Jenkins testing

Revert "Tools/HIL/run_tests.py - temporarily disable flaky dataman test until it can be reviewed"
This reverts commit 00b15798da.
2026-06-03 11:00:05 +08:00 · 2021-10-05 14:27:33 -04:00 · 2021-10-05 14:25:38 -04:00 · 2021-10-05 14:25:32 -04:00 · 2021-10-05 14:40:14 +02:00 · 2021-10-05 14:02:22 +02:00
216 changed files with 6328 additions and 1164 deletions
@@ -38,6 +38,10 @@ pipeline {
                     "airmind_mindpx-v2_default",
                     "ark_can-flow_canbootloader",
                     "ark_can-flow_default",
+                     "ark_can-gps_canbootloader",
+                     "ark_can-gps_default",
+                     "ark_can-rtk-gps_canbootloader",
+                     "ark_can-rtk-gps_default",
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
@@ -13,15 +13,11 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                sh 'make cubepilot_cubeorange_test'
                sh 'make cubepilot_cubeorange_test bootloader_elf'
                sh 'ccache -s'
@@ -87,15 +83,11 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                sh 'make cuav_x7pro_test'
                sh 'make cuav_x7pro_test bootloader_elf'
                sh 'ccache -s'
@@ -159,15 +151,11 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                sh 'make px4_fmu-v3_test'
                sh 'make px4_fmu-v3_test bootloader_elf'
                sh 'ccache -s'
@@ -231,15 +219,11 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                sh 'make px4_fmu-v4_test'
                sh 'make px4_fmu-v4_test bootloader_elf'
                sh 'ccache -s'
@@ -302,15 +286,11 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                sh 'make px4_fmu-v4pro_test'
                sh 'make px4_fmu-v4pro_test bootloader_elf'
                sh 'ccache -s'
@@ -374,15 +354,11 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                sh 'make px4_fmu-v5_debug'
                sh 'make px4_fmu-v5_debug bootloader_elf'
                sh 'ccache -s'
@@ -418,6 +394,14 @@ pipeline {
                  steps {
                    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 "work_queue status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
+
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
                  }
@@ -456,15 +440,11 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                sh 'make px4_fmu-v5_optimized'
                sh 'make px4_fmu-v5_optimized bootloader_elf'
                sh 'ccache -s'
@@ -528,15 +508,11 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                sh 'make px4_fmu-v5_stackcheck'
                sh 'make px4_fmu-v5_stackcheck bootloader_elf'
                sh 'ccache -s'
@@ -610,15 +586,11 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                sh 'make px4_fmu-v5_test'
                sh 'make px4_fmu-v5_test bootloader_elf'
                sh 'ccache -s'
@@ -682,7 +654,7 @@ pipeline {
        //       agent {
        //         docker {
        //           image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+        //           args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
        //         }
        //       }
        //       steps {
@@ -749,15 +721,11 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
+                checkoutSCM()
                sh 'make nxp_fmuk66-v3_test'
                //sh 'make nxp_fmuk66-v3_test bootloader_elf'
                sh 'ccache -s'
@@ -830,6 +798,16 @@ pipeline {
  }
 }

+void checkoutSCM() {
+  retry(3) {
+    checkout scm
+    sh 'export'
+    sh 'make distclean'
+    sh 'git fetch --tags'
+    sh 'ccache -z'
+  }
+}
+
 void quickCalibrate() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1; param show CAL_ACC*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 1; param show CAL_GYRO*"'
@@ -867,8 +845,8 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
@@ -926,6 +904,8 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'

+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
+
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'

@@ -1040,6 +1020,10 @@ void printTopics() {
 }

 void resetBoard() {
+  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/" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
+
  resetParameters()

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
@@ -18,6 +18,7 @@ jobs:
          airmind_mindpx-v2,
          ark_can-flow,
          ark_can-gps,
+          ark_can-rtk-gps,
          atl_mantis-edu,
          av_x-v1,
          bitcraze_crazyflie,
@@ -17,6 +17,7 @@ jobs:
        config: [
          ark_can-flow_default,
          ark_can-gps_default,
+          ark_can-rtk-gps_default,
          cuav_can-gps-v1_default,
          freefly_can-rtk-gps_default,
          holybro_can-gps-v1_default,
@@ -6,6 +6,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
+    px4_sitl_rtps:
+      short: px4_sitl_rtps
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_rtps
    px4_sitl_asan:
      short: px4_sitl (AddressSanitizer)
      buildType: AddressSanitizer
@@ -96,6 +101,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-gps_canbootloader
+    ark_can-rtk-gps_default:
+      short: ark_can-rtk-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-rtk-gps_default
+    ark_can-rtk-gps_canbootloader:
+      short: ark_can-rtk-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-rtk-gps_canbootloader
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
@@ -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
@@ -16,11 +16,6 @@ set +e
 #------------------------------------------------------------------------------
 set R /

