ci: fix docker context

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
ci: dont enter sitl
2026-06-06 05:10:05 +08:00 · 2025-07-03 21:22:49 +00:00 · 2025-07-03 18:59:02 +00:00 · 2025-07-03 18:59:02 +00:00 · 2025-07-03 18:59:02 +00:00 · 2025-07-03 18:59:02 +00:00
959 changed files with 16398 additions and 21523 deletions
@@ -0,0 +1,10 @@
+# Labeler configuration file for GitHub Actions
+# The action is ./.github/workflows/label.yml
+# Docs for the syntax in this file can be found at
+# https://github.com/actions/labeler
+
+
+# Add 'Documentation' label to any changes within 'docs' folder or any subfolders
+"Documentation+📑":
+- changed-files:
+  - any-glob-to-any-file: docs/**
@@ -0,0 +1,44 @@
+name: Build PX4 SITL AppImage
+
+on:
+  pull_request:
+    branches:
+      - main
+
+permissions:
+  contents: read
+  actions: write
+
+jobs:
+  build-appimage:
+    name: "AppImage ${{ matrix.arch }}"
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - arch: amd64
+            runner: x64
+          - arch: arm64
+            runner: arm64
+    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu22-full-${{ matrix.runner }}","run-id=${{ github.run_id }}"]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: recursive
+
+      - name: Install Dependencies
+        run: ./Tools/setup/ubuntu.sh
+
+      - name: Build PX4 SITL and AppImage
+        env:
+          # avoid FUSE by extracting the AppImage in‐place
+          APPIMAGE_EXTRACT_AND_RUN: "1"
+        run: |
+          make appimage
+
+      - name: Upload AppImage artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4-sitl-appimage-${{ matrix.arch }}
+          path: build/*.AppImage
@@ -6,13 +6,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
    - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  build:
@@ -6,13 +6,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
    - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
 jobs:
  build:
    runs-on: ubuntu-latest
@@ -6,13 +6,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
    - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  build:
@@ -9,13 +9,11 @@ on:
      - 'release/**'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
      - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 env:
  RUNS_IN_DOCKER: true
@@ -6,7 +6,6 @@ on:
    - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  unit_tests:
@@ -4,7 +4,6 @@ on:
  push:
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  unit_tests:
@@ -6,13 +6,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
    - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  build:
@@ -27,7 +25,7 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: px4io/px4-dev:v1.16.0-ondemand
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
      - name: Install Node v20.18.0
@@ -11,13 +11,11 @@ on:
      - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
      - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 env:
  MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
@@ -28,7 +26,7 @@ jobs:
    name: Analyzing ${{ matrix.target }}
    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
-      image: px4io/px4-dev:v1.16.0-ondemand
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
    strategy:
      matrix:
        target: [px4_fmu-v5x, px4_fmu-v6x]
@@ -9,20 +9,18 @@ on:
      - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
      - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  check_itcm:
    name: Checking ${{ matrix.target }}
    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
-      image: px4io/px4-dev:v1.16.0-ondemand
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
    strategy:
      fail-fast: false
      matrix:
@@ -0,0 +1,21 @@
+# This workflow will triage pull requests and apply a label based on the
+# paths that are modified in the pull request.
+# The paths are set up in .github/labeler.yml
+#
+# See: https://github.com/actions/labeler
+
+name: Labeler
+on: [pull_request_target]
+
+jobs:
+  label:
+
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      pull-requests: write
+
+    steps:
+    - uses: actions/labeler@v5
+      with:
+        repo-token: "${{ secrets.GITHUB_TOKEN }}"
@@ -6,13 +6,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
    - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  build:
@@ -6,13 +6,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
    - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  build:
@@ -6,13 +6,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
    - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  build:
@@ -31,7 +29,7 @@ jobs:
    - name: Build PX4 and Run Test [${{ matrix.config }}]
      uses: addnab/docker-run-action@v3
      with:
-        image: px4io/px4-dev:v1.16.0-ondemand
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
        options: -v ${{ github.workspace }}:/workspace
        run: |
          cd /workspace
@@ -6,13 +6,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
    - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  build:
@@ -11,13 +11,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  build:
@@ -33,6 +31,12 @@ jobs:
    - name: Git Ownership Workaround
      run: git config --system --add safe.directory '*'

+    - name: Update ROS Keys
+      run: |
+        sudo rm /etc/apt/sources.list.d/ros2.list && \
+        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
    - name: Install gazebo
      run: |
        apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
@@ -5,13 +5,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
    - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
 defaults:
  run:
    shell: bash
@@ -0,0 +1,189 @@
+name: SITL Container
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
+    tags:
+      - 'v*'
+  pull_request:
+    branches:
+      - '**'
+  workflow_dispatch:
+    inputs:
+      px4_version:
+        description: 'Container tag (e.g. v1.16.0)'
+        required: true
+        type: string
+      deploy_to_registry:
+        description: 'Whether to push built images to the registry'
+        required: false
+        type: boolean
+        default: false
+
+jobs:
+  setup:
+    name: Set Tags and Variables
+    permissions:
+      contents: read
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    outputs:
+      px4_version: ${{ steps.px4_version.outputs.px4_version }}
+      meta_tags: ${{ steps.meta.outputs.tags }}
+      meta_labels: ${{ steps.meta.outputs.labels }}
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      # If manual dispatch, take the user‐provided input
+      - name: Set PX4 Tag Version
+        id: px4_version
+        run: |
+          if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
+            echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT
+          else
+            echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+          fi
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: |
+            ghcr.io/PX4/px4-sitl
+            px4io/px4-sitl
+          tags: |
+            type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000
+
+  build:
+    name: Build (${{ matrix.arch }})
+    permissions:
+      contents: read
+      packages: write
+    needs: setup
+    strategy:
+      matrix:
+        include:
+          - platform: linux/arm64
+            arch: arm64
+            runner: arm64
+          - platform: linux/amd64
+            arch: amd64
+            runner: x64
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      - name: Install PX4 Dependencies
+        run: ./Tools/setup/ubuntu.sh
+
+      - name: Build PX4 SITL
+        run: make px4_sitl_default
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+        with:
+          driver: docker-container
+          platforms: ${{ matrix.platform }}
+
+      - name: Build and Load Container Image
+        uses: docker/build-push-action@v6
+        id: docker
+        with:
+          context: .
+          file: Tools/sitl-container/Dockerfile
+          tags: |
+            ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+            px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+          labels: ${{ needs.setup.outputs.meta_labels }}
+          platforms: ${{ matrix.platform }}
+          load: false
+          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+          provenance: false
+          cache-from: type=gha,version=1
+          cache-to: type=gha,version=1,mode=max
+
+  deploy:
+    name: Deploy To Registry
+    permissions:
+      contents: read
+      packages: write
+    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    needs: [build, setup]
+    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Verify Images Exist Before Creating Manifest
+        run: |
+          docker manifest inspect px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
+          docker manifest inspect px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
+          docker manifest inspect ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
+          docker manifest inspect ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
+
+      - name: Create and Push Multi-Arch Manifest for Docker Hub
+        run: |
+          docker manifest create px4io/px4-sitl:${{ needs.setup.outputs.px4_version }} \
+            --amend px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 \
+            --amend px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64
+
+          docker manifest annotate px4io/px4-sitl:${{ needs.setup.outputs.px4_version }} px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
+          docker manifest annotate px4io/px4-sitl:${{ needs.setup.outputs.px4_version }} px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
+
+          docker manifest push px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}
+
+      - name: Create and Push Multi-Arch Manifest for GHCR
+        run: |
+          docker manifest create ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }} \
+            --amend ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 \
+            --amend ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64
+
+          docker manifest annotate ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
+          docker manifest annotate ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
+
+          docker manifest push ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}
@@ -11,13 +11,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
    - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  build:
@@ -6,6 +6,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
+    px4_sitl_spacecraft:
+      short: px4_sitl_spacecraft
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_spacecraft
    px4_sitl_nolockstep:
      short: px4_sitl_nolockstep
      buildType: RelWithDebInfo
@@ -301,6 +306,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: holybro_durandal-v1_default
+    holybro_kakuteh7-wing_default:
+      short: holybro_kakuteh7-wing
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_kakuteh7-wing_default
    holybro_kakuteh7dualimu_default:
      short: holybro_kakuteh7dualimu
      buildType: MinSizeRel
@@ -496,7 +496,6 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 include(bloaty)


