[WIP] Run the ROMFS through a CPP with the boardconfig

px4/v6x: remove AUAV differential pressure to save flash
Signed-off-by: Silvan <silvan@auterion.com>
2026-05-25 13:07:34 +08:00 · 2026-01-22 15:38:49 +01:00 · 2026-01-22 15:14:54 +01:00 · 2026-01-22 15:02:30 +01:00 · 2026-01-22 15:02:30 +01:00 · 2026-01-22 10:03:24 +01:00
256 changed files with 5142 additions and 1072 deletions
@@ -3,92 +3,45 @@ description: Create a report to help us improve
 title: "[Bug] "
 labels: ["bug-report"]
 body:
+  - type: markdown
+    attributes:
+      value: |
+        **Tips for a great bug report:**
+        - Describe what went wrong and what you expected
+        - Include a flight log link from [logs.px4.io](http://logs.px4.io/) if possible
+        - Mention your PX4 version, flight controller, and vehicle type if relevant
+
  - type: textarea
    attributes:
      label: Describe the bug
-      description: A clear and concise description of the bug.
+      description: A clear description of the bug and what you expected to happen.
+      placeholder: |
+        What happened and what did you expect instead?
+
+        Steps to reproduce (if applicable):
+        1.
+        2.
+        3.
    validations:
      required: true

  - type: textarea
    attributes:
-      label: To Reproduce
+      label: Flight Log / Additional Information
      description: |
-          Steps to reproduce the behavior.
-          1. Drone switched on '...'
-          2. Uploaded mission '....' (attach QGC mission file)
-          3. Took off '....'
-          4. See error
-    validations:
-      required: false
+        **Flight log** (highly recommended for flight-related issues):
+        - Upload to [PX4 Flight Review](http://logs.px4.io/) and paste the link

-  - type: textarea
-    attributes:
-      label: Expected behavior
-      description: A clear and concise description of what you expected to happen.
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-
-  - type: textarea
-    attributes:
-      label: Flight Log
-      description: |
-          *Always* provide a link to the flight log file:
-          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
-          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
-          - Share the link to the log (Copy and paste the URL of the log)
+        **Additional details** (if relevant):
+        - PX4 version (output of `ver all` in MAVLink Shell)
+        - Flight controller model
+        - Vehicle type (multicopter, fixed-wing, VTOL, etc.)
+        - Screenshots or media
      placeholder: |
-          # PASTE HERE THE LINK TO THE LOG
+        Flight log link:
+
+        Version:
+
+        Hardware:
    validations:
      required: false
-
-  - type: markdown
-    attributes:
-      value: |
-        ## Setup
-
-  - type: textarea
-    attributes:
-      label: Software Version
-      description: |
-          Which version of PX4 are you using?
-      placeholder: |
-          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
-    validations:
-      required: false
-
-  - type: input
-    attributes:
-      label: Flight controller
-      description: Specify your flight controller model (what type is it, where was it bought from, ...).
-    validations:
-      required: false
-
-  - type: dropdown
-    attributes:
-      label: Vehicle type
-      options:
-        - Multicopter
-        - Helicopter
-        - Fixed Wing
-        - Hybrid VTOL
-        - Airship/Balloon
-        - Rover
-        - Boat
-        - Submarine
-        - Other
-
-  - type: textarea
-    attributes:
-      label: How are the different components wired up (including port information)
-      description: Details about how all is wired.
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context about the problem here.
@@ -1,4 +1,4 @@
-blank_issues_enabled: false
+blank_issues_enabled: true
 contact_links:
  - name: Support Question
    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
@@ -103,3 +103,9 @@
 [submodule "src/drivers/ins/sbgecom/sbgECom"]
 	path = src/drivers/ins/sbgecom/sbgECom
 	url = https://github.com/PX4/sbgECom.git
+[submodule "src/modules/mc_raptor/blob"]
+	path = src/modules/mc_raptor/blob
+	url = https://github.com/rl-tools/px4-blob
+[submodule "src/lib/rl_tools/rl_tools"]
+	path = src/lib/rl_tools/rl_tools
+	url = https://github.com/rl-tools/rl-tools.git
@@ -6,6 +6,16 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
+    px4_sitl_raptor:
+      short: px4_sitl_raptor
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_raptor
+    px4_sitl_raptor_debug:
+      short: px4_sitl_raptor_debug
+      buildType: Debug
+      settings:
+        CONFIG: px4_sitl_raptor
    px4_sitl_spacecraft:
      short: px4_sitl_spacecraft
      buildType: RelWithDebInfo
@@ -267,7 +267,7 @@ endif()

 set(package-contact "px4users@googlegroups.com")