-#
-# Start CDC/ACM serial driver.
-#
-sercon
-
 #
 # Print full system version.
 #
@@ -57,6 +57,7 @@ mc_rate_control start
 # Start Multicopter Attitude Controller.
 #
 mc_att_control start
+mc_autotune_attitude_control start

 #
 # Start Multicopter Position Controller.
@@ -49,11 +49,6 @@ set STARTUP_TUNE 1
 set USE_IO no
 set VEHICLE_TYPE none

-#
-# Start CDC/ACM serial driver.
-#
-sercon
-
 #
 # Print full system version.
 #
@@ -374,6 +369,11 @@ else
 		commander start
 	fi

+	# Pre-takeoff continuous magnetometer calibration
+	if param compare -s MBE_ENABLE 1
+	then
+		mag_bias_estimator start
+	fi

 	if param greater -s TRIG_MODE 0
 	then
@@ -13,14 +13,6 @@ then
 	led_control on -c blue
 fi

-if sercon
-then
-	echo "[i] USB interface connected"
-
-	# Try to get an USB console
-	nshterm /dev/ttyACM0 &
-fi
-
 #
 # Try to mount the microSD card.
 #
@@ -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
@@ -45,6 +45,7 @@ class MavlinkSerialPort():
        self.port = devnum
        self.debug("Connecting with MAVLink to %s ..." % portname)
        self.mav = mavutil.mavlink_connection(portname, autoreconnect=True, baud=baudrate)
+        self.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GENERIC, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0)
        self.mav.wait_heartbeat()
        self.debug("HEARTBEAT OK\n")
        self.debug("Locked serial device\n")
@@ -226,8 +227,7 @@ def main():
            # handle heartbeat sending
            heartbeat_time = timer()
            if heartbeat_time > next_heartbeat_time:
-                mav_serialport.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS,
-                        mavutil.mavlink.MAV_AUTOPILOT_GENERIC, 0, 0, 0)
+                mav_serialport.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GENERIC, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0)
                next_heartbeat_time = heartbeat_time + 1

    except serial.serialutil.SerialException as e:
@@ -14,7 +14,7 @@ class ModuleDocumentation(object):
    # If you add categories or subcategories, they also need to be added to the
    # TOC in https://github.com/PX4/Devguide/blob/master/en/SUMMARY.md
    valid_categories = ['driver', 'estimator', 'controller', 'system',
-                        'communication', 'command', 'template', 'simulation']
+                        'communication', 'command', 'template', 'simulation', 'autotune']
    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
                           'magnetometer', 'baro', 'optical_flow']

