drivers/gps: set system clock more aggressively

2026-06-11 07:30:06 +08:00 · 2021-09-13 14:01:25 -04:00
184 changed files with 4649 additions and 4560 deletions
@@ -825,7 +825,7 @@ pipeline {
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
-    timeout(time: 180, unit: 'MINUTES')
+    timeout(time: 120, unit: 'MINUTES')
    skipDefaultCheckout()
  }
 }
@@ -899,9 +899,6 @@ void resetParameters() {
 void runTests() {
  resetParameters()

-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
-
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply

@@ -1050,25 +1047,25 @@ void resetBoard() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply

  // check SD card
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
  // format
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd"'
  // check SD card
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
 }
@@ -66,11 +66,3 @@
 [submodule "Tools/simulation-ignition"]
 	path = Tools/simulation-ignition
 	url = https://github.com/Auterion/px4-simulation-ignition.git
-[submodule "src/lib/crypto/libtomcrypt"]
-	path = src/lib/crypto/libtomcrypt
-	url = https://github.com/PX4/libtomcrypt.git
-	branch = px4
-[submodule "src/lib/crypto/libtommath"]
-	path = src/lib/crypto/libtommath
-	url = https://github.com/PX4/libtommath.git
-	branch = px4
@@ -31,6 +31,7 @@
                "esc"
        ],
        "debug.toolBarLocation": "docked",
+        "editor.acceptSuggestionOnEnter": "off",
        "editor.defaultFormatter": "chiehyu.vscode-astyle",
        "editor.dragAndDrop": false,
        "editor.insertSpaces": false,
@@ -110,22 +110,14 @@ include(px4_parse_function_args)
 #=============================================================================
 # git
 #
-find_package(Git QUIET)
 include(px4_git)

-# sync submodules
 execute_process(
-        COMMAND ${GIT_EXECUTABLE} submodule sync --recursive --quiet
-        OUTPUT_VARIABLE GIT_SUBMODULE_SYNC
-        WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-)
-
-execute_process(
-        COMMAND ${GIT_EXECUTABLE} describe --exclude ext/* --always --tags
-        OUTPUT_VARIABLE PX4_GIT_TAG
-        OUTPUT_STRIP_TRAILING_WHITESPACE
-        WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-)
+	COMMAND git describe --exclude ext/* --always --tags
+	OUTPUT_VARIABLE PX4_GIT_TAG
+	OUTPUT_STRIP_TRAILING_WHITESPACE
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
 message(STATUS "PX4 version: ${PX4_GIT_TAG}")

 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
@@ -120,6 +120,8 @@ then

 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
+
+	param set SYS_RESTART_TYPE 2
 fi

 param set-default BAT1_N_CELLS 4
@@ -42,6 +42,7 @@ px4_add_romfs_files(
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
+	rc.io
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults
@@ -56,6 +56,7 @@ param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30

 param set-default SDLOG_DIRS_MAX 7
+param set-default SYS_RESTART_TYPE 2

 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234
@@ -48,6 +48,7 @@ param set-default CBRK_IO_SAFETY    22027
 param set-default CBRK_SUPPLY_CHK   894281

 # RC configuration
+param set-default RC_MAP_MODE_SW    5
 param set-default RC_MAP_PITCH      2
 param set-default RC_MAP_ROLL       1
 param set-default RC_MAP_THROTTLE   3
@@ -17,10 +17,6 @@ set OUTPUT_DEV none
 set OUTPUT_AUX_DEV /dev/pwm_output1
 set OUTPUT_EXTRA_DEV /dev/pwm_output0

-# set these before starting the modules
-param set PWM_AUX_OUT ${PWM_AUX_OUT}
-param set PWM_MAIN_OUT ${PWM_OUT}
-
 #
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux
 # mixer to mount (override the airframe-specific MIXER_AUX setting).
@@ -82,16 +78,9 @@ then
 		fi
 	fi

-	#
-	# Start IO for PWM output or RC input if needed.
-	#
-	if [ $IO_PRESENT = yes ]
+	if [ $OUTPUT_MODE = io ]
 	then
-		if ! px4io start
-		then
-			echo "PX4IO start failed"
-			tune_control play -t 18 # PROG_PX4IO_ERR
-		fi
+		. ${R}etc/init.d/rc.io
 	fi

 	if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
@@ -102,6 +91,17 @@ then
 			tune_control play error
 		fi
 	fi
+
+	#
+	# Start IO for RC input if needed.
+	#
+	if [ $IO_PRESENT = yes ]
+	then
+		if [ $OUTPUT_MODE != io ]
+		then
+			. ${R}etc/init.d/rc.io
+		fi
+	fi
 fi

 if [ $MIXER != none -a $MIXER != skip ]
@@ -212,6 +212,8 @@ then
 	fi
 fi

+param set PWM_AUX_OUT ${PWM_AUX_OUT}
+
 if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
 then
 	if [ $PWM_OUT != none ]
@@ -224,6 +226,8 @@ then
 	fi
 fi

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

@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# PX4IO interface init script.
+#
+
+# If $OUTPUT_MODE indicated Hardware-int-the-loop simulation, px4io should not publish actuator_outputs,
+# instead, pwm_out_sim will publish that uORB
+if [ $OUTPUT_MODE = hil ]
+then
+    set HIL_ARG $OUTPUT_MODE
+fi
+
+if [ $IO_PRESENT = yes ]
+then
+	if px4io start $HIL_ARG
+	then
+		# Allow PX4IO to recover from midair restarts.
+		px4io recovery
+	else
+		echo "PX4IO start failed"
+		tune_control play -t 18 # PROG_PX4IO_ERR
+	fi
+fi
@@ -13,8 +13,6 @@ param set-default MIS_YAW_TMT 10
 param set-default EKF2_ARSP_THR 10
 param set-default EKF2_FUSE_BETA 1

-param set-default HTE_VXY_THR 2.0
-
 param set-default MIS_DIST_WPS 5000

 param set-default MPC_ACC_HOR_MAX 2
@@ -70,6 +70,14 @@ then
 	set io_file /etc/extras/px4_io-v2_default.bin
 fi

+if px4io start
+then
+	echo "PX4IO OK"
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} px4io_start"
+fi
+
 if px4io checkcrc $io_file
 then
 	echo "PX4IO CRC OK"
@@ -96,15 +104,6 @@ else
 	fi
 fi

-if px4io start
-then
-	echo "PX4IO OK"
-else
-	set unit_test_failure 1
-	set unit_test_failure_list "${unit_test_failure_list} px4io_start"
-fi
-
-
 #
 # The presence of this file suggests we're running a mount stress test
 #
@@ -70,7 +70,7 @@ def do_nsh_cmd(port, baudrate, cmd):
    success_cmd = "cmd succeeded!"

    # wait for command echo
-    serial_cmd = '{0}; echo "{1}"; echo "{2}";\r\n'.format(cmd, success_cmd, success_cmd)
+    serial_cmd = '{0}; echo "{1}"\r\n'.format(cmd, success_cmd)
    ser.write(serial_cmd.encode("ascii"))
    ser.flush()
    while True:
@@ -142,6 +142,9 @@ class TestHardwareMethods(unittest.TestCase):
    def test_bson(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))

+    def test_conv(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "conv"))
+
    def test_dataman(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))

@@ -24,7 +24,4 @@ exec find boards msg src platforms test \
    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
-    -path src/lib/crypto/monocypher -prune -o \
-    -path src/lib/crypto/libtomcrypt -prune -o \
-    -path src/lib/crypto/libtommath -prune -o \
    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
@@ -0,0 +1,85 @@
+#!/usr/bin/env bash
+
+function check_git_submodule {
+
+# The .git exists in a submodule if init and update have been done.
+if [[ -f $1"/.git" || -d $1"/.git" ]]; then
+
+	# always update within CI environment or configuring withing VSCode CMake where you can't interact
+	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then
+		git submodule --quiet sync --recursive -- $1
+		git submodule --quiet update --init --recursive --jobs=8 -- $1  || true
+		git submodule --quiet update --init --recursive --jobs=8 -- $1
+		exit 0
+	fi
+
+	SUBMODULE_STATUS=$(git submodule summary "$1")
+	STATUSRETVAL=$(echo $SUBMODULE_STATUS | grep -A20 -i "$1")
+	if ! [[ -z "$STATUSRETVAL" ]]; then
+		echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
+		echo ""
+		echo -e "Different commits:"
+		echo -e "$SUBMODULE_STATUS"
+		echo ""
+		echo ""
+		echo -e " *******************************************************************************"
+		echo -e " *   \033[31mIF YOU DID NOT CHANGE THIS FILE (OR YOU DON'T KNOW WHAT A SUBMODULE IS):\033[0m  *"
+		echo -e " *   \033[31mHit 'u' and <ENTER> to update ALL submodules and resolve this.\033[0m            *"
+		echo -e " *   (performs \033[94mgit submodule sync --recursive\033[0m                                  *"
+		echo -e " *    and \033[94mgit submodule update --init --recursive\033[0m )                            *"
+		echo -e " *******************************************************************************"
+		echo ""
+		echo ""
+		echo -e "   Only for EXPERTS:"
+		echo -e "   $1 submodule is not in the recommended version."
+		echo -e "   Hit 'y' and <ENTER> to continue the build with this version. Hit <ENTER> to resolve manually."
+		echo -e "   Use \033[94mgit add $1 && git commit -m 'Updated $1'\033[0m to choose this version (careful!)"
+		echo ""
+		read user_cmd
+		if [ "$user_cmd" == "y" ]; then
+			echo "Continuing build with manually overridden submodule.."
+		elif [ "$user_cmd" == "u" ]; then
+			git submodule sync --recursive -- $1
+			git submodule update --init --recursive -- $1 || true
+			git submodule update --init --recursive --force -- $1
+			echo "Submodule fixed, continuing build.."
+		else
+			echo "Build aborted."
+			exit 1
+		fi
+	fi
+else
+	git submodule --quiet sync --recursive --quiet -- $1
+	git submodule --quiet update --init --recursive -- $1  || true
+	git submodule --quiet update --init --recursive -- $1
+fi
+
+}
+
+# If called with a path then respect $GIT_SUBMODULES_ARE_EVIL but do normal processing
+if [ "$#" != "0" ]; then
+	# called with a path then process only that path but respect $GIT_SUBMODULES_ARE_EVIL
+	[ -n "$GIT_SUBMODULES_ARE_EVIL" ] && {
+		# GIT_SUBMODULES_ARE_EVIL is set, meaning user doesn't want submodules updated
+		exit 0
+	}
+
+	check_git_submodule $1
+
+else
+
+	[ -n "$GIT_SUBMODULES_ARE_EVIL" ] && {
+		# GIT_SUBMODULES_ARE_EVIL is set, meaning user doesn't want submodules updated
+		echo "GIT_SUBMODULES_ARE_EVIL is defined - Skipping All submodule checking!"
+		exit 0
+	}
+
+	submodules=$(git submodule status | awk '{ print $2 }')
+	for i in $submodules;
+	do
+		check_git_submodule $i
+	done
+
+fi
+
+exit 0
@@ -1,62 +0,0 @@
-#!/usr/bin/env python3
-
-from Crypto.PublicKey import RSA
-from Crypto.Cipher import PKCS1_OAEP
-from Crypto.Cipher import ChaCha20
-from Crypto.Hash import SHA256
-import binascii
-import argparse
-#from pathlib import Path
-import sys
-
-if __name__ == "__main__":
-
-    parser = argparse.ArgumentParser(description="""CLI tool to decrypt an ulog file\n""")
-    parser.add_argument("ulog_file", help=".ulog file", nargs='?', default=None)
-    parser.add_argument("ulog_key", help=".ulogk, encrypted key", nargs='?', default=None)
-    parser.add_argument("rsa_key", help=".pem format key for decrypting the ulog key", nargs='?', default=None)
-
-    args = parser.parse_args()
-
-    # Only generate a key pair, don't sign
-    if not args.ulog_file or not args.ulog_key or not args.rsa_key:
-        print('Need all arguments, the encrypted ulog file, the key and the key decryption key')
-        sys.exit(1);
-
-    # Read the private RSA key to decrypt the cahcha key
-    with open(args.rsa_key, 'rb') as f:
-        r = RSA.importKey(f.read(), passphrase='')
-
-    # Read the encrypted xchacha key and the nonce
-    with open(args.ulog_key, 'rb') as f:
-        ulog_key_header = f.read(22)
-
-        # Parse the header
-        try:
-            # magic
-            if not ulog_key_header.startswith(bytearray("ULogKey".encode())):
-                raise Exception()
-            # version
-            if ulog_key_header[7] != 1:
-                raise Exception()
-            # expected key exchange algorithm (RSA_OAEP)
-            if ulog_key_header[16] != 4:
-                raise Exception()
-            key_size = ulog_key_header[19] << 8 | ulog_key_header[18];
-            nonce_size = ulog_key_header[21] << 8 | ulog_key_header[20];
-            ulog_key_cipher = f.read(key_size)
-            nonce = f.read(nonce_size)
-        except:
-            print("Keyfile format error")
-            sys.exit(1);
-
-    # Decrypt the xchacha key
-    cipher_rsa = PKCS1_OAEP.new(r,SHA256)
-    ulog_key = cipher_rsa.decrypt(ulog_key_cipher)
-    #print(binascii.hexlify(ulog_key))
-
-    # Read and decrypt the .ulgc
-    cipher = ChaCha20.new(key=ulog_key, nonce=nonce)
-    with open(args.ulog_file, 'rb') as f:
-        with open(args.ulog_file.rstrip(args.ulog_file[-1]), 'wb') as out:
-            out.write(cipher.decrypt(f.read()))
@@ -126,8 +126,7 @@ else

 		m=0
 		while [ $m -lt ${target_number} ]; do
-			export PX4_SIM_MODEL=${target_vehicle}${LABEL}
-			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
+			spawn_model ${target_vehicle} $n $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))
 		done
@@ -138,12 +138,6 @@ serial_ports = {
        "default_baudrate": 1, # set default to an unusable value to detect that this serial port has not been configured
        },

