VTOL: use the same logic for front transition complete in all vtol types

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
HealthCheck: added health check for logger to report if it's running (#22781 )
2026-06-06 17:30:04 +08:00 · 2024-05-29 15:57:25 +02:00 · 2024-05-29 11:56:50 +02:00 · 2024-05-29 11:37:27 +02:00 · 2024-05-29 11:24:53 +02:00 · 2024-05-28 14:54:33 +02:00
235 changed files with 3411 additions and 1443 deletions
@@ -1,7 +1,7 @@
 root = true

 [*]
-insert_final_newline = false
+insert_final_newline = true

 [{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
 indent_style = tab
@@ -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"
@@ -138,6 +138,12 @@ then
 	adis16507 -S start
 fi

+# SCH16T spi external IMU
+if param compare -s SENS_EN_SCH16T 1
+then
+	sch16t -S start
+fi
+
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then
@@ -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)
 	#
@@ -6,7 +6,7 @@ function check_git_submodule {
 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
+	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ] || [ -n "${CLION_IDE+set}" ]; then
 		git submodule --quiet sync --recursive -- $1
 		git submodule --quiet update --init --recursive --jobs=8 -- $1  || true
 		git submodule --quiet sync --recursive -- $1
@@ -15,7 +15,7 @@ class ModuleDocumentation(object):
    # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
-    valid_subcategories = ['', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
+    valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']

    max_line_length = 80 # wrap lines that are longer than this
@@ -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
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
@@ -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
@@ -18,6 +19,7 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
+CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
@@ -57,6 +59,7 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -8,6 +8,7 @@ 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_DSHOT=y
 CONFIG_DRIVERS_GPS=y
@@ -39,6 +40,7 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -1,13 +1,13 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
@@ -8,4 +8,7 @@ icm42688p -R 0 -s start

 bmp388 -I -b 1 start

-bmm150 -I -b 1 start
+if ! iis2mdc -R 4 -I -b 1 start
+then
+	bmm150 -I -b 1 start
+fi
@@ -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
@@ -7,6 +7,7 @@ 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
@@ -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
@@ -11,6 +11,7 @@ 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
@@ -11,6 +11,7 @@ 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
@@ -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
@@ -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
@@ -9,7 +9,7 @@ When running PX4 directly on the QRB5165 SoC it runs partially on the Sensor Low
 The portion running on the DSP hosts the flight critical portions of PX4 such as
 the IMU, barometer, magnetometer, GPS, ESC, and power management drivers, and the
 state estimation. The DSP acts as the real time portion of the system. Non flight
-critical applications such as Mavlink, logging, and commander are running on the
+critical applications such as Mavlink, and logging are running on the
 ARM CPU cluster (aka apps proc). The DSP and ARM CPU cluster communicate via a
 Qualcomm proprietary shared memory interface.

@@ -27,6 +27,7 @@ The full instructions are available here:
 ```
 px4$ boards/modalai/voxl2/scripts/run-docker.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/clean.sh
+root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-deps.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-apps.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-slpi.sh
 root@9373fa1401b8:/usr/local/workspace# exit
@@ -69,16 +70,15 @@ pxh>
 ## Notes

 You cannot cleanly shutdown PX4 with the shutdown command on VOXL 2. You have
-to power cycle the board and restart everything.
+to power cycle the board and restart everything. Starting with SDK 1.3.0 it is possible
+to cleanly shutdown PX4 on VOXL 2.

 ## Tips

-Start with a VOXL 2 that only has the system image installed, not the SDK
-
-Run the command ```voxl-px4 -s``` on target to run the self-test
+Always use the latest SDK release

 In order to see DSP specific debug messages the mini-dm tool in the Hexagon SDK
-can be used:
+can be used (Most messages are passed to the apps proc but certain low level messages are not):
 ```
 modalai@modalai-XPS-15-9570:/local/mnt/workspace/Qualcomm/Hexagon_SDK/4.1.0.4/tools/debug/mini-dm/Ubuntu18$ sudo ./mini-dm
 [sudo] password for modalai:
@@ -20,7 +20,6 @@ adb shell chmod a+x /usr/bin/voxl-px4-hitl-start

 # Push configuration file
 adb shell mkdir -p /etc/modalai
-adb push boards/modalai/voxl2/target/voxl-px4-set-default-parameters.config /etc/modalai
 adb push boards/modalai/voxl2/target/voxl-px4-fake-imu-calibration.config /etc/modalai
 adb push boards/modalai/voxl2/target/voxl-px4-hitl-set-default-parameters.config /etc/modalai

