drivers/px4io: mirror PWM_MAIN_OUT support

[at24c] free perf counter if px4_at24c_initialize fails
- add driver prefix to perf counter naming
2026-05-26 14:20:04 +08:00 · 2021-07-05 21:23:04 -04:00 · 2021-07-05 21:22:08 -04:00 · 2021-07-04 14:22:20 -04:00 · 2021-07-02 09:08:10 -07:00 · 2021-07-02 09:08:10 -07:00
543 changed files with 14637 additions and 3481 deletions
@@ -23,6 +23,7 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
+          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
@@ -18,7 +18,7 @@ jobs:
    - name: Install Python3
      run: sudo apt-get install python3 python3-setuptools python3-pip -y
    - name: Install tools
-      run: pip3 install --user mypy flake8
+      run: pip3 install --user mypy types-requests flake8
    - name: Check MAVSDK test scripts with mypy
      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
    - name: Check MAVSDK test scripts with flake8
@@ -15,10 +15,11 @@ jobs:
      fail-fast: false
      matrix:
        config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo",   model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo",   model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich
+
    container:
      image: px4io/px4-dev-simulation-focal:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -108,3 +108,5 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # SITL
 dataman
 eeprom/
+
+!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
@@ -67,3 +67,6 @@
 	path = src/drivers/uavcan_v1/legacy_data_types
 	url = https://github.com/PX4/public_regulated_data_types.git
 	branch = legacy
+[submodule "src/lib/crypto/monocypher"]
+	path = src/lib/crypto/monocypher
+	url = https://github.com/PX4/Monocypher.git
@@ -51,6 +51,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v5x_default
+    px4_fmu-v6x_default:
+      short: px4_fmu-v6x
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6x_default
+    px4_fmu-v6x_bootloader:
+      short: px4_fmu-v6x_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6x_bootloader
    airmind_mindpx-v2_default:
      short: airmind_mindpx-v2
      buildType: MinSizeRel
@@ -63,7 +63,7 @@ all: px4_sitl_default
 space := $(subst ,, )

 define make_list
-     $(shell cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
+     $(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
 endef

 # Parsing
@@ -165,6 +165,11 @@ ifdef PYTHON_EXECUTABLE
 	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

+# Check if the microRTPS agent is to be built
+ifdef BUILD_MICRORTPS_AGENT
+  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
+endif
+
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (RTPS)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
@@ -1,4 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -46,8 +46,6 @@ px4_add_romfs_files(
 	1014_solo
 	1015_iris_obs_avoid
 	1015_iris_obs_avoid.post
-	1016_iris_rtps
-	1016_iris_rtps.post
 	1017_iris_opt_flow_mockup
 	1018_iris_vision_velocity
 	1019_iris_dual_gps
@@ -225,6 +225,12 @@ sensors start
 commander start
 navigator start

+# Try to start the micrortps_client with UDP transport if module exists
+if px4-micrortps_client status > /dev/null 2>&1
+then
+	# shellcheck disable=SC2154
+	micrortps_client start -t UDP $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
+fi

 if param greater -s MNT_MODE_IN -1
 then
@@ -71,7 +71,6 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
-param set-default MPC_POS_MODE 3
 param set-default MPC_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
@@ -2,7 +2,7 @@
 #
 # @name Aion Robotics R1 UGV
 #
-# @url http://docs.aionrobotics.com/en/latest/r1-ugv.html
+# @url https://www.aionrobotics.com/r1
 #
 # @type Rover
 # @class Rover
@@ -226,6 +226,8 @@ then
 	fi
 fi

+param set PWM_AUX_OUT ${PWM_AUX_OUT}
+
 if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
 then
 	#
@@ -268,6 +270,8 @@ then
 	fi
 fi