-    # Pixhawk Payload Bus
-    "PPB": {
-        "label": "Pixhawk Payload Bus",
-        "index": 401,
-        "default_baudrate": 57600,
-        },

    }

@@ -1,7 +1,5 @@
 #! /usr/bin/env bash

-set -e
-
 ## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
 ## Can also be used in docker.
 ##
@@ -195,7 +193,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		java_version=11
 		gazebo_version=9
 	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		java_version=13
+		java_version=14
 		gazebo_version=11
 	else
 		java_version=14
@@ -1,27 +0,0 @@
-----BEGIN RSA PRIVATE KEY-----
-MIIEowIBAAKCAQEAz6O47E+sN+Yb+h6zkukagzYtJ6ZKq344b5N6H2CDg6z9LmG/
-GRAfOeNstsz1hXyyOCcUQ9f+vKHofTN0k+fWKy95h1mwY5Vc509gRsmpD96pNp4+
-NLp3GFDjawOTqsfyLQ7zKwU0YKT3qeI3o20n2KNxnGuyXt0SK3Ph2530wwzWBR2s
-pNxpKvV8MCR7K4AbeuxodxKXKrLl0v9BHfUGpLZHpfoFfvChuK3eXK4si06tr6xt
-RmLh6f6hxcn0SNKAK+WpPsH8mN4DqayGt7UZ5XVqY4M/J3pe+PFtstI2ocDSX5Oc
-kOg+yonXytDH6I9Lt2CSXjZDcCM2+7WlBprAywIDAQABAoIBAGZE1nUV/NX/cXIt
-IvdN9q//xBfOUOLMpVFXSwQfTkdRsdXhcPUQOsERYd9bbeZUd5cusE2GGkKgYFki
-Od4LhzH4DRx8MWOrEnofX2UeODXHzoJHSI5B9Ry14n034shv+Lj2rxBWXOjo987l
-y8+jmMecIP4REWal7igWyHyZ/Q7/5UCCCH5HaA4jgMhMdrD3zdxrlPhrW/egjfKF
-Q+444qG5HzUqh7tOBxvf9Yu9FujHC9NxKDNXZZ3WBpwVQIVPCxexb4b8FBZ4syCH
-iPbSgyw91CVfMvpWCYqDe7ubw4QDLHzDIiyKFtvHmIOgPo74y8fi1YYZ+3dy5mpa
-UNdC11kCgYEA3whbNd71AVcSykRZ23AxDcjtUoiFXlpzSFes0QBGrmi2WTc04r8d
-5Zr1E8oohc/zPJnUnCh93BAAu+HJsg4wKCqOWu5qR3NWcFp4/4voG9hsg1hgWD8Z
-6fMMjoZRezSxadyeeaDStnfSkYyE2J8DPpkK5mjFG9IbrylGfApzDf0CgYEA7lTi
-j2NQ+HNMlp/oOtsRZHkQtHYutv5SltG4E4DlwDHyA2ZLR2xB+D2ce5VdPQvfHu8F
-ioMquDLeJbOPeikwko+RmpbmCsODjLueZHBmGwAfkuE0A5TZUwTi+W6iYbrXLK6E
-TgNMaS4AGeBbioo6cdnMnYp9jdm63zvefet6oGcCgYAwr4BJmCvfaQR/BsCeuDTd
-D3lOxOJoIFJ9/jWJQggr1kvH2dc/j/yUvGi3My/5VdWA6wuQMv6WZR/j43vF1HcK
-rY95pgWpJzI9QGKdVgsK2QmG+mm9mbisaxPYoNV0kaIQu8oUPtkAX9OlVglByCRL
-K9lHRqOQWSMV72qldRp8eQKBgHVCJkXN42SZtbDV8/ghGCmKtwFStCEsd43kmOBf
-pqos6JlrltYJGVv9VCQplLoYQSqDBwLjDf2aaVm7QngkE9XH9SdN3tik4PA4zvEz
-q8jVArPNQT4R2erSmKmIGTRkLMG7CzUmwk1taHdSvzcmUyL4uYc5QBSubxat6gWh
-+a85AoGBAKgfnjjVoAWWvqEDLpfGPmE8lW+RaS7i5ff6QsSBx7uTEnHq6RNHuVnN
-et4pR87yIENeG8jMBiDCj8AGDtUNt9Ps9vWCPrf9HSOYoBUk+gZagU/9N+RBpuCM
-egoxtxIHM7HI+XIer+ZnZpVpgr+EoCaL7avx6k/susLQb7tqSBt1
-----END RSA PRIVATE KEY-----
@@ -1,38 +0,0 @@
-
-0x30, 0x82, 0x1, 0x22, 0x30, 0xd, 0x6, 0x9, 
-0x2a, 0x86, 0x48, 0x86, 0xf7, 0xd, 0x1, 0x1, 
-0x1, 0x5, 0x0, 0x3, 0x82, 0x1, 0xf, 0x0, 
-0x30, 0x82, 0x1, 0xa, 0x2, 0x82, 0x1, 0x1, 
-0x0, 0xcf, 0xa3, 0xb8, 0xec, 0x4f, 0xac, 0x37, 
-0xe6, 0x1b, 0xfa, 0x1e, 0xb3, 0x92, 0xe9, 0x1a, 
-0x83, 0x36, 0x2d, 0x27, 0xa6, 0x4a, 0xab, 0x7e, 
-0x38, 0x6f, 0x93, 0x7a, 0x1f, 0x60, 0x83, 0x83, 
-0xac, 0xfd, 0x2e, 0x61, 0xbf, 0x19, 0x10, 0x1f, 
-0x39, 0xe3, 0x6c, 0xb6, 0xcc, 0xf5, 0x85, 0x7c, 
-0xb2, 0x38, 0x27, 0x14, 0x43, 0xd7, 0xfe, 0xbc, 
-0xa1, 0xe8, 0x7d, 0x33, 0x74, 0x93, 0xe7, 0xd6, 
-0x2b, 0x2f, 0x79, 0x87, 0x59, 0xb0, 0x63, 0x95, 
-0x5c, 0xe7, 0x4f, 0x60, 0x46, 0xc9, 0xa9, 0xf, 
-0xde, 0xa9, 0x36, 0x9e, 0x3e, 0x34, 0xba, 0x77, 
-0x18, 0x50, 0xe3, 0x6b, 0x3, 0x93, 0xaa, 0xc7, 
-0xf2, 0x2d, 0xe, 0xf3, 0x2b, 0x5, 0x34, 0x60, 
-0xa4, 0xf7, 0xa9, 0xe2, 0x37, 0xa3, 0x6d, 0x27, 
-0xd8, 0xa3, 0x71, 0x9c, 0x6b, 0xb2, 0x5e, 0xdd, 
-0x12, 0x2b, 0x73, 0xe1, 0xdb, 0x9d, 0xf4, 0xc3, 
-0xc, 0xd6, 0x5, 0x1d, 0xac, 0xa4, 0xdc, 0x69, 
-0x2a, 0xf5, 0x7c, 0x30, 0x24, 0x7b, 0x2b, 0x80, 
-0x1b, 0x7a, 0xec, 0x68, 0x77, 0x12, 0x97, 0x2a, 
-0xb2, 0xe5, 0xd2, 0xff, 0x41, 0x1d, 0xf5, 0x6, 
-0xa4, 0xb6, 0x47, 0xa5, 0xfa, 0x5, 0x7e, 0xf0, 
-0xa1, 0xb8, 0xad, 0xde, 0x5c, 0xae, 0x2c, 0x8b, 
-0x4e, 0xad, 0xaf, 0xac, 0x6d, 0x46, 0x62, 0xe1, 
-0xe9, 0xfe, 0xa1, 0xc5, 0xc9, 0xf4, 0x48, 0xd2, 
-0x80, 0x2b, 0xe5, 0xa9, 0x3e, 0xc1, 0xfc, 0x98, 
-0xde, 0x3, 0xa9, 0xac, 0x86, 0xb7, 0xb5, 0x19, 
-0xe5, 0x75, 0x6a, 0x63, 0x83, 0x3f, 0x27, 0x7a, 
-0x5e, 0xf8, 0xf1, 0x6d, 0xb2, 0xd2, 0x36, 0xa1, 
-0xc0, 0xd2, 0x5f, 0x93, 0x9c, 0x90, 0xe8, 0x3e, 
-0xca, 0x89, 0xd7, 0xca, 0xd0, 0xc7, 0xe8, 0x8f, 
-0x4b, 0xb7, 0x60, 0x92, 0x5e, 0x36, 0x43, 0x70, 
-0x23, 0x36, 0xfb, 0xb5, 0xa5, 0x6, 0x9a, 0xc0, 
-0xcb, 0x2, 0x3, 0x1, 0x0, 0x1, 
@@ -1,7 +1,5 @@
 include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

-add_definitions(-DCONSTRAINED_FLASH_NO_HELP="https://docs.px4.io/master/en/modules/modules_main.html")
-
 px4_add_board(
 	PLATFORM nuttx
 	TOOLCHAIN arm-none-eabi
@@ -27,7 +25,7 @@ px4_add_board(
 		#i2cdetect
 		#led_control
 		param
-		#perf
+		perf
 		reboot
 		top
 		topic_listener
@@ -53,6 +53,7 @@
 #include <fcntl.h>
 #include <mqueue.h>

+#include <drivers/drv_rc_input.h>
 #include <drivers/drv_board_led.h>

 #include <systemlib/err.h>
@@ -95,7 +96,7 @@ Syslink::Syslink() :
 	_fd(0),
 	_queue(2, sizeof(syslink_message_t)),
 	_writebuffer(16, sizeof(crtp_message_t)),
-	_rssi(input_rc_s::RSSI_MAX),
+	_rssi(RC_INPUT_RSSI_MAX),
 	_bstate(BAT_DISCHARGING)
 {
 	px4_sem_init(&memory_sem, 0, 0);
@@ -103,8 +103,6 @@

 #define GPIO_SENSOR_3V3_EN              /* PC15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)

-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_SENSOR_3V3_EN, (on_true))
-
 #define GPIO_MCU_I2C1_SCL_RESET         /* PB6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
 #define GPIO_MCU_I2C1_SDA_RESET         /* PB7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)

@@ -135,8 +135,6 @@ stm32_boardinitialize(void)

 __EXPORT int board_app_initialize(uintptr_t arg)
 {
-	VDD_3V3_SENSORS_EN(true);
-
 	px4_platform_init();

 	if (OK == board_determine_hw_info()) {
@@ -265,7 +265,7 @@

 #define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
 #define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_1               /* PF9  */


 /* I2C */
@@ -14,8 +14,7 @@ px4_add_board(
 	DRIVERS
 		#adc/ads1115
 		adc/board_adc
-		#barometer # all available barometer drivers
-		barometer/ms5611
+		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
 		camera_trigger
@@ -159,12 +159,8 @@
 #define PIN_CAN0_TX      PIN_CAN0_TX_4      /* PTE5 */
 #define PIN_CAN0_RX      PIN_CAN0_RX_4      /* PTE4 */
 #define PIN_CAN0_STB     (GPIO_OUTPUT | PIN_PORTE | PIN11 )
-#define PIN_CAN0_ERRN    (GPIO_INPUT  | PIN_PORTA | PIN11 )
-#define PIN_CAN0_EN      (GPIO_HIGHDRIVE  | PIN_PORTA | PIN10 )
 #define PIN_CAN1_TX      PIN_CAN1_TX_1      /* PTA13 */
 #define PIN_CAN1_RX      PIN_CAN1_RX_1      /* PTA12 */
 #define PIN_CAN1_STB     (GPIO_OUTPUT | PIN_PORTE | PIN10 )
-#define PIN_CAN1_ERRN    (GPIO_PULLDOWN  | PIN_PORTE | PIN6 )
-#define PIN_CAN1_EN      (GPIO_OUTPUT  | PIN_PORTE | PIN2 )

