set file descriptor to -1 after close()

failure detector use per index esc current
fix VehicleCommand.msg syntax
2026-05-23 19:47:35 +08:00 · 2024-10-01 13:13:18 -04:00 · 2024-09-30 15:45:56 -04:00 · 2024-09-30 15:28:24 -04:00 · 2024-09-30 15:28:24 -04:00 · 2024-09-25 06:54:51 -07:00
172 changed files with 6086 additions and 330 deletions
@@ -47,7 +47,7 @@ pipeline {
                     "ark_fmu-v6x_bootloader",
                     "ark_fmu-v6x_default",
                     "ark_pi6x_bootloader",
-                     "ark_pi6x_default"
+                     "ark_pi6x_default",
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie21_default",
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2024 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
@@ -132,7 +132,9 @@ list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
 string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
 list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)

-message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
+# # Capture only the hash part after 'g'
+string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}")
+set(PX4_GIT_HASH ${CMAKE_MATCH_1})

 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 BRIEF_DOCS "PX4 module libs"
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2024 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
@@ -323,7 +323,32 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: \
+	ark_fmu-v6x_bootloader \
+	ark_pi6x_bootloader \
+	cuav_nora_bootloader \
+	cuav_x7pro_bootloader \
+	cubepilot_cubeorange_bootloader \
+	cubepilot_cubeorangeplus_bootloader \
+	hkust_nxt-dual_bootloader \
+	hkust_nxt-v1_bootloader \
+	holybro_durandal-v1_bootloader \
+	holybro_kakuteh7_bootloader \
+	holybro_kakuteh7mini_bootloader \
+	holybro_kakuteh7v2_bootloader \
+	matek_h743_bootloader \
+	matek_h743-mini_bootloader \
+	matek_h743-slim_bootloader \
+	modalai_fc-v2_bootloader \
+	mro_ctrl-zero-classic_bootloader \
+	mro_ctrl-zero-h7_bootloader \
+	mro_ctrl-zero-h7-oem_bootloader \
+	mro_pixracerpro_bootloader \
+	px4_fmu-v6c_bootloader \
+	px4_fmu-v6u_bootloader \
+	px4_fmu-v6x_bootloader \
+	px4_fmu-v6xrt_bootloader \
+	siyi_n7_bootloader
 	git status

 .PHONY: coverity_scan
@@ -439,6 +439,14 @@ else
 	# Must be started after the serial config is read
 	rc_input start $RC_INPUT_ARGS

+	# Manages USB interface
+	if ! cdcacm_autostart start
+	then
+		sercon
+		echo "Starting MAVLink on /dev/ttyACM0"
+		mavlink start -d /dev/ttyACM0
+	fi
+
 	#
 	# Play the startup tune (if not disabled or there is an error)
 	#
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 ############################################################################
 #
-#   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012-2024 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
@@ -50,9 +50,6 @@
 #       Currently only used for informational purposes.
 #

-# for python2.7 compatibility
-from __future__ import print_function
-
 import sys
 import argparse
 import binascii
@@ -70,35 +67,32 @@ from sys import platform as _platform
 try:
    import serial
 except ImportError as e:
-    print("Failed to import serial: " + str(e))
+    print(f"Failed to import serial: {e}")
    print("")
    print("You may need to install it using:")
-    print("    pip3 install --user pyserial")
+    print("    python -m pip install pyserial")
    print("")
    sys.exit(1)


-# Define time to use time.time() by default
-def _time():
-    return time.time()
-
 # Detect python version
 if sys.version_info[0] < 3:
-    runningPython3 = False
-else:
-    runningPython3 = True
-    if sys.version_info[1] >=3:
-        # redefine to use monotonic time when available
-        def _time():
-            try:
-                return time.monotonic()
-            except Exception:
-                return time.time()
+    raise RuntimeError("Python 2 is not supported. Please try again using Python 3.")
+    sys.exit(1)
+
+
+# Use monotonic time where available
+def _time():
+    try:
+        return time.monotonic()
+    except Exception:
+        return time.time()

 class FirmwareNotSuitableException(Exception):
    def __init__(self, message):
        super(FirmwareNotSuitableException, self).__init__(message)

+
 class firmware(object):
    '''Loads a firmware file'''

@@ -163,13 +157,13 @@ class firmware(object):

    def crc(self, padlen):
        state = self.__crc32(self.image, int(0))
-        for i in range(len(self.image), (padlen - 1), 4):
+        for _ in range(len(self.image), (padlen - 1), 4):
            state = self.__crc32(self.crcpad, state)
        return state


-class uploader(object):
-    '''Uploads a firmware file to the PX FMU bootloader'''
+class uploader:
+    '''Uploads a firmware file to the PX4 bootloader'''