-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
@@ -146,6 +146,11 @@ add_custom_command(
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+	# Preprocess ROMFS files with KConfig definitions
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_preprocess.py
+		--romfs-dir ${romfs_gen_root_dir}
+		--kconfig-header ${PX4_BINARY_DIR}/px4_boardconfig.h
+		--cpp ${CMAKE_C_COMPILER}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -159,8 +164,10 @@ add_custom_command(
 		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
-	COMMENT "ROMFS: copying, generating airframes"
+	DEPENDS
+		${romfs_tar_file}
+		${PX4_BINARY_DIR}/px4_boardconfig.h
+	COMMENT "ROMFS: copying, preprocessing, generating airframes"
 	)

 # copy extras into ROMFS
@@ -19,5 +19,6 @@ param set-default MNT_MAN_PITCH 2
 param set-default MNT_MAN_YAW 3

 param set-default MNT_RANGE_ROLL 180
-param set-default MNT_RANGE_PITCH 180
+param set-default MNT_MAX_PITCH 45
+param set-default MNT_MIN_PITCH -135
 param set-default MNT_RANGE_YAW 720
@@ -126,15 +126,6 @@ then
 	set AUTOCNF yes
 fi

-# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
-env | while IFS='=' read -r line; do
-  value=${line#*=}
-  name=${line%%=*}
-  case $name in
-    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
-  esac
-done
-
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
@@ -238,6 +229,15 @@ then
 	exit 1
 fi

+# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
+env | while IFS='=' read -r line; do
+  value=${line#*=}
+  name=${line%%=*}
+  case $name in
+    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
+  esac
+done
+
 dataman start

 # only start the simulator if not in replay mode, as both control the lockstep time
@@ -77,9 +77,6 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5

-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
 # Sensors Parameters
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25
@@ -78,9 +78,6 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5

-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
 # Sensors Parameters
 param set-default SENS_CM8JL65_CFG 202
 param set-default SENS_FLOW_MAXHGT 25
@@ -29,9 +29,6 @@ param set-default MPC_MAN_TILT_MAX 60

 param set-default THR_MDL_FAC 0.3

-# enable high-rate logging profile (helps with tuning)
-param set-default SDLOG_PROFILE 19
-
 param set-default IMU_DGYRO_CUTOFF 50
 param set-default IMU_GYRO_CUTOFF 90

@@ -41,3 +41,9 @@ if param compare -s MC_NN_EN 1
 then
 	mc_nn_control start
 fi
+
+
+if param compare -s MC_RAPTOR_ENABLE 1
+then
+	mc_raptor start
+fi
@@ -8,17 +8,24 @@
 #                           Begin Optional drivers                            #
 ###############################################################################

+%ifdef CONFIG_DRIVERS_BATT_SMBUS
 if param compare -s SENS_EN_BATT 1
 then
 	batt_smbus start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_SMART_BATTERY_BATMON
 # Start batmon driver if enabled using BATMON_DRIVER_EN
 if param compare -s BATMON_DRIVER_EN 1
 then
 	batmon start -X  #start on external bus
 fi
+%endif

+
+%ifdef CONFIG_DRIVERS_PWM_INPUT
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS
 # Sensors on the PWM interface bank
 if param compare -s SENS_EN_LL40LS 1
 then
@@ -27,92 +34,121 @@ then
 		ll40ls_pwm start
 	fi
 fi
+%endif

 # External automatic trigger system
 if param compare FD_EXT_ATS_EN 1
 then
 	pwm_input start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS
 # Lidar-Lite on I2C
 if param compare -s SENS_EN_LL40LS 2
 then
 	ll40ls start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_MAPPYDOT
 # mappydot lidar sensor
 if param compare -s SENS_EN_MPDT 1
 then
 	mappydot start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_MB12XX
 # mb12xx sonar sensor
 if param greater -s SENS_EN_MB12XX 0
 then
 	mb12xx start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_PGA460
 # pga460 sonar sensor
 if param greater -s SENS_EN_PGA460 0
 then
 	pga460 start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C
 # Lightware i2c lidar sensor
 if param greater -s SENS_EN_SF1XX 0
 then
 	lightware_laser_i2c start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05
 # Sensor HY-SRF05 or HC-SR05 ultrasonic sensor
 if param compare -s SENS_EN_SR05 1
 then
 	srf05 start
 fi
+%endif


+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_TERARANGER
 # Teraranger one tof sensor
 if param greater -s SENS_EN_TRANGER 0
 then
 	teraranger start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905
 # paa3905 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PAA3905 0
 then
 	paa3905 -S start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902
 # paw3902 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PAW3902 0
 then
 	paw3902 -S start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901
 # pmw3901 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PMW3901 0
 then
 	pmw3901 -S start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X
 # vl53l0x i2c distance sensor
 if param compare -s SENS_EN_VL53L0X 1
 then
 	vl53l0x start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X
 # vl53l1x i2c distance sensor
 if param compare -s SENS_EN_VL53L1X 1
 then
 	vl53l1x start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_TF02PRO
 # tf02 pro i2c distance sensor
 if param compare -s SENS_EN_TF02PRO 1
 then
 	tf02pro start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then
@@ -125,25 +161,33 @@ then
 		adis16448 -S start -R 4
 	fi
 fi
+%endif