 #endif  /* __BOARDS_ARM_RDDRONE_UAVCAN146_INCLUDE_BOARD_H */
@@ -75,32 +75,8 @@ __EXPORT void s32k1xx_board_initialize(void)
 	s32k1xx_pinconfig(BOARD_REVISION_DETECT_PIN);

 	if (s32k1xx_gpioread(BOARD_REVISION_DETECT_PIN)) {
-		/* Config Pins to do CAN tranceiver HW selftest */
-		s32k1xx_pinconfig(PIN_CAN0_ERRN);
-		s32k1xx_pinconfig(PIN_CAN0_STB);
-		s32k1xx_pinconfig(PIN_CAN0_EN);
-
-		/* EN high & STB high -> normal mode */
-		s32k1xx_gpiowrite(PIN_CAN0_STB, 1);
-		s32k1xx_gpiowrite(PIN_CAN0_EN, 1);
-		up_udelay(3000); // Wait for startup to normal mode
-
-		/* EN low & STB high -> listen only mode */
-		s32k1xx_gpiowrite(PIN_CAN0_STB, 1);
-		s32k1xx_gpiowrite(PIN_CAN0_EN, 0);
-		up_udelay(100); // t moch ERRN_N
-
-		/* Check for HW err and wait untill ERR has been cleared */
-		while (!s32k1xx_gpioread(PIN_CAN0_ERRN)) {
-			board_indicate(hardware_failure);
-			s32k1xx_gpiowrite(PIN_CAN0_EN, 1);
-			up_udelay(50);
-			s32k1xx_gpiowrite(PIN_CAN0_EN, 0);
-			up_udelay(50);
-		}
-
-		/* Enter normal-mode */
-		s32k1xx_gpiowrite(PIN_CAN0_EN, 1);
+		/* STB high -> active CAN phy */
+		s32k1xx_pinconfig(PIN_CAN0_STB  | GPIO_OUTPUT_ONE);

 	} else {
 		/* STB low -> active CAN phy */
@@ -232,7 +208,6 @@ static const  led_t i2l[] = {
 	led(9, fw_update_timeout,              31,    0,    0,     2),
 	led(a, fw_update_invalid_crc,          31,    0,    0,     4),
 	led(b, jump_to_app,                     0,   63,    0,    10),
-	led(c, hardware_failure,               31,    0,    0,    10),

 };

@@ -10,8 +10,6 @@ set(uavcanblid_hw_version_major 0)
 set(uavcanblid_hw_version_minor 34)
 set(uavcanblid_name "\"org.nxp.ucans32k146\"")

-set(uavcanbl_padding 8)
-
 add_definitions(
 	-DHW_UAVCAN_NAME=${uavcanblid_name}
 	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
@@ -79,7 +79,6 @@ SECTIONS
 		_bootdelay_signature = ABSOLUTE(.);
 		FILL(0xffecc2925d7d05c5)
 		. += 8;
-		KEEP(*(.app_descriptor))
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)
@@ -1,150 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	IO px4_io-v2_default
-	UAVCAN_INTERFACES 2
-	UAVCAN_TIMER_OVERRIDE 6
-        CRYPTO sw_crypto
-        KEYSTORE stub_keystore
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		TEL4:/dev/ttyS3
-	DRIVERS
-		adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/bosch/bmi055
-		imu/invensense/icm20602
-		imu/invensense/icm20689
-		imu/invensense/icm20948 # required for ak09916 mag
-		irlock
-		lights # all available light drivers
-		lights/rgbled_pwm
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
-		power_monitor/ina226
-		#protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		px4io
-		rc_input
-		roboclaw
-		smart_battery/batmon
-		rpm
-		safety_button
-		telemetry # all available telemetry drivers
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		serial_test
-		system_time
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		#fake_imu
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)
-
-# For testing crypto with the stub_keystore, set keys to the PX4 test keys,
-# for any real target using that keystore, these would probably be set as environment
-# variables in the build environment
-
-# Key 0: The firmware signature check key (public key), used by bootloaders
-# NOTE: for FMUv5 this is not really used, it is only for NuttX based bootloaders
-set(ENV{PUBLIC_KEY0} "${CMAKE_SOURCE_DIR}/Tools/test_keys/key0.pub")
-
-# Key 1: An RSA2048 public key, used currently for logfile symmetric key exchange
-set(ENV{PUBLIC_KEY1} "${CMAKE_SOURCE_DIR}/Tools/test_keys/rsa2048.pub")
-
-# FW Signing tool, using ed25519 (this uses by default the key in Tools/test_keys/test_keys.json)
-set(ENV{SIGNING_TOOL} "${CMAKE_SOURCE_DIR}/Tools/cryptotools.py")
@@ -1,244 +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_FS_PROCFS_EXCLUDE_ENVIRON is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32f7"
-CONFIG_ARCH_CHIP_STM32F765II=y
-CONFIG_ARCH_CHIP_STM32F7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=22114
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x0032
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="3D Robotics"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_CRYPTO=y
-CONFIG_CRYPTO_RANDOM_POOL=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_MODE=y
-CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=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=256
-CONFIG_STM32F7_ADC1=y
-CONFIG_STM32F7_BBSRAM=y
-CONFIG_STM32F7_BBSRAM_FILES=5
-CONFIG_STM32F7_BKPSRAM=y
-CONFIG_STM32F7_DMA1=y
-CONFIG_STM32F7_DMA2=y
-CONFIG_STM32F7_DMACAPABLE=y
-CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32F7_I2C1=y
-CONFIG_STM32F7_I2C2=y
-CONFIG_STM32F7_I2C3=y
-CONFIG_STM32F7_I2C4=y
-CONFIG_STM32F7_I2C_DYNTIMEO=y
-CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32F7_OTGFS=y
-CONFIG_STM32F7_PROGMEM=y
-CONFIG_STM32F7_PWR=y
-CONFIG_STM32F7_RTC=y
-CONFIG_STM32F7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
-CONFIG_STM32F7_RTC_MAGIC_REG=1
-CONFIG_STM32F7_SAVE_CRASHDUMP=y
-CONFIG_STM32F7_SDMMC1=y
-CONFIG_STM32F7_SDMMC_DMA=y
-CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32F7_SPI1=y
-CONFIG_STM32F7_SPI1_DMA=y
-CONFIG_STM32F7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32F7_SPI2=y
-CONFIG_STM32F7_SPI4=y
-CONFIG_STM32F7_SPI5=y
-CONFIG_STM32F7_SPI6=y
-CONFIG_STM32F7_SPI_DMA=y
-CONFIG_STM32F7_SPI_DMATHRESHOLD=8
-CONFIG_STM32F7_TIM10=y
-CONFIG_STM32F7_TIM11=y
-CONFIG_STM32F7_UART4=y
-CONFIG_STM32F7_UART7=y
-CONFIG_STM32F7_UART8=y
-CONFIG_STM32F7_USART1=y
-CONFIG_STM32F7_USART2=y
-CONFIG_STM32F7_USART3=y
-CONFIG_STM32F7_USART6=y
-CONFIG_STM32F7_USART_BREAKS=y
-CONFIG_STM32F7_USART_INVERT=y
-CONFIG_STM32F7_USART_SINGLEWIRE=y
-CONFIG_STM32F7_USART_SWAP=y
-CONFIG_STM32F7_WWDG=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_RXDMA=y
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_RXDMA=y
-CONFIG_USART3_TXBUFSIZE=3000
-CONFIG_USART3_TXDMA=y
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -41,7 +41,6 @@ px4_add_board(
 		pca9685_pwm_out
 		power_monitor/ina226
 		power_monitor/ina228
-		power_monitor/ina238
 		#protocol_splitter
 		pwm_input
 		pwm_out_sim
@@ -3,7 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------

-param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1

@@ -19,13 +19,6 @@ then
 	ina228 -X -b 2 -t 2 -k start
 fi

-if param compare SENS_EN_INA238 1
-then
-	# Start Digital power monitors
-	ina238 -X -b 1 -t 1 -k start
-	ina238 -X -b 2 -t 2 -k start
-fi
-
 if ver hwtypecmp V5X90 V5X91 V5X92 V5Xa0 V5Xa1 V5Xa2
 then
 	#SKYNODE base fmu board orientation
@@ -42,7 +42,6 @@ px4_add_board(
 		pca9685_pwm_out
 		power_monitor/ina226
 		power_monitor/ina228
-		power_monitor/ina238
 		#protocol_splitter
 		pwm_out_sim
 		pwm_out
@@ -3,8 +3,7 @@
 # board specific defaults
 #------------------------------------------------------------------------------

-param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1

-safety_button start
+safety_button start
@@ -18,13 +18,6 @@ then
 	ina228 -X -b 2 -t 2 -k start
 fi

-if param compare SENS_EN_INA238 1
-then
-	# Start Digital power monitors
-	ina238 -X -b 1 -t 1 -k start
-	ina238 -X -b 2 -t 2 -k start
-fi
-
 # Internal SPI BMI088
 bmi088 -A -R 4 -s start
 bmi088 -G -R 4 -s start
@@ -277,7 +277,6 @@ function(px4_add_board)

 	if(CRYPTO)
 		set(PX4_CRYPTO ${CRYPTO} CACHE STRING "PX4 crypto implementation" FORCE)
-		add_definitions(-DPX4_CRYPTO)
 	endif()

 	if(KEYSTORE)
@@ -62,120 +62,30 @@ function(px4_add_git_submodule)
 		REQUIRED TARGET PATH
 		ARGN ${ARGN})

-	option(GIT_SUBMODULE "Check submodules during build" ON)
+	set(REL_PATH)

-	# ENV GIT_SUBMODULES_ARE_EVIL
-
-	# ENV TERM_PROGRAM="vscode"
-	# ENV VSCODE_GIT_ASKPASS_MAIN
-	# ENV VSCODE_GIT_ASKPASS_NODE
-	# ENV VSCODE_GIT_IPC_HANDLE
-	# ENV VSCODE_IPC_HOOK_CLI
-
-	# if CI or vscode then force submodule update?
-
-	if(DEFINED ENV{VSCODE_IPC_HOOK_CLI})
-		#message(STATUS "VSCODE_IPC_HOOK_CLI: $ENV{VSCODE_IPC_HOOK_CLI}")
-
-		#message(STATUS "TERM_PROGRAM: $ENV{TERM_PROGRAM}")
-
-		#message(STATUS "VSCODE_GIT_ASKPASS_MAIN: $ENV{VSCODE_GIT_ASKPASS_MAIN}")
-		#message(STATUS "VSCODE_GIT_ASKPASS_NODE: $ENV{VSCODE_GIT_ASKPASS_NODE}")
-		#message(STATUS "VSCODE_GIT_IPC_HANDLE: $ENV{VSCODE_GIT_IPC_HANDLE}")
+	if(IS_ABSOLUTE ${PATH})
+		file(RELATIVE_PATH REL_PATH ${PX4_SOURCE_DIR} ${PATH})
+	else()
+		file(RELATIVE_PATH REL_PATH ${PX4_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/${PATH})
 	endif()

-	if(GIT_FOUND AND GIT_SUBMODULE AND NOT DEFINED ENV{GIT_SUBMODULES_ARE_EVIL})
+	execute_process(
+		COMMAND Tools/check_submodules.sh ${REL_PATH}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		)

-		set(REL_PATH)
+	string(REPLACE "/" "_" NAME ${PATH})
+	string(REPLACE "." "_" NAME ${NAME})

-		if(IS_ABSOLUTE ${PATH})
-			file(RELATIVE_PATH REL_PATH ${PX4_SOURCE_DIR} ${PATH})
-		else()
-			file(RELATIVE_PATH REL_PATH ${PX4_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/${PATH})
-		endif()
+	add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/git_init_${NAME}.stamp
+		COMMAND Tools/check_submodules.sh ${REL_PATH}
+		COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/git_init_${NAME}.stamp
+		DEPENDS ${PX4_SOURCE_DIR}/.gitmodules ${PATH}/.git
+		COMMENT "git submodule ${REL_PATH}"
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		USES_TERMINAL
+		)