@@ -129,12 +129,6 @@ else
    DAEMON="-d"
 fi

-if [ ! -f /data/px4/param/parameters ]; then
-   echo "[INFO] Setting default parameters for PX4 on voxl"
-   px4 $DAEMON -s /etc/modalai/voxl-px4-set-default-parameters.config
-   /bin/sync
-fi
-
 if [ $SENSOR_CAL == "FAKE" ]; then
   /bin/echo "[INFO] Setting up fake sensor calibration values"
   px4 $DAEMON -s /etc/modalai/voxl-px4-fake-imu-calibration.config
@@ -1,192 +0,0 @@
-#!/bin/sh
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-. px4-alias.sh
-
-param select /data/px4/param/parameters
-
-# Make sure we are running at 800Hz on IMU
-param set IMU_GYRO_RATEMAX 800
-
-# EKF2 Parameters
-param set EKF2_IMU_POS_X 0.027
-param set EKF2_IMU_POS_Y 0.009
-param set EKF2_IMU_POS_Z -0.019
-param set EKF2_EV_DELAY 5
-param set EKF2_AID_MASK 280
-param set EKF2_ABL_LIM 0.8
-param set EKF2_TAU_POS 0.25
-param set EKF2_TAU_VEL 0.25
-
-param set MC_AIRMODE 0
-
-param set MC_YAW_P 2.0
-param set MC_YAWRATE_P 0.15
-param set MC_YAWRATE_I 0.1
-param set MC_YAWRATE_D 0.0
-param set MC_YAWRATE_K 1.0
-
-param set MC_PITCH_P 5.5
-param set MC_PITCHRATE_P 0.08
-param set MC_PITCHRATE_I 0.2
-param set MC_PITCHRATE_D 0.0013
-param set MC_PITCHRATE_K 1.0
-
-param set MC_ROLL_P 5.5
-param set MC_ROLLRATE_P 0.08
-param set MC_ROLLRATE_I 0.2
-param set MC_ROLLRATE_D 0.0013
-param set MC_ROLLRATE_K 1.0
-
-param set MPC_VELD_LP 5.0
-
-# tweak MPC_THR_MIN to prevent roll/pitch losing control
-# authority under rapid downward acceleration
-param set MPC_THR_MAX 0.75
-param set MPC_THR_MIN 0.08
-param set MPC_THR_HOVER 0.42
-param set MPC_MANTHR_MIN 0.05
-
-# default position mode with a little expo, smooth mode is terrible
-param set MPC_POS_MODE 0
-param set MPC_YAW_EXPO 0.20
-param set MPC_XY_MAN_EXPO 0.20
-param set MPC_Z_MAN_EXPO 0.20
-
-# max velocities
-param set MPC_VEL_MANUAL 5.0
-param set MPC_XY_VEL_MAX 5.0
-param set MPC_XY_CRUISE 5.0
-param set MPC_Z_VEL_MAX_DN 1.5
-param set MPC_Z_VEL_MAX_UP 4.0
-param set MPC_LAND_SPEED 1.0
-
-# Horizontal position PID
-param set MPC_XY_P 0.95
-param set MPC_XY_VEL_P_ACC 3.00
-param set MPC_XY_VEL_I_ACC 0.10
-param set MPC_XY_VEL_D_ACC 0.00
-
-# Vertical position PID
-# PX4 Defaults
-param set MPC_Z_P 1.0
-param set MPC_Z_VEL_P_ACC 8.0
-param set MPC_Z_VEL_I_ACC 2.0
-param set MPC_Z_VEL_D_ACC 0.0
-
-param set MPC_TKO_RAMP_T 1.50
-param set MPC_TKO_SPEED	1.50
-
-# Set the ESC outputs to function as motors
-param set VOXL_ESC_FUNC1 101
-param set VOXL_ESC_FUNC2 103
-param set VOXL_ESC_FUNC3 104
-param set VOXL_ESC_FUNC4 102
-
-param set VOXL_ESC_SDIR1 0
-param set VOXL_ESC_SDIR2 0
-param set VOXL_ESC_SDIR3 0
-param set VOXL_ESC_SDIR4 0
-
-param set VOXL_ESC_CONFIG 1
-param set VOXL_ESC_REV 0
-param set VOXL_ESC_MODE 0
-param set VOXL_ESC_BAUD 2000000
-param set VOXL_ESC_RPM_MAX 10500
-param set VOXL_ESC_RPM_MIN 1000
-
-# Set the Voxl2 IO outputs to function as motors
-param set VOXL2_IO_FUNC1 101
-param set VOXL2_IO_FUNC2 102
-param set VOXL2_IO_FUNC3 103
-param set VOXL2_IO_FUNC4 104
-
-param set VOXL2_IO_BAUD 921600
-param set VOXL2_IO_MIN 1000
-param set VOXL2_IO_MAX 2000
-
-# Some parameters for control allocation
-param set CA_ROTOR_COUNT 4
-param set CA_R_REV 0
-param set CA_AIRFRAME 0
-param set CA_ROTOR_COUNT 4
-param set CA_ROTOR0_PX 0.15
-param set CA_ROTOR0_PY 0.15
-param set CA_ROTOR1_PX -0.15
-param set CA_ROTOR1_PY -0.15
-param set CA_ROTOR2_PX 0.15
-param set CA_ROTOR2_PY -0.15
-param set CA_ROTOR2_KM -0.05
-param set CA_ROTOR3_PX -0.15
-param set CA_ROTOR3_PY 0.15
-param set CA_ROTOR3_KM -0.05
-
-# Some parameter settings to disable / ignore certain preflight checks
-
-# No GPS driver yet so disable it
-param set SYS_HAS_GPS 0
-
-# Allow arming wihtout a magnetometer (Need magnetometer driver)
-param set SYS_HAS_MAG 0
-param set EKF2_MAG_TYPE	5
-
-# Allow arming without battery check (Need voxlpm driver)
-param set CBRK_SUPPLY_CHK 894281
-
-# Allow arming without an SD card
-param set COM_ARM_SDCARD 0
-
-# Allow arming wihtout CPU load information
-param set COM_CPU_MAX 0.0
-
-# Disable auto disarm. This is number of seconds to wait for takeoff
-# after arming. If no takeoff happens then it will disarm. A negative
-# value disables this.
-param set COM_DISARM_PRFLT -1
-
-# This parameter doesn't exist anymore. Need to see what the new method is.
-# param set MAV_BROADCAST 0
-
-# Doesn't work without setting this to Quadcopter
-param set MAV_TYPE 2
-
-# Parameters that we don't use but QGC complains about if they aren't there
-param set SYS_AUTOSTART 4001
-
-# Default RC channel mappings
-param set RC_MAP_ACRO_SW 0
-param set RC_MAP_ARM_SW 0
-param set RC_MAP_AUX1 0
-param set RC_MAP_AUX2 0
-param set RC_MAP_AUX3 0
-param set RC_MAP_AUX4 0
-param set RC_MAP_AUX5 0
-param set RC_MAP_AUX6 0
-param set RC_MAP_FAILSAFE 0
-param set RC_MAP_FLAPS 0
-param set RC_MAP_FLTMODE 6
-param set RC_MAP_GEAR_SW 0
-param set RC_MAP_KILL_SW 7
-param set RC_MAP_LOITER_SW 0
-param set RC_MAP_MAN_SW 0
-param set RC_MAP_MODE_SW 0
-param set RC_MAP_OFFB_SW 0
-param set RC_MAP_PARAM1 0
-param set RC_MAP_PARAM2 0
-param set RC_MAP_PARAM3 0
-param set RC_MAP_PITCH 2
-param set RC_MAP_POSCTL_SW 0
-param set RC_MAP_RATT_SW 0
-param set RC_MAP_RETURN_SW 0
-param set RC_MAP_ROLL 1
-param set RC_MAP_STAB_SW 0
-param set RC_MAP_THROTTLE 3
-param set RC_MAP_TRANS_SW 0
-param set RC_MAP_YAW 4
-
-param save
-
-sleep 2
-
-# Need px4-shutdown otherwise Linux system shutdown is called
-px4-shutdown
@@ -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
@@ -9,6 +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
@@ -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 +9,7 @@ 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_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_ST_L3GD20=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
@@ -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
@@ -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
@@ -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
@@ -66,6 +67,7 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -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
@@ -46,7 +46,10 @@ 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
@@ -257,7 +260,6 @@ 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
@@ -276,6 +278,7 @@ 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
@@ -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
@@ -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
@@ -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_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
@@ -308,7 +308,7 @@ class MavrosMissionTest(MavrosTestCommon):
        self.assertTrue(res['pitch_error_std'] < 5.0, str(res))