+%ifdef CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507
 # ADIS16507 spi external IMU
 if param greater -s SENS_EN_ADIS165X 0
 then
 	adis16507 -S start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_IMU_MURATA_SCH16T
 # SCH16T spi external IMU
 if param compare -s SENS_EN_SCH16T 1
 then
 	sch16t -S start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then
 	ets_airspeed start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_SDP3X
 # Sensirion SDP3X differential pressure sensor external I2C
 if param compare -s SENS_EN_SDP3X 1
 then
@@ -153,110 +197,171 @@ then
 		sdp3x start -X -a 0x22
 	fi
 fi
+%endif

+%ifdef CONFIG_DRIVERS_TEMPERATURE_SENSOR_MCP9808
 # Microchip MCP9808 temperature sensor external I2C
 if param compare -s SENS_EN_MCP9808 1
 then
 	mcp9808 start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515
 # TE MS4515 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4515 1
 then
 	ms4515 start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525DO
 # TE MS4525DO differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525DO 1
 then
 	ms4525do start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS5525DSO
 # TE MS5525DSO differential pressure sensor external I2C
 if param compare -s SENS_EN_MS5525DS 1
 then
 	ms5525dso start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033
 # TE ASP5033 differential pressure sensor external I2C
 if param compare -s SENS_EN_ASP5033 1
 then
 	asp5033 start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV
 # AUAV absolute/differential pressure sensor external I2C
 if param greater -s SENS_EN_AUAVX 0
 then
 	auav start -D -X
 	auav start -A -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_HYGROMETER_SHT3X
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
 	sht3x start -X
 	sht3x start -X -a 0x45
 fi
+%endif

+%ifdef CONFIG_DRIVERS_IRLOCK
 # IR-LOCK sensor external I2C
 if param compare -s SENS_EN_IRLOCK 1
 then
 	irlock start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_BAROMETER_GOERTEK_SPL06
 # SPL06 sensor external I2C
 if param compare -s SENS_EN_SPL06 1
 then
 	spl06 -X start
 	spl06 -X -a 0x77 start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06
 # SPA06 sensor external I2C
 if param compare -s SENS_EN_SPA06 1
 then
 	spa06 -X start
 	spa06 -X -a 0x77 start
 fi
+%endif

+%ifdef CONFIG_DRIVERS_RPM_PCF8583
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then
 	pcf8583 start -X
 	pcf8583 start -X -a 0x51
 fi
+%endif

+%ifdef CONFIG_DRIVERS_ADC_ADS7953
 # ADC sensor ADS7953 external SPI
 if param compare -s ADC_ADS7953_EN 1
 then
 	ads7953 start -S
 fi
+%endif

+%ifdef CONFIG_DRIVERS_ADC_TLA2528
 # ADC sensor tla2528 external I2C
 if param compare -s ADC_TLA2528_EN 1
 then
 	tla2528 start -X
 fi
+%endif

+%ifdef CONFIG_DRIVERS_TEMPERATURE_SENSOR_TMP102
+# Start TMP102 temperature sensor
+if param compare -s SENS_EN_TMP102 1
+then
+	tmp102 start -X
+fi
+%endif
+
+%ifdef COMMON_MAGNETOMETER
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
+%ifdef CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948
 	icm20948_i2c_passthrough -X -q start
+%endif

 	# compasses
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_HMC5883
 	hmc5883 -T -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC
 	iis2mdc -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308
 	ist8308 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310
 	ist8310 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL
 	if ! lis3mdl -X -q start
 	then
 		lis3mdl -X -q -a 0x1c start
 	fi
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_QMC5883L
 	qmc5883l -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_QMC5883P
 	qmc5883p -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_RM3100
 	rm3100 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350
 	bmm350 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC
 	iis2mdc -X -q start
+%endif

 	# start last (wait for possible icm20948 passthrough mode)
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916
 	ak09916 -X -q start
+%endif
 fi
+%endif
@@ -265,12 +265,15 @@ else
 	# Start the tone_alarm driver.
 	# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
 	#
+%ifdef CONFIG_DRIVERS_TONE_ALARM
 	tone_alarm start
+%endif

 	#
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
 	#
+%ifdef CONFIG_MODULES_DATAMAN
 	if param compare -s SYS_DM_BACKEND 1
 	then
 		dataman start -r
@@ -281,11 +284,14 @@ else
 			dataman start
 		fi
 	fi
+%endif

 	#
 	# Start the socket communication send_event handler.
 	#
+%ifdef CONFIG_MODULES_SEND_EVENT
 	send_event start
+%endif

 	#
 	# Start the hardfault streamer.
@@ -298,15 +304,25 @@ else
 	#
 	# Start the resource load monitor.
 	#
+%ifdef CONFIG_MODULES_LOAD_MON
 	load_mon start
+%endif