-		if(NOT EXISTS ${PATH}/.git)
-			execute_process(
-				COMMAND ${GIT_EXECUTABLE} submodule update --init --recursive --jobs=4 -- ${REL_PATH}
-				OUTPUT_VARIABLE GIT_SUBMODULE_UPDATE
-				RESULT_VARIABLE GIT_SUBMODULE_UPDATE_RESULT
-				WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-			)
-			if(NOT GIT_SUBMODULE_UPDATE_RESULT EQUAL "0")
-				message(FATAL_ERROR "git submodule update --init --recursive -- ${REL_PATH} failed: ${GIT_SUBMODULE_UPDATE}")
-			endif()
-
-		else()
-			execute_process(
-				COMMAND ${GIT_EXECUTABLE} submodule status -- ${REL_PATH}
-				OUTPUT_VARIABLE GIT_SUBMODULE_STATUS
-				RESULT_VARIABLE GIT_SUBMODULE_STATUS_RESULT
-				WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-			)
-			#message(STATUS "git submodule status ${REL_PATH} result ${GIT_SUBMODULE_STATUS_RESULT} : ${GIT_SUBMODULE_STATUS}")
-
-			if(NOT GIT_SUBMODULE_STATUS_RESULT EQUAL "0")
-				message(FATAL_ERROR "git submodule status -- ${REL_PATH} failed: ${GIT_SUBMODULE_STATUS}")
-			else()
-				# submodule status characters
-				string(FIND "${GIT_SUBMODULE_STATUS}" "+" submodule_plus)
-				string(FIND "${GIT_SUBMODULE_STATUS}" "-" submodule_minus)
-				string(FIND "${GIT_SUBMODULE_STATUS}" "U" submodule_merge_conflicts)
-
-				# + commit does not match the SHA-1 found in the index
-				if("${submodule_plus}" EQUAL 0)
-					# GIT_SHA_HEAD: submodule git SHA on current HEAD
-					execute_process(
-						COMMAND ${GIT_EXECUTABLE} ls-tree -d HEAD ${REL_PATH} | awk '{print $3;}
-						OUTPUT_VARIABLE GIT_SHA_HEAD
-						WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-					)
-
-					# GIT_SHA_PREV_HEAD: submodule git SHA on previous HEAD
-					execute_process(
-						COMMAND ${GIT_EXECUTABLE} ls-tree -d HEAD@{1} ${REL_PATH} | awk '{print $3;}
-						OUTPUT_VARIABLE GIT_SHA_PREV_HEAD
-						WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-					)
-
-					#message(STATUS "GIT_SHA_HEAD: ${GIT_SHA_HEAD}")
-					#message(STATUS "GIT_SHA_PREV_HEAD: ${GIT_SHA_PREV_HEAD}")
-
-					# TODO: check if submodule is dirty?
-
-					if(${GIT_SHA_HEAD} MATCHES ${GIT_SHA_PREV_HEAD})
-						#message(STATUS "${rel_path} GIT SHA matched previous")
-						# submodule hasn't changed, assume it's safe to update
-						execute_process(
-							COMMAND ${GIT_EXECUTABLE} submodule update --init --recursive --jobs=4 -- ${REL_PATH}
-							OUTPUT_VARIABLE GIT_SUBMODULE_UPDATE
-							WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-						)
-					else()
-						message(NOTICE "submodule ${REL_PATH} commit does not match the SHA-1 found in the index")
-					endif()
-				endif()
-
-				# - uninitialized
-				if("${submodule_minus}" EQUAL 0)
-					execute_process(
-						COMMAND ${GIT_EXECUTABLE} submodule update --init --recursive --jobs=4 -- ${REL_PATH}
-						OUTPUT_VARIABLE GIT_SUBMODULE_UPDATE
-						WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-					)
-				endif()
-
-				# U merge conflicts
-				if("${submodule_merge_conflicts}" EQUAL 0)
-					message(NOTICE "submodule ${REL_PATH} has merge conflicts")
-				endif()
-			endif()
-		endif()
-
-
-		add_custom_target(${TARGET})
-
-		set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${PATH}/.git)
-
-	endif()
+	add_custom_target(${TARGET} DEPENDS git_init_${NAME}.stamp)
 endfunction()
@@ -4,4 +4,4 @@ uint64 timestamp_utc # UTC timestamp
 uint32 seq		# Image sequence number
 bool feedback	# Trigger feedback from camera

-# TOPICS camera_trigger
+# TOPICS camera_trigger camera_trigger_secondary
@@ -23,7 +23,6 @@ uint64 timestamp_last_signal		# last valid reception time

 uint8 channel_count			# number of channels actually being seen

-int8 RSSI_MAX = 100
 int32 rssi				# receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception

 bool rc_failsafe			# explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly.
@@ -26,4 +26,11 @@ uint8 kill_switch                # throttle kill: _NORMAL_, KILL
 uint8 gear_switch                # landing gear switch: _DOWN_, UP
 uint8 transition_switch          # VTOL transition switch: _HOVER, FORWARD_FLIGHT

+# legacy "advanced" switch configuration (will be removed soon)
+uint8 mode_switch                # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
+uint8 man_switch                 # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL
+uint8 acro_switch                # acro 2 position switch (optional): _MANUAL_, ACRO
+uint8 stab_switch                # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED
+uint8 posctl_switch              # position control 2 position switch (optional): _ALTCTL_, POSCTL
+
 uint32 switch_changes            # number of switch changes
@@ -6,38 +6,49 @@ float32 voltage_v		# Servo rail voltage in volts
 float32 rssi_v			# RSSI pin voltage in volts

 # PX4IO status flags (PX4IO_P_STATUS_FLAGS)
-bool status_arm_sync
-bool status_failsafe
-bool status_fmu_initialized
-bool status_fmu_ok
-bool status_init_ok
 bool status_outputs_armed
-bool status_raw_pwm
+bool status_override
 bool status_rc_ok
-bool status_rc_dsm
 bool status_rc_ppm
+bool status_rc_dsm
 bool status_rc_sbus
+bool status_fmu_ok
+bool status_raw_pwm
+bool status_mixer_ok
+bool status_arm_sync
+bool status_init_ok
+bool status_failsafe
+bool status_safety_off
+bool status_fmu_initialized
 bool status_rc_st24
 bool status_rc_sumd
-bool status_safety_off

 # PX4IO alarms (PX4IO_P_STATUS_ALARMS)
-bool alarm_pwm_error
+bool alarm_vbatt_low
+bool alarm_temperature
+bool alarm_servo_current
+bool alarm_acc_current
+bool alarm_fmu_lost
 bool alarm_rc_lost
+bool alarm_pwm_error
+bool alarm_vservo_fault

 # PX4IO arming (PX4IO_P_SETUP_ARMING)
-bool arming_failsafe_custom
+bool arming_io_arm_ok
 bool arming_fmu_armed
 bool arming_fmu_prearmed
-bool arming_force_failsafe
-bool arming_io_arm_ok
+bool arming_manual_override_ok
+bool arming_failsafe_custom
+bool arming_inair_restart_ok
+bool arming_always_pwm_enable
+bool arming_rc_handling_disabled
 bool arming_lockdown
+bool arming_force_failsafe
 bool arming_termination_failsafe
+bool arming_override_immediate

-uint16[8] pwm
-uint16[8] pwm_disarmed
-uint16[8] pwm_failsafe

-uint16[8] pwm_rate_hz
+int16[8] actuators
+uint16[8] servos

 uint16[18] raw_inputs
@@ -1,39 +1,36 @@
 uint64 timestamp						# time since system start (microseconds)

-uint8 FUNCTION_THROTTLE      = 0
-uint8 FUNCTION_ROLL          = 1
-uint8 FUNCTION_PITCH         = 2
-uint8 FUNCTION_YAW           = 3
-uint8 FUNCTION_RETURN        = 4
-uint8 FUNCTION_LOITER        = 5
-uint8 FUNCTION_OFFBOARD      = 6
-uint8 FUNCTION_FLAPS         = 7
-uint8 FUNCTION_AUX_1         = 8
-uint8 FUNCTION_AUX_2         = 9
-uint8 FUNCTION_AUX_3         = 10
-uint8 FUNCTION_AUX_4         = 11
-uint8 FUNCTION_AUX_5         = 12
-uint8 FUNCTION_AUX_6         = 13
-uint8 FUNCTION_PARAM_1       = 14
-uint8 FUNCTION_PARAM_2       = 15
-uint8 FUNCTION_PARAM_3_5     = 16
-uint8 FUNCTION_KILLSWITCH    = 17
-uint8 FUNCTION_TRANSITION    = 18
-uint8 FUNCTION_GEAR          = 19
-uint8 FUNCTION_ARMSWITCH     = 20
-uint8 FUNCTION_FLTBTN_SLOT_1 = 21
-uint8 FUNCTION_FLTBTN_SLOT_2 = 22
-uint8 FUNCTION_FLTBTN_SLOT_3 = 23
-uint8 FUNCTION_FLTBTN_SLOT_4 = 24
-uint8 FUNCTION_FLTBTN_SLOT_5 = 25
-uint8 FUNCTION_FLTBTN_SLOT_6 = 26
-
-uint8 FUNCTION_FLTBTN_SLOT_COUNT = 6
+uint8 FUNCTION_THROTTLE   = 0
+uint8 FUNCTION_ROLL       = 1
+uint8 FUNCTION_PITCH      = 2
+uint8 FUNCTION_YAW        = 3
+uint8 FUNCTION_MODE       = 4
+uint8 FUNCTION_RETURN     = 5
+uint8 FUNCTION_POSCTL     = 6
+uint8 FUNCTION_LOITER     = 7
+uint8 FUNCTION_OFFBOARD   = 8
+uint8 FUNCTION_ACRO       = 9
+uint8 FUNCTION_FLAPS      = 10
+uint8 FUNCTION_AUX_1      = 11
+uint8 FUNCTION_AUX_2      = 12
+uint8 FUNCTION_AUX_3      = 13
+uint8 FUNCTION_AUX_4      = 14
+uint8 FUNCTION_AUX_5      = 15
+uint8 FUNCTION_PARAM_1    = 16
+uint8 FUNCTION_PARAM_2    = 17
+uint8 FUNCTION_PARAM_3_5  = 18
+uint8 FUNCTION_KILLSWITCH = 19
+uint8 FUNCTION_TRANSITION = 20
+uint8 FUNCTION_GEAR       = 21
+uint8 FUNCTION_ARMSWITCH  = 22
+uint8 FUNCTION_STAB       = 23
+uint8 FUNCTION_AUX_6      = 24
+uint8 FUNCTION_MAN        = 25

 uint64 timestamp_last_valid					# Timestamp of last valid RC signal
 float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
 uint8 channel_count						# Number of valid channels
-int8[27] function						# Functions mapping
+int8[26] function						# Functions mapping
 uint8 rssi							# Receive signal strength index
 bool signal_lost						# Control signal lost, should be checked together with topic timeout
 uint32 frame_drop_count						# Number of dropped frames
@@ -1,3 +1,5 @@
 uint64 timestamp		# time since system start (microseconds)
 bool safety_switch_available		# Set to true if a safety switch is connected
 bool safety_off			# Set to true if safety is off
+bool override_available		# Set to true if external override system is connected
+bool override_enabled		# Set to true if override is engaged
@@ -1,6 +1,7 @@
 uint64 timestamp		# time since system start (microseconds)
 bool flag_armed			# synonym for actuator_armed.armed

+bool flag_external_manual_override_ok		# external override non-fatal for system. Only true for fixed wing
 bool flag_multicopter_position_control_enabled

 bool flag_control_manual_enabled		# true if manual input is mixed in
@@ -1,5 +1,4 @@
 # Fused local position in NED.
-# The coordinate system origin is the vehicle position at the time when the EKF2-module was started.

 uint64 timestamp			# time since system start (microseconds)
 uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)
@@ -27,6 +27,7 @@ bool circuit_breaker_engaged_usb_check
 bool circuit_breaker_engaged_posfailure_check	# set to true when the position valid checks have been disabled
 bool circuit_breaker_vtol_fw_arming_check 	# set to true if for VTOLs arming in fixed-wing mode should be allowed

+bool offboard_control_signal_found_once
 bool offboard_control_signal_lost

 bool rc_signal_found_once
@@ -1,219 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 Technology Innovation Institute. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#ifdef PX4_CRYPTO
-
-#include <stdbool.h>
-#include <stdint.h>
-
-#include <px4_random.h>
-#include <px4_platform_common/crypto_algorithms.h>
-#include <px4_platform_common/sem.h>
-#include "crypto_backend_definitions.h"
-
-/*
- * Crypto API interface class
- */
-
-class PX4Crypto
-{
-public:
-	/*
-	 * Constructor & destructor
-	 */
-
-	PX4Crypto();
-	~PX4Crypto();
-
-	/*
-	 * Class function for crypto api initialization, called only once at
-	 * boot
-	 */
-
-	static void px4_crypto_init(void);
-
-	/*
-	 * Open crypto API for a specific algorithm
-	 * algorithm: The crypto algorithm to be used
-	 * returns true on success, false on failure
-	 */
-
-	bool open(px4_crypto_algorithm_t algorithm);
-
-	/*
-	 * Close the crypto API. Optional, it is also closed by destructing the
-	 * interface object
-	 */
-
-	void close();
-
-	/*
-	 * Keystore access functions
-	 */
-
-	/*
-	 * Generate a single random key for symmetric-key encryption
-	 *
-	 * idx: the index in keystore where the key will be stored
-	 * persistent: whether the key need to be stored persistently
-	 * returns true on success, false on failure
-	 */
-
-	bool generate_key(uint8_t idx,
-			  bool persistent);
-
-	/*
-	 * Generate a key pair for asymmetric-key encryption
-	 *
-	 * algorithm: the key type
-	 * key_size: size of the key in bytes
-	 * private_idx: the private key will be stored in this index in the keystore
-	 * public_idx: the public key will be stored in this index in the keystore
-	 * persistent: whether the keys need to be stored persistently
-	 * returns true on success, false on failure
-	*/
-
-	bool generate_keypair(size_t key_size,
-			      uint8_t private_idx,
-			      uint8_t public_idx,
-			      bool persistent);
-
-
-	/*
-	 * Re-create or set nonce.
-	 *
-	 * A nonce or intialization vector value for the selected algortithm is
-	 * automatically generated when the crypto session is opened. If needed, the
-	 * nonce can be set by this function.
-	 * If this is called with NULL pointer, a new nonce is automatically random
-	 * generated
-	 */
-
-	bool renew_nonce(const uint8_t *nonce, size_t nonce_size);
-
-
-	/*
-	 * Get current crypto session nonce
-	 *
-	 * This function returns the current nonce for the session
-	 * If the "nonce" is NULL, only nonse legth will be provided
-	 * nonce: pointer to the buffer where the nonce will be written
-	 * nonce_len: length of the current nonce vector for the session
-	 * returns true on success, false on failure
-	 */
-
-	bool get_nonce(uint8_t *nonce,
-		       size_t *nonce_len);
-
-	/*
-	 * Store a key into keystore
-	 *
-	 * encryption_idx: The key index in keystore to be used in decrypting and
-	 *   authenticating the key before storing
-	 * key: The pointer to the key
-	 * key_idx: Index where the key will be stored in keystore
-	*/
-
-
-	bool set_key(uint8_t encryption_idx,
-		     const uint8_t *key,
-		     uint8_t key_idx);
-
-	/*
-	 * Get a key from keystore. Key can be encrypted
-	 *
-	 * key_idx: Index of the requested key in the keystore
-	 * key: The provided buffer to the key. If NULL, the function only provides
-	 *          the length of the key.
-	 * key_len: input: the size of the provided "key" buffer.
-	            output: the actual size of the key
-	 * encryption_key_idx: The key index in keystore to be used for encrypting
-	 * returns true on success, false on failure
-	 *
-	 */
-
-	bool get_encrypted_key(uint8_t key_idx,
-			       uint8_t *key,
-			       size_t *key_len,
-			       uint8_t encryption_key_idx);
-
-	/*
-	 * PX4 Crypto API functions
-	 */
-
-	/*
-	 * Verify signature
-	 *
-	 * key_index: public key index in keystore
-	 * signature: pointer to the signature
-	 * message: pointer to the data to be verified
-	 * message_size: size of the message in bytes
-	*/
-
-	bool signature_check(uint8_t  key_index,
-			     const uint8_t *signature,
-			     const uint8_t *message,
-			     size_t message_size);
-
-
-	/*
-	 * Encrypt data. This always supports encryption in-place
-	 *
-	 * key_index: key index in keystore
-	 * message: pointer to the message
-	 * message_size: size of the message in bytes
-	 * cipher: pointer to a buffer for encrypted data
-	 * cipher_size: size of the buffer reserved for cipher and actual cipher length
-	 *   after the encryption
-	 * returns true on success, false on failure
-	 */
-
-	bool encrypt_data(uint8_t  key_index,
-			  const uint8_t *message,
-			  size_t message_size,
-			  uint8_t *cipher,
-			  size_t *cipher_size);
-
-	size_t get_min_blocksize(uint8_t key_idx);
-
-private:
-	crypto_session_handle_t _crypto_handle;
-	static px4_sem_t _lock;
-	static bool _initialized;
-	static void lock() { do {} while (px4_sem_wait(&PX4Crypto::_lock) != 0); }
-	static void unlock() { px4_sem_post(&PX4Crypto::_lock); }
-};
-
-#endif
@@ -71,16 +71,6 @@ void keystore_close(keystore_session_handle_t *handle);
 */
 size_t keystore_get_key(keystore_session_handle_t handle, uint8_t idx, uint8_t *key_buf, size_t key_buf_size);