    # protocol bytes
    INSYNC          = b'\x12'
@@ -195,6 +189,8 @@ class uploader(object):
    GET_CHIP        = b'\x2c'     # rev5+  , get chip version
    SET_BOOT_DELAY  = b'\x2d'     # rev5+  , set boot delay
    GET_CHIP_DES    = b'\x2e'     # rev5+  , get chip description in ASCII
+    GET_VERSION     = b'\x2f'     # rev5+  , get chip description in ASCII
+    CHIP_FULL_ERASE = b'\x40'     # full erase of flash, rev6+
    MAX_DES_LENGTH  = 20

    REBOOT          = b'\x30'
@@ -205,6 +201,7 @@ class uploader(object):
    INFO_BOARD_ID   = b'\x02'        # board type
    INFO_BOARD_REV  = b'\x03'        # board revision
    INFO_FLASH_SIZE = b'\x04'        # max firmware size in bytes
+    BL_VERSION      = b'\x07'        # get bootloader version, e.g. major.minor.patch.githash (up to 20 chars)

    PROG_MULTI_MAX  = 252            # protocol max is 255, must be multiple of 4
    READ_MULTI_MAX  = 252            # protocol max is 255
@@ -235,6 +232,7 @@ class uploader(object):
        self.baudrate_bootloader = baudrate_bootloader
        self.baudrate_flightstack = baudrate_flightstack
        self.baudrate_flightstack_idx = -1
+        self.force_erase = False

    def close(self):
        if self.port is not None:
@@ -357,19 +355,22 @@ class uploader(object):
            self.port.baudrate = self.baudrate_bootloader * 2.33
        except NotImplementedError as e:
            # This error can occur because pySerial on Windows does not support odd baudrates
-            print(str(e) + " -> could not check for FTDI device, assuming USB connection")
+            print(f"{e} -> could not check for FTDI device, assuming USB connection")
            return

        self.__send(uploader.GET_SYNC +
                    uploader.EOC)
        try:
            self.__getSync(False)
-        except:
+        except RuntimeError:
            # if it fails we are on a real serial port - only leave this enabled on Windows
            if sys.platform.startswith('win'):
                self.ackWindowedMode = True
        finally:
-            self.port.baudrate = self.baudrate_bootloader
+            try:
+                self.port.baudrate = self.baudrate_bootloader
+            except Exception:
+                pass

    # send the GET_DEVICE command and wait for an info parameter
    def __getInfo(self, param):
@@ -410,6 +411,17 @@ class uploader(object):
        pieces = value.split(b",")
        return pieces

+    def __getVersion(self):
+        self.__send(uploader.GET_VERSION + uploader.EOC)
+        try:
+            length = self.__recv_int()
+            value = self.__recv(length)
+            self.__getSync()
+        except RuntimeError:
+            # Bootloader doesn't support version call
+            return "unknown"
+        return value.decode()
+
    def __drawProgressBar(self, label, progress, maxVal):
        if maxVal < progress:
            progress = maxVal
@@ -421,10 +433,16 @@ class uploader(object):

    # send the CHIP_ERASE command and wait for the bootloader to become ready
    def __erase(self, label):
-        print("Windowed mode: %s" % self.ackWindowedMode)
+        print(f"Windowed mode: {self.ackWindowedMode}")
        print("\n", end='')
-        self.__send(uploader.CHIP_ERASE +
-                    uploader.EOC)
+
+        if self.force_erase:
+            print("Trying force erase of full chip...\n")
+            self.__send(uploader.CHIP_FULL_ERASE +
+                        uploader.EOC)
+        else:
+            self.__send(uploader.CHIP_ERASE +
+                        uploader.EOC)

        # erase is very slow, give it 30s
        deadline = _time() + 30.0
@@ -441,9 +459,14 @@ class uploader(object):

            if self.__trySync():
                self.__drawProgressBar(label, 10.0, 10.0)
+                if self.force_erase:
+                    print("\nForce erase done.\n")
                return

-        raise RuntimeError("timed out waiting for erase")
+        if self.force_erase:
+            raise RuntimeError("timed out waiting for erase, force erase is likely not supported by bootloader!")
+        else:
+            raise RuntimeError("timed out waiting for erase")

    # send a PROG_MULTI command to write a collection of bytes
    def __program_multi(self, data, windowMode):
@@ -581,8 +604,11 @@ class uploader(object):
        self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
        self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)

+        self.version = self.__getVersion()
+
    # upload the firmware
-    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False):
+    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False, force_erase=False):
+        self.force_erase = force_erase
        # select correct binary
        found_suitable_firmware = False
        for file in fw_list:
@@ -611,6 +637,8 @@ class uploader(object):
        print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
        print()