 	#
 	# Start system state indicator.
 	#
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED
 	rgbled start -X -q
+%endif
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C
 	rgbled_ncp5623c start -X -q
+%endif
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_LP5562
 	rgbled_lp5562 start -X -q
+%endif
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_IS31FL3195
 	rgbled_is31fl3195 start -X -q
+%endif

 	#
 	# Override parameters from user configuration file.
@@ -331,11 +347,21 @@ else
 		# start the simulator in hardware if needed
 		if param compare SYS_HITL 2
 		then
+%ifdef CONFIG_MODULES_SIMULATION_SIMULATOR_SIH
 			simulator_sih start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM
 			sensor_baro_sim start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM
 			sensor_mag_sim start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM
 			sensor_gps_sim start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM
 			sensor_agp_sim start
+%endif
 		fi

 	else
@@ -352,43 +378,58 @@ else

 		. ${R}etc/init.d/rc.sensors

+%ifdef CONFIG_MODULES_SENSORS
+%ifdef CONFIG_MODULES_ESC_BATTERY
 		if param compare -s BAT1_SOURCE 2
 		then
 			esc_battery start
 		fi
+%endif

+%ifdef CONFIG_MODULES_BATTERY_STATUS
 		if ! param compare BAT1_SOURCE 1
 		then
 			battery_status start
 		fi
+%endif
+%endif

+%ifdef CONFIG_MODULES_SENSORS
 		sensors start
+%endif
 	fi

 	#
 	# state estimator selection
 	#
+%ifdef CONFIG_MODULES_EKF2
 	if param compare -s EKF2_EN 1
 	then
 		ekf2 start &
 	fi
+%endif

+%ifdef CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR
 	if param compare -s LPE_EN 1
 	then
 		local_position_estimator start
 	fi
+%endif

+%ifdef CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q
 	if param compare -s ATT_EN 1
 	then
 		attitude_estimator_q start
 	fi
+%endif

+%ifdef CONFIG_DRIVERS_PX4IO
 	#
 	# px4io
 	#
 	if px4io supported
 	then
-	# Check if PX4IO present and update firmware if needed.
+		# Check if PX4IO present and update firmware if needed.
 		if [ -f $IOFW ]
 		then
 			if ! px4io checkcrc ${IOFW}
@@ -418,40 +459,56 @@ else
 			fi
 		fi
 	fi
+%endif

 	# Heater driver for temperature regulated IMUs.
 	# The heater needs to start after px4io.
+%ifdef CONFIG_DRIVERS_HEATER
 	if param compare -s SENS_EN_THERMAL 1
 	then
 		heater start
 	fi
+%endif


 	#
 	# RC update (map raw RC input to calibrate manual control)
 	#  start before commander
 	#
+%ifdef CONFIG_MODULES_RC_UPDATE
 	rc_update start
+%endif
+%ifdef CONFIG_MODULES_MANUAL_CONTROL
 	manual_control start
+%endif

 	# Start camera trigger, capture and PPS before pwm_out as they might access
 	# pwm pins
+%ifdef CONFIG_DRIVERS_CAMERA_TRIGGER
 	if param greater -s TRIG_MODE 0
 	then
 		camera_trigger start
+%ifdef CONFIG_MODULES_CAMERA_FEEDBACK
 		camera_feedback start
+%endif
 	fi
+%endif
 	# PPS capture driver
+%ifdef CONFIG_DRIVERS_PPS_CAPTURE
 	if param greater -s PPS_CAP_ENABLE 0
 	then
 		pps_capture start
 	fi
+%endif
 	# RPM capture driver
+%ifdef CONFIG_DRIVERS_RPM_CAPTURE
 	if param greater -s RPM_CAP_ENABLE 0
 	then
 		rpm_capture start
 	fi
+%endif
 	# Camera capture driver
+%ifdef CONFIG_DRIVERS_CAMERA_CAPTURE
 	if param greater -s CAM_CAP_FBACK 0
 	then
 		if camera_capture start
@@ -459,25 +516,34 @@ else
 			camera_capture on
 		fi
 	fi
+%endif

 	#
 	# Commander
 	#
+%ifdef CONFIG_MODULES_COMMANDER
 	if param greater SYS_HITL 0
 	then
 		commander start -h

+%ifdef CONFIG_MODULES_SIMULATION_PWM_OUT_SIM
 		if ! pwm_out_sim start -m hil
 		then
 			tune_control play error
 		fi
+%endif

 	else
 		commander start

+%ifdef CONFIG_DRIVERS_DSHOT
 		dshot start
+%endif
+%ifdef CONFIG_DRIVERS_PWM_OUT
 		pwm_out start
+%endif
 	fi
+%endif

 	#
 	# Configure vehicle type specific parameters.
@@ -485,10 +551,12 @@ else
 	. ${R}etc/init.d/rc.vehicle_setup

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

 	#
 	# Optional board mavlink streams: rc.board_mavlink
@@ -533,54 +601,67 @@ else
 	#
 	# Start the navigator.
 	#
+%ifdef CONFIG_MODULES_NAVIGATOR
 	navigator start
+%endif