@@ -67,8 +67,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -104,6 +106,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# Airmind Mindpx-v2 specific board MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -33,6 +33,6 @@ px4_add_board(
 		topic_listener
 		tune_control
 		uorb
-		ver
+		#ver
 		work_queue
 )
@@ -4,7 +4,8 @@ px4_add_board(
 	PLATFORM nuttx
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
-	#CONSTRAINED_FLASH
+	CONSTRAINED_FLASH
+	  NO_HELP
 	CONSTRAINED_MEMORY
 	EXTERNAL_METADATA
 	ROMFSROOT cannode
@@ -0,0 +1,10 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
+	DRIVERS
+		bootloaders
+)
@@ -0,0 +1,38 @@
+include (${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
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
+	EXTERNAL_METADATA
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 1
+	DRIVERS
+		barometer/bmp388
+		bootloaders
+		gps
+		imu/invensense/icm42688p
+		magnetometer/bosch/bmm150
+		safety_button
+		tone_alarm
+		uavcannode
+	MODULES
+		#ekf2
+		#load_mon
+		#sensors
+	SYSTEMCMDS
+		#i2cdetect
+		#led_control
+		param
+		#perf
+		reboot
+		top
+		topic_listener
+		tune_control
+		uorb
+		#ver
+		work_queue
+)
@@ -0,0 +1,37 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_FLASH
+	  NO_HELP
+	CONSTRAINED_MEMORY
+	EXTERNAL_METADATA
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 1
+	DRIVERS
+		barometer/bmp388
+		bootloaders
+		gps
+		imu/invensense/icm42688p
+		magnetometer/bosch/bmm150
+		safety_button
+		tone_alarm
+		uavcannode
+	MODULES
+		#ekf2
+		#load_mon
+		#sensors
+	SYSTEMCMDS
+		#mft
+		#mtd
+		param
+		#perf
+		#reboot
+		#system_time
+		#top
+		#topic_listener
+		#ver
+		#work_queue
+)
@@ -0,0 +1,13 @@
+{
+    "board_id": 82,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ARK RTK GPS board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ARKRTKGPS",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default CBRK_IO_SAFETY 0
+
+safety_button start
+tone_alarm start
@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+gps start -d /dev/ttyS0 -p ubx
+
+icm42688p -R 0 -s start
+
+bmp388 -I -b 2 start
+
+bmm150 -I -b 1 start
@@ -0,0 +1,68 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BINFMT_DISABLE=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_PTHREAD=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_BOARDCTL=y
+CONFIG_FS_PROCFS_MAX_TASKS=0
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=0
+CONFIG_NUNGET_CHARS=0
+CONFIG_NXFONTS_DISABLE_16BPP=y
+CONFIG_NXFONTS_DISABLE_1BPP=y
+CONFIG_NXFONTS_DISABLE_24BPP=y
+CONFIG_NXFONTS_DISABLE_2BPP=y
+CONFIG_NXFONTS_DISABLE_32BPP=y
+CONFIG_NXFONTS_DISABLE_4BPP=y
+CONFIG_NXFONTS_DISABLE_8BPP=y
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_NOEXT_VECTORS=y
+CONFIG_STM32_TIM8=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=4096
@@ -0,0 +1,152 @@
+/************************************************************************************
+ * configs/px4fmu/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/* HSI - 8 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - 8  MHz Crystal
+ * LSE - not installed
+ */
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+
+/* Main PLL Configuration */
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
+#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
+
+#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
+
+#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
+#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
+#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
+
+#define STM32_SYSCLK_FREQUENCY  96000000ul
+
+/* AHB clock (HCLK) is SYSCLK (96MHz) */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK (96MHz) */
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* Timers driven from APB2 will be PCLK2 since no prescale division */
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
+#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
+
+/* Alternate function pin selections ************************************************/
+
+/* UARTs */
+#define GPIO_USART1_RX	GPIO_USART1_RX_2
+#define GPIO_USART1_TX	GPIO_USART1_TX_3
+
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
+
+/* CAN */
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
+
+/* I2C */
+
+#define GPIO_MCU_I2C1_SCL
+#define GPIO_MCU_I2C1_SDA
+
+#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
+#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_1
+
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+
+#define GPIO_I2C2_SCL	GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA	GPIO_I2C2_SDA_4
+
+#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
+#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
+
+/* SPI */
+#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
+
+#endif /* __ARCH_BOARD_BOARD_H */
@@ -0,0 +1,43 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3
@@ -0,0 +1,161 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_OS_API is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_STM32_DMACAPABLE is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=2
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_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_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_PREFETCH=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_RTC=y
+CONFIG_STM32_RTC_HSECLOCK=y
+CONFIG_STM32_RTC_MAGIC=0xfacefeee
+CONFIG_STM32_RTC_MAGIC_REG=1
+CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI1_DMA=y
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
+CONFIG_STM32_SPI_DMA=y
+CONFIG_STM32_TIM8=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1100
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USART2_TXBUFSIZE=1100
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2624
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -0,0 +1,134 @@
+/****************************************************************************
+ * nuttx-config/scripts/canbootloader_script.ld
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,146 @@
+/****************************************************************************
+ * scripts/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 448K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(8);