+        print(f"Bootloader version: {self.version}")
+
        # Make sure we are doing the right thing
        start = _time()
        if self.board_type != fw.property('board_id'):
@@ -640,14 +668,14 @@ class uploader(object):
            self.otp_coa = self.otp[32:160]
            # show user:
            try:
-                print("sn: ", end='')
+                print("Sn: ", end='')
                for byte in range(0, 12, 4):
                    x = self.__getSN(byte)
                    x = x[::-1]  # reverse the bytes
                    self.sn = self.sn + x
                    print(binascii.hexlify(x).decode('Latin-1'), end='')  # show user
                print('')
-                print("chip: %08x" % self.__getCHIP())
+                print("Chip: %08x" % self.__getCHIP())

                otp_id = self.otp_id.decode('Latin-1')
                if ("PX4" in otp_id):
@@ -657,17 +685,19 @@ class uploader(object):
                    print("OTP pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1'))
                    print("OTP coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1'))

-            except Exception:
+            except Exception as e:
                # ignore bad character encodings
+                print(f"Exception ignored: {e}")
                pass

        # Silicon errata check was added in v5
        if (self.bl_rev >= 5):
            des = self.__getCHIPDes()
            if (len(des) == 2):
-                print("family: %s" % des[0])
-                print("revision: %s" % des[1])
-                print("flash: %d bytes" % self.fw_maxsize)
+                family, revision = des
+                print(f"Family: {family.decode()}")
+                print(f"Revision: {revision.decode()}")
+                print(f"Flash: {self.fw_maxsize} bytes")

                # Prevent uploads where the maximum image size of the board config is smaller than the flash
                # of the board. This is a hint the user chose the wrong config and will lack features
@@ -678,8 +708,7 @@ class uploader(object):
                # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144

                if self.fw_maxsize > fw.property('image_maxsize') and not force:
-                    raise RuntimeError("Board can accept larger flash images (%u bytes) than board config (%u bytes). Please use the correct board configuration to avoid lacking critical functionality."
-                                       % (self.fw_maxsize, fw.property('image_maxsize')))
+                    raise RuntimeError(f"Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes). Please use the correct board configuration to avoid lacking critical functionality.")
        else:
            # If we're still on bootloader v4 on a Pixhawk, we don't know if we
            # have the silicon errata and therefore need to flash px4_fmu-v2
@@ -780,16 +809,13 @@ class uploader(object):


 def main():
-    # Python2 is EOL
-    if not runningPython3:
-        raise RuntimeError("Python 2 is not supported. Please try again using Python 3.")
-
    # Parse commandline arguments
    parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
    parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
    parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
    parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
+    parser.add_argument('--force-erase', action="store_true", help="Do not perform the blank check, always erase every sector of the application space")
    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
    parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
@@ -867,9 +893,10 @@ def main():
                        # Windows, don't open POSIX ports
                        if "/" not in port:
                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                except Exception:
+                except Exception as e:
                    # open failed, rate-limit our attempts
                    time.sleep(0.05)
+                    print(f"Exception ignored: {e}")

                    # and loop to the next port
                    continue
@@ -884,10 +911,10 @@ def main():
                        up.identify()
                        found_bootloader = True
                        print()
-                        print("Found board id: %s,%s bootloader version: %s on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
+                        print(f"Found board id: {up.board_type},{up.board_rev} bootloader protocol revision {up.bl_rev} on {port}")
                        break

-                    except Exception:
+                    except (RuntimeError, serial.SerialException):

                        if not up.send_reboot(args.use_protocol_splitter_format):
                            break
@@ -907,14 +934,14 @@ def main():

                try:
                    # ok, we have a bootloader, try flashing it
-                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay)
+                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay, force_erase=args.force_erase)

                    # if we made this far without raising exceptions, the upload was successful
                    successful = True

-                except RuntimeError as ex:
+                except RuntimeError as e:
                    # print the error
-                    print("\nERROR: %s" % ex.args)
+                    print(f"\n\nError: {e}")

                except FirmwareNotSuitableException:
                    unsuitable_board = True
@@ -12,6 +12,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
@@ -8,6 +8,7 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
@@ -8,13 +8,16 @@ CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -32,19 +32,10 @@ then
 	param set-default SENS_TEMP_ID 2490378
 fi