-/*
- * Store a key persistently into the keystore
- * handle: a handle to an open keystore
- * idx: key index in keystore
- * key: pointer to the key
- * key_size: size of the key
- */
-bool keystore_put_key(keystore_session_handle_t handle, uint8_t idx, uint8_t *key, size_t key_size);
-
-
 /*
 * Architecture specific PX4 Crypto API functions
 */
@@ -106,48 +96,6 @@ crypto_session_handle_t crypto_open(px4_crypto_algorithm_t algorithm);

 void crypto_close(crypto_session_handle_t *handle);

-/*
- * Generate a key
- * handle: Open handle for the crypto session. The key will be generated for
- *         the crypto algorithm used by this session
- * idx: The key index, by which the key can be used
- * persistent: if set to "true", the key will be stored into the keystore
- */
-bool crypto_generate_key(crypto_session_handle_t handle,
-			 uint8_t idx,
-			 bool persistent);
-
-/*
- * Get a key from keystore, possibly encrypted
- *
- * handle: an open crypto context; the returned key will be encrypted
- *   according to this context
- * key_idx: Index of the requested key in the keystore
- * key: The provided buffer to the key
- * max_len: the length of the provided key buffer. Returns the actual key size
- * encryption_key_idx: The key index in keystore to be used for encrypting
- * returns true on success, false on failure
- */
-bool crypto_get_encrypted_key(crypto_session_handle_t handle,
-			      uint8_t key_idx,
-			      uint8_t *key,
-			      size_t *max_len,
-			      uint8_t encryption_key_idx);
-
-/*
- * Get the generated nonce value
- *
- * handle: an open crypto context; the returned nonce is the one associsated
- *   with this context/algorithm
- * nonce: The provided buffer to the key. If NULL, only length is returned
- * nonce_len: the length of the nonce value
- * encryption_key_idx: The key index in keystore to be used for encrypting
- * returns true on success, false on failure
- */
-bool crypto_get_nonce(crypto_session_handle_t handle,
-		      uint8_t *nonce,
-		      size_t *nonce_len);
-
 /*
 * Perform signature check using an open session to crypto
 * handle: session handle, returned by open
@@ -162,25 +110,6 @@ bool crypto_signature_check(crypto_session_handle_t handle,
 			    const uint8_t *message,
 			    size_t message_size);

-bool crypto_encrypt_data(crypto_session_handle_t handle,
-			 uint8_t  key_index,
-			 const uint8_t *message,
-			 size_t message_size,
-			 uint8_t *cipher,
-			 size_t *cipher_size);
-
-/*
- * Returns a minimum data block size on which the crypto operations can be
- *   performed. Performing encryption on sizes which are not multiple of this
- *   are valid, but the output will be padded to the multiple of this value
- *   Input for decryption must be multiple of this value.
- * handle: session handle, returned by open
- * key_idx: key to be used for encryption/decryption
- * returs the block size
- */
-
-size_t crypto_get_min_blocksize(crypto_session_handle_t handle, uint8_t key_idx);
-
 #if defined(__cplusplus)
 } // extern "C"
 #endif
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2020 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
@@ -77,16 +77,16 @@ static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -18};

 static constexpr wq_config_t uavcan{"wq:uavcan", 3624, -19};

-static constexpr wq_config_t UART0{"wq:UART0", 1632, -21};
-static constexpr wq_config_t UART1{"wq:UART1", 1632, -22};
-static constexpr wq_config_t UART2{"wq:UART2", 1632, -23};
-static constexpr wq_config_t UART3{"wq:UART3", 1632, -24};
-static constexpr wq_config_t UART4{"wq:UART4", 1632, -25};
-static constexpr wq_config_t UART5{"wq:UART5", 1632, -26};
-static constexpr wq_config_t UART6{"wq:UART6", 1632, -27};
-static constexpr wq_config_t UART7{"wq:UART7", 1632, -28};
-static constexpr wq_config_t UART8{"wq:UART8", 1632, -29};
-static constexpr wq_config_t UART_UNKNOWN{"wq:UART_UNKNOWN", 1632, -30};
+static constexpr wq_config_t UART0{"wq:UART0", 1536, -21};
+static constexpr wq_config_t UART1{"wq:UART1", 1536, -22};
+static constexpr wq_config_t UART2{"wq:UART2", 1536, -23};
+static constexpr wq_config_t UART3{"wq:UART3", 1536, -24};
+static constexpr wq_config_t UART4{"wq:UART4", 1536, -25};
+static constexpr wq_config_t UART5{"wq:UART5", 1536, -26};
+static constexpr wq_config_t UART6{"wq:UART6", 1536, -27};
+static constexpr wq_config_t UART7{"wq:UART7", 1536, -28};
+static constexpr wq_config_t UART8{"wq:UART8", 1536, -29};
+static constexpr wq_config_t UART_UNKNOWN{"wq:UART_UNKNOWN", 1536, -30};

 static constexpr wq_config_t lp_default{"wq:lp_default", 1920, -50};

@@ -37,5 +37,6 @@ typedef struct {
 	int handle;
 } keystore_session_handle_t;

-static inline void keystore_session_handle_init(keystore_session_handle_t *handle) {handle->handle = 0;}
-static inline bool keystore_session_handle_valid(keystore_session_handle_t handle) {return handle.handle > 0;}
+/* For the stub_keystore the handle is not used at the moment, so it is always valid */
+
+inline bool keystore_session_handle_valid(keystore_session_handle_t handle) {return handle.handle > 0;}
@@ -77,8 +77,3 @@ size_t keystore_get_key(keystore_session_handle_t handle, uint8_t idx, uint8_t *

 	return ret;
 }
-
-bool keystore_put_key(keystore_session_handle_t handle, uint8_t idx, uint8_t *key, size_t key_size)
-{
-	return false;
-}
@@ -41,9 +41,8 @@ target_link_libraries(crypto_backend

 target_link_libraries(crypto_backend
 	PRIVATE
-		px4_random
 		monocypher
-		libtomcrypt
 )

 target_include_directories(crypto_backend PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+
@@ -42,11 +42,7 @@
 #include <stdbool.h>

 #include <px4_platform_common/crypto_backend.h>
-#include <px4_random.h>
 #include <lib/crypto/monocypher/src/optional/monocypher-ed25519.h>
-#include <tomcrypt.h>
-
-extern void libtomcrypt_init(void);

 /* room for 16 keys */
 #define KEY_CACHE_LEN 16
@@ -71,11 +67,6 @@ typedef struct {

 static volatile_key_t key_cache[KEY_CACHE_LEN];

-typedef struct {
-	uint8_t nonce[24];
-	uint64_t ctr;
-} chacha20_context_t;
-
 /* Clear key cache */
 static void clear_key_cache(void)
 {
@@ -135,43 +126,19 @@ void crypto_init()
 {
 	keystore_init();
 	clear_key_cache();
-	libtomcrypt_init();
 }

 crypto_session_handle_t crypto_open(px4_crypto_algorithm_t algorithm)
 {
 	crypto_session_handle_t ret;
+	ret.algorithm = algorithm;
 	ret.keystore_handle = keystore_open();

 	if (keystore_session_handle_valid(ret.keystore_handle)) {
-		ret.algorithm = algorithm;
 		ret.handle = ++crypto_open_count;

 	} else {
 		ret.handle = 0;
-		ret.context = NULL;
-		ret.algorithm = CRYPTO_NONE;
-		return ret;
-	}
-
-	switch (algorithm) {
-	case CRYPTO_XCHACHA20: {
-			chacha20_context_t *context = malloc(sizeof(chacha20_context_t));
-
-			if (!context) {
-				ret.handle = 0;
-				crypto_open_count--;
-
-			} else {
-				ret.context = context;
-				px4_get_secure_random(context->nonce, sizeof(context->nonce));
-				context->ctr = 0;
-			}
-		}
-		break;
-
-	default:
-		ret.context = NULL;
 	}

 	return ret;
@@ -179,17 +146,9 @@ crypto_session_handle_t crypto_open(px4_crypto_algorithm_t algorithm)

 void crypto_close(crypto_session_handle_t *handle)
 {
-
-	// Not open?
-	if (!crypto_session_handle_valid(*handle)) {
-		return;
-	}
-
 	crypto_open_count--;
 	handle->handle = 0;
 	keystore_close(&handle->keystore_handle);
-	free(handle->context);
-	handle->context = NULL;
 }

 bool crypto_signature_check(crypto_session_handle_t handle,
@@ -200,13 +159,13 @@ bool crypto_signature_check(crypto_session_handle_t handle,
 {
 	bool ret = false;
 	size_t keylen = 0;
-	const uint8_t *public_key = NULL;
+	const uint8_t *public_key;

 	if (crypto_session_handle_valid(handle)) {
 		public_key = crypto_get_key_ptr(handle.keystore_handle, key_index, &keylen);
 	}

-	if (keylen == 0 || public_key == NULL) {
+	if (keylen == 0) {
 		return false;
 	}

@@ -221,212 +180,3 @@ bool crypto_signature_check(crypto_session_handle_t handle,