        # TODO: fix by excluding initial heading init and reset preflight
-        self.assertTrue(res['yaw_error_std'] < 10.0, str(res))
+        self.assertTrue(res['yaw_error_std'] < 13.0, str(res))


 if __name__ == '__main__':
@@ -9,6 +9,8 @@ uint8 BACKEND_MAVLINK = 2
 uint8 BACKEND_ALL     = 3
 uint8 backend

+bool is_logging
+
 float32 total_written_kb       # total written to log in kiloBytes
 float32 write_rate_kb_s        # write rate in kiloBytes/s

@@ -8,8 +8,8 @@ bool has_vtol_approach 		      # flag if approaches are defined for current RTL_
 uint8 rtl_type	      		      # Type of RTL chosen
 uint8 safe_point_index 		      # index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode

-uint8 RTL_STATUS_TYPE_NONE=0       # RTL type is pending if evaluation can't pe performed currently e.g. when it is still loading the safe points
-uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 # RTL type is chosen to directly go to a safe point or home position
-uint8 RTL_STATUS_TYPE_DIRECT_MISSION_LAND=2 # RTL type is going straight to the beginning of the mission landing
-uint8 RTL_STATUS_TYPE_FOLLOW_MISSION=3 	# RTL type is following the mission from closest point to mission landing
-uint8 RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE=4 # RTL type is following the mission in reverse to the start position
+uint8 RTL_STATUS_TYPE_NONE=0       		# pending if evaluation can't pe performed currently e.g. when it is still loading the safe points
+uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 	# chosen to directly go to a safe point or home position
+uint8 RTL_STATUS_TYPE_DIRECT_MISSION_LAND=2 	# going straight to the beginning of the mission landing
+uint8 RTL_STATUS_TYPE_FOLLOW_MISSION=3 		# Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise.
+uint8 RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE=4 	# Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise.
@@ -1,6 +1,6 @@
 uint64 timestamp	# time since system start (microseconds)

-# body angular rates in NED frame
+# body angular rates in FRD frame
 float32 roll		# [rad/s] roll rate setpoint
 float32 pitch		# [rad/s] pitch rate setpoint
 float32 yaw		# [rad/s] yaw rate setpoint
@@ -89,7 +89,7 @@ static constexpr wq_config_t ttyS9{"wq:ttyS9", 1728, -30};
 static constexpr wq_config_t ttyACM0{"wq:ttyACM0", 1728, -31};
 static constexpr wq_config_t ttyUnknown{"wq:ttyUnknown", 1728, -32};