-param set-default EKF2_BARO_DELAY 13
-param set-default EKF2_BARO_NOISE 0.9
-param set-default EKF2_HGT_REF 2
-param set-default EKF2_MAG_DELAY 100
-param set-default EKF2_MAG_NOISE 0.06
 param set-default EKF2_MULTI_IMU 2
 param set-default EKF2_OF_CTRL 1
-param set-default EKF2_OF_DELAY 48
 param set-default EKF2_OF_N_MIN 0.05
 param set-default EKF2_RNG_A_HMAX 25
-param set-default EKF2_RNG_DELAY 48
-param set-default EKF2_RNG_NOISE 0.03
 param set-default EKF2_RNG_QLTY_T 0.1
-param set-default EKF2_RNG_SFE 0.03

 param set-default SENS_FLOW_RATE 150
@@ -21,8 +21,10 @@ then
 fi

 # Internal magnetometer on I2C
-# TODO: Write a driver for the MMC5983MA
-mmc5983ma -I -b 4 start
+if ! iis2mdc -R 4 -I -b 4 start
+then
+	mmc5983ma -I -b 4 start
+fi

 # Internal Baro on I2C
 bmp388 -I -b 4 start
@@ -2,6 +2,7 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_MAIERTEK_MPC2520=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
@@ -3,6 +3,7 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_BAROMETER_LPS25H=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_GPS=y
@@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
 CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088_I2C=y
@@ -7,12 +7,14 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
@@ -11,9 +11,11 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
@@ -194,6 +194,12 @@

 #define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */

+/* UART clock selection */
+/* reset to default to overwrite any changes done by any bootloader */
+
+#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
+#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
+
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

@@ -11,9 +11,11 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
@@ -195,6 +195,12 @@

 #define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */

+/* UART clock selection */
+/* reset to default to overwrite any changes done by any bootloader */
+
+#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
+#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
+
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

@@ -12,6 +12,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -8,6 +8,7 @@ CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
@@ -12,6 +12,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -97,9 +97,9 @@
 #define INTERFACE_USART_CONFIG         "/dev/ttyS5,57600"
 #define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1013
-#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
-#define BOARD_FLASH_SECTORS            (15)
-#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
+#define BOARD_FLASH_SECTORS            (14)
+#define BOARD_FLASH_SIZE               (16 * 128 * 1024)
+#define APP_RESERVATION_SIZE 	       (1 * 128 * 1024)

 #define OSC_FREQ                       16

@@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -9,6 +9,7 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
@@ -9,6 +9,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -9,6 +9,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -9,6 +9,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
@@ -8,6 +8,7 @@ CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
@@ -12,6 +12,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -12,6 +12,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
@@ -12,6 +12,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -6,4 +6,5 @@
 param set-default BAT1_V_DIV 10.1
 param set-default BAT1_A_PER_V 17

+param set-default GPS_2_CONFIG 202
 param set-default TEL_FRSKY_CONFIG 103
@@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -9,6 +9,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -9,9 +9,11 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI085=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
@@ -9,6 +9,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -10,6 +10,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -11,6 +11,7 @@ CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
@@ -11,6 +11,7 @@ CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
@@ -9,6 +9,8 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_ST_L3GD20=y
@@ -11,9 +11,11 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
@@ -11,9 +11,11 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
@@ -12,6 +12,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -10,6 +10,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -6,6 +6,7 @@ CONFIG_COMMON_OPTICAL_FLOW=n
 CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n
+CONFIG_DRIVERS_CDCACM_AUTOSTART=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_PWM_INPUT=n
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -246,6 +246,12 @@

 #define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3

+/* UART clock selection */
+/* reset to default to overwrite any changes done by any bootloader */
+
+#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
+#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
+
 /* ADC 1 2 3 clock source */

 #define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
@@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -250,6 +250,12 @@

 #define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2

+/* UART clock selection */
+/* reset to default to overwrite any changes done by any bootloader */
+
+#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
+#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
+
 /* FDCAN 1 2 clock source */

 #define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
@@ -13,6 +13,7 @@ CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -33,6 +34,7 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -84,6 +86,7 @@ CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_IO_BYPASS_CONTROL=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -12,9 +12,11 @@ param set-default MAV_2_RATE 100000
 param set-default MAV_2_REMOTE_PRT 14550
 param set-default MAV_2_UDP_PRT 14550

+# By disabling all 3 INA modules, we use the
+# i2c_launcher instead.
 param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
-param set-default SENS_EN_INA226 1
+param set-default SENS_EN_INA226 0

 safety_button start

@@ -17,6 +17,7 @@
 #------------------------------------------------------------------------------

 set HAVE_PM2 yes
+set INA_CONFIGURED no

 if mft query -q -k MFT -s MFT_PM2 -v 0
 then
@@ -39,6 +40,8 @@ then
 	then
 		ina226 -X -b 2 -t 2 -k start
 	fi
+
+	set INA_CONFIGURED yes
 fi

 if param compare SENS_EN_INA228 1
@@ -49,6 +52,8 @@ then
 	then
 		ina228 -X -b 2 -t 2 -k start
 	fi
+
+	set INA_CONFIGURED yes
 fi

 if param compare SENS_EN_INA238 1
@@ -59,6 +64,25 @@ then
 	then
 		ina238 -X -b 2 -t 2 -k start
 	fi
+
+	set INA_CONFIGURED yes
+fi
+
+#Start Auterion Power Module selector for Skynode boards
+if ver hwbasecmp 009 010
+then
+	pm_selector_auterion start
+else
+	if [ $INA_CONFIGURED = no ]
+	then
+		# INA226, INA228, INA238 auto-start
+		i2c_launcher start -b 1
+		if [ $HAVE_PM2 = yes ]
+		then
+			i2c_launcher start -b 2
+		fi
+	fi
+fi
 fi