+param set PWM_MAIN_OUT ${PWM_OUT}
+
 if [ $EXTRA_MIXER_MODE != none ]
 then

@@ -26,6 +26,12 @@ then
 	batt_smbus start -X
 fi

+# Start batmon driver if enabled using BATMON_DRIVER_EN
+if param compare -s BATMON_DRIVER_EN 1
+then
+	batmon start -X  #start on external bus
+fi
+
 # Sensors on the PWM interface bank
 if param compare -s SENS_EN_LL40LS 1
 then
@@ -111,7 +117,14 @@ fi
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then
-	adis16448 -S start
+	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

 # probe for optional external I2C devices
@@ -81,33 +81,6 @@ then
 			hardfault_log reset
 		fi
 	fi
-
-	# Prevent MacOS and Ubuntu from creating unnecessary temporary files on the microSD card
-
-	# block MacOS Spotlight indexing (.Spotlight-V100 folder)
-	if [ ! -f "/fs/microsd/.metadata_never_index" ]; then
-		cat > /fs/microsd/.metadata_never_index
-	fi
-
-	# block MacOS trashes
-	if [ ! -f "/fs/microsd/.Trashes" ]; then
-		cat > /fs/microsd/.Trashes
-	fi
-
-	# block MacOS logging of filesystem events
-	if [ ! -d "/fs/microsd/.fseventsd" ]; then
-		mkdir /fs/microsd/.fseventsd
-	fi
-
-	if [ ! -f "/fs/microsd/.fseventsd/no_log" ]; then
-		cat > /fs/microsd/.fseventsd/no_log
-	fi
-
-	# block Ubuntu trash
-	if [ ! -f "/fs/microsd/.Trash-1000" ]; then
-		cat > /fs/microsd/.Trash-1000
-	fi
-
 else
 	# tune SD_INIT
 	set STARTUP_TUNE 14 # tune 14 = SD_INIT
@@ -404,21 +377,30 @@ else

 	if param greater -s TRIG_MODE 0
 	then
-		# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
-		if param compare TRIG_PINS 56
+		if param compare TRIG_PINS_EX 0
 		then
-			# clear pins 5 and 6
-			set FMU_MODE pwm4
-			set AUX_MODE pwm4
-		else
-			if param compare TRIG_PINS 78
+			# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
+			if param compare TRIG_PINS 56
 			then
-				# clear pins 7 and 8
-				set FMU_MODE pwm6
-				set AUX_MODE pwm6
+				# clear pins 5 and 6
+				set FMU_MODE pwm4
+				set AUX_MODE pwm4
 			else
-				set FMU_MODE none
-				set AUX_MODE none
+				if param compare TRIG_PINS 78
+				then
+					# clear pins 7 and 8
+					set FMU_MODE pwm6
+					set AUX_MODE pwm6
+				else
+					set FMU_MODE none
+					set AUX_MODE none
+				fi
+			fi
+		else
+			if param compare TRIG_PINS_EX 12288
+			then
+				set FMU_MODE pwm12
+				set AUX_MODE pwm12
 			fi
 		fi

@@ -22,4 +22,5 @@ exec find boards msg src platforms test \
    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
+    -path src/lib/crypto/monocypher -prune -o \
    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+SCRIPT_DIR=$0
+if [[ ${SCRIPT_DIR:0:1} != '/' ]]; then
+  SCRIPT_DIR=$(dirname $(realpath -s "$PWD/$0"))
+fi
+
+PX4_DIR=$(cd "$(dirname $(dirname $SCRIPT_DIR))" && pwd)
+
+if [ -d $PX4_DIR/build/*_rtps ]; then
+  cd $PX4_DIR/build/*_rtps/src/modules/micrortps_bridge/micrortps_agent/
+  cmake -Bbuild
+  cmake --build build -j$(nproc --all)
+fi
@@ -81,7 +81,8 @@ def sign(bin_file_path, key_file_path=None, generated_key_file=None):
        # Align to 4 bytes. Signature always starts at
        # 4 byte aligned address, but the signee size
        # might not be aligned
-        signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)
+        if len(signee_bin)%4 != 0:
+            signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)

    try:
        with open(key_file_path,mode='r') as f:
@@ -133,7 +134,7 @@ if(__name__ == "__main__"):
    parser.add_argument("signee", help=".bin file to add signature", nargs='?', default=None)
    parser.add_argument("signed", help="signed output .bin", nargs='?', default=None)