-include(doxygen)
 include(metadata)
 include(package)

@@ -264,6 +264,42 @@ px4fmu_firmware: \
 	check_px4_fmu-v5x_default \
 	sizes

+# Create a one-file AppImage for PX4 SITL
+PX4_VERSION := $(shell git describe --tags --match "v[0-9]*" 2>/dev/null || echo "v0.0.0")
+.PHONY: AppImage
+appimage: build/px4_sitl_default/bin/px4 build/px4_sitl_default/romfs_files.tar
+
+	@$(MAKE) px4_sitl_default
+	@$(RM) -rf build/px4.AppDir
+
+	@mkdir -p \
+		build/px4.AppDir/usr/bin \
+		build/px4.AppDir/usr/lib \
+		build/px4.AppDir/usr/share/px4/romfs/etc \
+		build/px4.AppDir/usr/share/px4/romfs/bin
+	@cp build/px4_sitl_default/bin/px4 build/px4.AppDir/usr/bin/
+	@echo "${PX4_VERSION}" > build/px4.AppDir/version.txt
+
+	# bundle required Gazebo transport libs (arch‐agnostic lookup)
+	echo "→ Gathering shared-lib dependencies for px4..."
+	@ldd build/px4_sitl_default/bin/px4 \
+		| awk '/=>/ { print $$3 }' \
+		| grep -E '^/' \
+		| grep -Ev '/lib(c|gcc|stdc\+\+)\.so' \
+		| sort -u \
+		| while read lib; do \
+			echo "	→ bundling $$lib"; \
+			cp "$$lib" build/px4.AppDir/usr/lib/; \
+		done
+
+	@tar xf build/px4_sitl_default/romfs_files.tar -C build/px4.AppDir/usr/share/px4/romfs/etc
+	@cp build/px4_sitl_default/bin/px4-* build/px4.AppDir/usr/share/px4/romfs/bin/
+	@cp Tools/appimage/px4.desktop build/px4.AppDir/
+	@cp Tools/appimage/px4.svg build/px4.AppDir/
+	@cp Tools/appimage/AppRun build/px4.AppDir/
+	@chmod +x build/px4.AppDir/AppRun
+	@cd build && appimagetool px4.AppDir
+
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
 	check_mro_x21_default \
@@ -365,7 +401,7 @@ coverity_scan: px4_sitl_default

 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
+.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata

 parameters_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
@@ -381,12 +417,6 @@ extract_events:

 px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events

-doxygen:
-	@mkdir -p "$(SRC_DIR)"/build/doxygen
-	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
-	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
-
 # Style
 # --------------------------------------------------------------------
 .PHONY: check_format format check_newlines
@@ -216,12 +216,33 @@ foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
 		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
 			# generate rc.board_bootloader_upgrade
 			set(BOARD_FIRMWARE_BIN "${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)
+			message(STATUS "ROMFS:  Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")
+
+			# Generate the file using configure_file at configure time to a temporary location
+			set(bootloader_upgrade_tmp ${CMAKE_CURRENT_BINARY_DIR}/rc.board_bootloader_upgrade.tmp)
+			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${bootloader_upgrade_tmp} @ONLY)
+
+			# Then copy it at build time with proper dependencies
+			add_custom_command(
+				OUTPUT
+					${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
+					rc.board_bootloader_upgrade.stamp
+				COMMAND ${CMAKE_COMMAND} -E copy_if_different ${bootloader_upgrade_tmp} ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
+				COMMAND ${CMAKE_COMMAND} -E touch rc.board_bootloader_upgrade.stamp
+				DEPENDS
+					${bootloader_upgrade_tmp}
+					${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in
+					romfs_copy.stamp
+				COMMENT "ROMFS: copying rc.board_bootloader_upgrade"
+			)
+
+			list(APPEND extras_dependencies
+				rc.board_bootloader_upgrade.stamp
+			)
 		else()
 			# remove bootloader from extras
 			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
 		endif()
-
 	endif()
 endforeach()

@@ -15,7 +15,6 @@ param set-default NAV_ACC_RAD 0.5

 # Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAX_THR_YAW_R 1.5
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533

@@ -31,14 +30,16 @@ param set-default RO_YAW_RATE_P 0.25
 param set-default RO_YAW_RATE_LIM 180
 param set-default RO_YAW_ACCEL_LIM 120
 param set-default RO_YAW_DECEL_LIM 1000
+param set-default RO_YAW_RATE_CORR 1.43