 	return ret;
 }
-
-bool crypto_encrypt_data(crypto_session_handle_t handle,
-			 uint8_t  key_idx,
-			 const uint8_t *message,
-			 size_t message_size,
-			 uint8_t *cipher,
-			 size_t *cipher_size)
-{
-
-	bool ret = false;
-
-	if (!crypto_session_handle_valid(handle)) {
-		return ret;
-	}
-
-	switch (handle.algorithm) {
-	case CRYPTO_NONE:
-		if (*cipher_size >= message_size) {
-			/* In-place there is no copy needed */
-			if (message != cipher) {
-				memcpy(cipher, message, message_size);
-			}
-
-			*cipher_size = message_size;
-			ret = true;
-		}
-
-		break;
-
-	case CRYPTO_XCHACHA20: {
-			size_t key_sz;
-			uint8_t *key = (uint8_t *)crypto_get_key_ptr(handle.keystore_handle, key_idx, &key_sz);
-			chacha20_context_t *context = handle.context;
-
-			if (key_sz == 32) {
-				context->ctr = crypto_xchacha20_ctr(cipher, message, *cipher_size, key, context->nonce, context->ctr);
-				ret = true;
-			}
-		}
-		break;
-
-	case CRYPTO_RSA_OAEP: {
-			rsa_key key;
-			size_t key_sz;
-			unsigned long outlen = *cipher_size;
-			uint8_t *public_key = (uint8_t *)crypto_get_key_ptr(handle.keystore_handle, key_idx, &key_sz);
-			*cipher_size = 0;
-
-			if (public_key &&
-			    rsa_import(public_key, key_sz, &key) == CRYPT_OK) {
-				if (outlen >= ltc_mp.unsigned_size(key.N) &&
-				    pkcs_1_oaep_encode(message, message_size,
-						       NULL, 0,
-						       ltc_mp.count_bits(key.N),
-						       NULL,
-						       0, 0,
-						       cipher, &outlen) == CRYPT_OK &&
-				    ltc_mp.rsa_me(cipher, outlen, cipher, &outlen, PK_PUBLIC, &key) == CRYPT_OK) {
-					*cipher_size = outlen;
-					ret = true;
-
-				}
-
-				rsa_free(&key);
-			}
-		}
-		break;
-
-	default:
-		break;
-	}
-
-	return ret;
-}
-
-bool crypto_generate_key(crypto_session_handle_t handle,
-			 uint8_t idx, bool persistent)
-{
-	bool ret = false;
-
-	if (idx >= KEY_CACHE_LEN) {
-		return false;
-	}
-
-	switch (handle.algorithm) {
-	case CRYPTO_XCHACHA20:
-		if (key_cache[idx].key_size < 32) {
-			if (key_cache[idx].key_size > 0) {
-				SECMEM_FREE(key_cache[idx].key);
-				key_cache[idx].key_size = 0;
-			}
-
-			key_cache[idx].key = SECMEM_ALLOC(32);
-		}
-
-		if (key_cache[idx].key) {
-			key_cache[idx].key_size = 32;
-			px4_get_secure_random(key_cache[idx].key, 32);
-			ret = true;
-
-		} else {
-			key_cache[idx].key_size = 0;
-		}
-
-		break;
-
-	default:
-		break;
-	}
-
-	if (ret && persistent) {
-		keystore_put_key(handle.keystore_handle, idx, key_cache[idx].key, key_cache[idx].key_size);
-	}
-
-	return ret;
-}
-
-bool crypto_get_encrypted_key(crypto_session_handle_t handle,
-			      uint8_t key_idx,
-			      uint8_t *key,
-			      size_t *max_len,
-			      uint8_t encryption_key_idx)
-{
-	// Retrieve the plaintext key
-	bool ret = true;
-	size_t key_sz;
-	const uint8_t *plain_key = crypto_get_key_ptr(handle.keystore_handle, key_idx, &key_sz);
-
-	if (key_sz == 0) {
-		return false;
-	}
-
-	// Encrypt it
-	if (key != NULL) {
-		ret = crypto_encrypt_data(handle,
-					  encryption_key_idx,
-					  plain_key,
-					  key_sz,
-					  key,
-					  max_len);
-
-	} else {
-		// The key size, encrypted, is a multiple of minimum block size for the algorithm+key
-		size_t min_block = crypto_get_min_blocksize(handle, encryption_key_idx);
-		*max_len = key_sz / min_block * min_block;
-
-		if (key_sz % min_block) {
-			*max_len += min_block;
-		}
-	}
-
-	return ret;
-}
-
-
-bool crypto_get_nonce(crypto_session_handle_t handle,
-		      uint8_t *nonce,
-		      size_t *nonce_len)
-{
-	switch (handle.algorithm) {
-	case CRYPTO_XCHACHA20: {
-			chacha20_context_t *context = handle.context;
-
-			if (nonce != NULL && context != NULL) {
-				memcpy(nonce, context->nonce, sizeof(context->nonce));
-			}
-
-			*nonce_len = sizeof(context->nonce);
-		}
-		break;
-
-	default:
-		*nonce_len = 0;
-	}
-
-	return true;
-}
-
-size_t crypto_get_min_blocksize(crypto_session_handle_t handle, uint8_t key_idx)
-{
-	size_t ret;
-
-	switch (handle.algorithm) {
-	case CRYPTO_XCHACHA20:
-		ret = 64;
-		break;
-
-	case CRYPTO_RSA_OAEP: {
-			rsa_key enc_key;
-			unsigned pub_key_sz;
-			uint8_t *pub_key = (uint8_t *)crypto_get_key_ptr(handle.keystore_handle, key_idx, &pub_key_sz);
-
-			if (pub_key &&
-			    rsa_import(pub_key, pub_key_sz, &enc_key) == CRYPT_OK) {
-				ret = ltc_mp.unsigned_size(enc_key.N);
-				rsa_free(&enc_key);
-
-			} else {
-				ret = 0;
-			}
-		}
-		break;
-
-	default:
-		ret = 1;
-	}
-
-	return ret;
-}
@@ -39,9 +39,8 @@
 typedef struct {
 	int handle;
 	px4_crypto_algorithm_t algorithm;
+	uint8_t *nonce;
 	keystore_session_handle_t keystore_handle;
-	void *context;
 } crypto_session_handle_t;

-static inline void crypto_session_handle_init(crypto_session_handle_t *handle) {handle->handle = 0;}
-static inline bool crypto_session_handle_valid(crypto_session_handle_t handle) {return handle.handle > 0 && keystore_session_handle_valid(handle.keystore_handle);}
+static inline bool crypto_session_handle_valid(crypto_session_handle_t handle) {return handle.handle > 0;}
@@ -369,9 +369,7 @@ void uORB::DeviceMaster::showTop(char **topic_filter, int num_filters)

 		if (!quit) {

-			// update the stats
-			int total_size = 0;
-			int total_msgs = 0;
+			//update the stats
 			hrt_abstime current_time = hrt_absolute_time();
 			float dt = (current_time - start_time) / 1.e6f;
 			cur_node = first_node;
@@ -380,10 +378,6 @@ void uORB::DeviceMaster::showTop(char **topic_filter, int num_filters)
 				unsigned int num_msgs = cur_node->node->updates_available(cur_node->last_pub_msg_count);
 				cur_node->pub_msg_delta = roundf(num_msgs / dt);
 				cur_node->last_pub_msg_count += num_msgs;
-
-				total_size += cur_node->pub_msg_delta * cur_node->node->get_meta()->o_size;
-				total_msgs += cur_node->pub_msg_delta;
-
 				cur_node = cur_node->next;
 			}

@@ -394,8 +388,7 @@ void uORB::DeviceMaster::showTop(char **topic_filter, int num_filters)
 				PX4_INFO_RAW("\033[H"); // move cursor to top left corner
 			}

-			PX4_INFO_RAW(CLEAR_LINE "update: 1s, topics: %i, total publications: %i, %.1f kB/s\n",
-				     num_topics, total_msgs, (double)(total_size / 1000.f));
+			PX4_INFO_RAW(CLEAR_LINE "update: 1s, num topics: %i\n", num_topics);
 			PX4_INFO_RAW(CLEAR_LINE "%-*s INST #SUB RATE #Q SIZE\n", (int)max_topic_name_length - 2, "TOPIC NAME");
 			cur_node = first_node;

@@ -411,7 +404,6 @@ void uORB::DeviceMaster::showTop(char **topic_filter, int num_filters)
 				cur_node = cur_node->next;
 			}

-
 			if (!only_once) {
 				PX4_INFO_RAW("\033[0J"); // clear the rest of the screen
 			}
@@ -83,7 +83,7 @@ int uORBTest::UnitTest::pubsublatency_main()
 		if (fds[0].revents & POLLIN) {
 			orb_copy(ORB_ID(orb_test_medium), test_multi_sub, &t);

-			unsigned elt = (unsigned)hrt_elapsed_time(&t.timestamp);
+			unsigned elt = (unsigned)hrt_elapsed_time_atomic(&t.timestamp);
 			latency_integral += elt;
 			timings[i] = elt;

@@ -94,7 +94,6 @@ list(APPEND nuttx_libs
 	nuttx_fs
 	nuttx_mm
 	nuttx_sched
-	nuttx_crypto
 )

 if (CONFIG_NET)
@@ -319,7 +319,6 @@ add_nuttx_dir(sched sched y -D__KERNEL__)
 add_nuttx_dir(c libs/libc n "")
 add_nuttx_dir(xx libs/libxx n "")
 add_nuttx_dir(mm mm n "")
-add_nuttx_dir(crypto crypto y -D__KERNEL__)

 if(CONFIG_NET)
 	add_nuttx_dir(net net y -D__KERNEL__)
@@ -57,7 +57,6 @@ typedef enum {
 	fw_update_timeout,
 	fw_update_invalid_crc,
 	jump_to_app,
-	hardware_failure,
 } uiindication_t;

 #ifndef __ASSEMBLY__
@@ -48,7 +48,6 @@ if(NOT PX4_BOARD MATCHES "io-v2")
 		px4_manifest.cpp
 		px4_mtd.cpp
 		px4_24xxxx_mtd.c
-		px4_crypto.cpp
 	)
 	target_link_libraries(px4_layer
 		PRIVATE
@@ -59,7 +58,7 @@ if(NOT PX4_BOARD MATCHES "io-v2")
 			nuttx_sched
 			px4_work_queue
 			uORB
-	)
+		)
 else()
 	add_library(px4_layer ${PX4_SOURCE_DIR}/platforms/common/empty.c)
 endif()
@@ -67,14 +66,3 @@ add_dependencies(px4_layer prebuild_targets)

 add_subdirectory(gpio)
 add_subdirectory(srgbled)
-
-if (DEFINED PX4_CRYPTO)
-	add_library(px4_random nuttx_random.c)
-	add_dependencies(px4_random nuttx_context)
-	target_link_libraries(px4_random PRIVATE nuttx_crypto)
-
-	target_link_libraries(px4_layer
-		PUBLIC
-			crypto_backend
-	)
-endif()
@@ -1,149 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 Technology Innovation Institute. 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 defined(PX4_CRYPTO)
-
-#include <px4_platform_common/crypto.h>
-#include <px4_platform_common/crypto_backend.h>
-
-extern "C" {
-#include <nuttx/random.h>
-}
-
-
-px4_sem_t PX4Crypto::_lock;
-bool PX4Crypto::_initialized = false;
-
-void PX4Crypto::px4_crypto_init()
-{
-	if (PX4Crypto::_initialized) {
-		return;
-	}
-
-	px4_sem_init(&PX4Crypto::_lock, 0, 1);
-
-	// Initialize nuttx random pool, if it is being used by crypto
-#ifdef CONFIG_CRYPTO_RANDOM_POOL
-	up_randompool_initialize();
-#endif
-
-	// initialize keystore functionality
-	keystore_init();
-
-	// initialize actual crypto algoritms
-	crypto_init();
-
-	PX4Crypto::_initialized = true;
-}
-
-PX4Crypto::PX4Crypto()
-{
-	// Initialize an empty handle
-	crypto_session_handle_init(&_crypto_handle);
-}
-
-PX4Crypto::~PX4Crypto()
-{
-	close();
-}
-
-bool PX4Crypto::open(px4_crypto_algorithm_t algorithm)
-{
-	bool ret = false;
-	lock();
-
-	// HW specific crypto already open? Just close before proceeding
-	if (crypto_session_handle_valid(_crypto_handle)) {
-		crypto_close(&_crypto_handle);
-	}
-
-	// Open the HW specific crypto handle
-	_crypto_handle = crypto_open(algorithm);
-
-	if (crypto_session_handle_valid(_crypto_handle)) {
-		ret = true;
-	}
-
-	unlock();
-
-	return ret;
-}
-
-void PX4Crypto::close()
-{
-	if (!crypto_session_handle_valid(_crypto_handle)) {
-		return;
-	}
-
-	lock();
-	crypto_close(&_crypto_handle);
-	unlock();
-}
-
-bool PX4Crypto::encrypt_data(uint8_t  key_index,
-			     const uint8_t *message,
-			     size_t message_size,
-			     uint8_t *cipher,
-			     size_t *cipher_size)
-{
-	return crypto_encrypt_data(_crypto_handle, key_index, message, message_size, cipher, cipher_size);
-}
-
-bool  PX4Crypto::generate_key(uint8_t idx,
-			      bool persistent)
-{
-	return crypto_generate_key(_crypto_handle, idx, persistent);
-}
-
-
-bool  PX4Crypto::get_nonce(uint8_t *nonce,
-			   size_t *nonce_len)
-{
-	return crypto_get_nonce(_crypto_handle, nonce, nonce_len);
-}
-
-
-bool  PX4Crypto::get_encrypted_key(uint8_t key_idx,
-				   uint8_t *key,
-				   size_t *key_len,
-				   uint8_t encryption_key_idx)
-{
-	return crypto_get_encrypted_key(_crypto_handle, key_idx, key, key_len, encryption_key_idx);
-}
-
-size_t PX4Crypto::get_min_blocksize(uint8_t key_idx)
-{
-	return crypto_get_min_blocksize(_crypto_handle, key_idx);
-}
-
-#endif
@@ -52,10 +52,6 @@
 # include <nuttx/i2c/i2c_master.h>
 #endif // CONFIG_I2C

-#if defined(PX4_CRYPTO)
-#include <px4_platform_common/crypto.h>
-#endif
-
 int px4_platform_init()
 {

@@ -74,10 +70,6 @@ int px4_platform_init()
 		close(fd_buf);
 	}

-#if defined(PX4_CRYPTO)
-	PX4Crypto::px4_crypto_init();
-#endif
-
 	hrt_init();

 	param_init();
@@ -586,6 +586,21 @@ abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
 	ts->tv_nsec = abstime * 1000;
 }

+/**
+ * Compare a time value with the current time as atomic operation.
+ */
+hrt_abstime
+hrt_elapsed_time_atomic(const volatile hrt_abstime *then)
+{
+	irqstate_t flags = px4_enter_critical_section();
+
+	hrt_abstime delta = hrt_absolute_time() - *then;
+
+	px4_leave_critical_section(flags);
+
+	return delta;
+}
+
 /**
 * Store the absolute time in an interrupt-safe fashion
 */
@@ -87,6 +87,10 @@ __BEGIN_DECLS
 #define PX4_CPU_UUID_WORD32_FORMAT_SIZE         (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1)
 #define PX4_CPU_MFGUID_FORMAT_SIZE              ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1)