-    parser.add_argument("--key", help="key.json file", default="Tools/test_keys.json")
+    parser.add_argument("--key", help="key.json file", default="Tools/test_keys/test_keys.json")
    parser.add_argument("--rdct", help="binary R&D certificate file", default=None)
    parser.add_argument("--genkey", help="new generated key", default=None)
    args = parser.parse_args()
@@ -152,7 +153,7 @@ if(__name__ == "__main__"):
        sys.exit(1)

    # Issue a warning when signing with testing key
-    if args.key=='Tools/test_keys.json':
+    if args.key=='Tools/test_keys/test_keys.json':
        print("WARNING: Signing with PX4 test key")

    # Sign the binary
@@ -20,7 +20,7 @@ function spawn_model() {
 	X=${X:=0.0}
 	Y=${Y:=$((3*${N}))}

-	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
+	SUPPORTED_MODELS=("iris" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
 	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
 	then
 		echo "ERROR: Currently only vehicle model $MODEL is not supported!"
@@ -12,6 +12,7 @@ import sys, select
 import termios
 from timeit import default_timer as timer
 from argparse import ArgumentParser
+import os

 try:
    from pymavlink import mavutil
@@ -135,15 +136,20 @@ def main():

    mav_serialport.write('\n') # make sure the shell is started

-    # setup the console, so we can read one char at a time
+    # disable echo & avoid buffering on stdin
    fd_in = sys.stdin.fileno()
-    old_attr = termios.tcgetattr(fd_in)
-    new_attr = termios.tcgetattr(fd_in)
-    new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
-    new_attr[3] = new_attr[3] & ~termios.ICANON
+    try:
+        old_attr = termios.tcgetattr(fd_in)
+        new_attr = termios.tcgetattr(fd_in)
+        new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
+        new_attr[3] = new_attr[3] & ~termios.ICANON
+        termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
+    except termios.error:
+        # tcgetattr can fail if stdin is not a tty
+        old_attr = None
+    ubuf_stdin = os.fdopen(fd_in, 'rb', buffering=0)

    try:
-        termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
        cur_line = ''
        command_history = []
        cur_history_index = 0
@@ -156,11 +162,19 @@ def main():

        next_heartbeat_time = timer()

-        while True:
+        quit_time = None
+        while quit_time is None or quit_time > timer():
            while True:
-                i, o, e = select.select([sys.stdin], [], [], 0)
+                i, o, e = select.select([ubuf_stdin], [], [], 0)
                if not i: break
-                ch = sys.stdin.read(1)
+                ch = ubuf_stdin.read(1).decode('utf8')
+
+                if len(ch) == 0: # EOF
+                    if quit_time is None:
+                        # run a bit longer to read the response (we could also
+                        # read until we get a prompt)
+                        quit_time = timer() + 1
+                    break

                # provide a simple shell with command history
                if ch == '\n':
@@ -182,8 +196,8 @@ def main():
                        cur_line = cur_line[:-1]
                        sys.stdout.write(ch)
                elif ord(ch) == 27:
-                    ch = sys.stdin.read(1) # skip one
-                    ch = sys.stdin.read(1)
+                    ch = ubuf_stdin.read(1).decode('utf8') # skip one
+                    ch = ubuf_stdin.read(1).decode('utf8')
                    if ch == 'A': # arrow up
                        if cur_history_index > 0:
                            cur_history_index -= 1
@@ -223,7 +237,8 @@ def main():
        mav_serialport.close()

    finally:
-        termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)
+        if old_attr:
+            termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)