 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5

-# Rover Position Control Parameters
+# Rover Velocity Control Parameters
 param set-default RO_SPEED_LIM 2
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -1,51 +1,68 @@
 #!/bin/sh
-# @name Gazebo lawnmower
+# @name Gazebo - Zero Turn Lawnmower
 # @type Rover
 # @class Rover

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

 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=lawn}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

+param set-default NAV_ACC_RAD 0.5
+
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1

-# Rover parameters
+# Differential Parameters
 param set-default RD_WHEEL_TRACK 0.9
-param set-default RD_YAW_RATE_I 0.1
-param set-default RD_YAW_RATE_P 5
-param set-default RD_MAX_ACCEL 1
-param set-default RD_MAX_JERK 3
-param set-default RD_MAX_SPEED 8
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0.1
-param set-default RD_MAX_YAW_RATE 30
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533

+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 1.5
+param set-default RO_DECEL_LIM 5
+param set-default RO_JERK_LIM 15
+param set-default RO_MAX_THR_SPEED 2.7
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.2
+param set-default RO_YAW_RATE_P 1.0
+param set-default RO_YAW_RATE_LIM 60
+param set-default RO_YAW_ACCEL_LIM 50
+param set-default RO_YAW_DECEL_LIM 1000
+param set-default RO_YAW_RATE_CORR 1.0
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Velocity Control Parameters
+param set-default RO_SPEED_LIM 2.1
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
+param set-defatul RO_SPEED_RED 1.0
+
 # Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 30
-param set-default PP_LOOKAHD_MIN 2
 param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1

 # Actuator mapping - set SITL motors/servos output parameters:

 # "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-#param set-default SIM_GZ_WH_MIN1 0
-#param set-default SIM_GZ_WH_MAX1 200
-#param set-default SIM_GZ_WH_DIS1 100
-#param set-default SIM_GZ_WH_FAIL1 100
+param set-default SIM_GZ_WH_MIN1 87
+param set-default SIM_GZ_WH_MAX1 113
+param set-default SIM_GZ_WH_DIS1 100
+param set-default SIM_GZ_WH_FAIL1 100

 param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-#param set-default SIM_GZ_WH_MIN2 0
-#param set-default SIM_GZ_WH_MAX2 200
-#param set-default SIM_GZ_WH_DIS2 100
-#param set-default SIM_GZ_WH_FAIL2 100
+param set-default SIM_GZ_WH_MIN2 87
+param set-default SIM_GZ_WH_MAX2 113
+param set-default SIM_GZ_WH_DIS2 100
+param set-default SIM_GZ_WH_FAIL2 100

 param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels

@@ -30,14 +30,16 @@ param set-default RO_MAX_THR_SPEED 3.1
 param set-default RO_YAW_RATE_I 0.1
 param set-default RO_YAW_RATE_P 1
 param set-default RO_YAW_RATE_LIM 180
+param set-default RO_YAW_RATE_CORR 1

 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 3

-# Rover Position Control Parameters
+# Rover Velocity Control Parameters
 param set-default RO_SPEED_LIM 3
 param set-default RO_SPEED_I 0.1
 param set-default RO_SPEED_P 1
+param set-default RO_SPEED_RED 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -15,8 +15,6 @@ param set-default NAV_ACC_RAD 0.5

 # Mecanum Parameters
 param set-default RM_WHEEL_TRACK 0.3
-param set-default RM_MAX_THR_YAW_R 1.2
-param set-default RM_MISS_SPD_GAIN 1

 # Rover Control Parameters
 param set-default RO_ACCEL_LIM 3
@@ -30,14 +28,16 @@ param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 120
 param set-default RO_YAW_ACCEL_LIM 240
 param set-default RO_YAW_DECEL_LIM 1000
+param set-default RO_YAW_RATE_CORR 1.75