+		/*
+		* This section positions the app_descriptor_t used
+		* by the make_can_boot_descriptor.py tool to set
+		* the application image's descriptor so that the
+		* uavcan bootloader has the ability to validate the
+		* image crc, size etc
+		*/
+		KEEP(*(.app_descriptor))
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,68 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		boot_config.h
+		boot.c
+		led.c
+		led.h
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		init.c
+		led.c
+		spi.cpp
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_spi
+			drivers__led # drv_led_start
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+			arch_io_pins
+	)
+endif()
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * board internal definitions
+ */
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* BUTTON */
+#define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)
+
+/* Safety LED */
+#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
+
+/* Tone alarm output. */
+#define TONE_ALARM_TIMER             2    /* timer 2 */
+#define TONE_ALARM_CHANNEL           1    /* channel 1 */
+#define GPIO_TONE_ALARM_IDLE  /* PA0  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TONE_ALARM       /* PA0  */ (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0)
+
+/* CAN  Silent mode control */
+#define GPIO_CAN1_SILENT_S0   /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
+
+/* CAN termination software control */
+#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
+
+/* ICM42688p FSYNC */
+#define GPIO_42688P_FSYNC     /* PB8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
+
+/* Boot config */
+#define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
+
+/* LEDs are driven with open drain to support Anode to 5V or 3.3V */
+#define GPIO_TIM1_CH1         /* PA8  */ (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH2         /* PA9  */ (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH3         /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+
+#define GPIO_I2C1_SCL_RESET   /* PB6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
+#define GPIO_I2C1_SDA_RESET   /* PB7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
+
+#define GPIO_I2C2_SCL_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
+
+#define FLASH_BASED_PARAMS
+
+/* High-resolution timer */
+#define HRT_TIMER                    3  /* use timer 3 for the HRT */
+#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
+
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_BTN_SAFETY,                  \
+		GPIO_LED_SAFETY,                  \
+		GPIO_I2C1_SCL_RESET,              \
+		GPIO_I2C1_SDA_RESET,              \
+		GPIO_I2C2_SCL_RESET,              \
+		GPIO_I2C2_SDA_RESET,              \
+		GPIO_42688P_FSYNC,                \
+		GPIO_BOOT_CONFIG,                 \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_CAN1_TERMINATION,            \
+	}
+
+__BEGIN_DECLS
+
+#define BOARD_HAS_N_S_RGB_LED       1
+#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
+
+#ifndef __ASSEMBLY__
+
+extern void stm32_spiinitialize(void);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <stdint.h>
+#include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include <nuttx/board.h>
+#include "led.h"
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+	stm32_configgpio(GPIO_CAN1_SILENT_S0);
+	stm32_configgpio(GPIO_CAN1_TERMINATION);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+
+#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
+	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
+#endif
+
+}
+
+/************************************************************************************
+ * Name: board_deinitialize
+ *
+ * Description:
+ *   This function is called by the bootloader code prior to booting
+ *   the application. Is should place the HW into an benign initialized state.
+ *
+ ************************************************************************************/
+
+void board_deinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
+
+/****************************************************************************
+ * Name: board_get_product_name
+ *
+ * Description:
+ *   Called to retrieve the product name. The returned value is a assumed
+ *   to be written to a pascal style string that will be length prefixed
+ *   and not null terminated
+ *
+ * Input Parameters:
+ *    product_name - A pointer to a buffer to write the name.
+ *    maxlen       - The maximum number of charter that can be written
+ *
+ * Returned Value:
+ *   The length of characters written to the buffer.
+ *
+ ****************************************************************************/
+
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
+	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
+}
+
+/****************************************************************************
+ * Name: board_get_hardware_version
+ *
+ * Description:
+ *   Called to retrieve the hardware version information. The function
+ *   will first initialize the the callers struct to all zeros.
+ *
+ * Input Parameters:
+ *    hw_version - A pointer to a uavcan_hardwareversion_t.
+ *
+ * Returned Value:
+ *   Length of the unique_id
+ *
+ ****************************************************************************/
+
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
+	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
+
+	hw_version->major = HW_VERSION_MAJOR;
+	hw_version->minor = HW_VERSION_MINOR;
+
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
+}
+
+/****************************************************************************
+ * Name: board_indicate
+ *
+ * Description:
+ *   Provides User feedback to indicate the state of the bootloader
+ *   on board specific  hardware.
+ *
+ * Input Parameters:
+ *    indication - A member of the uiindication_t
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
+
+typedef begin_packed_struct struct led_t {
+	uint8_t red;
+	uint8_t green;
+	uint8_t blue;
+	uint8_t hz;
+} end_packed_struct led_t;
+
+static const  led_t i2l[] = {
+
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),
+
+};
+
+void board_indicate(uiindication_t indication)
+{