 # Internal SPI bus ICM42686p (hard-mounted)
@@ -88,4 +112,5 @@ fi

 bmp388 -X -b 2 start

+unset INA_CONFIGURED
 unset HAVE_PM2
@@ -28,6 +28,7 @@ CONFIG_ARMV7M_ITCM=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU=y
+CONFIG_ARM_MPU_RESET=y
 CONFIG_BOARDCTL=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_ASSERT_RESET_VALUE=0
@@ -52,6 +52,7 @@
 #define IMXRT_IPG_PODF_DIVIDER 5
 #define BOARD_GPT_FREQUENCY  24000000
 #define BOARD_XTAL_FREQUENCY 24000000
+#define BOARD_FLEXIO_PREQ    108000000

 /* SDIO *********************************************************************/

@@ -29,6 +29,7 @@ CONFIG_ARMV7M_ITCM=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU=y
+CONFIG_ARM_MPU_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_BOOTLOADER_FIXUP=y
@@ -46,7 +47,10 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x3643
 CONFIG_CDCACM_VENDORSTR="Dronecode Project, Inc."
+CONFIG_DEBUG_ERROR=y
+CONFIG_DEBUG_FEATURES=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
@@ -185,7 +189,6 @@ CONFIG_LPUART8_TXDMA=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
-CONFIG_MMCSD_MULTIBLOCK_LIMIT=1
 CONFIG_MMCSD_SDIO=y
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
@@ -258,7 +261,6 @@ CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=2032
-CONFIG_SCHED_WAITPID=y
 CONFIG_SDIO_BLOCKSETUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -277,6 +279,7 @@ CONFIG_SYSTEM_CLE=y
 CONFIG_SYSTEM_DHCPC_RENEW=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
+CONFIG_SYSTEM_SYSTEM=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
@@ -455,6 +455,7 @@
 #define RC_SERIAL_SINGLEWIRE            1 // Suport Single wire wiring
 #define RC_SERIAL_SWAP_RXTX             1 // Set Swap (but not supported in HW) to use Single wire
 #define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* FLEXSPI4 */

@@ -114,11 +114,11 @@ const struct clock_configuration_s g_initial_clkconfig = {
 			.div           = 1,
 			.mux           = ACMP_CLK_ROOT_OSC_RC_48M_DIV2,
 		},
-		.flexio1_clk_root =
+		.flexio1_clk_root = /* 432 / 4 = 108Mhz */
 		{
 			.enable        = 1,
-			.div           = 2,
-			.mux           = FLEXIO1_CLK_ROOT_SYS_PLL3_DIV2,
+			.div           = 4,
+			.mux           = FLEXIO1_CLK_ROOT_SYS_PLL2_PFD3,
 		},
 		.flexio2_clk_root =
 		{
@@ -492,9 +492,9 @@ const struct clock_configuration_s g_initial_clkconfig = {
 		.mfd             = 268435455,
 		.ss_enable       = 0,
 		.pfd0            = 27, /* (528 * 18) / 27 = 352 MHz */
-		.pfd1            = 16, /* (528 * 16) / 16 = 594 MHz */
-		.pfd2            = 24, /* (528 * 24) / 27 = 396 MHz */
-		.pfd3            = 32, /* (528 * 32) / 27 = 297 MHz */
+		.pfd1            = 16, /* (528 * 18) / 16 = 594 MHz */
+		.pfd2            = 24, /* (528 * 18) / 24 = 396 MHz */
+		.pfd3            = 22, /* (528 * 18) / 22 = 216 MHz */
 	},
 	.sys_pll3 =
 	{
@@ -104,9 +104,10 @@ const struct flexspi_nor_config_s g_flash_fast_config = {
 		.busyBitPolarity = 0u,
 		.lookupTable =
 		{
-			/* Read */// EEH+11H+32bit addr+20dummy cycles+ 4Bytes read data    //200Mhz 18 dummy=10+8
+			/* Read */// EEH+11H+32bit addr+20dummy cycles+ 4Bytes read data
+			/* Macronix manual says 20 dummy cycles @ 200Mhz, FlexSPI peripheral Operand value needs to be 2N in DDR mode hence 0x28 */
 			[0 + 0] = FLEXSPI_LUT_SEQ(CMD_DDR, FLEXSPI_8PAD, 0xEE, CMD_DDR, FLEXSPI_8PAD, 0x11),    //0x871187ee,
-			[0 + 1] = FLEXSPI_LUT_SEQ(RADDR_DDR, FLEXSPI_8PAD, 0x20, DUMMY_DDR, FLEXSPI_8PAD, 0x04),//0xb3048b20,
+			[0 + 1] = FLEXSPI_LUT_SEQ(RADDR_DDR, FLEXSPI_8PAD, 0x20, DUMMY_DDR, FLEXSPI_8PAD, 0x28),//0xb3288b20,
 			[0 + 2] = FLEXSPI_LUT_SEQ(READ_DDR, FLEXSPI_8PAD, 0x04, STOP_EXE, FLEXSPI_1PAD, 0x00), //0xa704,