 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5

-# Rover Position Control Parameters
+# Rover Velocity Control Parameters
 param set-default RO_SPEED_LIM 2
 param set-default RO_SPEED_I 0.5
 param set-default RO_SPEED_P 1
+param set-default RO_SPEED_RED 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 0.5
@@ -0,0 +1,56 @@
+#!/bin/sh
+# @name Generic Differential Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_differential}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+param set-default NAV_ACC_RAD 0.5
+
+# Differential Parameters
+param set-default RD_WHEEL_TRACK 0.6
+param set-default RD_TRANS_DRV_TRN 0.785398
+param set-default RD_TRANS_TRN_DRV 0.174533
+
+# Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 250
+param set-default RO_YAW_ACCEL_LIM 400
+param set-default RO_YAW_DECEL_LIM 800
+param set-default RO_YAW_RATE_CORR 1
+
+# Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 2
+param set-default RO_SPEED_LIM 1.8
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.01
+param set-default RO_SPEED_RED 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+
+# Actuator mapping
+param set-default SIM_GZ_WH_FUNC1 101 # right wheel
+param set-default SIM_GZ_WH_MIN1 80
+param set-default SIM_GZ_WH_MAX1 120
+param set-default SIM_GZ_WH_DIS1 100
+
+param set-default SIM_GZ_WH_FUNC2 102 # left wheel
+param set-default SIM_GZ_WH_MIN2 80
+param set-default SIM_GZ_WH_MAX2 120
+param set-default SIM_GZ_WH_DIS2 100
@@ -1,155 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Spacecraft Model
-#
-# @type Freeflyer with 8 thrusters
-#
-# @maintainer Pedro Roque <padr@kth.se>
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-param set-default CA_AIRFRAME 15
-param set-default MAV_TYPE 99
-
-param set-default CA_THRUSTER_CNT 12
-param set-default CA_R_REV 0
-
-# param set-default FW_ARSP_MODE 1
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-param set-default COM_POSCTL_NAVL 2
-
-# Set thrusters
-param set-default CA_THRUSTER0_PX -0.50
-param set-default CA_THRUSTER0_PY 0.50
-param set-default CA_THRUSTER0_PZ 0.0
-param set-default CA_THRUSTER0_CT 0.237
-param set-default CA_THRUSTER0_AX 0.0
-param set-default CA_THRUSTER0_AY -1.0
-param set-default CA_THRUSTER0_AZ 0.0
-
-param set-default CA_THRUSTER1_PX 0.50
-param set-default CA_THRUSTER1_PY 0.50
-param set-default CA_THRUSTER1_PZ 0.0
-param set-default CA_THRUSTER1_CT 0.237
-param set-default CA_THRUSTER1_AX 0.0
-param set-default CA_THRUSTER1_AY -1.0
-param set-default CA_THRUSTER1_AZ 0.0
-
-param set-default CA_THRUSTER2_PX 0.50
-param set-default CA_THRUSTER2_PY -0.50
-param set-default CA_THRUSTER2_PZ 0.0
-param set-default CA_THRUSTER2_CT 0.237
-param set-default CA_THRUSTER2_AX 0.0
-param set-default CA_THRUSTER2_AY 1.0
-param set-default CA_THRUSTER2_AZ 0.0
-
-param set-default CA_THRUSTER3_PX -0.50
-param set-default CA_THRUSTER3_PY -0.50
-param set-default CA_THRUSTER3_PZ 0.0
-param set-default CA_THRUSTER3_CT 0.237
-param set-default CA_THRUSTER3_AX 0.0
-param set-default CA_THRUSTER3_AY 1.0
-param set-default CA_THRUSTER3_AZ 0.0
-
-param set-default CA_THRUSTER4_PX -0.50
-param set-default CA_THRUSTER4_PY 0.0
-param set-default CA_THRUSTER4_PZ -0.50
-param set-default CA_THRUSTER4_CT 0.237
-param set-default CA_THRUSTER4_AX 1.0
-param set-default CA_THRUSTER4_AY 0.0
-param set-default CA_THRUSTER4_AZ 0.0
-
-param set-default CA_THRUSTER5_PX 0.50
-param set-default CA_THRUSTER5_PY 0.0
-param set-default CA_THRUSTER5_PZ -0.50
-param set-default CA_THRUSTER5_CT 0.237
-param set-default CA_THRUSTER5_AX -1.0
-param set-default CA_THRUSTER5_AY 0.0
-param set-default CA_THRUSTER5_AZ 0.0
-
-param set-default CA_THRUSTER6_PX 0.50
-param set-default CA_THRUSTER6_PY 0.0
-param set-default CA_THRUSTER6_PZ 0.50
-param set-default CA_THRUSTER6_CT 0.237
-param set-default CA_THRUSTER6_AX -1.0
-param set-default CA_THRUSTER6_AY 0.0
-param set-default CA_THRUSTER6_AZ 0.0
-
-param set-default CA_THRUSTER7_PX -0.50
-param set-default CA_THRUSTER7_PY 0.0
-param set-default CA_THRUSTER7_PZ 0.50
-param set-default CA_THRUSTER7_CT 0.237
-param set-default CA_THRUSTER7_AX 1.0
-param set-default CA_THRUSTER7_AY 0.0
-param set-default CA_THRUSTER7_AZ 0.0
-
-param set-default CA_THRUSTER8_PX 0.0
-param set-default CA_THRUSTER8_PY -0.50
-param set-default CA_THRUSTER8_PZ -0.50
-param set-default CA_THRUSTER8_CT 0.237
-param set-default CA_THRUSTER8_AX 0.0
-param set-default CA_THRUSTER8_AY 0.0
-param set-default CA_THRUSTER8_AZ 1.0
-
-param set-default CA_THRUSTER9_PX 0.0
-param set-default CA_THRUSTER9_PY 0.50
-param set-default CA_THRUSTER9_PZ -0.50
-param set-default CA_THRUSTER9_CT 0.237
-param set-default CA_THRUSTER9_AX 0.0
-param set-default CA_THRUSTER9_AY 0.0
-param set-default CA_THRUSTER9_AZ 1.0
-
-param set-default CA_THRUSTER10_PX 0.0
-param set-default CA_THRUSTER10_PY 0.50
-param set-default CA_THRUSTER10_PZ 0.50
-param set-default CA_THRUSTER10_CT 0.237
-param set-default CA_THRUSTER10_AX 0.0
-param set-default CA_THRUSTER10_AY 0.0
-param set-default CA_THRUSTER10_AZ -1.0
-
-param set-default CA_THRUSTER11_PX 0.0
-param set-default CA_THRUSTER11_PY -0.50
-param set-default CA_THRUSTER11_PZ 0.50
-param set-default CA_THRUSTER11_CT 0.237
-param set-default CA_THRUSTER11_AX 0.0
-param set-default CA_THRUSTER11_AY 0.0
-param set-default CA_THRUSTER11_AZ -1.0
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-param set-default PWM_MAIN_FUNC7 107
-param set-default PWM_MAIN_FUNC8 108
-param set-default PWM_MAIN_FUNC9 109
-param set-default PWM_MAIN_FUNC10 110
-param set-default PWM_MAIN_FUNC11 111
-param set-default PWM_MAIN_FUNC12 112
-
-# PWM Simulation
-param set PWM_SIM_PWM_MAX 10000
-param set PWM_SIM_PWM_MIN 0
-
-# Controller Tunings
-param set-default SC_ROLLRATE_P 0.14
-param set-default SC_PITCHRATE_P 0.14
-param set-default SC_ROLLRATE_I 0.3
-param set-default SC_PITCHRATE_I 0.3
-param set-default SC_ROLLRATE_D 0.004
-param set-default SC_PITCHRATE_D 0.004
@@ -20,7 +20,7 @@ param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
 param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?

 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 99
+param set-default MAV_TYPE 45

 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0
@@ -114,7 +114,8 @@ px4_add_romfs_files(
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2

-	71001_gazebo-classic_spacecraft_dart
+	50000_gz_rover_differential
+
 	71002_gz_spacecraft_2d

 	# [22000, 22999] Reserve for custom models
@@ -5,8 +5,5 @@
 # @type Rover
 # @class Rover
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

 . ${R}etc/init.d/rc.rover_differential_defaults
@@ -7,9 +7,6 @@
 # @type Rover
 # @class Rover
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

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

@@ -26,7 +23,6 @@ param set-default NAV_ACC_RAD 0.5

 # Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAX_THR_YAW_R 0.7
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.139626

@@ -42,14 +38,16 @@ param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 600
 param set-default RO_YAW_DECEL_LIM 600
+param set-default RO_YAW_RATE_CORR 2.7

 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 2.5

-# Rover Position Control Parameters
+# Rover Velocity Control Parameters
 param set-default RO_SPEED_LIM 1.6
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -5,8 +5,5 @@
 # @type Rover
 # @class Rover
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

 . ${R}etc/init.d/rc.rover_ackermann_defaults
@@ -7,9 +7,6 @@
 # @type Rover
 # @class Rover
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

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

@@ -33,14 +30,16 @@ param set-default RO_MAX_THR_SPEED 2.8
 param set-default RO_YAW_RATE_I 0.1
 param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 120
+param set-default RO_YAW_RATE_CORR 1