 if __name__ == '__main__':
@@ -6,7 +6,7 @@ import html
 class MarkdownTablesOutput():
    def __init__(self, groups, board, image_path):
        result = ("# Airframes Reference\n"
-                  "> **Note** **This list is [auto-generated](https://github.com/PX4/Firmware/edit/master/Tools/px4airframes/markdownout.py) from the source code**.\n"
+                  "> **Note** **This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/master/Tools/px4airframes/markdownout.py) from the source code**.\n"
                  "> \n"
                  "> **AUX** channels may not be present on some flight controllers.\n"
                  "> If present, PWM AUX channels are commonly labelled **AUX OUT**.\n"
@@ -28,7 +28,7 @@ available commands, and in most cases `command help` will print the usage.
 Since this is generated from source, errors must be reported/fixed
 in the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository.
 The documentation pages can be generated by running the following command from
-the root of the Firmware directory:
+the root of the PX4-Autopilot directory:
 ```
 make module_documentation
 ```
@@ -66,7 +66,7 @@ The generated files will be written to the `modules` directory.
        result = ''
        for module in module_list:
            result += "## %s\n" % module.name()
-            result += "Source: [%s](https://github.com/PX4/Firmware/tree/master/src/%s)\n\n" % (module.scope(), module.scope())
+            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/master/src/%s)\n\n" % (module.scope(), module.scope())
            doc = module.documentation()
            if len(doc) > 0:
                result += "%s\n" % doc
@@ -0,0 +1,5 @@
+//Public key to verify signed binaries
+0x4d, 0xb0, 0xc2, 0x1, 0x5, 0x55, 0x2a, 0x3c, 
+0xd7, 0xfb, 0xaf, 0x5c, 0xba, 0x7a, 0xb0, 0x81, 
+0x1b, 0x36, 0x63, 0xdb, 0x28, 0x52, 0x5e, 0xdb, 
+0x14, 0x36, 0xf2, 0x57, 0x8d, 0x2, 0xb7, 0xfd, 
@@ -46,6 +46,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -53,6 +53,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/board.h>
 #include <nuttx/spi/spi.h>
@@ -12,7 +12,9 @@ px4_add_board(
 	UAVCAN_INTERFACES 1
 	DRIVERS
 		bootloaders
+		distance_sensor/broadcom/afbrs50
 		imu/bosch/bmi088
+		imu/invensense/icm42688p
 		optical_flow/paw3902
 		uavcannode
 	MODULES
@@ -20,14 +22,13 @@ px4_add_board(
 		load_mon
 		#sensors
 	SYSTEMCMDS
-		mft
-		mtd
 		param
 		perf
 		reboot
 		system_time
 		top
-		topic_listener
+		#topic_listener
+		uorb
 		ver
 		work_queue
 )
@@ -13,7 +13,9 @@ px4_add_board(
 	UAVCAN_INTERFACES 1
 	DRIVERS
 		bootloaders
+		distance_sensor/broadcom/afbrs50
 		imu/bosch/bmi088
+		imu/invensense/icm42688p
 		optical_flow/paw3902
 		uavcannode
 	MODULES
@@ -21,14 +23,13 @@ px4_add_board(
 		#load_mon
 		#sensors
 	SYSTEMCMDS
-		mft
-		mtd
 		param
 		#perf
 		#reboot
 		#system_time
 		#top
 		#topic_listener
+		#uorb
 		#ver
 		#work_queue
 )
@@ -4,6 +4,12 @@
 #------------------------------------------------------------------------------

 # Internal SPI
-paw3902 -s start -Y 90
-bmi088 -A -s -R 4 start
-bmi088 -G -s -R 4 start
+paw3902 -s start -Y 180
+
+if ! icm42688p -R 0 -s start
+then
+	bmi088 -A -s -R 4 start
+	bmi088 -G -s -R 4 start
+fi
+
+afbrs50 start
@@ -133,8 +133,8 @@
 #define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
 #define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1

-#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1
-#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1
-#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_1
+#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1 /* PB14 */
+#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1 /* PB15 */
+#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_1  /* PB10 */