 			/* Read status */
@@ -53,18 +53,12 @@ static const px4_mft_device_t i2c6 = {             // 24LC64T on BASE  8K 32 X 2

 static const px4_mtd_entry_t fmum_fram = {
 	.device = &qspi_flash,
-	.npart = 2,
+	.npart = 1,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = 32
-		},
-		{
-			.type = MTD_WAYPOINTS,
-			.path = "/fs/mtd_waypoints",
-			.nblocks = 32
-
+			.nblocks = 256
 		}
 	},
 };
@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
@@ -10,6 +10,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
@@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -4,6 +4,7 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
@@ -364,7 +364,7 @@ __ramfunc__ void stm32_board_clockconfig(void)
 		 */

 		regval = getreg32(STM32_PWR_CR3);
-		regval |= STM32_PWR_CR3_LDOEN | STM32_PWR_CR3_LDOESCUEN;
+		regval |= STM32_PWR_CR3_LDOEN | STM32_PWR_CR3_SCUEN;
 		putreg32(regval, STM32_PWR_CR3);

 		/* Set the voltage output scale */
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jacob Dahl	93eef0c787	set file descriptor to -1 after close()	2024-10-01 13:13:18 -04:00
alexklimaj	dd5e81470c	failure detector use per index esc current	2024-09-30 15:45:56 -04:00
Mathieu Bresciani	1d06f62399	fix VehicleCommand.msg syntax	2024-09-30 15:28:24 -04:00
Daniel Agar	f5f7dfc45e	commander: ignore REQUEST_CAMERA_INFORMATION - add answer command logging	2024-09-30 15:28:24 -04:00
Ramon Roche	cf1c03e412	drivers/gnss/septentrio: disable default assignment of GPS1	2024-09-25 06:54:51 -07:00
Ramon Roche	30e763b678	Commander: lock down mav sys and comp id - keeps them as local params at init - only allow to set at init	2024-08-27 15:27:32 -04:00
Julian Oes	fe26cdebc0	stm32h7: Reset USART clock selection (#23498 ) (#23516 ) This resets the USARTs' clock source selection to the default, in case it has been changed by the bootloader. This is required if booting from the ArduPilot bootloader which happens to reset the clock selection to PLL. Without this fix, UARTs (including the console) is garbled, so presumably at an invalid baudrate.	2024-08-09 10:25:19 +12:00
Silvan Fuhrer	631f36b1ee	TECS: reduce default of FW_T_SPD_STD to reduce airspeed measurement delay Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-08-07 17:45:20 +02:00
Beat Küng	96cddf5ed1	fix metadata.cmake: add missing paths to json & xml parameter outputs (#23464 )	2024-08-07 08:39:43 +02:00
chiara-septentrio	5216453b39	drivers/gnss/septentrio : 1.15-compatible extracted septentrio driver, with new features and fixes (#23386 ) Co-authored-by: Chiara de Saint Giniez <chiarastginiez@gmail.com>	2024-07-25 11:39:38 -04:00
David Sidrane	3dc97908db	spracing_h7extreme:rcc Tack upstream name fix	2024-07-15 13:52:44 +02:00
Matthias Grob	762d87285c	Jankinsfile-compile: add missing comma after `ark_pi6x_default`	2024-07-15 13:52:44 +02:00
Matthias Grob	5216d5c569	SubscriptionInterval: move updated, update, copy function to a cpp file Saves 17.3 kilobytes of flash 😮	2024-07-15 11:31:52 +02:00
Matthias Grob	920005a235	uORB: SubscriptionInterval fix timestamp wrapping when initializing less than the interval time after boot (#23384 ) * SubscriptionInterval: ensure _last_update is never before timer start	2024-07-11 16:36:55 +02:00
Peter van der Perk	50dd011c5e	Update NuttX Backports: stm32h755II backport stm32h7: allow Ethernet MAC without PHY imxrt: imxrt11xx set core clock to 1p15v regardless of ocotp imxrt: Correctly update PLL, bit has to toggled instead of being set	2024-07-10 22:00:47 -04:00
Peter van der Perk	e00101b771	[BACKPORT] imxrt: Change PLL settings for more accurate dshot timing	2024-07-10 22:00:47 -04:00
Peter van der Perk	c8fedda09a	[BACKPORT] fmu-v6xrt: MTD use full FRAM (32KB)	2024-07-10 22:00:47 -04:00