 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 2.5

-# Rover Position Control Parameters
+# Rover Velocity Control Parameters
 param set-default RO_SPEED_LIM 2.5
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 1

 # Pure pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -5,8 +5,5 @@
 # @type Rover
 # @class Rover
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

 . ${R}etc/init.d/rc.rover_mecanum_defaults
@@ -11,7 +11,7 @@
 . ${R}etc/init.d/rc.sc_defaults

 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 99
+param set-default MAV_TYPE 45

 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0
@@ -3,10 +3,10 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #

-set VEHICLE_TYPE sc
+set VEHICLE_TYPE spacecraft

-# MAV_TYPE_QUADROTOR 2
-#param set-default MAV_TYPE 12
+# MAV_TYPE_SPACECRAFT_ORBITTER
+param set-default MAV_TYPE 45

 # Set micro-dds-client to use ethernet and IP-address 192.168.0.1
 param set-default UXRCE_DDS_AG_IP -1062731775
@@ -234,6 +234,7 @@ then
 		lis3mdl -X -q -a 0x1c start
 	fi
 	qmc5883l -X -q start
+	qmc5883p -X -q start
 	rm3100 -X -q start

 	# start last (wait for possible icm20948 passthrough mode)
@@ -68,6 +68,15 @@ then
 	. ${R}etc/init.d/rc.vtol_apps
 fi

+#
+# Spapcecraft setup.
+#
+if [ $VEHICLE_TYPE = spacecraft ]
+then
+	# Start standard multicopter apps.
+	. ${R}etc/init.d/rc.sc_apps
+fi
+
 #
 # Airship setup.
 #
@@ -280,6 +280,14 @@ else
 	#
 	send_event start

+	#
+	# Start the hardfault streamer.
+	#
+	if param compare -s SYS_HF_MAV 1
+	then
+		hardfault_stream start
+	fi
+
 	#
 	# Start the resource load monitor.
 	#
@@ -0,0 +1,61 @@
+#!/usr/bin/env bash
+set -e
+
+DEBUG=false
+for arg; do
+  case "$arg" in
+  --debug)
+    DEBUG=true
+    shift
+    ;;
+  *)
+    break
+    ;;
+  esac
+done
+
+if $DEBUG; then
+  echo "[DEBUG] Running in debug mode" >&2
+fi
+
+CUR_VER=$(<"$APPDIR/version.txt")
+$DEBUG && echo "[DEBUG] PX4_VERSION = $CUR_VER" >&2
+
+# figure out a stable logs directory
+STATE_HOME="${XDG_STATE_HOME:-$HOME/.local/state}"
+DATA_HOME="${XDG_DATA_HOME:-$HOME/.local/share}"
+ROMFS_DIR="$DATA_HOME/px4/romfs"
+mkdir -p "$DATA_HOME/px4" "$STATE_HOME/px4"
+
+$DEBUG && echo "[DEBUG] STATE_HOME = $STATE_HOME" >&2
+$DEBUG && echo "[DEBUG] DATA_HOME = $STATE_HOME" >&2
+
+# Read last unpacked version
+LAST_VER_FILE="$STATE_HOME/px4/version"
+LAST_VER=""
+[ -f "$LAST_VER_FILE" ] && LAST_VER=$(<"$LAST_VER_FILE")
+
+# if versions differ, refresh the payload
+if [ "$CUR_VER" != "$LAST_VER" ]; then
+  $DEBUG && echo "[DEBUG] Version changed ($LAST_VER → $CUR_VER); updating ROMFS..." >&2
+  rm -fr "$ROMFS_DIR"
+  mkdir -p "$ROMFS_DIR"
+  cp -a "$APPDIR/usr/share/px4/romfs/." "$ROMFS_DIR"
+  echo "$CUR_VER" > "$LAST_VER_FILE"
+else
+  if $DEBUG; then
+    echo "[DEBUG] Using cached ROMFS version $CUR_VER" >&2
+  fi
+fi
+
+LOG_DIR="$STATE_HOME/px4/logs"
+mkdir -p "$LOG_DIR"
+$DEBUG && echo "[DEBUG] LOG_DIR = $LOG_DIR" >&2
+
+# pick up bundled libs first
+export LD_LIBRARY_PATH="$APPDIR/usr/lib:$LD_LIBRARY_PATH"
+export PATH="$ROMFS_DIR/bin:$ROMFS_DIR:$PATH"
+
+
+$DEBUG && echo "[DEBUG] Launching: $APPDIR/usr/bin/px4 -w $ROMFS_DIR $*" >&2
+exec "$APPDIR/usr/bin/px4" -w "$ROMFS_DIR" "$@"
@@ -0,0 +1,6 @@
+[Desktop Entry]
+Type=Application
+Name=PX4 Autopilot SITL
+Exec=px4 %F
+Icon=px4
+Categories=Development;
@@ -3,14 +3,14 @@
 return_value=0

 # Check if there are files checked in that don't end in a newline (POSIX requirement)
-git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
+git grep --cached -Il '' -- ':!docs/public/' ':!docs/ko/' ':!docs/uk/' ':!docs/zh/' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'

 if [ $? -ne 0 ]; then
 	return_value=1
 fi

 # Check if there are files checked in that have duplicate newlines at the end (fail trailing whitespace checks)
-git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
+git grep --cached -Il '' -- ':!docs/public/' ':!docs/ko/' ':!docs/uk/' ':!docs/zh/' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'

 if [ $? -ne 0 ]; then
 	return_value=1
@@ -35,6 +35,7 @@ if args.filter:
    for board in args.filter.split(','):
        board_filter.append(board)

+default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
 build_configs = []
 grouped_targets = {}
 excluded_boards = ['modalai_voxl2', 'px4_ros2']  # TODO: fix and enable
@@ -86,7 +87,7 @@ def process_target(px4board_file, target_name):
    assert platform, f"PLATFORM not found in {px4board_file}"

    if platform not in excluded_platforms:
-        container = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
+        container = default_container
        if platform == 'posix':
            group = 'base'
            if toolchain:
@@ -120,7 +121,7 @@ if(verbose):
 # - Events
 metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
 grouped_targets['base'] = {}
-grouped_targets['base']['container'] = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
+grouped_targets['base']['container'] = default_container
 grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets
@@ -1,21 +1,8 @@
 #! /bin/bash

-if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
-		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
-	elif [[ $@ =~ .*tests* ]]; then
-		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
-	fi
-else
-	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
-fi
-
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-ondemand"
+	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-rc1-258-g0369abd556"
 fi