 #endif /* __ARCH_BOARD_BOARD_H */
@@ -40,6 +40,4 @@
 //  DMA2 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
 #define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
-#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX     // DMA2, Stream 3, Channel 0
-#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX     // DMA2, Stream 4, Channel 0
 #define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3
@@ -144,8 +144,6 @@ CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI1_DMA=y
 CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
-CONFIG_STM32_SPI2_DMA=y
-CONFIG_STM32_SPI2_DMA_BUFFER=1024
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM8=y
 CONFIG_STM32_USART2=y
@@ -56,6 +56,13 @@
 #define GPIO_nLED_RED          /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
 #define GPIO_nLED_BLUE         /* PA8  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)

+#define BROADCOM_AFBR_S50_S2PI_SPI_BUS 2
+#define BROADCOM_AFBR_S50_S2PI_CS   /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
+#define BROADCOM_AFBR_S50_S2PI_IRQ  /* PB4  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4|GPIO_EXTI)
+#define BROADCOM_AFBR_S50_S2PI_CLK  /* PB10 */  GPIO_SPI2_SCK_1
+#define BROADCOM_AFBR_S50_S2PI_MOSI /* PB15 */  GPIO_SPI2_MOSI_1
+#define BROADCOM_AFBR_S50_S2PI_MISO /* PB14 */  GPIO_SPI2_MISO_1
+
 #define BOARD_HAS_CONTROL_STATUS_LEDS      1
 #define BOARD_OVERLOAD_LED     LED_RED
 #define BOARD_ARMED_STATE_LED  LED_BLUE
@@ -49,6 +49,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/board.h>

@@ -60,6 +61,7 @@

 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
+#include <drivers/drv_watchdog.h>

 #include <systemlib/px4_macros.h>

@@ -87,6 +89,8 @@ __END_DECLS

 __EXPORT void stm32_boardinitialize(void)
 {
+	watchdog_init();
+
 	// Configure CAN interface
 	stm32_configgpio(GPIO_CAN1_RX);
 	stm32_configgpio(GPIO_CAN1_TX);
@@ -39,6 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
 		initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
@@ -49,6 +49,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/board.h>

@@ -60,6 +61,7 @@

 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
+#include <drivers/drv_watchdog.h>

 #include <systemlib/px4_macros.h>

@@ -82,6 +84,8 @@

 __EXPORT void stm32_boardinitialize(void)
 {
+	watchdog_init();
+
 	/* configure pins */
 	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
 	px4_gpio_init(gpio, arraySize(gpio));
@@ -54,6 +54,7 @@ px4_add_board(
 		pwm_out_sim
 		qshell/posix
 		rc_input
+		smart_battery/batmon
 		#telemetry # all available telemetry drivers
 	MODULES
 		airspeed_selector
@@ -53,6 +53,7 @@ px4_add_board(
 		pwm_out_sim
 		qshell/posix
 		rc_input
+		smart_battery/batmon
 		#telemetry # all available telemetry drivers
 	MODULES
 		airspeed_selector
@@ -45,6 +45,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		#tone_alarm
 		uavcan
@@ -52,6 +52,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -33,6 +33,7 @@ px4_add_board(
 		magnetometer/hmc5883
 		pwm_out_sim
 		rc_input
+		smart_battery/batmon
 		#telemetry # all available telemetry drivers
 	MODULES
 		airspeed_selector
@@ -53,6 +53,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/board.h>
 #include <nuttx/analog/adc.h>
@@ -286,9 +286,6 @@ Syslink::task_main()
 	_memory = new SyslinkMemory(this);
 	_memory->init();

-	_battery.reset();
-
-
 	//	int ret;

 	/* Open serial port */
@@ -441,7 +438,7 @@ Syslink::handle_message(syslink_message_t *msg)
 		px4_sem_post(&memory_sem);

 	} else {
-		PX4_INFO("GOT %d", msg->type);
+		PX4_INFO("GOT %" PRIu8, msg->type);
 	}

