-}
-
-OUTPUT_ARCH(arm)
-
-ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
-EXTERN(_vectors)	/* force the vectors to be included in the output */
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(8);
-		/*
-		* This section positions the app_descriptor_t used
-		* by the make_can_boot_descriptor.py tool to set
-		* the application image's descriptor so that the
-		* uavcan bootloader has the ability to validate the
-		* image crc, size etc
-		*/
-		KEEP(*(.app_descriptor))
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-        .init_section : {
-                _sinit = ABSOLUTE(.);
-                KEEP(*(.init_array .init_array.*))
-                _einit = ABSOLUTE(.);
-        } > flash
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}

boards/ark/can-gps/src/CMakeLists.txt

@@ -1,68 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
-
-	add_library(drivers_board
-		boot_config.h
-		boot.c
-		led.c
-		led.h
-	)
-	target_link_libraries(drivers_board
-		PRIVATE
-			nuttx_arch
-			nuttx_drivers
-			canbootloader
-	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
-
-else()
-	add_library(drivers_board
-		can.c
-		i2c.cpp
-		init.c
-		led.c
-		spi.cpp
-	)
-
-	target_link_libraries(drivers_board
-		PRIVATE
-			arch_spi
-			drivers__led # drv_led_start
-			nuttx_arch
-			nuttx_drivers
-			px4_layer
-			arch_io_pins
-	)
-endif()

boards/ark/can-gps/src/board_config.h

@@ -1,115 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * board internal definitions
- */
-
-#pragma once
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-/* BUTTON */
-#define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)
-
-/* Safety LED */
-#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
-
-/* Tone alarm output. */
-#define TONE_ALARM_TIMER             2    /* timer 2 */
-#define TONE_ALARM_CHANNEL           1    /* channel 1 */
-#define GPIO_TONE_ALARM_IDLE  /* PA0  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_TONE_ALARM       /* PA0  */ (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0)
-
-/* CAN  Silent mode control */
-#define GPIO_CAN1_SILENT_S0   /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
-
-/* CAN termination software control */
-#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
-
-/* ICM42688p FSYNC */
-#define GPIO_42688P_FSYNC     /* PB8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
-
-/* Boot config */
-#define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
-
-/* LEDs are driven with open drain to support Anode to 5V or 3.3V */
-#define GPIO_TIM1_CH1         /* PA8  */ (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
-#define GPIO_TIM1_CH2         /* PA9  */ (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
-#define GPIO_TIM1_CH3         /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
-
-#define GPIO_I2C1_SCL_RESET   /* PB6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
-#define GPIO_I2C1_SDA_RESET   /* PB7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
-
-#define GPIO_I2C2_SCL_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define GPIO_I2C2_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
-
-#define FLASH_BASED_PARAMS
-
-/* High-resolution timer */
-#define HRT_TIMER                    3  /* use timer 3 for the HRT */
-#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
-
-#define PX4_GPIO_INIT_LIST { \
-		GPIO_BTN_SAFETY,                  \
-		GPIO_LED_SAFETY,                  \
-		GPIO_I2C1_SCL_RESET,              \
-		GPIO_I2C1_SDA_RESET,              \
-		GPIO_I2C2_SCL_RESET,              \
-		GPIO_I2C2_SDA_RESET,              \
-		GPIO_42688P_FSYNC,                \
-		GPIO_BOOT_CONFIG,                 \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_CAN1_SILENT_S0,              \
-		GPIO_CAN1_TERMINATION,            \
-	}
-
-__BEGIN_DECLS
-
-#define BOARD_HAS_N_S_RGB_LED       1
-#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
-
-#ifndef __ASSEMBLY__
-
-extern void stm32_spiinitialize(void);
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS