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
+		i2l[indication].hz);
+}
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file boot_config.h
+ *
+ * bootloader definitions that configures the behavior and options
+ * of the Boot loader
+ * This file is relies on the parent folder's boot_config.h file and defines
+ * different usages of the hardware for bootloading
+ */
+
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+/* Bring in the board_config.h definitions
+ * todo:make this be pulled in from a targed's build
+ * files in nuttx*/
+
+#include "board_config.h"
+#include "uavcan.h"
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+#include <stm32_flash.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
+
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS                    5000
+#define OPT_NODE_STATUS_RATE_MS         800
+#define OPT_NODE_INFO_RATE_MS           50
+#define OPT_BL_NUMBER_TIMERS            7
+
+/*
+ *  This Option set is set to 1 ensure a provider of firmware has an
+ *  opportunity update the node's firmware.
+ *  This Option is the default policy and can be overridden by
+ *  a jumper
+ *  When this Policy is set, the node will ignore tboot and
+ *  wait indefinitely for a GetNodeInfo request before booting.
+ *
+ *  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
+ *  the polarity of the jumper to be True Active
+ *
+ *  wait  OPT_WAIT_FOR_GETNODEINFO  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
+ *                                                 Jumper
+ *   yes           1                       0         x
+ *   yes           1                       1       Active
+ *   no            1                       1       Not Active
+ *   no            0                       0         X
+ *   yes           0                       1       Active
+ *   no            0                       1       Not Active
+ *
+ */
+#define OPT_WAIT_FOR_GETNODEINFO                    0
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
+
+#define OPT_ENABLE_WD           1
+
+#define OPT_RESTART_TIMEOUT_MS          20000
+
+/* Reserved for the Booloader */
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
+
+/* Reserved for the application out of the total
+ * system flash minus the BOOTLOADER_SIZE_IN_K
+ */
+#define OPT_APPLICATION_RESERVER_IN_K    0
+
+#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
+#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
+
+
+#define FLASH_BASE              STM32_FLASH_BASE
+#define FLASH_SIZE              STM32_FLASH_SIZE
+
+#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
+
+/* If this board uses big flash that have large sectors */
+
+#define OPT_USE_YIELD
+
+/* Bootloader Option*****************************************************************
+ *
+ */
+#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_arch.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+	initI2CBusInternal(2),
+};
@@ -0,0 +1,148 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * board specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <drivers/drv_watchdog.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	watchdog_init();
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	// Configure SPI all interfaces GPIO & enable power.
+	stm32_spiinitialize();
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{2, 16 * 1024, 0x08008000},
+		{3, 16 * 1024, 0x0800C000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		return -ENODEV;
+	}
+
+#endif // FLASH_BASED_PARAMS
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	return OK;
+}
@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#include "led.h"
+
+#define TMR_BASE        STM32_TIM1_BASE
+#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
+#define TMR_REG(o)      (TMR_BASE+(o))
+
+void rgb_led(int r, int g, int b, int freqs)
+{
+
+	long fosc = TMR_FREQUENCY;
+	long prescale = 2048;
+	long p1s = fosc / prescale;
+	long p0p5s  = p1s / 2;
+	uint16_t val;
+	static bool once = 0;
+
+	if (!once) {
+		once = 1;
+
+		/* Enabel Clock to Block */
+		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
+
+		/* Reload */
+
+		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
+		val |= ATIM_EGR_UG;
+		putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
+
+		/* Set Prescaler STM32_TIM_SETCLOCK */
+
+		putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
+
+		/* Enable STM32_TIM_SETMODE*/
+
+		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
+			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
+		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
+			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
+			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
+
+
+		stm32_configgpio(GPIO_TIM1_CH1);
+		stm32_configgpio(GPIO_TIM1_CH2);
+		stm32_configgpio(GPIO_TIM1_CH3);
+
+		/* master output enable = on */
+		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
+	}
+
+	long p  = freqs == 0 ? p1s : p1s / freqs;
+	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
+
+	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+
+	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
+	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
+	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
+
+	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+	if (freqs == 0) {
+		val &= ~ATIM_CR1_CEN;
+
+	} else {
+		val |= ATIM_CR1_CEN;
+	}
+
+	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+}
@@ -0,0 +1,37 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+__BEGIN_DECLS
+void rgb_led(int r, int g, int b, int freqs);
+__END_DECLS
@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortB, GPIO::Pin0}, SPI::DRDY{GPIO::PortB, GPIO::Pin1}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,17 @@
+# UAVCAN boot loadable Module ID
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+)
+
+set(uavcanblid_hw_version_major 0)
+set(uavcanblid_hw_version_minor 82)
+set(uavcanblid_name "\"org.ark.can-rtk-gps\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
@@ -25,8 +25,10 @@ px4_add_board(
 		land_detector
 		load_mon
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -14,6 +14,3 @@ mavlink stream -d ${GIMBAL_TTY} -s GIMBAL_DEVICE_SET_ATTITUDE -r 20