alexklimaj	de07e2bef0	boards ark pi6x add vl53l0x	2024-06-26 17:09:48 -04:00
fury1895	9a422dbfe8	gimbal - input_mavlink: return NoUpdate by default	2024-06-19 14:49:04 +02:00
Julian Oes	e2558046b8	mavlink: enable gimbal controls in QGC over USB	2024-06-11 15:08:38 +12:00
Julian Oes	00b6df1de5	gimbal: fix auto RC and MAVLink mode This fixes various edge cases when input is set to both: RC and MAVLink gimbal protocol v2. Specifically: - We no longer immediately reset primary control if there is no update, otherwise this will reset immediately after an commands. - Talking of commands: GIMBAL_MANAGER_CONFIGURE no longer switches control to MAVLink but only an actual incoming setpoint command does. - And incoming setpoint command only triggers UpdatedActiveOnce which means we will check RC again afterwards and if there is big movement switch back to RC. That's the intuitive thing to do until we have better reporting about who/what is in control. - Also, with RC we no longer always set us to be in control but only on major movement.	2024-06-11 15:08:38 +12:00
Jacob Dahl	061373f45b	cdcacm_autostart: handle USB power only	2024-06-07 08:05:15 -04:00
Silvan Fuhrer	f3787708d7	VTOL: remove _dt passing as it's no longer used (and was wrong) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-06 21:52:40 -04:00
Silvan Fuhrer	4fe51d4911	VTOL Standard: fix transition pusher motor slew rate Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-06 21:52:40 -04:00
Julian Oes	71bf06af56	boards: update all bootloaders	2024-06-07 09:24:40 +12:00
Peize-Liu	5f2568231d	[Fix][hkust_nxt-dual]:board hkust_nxt-dual fix hw_config.h missing APP_RESERVATION_SIZE param (#23204 )	2024-06-07 09:24:40 +12:00
Julian Oes	ce9109cf5e	Makefile: add missing bootloader targets Quite a few were missing, and everything on one line was hard to diff.	2024-06-07 09:24:40 +12:00
David Sidrane	ec2c91fa90	nxp/imxrt_common/main:Fix Breakage from `a9962dc`	2024-06-07 09:24:40 +12:00
Julian Oes	9f07f2a076	px_uploader: catch serial exception correctly Signed-off-by: Julian Oes <julian@oes.ch>	2024-06-07 09:24:40 +12:00
Julian Oes	9dc3f6ea12	bootloader: remove unused/duplicate defines	2024-06-07 09:24:40 +12:00
Julian Oes	0d957e9e87	bootloader: track ArduPilot protocol Just so we don't conflict on these commands in the future.	2024-06-07 09:24:40 +12:00
Julian Oes	62e61a3d7e	px_uploader.py: clean up various tidbits Includes: - Remove some of the outdated Python2 checks and compatibility. - Try not catch all exceptions but only the expected ones. Otherwise, this makes it really hard to debug if anything unexpected actually goes wrong. - Make use of fstrings. - Make output slightly prettier. Signed-off-by: Julian Oes <julian@oes.ch>	2024-06-07 09:24:40 +12:00
Julian Oes	cc83186dcc	bootloader: add bootloader version This adds a new protocol extension which allows to get the bootloader version. The bootloader version is different from the bootloader protocol revision which has stabilized at 5 and is not easy to update unless a bootloader is actually breaking the protocol. The reason being that both the Python script as well as the uploader used in QGC will not attempt to load firmware if they don't know the bootloader version, so it could basically be considered a "breaking" protocol revision. Signed-off-by: Julian Oes <julian@oes.ch>	2024-06-07 09:24:40 +12:00
Julian Oes	eb9fd7ec76	tools/bootloader: add force-erase option If the STM32H7 fails to program or erase a full chunk of 256 bytes, the ECC check will trigger a busfault when trying to read from it. To speed up erasing and optimize wear, we read before erasing to check if it actually needs erasing. That's when a busfault happens and the erase time outs. The workaround is to add an option to do a full erase without check. Credit goes to: https://github.com/ArduPilot/ardupilot/pull/22090 And the protocol option added to the bootloader is the same as for ArduPilot, so compatible. Signed-off-by: Julian Oes <julian@oes.ch>	2024-06-07 09:24:40 +12:00
