mavlink: param_get proper type to silence errors

Make possible to define chip-select pin for internal SPI.
By defining chip-select pin, it's possible to start specific SPI device only.
This allows to have several same type of sensors on the same bus with different orientation.

.ci/Jenkinsfile-compile

@@ -59,6 +59,7 @@ pipeline {
                      "holybro_durandal-v1_default",
                      "holybro_kakutef7_default",
                      "holybro_pix32v5_default",
+                     "matek_h743-slim",
                      "modalai_fc-v1_default",
                      "modalai_fc-v1_rtps",
                      "modalai_fc-v2_default",
@@ -79,6 +80,7 @@ pipeline {
                      "nxp_ucans32k146_canbootloader",
                      "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",
+                     "raspberrypi_pico_default",
                      "px4_fmu-v2_default",
                      "px4_fmu-v2_fixedwing",
                      "px4_fmu-v2_multicopter",

.ci/Jenkinsfile-hardware

@@ -18,8 +18,8 @@ pipeline {
               }
               steps {
                 checkoutSCM()
+                sh 'make cubepilot_cubeorange_bootloader'
                 sh 'make cubepilot_cubeorange_test'
-                sh 'make cubepilot_cubeorange_test bootloader_elf'
                 sh 'ccache -s'
                 stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
               }
@@ -39,7 +39,7 @@ pipeline {
                     sh 'export'
                     sh 'find /dev/serial'
                     unstash 'cubepilot_cubeorange_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_bootloader.elf'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }
@@ -89,8 +89,8 @@ pipeline {
               }
               steps {
                 checkoutSCM()
+                sh 'make cuav_x7pro_bootloader'
                 sh 'make cuav_x7pro_test'
-                sh 'make cuav_x7pro_test bootloader_elf'
                 sh 'ccache -s'
                 stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
               }
@@ -110,7 +110,7 @@ pipeline {
                     sh 'export'
                     sh 'find /dev/serial'
                     unstash 'cuav_x7pro_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_bootloader.elf'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                   }

.github/workflows/compile_nuttx.yml

@@ -34,6 +34,7 @@ jobs:
           holybro_durandal-v1,
           holybro_kakutef7,
           holybro_pix32v5,
+          matek_h743-slim,
           modalai_fc-v1,
           modalai_fc-v2,
           mro_ctrl-zero-f7,
@@ -48,6 +49,7 @@ jobs:
           nxp_fmurt1062-v1,
           nxp_ucans32k146,
           omnibus_f4sd,
+          raspberrypi_pico,
           px4_fmu-v2,
           px4_fmu-v3,
           px4_fmu-v4,
@@ -82,7 +84,7 @@ jobs:
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
           echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "max_size = 120M" >> ~/.ccache/ccache.conf
           echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z

.gitmodules

@@ -1,11 +1,11 @@
-[submodule "mavlink/include/mavlink/v2.0"]
-	path = mavlink/include/mavlink/v2.0
-	url = https://github.com/mavlink/c_library_v2.git
+[submodule "src/modules/mavlink/mavlink"]
+	path = src/modules/mavlink/mavlink
+	url = https://github.com/mavlink/mavlink.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/PX4/libuavcan.git
-	branch = px4
+	url = https://github.com/dronecan/libuavcan.git
+	branch = main
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -14,10 +14,6 @@
 	path = Tools/sitl_gazebo
 	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
-[submodule "src/lib/matrix"]
-	path = src/lib/matrix
-	url = https://github.com/PX4/PX4-Matrix.git
-	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
@@ -65,7 +61,7 @@
 	url = https://github.com/mavlink/libevents.git
 [submodule "Tools/simulation-ignition"]
 	path = Tools/simulation-ignition
-	url = https://github.com/Auterion/px4-simulation-ignition.git
+	url = https://github.com/PX4/px4-simulation-ignition.git
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git

.vscode/cmake-variants.yaml

@@ -186,6 +186,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: holybro_durandal-v1_default
+    matek_h743-slim_default:
+      short: matek_h743-slim
+      buildType: MinSizeRel
+      settings:
+        CONFIG: matek_h743-slim_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel
@@ -221,3 +226,8 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_fmuk66-v3_default
+    raspberrypi_pico_default:
+      short: raspberrypi_pico
+      buildType: MinSizeRel
+      settings:
+        CONFIG: raspberrypi_pico_default