+%ifdef CONFIG_MODULES_TEMPERATURE_COMPENSATION
 	#
 	# Start a thermal calibration if required.
 	#
-	set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal
-	if [ -f ${RC_THERMAL_CAL} ]
-	then
-		. ${RC_THERMAL_CAL}
-	fi
-	unset RC_THERMAL_CAL
+	. ${R}etc/init.d/rc.thermal_cal
+%endif

 	#
 	# Start gimbal to control mounts such as gimbals, disabled by default.
 	#
+%ifdef CONFIG_MODULES_GIMBAL
 	if param greater -s MNT_MODE_IN -1
 	then
 		gimbal start
 	fi
+%endif

 	# Blacksheep telemetry
+%ifdef CONFIG_DRIVERS_TELEMETRY_BST
 	if param compare -s TEL_BST_EN 1
 	then
 		bst start -X
 	fi
+%endif

+%ifdef CONFIG_MODULES_GYRO_FFT
 	if param compare -s IMU_GYRO_FFT_EN 1
 	then
 		gyro_fft start
 	fi
+%endif

+%ifdef CONFIG_MODULES_GYRO_CALIBRATION
 	if param compare -s IMU_GYRO_CAL_EN 1
 	then
 		gyro_calibration start
 	fi
+%endif

 	# Check for px4flow sensor
+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW
 	if param compare -s SENS_EN_PX4FLOW 1
 	then
 		px4flow start -X &
 	fi
+%endif

+%ifdef CONFIG_MODULES_PAYLOAD_DELIVERER
 	payload_deliverer start
+%endif

+%ifdef CONFIG_MODULES_INTERNAL_COMBUSTION_ENGINE_CONTROL
 	if param compare -s ICE_EN 1
 	then
 		internal_combustion_engine_control start
 	fi
+%endif

 	#
 	# Optional board supplied extras: rc.board_extras
@@ -602,15 +683,12 @@ else
 		. $FEXTRAS
 	fi

+%ifdef CONFIG_MODULES_LOGGER
 	#
 	# Start the logger.
 	#
-	set RC_LOGGING ${R}etc/init.d/rc.logging
-	if [ -f ${RC_LOGGING} ]
-	then
-		. ${RC_LOGGING}
-	fi
-	unset RC_LOGGING
+	. ${R}etc/init.d/rc.logging
+%endif

 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
@@ -631,6 +709,7 @@ else
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#
+%ifdef CONFIG_DRIVERS_UAVCAN
 	if param greater -s UAVCAN_ENABLE 0
 	then
 		# Start core UAVCAN module.
@@ -639,15 +718,27 @@ else
 			tune_control play error
 		fi
 	else
+%ifdef CONFIG_DRIVERS_CYPHAL
 		if param greater -s CYPHAL_ENABLE 0
 		then
 			cyphal start
 		fi
+%endif
 	fi
+%else
+%ifdef CONFIG_DRIVERS_CYPHAL
+	if param greater -s CYPHAL_ENABLE 0
+	then
+		cyphal start
+	fi
+%endif
+%endif
+%ifdef CONFIG_MODULES_ZENOH
 	if param greater -s ZENOH_ENABLE 0
 	then
 		zenoh start
 	fi
+%endif