Peter van der Perk	d8655fdde9	[BACKPORT] fmu-v6xrt: Support RC telemetry	2024-06-05 11:15:45 -04:00
Peter van der Perk	d8b6b2a5ad	[BACKPORT] fmu-v6xrt: Fix flash configuration Fixes correct dummy cycle count of 20	2024-06-05 11:15:45 -04:00
David Sidrane	ef9b1b75c3	[BACKPORT] Update px4_fmu-v6xrt Bootloader	2024-06-05 11:15:45 -04:00
David Sidrane	f10650e114	[BACKPORT] px4_fmu-v6xrt & bootloader:Bootloader enusres that ITCM memory is writable before jump to APP	2024-06-05 11:15:45 -04:00
David Sidrane	82a259cebe	[BACKPORT] bootloader/common/bl.c:Fixed Wrong vec_base caculation - only effects imxrt	2024-06-05 11:15:45 -04:00
David Sidrane	5903a815b7	NuttX with imxrt:lpuart & 1170 MPU Backports [BACKPORT] imxrt: lpuart singlewire transfer support These correctly enables mpu_rest on MPU init if CONFIG_ARM_MPU_RESET is defined. [BACKPORT] imxrt: 1170 MPU config ensure no lockups can occur [BACKPORT] armv{7\|8}-{m\|r}:MPU fix CONFIG naming to include ARM	2024-06-05 11:15:45 -04:00
Peter van der Perk	b5e5b2a186	[BACKPORT] dronecan: SocketCAN driver check size before copying Avoids memory corruption if we get packets to big	2024-06-05 11:15:45 -04:00
Peter van der Perk	901ac16583	[BACKPORT] fmu-v6xrt: Add I2C driver launcher	2024-06-05 11:15:45 -04:00
Peter van der Perk	27ed745b95	[BACKPORT] fmu-v6xrt: Enable debug features for more verbose hardfault output	2024-06-05 11:15:45 -04:00
David Sidrane	0ca57a5547	NuttX with imxrt_sd-preflight backport	2024-06-05 11:15:45 -04:00
David Sidrane	d182b202c8	[BACKPORT] px4_fmu-v6xrt:Support_MMCSD_MULTIBLOCK with preflight	2024-06-05 11:15:45 -04:00
alexklimaj	192bbd177b	airframes: dexi remove EKF2_HGT_REF default	2024-05-29 20:39:10 -04:00
alexklimaj	bb1f104a1a	boards: ark-pi6x remove ekf delay param defaults	2024-05-29 11:23:16 -04:00
Jacob Dahl	e173520273	boards: ark: pi6x: CONFIG_DRIVERS_CDCACM_AUTOSTART=y (#23163 )	2024-05-29 11:23:16 -04:00
Jacob Dahl	b8e43e1649	[mavlink] Parameter to always start on USB (#22234 ) * usb: Added parameter to enable always starting mavlink on USB. Refactored cdcacm_init into a module and added a paramter to allow always starting mavlink on USB, also added a paramter to choose the mode. The current default behavior is to wait and listen for data on USB and auto-detect the protocol (mavlink, nsh, ublox). This results in the mavlink stream not starting until something else on the mavlink network sends a packet first. The new default behavior is to always start mavlink. Added parameters MAV_USB_ENABLE -- default 1 (always start mavlink on USB) MAV_USE_MODE -- default 3 (onboard) * added 3 retries for opening serial port in mavlink, removed sleep before sercon * added DRIVERS_CDCACM_AUTOSTART to ark-v6x default.px4board * added CONFIG_DRIVERS_CDCACM_AUTOSTART=y to default.px4board for boards with CONFIG_CDCACM in their nsh/defconfig * format * remove PGA460 from COMMON_DISTANCE_SENSOR to save flash * remove LIS2MDL from COMMON_MAGNETOMETER to save flash * disable CONFIG_DRIVERS_CDCACM_AUTOSTART for fmu-v5 protected.px4board * moved and renamed parameters, removed mode logic in mavlink * changed parameter names, added mode none * remove parameters from mavlink	2024-05-29 11:23:16 -04:00
alexklimaj	a59b6fe5e9	boards: add iis2mdc mag to ark pi6x	2024-05-29 11:23:16 -04:00
Jacob Dahl	3b0a712c70	drivers/magnetometer: new ST IIS2MDC Magnetometer driver	2024-05-29 11:23:16 -04:00
Alexis Guijarro	60138da56b	mRo Control Zero Classic: Definition for GPS2 by default added	2024-05-23 18:29:10 -07:00