 	//Send queued messages
@@ -609,7 +606,7 @@ Syslink::handle_raw_other(syslink_message_t *sys)

 	if (c->port == CRTP_PORT_LOG) {

-		PX4_INFO("Log: %d %d", c->channel, c->data[0]);
+		PX4_INFO("Log: %" PRIu8 " %" PRIu8, c->channel, c->data[0]);

 		if (c->channel == 0) { // Table of Contents Access

@@ -632,7 +629,7 @@ Syslink::handle_raw_other(syslink_message_t *sys)

 			uint8_t cmd = c->data[0];

-			PX4_INFO("Responding to cmd: %d", cmd);
+			PX4_INFO("Responding to cmd: %" PRIu8, cmd);
 			c->data[2] = 0; // Success
 			c->size = 3 + 1;

@@ -673,7 +670,7 @@ Syslink::handle_raw_other(syslink_message_t *sys)
 		}

 	} else {
-		PX4_INFO("Got raw: %d", c->port);
+		PX4_INFO("Got raw: %" PRIu8, c->port);
 	}
 }

@@ -772,13 +769,13 @@ void status()
 		printf("%i: ROM ID: ", i);

 		for (int idi = 0; idi < idlen; idi++) {
-			printf("%02X", id[idi]);
+			printf("%02" PRIX8, id[idi]);
 		}

 		deck_descriptor_t desc;
 		read(deckfd, &desc, sizeof(desc));

-		printf(", VID: %02X , PID: %02X\n", desc.header, desc.vendorId, desc.productId);
+		printf("HDR:%02" PRIx8 ", VID: %02" PRIx8 " , PID: %02" PRIx8 "\n", desc.header, desc.vendorId, desc.productId);

 		// Print pages of memory
 		for (size_t di = 0; di < sizeof(desc); di++) {
@@ -786,7 +783,7 @@ void status()
 				printf("\n");
 			}

-			printf("%02X ", ((uint8_t *)&desc)[di]);
+			printf("%02" PRIX8 " ", ((uint8_t *)&desc)[di]);

 		}

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

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

 #include <nuttx/board.h>
 #include <nuttx/i2c/i2c_master.h>
@@ -52,6 +52,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		safety_button
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -17,5 +17,8 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1

+# Set Camera trigger pins to 13/14
+param set-default TRIG_PINS_EX 12288
+
 rgbled_pwm start
 safety_button start
@@ -12,7 +12,7 @@ rm3100 -s -b 2 start

 # SPI4
 bmi088 -s -b 4 -A -R 2 start
-if !bmi088 -s -b 4 -G -R 2 start
+if ! bmi088 -s -b 4 -G -R 2 start
 then
 	icm42688p -R 2 -s start
 fi
@@ -43,6 +43,8 @@

 #include "board_config.h"

+#include <syslog.h>
+
 #include <nuttx/config.h>
 #include <nuttx/board.h>
 #include <nuttx/sdio.h>
@@ -41,6 +41,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 #include <stm32_otg.h>
+#include <debug.h>

 /************************************************************************************
 * Name:  stm32_usbsuspend
@@ -53,6 +53,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		safety_button
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -17,5 +17,9 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1

+# Set Camera trigger pins to 13/14
+param set-default TRIG_PINS_EX 12288
+
+
 rgbled_pwm start
 safety_button start
@@ -15,7 +15,7 @@ rm3100 -s -b 2 start

 # SPI4
 bmi088 -s -b 4 -A -R 2 start
-if !bmi088 -s -b 4 -G -R 2 start
+if ! bmi088 -s -b 4 -G -R 2 start
 then
 	icm42688p -R 2 -s start
 fi
@@ -43,6 +43,8 @@

 #include "board_config.h"

+#include <syslog.h>
+
 #include <nuttx/config.h>
 #include <nuttx/board.h>
 #include <nuttx/sdio.h>
@@ -41,6 +41,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 #include <stm32_otg.h>
+#include <debug.h>