 # optical flow
 mavlink start -d /dev/ttyS2 -m custom -b 500000
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -66,8 +66,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -102,6 +104,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		top
@@ -51,8 +51,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -30,8 +30,10 @@ px4_add_board(
 		load_mon
 		#local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		# mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -59,6 +61,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		#sd_stress
 		system_time
 		top
 		topic_listener
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# Bitcraze Crazyflie specific board MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -29,8 +29,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		# mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -57,6 +59,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		#sd_stress
 		system_time
 		top
 		topic_listener
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# Bitcraze Crazyflie specific board MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -73,8 +73,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# board specific MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -16,7 +16,7 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
-		adc/ads1115
+		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -37,8 +37,8 @@ px4_add_board(
 		lights # all available light drivers
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
+		#optical_flow # all available optical flow drivers
+		#osd
 		pca9685
 		pca9685_pwm_out
 		power_monitor/ina226
@@ -73,8 +73,10 @@ px4_add_board(
 		load_mon
 		#local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -111,6 +113,7 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
+		sd_stress
 		serial_test
 		#system_time
 		tests # tests and test runner
@@ -74,8 +74,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -111,6 +113,7 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
+		sd_stress
 		#serial_test
 		#system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# board specific MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -16,7 +16,7 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
-		adc/ads1115
+		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -28,20 +28,21 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
-		imu/analog_devices/adis16448
+		#imu/analog_devices/adis16448
 		imu/analog_devices/adis16470
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		imu/invensense/icm20948 # required for ak09916 mag
+		#imu/invensense/icm42688p
 		#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
+		#optical_flow # all available optical flow drivers
+		#osd
+		#pca9685
+		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -50,6 +51,7 @@ px4_add_board(
 		#roboclaw
 		#rpm
 		safety_button
+		#smart_battery/batmon
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -74,8 +76,10 @@ px4_add_board(
 		load_mon
 		#local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -112,7 +116,8 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
-		serial_test
+		sd_stress
+		#serial_test
 		#system_time
 		tests # tests and test runner
 		top
@@ -70,8 +70,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -107,6 +109,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		#serial_test
 		system_time
 		top
@@ -3,9 +3,6 @@
 # Board specific MAVLink startup script.
 #------------------------------------------------------------------------------