.vscode/settings.json

@@ -14,7 +14,6 @@
         "C_Cpp.workspaceParsingPriority": "low",
         "cmake.buildBeforeRun": true,
         "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
-        "cmake.buildTask": true,
         "cmake.configureOnOpen": true,
         "cmake.ctest.parallelJobs": 1,
         "cmake.skipConfigureIfCachePresent": true,
@@ -136,5 +135,6 @@
         "workbench.settings.enableNaturalLanguageSearch": false,
         "yaml.schemas": {
                 "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        }
+        },
+        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
 }

CMakeLists.txt

@@ -40,7 +40,7 @@
 # * Common functions should be included in px_base.cmake.
 #
 # * OS/ board specific fucntions should be include in
-#	px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
+#	px_impl_${PX4_PLATFORM}.cmake
 #
 # Formatting
 # ---------------------------------------------------------------------------
@@ -101,8 +101,8 @@
 
 cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
 
-set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
-set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
+set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
+set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
 
 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
 include(px4_parse_function_args)

Kconfig

@@ -63,13 +63,10 @@ menu "Toolchain"
         help
             relative path to the ROMFS root directory
 
-    config BOARD_BUILD_BOOTLOADER
-        bool "Enable bootloader"
-        help
-            flag to enable building and including the bootloader config
-
     config BOARD_IO
         string "IO board name"
+        default "px4_io-v2_default"
+        depends on DRIVERS_PX4IO
         help
             name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
 

Makefile

@@ -309,6 +309,24 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
 
+px4io_update: px4_io-v2_default cubepilot_io-v2_default
+	# px4_io-v2_default
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
+	# cubepilot_io-v2_default
+	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
+	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
+	git status
+
+bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+	git status
 
 .PHONY: coverity_scan
 

ROMFS/CMakeLists.txt

@@ -143,38 +143,14 @@ add_custom_command(
 	COMMENT "ROMFS: copying, generating airframes"
 	)
 
+if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
+	set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
+	configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
+endif()
+
 # copy extras into ROMFS
 set(extras_dependencies)
 
-# copy px4io binary if configured
-if(config_io_board)
-	list(APPEND extras_dependencies
-		copy_px4io_bin
-		${fw_io_bin}
-	)
-	file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
-	message(STATUS "ROMFS:  Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
-endif()
-
-
-# board bootloader (built or included)
-if(TARGET copy_bootloader_bin)
-
-	if(board_bootloader_firmware)
-		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
-		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
-	else()
-		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
-		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
-	endif()
-
-	list(APPEND extras_dependencies
-		copy_bootloader_bin
-		${bootloader_bin}
-	)
-endif()
-
-
 # optional board architecture defaults
 set(board_arch_rc_file "rc.board_arch_defaults")
 if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
@@ -199,6 +175,7 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/
 endif()
 
 
+# board custom init files
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
 	rc.board_defaults
@@ -233,21 +210,59 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 endforeach()
 
 
+# board extras
+set(OPTIONAL_BOARD_EXTRAS)
+file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
+
+foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
+
+	if(EXISTS "${board_extra_file}")
+		file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
+		file(RELATIVE_PATH extra_file_relative_source ${PX4_SOURCE_DIR} ${board_extra_file})
+		message(STATUS "ROMFS:  Adding ${extra_file_relative_source} -> /etc/extras/${extra_file_base_name}")
+
+		add_custom_command(
+			OUTPUT
+				${romfs_gen_root_dir}/extras/${extra_file_base_name}
+				${extra_file_base_name}.stamp
+			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${extra_file_base_name} ${romfs_gen_root_dir}/extras/${extra_file_base_name}
+			COMMAND ${CMAKE_COMMAND} -E touch ${extra_file_base_name}.stamp
+			DEPENDS
+				${board_extra_file}
+				romfs_copy.stamp
+			COMMENT "ROMFS: copying ${board_extra_file}"
+		)
+
+		list(APPEND extras_dependencies
+			${extra_file_base_name}.stamp
+		)
+	endif()
+
+endforeach()
+
+
+
 if(config_uavcan_peripheral_firmware)
 
 	include(ExternalProject)
 