-static constexpr wq_config_t lp_default{"wq:lp_default", 1920, -50};
+static constexpr wq_config_t lp_default{"wq:lp_default", 2000, -50};

 static constexpr wq_config_t test1{"wq:test1", 2000, 0};
 static constexpr wq_config_t test2{"wq:test2", 2000, 0};
@@ -37,6 +37,10 @@ add_library(bootloader
 	crypto.c
 )

+target_compile_definitions(bootloader
+	PRIVATE BOOTLOADER_VERSION="PX4BLv${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH}g${PX4_GIT_HASH}"
+)
+
 target_link_libraries(bootloader
 	PRIVATE
 		arch_bootloader
@@ -80,7 +80,7 @@
 // RESET    finalise flash programming, reset chip and starts application
 //

-#define BL_PROTOCOL_VERSION         5   // The revision of the bootloader protocol
+#define BL_PROTOCOL_REVISION        5   // The revision of the bootloader protocol
 //* Next revision needs to update

 // protocol bytes
@@ -106,14 +106,20 @@
 #define PROTO_GET_CHIP              0x2c    // read chip version (MCU IDCODE)
 #define PROTO_SET_DELAY             0x2d    // set minimum boot delay
 #define PROTO_GET_CHIP_DES          0x2e    // read chip version In ASCII
+#define PROTO_GET_VERSION           0x2f    // read version
 #define PROTO_BOOT                  0x30    // boot the application
 #define PROTO_DEBUG                 0x31    // emit debug information - format not defined
 #define PROTO_SET_BAUD              0x33    // set baud rate on uart

-#define PROTO_RESERVED_0X36         0x36  // Reserved
-#define PROTO_RESERVED_0X37         0x37  // Reserved
+// Reserved for external flash programming
+// #define PROTO_EXTF_ERASE         0x34  // Erase sectors from external flash
+// #define PROTO_EXTF_PROG_MULTI    0x35  // write bytes at external flash program address and increment
+// #define PROTO_EXTF_READ_MULTI    0x36  // read bytes at address and increment
+// #define PROTO_EXTF_GET_CRC       0x37  // compute & return a CRC of data in external flash
+
 #define PROTO_RESERVED_0X38         0x38  // Reserved
 #define PROTO_RESERVED_0X39         0x39  // Reserved
+#define PROTO_CHIP_FULL_ERASE       0x40  // Full erase, without any flash wear optimization

 #define PROTO_PROG_MULTI_MAX        64  // maximum PROG_MULTI size
 #define PROTO_READ_MULTI_MAX        255 // size of the size field
@@ -125,13 +131,6 @@
 #define PROTO_DEVICE_FW_SIZE        4 // size of flashable area
 #define PROTO_DEVICE_VEC_AREA       5 // contents of reserved vectors 7-10

-#define STATE_PROTO_OK              0x10    // INSYNC/OK      - 'ok' response
-#define STATE_PROTO_FAILED          0x11    // INSYNC/FAILED  - 'fail' response
-#define STATE_PROTO_INVALID         0x13  // INSYNC/INVALID - 'invalid' response for bad commands
-#define STATE_PROTO_BAD_SILICON_REV 0x14  // On the F4 series there is an issue with < Rev 3 silicon
-#define STATE_PROTO_RESERVED_0X15   0x15  // Reserved
-
-
 // State
 #define STATE_PROTO_GET_SYNC        0x1     // Have Seen NOP for re-establishing sync
 #define STATE_PROTO_GET_DEVICE      0x2     // Have Seen get device ID bytes
@@ -142,7 +141,8 @@
 #define STATE_PROTO_GET_SN          0x40    // Have Seen read a word from UDID area ( Serial)  at the given address
 #define STATE_PROTO_GET_CHIP        0x80    // Have Seen read chip version (MCU IDCODE)
 #define STATE_PROTO_GET_CHIP_DES    0x100   // Have Seen read chip version In ASCII
-#define STATE_PROTO_BOOT            0x200   // Have Seen boot the application
+#define STATE_PROTO_GET_VERSION     0x200   // Have Seen get version
+#define STATE_PROTO_BOOT            0x400   // Have Seen boot the application

 #if defined(TARGET_HW_PX4_PIO_V1)
 #define STATE_ALLOWS_ERASE        (STATE_PROTO_GET_SYNC)
@@ -157,6 +157,18 @@
 static uint8_t bl_type;
 static uint8_t last_input;

+int get_version(int n, uint8_t *version_str)
+{
+	int len = strlen(BOOTLOADER_VERSION);
+
+	if (len > n) {
+		len = n;
+	}
+
+	strncpy((char *)version_str, BOOTLOADER_VERSION, n);
+	return len;
+}
+
 inline void cinit(void *config, uint8_t interface)
 {
 #if INTERFACE_USB
@@ -257,7 +269,7 @@ inline void cout(uint8_t *buf, unsigned len)

 #endif

-static const uint32_t bl_proto_rev = BL_PROTOCOL_VERSION; // value returned by PROTO_DEVICE_BL_REV
+static const uint32_t bl_proto_rev = BL_PROTOCOL_REVISION; // value returned by PROTO_DEVICE_BL_REV

 static unsigned head, tail;
 static uint8_t rx_buf[256] USB_DATA_ALIGN;
@@ -649,6 +661,8 @@ bootloader(unsigned timeout)

 		led_on(LED_ACTIVITY);