boards/ark/can-gps/src/boot.c

@@ -1,188 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *       Author: Ben Dyer <ben_dyer@mac.com>
- *               Pavel Kirienko <pavel.kirienko@zubax.com>
- *               David Sidrane <david_s5@nscdg.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <px4_config.h>
-#include <stdint.h>
-#include "boot_config.h"
-#include "board.h"
-
-#include <debug.h>
-#include <string.h>
-#include <arch/board/board.h>
-
-#include <nuttx/board.h>
-#include "led.h"
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_boardinitialize(void)
-{
-	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
-	stm32_configgpio(GPIO_CAN1_RX);
-	stm32_configgpio(GPIO_CAN1_TX);
-	stm32_configgpio(GPIO_CAN1_SILENT_S0);
-	stm32_configgpio(GPIO_CAN1_TERMINATION);
-	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
-	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
-
-#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
-	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
-#endif
-
-}
-
-/************************************************************************************
- * Name: board_deinitialize
- *
- * Description:
- *   This function is called by the bootloader code prior to booting
- *   the application. Is should place the HW into an benign initialized state.
- *
- ************************************************************************************/
-
-void board_deinitialize(void)
-{
-	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
-}
-
-/****************************************************************************
- * Name: board_get_product_name
- *
- * Description:
- *   Called to retrieve the product name. The returned value is a assumed
- *   to be written to a pascal style string that will be length prefixed
- *   and not null terminated
- *
- * Input Parameters:
- *    product_name - A pointer to a buffer to write the name.
- *    maxlen       - The maximum number of charter that can be written
- *
- * Returned Value:
- *   The length of characters written to the buffer.
- *
- ****************************************************************************/
-
-uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
-{
-	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
-	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
-	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
-}
-
-/****************************************************************************
- * Name: board_get_hardware_version
- *
- * Description:
- *   Called to retrieve the hardware version information. The function
- *   will first initialize the the callers struct to all zeros.
- *
- * Input Parameters:
- *    hw_version - A pointer to a uavcan_hardwareversion_t.
- *
- * Returned Value:
- *   Length of the unique_id
- *
- ****************************************************************************/
-
-size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
-{
-	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
-
-	hw_version->major = HW_VERSION_MAJOR;
-	hw_version->minor = HW_VERSION_MINOR;
-
-	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
-}
-
-/****************************************************************************
- * Name: board_indicate
- *
- * Description:
- *   Provides User feedback to indicate the state of the bootloader
- *   on board specific  hardware.
- *
- * Input Parameters:
- *    indication - A member of the uiindication_t
- *
- * Returned Value:
- *   None
- *
- ****************************************************************************/
-#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
-
-typedef begin_packed_struct struct led_t {
-	uint8_t red;
-	uint8_t green;
-	uint8_t blue;
-	uint8_t hz;
-} end_packed_struct led_t;
-
-static const  led_t i2l[] = {
-
-	led(0, off,                             0,     0,     0,     0),
-	led(1, reset,                          128,   128,   128,   30),
-	led(2, autobaud_start,                  0,   128,     0,     1),
-	led(3, autobaud_end,                    0,   128,     0,     2),
-	led(4, allocation_start,                0,     0,    64,     2),
-	led(5, allocation_end,                  0,   128,    64,     3),
-	led(6, fw_update_start,                32,   128,    64,     3),
-	led(7, fw_update_erase_fail,           32,   128,    32,     3),
-	led(8, fw_update_invalid_response,     64,     0,     0,     1),
-	led(9, fw_update_timeout,              64,     0,     0,     2),
-	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
-	led(b, jump_to_app,                     0,   128,     0,    10),
-
-};
-
-void board_indicate(uiindication_t indication)
-{
-	rgb_led(i2l[indication].red,
-		i2l[indication].green,
-		i2l[indication].blue,
-		i2l[indication].hz);
-}

boards/ark/can-gps/src/boot_config.h

@@ -1,130 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*
- * @file boot_config.h
- *
- * bootloader definitions that configures the behavior and options
- * of the Boot loader
- * This file is relies on the parent folder's boot_config.h file and defines
- * different usages of the hardware for bootloading
- */
-
-#pragma once
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-/* Bring in the board_config.h definitions
- * todo:make this be pulled in from a targed's build
- * files in nuttx*/
-
-#include "board_config.h"
-#include "uavcan.h"
-#include <nuttx/compiler.h>
-
-#include <stdint.h>
-
-#include <stm32_flash.h>
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
-
-//todo:wrap OPT_x in in ifdefs for command line definitions
-#define OPT_TBOOT_MS                    5000
-#define OPT_NODE_STATUS_RATE_MS         800
-#define OPT_NODE_INFO_RATE_MS           50
-#define OPT_BL_NUMBER_TIMERS            7
-
-/*
- *  This Option set is set to 1 ensure a provider of firmware has an
- *  opportunity update the node's firmware.
- *  This Option is the default policy and can be overridden by
- *  a jumper
- *  When this Policy is set, the node will ignore tboot and
- *  wait indefinitely for a GetNodeInfo request before booting.
- *
- *  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
- *  the polarity of the jumper to be True Active
- *
- *  wait  OPT_WAIT_FOR_GETNODEINFO  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
- *                                                 Jumper
- *   yes           1                       0         x
- *   yes           1                       1       Active
- *   no            1                       1       Not Active
- *   no            0                       0         X
- *   yes           0                       1       Active
- *   no            0                       1       Not Active
- *
- */
-#define OPT_WAIT_FOR_GETNODEINFO                    0
-#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
-#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
-
-#define OPT_ENABLE_WD           1
-
-#define OPT_RESTART_TIMEOUT_MS          20000
-
-/* Reserved for the Booloader */
-#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
-
-/* Reserved for the application out of the total
- * system flash minus the BOOTLOADER_SIZE_IN_K
- */
-#define OPT_APPLICATION_RESERVER_IN_K    0
-
-#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
-#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
-
-
-#define FLASH_BASE              STM32_FLASH_BASE
-#define FLASH_SIZE              STM32_FLASH_SIZE
-
-#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
-#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
-#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
-#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
-#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
-
-/* If this board uses big flash that have large sectors */
-
-#define OPT_USE_YIELD
-
-/* Bootloader Option*****************************************************************
- *
- */
-#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)