 	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
-		# include the px4io binary in ROMFS
+		# include the UAVCAN peripheral binaries in ROMFS
 		message(STATUS "ROMFS:  Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
+
+		# ExternalProject_Add() with GIT_SUBMODULES "" initializes no submodules.
+		cmake_policy(SET CMP0097 NEW)
+
+		include(ExternalProject)
+
 		ExternalProject_Add(build_${uavcan_peripheral_config}
-			SOURCE_DIR ${CMAKE_SOURCE_DIR}
-			DOWNLOAD_COMMAND ""
-			UPDATE_COMMAND ""
+			GIT_REPOSITORY ${CMAKE_SOURCE_DIR}
+			GIT_TAG ${PX4_GIT_TAG}
+			GIT_SUBMODULES ""
+			DOWNLOAD_NO_PROGRESS true
 			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
 			INSTALL_COMMAND ""
 			USES_TERMINAL_BUILD true
-			DEPENDS git_nuttx git_nuttx_apps
 			BUILD_ALWAYS 1
 		)
 

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -144,6 +144,8 @@ param set-default SENS_MAG_MODE 0
 
 param set-default IMU_GYRO_FFT_EN 1
 
+param set-default -s MC_AT_EN 1
+
 # By default log from boot until first disarm.
 param set-default SDLOG_MODE 1
 # enable default, estimator replay and vision/avoidance logging profiles
@@ -217,6 +219,7 @@ load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
+manual_control start
 sensors start
 commander start
 navigator start

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -73,7 +73,11 @@ mc_rate_control start
 # Start Multicopter Attitude Controller.
 #
 mc_att_control start
-mc_autotune_attitude_control start
+
+if param greater -s MC_AT_EN 0
+then
+	mc_autotune_attitude_control start
+fi
 
 #
 # Start Multicopter Position Controller.

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -24,7 +24,11 @@ mc_att_control start vtol
 flight_mode_manager start
 mc_pos_control start vtol
 mc_hover_thrust_estimator start
-mc_autotune_attitude_control start
+
+if param greater -s MC_AT_EN 0
+then
+	mc_autotune_attitude_control start
+fi
 
 fw_att_control start vtol
 fw_pos_control_l1 start vtol

ROMFS/px4fmu_common/init.d/rcS

@@ -325,6 +325,7 @@ else
 	#  start before commander
 	#
 	rc_update start
+	manual_control start
 
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run).
@@ -506,21 +507,13 @@ else
 		. ${R}etc/init.d/rc.autostart.post
 	fi
 
-	#
-	# Bootloader upgrade
-	#
-	if param compare -s SYS_BL_UPDATE 1
+
+	set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade
+	if [ -f $BOARD_BOOTLOADER_UPGRADE ]
 	then
-		if [ -f "/etc/extras/bootloader.bin" ]
-		then
-			param set SYS_BL_UPDATE 0
-			param save
-			echo "bootloader update..."
-			bl_update "/etc/extras/bootloader.bin"
-			echo "bootloader update done, rebooting"
-			reboot
-		fi
+		sh $BOARD_BOOTLOADER_UPGRADE
 	fi
+	unset BOARD_BOOTLOADER_UPGRADE
 
 #
 # End of autostart.

Tools/astyle/files_to_check_code_style.sh

@@ -17,10 +17,10 @@ exec find boards msg src platforms test \
     -path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/events/libevents -prune -o \
-    -path src/lib/matrix -prune -o \
     -path src/lib/parameters/uthash -prune -o \
     -path src/modules/ekf2/EKF -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
+    -path src/modules/mavlink/mavlink -prune -o \
     -path src/modules/micrortps_bridge/micro-CDR -prune -o \
     -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
     -path test/mavsdk_tests/catch2 -prune -o \

Tools/check_submodules.sh

@@ -9,6 +9,7 @@ if [[ -f $1"/.git" || -d $1"/.git" ]]; then
 	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then
 		git submodule --quiet sync --recursive -- $1
 		git submodule --quiet update --init --recursive --jobs=8 -- $1  || true
+		git submodule --quiet sync --recursive -- $1
 		git submodule --quiet update --init --recursive --jobs=8 -- $1
 		exit 0
 	fi
@@ -51,6 +52,7 @@ if [[ -f $1"/.git" || -d $1"/.git" ]]; then
 else
 	git submodule --quiet sync --recursive --quiet -- $1
 	git submodule --quiet update --init --recursive -- $1  || true
+	git submodule --quiet sync --recursive --quiet -- $1
 	git submodule --quiet update --init --recursive -- $1
 fi
 