 /************************************************************************************
 * Name:  stm32_usbsuspend
@@ -49,6 +49,7 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -43,6 +43,8 @@

 #include "board_config.h"

+#include <syslog.h>
+
 #include <nuttx/config.h>
 #include <nuttx/board.h>
 #include <nuttx/sdio.h>
@@ -41,6 +41,8 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 #include <stm32_otg.h>
+#include <debug.h>
+#include <syslog.h>

 /************************************************************************************
 * Name:  stm32_usbsuspend
@@ -49,6 +49,7 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -47,6 +47,7 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -43,6 +43,8 @@

 #include "board_config.h"

+#include <syslog.h>
+
 #include <nuttx/config.h>
 #include <nuttx/board.h>
 #include <nuttx/sdio.h>
@@ -41,6 +41,9 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 #include <stm32_otg.h>
+#include <debug.h>
+#include <syslog.h>
+

 /************************************************************************************
 * Name:  stm32_usbsuspend
@@ -47,6 +47,7 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -51,6 +51,7 @@
 #include <stdio.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/board.h>

@@ -33,6 +33,7 @@ px4_add_board(
 		magnetometer/lsm9ds1_mag
 		pwm_out_sim
 		rc_input
+		smart_battery/batmon
 		#telemetry # all available telemetry drivers
 	MODULES
 		airspeed_selector
@@ -49,6 +49,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -65,11 +65,11 @@ using namespace time_literals;
 #define NCP5623_LED_OFF     0x00  /**< off */


-class RGBLED_NPC5623C : public device::I2C
+class RGBLED_NCP5623C : public device::I2C
 {
 public:
-	RGBLED_NPC5623C(const int bus, int bus_frequency, const int address);
-	virtual ~RGBLED_NPC5623C() = default;
+	RGBLED_NCP5623C(const int bus, int bus_frequency, const int address);
+	virtual ~RGBLED_NCP5623C() = default;

 	int   init() override;
 	int   probe() override;
@@ -84,13 +84,13 @@ private:
 	int     write(uint8_t reg, uint8_t data);
 };

-RGBLED_NPC5623C::RGBLED_NPC5623C(const int bus, int bus_frequency, const int address) :
+RGBLED_NCP5623C::RGBLED_NCP5623C(const int bus, int bus_frequency, const int address) :
 	I2C(DRV_LED_DEVTYPE_RGBLED_NCP5623C, MODULE_NAME, bus, address, bus_frequency)
 {
 }

 int
-RGBLED_NPC5623C::write(uint8_t reg, uint8_t data)
+RGBLED_NCP5623C::write(uint8_t reg, uint8_t data)
 {
 	uint8_t msg[1] = { 0x00 };
 	msg[0] = ((reg & 0xe0) | (data & 0x1f));
@@ -101,7 +101,7 @@ RGBLED_NPC5623C::write(uint8_t reg, uint8_t data)
 }

 int
-RGBLED_NPC5623C::init()
+RGBLED_NCP5623C::init()
 {
 	int ret = I2C::init();

@@ -113,7 +113,7 @@ RGBLED_NPC5623C::init()
 }

 int
-RGBLED_NPC5623C::probe()
+RGBLED_NCP5623C::probe()
 {
 	_retries = 4;

@@ -125,7 +125,7 @@ RGBLED_NPC5623C::probe()
 * Send RGB PWM settings to LED driver according to current color and brightness
 */
 int
-RGBLED_NPC5623C::send_led_rgb(uint8_t red, uint8_t green, uint8_t blue)
+RGBLED_NCP5623C::send_led_rgb(uint8_t red, uint8_t green, uint8_t blue)
 {

 	uint8_t msg[7] = {0x20, 0x70, 0x40, 0x70, 0x60, 0x70, 0x80};
@@ -139,7 +139,7 @@ RGBLED_NPC5623C::send_led_rgb(uint8_t red, uint8_t green, uint8_t blue)
 	return transfer(&msg[0], 7, nullptr, 0);
 }