+		bool full_erase = false;
+
 		// handle the command byte
 		switch (c) {

@@ -728,6 +742,10 @@ bootloader(unsigned timeout)
 		// success reply: INSYNC/OK
 		// erase failure: INSYNC/FAILURE
 		//
+		case PROTO_CHIP_FULL_ERASE:
+			full_erase = true;
+
+		// Fallthrough
 		case PROTO_CHIP_ERASE:

 			/* expect EOC */
@@ -755,17 +773,18 @@ bootloader(unsigned timeout)
 			arch_flash_unlock();

 			for (int i = 0; flash_func_sector_size(i) != 0; i++) {
-				flash_func_erase_sector(i);
+				flash_func_erase_sector(i, full_erase);
 			}

 			// disable the LED while verifying the erase
 			led_set(LED_OFF);

 			// verify the erase
-			for (address = 0; address < board_info.fw_size; address += 4)
+			for (address = 0; address < board_info.fw_size; address += 4) {
 				if (flash_func_read_word(address) != 0xffffffff) {
 					goto cmd_fail;
 				}
+			}

 			address = 0;
 			SET_BL_STATE(STATE_PROTO_CHIP_ERASE);
@@ -965,7 +984,7 @@ bootloader(unsigned timeout)
 		// read the chip  description
 		//
 		// command:     GET_CHIP_DES/EOC
-		// reply:     <value:4>/INSYNC/OK
+		// reply:     <length:4><buffer...>/INSYNC/OK
 		case PROTO_GET_CHIP_DES: {
 				uint8_t buffer[MAX_DES_LENGTH];
 				unsigned len = MAX_DES_LENGTH;
@@ -982,6 +1001,25 @@ bootloader(unsigned timeout)
 			}
 			break;

+		// read the bootloader version (not to be confused with protocol revision)
+		//
+		// command:     GET_VERSION/EOC
+		// reply:     <length:4><buffer...>/INSYNC/OK
+		case PROTO_GET_VERSION: {
+				uint8_t buffer[MAX_VERSION_LENGTH];
+
+				// expect EOC
+				if (!wait_for_eoc(2)) {
+					goto cmd_bad;
+				}
+
+				int len = get_version(sizeof(buffer), buffer);
+				cout_word(len);
+				cout(buffer, len);
+				SET_BL_STATE(STATE_PROTO_GET_VERSION);
+			}
+			break;
+
 #ifdef BOOT_DELAY_ADDRESS

 		case PROTO_SET_DELAY: {
@@ -1099,4 +1137,4 @@ bad_silicon:
 		continue;
 #endif
 	}
-}
+}
@@ -39,6 +39,8 @@

 #pragma once

+#include <stdbool.h>
+
 /*****************************************************************************
 * Generic bootloader functions.
 */
@@ -94,6 +96,7 @@ extern int buf_get(void);
 #endif

 #define MAX_DES_LENGTH 20
+#define MAX_VERSION_LENGTH 32

 #define arraySize(a) (sizeof((a))/sizeof(((a)[0])))
 extern void led_on(unsigned led);
@@ -105,7 +108,7 @@ extern void board_deinit(void);
 extern uint32_t board_get_devices(void);
 extern void clock_deinit(void);
 extern uint32_t flash_func_sector_size(unsigned sector);
-extern void flash_func_erase_sector(unsigned sector);
+extern void flash_func_erase_sector(unsigned sector, bool force);
 extern void flash_func_write_word(uintptr_t address, uint32_t word);
 extern uint32_t flash_func_read_word(uintptr_t address);
 extern uint32_t flash_func_read_otp(uintptr_t address);
@@ -121,6 +124,8 @@ extern uint32_t get_mcu_id(void);
 int get_mcu_desc(int max, uint8_t *revstr);
 extern int check_silicon(void);

+int get_version(int max, uint8_t *version_str);
+
 /*****************************************************************************
 * Interface in/output.
 */
@@ -133,4 +138,4 @@ extern void cout(uint8_t *buf, unsigned len);
 #if !defined(APP_VECTOR_OFFSET)
 #  define APP_VECTOR_OFFSET 0
 #endif
-#define APP_VECTOR_OFFSET_WORDS (APP_VECTOR_OFFSET/sizeof(uint32_t))
+#define APP_VECTOR_OFFSET_WORDS (APP_VECTOR_OFFSET/sizeof(uint32_t))
@@ -395,6 +395,24 @@ flash_func_sector_size(unsigned sector)
 	return 0;
 }

+/* imxRT uses Flash lib, not up_progmem so let's stub it here */
+up_progmem_ispageerased(unsigned sector)
+{
+	const uint32_t bytes_per_sector =  flash_func_sector_size(sector);
+	uint32_t *address = (uint32_t *)(IMXRT_FLEXSPI1_CIPHER_BASE + (sector * bytes_per_sector));
+	const uint32_t uint32_per_sector =  bytes_per_sector / sizeof(*address);
+
+	int blank = 0; /* Assume it is Bank */
+
+	for (uint32_t i = 0; i < uint32_per_sector; i++) {
+		if (address[i] != 0xffffffff) {
+			blank = -1;  /* It is not blank */
+			break;
+		}
+	}
+
+	return blank;
+}