Tools/gazebo_sitl_multiple_run.sh

@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
 world=${WORLD:=empty}
 target=${TARGET:=px4_sitl_default}
 vehicle_model=${VEHICLE_MODEL:="iris"}
-export PX4_SIM_MODEL=${vehicle_model}${LABEL}
+export PX4_SIM_MODEL=${vehicle_model}
 
 echo ${SCRIPT}
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
@@ -126,7 +126,7 @@ else
 
 		m=0
 		while [ $m -lt ${target_number} ]; do
-			export PX4_SIM_MODEL=${target_vehicle}${LABEL}
+			export PX4_SIM_MODEL=${target_vehicle}
 			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))

Tools/kconfig/merge_config.py

@@ -115,10 +115,11 @@ def main(kconfig_file, config1, config2):
             sym_name = match.group(1)
             kconf.syms[sym_name].unset_value()
 
-            for default, cond in kconf.syms[sym_name].orig_defaults:
-                if(cond.str_value == 'y'):
-                    # Default is y, our diff is unset thus we've set it to no
-                    kconf.syms[sym_name].set_value(0)
+            if kconf.syms[sym_name].type is BOOL:
+                for default, cond in kconf.syms[sym_name].orig_defaults:
+                    if(cond.str_value == 'y'):
+                        # Default is y, our diff is unset thus we've set it to no
+                        kconf.syms[sym_name].set_value(0)
 
     f.close()
 

Tools/px4moduledoc/srcparser.py

@@ -137,8 +137,8 @@ class ModuleDocumentation(object):
             "\"board-specific bus (default=all) (external SPI: n-th bus (default=1))\"", 'true'])
 
         if self._is_bool_true(args[1]):
-            self._handle_usage_param_int(['\'c\'', '1', '1', '10',
-                "\"chip-select index (for external SPI)\"", 'true'])
+            self._handle_usage_param_int(['\'c\'', '-1', '0', '31',
+                "\"chip-select pin (for internal SPI) or index (for external SPI)\"", 'true'])
             self._handle_usage_param_int(['\'m\'', '-1', '0', '3', "\"SPI mode\"", 'true'])
 
         self._handle_usage_param_int(['\'f\'', '-1', '0', '1000000', "\"bus frequency in kHz\"", 'true'])

Tools/setup/requirements.txt

@@ -3,9 +3,11 @@ argparse>=1.2
 cerberus
 coverage
 empy>=3.3
+future
 jinja2>=2.8
 jsonschema
 kconfiglib
+lxml
 matplotlib>=3.0.*
 numpy>=1.13
 nunavut>=1.1.0

Tools/setup/ubuntu.sh

@@ -86,6 +86,8 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	gdb \
 	git \
 	lcov \
+	libxml2-dev \
+	libxml2-utils \
 	make \
 	ninja-build \
 	python3 \
@@ -141,6 +143,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		libisl-dev \
 		libmpc-dev \
 		libmpfr-dev \
+		libncurses5 \
 		libncurses5-dev \
 		libncursesw5-dev \
 		libtool \

boards/airmind/mindpx-v2/default.px4board

@@ -58,6 +58,7 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -25,7 +25,7 @@
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/airmind/mindpx-v2/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -92,7 +92,6 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y

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

@@ -7,7 +7,7 @@
 #
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -40,13 +40,6 @@ CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0
-CONFIG_NXFONTS_DISABLE_16BPP=y
-CONFIG_NXFONTS_DISABLE_1BPP=y
-CONFIG_NXFONTS_DISABLE_24BPP=y
-CONFIG_NXFONTS_DISABLE_2BPP=y
-CONFIG_NXFONTS_DISABLE_32BPP=y
-CONFIG_NXFONTS_DISABLE_4BPP=y
-CONFIG_NXFONTS_DISABLE_8BPP=y
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=262144

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

@@ -124,10 +124,6 @@
 #define GPIO_CAN1_RX	GPIO_CAN1_RX_2
 #define GPIO_CAN1_TX	GPIO_CAN1_TX_2
 
-/* I2C */
-#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
-#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_1
-
 /* SPI */
 #define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
 #define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1