 #
 # End of autostart.
@@ -21,11 +21,13 @@ exec find boards msg src platforms test \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/events/libevents -prune -o \
    -path src/lib/parameters/uthash -prune -o \
+    -path src/lib/rl_tools/rl_tools -prune -o \
    -path src/lib/wind_estimator/python/generated -prune -o \
    -path src/modules/ekf2/EKF/python/ekf_derivation/generated -prune -o \
    -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
+    -path src/modules/mc_raptor/blob -prune -o \
    -path test/fuzztest -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
@@ -0,0 +1,188 @@
+#!/usr/bin/env python3
+"""
+Preprocesses ROMFS files with C preprocessor to enable KConfig support.
+
+This script processes all rc* files in the ROMFS directory through the C preprocessor,
+allowing use of #ifdef, #ifndef, #if, #else, #endif directives with KConfig definitions.
+"""
+
+import argparse
+import os
+import subprocess
+import sys
+import tempfile
+from pathlib import Path
+
+
+def preprocess_file(file_path, kconfig_header, cpp_command):
+    """
+    Preprocess a single file through the C preprocessor.
+
+    Uses % as the preprocessor directive symbol (instead of #) to avoid conflicts
+    with shell comments. Converts %ifdef, %ifndef, %if, %else, %endif to
+    #ifdef, #ifndef, #if, #else, #endif before preprocessing.
+
+    Args:
+        file_path: Path to the file to preprocess
+        kconfig_header: Path to the px4_boardconfig.h header
+        cpp_command: C preprocessor command (usually the C compiler)
+    """
+    # Read original file
+    with open(file_path, 'r') as f:
+        original_content = f.read()
+
+    # Process the file line by line:
+    # 1. Remove shell comment lines (to avoid conflicts with CPP)
+    # 2. Convert % preprocessor directives to # directives
+    lines = original_content.split('\n')
+    converted_lines = []
+
+    for line in lines:
+        stripped = line.lstrip()
+
+        # Check if line starts with % followed by a preprocessor keyword
+        if stripped.startswith('%ifdef ') or stripped.startswith('%ifdef\t'):
+            # Preserve leading whitespace, convert %ifdef to #ifdef
+            converted_lines.append(line.replace('%ifdef', '#ifdef', 1))
+        elif stripped.startswith('%ifndef ') or stripped.startswith('%ifndef\t'):
+            converted_lines.append(line.replace('%ifndef', '#ifndef', 1))
+        elif stripped.startswith('%if '):
+            converted_lines.append(line.replace('%if', '#if', 1))
+        elif stripped.startswith('%elif '):
+            converted_lines.append(line.replace('%elif', '#elif', 1))
+        elif stripped.startswith('%else'):
+            converted_lines.append(line.replace('%else', '#else', 1))
+        elif stripped.startswith('%endif'):
+            converted_lines.append(line.replace('%endif', '#endif', 1))
+        elif stripped.startswith('#') and not stripped.startswith('#!'):
+            # Remove shell comment lines (but keep shebang)
+            # This prevents "# if ..." comments from being interpreted as "#if" by CPP
+            continue
+        else:
+            converted_lines.append(line)
+    converted_content = '\n'.join(converted_lines)
+
+    # Create temporary file with include directive and converted content
+    with tempfile.NamedTemporaryFile(mode='w', suffix='.in', delete=False) as tmp:
+        tmp.write(f'#include "{kconfig_header}"\n')
+        tmp.write(converted_content)
+        tmp_path = tmp.name
+
+    try:
+        # Run C preprocessor
+        # -P: don't generate #line directives
+        # -E: preprocess only
+        # -undef: don't predefine any non-standard macros
+        # -nostdinc: don't search standard include directories
+        # -x assembler-with-cpp: treat input as assembly (allows # comments to pass through)
+        result = subprocess.run(
+            [cpp_command, '-P', '-E', '-undef', '-nostdinc', '-x', 'assembler-with-cpp', tmp_path],
+            capture_output=True,
+            text=True,
+            check=True
+        )
+
+        preprocessed = result.stdout
+
+        # Clean up the output:
+        # 1. Remove empty lines at the beginning
+        # 2. Remove lines that are just whitespace
+        lines = preprocessed.split('\n')
+        cleaned_lines = []
+        started = False
+
+        for line in lines:
+            # Skip empty lines at the beginning
+            if not started and not line.strip():
+                continue
+            started = True
+            cleaned_lines.append(line)
+
+        # Remove trailing empty lines
+        while cleaned_lines and not cleaned_lines[-1].strip():
+            cleaned_lines.pop()
+
+        # Write preprocessed content back
+        with open(file_path, 'w') as f:
+            f.write('\n'.join(cleaned_lines))
+            if cleaned_lines:  # Add final newline if file is not empty
+                f.write('\n')
+
+        return True
+
+    except subprocess.CalledProcessError as e:
+        print(f"Error preprocessing {file_path}: {e}")
+        print(f"stderr: {e.stderr}")
+        return False
+    finally:
+        # Clean up temporary file
+        try:
+            os.unlink(tmp_path)
+        except:
+            pass
+
+
+def main():
+    parser = argparse.ArgumentParser(description='Preprocess ROMFS files with KConfig definitions')
+    parser.add_argument('--romfs-dir', required=True, help='ROMFS root directory')
+    parser.add_argument('--kconfig-header', required=True, help='Path to px4_boardconfig.h')
+    parser.add_argument('--cpp', required=True, help='C preprocessor command')
+    parser.add_argument('--pattern', default='rc*', help='File pattern to preprocess (default: rc*)')
+
+    args = parser.parse_args()
+
+    # Verify inputs
+    romfs_dir = Path(args.romfs_dir)
+    kconfig_header = Path(args.kconfig_header)
+
+    if not romfs_dir.exists():
+        print(f"Error: ROMFS directory not found: {romfs_dir}")
+        return 1
+
+    if not kconfig_header.exists():
+        print(f"Error: KConfig header not found: {kconfig_header}")
+        return 1
+
+    # Find all files to preprocess in init.d directory
+    init_d_dir = romfs_dir / 'init.d'
+    if not init_d_dir.exists():
+        print(f"Warning: init.d directory not found in {romfs_dir}")
+        return 0
+
+    # Find all rc* files (shell scripts)
+    files_to_process = []
+    for pattern in ['rc*', 'rcS']:
+        files_to_process.extend(init_d_dir.glob(pattern))
+
+    # Also check subdirectories like airframes
+    for subdir in init_d_dir.iterdir():
+        if subdir.is_dir():
+            for pattern in ['rc*']:
+                files_to_process.extend(subdir.glob(pattern))
+
+    # Remove duplicates and filter only files
+    files_to_process = list(set([f for f in files_to_process if f.is_file()]))
+
+    if not files_to_process:
+        print(f"Warning: No files matching pattern '{args.pattern}' found in {init_d_dir}")
+        return 0
+
+    print(f"Preprocessing {len(files_to_process)} ROMFS files with KConfig definitions...")
+
+    # Process each file
+    success_count = 0
+    for file_path in sorted(files_to_process):
+        rel_path = file_path.relative_to(romfs_dir)
+        print(f"  Processing: {rel_path}")
+        if preprocess_file(file_path, kconfig_header.absolute(), args.cpp):
+            success_count += 1
+        else:
+            print(f"  Warning: Failed to preprocess {rel_path}")
+
+    print(f"Successfully preprocessed {success_count}/{len(files_to_process)} files")
+
+    return 0 if success_count == len(files_to_process) else 1
+
+
+if __name__ == '__main__':
+    sys.exit(main())
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -34,7 +34,6 @@ 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
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_ST_LSM303D=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -0,0 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
@@ -22,6 +22,7 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
@@ -60,6 +60,9 @@ then
 	set INA_CONFIGURED yes
 fi