+#define kinetis_bbsram_savepanic(fileno, context, length) (0) // todo:Not implemented yet
+
+#define px4_savepanic(fileno, context, length)   kinetis_bbsram_savepanic(fileno, context, length)
+
 /* bus_num is zero based on kinetis and must be translated from the legacy one based */

 #define PX4_BUS_OFFSET       1                  /* Kinetis buses are 0 based and adjustment is needed */
@@ -598,6 +598,21 @@ abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
 	ts->tv_nsec = abstime * 1000;
 }

+/**
+ * Compare a time value with the current time as atomic operation.
+ */
+hrt_abstime
+hrt_elapsed_time_atomic(const volatile hrt_abstime *then)
+{
+	irqstate_t flags = px4_enter_critical_section();
+
+	hrt_abstime delta = hrt_absolute_time() - *then;
+
+	px4_leave_critical_section(flags);
+
+	return delta;
+}
+
 /**
 * Store the absolute time in an interrupt-safe fashion
 */
@@ -82,6 +82,10 @@ __BEGIN_DECLS
 #define PX4_CPU_UUID_WORD32_FORMAT_SIZE         (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1)
 #define PX4_CPU_MFGUID_FORMAT_SIZE              ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1)

+#define imxrt_bbsram_savepanic(fileno, context, length) (0) // todo:Not implemented yet
+
+#define px4_savepanic(fileno, context, length)   imxrt_bbsram_savepanic(fileno, context, length)
+
 /* bus_num is 1 based on imx and must be translated from the legacy one based */

 #define PX4_BUS_OFFSET       0                  /* imxrt buses are 1 based no adjustment needed */
@@ -89,6 +89,10 @@ __BEGIN_DECLS
 #define PX4_CPU_UUID_WORD32_FORMAT_SIZE         (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1)
 #define PX4_CPU_MFGUID_FORMAT_SIZE              ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1)

+#define s32k1xx_bbsram_savepanic(fileno, context, length) (0) // todo:Not implemented yet
+
+#define px4_savepanic(fileno, context, length)   s32k1xx_bbsram_savepanic(fileno, context, length)
+
 /* bus_num is zero based on s32k1xx and must be translated from the legacy one based */

 #define PX4_BUS_OFFSET       1                  /* s32k1xx buses are 0 based and adjustment is needed */
@@ -634,6 +634,21 @@ abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
 	ts->tv_nsec = abstime * 1000;
 }

+/**
+ * Compare a time value with the current time as atomic operation.
+ */
+hrt_abstime
+hrt_elapsed_time_atomic(const volatile hrt_abstime *then)
+{
+	irqstate_t flags = px4_enter_critical_section();
+
+	hrt_abstime delta = hrt_absolute_time() - *then;
+
+	px4_leave_critical_section(flags);
+
+	return delta;
+}
+
 /**
 * Store the absolute time in an interrupt-safe fashion
 */
@@ -719,6 +719,21 @@ abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
 	ts->tv_nsec = abstime * 1000;
 }

+/**
+ * Compare a time value with the current time as atomic operation
+ */
+hrt_abstime
+hrt_elapsed_time_atomic(const volatile hrt_abstime *then)
+{
+	irqstate_t flags = px4_enter_critical_section();
+
+	hrt_abstime delta = hrt_absolute_time() - *then;
+
+	px4_leave_critical_section(flags);
+
+	return delta;
+}
+
 /**
 * Store the absolute time in an interrupt-safe fashion
 */
@@ -318,8 +318,7 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 			  DMA_SCR_PSIZE_8BITS   |
 			  DMA_SCR_MSIZE_8BITS   |
 			  DMA_SCR_PBURST_SINGLE |
-			  DMA_SCR_MBURST_SINGLE |
-			  DMA_SCR_TRBUFF);
+			  DMA_SCR_MBURST_SINGLE);
 	rxdmacfg.cfg2  = 0;


@@ -344,8 +343,7 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 			  DMA_SCR_PSIZE_8BITS   |
 			  DMA_SCR_MSIZE_8BITS   |
 			  DMA_SCR_PBURST_SINGLE |
-			  DMA_SCR_MBURST_SINGLE |
-			  DMA_SCR_TRBUFF);
+			  DMA_SCR_MBURST_SINGLE);
 	txdmacfg.cfg2  = 0;

 	stm32_dmasetup(_tx_dma, &txdmacfg);
@@ -8,6 +8,7 @@ set(tests
 	bezier
 	bitset
 	bson
+	conv
 	dataman
 	file2
 	float
@@ -157,6 +157,20 @@ hrt_abstime ts_to_abstime(const struct timespec *ts)
 	return result;
 }

+/*
+ * Compute the delta between a timestamp taken in the past
+ * and now.
+ *
+ * This function is safe to use even if the timestamp is updated
+ * by an interrupt during execution.
+ */
+hrt_abstime hrt_elapsed_time_atomic(const volatile hrt_abstime *then)
+{
+	// This is not atomic as the value on the application layer of POSIX is limited.
+	hrt_abstime delta = hrt_absolute_time() - *then;
+	return delta;
+}
+
 /*
 * Store the absolute time in an interrupt-safe fashion.
 *
@@ -5,6 +5,7 @@

 param load
 param set CBRK_SUPPLY_CHK 894281
+param set SYS_RESTART_TYPE 0

 dataman start

@@ -5,6 +5,7 @@

 param load
 param set CBRK_SUPPLY_CHK 894281
+param set SYS_RESTART_TYPE 0

 dataman start

@@ -5,6 +5,7 @@

 param load
 param set CBRK_SUPPLY_CHK 894281
+param set SYS_RESTART_TYPE 0

 dataman start

@@ -9,6 +9,7 @@ param set BAT1_N_CELLS 3
 param set CBRK_SUPPLY_CHK 894281
 param set MAV_TYPE 22
 param set VT_TYPE 2
+param set SYS_RESTART_TYPE 0

 dataman start

@@ -5,6 +5,7 @@

 param load
 param set CBRK_SUPPLY_CHK 894281
+param set SYS_RESTART_TYPE 0

 dataman start

@@ -47,9 +47,6 @@ if(NOT "${PX4_BOARD_LABEL}" MATCHES  "canbootloader")
 	set(HW_MINOR ${uavcanblid_hw_version_minor})
 	set(SW_MAJOR ${uavcanblid_sw_version_major})
 	set(SW_MINOR ${uavcanblid_sw_version_minor})
-	if("${uavcanbl_padding}" STREQUAL "")
-		set(uavcanbl_padding 4)
-	endif()

 	math(EXPR HWBOARD_ID "(${HW_MAJOR} << 8) + ${HW_MINOR}")

@@ -71,7 +68,7 @@ if(NOT "${PX4_BOARD_LABEL}" MATCHES  "canbootloader")
 			${PX4_BINARY_DIR}/${uavcan_bl_image_name}
 			${PX4_BINARY_DIR}/deploy/${HWBOARD_ID}.bin
 		COMMAND
-			${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py -v --padding ${uavcanbl_padding} --use-git-hash ${PX4_BOARD}.bin ${uavcan_bl_image_name}
+			${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py -v --use-git-hash ${PX4_BOARD}.bin ${uavcan_bl_image_name}
 		COMMAND
 			 COMMAND ${CMAKE_COMMAND} -E make_directory deploy
 		COMMAND
@@ -120,17 +120,18 @@ class AppDescriptor(object):


 class FirmwareImage(object):
-    def __init__(self, path_or_file, mode="r", padding = 4):
-        self._padding = padding;
+    def __init__(self, path_or_file, mode="r"):
        if getattr(path_or_file, "read", None):
            self._file = path_or_file
            self._do_close = False
+            self._padding = 0
        else:
            if "b" not in mode:
                self._file = open(path_or_file, mode + "b")
            else:
                self._file = open(path_or_file, mode)
            self._do_close = True
+            self._padding = 4

        if "r" in mode:
            self._contents = BytesIO(self._file.read())
@@ -215,20 +216,11 @@ class FirmwareImage(object):
            prev_offset = self._contents.tell()
            self._contents.seek(0, os.SEEK_END)
            self._length = self._contents.tell()
-            # Was Padding requested
-            if self._padding != 0:
-            # If so. then is the file already a multiple of the padding?
-                if 0 == (self._length % self._padding):
-                    # padding not needed
-                    self._padding = 0
-
-                # Still need padding
-                if self._padding:
-                    fill = self._padding - (self._length % self._padding)
-                    if fill:
-                        self._length += fill
-                    #report back the fill which is the padding
-                    self._padding = fill
+            if self._padding:
+                fill = self._padding - (self._length % self._padding)
+                if fill:
+                    self._length += fill
+                self._padding = fill
            self._contents.seek(prev_offset)

        return self._length
@@ -293,8 +285,6 @@ if __name__ == "__main__":
                      metavar="IMAGE")
    parser.add_option("-v", "--verbose", dest="verbose", action="store_true",
                      help="show additional firmware information on stdout")
-    parser.add_option("-p", "--padding", dest="padding", type= int,  default=4,
-                      help="Padds the image to a multple of")

    options, args = parser.parse_args()
    if len(args) not in (0, 2):
@@ -325,8 +315,8 @@ if __name__ == "__main__":

    bootloader_size = int(options.bootloader_size)

-    with FirmwareImage(in_file, "rb", 0) as in_image:
-        with FirmwareImage(out_file, "wb", options.padding) as out_image:
+    with FirmwareImage(in_file, "rb") as in_image:
+        with FirmwareImage(out_file, "wb") as out_image:
            image = in_image.read()
            out_image.write(bootloader_image)
            out_image.write(image[bootloader_size:])
@@ -271,10 +271,7 @@ CameraTrigger::CameraTrigger() :
 	param_get(_p_distance, &_distance);
 	param_get(_p_mode, (int32_t *)&_trigger_mode);
 	param_get(_p_interface, (int32_t *)&_camera_interface_mode);
-
-	if (_p_cam_cap_fback != PARAM_INVALID) {
-		param_get(_p_cam_cap_fback, (int32_t *)&_cam_cap_fback);
-	}
+	param_get(_p_cam_cap_fback, (int32_t *)&_cam_cap_fback);

 	switch (_camera_interface_mode) {
 #ifdef __PX4_NUTTX
@@ -320,6 +317,8 @@ CameraTrigger::CameraTrigger() :
 	if (!_cam_cap_fback) {
 		_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);

+	} else {
+		_trigger_pub = orb_advertise(ORB_ID(camera_trigger_secondary), &trigger);
 	}
 }

@@ -844,10 +843,11 @@ CameraTrigger::engage(void *arg)
 	trigger.feedback = false;
 	trigger.timestamp = hrt_absolute_time();

-	// Publish only if  _cam_cap_fback is disabled, otherwise, it is published over camera_capture driver
 	if (!trig->_cam_cap_fback) {
 		orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trigger);

+	} else {
+		orb_publish(ORB_ID(camera_trigger_secondary), trig->_trigger_pub, &trigger);
 	}

 	// increment frame count
@@ -72,12 +72,7 @@ SDP3X::init_sdp3x()
 int
 SDP3X::configure()
 {
-	int ret = write_command(SDP3X_CONT_MODE_STOP);
-
-	if (ret == PX4_OK) {
-		px4_udelay(500); // SDP3X is unresponsive for 500us after stop continuous measurement command
-		ret = write_command(SDP3X_CONT_MEAS_AVG_MODE);
-	}
+	int ret = write_command(SDP3X_CONT_MEAS_AVG_MODE);

 	if (ret != PX4_OK) {
 		perf_count(_comms_errors);
@@ -56,7 +56,6 @@
 #define SDP3X_RESET_ADDR		0x00
 #define SDP3X_RESET_CMD			0x06
 #define SDP3X_CONT_MEAS_AVG_MODE	0x3615
-#define SDP3X_CONT_MODE_STOP		0x3FF9

 #define SDP3X_SCALE_PRESSURE_SDP31	60
 #define SDP3X_SCALE_PRESSURE_SDP32	240
@@ -110,6 +110,15 @@ static inline hrt_abstime hrt_elapsed_time(const hrt_abstime *then)
 	return hrt_absolute_time() - *then;
 }

+/**
+ * Compute the delta between a timestamp taken in the past
+ * and now.
+ *
+ * This function is safe to use even if the timestamp is updated
+ * by an interrupt during execution.
+ */
+__EXPORT extern hrt_abstime hrt_elapsed_time_atomic(const volatile hrt_abstime *then);
+
 /**
 * Store the absolute time in an interrupt-safe fashion.
 *
@@ -215,6 +215,9 @@ typedef uint16_t	servo_position_t;
 /** force safety switch on (to enable use of safety switch) */
 #define PWM_SERVO_SET_FORCE_SAFETY_ON		_PX4_IOC(_PWM_SERVO_BASE, 28)