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

@@ -21,7 +21,7 @@
 # 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="../../../../boards/ark/can-flow/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -57,8 +57,6 @@ 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
@@ -72,7 +70,6 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -127,7 +124,6 @@ CONFIG_STM32_DMA1=y
 CONFIG_STM32_DMA2=y
 CONFIG_STM32_FLASH_PREFETCH=y
 CONFIG_STM32_FLOWCONTROL_BROKEN=y
-CONFIG_STM32_I2C1=y
 CONFIG_STM32_JTAG_SW_ENABLE=y
 CONFIG_STM32_PWR=y
 CONFIG_STM32_RTC=y

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

@@ -49,7 +49,6 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
 else()
 	add_library(drivers_board
 		can.c
-		i2c.cpp
 		init.c
 		led.c
 		spi.cpp

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

@@ -7,7 +7,7 @@
 #
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-gps/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -40,13 +40,6 @@ CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0
-CONFIG_NXFONTS_DISABLE_16BPP=y
-CONFIG_NXFONTS_DISABLE_1BPP=y
-CONFIG_NXFONTS_DISABLE_24BPP=y
-CONFIG_NXFONTS_DISABLE_2BPP=y
-CONFIG_NXFONTS_DISABLE_32BPP=y
-CONFIG_NXFONTS_DISABLE_4BPP=y
-CONFIG_NXFONTS_DISABLE_8BPP=y
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=262144

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

@@ -21,7 +21,7 @@
 # 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="../../../../boards/ark/can-gps/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -72,7 +72,6 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y

boards/ark/can-rtk-gps/debug.px4board

@@ -1,6 +1,5 @@
 CONFIG_BOARD_CONSTRAINED_FLASH=n
 CONFIG_BOARD_NO_HELP=n
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_UORB=y

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

@@ -7,7 +7,7 @@
 #
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-rtk-gps/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -40,13 +40,6 @@ CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0
-CONFIG_NXFONTS_DISABLE_16BPP=y
-CONFIG_NXFONTS_DISABLE_1BPP=y
-CONFIG_NXFONTS_DISABLE_24BPP=y
-CONFIG_NXFONTS_DISABLE_2BPP=y
-CONFIG_NXFONTS_DISABLE_32BPP=y
-CONFIG_NXFONTS_DISABLE_4BPP=y
-CONFIG_NXFONTS_DISABLE_8BPP=y
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=262144

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

@@ -21,7 +21,7 @@
 # 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="../../../../boards/ark/can-rtk-gps/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -72,7 +72,6 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y

boards/atl/mantis-edu/default.px4board

@@ -17,6 +17,7 @@ CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

boards/atl/mantis-edu/nuttx-config/nsh/defconfig

@@ -25,7 +25,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/atl/mantis-edu/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32f7"
@@ -97,7 +97,6 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y

boards/av/x-v1/default.px4board

@@ -44,8 +44,8 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -55,6 +55,7 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

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

@@ -37,7 +37,7 @@
 # CONFIG_NSH_DISABLE_XD is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/av/x-v1/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32f7"
@@ -123,7 +123,6 @@ CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NET_UDP_WRITE_BUFFERS=y
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y

boards/beaglebone/blue/default.px4board

@@ -39,6 +39,7 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

boards/beaglebone/blue/src/board_config.h

@@ -48,11 +48,16 @@
 
 
 // I2C
+#define CONFIG_I2C 1
 #define PX4_NUMBER_I2C_BUSES    2
 
 #define PX4_I2C_OBDEV_MPU9250 0x68
 
 
+// SPI
+#define CONFIG_SPI 1
+
+
 // ADC channels:
 #define ADC_CHANNELS (1 << 5)
 #define BOARD_ADC_POS_REF_V (1.8f)

boards/beaglebone/blue/src/spi.cpp

@@ -35,4 +35,8 @@
 #include <drivers/drv_sensor.h>
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(1, {
+		initSPIDevice(DRV_DEVTYPE_UNUSED, 1), // spidev1.1
+		initSPIDevice(DRV_DEVTYPE_UNUSED, 2), // spidev1.2
+	}),
 };

boards/bitcraze/crazyflie/default.px4board

@@ -21,6 +21,7 @@ CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y

boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig

@@ -25,7 +25,7 @@
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/bitcraze/crazyflie/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -88,7 +88,6 @@ CONFIG_MTD_AT24XX=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y