+# Auterion auto starter
+auterion_autostarter start
+
 if param compare BAT1_V_CHANNEL -2
 then
 	if [ "$INA_CONFIGURED" != "yes" ]
@@ -26,10 +26,10 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_AUTERION_AUTOSTARTER=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_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
@@ -55,8 +55,8 @@ then
 	set INA_CONFIGURED yes
 fi

-#Start Auterion Power Module selector for Skynode boards
-pm_selector_auterion start
+# Auterion auto starter
+auterion_autostarter start

 # Auterion's INA238 uses a shunt value of 0.0003 instead of 0.0005.
 param set-default INA238_SHUNT 0.0003
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -30,7 +30,6 @@ 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
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -28,7 +28,6 @@ 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_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -23,7 +23,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
@@ -23,7 +23,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -14,7 +14,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -17,7 +17,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -16,7 +16,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -26,13 +26,11 @@ CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=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_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -24,12 +24,10 @@ CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=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_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -25,13 +25,11 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=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_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -27,13 +27,11 @@ CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=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_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -23,7 +23,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -20,7 +20,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -26,7 +26,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -23,7 +23,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_LIGHTS_RGBLED=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -14,7 +14,6 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_CYPHAL_BMS_SUBSCRIBER=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_CYPHAL=y
@@ -29,7 +29,6 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
@@ -26,7 +26,6 @@ CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
@@ -28,7 +28,6 @@ CONFIG_DRIVERS_IMU_ST_LSM303D=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -26,7 +26,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -77,8 +76,6 @@ CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_UUV_ATT_CONTROL=y
-CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
@@ -34,12 +34,11 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
 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_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
@@ -72,8 +72,8 @@ then
 	# Internal magnetometer on I2c
 	bmm150 -I -R 6 start

-	# Auto start power monitors
-	pm_selector_auterion start
+	# Auterion auto starter
+	auterion_autostarter start

 	# Auterion's INA238 uses a shunt value of 0.0003 instead of 0.0005.
 	param set-default INA238_SHUNT 0.0003
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -0,0 +1,94 @@
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_ACTUATORS_VERTIQ_IO=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+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_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_HEATER=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_PX4IO=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_LIB_RL_TOOLS=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RAPTOR=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_USE_IFCI_CONFIGURATION=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -16,7 +16,6 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
@@ -189,6 +189,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
@@ -0,0 +1,89 @@
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_ROOT_PATH="."
+CONFIG_BOARD_TESTING=y
+CONFIG_COMMON_SIMULATION=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_EKF2_VERBOSE_STATUS=y
+CONFIG_EXAMPLES_DYN_HELLO=y
+CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_EXAMPLES_FAKE_IMU=y
+CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
+CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+CONFIG_EXAMPLES_WORK_ITEM=y
+CONFIG_FIGURE_OF_EIGHT=y
+CONFIG_LIB_RL_TOOLS=y
+CONFIG_MAVLINK_DIALECT="development"
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
+CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RAPTOR=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_REPLAY=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y
+CONFIG_MODULES_SIMULATION_GZ_MSGS=y
+CONFIG_MODULES_SIMULATION_GZ_PLUGINS=y
+CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM=y
+CONFIG_MODULES_SPACECRAFT=n
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=10000
+CONFIG_PLATFORM_POSIX=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_FAILURE=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SHUTDOWN=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -18,7 +18,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
@@ -23,7 +23,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -13,7 +13,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -31,7 +31,6 @@ 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_COMMON_RC=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -21,7 +21,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883P=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
@@ -23,4 +23,4 @@ then
 fi