 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
@@ -27,3 +27,4 @@ six>=1.12.0
 toml>=0.9
 sympy>=1.10.1
 pycryptodome
+lark
@@ -126,9 +126,11 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		genromfs \
 		gettext \
 		gperf \
+		fuse \
 		kconfig-frontends \
 		libelf-dev \
 		libexpat-dev \
+		libfuse2 \
 		libgmp-dev \
 		libisl-dev \
 		libmpc-dev \
@@ -156,6 +158,11 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 			gcc-arm-none-eabi \
 			gcc-multilib \
 			;
+
+		# Install the appimagetool for building AppImages
+		sudo wget -O /usr/local/bin/appimagetool \
+			https://github.com/AppImage/AppImageKit/releases/download/continuous/appimagetool-x86_64.AppImage
+		sudo chmod +x /usr/local/bin/appimagetool
 	fi

 	if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then
@@ -163,6 +170,10 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 			g++-aarch64-linux-gnu \
 			g++-arm-linux-gnueabihf \
 			;
+		# Install the appimagetool for building AppImages
+		sudo wget -O /usr/local/bin/appimagetool \
+			https://github.com/AppImage/AppImageKit/releases/download/continuous/appimagetool-aarch64.AppImage
+		sudo chmod +x /usr/local/bin/appimagetool
 	fi