boards/bitcraze/crazyflie21/default.px4board

@@ -21,6 +21,7 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y

boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig

@@ -24,7 +24,7 @@
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/bitcraze/crazyflie21/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -86,7 +86,6 @@ CONFIG_MTD_AT24XX=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y

boards/cuav/can-gps-v1/nuttx-config/canbootloader/defconfig

@@ -7,7 +7,7 @@
 #
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/can-gps-v1/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -40,13 +40,6 @@ CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0
-CONFIG_NXFONTS_DISABLE_16BPP=y
-CONFIG_NXFONTS_DISABLE_1BPP=y
-CONFIG_NXFONTS_DISABLE_24BPP=y
-CONFIG_NXFONTS_DISABLE_2BPP=y
-CONFIG_NXFONTS_DISABLE_32BPP=y
-CONFIG_NXFONTS_DISABLE_4BPP=y
-CONFIG_NXFONTS_DISABLE_8BPP=y
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=262144

boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig

@@ -21,7 +21,7 @@
 # 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="../../../../boards/cuav/can-gps-v1/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -72,7 +72,6 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y

boards/cuav/nora/default.px4board

@@ -1,6 +1,5 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
@@ -63,6 +62,7 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

boards/cuav/nora/nuttx-config/bootloader/defconfig

@@ -11,7 +11,7 @@
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/nora/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"

boards/cuav/nora/nuttx-config/nsh/defconfig

@@ -24,7 +24,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/nora/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
@@ -98,7 +98,6 @@ CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -190,7 +189,6 @@ CONFIG_STM32H7_SPI6=y
 CONFIG_STM32H7_SPI6_DMA=y
 CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM12=y
 CONFIG_STM32H7_TIM15=y
 CONFIG_STM32H7_TIM1=y

boards/cuav/x7pro/default.px4board

@@ -1,6 +1,5 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
@@ -64,6 +63,7 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

boards/cuav/x7pro/nuttx-config/bootloader/defconfig

@@ -11,7 +11,7 @@
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/x7pro/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"

boards/cuav/x7pro/nuttx-config/nsh/defconfig

@@ -24,7 +24,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/x7pro/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
@@ -98,7 +98,6 @@ CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -190,7 +189,6 @@ CONFIG_STM32H7_SPI6=y
 CONFIG_STM32H7_SPI6_DMA=y
 CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM12=y
 CONFIG_STM32H7_TIM15=y
 CONFIG_STM32H7_TIM1=y

boards/cubepilot/cubeorange/default.px4board

@@ -1,6 +1,5 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_BUILD_BOOTLOADER=y
 CONFIG_BOARD_IO="cubepilot_io-v2_default"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS5"
@@ -59,6 +58,7 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

boards/cubepilot/cubeorange/nuttx-config/bootloader/defconfig

@@ -11,7 +11,7 @@
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"

boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig

@@ -25,7 +25,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
@@ -99,7 +99,6 @@ CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -184,7 +183,6 @@ CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y
 CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y

boards/cubepilot/cubeorange/nuttx-config/test/defconfig

@@ -24,7 +24,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
@@ -98,7 +98,6 @@ CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -183,7 +182,6 @@ CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y
 CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y

boards/cubepilot/cubeyellow/default.px4board

@@ -58,6 +58,7 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

boards/cubepilot/cubeyellow/nuttx-config/nsh/defconfig

@@ -26,7 +26,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeyellow/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32f7"
@@ -98,7 +98,6 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y

boards/cubepilot/io-v2/nuttx-config/nsh/defconfig

@@ -8,7 +8,7 @@
 # CONFIG_DEV_NULL is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/io-v2/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"

boards/cubepilot/io-v2/src/board_config.h

@@ -164,7 +164,4 @@
 
 #define BOARD_NUM_IO_TIMERS 3
 
-#define BOARD_DISABLE_I2C_SPI
-
-
 #include <px4_platform_common/board_common.h>

boards/emlid/navio2/default.px4board

@@ -40,6 +40,7 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

boards/emlid/navio2/src/board_config.h

@@ -49,9 +49,13 @@
 
 
 // I2C
+#define CONFIG_I2C 1
 #define PX4_NUMBER_I2C_BUSES    1
 
 
+// SPI
+#define CONFIG_SPI 1
+
 // ADC channels:
 // A0 - board voltage (shows 5V)
 // A1 - servo rail voltage