 /*!
 * @name Configuration Option
@@ -407,31 +425,15 @@ flash_func_sector_size(unsigned sector)
 * */
 locate_code(".ramfunc")
 void
-flash_func_erase_sector(unsigned sector)
+flash_func_erase_sector(unsigned sector, bool force)
 {
-
 	if (sector > BOARD_FLASH_SECTORS || (int)sector < BOARD_FIRST_FLASH_SECTOR_TO_ERASE) {
 		return;
 	}

-	/* blank-check the sector */
-	const uint32_t bytes_per_sector =  flash_func_sector_size(sector);
-	uint32_t *address = (uint32_t *)(IMXRT_FLEXSPI1_CIPHER_BASE + (sector * bytes_per_sector));
-	const uint32_t uint32_per_sector =  bytes_per_sector / sizeof(*address);
-	bool blank = true;
+	if (force || flash_func_is_sector_blank(sector) != 0) {
+		struct flexspi_nor_config_s *pConfig = &g_bootConfig;

-	for (uint32_t i = 0; i < uint32_per_sector; i++) {
-		if (address[i] != 0xffffffff) {
-			blank = false;
-			break;
-		}
-	}
-
-
-	struct flexspi_nor_config_s *pConfig = &g_bootConfig;
-
-	/* erase the sector if it failed the blank check */
-	if (!blank) {
 		uintptr_t offset = ((uintptr_t) address) - IMXRT_FLEXSPI1_CIPHER_BASE;
 		irqstate_t flags;
 		flags = enter_critical_section();
@@ -439,8 +441,6 @@ flash_func_erase_sector(unsigned sector)
 		leave_critical_section(flags);
 		UNUSED(status);
 	}
-
-
 }