 	if [ -n "$USER" ]; then
@@ -0,0 +1,55 @@
+FROM ubuntu:24.04
+
+RUN apt-get update \
+  && apt-get install -y --no-install-recommends \
+    ca-certificates \
+    curl \
+    gnupg \
+    lsb-release \
+    libbsd0 \
+    libcom-err2 \
+    libc6 \
+    libgcc-s1 \
+    libgssapi-krb5-2 \
+    libk5crypto3 \
+    libkeyutils1 \
+    libkrb5-3 \
+    libkrb5support0 \
+    libmd0 \
+    libnorm1 \
+    libpgm-5.3-0 \
+    libprotobuf32 \
+    libprotobuf-lite32t64 \
+    libsodium23 \
+    libstdc++6 \
+    libuuid1 \
+    libzmq5 \
+    wget \
+    zlib1g \
+  && rm -fr /var/lib/apt/lists/*
+
+RUN curl -sSL https://packages.osrfoundation.org/gazebo.key \
+  | gpg --dearmor -o /usr/share/keyrings/gazebo-archive-keyring.gpg \
+  && echo "deb  [signed-by=/usr/share/keyrings/gazebo-archive-keyring.gpg] \
+    http://packages.osrfoundation.org/gazebo/ubuntu-stable \
+    $(lsb_release -cs) main" \
+    > /etc/apt/sources.list.d/gazebo-stable.list \
+  && apt-get update \
+  && apt-get install -y --no-install-recommends \
+    libgz-msgs10 \
+    libgz-transport13 \
+    libgz-utils2 \
+  && rm -fr /var/lib/apt/lists/*
+
+COPY build/px4_sitl_default/bin /opt/px4/bin
+COPY build/px4_sitl_default/etc /opt/px4/etc
+
+WORKDIR /opt/px4
+
+COPY Tools/sitl-container/entrypoint.sh /usr/local/bin/entrypoint.sh
+RUN chmod +x /usr/local/bin/entrypoint.sh
+
+EXPOSE 14540/udp 14550/udp 8888/udp
+
+ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
+CMD []
@@ -0,0 +1,9 @@
+#!/bin/bash
+
+sudo docker run \
+  --rm -it \
+  --device /dev/fuse --cap-add SYS_ADMIN \
+  -p 14540:14540/udp \
+  -p 14550:14550/udp \
+  -p 8888:8888/udp \
+  px4-sitl:local
@@ -0,0 +1,11 @@
+#!/bin/sh
+set -e
+
+PX4_BIN=/opt/px4/bin/px4
+
+# if no args passed, default to SITL none
+if [ $# -eq 0 ]; then
+  exec "$PX4_BIN"
+else
+  exec "$PX4_BIN" "$@"
+fi
@@ -62,6 +62,7 @@ CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -1,5 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m4"
-CONFIG_BOARD_ROMFSROOT=""
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_DRIVERS_BOOTLOADERS=y
@@ -1,56 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m4"
-CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_EXTERNAL_METADATA=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
-CONFIG_COMMON_BAROMETERS=y
-CONFIG_DRIVERS_BATT_SMBUS=y
-CONFIG_DRIVERS_BOOTLOADERS=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_COMMON_HYGROMETERS=y
-CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
-CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_IRLOCK=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_COMMON_OSD=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_UAVCANNODE_ARMING_STATUS=y
-CONFIG_UAVCANNODE_BEEP_COMMAND=y
-CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
-CONFIG_UAVCANNODE_ESC_STATUS=y
-CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
-CONFIG_UAVCANNODE_GNSS_FIX=y
-CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
-CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
-CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
-CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
-CONFIG_UAVCANNODE_RAW_AIR_DATA=y
-CONFIG_UAVCANNODE_RAW_IMU=y
-CONFIG_UAVCANNODE_RTK_DATA=y
-CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
-CONFIG_UAVCANNODE_STATIC_PRESSURE=y
-CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,13 +0,0 @@
-{
-    "board_id": 83,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the ARK CANnode board",
-    "image": "",
-    "build_time": 0,
-    "summary": "ARKCANNODE",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 2080768,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default MBE_ENABLE 0
-param set-default SENS_IMU_CLPNOTI 0
-param set-default SENS_EN_AUAVX 1
-
-pwm_out start
-
-dshot start
@@ -1,123 +0,0 @@
-#!/bin/sh
-#
-# board sensors init
-#------------------------------------------------------------------------------
-icm42688p -R 0 -s start
-
-if param compare -s SENS_EN_BATT 1
-then
-	batt_smbus start -X
-fi
-
-# Lidar-Lite on I2C
-if param compare -s SENS_EN_LL40LS 2
-then
-	ll40ls start -X
-fi
-
-# mappydot lidar sensor
-if param compare -s SENS_EN_MPDT 1
-then
-	mappydot start -X
-fi
-
-# mb12xx sonar sensor
-if param greater -s SENS_EN_MB12XX 0
-then
-	mb12xx start -X
-fi
-
-# Lightware i2c lidar sensor
-if param greater -s SENS_EN_SF1XX 0
-then
-	lightware_laser_i2c start -X
-fi
-
-# vl53l1x i2c distance sensor
-if param compare -s SENS_EN_VL53L1X 1
-then
-	vl53l1x start -X
-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
-fi
-
-# Eagle Tree airspeed sensor external I2C
-if param compare -s SENS_EN_ETSASPD 1
-then
-	ets_airspeed start -X
-fi
-
-# Sensirion SDP3X differential pressure sensor external I2C
-if param compare -s SENS_EN_SDP3X 1
-then
-	if ! sdp3x start -X
-	then
-		# try another common address
-		sdp3x start -X -a 0x22
-	fi
-fi
-
-# SHT3x temperature and hygrometer sensor, external I2C
-if param compare -s SENS_EN_SHT3X 1
-then
-	sht3x start -X
-	sht3x start -X -a 0x45
-fi
-
-# TE MS4525DO differential pressure sensor external I2C
-if param compare -s SENS_EN_MS4525DO 1
-then
-	ms4525do start -X
-fi
-
-# TE MS5525DSO differential pressure sensor external I2C
-if param compare -s SENS_EN_MS5525DS 1
-then
-	ms5525dso start -X
-fi
-
-# IR-LOCK sensor external I2C
-if param compare -s SENS_EN_IRLOCK 1
-then
-	irlock start -X
-fi
-
-# SPL06 sensor external I2C
-if param compare -s SENS_EN_SPL06 1
-then
-	spl06 -X start
-	spl06 -X -a 0x77 start
-fi
-
-# AUAV absolute/differential pressure sensor external I2C
-if param greater -s SENS_EN_AUAVX 0
-then
-	auav start -D -X
-	auav start -A -X
-fi
-
-# probe for optional external I2C devices
-icm20948_i2c_passthrough -X -q start
-
-# compasses
-hmc5883 -T -X -q start
-ist8308 -X -q start
-ist8310 -X -q start
-iis2mdc -X -q start
-lis3mdl -X -q start
-qmc5883l -X -q start
-rm3100 -X -q start
-
-# start last (wait for possible icm20948 passthrough mode)
-ak09916 -X -q start
@@ -1,56 +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="../../../../boards/auterion/cannode/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_BOARDCTL=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DISABLE_MOUNTPOINT=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_INIT_STACKSIZE=4096
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MM_REGIONS=2
-CONFIG_NAME_MAX=0
-CONFIG_NUNGET_CHARS=0
-CONFIG_PREALLOC_TIMERS=0
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=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_FLASH_CONFIG_G=y
-CONFIG_STM32_NOEXT_VECTORS=y
-CONFIG_TASK_NAME_SIZE=0
-CONFIG_USEC_PER_TICK=1000
@@ -1,149 +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_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_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
-
-/* 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
-
-#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_2  /* PB13 */
-
-/* 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_2
-
-#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)
-
-#endif /* __ARCH_BOARD_BOARD_H */
@@ -1,153 +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_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/auterion/cannode/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=768
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_CROMFS=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_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2624
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MM_REGIONS=2
-CONFIG_NAME_MAX=40
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=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_VARS=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x20000000
-CONFIG_RAW_BINARY=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=254
-CONFIG_SCHED_HPWORKSTACKSIZE=3000
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
-CONFIG_SCHED_WAITPID=y
-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_CONFIG_G=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_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32_SPI1=y
-CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=2048
-CONFIG_STM32_SPI2=y
-CONFIG_STM32_SPI2_DMA=y
-CONFIG_STM32_SPI2_DMA_BUFFER=2048
-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
@@ -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) }
-}
@@ -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 STM32F412CG has 1Mb 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 = 928K
-    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) }
-}
@@ -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
-		timer_config.cpp
-	)
-
-	target_link_libraries(drivers_board
-		PRIVATE
-			arch_spi
-			drivers__led # drv_led_start
-			nuttx_arch
-			nuttx_drivers
-			px4_layer
-	)
-endif()
@@ -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>
-
-/* CAN  Silent mode control */
-#define GPIO_CAN1_SILENT_S0   /* PC14  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
-
-/* CAN termination software control */
-#define GPIO_CAN1_TERMINATION /* PC15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
-#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION
-
-/* Boot config */
-#define GPIO_BOOT_CONFIG      /* PH1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN1|GPIO_EXTI)
-
-/* ICM42688p FSYNC */
-#define GPIO_42688P_FSYNC     /* PB8  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
-
-/* 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)
-
-/* PWM Outputs */
-#define BOARD_NUM_IO_TIMERS         3
-#define DIRECT_PWM_OUTPUT_CHANNELS  8
-
-#define GPIO_TIM2_CH1_RESET   /* PA0  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_TIM2_CH2_RESET   /* PA1  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_TIM2_CH3_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define GPIO_TIM3_CH1_RESET   /* PB4  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4)
-#define GPIO_TIM3_CH2_RESET   /* PB5  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
-#define GPIO_TIM3_CH3_RESET   /* PB0  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_TIM3_CH4_RESET   /* PB1  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_TIM4_CH4_RESET   /* PB7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
-
-#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   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
-
-#define GPIO_USART1_RX_GPIO   /* PB3  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN3)
-#define GPIO_USART1_TX_GPIO   /* PA15  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN15)
-
-#define GPIO_USART2_RX_GPIO   /* PA3  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN3)
-#define GPIO_USART2_TX_GPIO   /* PA2  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN2)
-
-#define FLASH_BASED_PARAMS
-
-/* High-resolution timer */
-#define HRT_TIMER                    8  /* use timer 8 for the HRT */
-#define HRT_TIMER_CHANNEL            1  /* use capture/compare channel 1 */
-
-#define PX4_GPIO_INIT_LIST { \
-		GPIO_CAN1_SILENT_S0,              \
-		GPIO_CAN1_TERMINATION,            \
-		GPIO_42688P_FSYNC,                \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_I2C1_SCL_RESET,              \
-		GPIO_I2C1_SDA_RESET,              \
-	}
-
-__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
@@ -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);
-}
@@ -1,134 +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                    3000
-#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
-/* The ARK CANnode uses PH1 for GPIO_BOOT_CONFIG but it is not
- * compatible with px4_arch_gpioread as Port H = 7 which is greater
- * than STM32_NPORTS
- * #define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        0
- */
-#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1
-
-#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)
@@ -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_internal.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
@@ -1,186 +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 "led.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>
-
-#include <px4_arch/io_timer.h>
-
-# if defined(FLASH_BASED_PARAMS)
-#  include <parameters/flashparams/flashfs.h>
-#endif
-
-/************************************************************************************
- * Name: board_on_reset
- *
- * Description:
- * Optionally provided function called on entry to board_system_reset
- * It should perform any house keeping prior to the rest.
- *
- * status - 1 if resetting to boot loader
- *          0 if just resetting
- *
- ************************************************************************************/
-__EXPORT void board_on_reset(int status)
-{
-	// Configure the GPIO pins to outputs and keep them low.
-	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
-	}
-
-	/*
-	 * On resets invoked from system (not boot) insure we establish a low
-	 * output state (discharge the pins) on PWM pins before they become inputs.
-	 */
-
-	if (status >= 0) {
-		up_mdelay(400);
-	}
-}
-
-/************************************************************************************
- * 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)
-{
-	// Reset all PWM to Low outputs.
-	board_on_reset(-1);
-
-	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(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
-#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);
-	}
-
-#endif // FLASH_BASED_PARAMS
-
-	/* Configure the HW based on the manifest */
-	//px4_platform_configure();
-
-	return OK;
-}
@@ -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;
-
-		/* Enable 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));
-
-}
@@ -1,17 +0,0 @@
-# UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
-add_definitions(
-	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
-)
-
-set(uavcanblid_hw_version_major 0)
-set(uavcanblid_hw_version_minor 83)
-set(uavcanblid_name "\"org.auterion.cannode\"")
-
-add_definitions(
-	-DHW_UAVCAN_NAME=${uavcanblid_name}
-	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)
@@ -43,6 +43,7 @@ CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -20,6 +20,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -42,8 +43,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -12,10 +12,17 @@ else
 fi