+/** setup OVERRIDE_IMMEDIATE behaviour on FMU fail */
+#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE	_PX4_IOC(_PWM_SERVO_BASE, 32)
+
 /** set auxillary output mode */
 #define PWM_SERVO_ENTER_TEST_MODE  18
 #define PWM_SERVO_EXIT_TEST_MODE   19
@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 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 drv_rc_input.h
+ *
+ * R/C input interface.
+ */
+
+#ifndef _DRV_RC_INPUT_H
+#define _DRV_RC_INPUT_H
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+#include <uORB/topics/input_rc.h>
+
+#include "drv_orb_dev.h"
+
+/**
+ * Path for the default R/C input device.
+ *
+ * Note that on systems with more than one R/C input path (e.g.
+ * PX4FMU with PX4IO connected) there may be other devices that
+ * respond to this protocol.
+ *
+ * Input data may be obtained by subscribing to the input_rc
+ * object, or by poll/reading from the device.
+ */
+#define RC_INPUT0_DEVICE_PATH	"/dev/input_rc0"
+
+/**
+ * Maximum RSSI value
+ */
+#define RC_INPUT_RSSI_MAX	100
+
+/**
+ * Input signal type, value is a control position from zero to 100
+ * percent.
+ */
+typedef uint16_t		rc_input_t;
+
+#define _RC_INPUT_BASE		0x2b00
+
+/** Enable RSSI input via ADC */
+#define RC_INPUT_ENABLE_RSSI_ANALOG	_IOC(_RC_INPUT_BASE, 1)
+
+/** Enable RSSI input via PWM signal */
+#define RC_INPUT_ENABLE_RSSI_PWM	_IOC(_RC_INPUT_BASE, 2)
+
+#endif /* _DRV_RC_INPUT_H */
@@ -182,7 +182,6 @@
 #define DRV_DIST_DEVTYPE_GY_US42       0x9C

 #define DRV_BAT_DEVTYPE_BATMON_SMBUS   0x9d
-#define DRV_POWER_DEVTYPE_INA238       0x9E
 #define DRV_GPIO_DEVTYPE_MCP23009      0x9F

 #define DRV_GPS_DEVTYPE_ASHTECH 0xA0
@@ -242,18 +242,9 @@ int DShot::send_command_thread_safe(const dshot_command_t command, const int num
 	cmd.num_repetitions = num_repetitions;
 	_new_command.store(&cmd);

-	hrt_abstime timestamp_for_timeout = hrt_absolute_time();
-
 	// wait until main thread processed it
 	while (_new_command.load()) {
-
-		if (hrt_elapsed_time(&timestamp_for_timeout) < 2_s) {
-			px4_usleep(1000);
-
-		} else {
-			_new_command.store(nullptr);
-			PX4_WARN("DShot command timeout!");
-		}
+		px4_usleep(1000);
 	}

 	return 0;
@@ -51,6 +51,7 @@
 #include <drivers/drv_sensor.h>
 #include <lib/drivers/device/Device.hpp>
 #include <lib/parameters/param.h>
+#include <lib/perf/perf_counter.h>
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>
 #include <px4_platform_common/atomic.h>
@@ -204,6 +205,10 @@ private:

 	px4::atomic<int> _scheduled_reset{(int)GPSRestartType::None};

+	perf_counter_t _gps_set_clock_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": set clock interval")};
+
+	bool _update_system_time{true};
+
 	/**
 	 * Publish the gps struct
 	 */
@@ -259,9 +264,11 @@ private:
 	 */
 	void dumpGpsData(uint8_t *data, size_t len, gps_dump_comm_mode_t mode, bool msg_to_gps_device);

+	void setClock(timespec *rtc_gps_time);
+
 	void initializeCommunicationDump();

-	static constexpr int SET_CLOCK_DRIFT_TIME_S{5};			///< RTC drift time when time synchronization is needed (in seconds)
+	static constexpr int SET_CLOCK_DRIFT_TIME_NS{500 * 1000 * 1000};	///< RTC drift time when time synchronization is needed (in nanoseconds)
 };

 px4::atomic_bool GPS::_is_gps_main_advertised{false};
@@ -353,14 +360,14 @@ GPS::~GPS()
 	delete _dump_to_device;
 	delete _dump_from_device;
 	delete _helper;
+
+	perf_free(_gps_set_clock_perf);
 }

 int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
 {
 	GPS *gps = (GPS *)user;

-	timespec rtc_system_time;
-
 	switch (type) {
 	case GPSCallbackType::readDeviceData: {
 			int timeout;
@@ -391,19 +398,7 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
 		break;

 	case GPSCallbackType::setClock:
-
-		px4_clock_gettime(CLOCK_REALTIME, &rtc_system_time);
-		timespec rtc_gps_time = *(timespec *)data1;
-		int drift_time = abs(rtc_system_time.tv_sec - rtc_gps_time.tv_sec);
-
-		if (drift_time >= SET_CLOCK_DRIFT_TIME_S) {
-			// as of 2021 setting the time on Nuttx temporarily pauses interrupts
-			// so only set the time if it is very wrong.
-			// TODO: clock slewing of the RTC for small time differences
-			px4_clock_settime(CLOCK_REALTIME, &rtc_gps_time);
-		}
-
-
+		gps->setClock(static_cast<timespec *>(data1));
 		break;
 	}

@@ -680,6 +675,29 @@ void GPS::dumpGpsData(uint8_t *data, size_t len, gps_dump_comm_mode_t mode, bool
 	}
 }

+void GPS::setClock(timespec *rtc_gps_time)
+{
+	if (_update_system_time) {
+		px4_clock_settime(CLOCK_REALTIME, rtc_gps_time);
+		perf_count(_gps_set_clock_perf);
+		_update_system_time = false;
+
+	} else {
+		timespec rtc_system_time;
+		px4_clock_gettime(CLOCK_REALTIME, &rtc_system_time);
+
+		const int64_t system_time = rtc_system_time.tv_sec * 1e9 + rtc_system_time.tv_nsec;
+		const int64_t gps_time = rtc_gps_time->tv_sec * 1e9 + rtc_gps_time->tv_nsec;
+
+		int64_t drift_time = abs(system_time - gps_time);
+
+		if (drift_time > SET_CLOCK_DRIFT_TIME_NS) {
+			// update clock immediately on next callback
+			_update_system_time = true;
+		}
+	}
+}
+
 void
 GPS::run()
 {
@@ -1036,6 +1054,8 @@ GPS::print_status()
 	PX4_INFO("sat info: %s", (_p_report_sat_info != nullptr) ? "enabled" : "disabled");
 	PX4_INFO("rate reading: \t\t%6i B/s", _rate_reading);

+	perf_print_counter(_gps_set_clock_perf);
+
 	if (_report_gps_pos.timestamp != 0) {
 		if (_helper) {
 			PX4_INFO("rate position: \t\t%6.2f Hz", (double)_helper->getPositionUpdateRate());
@@ -48,6 +48,9 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/module.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/topics/parameter_update.h>

 using namespace time_literals;

@@ -75,20 +78,26 @@ public:

 	void			RunImpl();

-private:
+protected:
 	void			print_status() override;
-	int			send_led_enable(bool enable);
-	int			send_led_rgb();
-	int			get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b);
+private:

 	float			_brightness{1.0f};
+	float			_max_brightness{1.0f};

 	uint8_t			_r{0};
 	uint8_t			_g{0};
 	uint8_t			_b{0};
 	bool			_leds_enabled{true};

+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	LedController		_led_controller;
+
+	int			send_led_enable(bool enable);
+	int			send_led_rgb();
+	int			get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b);
+	void			update_params();
 };

 RGBLED::RGBLED(const I2CSPIDriverConfig &config) :
@@ -110,6 +119,8 @@ RGBLED::init()
 	send_led_enable(false);
 	send_led_rgb();

+	update_params();
+
 	// kick off work queue
 	ScheduleNow();

@@ -155,6 +166,19 @@ RGBLED::print_status()
 void
 RGBLED::RunImpl()
 {
+	// check for parameter updates
+	if (_parameter_update_sub.updated()) {
+		// clear update
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
+
+		// update parameters from storage
+		update_params();
+
+		// Immediately update to change brightness
+		send_led_rgb();
+	}
+
 	LedControlData led_control_data;

 	if (_led_controller.update(led_control_data) == 1) {
@@ -243,9 +267,9 @@ RGBLED::send_led_rgb()
 {
 	/* To scale from 0..255 -> 0..15 shift right by 4 bits */
 	const uint8_t msg[6] = {
-		SUB_ADDR_PWM0, static_cast<uint8_t>((_b >> 4) * _brightness + 0.5f),
-		SUB_ADDR_PWM1, static_cast<uint8_t>((_g >> 4) * _brightness + 0.5f),
-		SUB_ADDR_PWM2, static_cast<uint8_t>((_r >> 4) * _brightness + 0.5f)
+		SUB_ADDR_PWM0, static_cast<uint8_t>((_b >> 4) * _brightness * _max_brightness + 0.5f),
+		SUB_ADDR_PWM1, static_cast<uint8_t>((_g >> 4) * _brightness * _max_brightness + 0.5f),
+		SUB_ADDR_PWM2, static_cast<uint8_t>((_r >> 4) * _brightness * _max_brightness + 0.5f)
 	};
 	return transfer(msg, sizeof(msg), nullptr, 0);
 }
@@ -270,6 +294,22 @@ RGBLED::get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b)
 	return ret;
 }

+void
+RGBLED::update_params()
+{
+	int32_t maxbrt = 15;
+	param_get(param_find("LED_RGB_MAXBRT"), &maxbrt);
+	maxbrt = maxbrt > 15 ? 15 : maxbrt;
+	maxbrt = maxbrt <  0 ?  0 : maxbrt;
+
+	// A minimum of 2 "on" steps is required for breathe effect
+	if (maxbrt == 1) {
+		maxbrt = 2;
+	}
+
+	_max_brightness = maxbrt / 15.0f;
+}
+
 void
 RGBLED::print_usage()
 {
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2021 Technology Innovation Institute. All rights reserved.
+ *   Copyright (c) 2015 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
@@ -31,17 +31,25 @@
 *
 ****************************************************************************/

-#pragma once
-
-#include <stdint.h>
-#include <visibility.h>
-
 /*
- * Random number generator provided by the operating system. This can be used
- * by the crypto_arch if needed, or it can implement an own HW-specific rng
+ * @file rgbled_params.c
+ *
+ * Parameters defined by the RBG led driver
+ *
+ * @author Nate Weibley <nate.weibley@prioria.com>
 */

-__BEGIN_DECLS
-size_t px4_get_secure_random(uint8_t *out,
-			     size_t outlen);
-__END_DECLS
+
+#include <px4_platform_common/px4_config.h>
+#include <parameters/param.h>
+
+/**
+ * RGB Led brightness limit
+ *
+ * Set to 0 to disable, 1 for minimum brightness up to 15 (max)
+ *
+ * @min 0
+ * @max 15
+ * @group System
+ */
+PARAM_DEFINE_INT32(LED_RGB_MAXBRT, 15);
@@ -44,9 +44,12 @@

 #include <drivers/device/i2c.h>
 #include <lib/led/led.h>
+#include <lib/parameters/param.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/module.h>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/topics/parameter_update.h>

 using namespace time_literals;

@@ -78,10 +81,12 @@ public:

 private:
 	int			send_led_rgb();
+	void			update_params();

 	int			write(uint8_t reg, uint8_t data);

 	float			_brightness{1.0f};
+	float			_max_brightness{1.0f};

 	uint8_t		_r{0};
 	uint8_t		_g{0};
@@ -90,6 +95,8 @@ private:
 	volatile bool		_should_run{true};
 	bool			_leds_enabled{true};

+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	LedController		_led_controller;

 	uint8_t		_red{NCP5623_LED_PWM0};
@@ -147,6 +154,8 @@ RGBLED_NCP5623C::init()
 		return ret;
 	}

+	update_params();
+
 	_running = true;

 	ScheduleNow();
@@ -171,6 +180,19 @@ RGBLED_NCP5623C::probe()
 void
 RGBLED_NCP5623C::RunImpl()
 {
+	// check for parameter updates
+	if (_parameter_update_sub.updated()) {
+		// clear update
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
+
+		// update parameters from storage
+		update_params();
+
+		// Immediately update to change brightness
+		send_led_rgb();
+	}
+
 	LedControlData led_control_data;

 	if (_led_controller.update(led_control_data) == 1) {
@@ -225,7 +247,7 @@ int
 RGBLED_NCP5623C::send_led_rgb()
 {
 	uint8_t msg[7] = {0x20, 0x70, 0x40, 0x70, 0x60, 0x70, 0x80};
-	uint8_t brightness = UINT8_MAX;
+	uint8_t brightness = 0x1f * _max_brightness;

 	msg[0] = NCP5623_LED_CURRENT | (brightness & 0x1f);
 	msg[2] = _red | (uint8_t(_r * _brightness) & 0x1f);
@@ -235,6 +257,21 @@ RGBLED_NCP5623C::send_led_rgb()
 	return transfer(&msg[0], 7, nullptr, 0);
 }

+void
+RGBLED_NCP5623C::update_params()
+{
+	int32_t maxbrt = 31;
+	param_get(param_find("LED_RGB1_MAXBRT"), &maxbrt);
+	maxbrt = maxbrt > 31 ? 31 : maxbrt;
+	maxbrt = maxbrt <  0 ?  0 : maxbrt;
+
+	if (maxbrt == 0) {
+		maxbrt = 1;
+	}
+
+	_max_brightness = maxbrt / 31.0f;
+}
+
 void
 RGBLED_NCP5623C::print_usage()
 {
--- a/Show More
+++ b/Show More