 void
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Silvan Fuhrer	6552468df1	VTOL: use the same logic for front transition complete in all vtol types Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-29 15:57:25 +02:00
Jacob Dahl	a4650fd70d	HealthCheck: added health check for logger to report if it's running (#22781 )	2024-05-29 11:56:50 +02:00
Hamish Willee	b5627f487f	camera_trigger: module docs for camera trigger driver (#23104 )	2024-05-29 11:37:27 +02:00
Matthias Grob	d1db0addf9	CameraFeedback: shorten line length such that documentation parser works This broke in `4f64acb352` and was also flagged by CI in the pr and since then.	2024-05-29 11:24:53 +02:00
Silvan Fuhrer	032ae69eee	VTOL: remove _dt passing as it's no longer used (and was wrong) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-28 14:54:33 +02:00
Silvan Fuhrer	f8fe7c7aa3	VTOL Standard: fix transition pusher motor slew rate Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-28 14:54:33 +02:00
Matthias Grob	dfee9ca4c6	MAVLink: remove never used `_mavlink_link_termination_allowed`	2024-05-28 10:41:00 +02:00
Silvan Fuhrer	1206005ed2	RTL_status: improve comment Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-27 12:03:16 +02:00
Silvan Fuhrer	42bca65cbf	RTL_mission_reverse: start from previous WP if RTL is triggered while in Mission Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-27 12:03:16 +02:00
Silvan Fuhrer	b9d3b9f211	RTL_mission_fast: continue mission if RTL is triggered while in Mission Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-27 12:03:16 +02:00
bresch	f9e2ab8d44	msg-rates-setpoint: fix frame name NED -> FRD	2024-05-27 09:35:34 +02:00
Jacob Dahl	da35c4adce	cdcacm_autostart: handle USB power only (#23183 )	2024-05-25 17:16:34 -06:00
bresch	ccbcbbe268	wind_est_replay: report scale instead of inverse_scale The estimator internally estimates the scale inverse, but the interface should be the scale as "airspeed_corrected = scale * airspeed"	2024-05-24 17:25:39 +02:00
Hamish Willee	4f64acb352	Docs for camera_feedback module (#23103 ) * Docs for camera_feedback module * Update src/modules/camera_feedback/CameraFeedback.cpp * Update src/modules/camera_feedback/CameraFeedback.cpp	2024-05-23 08:44:34 +10:00
Beat Küng	e1ffc2cdaa	commander: add check for 5V overcurrent	2024-05-22 09:34:04 +02:00
Julian Oes	a9962dc44d	boards: update all bootloaders	2024-05-22 18:18:55 +12:00
Julian Oes	5bace785e0	px_uploader: catch serial exception correctly Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-22 18:18:55 +12:00
Julian Oes	e4fd80b6ef	bootloader: remove unused/duplicate defines	2024-05-22 18:18:55 +12:00
Julian Oes	6ebb2b33df	bootloader: track ArduPilot protocol Just so we don't conflict on these commands in the future.	2024-05-22 18:18:55 +12:00
Julian Oes	8fe8f2fcb3	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>	2024-05-22 18:18:55 +12:00
Julian Oes	7c4507b6d6	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>	2024-05-22 18:18:55 +12:00
Julian Oes	21e550fdba	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>	2024-05-22 18:18:55 +12:00
Jacob Dahl	4a13e495d7	boards: ark: pi6x: CONFIG_DRIVERS_CDCACM_AUTOSTART=y (#23163 )	2024-05-21 19:49:40 -06:00
Konrad	664a0f2cda	HomePosition: Add minimum position change needed to be recognised as new home position	2024-05-21 09:11:56 +02:00
alexklimaj	1c213fa760	boards: arkv6x ark_pi6x change mavlink dialect to development	2024-05-20 16:07:34 -04:00
Jacob Dahl	e72ecdbefb	drivers/imu: new Murata SCH16T IMU driver (#22914 ) --------- Co-authored-by: alexklimaj <alex@arkelectron.com>	2024-05-20 14:38:19 -04:00
Jacob Dahl	70304fe715	[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	2024-05-20 12:35:29 -06:00
Peter van der Perk	6b0ac49daf	hardfault_log: Add jump to 0x0 & write 0x0 faults	2024-05-17 14:43:23 -04:00
Peter van der Perk	ebfa53286f	dronecan: SocketCAN driver check size before copying Avoids memory corruption if we get packets to big	2024-05-17 14:39:52 -04:00
Peter van der Perk	470bea9ba8	Update NuttX Fixes imxrt1170 mpu config for extra checks	2024-05-17 14:32:43 -04:00
Daniel Agar	d359f6236e	ekf2: symforce zero more efficiently (#23133 ) - increase symforce CppConfig zero_initialization_sparsity_threshold so that a Matrix setZero() call is performed instead of individually zeroing Co-authored-by: bresch <brescianimathieu@gmail.com>	2024-05-17 11:20:30 +02:00
bresch	ea39032b45	mag_ctrl: combine common conditions for mag_hdg and mag_3d	2024-05-17 11:19:04 +02:00
bresch	d796009302	mag_ctrl: do not fuse synthetic mag but do not zero the innovation	2024-05-17 11:19:04 +02:00
Daniel Agar	bb5dfc7d51	integrationtests: mavros/mission_test.py bump yaw_error_std threshold (heading init is delayed, but not wrong)	2024-05-17 11:19:04 +02:00
Daniel Agar	5173830718	ekf2: mag fusion don't update all states or tilt by default - cleanup some of the legacy mag flags	2024-05-17 11:19:04 +02:00
Daniel Agar	bfc39cf341	ekf2: mag control always populate estimator aid src	2024-05-17 11:19:04 +02:00
Daniel Agar	95ae5a657d	ekf2: merge mag_3d_control + mag_control	2024-05-17 11:19:04 +02:00
bresch	b42799fac2	wind_est_replay: allow setting the initial scale factor	2024-05-17 09:17:08 +02:00
bresch	440465702e	wind_est_replay: fix cov matrix format and data indexing	2024-05-17 09:17:08 +02:00
fury1895	6a966ab065	px4/fmu-v6x: set mavlink dialect to development	2024-05-17 07:51:14 +02:00
Alexis Guijarro	5fe955c243	mRo Control Zero Classic: Definition for GPS2 by default added	2024-05-16 09:45:33 -07:00
alexklimaj	ecf4af7cf7	boards: ark cannode add ADIS16507 driver	2024-05-16 09:56:25 -04:00
Thomas Frans	9fd1c54570	style(editorconfig): update newline setting The setting wasn't consistent with the one used in the Visual Studio Code settings, which caused different newline formatting depending on whether the user uses Visual Studio Code or another editor that uses EditorConfig.	2024-05-15 11:40:11 -04:00
dirksavage88	ee2a8c9bda	increase lp default stack to 2000 Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2024-05-15 11:08:48 -04:00