 iim42652 -s -R 22 start
-bmi088 -A -R 29 -s start
-bmi088 -G -R 29 -s start

-ist8310 -I -R 18 start
+bmi088 -A -R 29 -s start
+if ! bmi088 -G -R 29 -s start
+then
+	iim42653 -s -b 2 -R 22 start
+fi
+
+if ! ist8310 -I -R 18 start
+then
+	iis2mdc -I -R 37 start
+fi

 bmp581 -s start
 icp201xx -I start
@@ -42,6 +42,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortG, GPIO::Pin2}, SPI::DRDY{GPIO::PortG, GPIO::Pin3}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortD, GPIO::Pin12}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 	}, {GPIO::PortI, GPIO::Pin11}),
 	// initSPIBus(SPI::Bus::SPI3,{
 	// 	// no devices
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -5,14 +5,16 @@

 board_adc start

-if ! mpu6000 -R 6 -s start
-then
+if ! mpu6000 -R 6 -s start; then
 	# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
-	icm20602 -s -R 6 start
+	if ! icm20602 -s -R 6 start; then
+		# The ICM-42688-P is used on the Diatone Mamba F405 MK2 v2
+		icm42688p -s -R 4 start
+	fi
 fi

 if ! hmc5883 -T -X start
-then	
+then
 	if mpu9250_i2c -X -b 2 -a 0x68 -R 28 start; then
 		sleep 1 # wait for mpu9250 to be configured with bypass enabled
 		ak8963 -X -b 2 -R 30 start # -R 34
@@ -39,6 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
@@ -5,6 +5,8 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y
@@ -61,7 +63,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -74,7 +74,7 @@
 #define BOARD_TYPE                     1105
 #define BOARD_FLASH_SECTORS            (14)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (2 * 128 * 1024)

 #define OSC_FREQ                       16

@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS5"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
@@ -30,7 +31,6 @@ CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -70,22 +70,17 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+# CONFIG_MODULES_TEMPERATURE_COMPENSATION is not set
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_REBOOT=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
@@ -7,7 +7,7 @@
    "summary": "KAKUTEH7",
    "version": "0.1",
    "image_size": 0,
-    "image_maxsize": 1835008,
+    "image_maxsize": 1703936,
    "git_identity": "",
    "board_revision": 0
 }
@@ -110,7 +110,7 @@
 MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1664K /* params in last two sectors */

 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
@@ -72,7 +72,7 @@
 #define BOARD_TYPE                     5409
 #define BOARD_FLASH_SECTORS            (14)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (2 * 128 * 1024)

 #define OSC_FREQ                       8

@@ -48,6 +48,11 @@
 * of leds for system indication at will and there is no
 * separate switch, we need to build independent of the
 * CONFIG_ARCH_LEDS configuration switch.
+ *
+ * KakuteH7 DualIMU LED configuration:
+ * - Red LED (PE9): TRIP LED, active high
+ * - Blue LED (PC2): Status LED, active low
+ * - Green LED: Hardware controlled, always on when powered (no software control)
 */
 __BEGIN_DECLS
 extern void led_init(void);
@@ -56,11 +61,28 @@ extern void led_off(int led);
 extern void led_toggle(int led);
 __END_DECLS

+#ifdef CONFIG_ARCH_LEDS
+static bool nuttx_owns_leds = true;
+//                                B  R  S  G
+//                                0  1  2  3
+static const uint8_t xlatpx4[] = {1, 0, 4, 2};
+#  define xlat(p) xlatpx4[(p)]
+static uint32_t g_ledmap[] = {
+	GPIO_LED_RED,                       // Indexed by BOARD_LED_RED
+	GPIO_nLED_BLUE,                     // Indexed by BOARD_LED_BLUE
+};

-#define xlat(p) (p)
+static bool g_led_inverted[] = {
+	false, // LED_RED is active high
+	true,  // LED_BLUE is active low
+};
+
+#else
+
+#  define xlat(p) (p)
 static uint32_t g_ledmap[] = {
 	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
-	GPIO_LED_RED,                      // Indexed by LED_RED
+	GPIO_LED_RED,                       // Indexed by LED_RED
 };

 static bool g_led_inverted[] = {
@@ -68,6 +90,7 @@ static bool g_led_inverted[] = {
 	false, // LED_RED is active high
 };

+#endif

 __EXPORT void led_init(void)
 {
@@ -1,15 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
@@ -0,0 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
@@ -0,0 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
@@ -0,0 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
@@ -1,23 +1,17 @@
-CONFIG_DRIVERS_IRLOCK=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_UUV_ATT_CONTROL=n
-CONFIG_MODULES_UUV_POS_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
@@ -64,6 +64,7 @@ CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -1,4 +1,3 @@
-CONFIG_DRIVERS_IRLOCK=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
@@ -6,7 +5,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -14,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
@@ -5,7 +5,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -13,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
@@ -5,7 +5,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -13,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
@@ -62,6 +62,7 @@ CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
--- a/Show More
+++ b/Show More