boards/ark/can-gps/src/can.c

@@ -1,130 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file can.c
- *
- * Board-specific CAN functions.
- */
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/can/can.h>
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "arm_arch.h"
-
-#include "stm32.h"
-#include "stm32_can.h"
-#include "board_config.h"
-
-#ifdef CONFIG_CAN
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-/* Configuration ********************************************************************/
-
-#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
-#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
-#  undef CONFIG_STM32_CAN2
-#endif
-
-#ifdef CONFIG_STM32_CAN1
-#  define CAN_PORT 1
-#else
-#  define CAN_PORT 2
-#endif
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-int can_devinit(void);
-
-/************************************************************************************
- * Name: can_devinit
- *
- * Description:
- *   All STM32 architectures must provide the following interface to work with
- *   examples/can.
- *
- ************************************************************************************/
-
-int can_devinit(void)
-{
-	static bool initialized = false;
-	struct can_dev_s *can;
-	int ret;
-
-	/* Check if we have already initialized */
-
-	if (!initialized) {
-		/* Call stm32_caninitialize() to get an instance of the CAN interface */
-
-		can = stm32_caninitialize(CAN_PORT);
-
-		if (can == NULL) {
-			canerr("ERROR:  Failed to get CAN interface\n");
-			return -ENODEV;
-		}
-
-		/* Register the CAN driver at "/dev/can0" */
-
-		ret = can_register("/dev/can0", can);
-
-		if (ret < 0) {
-			canerr("ERROR: can_register failed: %d\n", ret);
-			return ret;
-		}
-
-		/* Now we are initialized */
-
-		initialized = true;
-	}
-
-	return OK;
-}
-
-#endif

boards/ark/can-gps/src/i2c.cpp

@@ -1,39 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusInternal(1),
-	initI2CBusInternal(2),
-};

boards/ark/can-gps/src/init.c

@@ -1,148 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file init.c
- *
- * board specific early startup code.  This file implements the
- * board_app_initialize() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialization.
- */
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/tasks.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
-#include <syslog.h>
-
-#include <nuttx/board.h>
-
-#include <stm32.h>
-#include "board_config.h"
-#include <stm32_uart.h>
-
-#include <arch/board/board.h>
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-#include <drivers/drv_watchdog.h>
-
-#include <systemlib/px4_macros.h>
-
-#include <px4_platform_common/init.h>
-#include <px4_platform/gpio.h>
-
-# if defined(FLASH_BASED_PARAMS)
-#  include <parameters/flashparams/flashfs.h>
-#endif
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_boardinitialize(void)
-{
-	watchdog_init();
-
-	/* configure pins */
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-
-	// Configure SPI all interfaces GPIO & enable power.
-	stm32_spiinitialize();
-}
-
-/****************************************************************************
- * Name: board_app_initialize
- *
- * Description:
- *   Perform application specific initialization.  This function is never
- *   called directly from application code, but only indirectly via the
- *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
- *
- * Input Parameters:
- *   arg - The boardctl() argument is passed to the board_app_initialize()
- *         implementation without modification.  The argument has no
- *         meaning to NuttX; the meaning of the argument is a contract
- *         between the board-specific initalization logic and the the
- *         matching application logic.  The value cold be such things as a
- *         mode enumeration value, a set of DIP switch switch settings, a
- *         pointer to configuration data read from a file or serial FLASH,
- *         or whatever you would like to do with it.  Every implementation
- *         should accept zero/NULL as a default configuration.
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated errno value is returned on
- *   any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	px4_platform_init();
-
-#if defined(FLASH_BASED_PARAMS)
-	static sector_descriptor_t params_sector_map[] = {
-		{2, 16 * 1024, 0x08008000},
-		{3, 16 * 1024, 0x0800C000},
-		{0, 0, 0},
-	};
-
-	/* Initialize the flashfs layer to use heap allocated memory */
-	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
-
-	if (result != OK) {
-		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
-		return -ENODEV;
-	}
-
-#endif // FLASH_BASED_PARAMS
-
-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
-	return OK;
-}