-static RGBLED_NPC5623C instance(1, 100000, ADDR);
+static RGBLED_NCP5623C instance(1, 100000, ADDR);

 #define TMR_BASE        STM32_TIM1_BASE
 #define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
@@ -53,6 +53,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/board.h>
 #include <nuttx/i2c/i2c_master.h>
@@ -49,7 +49,9 @@
 #include <nuttx/config.h>
 #include <board_config.h>

+#include <inttypes.h>
 #include <stdbool.h>
+#include <syslog.h>

 #include "systemlib/px4_macros.h"

@@ -136,7 +138,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4x is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -47,6 +47,7 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -52,6 +52,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018, 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
@@ -49,7 +49,9 @@
 #include <nuttx/config.h>
 #include <board_config.h>

+#include <inttypes.h>
 #include <stdbool.h>
+#include <syslog.h>

 #include "systemlib/px4_macros.h"

@@ -114,7 +116,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4x is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -52,6 +52,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -51,6 +51,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		safety_button
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -52,6 +52,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018, 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
@@ -49,7 +49,9 @@
 #include <nuttx/config.h>
 #include <board_config.h>

+#include <inttypes.h>
 #include <stdbool.h>
+#include <syslog.h>

 #include "systemlib/px4_macros.h"

@@ -162,7 +164,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4x is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -44,6 +44,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
+		smart_battery/batmon
 		safety_button
 		telemetry # all available telemetry drivers
 		#tone_alarm
@@ -52,6 +52,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018, 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
@@ -49,7 +49,9 @@
 #include <nuttx/config.h>
 #include <board_config.h>

+#include <inttypes.h>
 #include <stdbool.h>
+#include <syslog.h>

 #include "systemlib/px4_macros.h"

@@ -123,7 +125,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4x is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -29,7 +29,7 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0xa32f
+CONFIG_CDCACM_PRODUCTID=0xa330
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL ModalAI FCv2"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
@@ -44,8 +44,8 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0xa32f
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU ModalAI FCv1"
+CONFIG_CDCACM_PRODUCTID=0xa330
+CONFIG_CDCACM_PRODUCTSTR="PX4 FMU ModalAI FCv2"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x0483
@@ -52,6 +52,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -49,7 +49,9 @@
 #include <nuttx/config.h>
 #include <board_config.h>

+#include <inttypes.h>
 #include <stdbool.h>
+#include <syslog.h>

 #include "systemlib/px4_macros.h"

@@ -115,7 +117,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4x is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -48,6 +48,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		safety_button
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -52,6 +52,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -48,6 +48,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		safety_button
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -52,6 +52,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -46,6 +46,8 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
+		#safety_button TODO
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -43,6 +43,8 @@

 #include "board_config.h"

+#include <syslog.h>
+
 #include <nuttx/config.h>
 #include <nuttx/board.h>
 #include <nuttx/sdio.h>
@@ -46,6 +46,8 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
+		#safety_button TODO
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -43,6 +43,8 @@

 #include "board_config.h"

+#include <syslog.h>
+
 #include <nuttx/config.h>
 #include <nuttx/board.h>
 #include <nuttx/sdio.h>
@@ -47,6 +47,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -43,6 +43,8 @@

 #include "board_config.h"

+#include <syslog.h>
+
 #include <nuttx/config.h>
 #include <nuttx/board.h>
 #include <nuttx/sdio.h>
@@ -41,6 +41,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 #include <stm32_otg.h>
+#include <debug.h>

 /************************************************************************************
 * Name:  stm32_usbsuspend
@@ -48,6 +48,7 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -281,5 +281,5 @@

 #define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1
 #define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1
-#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_2
+#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_3

@@ -43,6 +43,8 @@

 #include "board_config.h"

+#include <syslog.h>
+
 #include <nuttx/config.h>
 #include <nuttx/board.h>
 #include <nuttx/sdio.h>
@@ -49,6 +49,7 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
--- a/Show More
+++ b/Show More