boards/freefly/can-rtk-gps/nuttx-config/canbootloader/defconfig

@@ -7,7 +7,7 @@
 #
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/freefly/can-rtk-gps/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32f7"

boards/freefly/can-rtk-gps/nuttx-config/nsh/defconfig

@@ -20,7 +20,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/freefly/can-rtk-gps/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32f7"
@@ -82,7 +82,6 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y

boards/holybro/can-gps-v1/nuttx-config/canbootloader/defconfig

@@ -7,7 +7,7 @@
 #
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/can-gps-v1/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -40,13 +40,6 @@ CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0
-CONFIG_NXFONTS_DISABLE_16BPP=y
-CONFIG_NXFONTS_DISABLE_1BPP=y
-CONFIG_NXFONTS_DISABLE_24BPP=y
-CONFIG_NXFONTS_DISABLE_2BPP=y
-CONFIG_NXFONTS_DISABLE_32BPP=y
-CONFIG_NXFONTS_DISABLE_4BPP=y
-CONFIG_NXFONTS_DISABLE_8BPP=y
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=262144

boards/holybro/can-gps-v1/nuttx-config/nsh/defconfig

@@ -21,7 +21,7 @@
 # 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="../../../../boards/holybro/can-gps-v1/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -72,7 +72,6 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y

boards/holybro/durandal-v1/default.px4board

@@ -1,7 +1,5 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_BUILD_BOOTLOADER=y
-CONFIG_BOARD_IO="px4_io-v2_default"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
@@ -56,6 +54,7 @@ CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig

@@ -11,7 +11,7 @@
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/durandal-v1/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"

boards/holybro/durandal-v1/nuttx-config/nsh/defconfig

@@ -24,7 +24,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/durandal-v1/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
@@ -99,7 +99,6 @@ CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -187,7 +186,6 @@ CONFIG_STM32H7_SPI6=y
 CONFIG_STM32H7_SPI6_DMA=y
 CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y

boards/holybro/kakutef7/default.px4board

@@ -26,8 +26,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -37,12 +37,9 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DMESG=n
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_VER=y

boards/holybro/kakutef7/nuttx-config/nsh/defconfig

@@ -24,7 +24,7 @@
 # CONFIG_SPI_CALLBACK is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/kakutef7/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32f7"
@@ -98,7 +98,6 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y

boards/holybro/kakutef7/src/board_config.h

@@ -134,8 +134,6 @@
 		GPIO_RSSI_IN,                \
 	}
 
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
 #define BOARD_NUM_IO_TIMERS 4
 
 __BEGIN_DECLS

boards/holybro/pix32v5/default.px4board

@@ -63,6 +63,7 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

boards/holybro/pix32v5/nuttx-config/nsh/defconfig

@@ -25,7 +25,7 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/pix32v5/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32f7"
@@ -97,7 +97,6 @@ CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y

boards/matek/h743-slim/bootloader.px4board

@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""

boards/matek/h743-slim/default.px4board

@@ -0,0 +1,83 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_PWM_OUT_SIM=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_RPM=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_VMOUNT=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_TEST=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_PWM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y

boards/matek/h743-slim/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 139,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the MatekH743-slim board",
+    "image": "",
+    "build_time": 0,
+    "summary": "MatekH743-slim",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1966080,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/matek/h743-slim/init/rc.board_extras

@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# board specific extras init
+#------------------------------------------------------------------------------
+
+# if ! param compare OSD_ATXXXX_CFG 0
+# then
+# 	atxxxx start -s
+# fi
+
+atxxxx start -s
+
+
+# DShot telemetry is always on UART7
+# dshot telemetry /dev/ttyS5
+

boards/matek/h743-slim/init/rc.board_sensors

@@ -0,0 +1,18 @@
+#!/bin/sh
+#
+# board specific sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# Internal SPI bus ICM-20602
+icm20602 -R 12 -s start
+
+# Internal SPI bus MPU-6000
+mpu6000 -R 12 -s start
+
+# Internal baro
+dps310 -I start -a 118
+
+# External mag
+qmc5883l -X start -a 13