boards/ark/can-gps/src/led.c

@@ -1,124 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file led.c
- *
- * LED backend.
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-#include "led.h"
-
-#define TMR_BASE        STM32_TIM1_BASE
-#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
-#define TMR_REG(o)      (TMR_BASE+(o))
-
-void rgb_led(int r, int g, int b, int freqs)
-{
-
-	long fosc = TMR_FREQUENCY;
-	long prescale = 2048;
-	long p1s = fosc / prescale;
-	long p0p5s  = p1s / 2;
-	uint16_t val;
-	static bool once = 0;
-
-	if (!once) {
-		once = 1;
-
-		/* Enabel Clock to Block */
-		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
-
-		/* Reload */
-
-		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
-		val |= ATIM_EGR_UG;
-		putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
-
-		/* Set Prescaler STM32_TIM_SETCLOCK */
-
-		putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
-
-		/* Enable STM32_TIM_SETMODE*/
-
-		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
-
-
-		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
-			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
-		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
-		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
-			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
-			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
-
-
-		stm32_configgpio(GPIO_TIM1_CH1);
-		stm32_configgpio(GPIO_TIM1_CH2);
-		stm32_configgpio(GPIO_TIM1_CH3);
-
-		/* master output enable = on */
-		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
-	}
-
-	long p  = freqs == 0 ? p1s : p1s / freqs;
-	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
-
-	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
-
-	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
-	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
-	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
-
-	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
-
-	if (freqs == 0) {
-		val &= ~ATIM_CR1_CEN;
-
-	} else {
-		val |= ATIM_CR1_CEN;
-	}
-
-	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
-
-}

boards/ark/can-gps/src/led.h

@@ -1,37 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
- *   Author: David Sidrane<david_s5@nscdg.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-__BEGIN_DECLS
-void rgb_led(int r, int g, int b, int freqs);
-__END_DECLS

boards/ark/can-gps/src/spi.cpp

@@ -1,44 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortB, GPIO::Pin0}, SPI::DRDY{GPIO::PortB, GPIO::Pin1}),
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/ark/can-gps/uavcan_board_identity

@@ -1,17 +0,0 @@
-# UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major 0)
-set(uavcanblid_sw_version_minor 1)
-add_definitions(
-	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
-)
-
-set(uavcanblid_hw_version_major 0)
-set(uavcanblid_hw_version_minor 81)
-set(uavcanblid_name "\"org.ark.can-gps\"")
-
-add_definitions(
-	-DHW_UAVCAN_NAME=${uavcanblid_name}
-	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)

boards/atlflight/eagle/default.cmake

@@ -39,6 +39,7 @@ px4_add_board(
 	VENDOR atlflight
 	MODEL eagle
 	LABEL default
+	#TESTING
 	TOOLCHAIN arm-linux-gnueabihf
 	ROMFSROOT px4fmu_common
 	DRIVERS
@@ -54,7 +55,6 @@ px4_add_board(
 		pwm_out_sim
 		qshell/posix
 		rc_input
-		smart_battery/batmon
 		#telemetry # all available telemetry drivers
 	MODULES
 		airspeed_selector
@@ -108,6 +108,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		system_time
+		#tests # tests and test runner
 		#top
 		topic_listener
 		tune_control

boards/atlflight/eagle/qurt.cmake

@@ -49,7 +49,7 @@ px4_add_board(
 		imu/invensense/mpu9250
 		#magnetometer/hmc5883
 		qshell/qurt
-		snapdragon_spektrum_rc
+		spektrum_rc
 	MODULES
 		airspeed_selector
 		attitude_estimator_q

boards/atlflight/excelsior/default.cmake

@@ -39,6 +39,7 @@ px4_add_board(
 	VENDOR atlflight
 	MODEL excelsior
 	LABEL default
+	#TESTING
 	TOOLCHAIN arm-oemllib32-linux-gnueabi
 	DRIVERS
 		#barometer # all available barometer drivers
@@ -53,7 +54,6 @@ px4_add_board(
 		pwm_out_sim
 		qshell/posix
 		rc_input
-		smart_battery/batmon
 		#telemetry # all available telemetry drivers
 	MODULES
 		airspeed_selector
@@ -106,6 +106,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		system_time
+		#tests # tests and test runner
 		#top
 		topic_listener
 		tune_control

boards/atlflight/excelsior/qurt.cmake

@@ -49,7 +49,7 @@ px4_add_board(
 		imu/invensense/mpu9250
 		magnetometer/hmc5883
 		qshell/qurt
-		snapdragon_spektrum_rc
+		spektrum_rc
 	MODULES
 		airspeed_selector
 		attitude_estimator_q

boards/av/x-v1/default.cmake

@@ -7,6 +7,7 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 2
 	ETHERNET
 	SERIAL_PORTS
@@ -45,8 +46,8 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
-		smart_battery/batmon
 		telemetry # all available telemetry drivers
+		test_ppm
 		#tone_alarm
 		uavcan
 	MODULES
@@ -107,6 +108,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -115,15 +117,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_imu
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -143,7 +143,6 @@ CONFIG_NSH_STRERROR=y
 CONFIG_NSH_TELNET=y
 CONFIG_NSH_TELNET_LOGIN=y
 CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y