 # internal mag
-ist8310 -I -R 6 start
+qmc5883p -I -R 2 start
@@ -42,20 +42,20 @@
 #define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0		/* DMA1:39 */
 #define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 	/* DMA1:40 */

-#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_0		/* 3 DMA1:83 IMU */
-#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_0		/* 4 DMA1:84 IMU */
+#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1		/* 3 DMA2:83 IMU */
+#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1		/* 4 DMA2:84 IMU */

-#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0	/*  DMA1:41  GPS1 */
-#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0	/*  DMA1:42  GPS1 */
+// #define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0	/*  DMA1:41  GPS1 */
+// #define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0	/*  DMA1:42  GPS1 */

-#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0	/*  DMA1:43 GPS2 */
-#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0	/*  DMA1:44 GPS2 */
+// #define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0	/*  DMA1:43 GPS2 */
+// #define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0	/*  DMA1:44 GPS2 */

 #define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0	/*  DMA1:45 TELEM1 */
 #define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0	/*  DMA1:46 TELEM1 */

-#define DMAMAP_UART4_RX    DMAMAP_DMA12_UART4RX_1	/*  DMA1:63 TELEM2 */
-#define DMAMAP_UART4_TX    DMAMAP_DMA12_UART4TX_1	/*  DMA1:64 TELEM2 */
+#define DMAMAP_UART4_RX    DMAMAP_DMA12_UART4RX_1	/*  DMA2:63 TELEM2 */
+#define DMAMAP_UART4_TX    DMAMAP_DMA12_UART4TX_1	/*  DMA2:64 TELEM2 */

 #define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0	/*  DMA1:71 PX4IO */
 #define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0	/*  DMA1:72 PX4IO */
@@ -247,14 +247,10 @@ CONFIG_UART8_SERIAL_CONSOLE=y
 CONFIG_UART8_TXBUFSIZE=3000
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
 CONFIG_USART2_TXBUFSIZE=3000
-CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_RXDMA=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -29,7 +29,6 @@ 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
@@ -128,7 +128,7 @@
    - [LED Meanings](getting_started/led_meanings.md)
    - [Tune/Sound Meanings](getting_started/tunes.md)
    - [QGroundControl Flight-Readiness Status](flying/pre_flight_checks.md)
-
+  - [Asset Tracking](debug/asset_tracking.md)
 - [Hardware Selection & Setup](hardware/drone_parts.md)
  - [Flight Controllers (Autopilots)](flight_controller/index.md)
    - [Flight Controller Selection](getting_started/flight_controller_selection.md)
@@ -271,6 +271,8 @@
      - [Holybro M8N & M9N GPS](gps_compass/gps_holybro_m8n_m9n.md)
      - [Sky-Drones SmartAP GPS](gps_compass/gps_smartap.md)
    - [RTK GNSS](gps_compass/rtk_gps.md)
+      - [ARK G5 RTK GPS](dronecan/ark_g5_rtk_gps.md)
+      - [ARK G5 RTK HEADING GPS](dronecan/ark_g5_rtk_heading_gps.md)
      - [ARK RTK GPS (CAN)](dronecan/ark_rtk_gps.md)
      - [ARK RTK GPS L1 L5 (CAN)](dronecan/ark_rtk_gps_l1_l2.md)
      - [ARK X20 RTK GPS (CAN)](dronecan/ark_x20_rtk_gps.md)
@@ -820,9 +822,11 @@
    - [Camera Integration/Architecture](camera/camera_architecture.md)
    - [Computer Vision](advanced/computer_vision.md)
      - [Motion Capture (VICON, Optitrack, NOKOV)](tutorials/motion-capture.md)
-    - [Neural Networks](advanced/neural_networks.md)
-      - [Neural Network Module Utilities](advanced/nn_module_utilities.md)
-      - [TensorFlow Lite Micro (TFLM)](advanced/tflm.md)
+    - [Neural Networks](neural_networks/index.md)
+      - [MC NN Control Module (Generic)](neural_networks/mc_neural_network_control.md)
+        - [Neural Network Module Utilities](neural_networks/nn_module_utilities.md)
+        - [TensorFlow Lite Micro (TFLM)](neural_networks/tflm.md)
+      - [RAPTOR Adaptive RL NN Module](neural_networks/raptor.md)
    - [Installing driver for Intel RealSense R200](advanced/realsense_intel_driver.md)
    - [Switching State Estimators](advanced/switching_state_estimators.md)
    - [Out-of-Tree Modules](advanced/out_of_tree_modules.md)
@@ -902,6 +906,7 @@
  - [Licenses](contribute/licenses.md)
 - [Releases](releases/index.md)
  - [main (alpha)](releases/main.md)
+  - [1.17 (alpha)](releases/1.17.md)
  - [1.16 (stable)](releases/1.16.md)
  - [1.15](releases/1.15.md)
  - [1.14](releases/1.14.md)
--- a/Show More
+++ b/Show More