Hamish Willee	2e7a99ac41	VectorNav.cpp - fix docs link to usage guide	2024-05-15 11:07:50 -04:00
Konrad	17916b7fdc	uxcre_dds_client: use topic name as defined in the dds_topics.yaml to register stream	2024-05-15 11:07:01 -04:00
Eric Katzfey	293389abf3	Minor updates to the VOXL 2 board README file	2024-05-14 12:25:22 -04:00
Eric Katzfey	839f5bbb12	Removed obsolete voxl 2 board default parameter setting	2024-05-14 11:08:43 -04:00
Peter van der Perk	253208fdd4	fmu-v6xrt: Add I2C driver launcher	2024-05-08 11:34:13 -04:00
Peter van der Perk	5789803665	fmu-v6xrt: Enable debug features for more verbose hardfault output	2024-05-08 06:14:24 -04:00
Julian Oes	b1b9c8fd99	gps: add note to param This notes the reference yaw angle for the Septentrio Mosaic-H. It's unfortunately a bit tricky in that Unicore has the main antenna in front by default while Septentrio decided to put the aux antenna in front. Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-07 21:15:44 -04:00
Benjamin Philipp Ketterer	5d025e6d3d	increased uxrce-dds stack size to prevent overflow	2024-05-07 21:13:58 -04:00
alexklimaj	b9a696d025	boards: ark septentrio gps add iis2mdc	2024-05-07 21:12:15 -04:00
RomanBapst	ca9cb2214f	quadchute: fixed sign for handling altitude resets Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-05-07 16:01:09 +02:00
muramura	b5467d88f7	gps: Change the IF statement to a SWITCH statement	2024-05-07 15:58:15 +02:00
Konrad	6984e6da7f	TECS:use tas_setpoint instead of measured tas for specific kinetic energy calculation	2024-05-07 14:20:07 +02:00
Konrad	f56f4c7033	TECS: enable specific energy weights to have a value up to 2	2024-05-07 14:20:07 +02:00
Konrad	f8a20e1964	TECS: increase airspeed control limit for fast descend	2024-05-07 14:20:07 +02:00
Konrad	6a789b54c6	TECS: allow for fast descend up to maximum airspeed. Use pitch control loop to control max airspeed while giving minimal throttle.	2024-05-07 14:20:07 +02:00
Beat Küng	e17faece3d	mavlink_ftp: do not store reply on kErrNoSessionsAvailable This would interfere with an existing ongoing session	2024-05-07 07:26:12 +02:00
Beat Küng	f002b08e6a	mavlink_ftp: ensure there's enough space for the 2. path in _workRename Prevents accessing invalid memory when reading ptr + oldpath_sz + 1 and oldpath_sz fills out the whole or N-1 bytes of the payload.	2024-05-07 07:26:12 +02:00
Beat Küng	f16115d8be	mavlink_ftp: handle relative paths correctly by ensuring there's a '/' in between when concatenating the path with _root_dir.	2024-05-07 07:26:12 +02:00
Julian Oes	f04d17d160	Tools: skip submodule check in CLion Same as what's required for VSCode. Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-05 11:33:24 +12:00
Beat Küng	9e6dcb1f60	fix mavlink: cmd_logging_{start,stop}_acknowledgement flags were not reset Regression from https://github.com/PX4/PX4-Autopilot/pull/23043 Also avoids a race condition by making sure the command ack is handled before sending out the mavlink message (in case an external component reacts immediately to the mavlink message).	2024-05-03 06:59:55 +02:00
Alex Klimaj	36ea872e72	drivers: adis16507 reschedule reset after failed self test	2024-05-02 17:52:26 -04:00
Daniel Agar	224d6f2fa7	ekf2: ekf_helper.cpp remove duplicate method comments (comment on declaration only, not definition)	2024-05-02 17:40:58 -04:00
Daniel Agar	c1fc893cca	ekf2: move gyro/accel/wind covariance reset helpers to covariance.cpp	2024-05-02 17:40:58 -04:00
Daniel Agar	63c2ea33c1	ekf2: move Ekf::resetQuatStateYaw() to yaw_fusion.cpp	2024-05-02 17:40:58 -04:00
Daniel Agar	1ca4056b6a	ekf2: delete unused Ekf::resetImuBias()	2024-05-02 17:40:58 -04:00
Daniel Agar	6b3b66619b	ekf2: move baro dynamic pressure compensation to aid_sources/barometer	2024-05-02 17:40:58 -04:00
Daniel Agar	4f0eb72fc9	ekf2: move IMU down sampler to imu_down_sampler/	2024-05-02 17:40:58 -04:00
Daniel Agar	58637d3825	ekf2: move terrain estimator and derivation to terrain_estimator/	2024-05-02 17:40:58 -04:00
Daniel Agar	58de8cbb77	ekf2: move fake_height, fake_pos, zero_innovation_heading to aid_sources/	2024-05-02 17:40:58 -04:00
Daniel Agar	49c782bad9	ekf2: move bias estimators to bias_estimtor/	2024-05-02 17:40:58 -04:00
Daniel Agar	e262fde4dc	ekf2: move aux global position fusion to aid_sources/aux_global_position	2024-05-02 17:40:58 -04:00
Daniel Agar	b8d46e60a5	ekf2: move mag fusion to aid_sources/magnetometer	2024-05-02 17:40:58 -04:00
Daniel Agar	3f6c3e0649	ekf2: move output predictor to output_predictor/	2024-05-02 17:40:58 -04:00
Daniel Agar	24fdd696cb	ekf2: move range finder files to aid_sources/range_finder	2024-05-02 17:40:58 -04:00
Daniel Agar	3dbd3f8a1a	ekf2: move airspeed fusion file to aid_sources/airspeed	2024-05-02 17:40:58 -04:00
Daniel Agar	789b2b3d8a	ekf2: move sideslip fusion file to aid_sources/sideslip	2024-05-02 17:40:58 -04:00
Daniel Agar	eb8ee74066	ekf2: move baro height file to aid_sources/barometer	2024-05-02 17:40:58 -04:00
Daniel Agar	de178b1435	ekf2: move gravity fusion file to aid_sources/gravity	2024-05-02 17:40:58 -04:00
Daniel Agar	78f2ccbb60	ekf2: move optical flow files to aid_sources/optical_flow	2024-05-02 17:40:58 -04:00
Daniel Agar	fcf94e7670	ekf2: move GNSS files to aid_sources/gnss	2024-05-02 17:40:58 -04:00
Daniel Agar	31ae5b77fe	ekf2: move drag_fusion file to aid_sources/drag	2024-05-02 17:40:58 -04:00
Daniel Agar	c3fb0b1090	ekf2: move auxvel file to aid_sources/auxvel	2024-05-02 17:40:58 -04:00
Daniel Agar	b5d1e87368	ekf2: move EV files to aid_sources/external_vision	2024-05-02 17:40:58 -04:00
Peter van der Perk	f382e585e8	sd_bench: Add U option for forcing byte aligned Co-authored-by: David Sidrane <david.sidrane@nscdg.com>	2024-05-02 12:33:25 -04:00
Daniel Agar	c64104e9f1	sensors/vehicle_angular_velocity: silence gyro selection fallback warning (PX4_WARN -> PX4_DEBUG) - this warning was to catch any potential errors in sensor selection relative to what's actually available, we don't need to complain about initial selection before the EKF selector is available	2024-05-02 11:53:31 -04:00