-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
-
 # Start ADS-B receiver mavlink connection if console not present
 if [ ! -e /dev/console ]
 then
@@ -71,8 +71,10 @@ px4_add_board(
 		load_mon
 		#local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -109,6 +111,7 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
+		sd_stress
 		#serial_test
 		#system_time
 		tests # tests and test runner
@@ -68,8 +68,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -105,6 +107,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		#serial_test
 		system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# Board specific MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -69,8 +69,10 @@ px4_add_board(
 		load_mon
 		#local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -107,6 +109,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		#serial_test
 		system_time
 		tests # tests and test runner
@@ -51,8 +51,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -68,8 +68,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -105,6 +107,7 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
+		sd_stress
 		#serial_test
 		system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# Durandal specific specific board MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -69,8 +69,10 @@ px4_add_board(
 		load_mon
 		#local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -107,6 +109,7 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
+		sd_stress
 		serial_test
 		#system_time
 		tests # tests and test runner
@@ -1,4 +1,6 @@

+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
@@ -43,8 +45,10 @@ px4_add_board(
 		load_mon
 		#local_position_estimator
 		logger
+		#mag_bias_estimator
 		mavlink
 		mc_att_control
+		# mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# KakuteF7 specific specific board MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -72,8 +72,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -109,6 +111,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# PX4 FMUv5 specific board MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -66,8 +66,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -103,6 +105,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# ModalAI FC-v1 specific board MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -64,8 +64,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -101,6 +103,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		top
@@ -66,8 +66,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -104,6 +106,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		tests # tests and test runner
@@ -70,8 +70,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -107,6 +109,7 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
+		sd_stress
 		#serial_test
 		system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# ModalAI FC-v2 specific board MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -71,8 +71,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -110,6 +112,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 #		tests # tests and test runner
@@ -69,8 +69,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -106,6 +108,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# mRo Control Zero specific board MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -69,8 +69,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -106,6 +108,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# mRo Control Zero specific board MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -68,8 +68,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -105,6 +107,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# board specific MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -68,8 +68,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -105,6 +107,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# board specific MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -68,8 +68,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -105,6 +107,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# board specific MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -69,8 +69,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -106,6 +108,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# Board specific MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -70,8 +70,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -107,6 +109,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# mRo x21 specific board MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -66,8 +66,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -102,6 +104,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# NXP fmuk66-e specific board MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -66,8 +66,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -102,6 +104,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		tests # tests and test runner
@@ -65,8 +65,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -101,6 +103,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		tests # tests and test runner
@@ -66,8 +66,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -102,6 +104,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# NXP fmuk66-v3 specific board MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -66,8 +66,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -102,6 +104,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		tests # tests and test runner
@@ -66,8 +66,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -102,6 +104,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		tests # tests and test runner
@@ -66,8 +66,10 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -103,6 +105,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		sd_stress
 		serial_test
 		system_time
 		tests # tests and test runner
@@ -44,8 +44,8 @@ px4_add_board(
 		#roboclaw
 		#rpm
 		safety_button
-		smart_battery/batmon
-		telemetry # all available telemetry drivers
+		#smart_battery/batmon
+		#telemetry # all available telemetry drivers
 		tone_alarm
 		#uavcan
 	MODULES
@@ -68,8 +68,10 @@ px4_add_board(
 		load_mon
 		#local_position_estimator
 		logger
+		mag_bias_estimator
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -105,6 +107,7 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
+		sd_stress
 		#serial_test
 		#system_time
 		top
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# PX4 FMUv5 specific board MAVLink startup script.
-#------------------------------------------------------------------------------
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	5ac354628b	Jenkins testing	2021-10-05 14:27:33 -04:00
Daniel Agar	533052c864	Revert "Tools/HIL/run_tests.py - temporarily disable flaky dataman test until it can be reviewed" This reverts commit `00b15798da`.	2021-10-05 14:25:38 -04:00
Daniel Agar	785bb51e06	[DO NOT MERGE] nuttx revert	2021-10-05 14:25:32 -04:00
Thomas Stauber	983dd4db29	don't switch to SETPOINT_TYPE_LOITER during transitions (#18350 )	2021-10-05 14:40:14 +02:00
Julian Oes	75b8e11b90	commander: make LAND failsafe stick By default we would leave the LAND failsafe as soon as a link comes back. With this change, we switch to the LAND failsafe like a proper mode change, immediately disabling the failsafe as such. This is as the same that is done for RTL in fact. This is not optimal but a workaround for the problem where we switch out of failsafe right on landing and then discover takeoff again and start looping through it again and again without ever disarming.	2021-10-05 14:02:22 +02:00
Daniel Agar	896ad3a627	cmake: fix find_program ozone	2021-10-04 18:27:50 -04:00
Daniel Agar	a519916d79	systemcmds/sd_stress: return -1 on FAIL	2021-10-04 17:38:31 -04:00
Daniel Agar	c271a9e3e6	add sd_stress to all boards and run on test rack	2021-10-04 17:38:31 -04:00
Julian Oes	397b1ed8d6	Add sd_stress command	2021-10-04 17:38:31 -04:00
Julian Oes	4701a513c2	mavlink: fix errno for rename	2021-10-04 17:38:31 -04:00
Julian Oes	59b56dd06f	mavlink: add more error messages	2021-10-04 17:38:31 -04:00
Julian Oes	74b2fe326d	mavlink: don't (mis)use errno as global variable I think it was not the best idea to use errno as a global variable to keep track of the error code. I saw the errno change from where it was set to where it was actually used, maybe because part of it is called in the receive thread and part in the regular update/send() thread. To be safe, I just created a class variable instead.	2021-10-04 17:38:31 -04:00
Julian Oes	96388f07fd	mavlink: improve debugging around MAVLink FTP - Remove ifdefs with MAVLINK_FTP_DEBUG and use PX4_DEBUG instead - Add a couple of more PX4_DEBUG lines	2021-10-04 17:38:31 -04:00
Daniel Agar	c35f68b49d	boards: px4_fmu-v5 sync UAVCAN_TIMER_OVERRIDE across all variants	2021-10-04 15:27:15 -04:00
Daniel Agar	00b15798da	Tools/HIL/run_tests.py - temporarily disable flaky dataman test until it can be reviewed	2021-10-04 12:54:01 -04:00
Daniel Agar	1325b9c876	Jenkins: hardware retry checkout if necessary	2021-10-04 12:54:01 -04:00
benjinne	413e15d083	Add vscode cmake-variant for px4_sitl_rtps	2021-10-04 11:58:26 -04:00
Beat Küng	540c024cbb	parameters: avoid printing errors for erased flash devices Errors: ERROR [parameters] param import failed (-1) attempt 1, retrying ERROR [parameters] param import failed (-1) attempt 2, retrying ERROR [parameters] param import failed (-1) attempt 3, retrying ERROR [parameters] param import failed (-1) attempt 4, retrying ERROR [param] importing from '/fs/mtd_caldata' failed (-1)	2021-10-04 10:25:32 -04:00
Daniel Agar	cc4152e10d	gyro_fft: require higher SNR for initially tracking a peak - initial frequency peak tracking SNR increased from 10->15 db - after initial detection the threshold decreases to SNR 5db - gyro_fft large method refactored into smaller pieces - sensors/vehicle_angular_velocity: dynamic notch FFT make sample rate check a percentage and relax lower bound safety threshold	2021-10-04 10:17:16 -04:00
Daniel Agar	6d78054f50	mavlink USB auto start/stop on boards with VBUS - no longer start sercon or mavlink usb by default - on USB connection (VBUS) monitor serial USB at low rate and start Mavlink if there's a HEARTBEAT or nshterm on 3 consecutive carriage returns - the mavlink USB instance is automatically stopped and serdis executed if USB is disconnected - skipping Mavlink USB (and sercon) saves a considerable amount of memory on older boards	2021-10-03 15:32:54 -04:00
bresch	07e307b074	FieldSensorBiasEst: fix bias learning equation Also compensate the tuned learning gains for the new equation to keep the same tuning	2021-10-02 21:25:21 -04:00
bresch	e0bcc17f5b	mbe: integrate pre-takeoff mag bias estimate in VehicleMagnetometer	2021-10-02 21:25:21 -04:00
bresch	1443f773da	mbe: add module to targets	2021-10-02 21:25:21 -04:00
bresch	ec178c8745	create new mag_bias_estimator module Co-authored-by: Daniel Agar <daniel@agar.ca>	2021-10-02 21:25:21 -04:00
bresch	d858835fd0	mbe: initialize estimator with current measurement	2021-10-02 21:25:21 -04:00
bresch	9067d9cae9	mbe: improve algorithm and fix unit test	2021-10-02 21:25:21 -04:00
Matthias Grob	24dc627e8a	Add MagnetometerBiasEstimator for online magnetometer calibration	2021-10-02 21:25:21 -04:00
bresch	5874b1f87c	mc atune: add module to all targets - adjust flash constrianed targets to fit	2021-10-02 18:12:05 -04:00
bresch	b99dbcc6a7	ModuleDocumentation: add autotune categorie	2021-10-02 18:12:05 -04:00
bresch	61dabca4c8	mavlink_receiver: Add mavlink handler with progress report	2021-10-02 18:12:05 -04:00
bresch	d463dfe2d8	mavlink_receiver: handle auto-tuning command	2021-10-02 18:12:05 -04:00
bresch	cd61065aea	sitl: start MC autotune module	2021-10-02 18:12:05 -04:00
bresch	9681f819a8	mc_att: inject identification signal in att control output	2021-10-02 18:12:05 -04:00
bresch	0498ee92d0	mc atune: add multicopter attitude auto-tuner module	2021-10-02 18:12:05 -04:00
bresch	d3cb806627	pid_design: add model-based PID tuning law based on GMVC	2021-10-02 18:12:05 -04:00
bresch	404145c655	sysID: add system identification library	2021-10-02 18:12:05 -04:00
bresch	d504b49695	mc_rate: compute control energy and publish to status msg	2021-10-02 18:12:05 -04:00
Alex Klimaj	0a662ef22c	Add uavcannode RTCM subscriber	2021-10-01 20:43:49 -04:00
alexklimaj	05ee31072a	Add ARK RTK GPS	2021-10-01 20:34:32 -04:00
Daniel Agar	c1c86bc349	Jenkins: hardware clear ccache stats before compiling	2021-10-01 20:31:29 -04:00
Daniel Agar	a53946649a	sensors/vehicle_magnetometer: only check if sensor enabled after parameters loaded	2021-10-01 20:30:46 -04:00
Daniel Agar	3c8f1f2a50	Jenkins: reduce build agent cpu share	2021-10-01 18:18:51 -04:00