[DO NOT MERGE] parameter testing

2026-06-05 08:30:04 +08:00 · 2022-01-05 11:39:22 -05:00
589 changed files with 12837 additions and 19919 deletions
@@ -60,8 +60,6 @@ pipeline {
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
                     "matek_h743-slim",
-                     "matek_gnss-m9n-f4_canbootloader",
-                     "matek_gnss-m9n-f4_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
@@ -743,10 +743,8 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'

  // run logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
@@ -780,7 +778,6 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@@ -792,7 +789,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
@@ -809,14 +806,12 @@ void resetParameters() {
 void runTests() {

  // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 4018 6001 8001 10016'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'

  resetParameters()

  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
@@ -1,7 +0,0 @@
-FROM gcr.io/oss-fuzz-base/base-builder:v1
-COPY . $SRC/PX4-Autopilot
-RUN apt-get install -y libjpeg8-dev zlib1g-dev
-RUN pip3 install --upgrade pip
-RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
-WORKDIR $SRC/PX4-Autopilot
-COPY ./.clusterfuzzlite/build.sh $SRC/
@@ -1,4 +0,0 @@
-#!/usr/bin/env bash -eu
-
-PX4_FUZZ=1 make px4_sitl
-cp build/px4_sitl_default/bin/px4 $OUT/px4
@@ -1 +0,0 @@
-language: c++
@@ -1,154 +0,0 @@
-# build docker images on:
-# * every pull request
-# * push to master
-# * stable release published
-# * tag name is:
-#   - commit sha if pull request
-#   - 'latest' if push to master
-#   - release name if release
-
-# pushes to registry if:
-# * is not a pull request
-# * is master branch
-# * is the result of release
-
-# builds all nuttx targets and deploys metadata
-
-name: Build docker
-
-on:
-  release:
-    types: [released]
-  push:
-    branches:
-      - 'master'
-  pull_request:
-
-jobs:
-  set_docker_tag:
-    name: Set docker tag
-    runs-on: ubuntu-latest
-    env:
-      DOCKER_TAG: "px4io/px4-dev"
-    outputs:
-      docker_tag: ${{ steps.set-outputs.outputs.docker_tag }}
-
-    steps:
-      - name: Set pull request docker tag
-        if: github.event_name == 'pull_request'
-        run: echo "DOCKER_TAG=px4io/px4-dev:${{ github.sha }}" >> $GITHUB_ENV
-
-      - name: Set push docker tag
-        if: github.event_name == 'push'
-        run: echo "DOCKER_TAG=px4io/px4-dev:latest" >> $GITHUB_ENV
-
-      - name: Set release docker tag
-        if: github.event_name == 'release'
-        run: echo "DOCKER_TAG=px4io/px4-dev:${{ github.event.release.name }}" >> $GITHUB_ENV
-
-      - name: Set docker tag outputs
-        id: set-outputs
-        run: echo "::set-output name=docker_tag::$DOCKER_TAG"
-
-  build_docker:
-    name: Build Docker image
-    runs-on: ubuntu-latest
-    needs: set_docker_tag
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v2
-
-      - name: Login to Github Registry
-        uses: docker/login-action@v1
-        if: github.event_name == 'push'
-        with:
-          registry: ghrc.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Set up image builder
-        uses: docker/setup-buildx-action@v1
-
-      - name: Build image
-        uses: docker/build-push-action@v2
-        id: docker_build
-        with:
-          file: Tools/setup/Dockerfile
-          push: ${{ github.event_name != 'pull_request' }}
-          tags: ${{ needs.set_docker_tag.outputs.docker_tag }}
-          outputs: type=tar,dest=/tmp/px4_docker_image.tar
-
-      - name: Save container to artifacts
-        uses: actions/upload-artifact@v2
-        with:
-          name: px4_docker_image
-          path: /tmp/px4_docker_image.tar
-
-      - name: Push to Github Registry
-        uses: docker/build-push-action@v2
-        if: github.event_name == 'push'
-
-      - name: Image Digest
-        run: echo ${{ steps.docker_build.outputs.digest }}
-
-  list_targets:
-    name: Generate target list
-    runs-on: ubuntu-latest
-    needs: build_docker
-    outputs:
-      matrix: ${{ steps.set-matrix.outputs.matrix }}
-
-    steps:
-      - name: Checkout Code
-        uses: actions/checkout@v2
-
-      - name: Setup Python
-        uses: actions/setup-python@v2
-        with:
-          python-version: 3.9
-
-      #- name: Install Python packages
-        #run: pip install -r Tools/setup/requirements.txt
-        #run: pip install kconfiglib
-
-      - id: set-matrix
-        name: Get all nuttx targets
-        run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py -a)"
-
-  build_px4:
-    name: Build targets with Docker
-    runs-on: ubuntu-latest
-    needs: [list_targets, set_docker_tag]
-    #strategy:
-      #matrix: ${{ fromJson(needs.enumerate_targets.outputs.matrix) }}
-
-    steps:
-      - name: Get container from artifacts
-        uses: actions/download-artifact@v2
-        with:
-          name: px4_docker_image
-          path: /tmp
-
-      - name: Load Docker image
-        run: |
-          docker import /tmp/px4_docker_image.tar ${{ needs.set_docker_tag.outputs.docker_tag }}
-          docker image ls -a
-
-      - name: Checkout Code
-        uses: actions/checkout@v2
-
-      - name: Build targets
-        #run: |
-          #docker run --rm -w "${GITHUB_ACTION_PATH}" \
-            #--env=LOCAL_USER_ID="$(id -u)" \
-            #--volume=/tmp:/tmp:rw \
-            #--volume=${GITHUB_ACTION_PATH}:${GITHUB_ACTION_PATH}:rw \
-            #px4io/px4-dev:${{ needs.set_docker_tag.outputs.docker_tag }} /bin/bash -c "make ${{ matrix.target }}"
-
-        run: |
-          docker run --rm -w ${{ github.workspace }} \
-            --env=LOCAL_USER_ID="$(id -u)" \
-            --volume=/tmp:/tmp:rw \
-            --volume=${{ github.workspace }}:${{ github.workspace }}:rw \
-            ${{ needs.set_docker_tag.outputs.docker_tag }} /bin/bash -c "make px4_fmu-v6x"
@@ -1,34 +0,0 @@
-name: ClusterFuzzLite batch fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-permissions: read-all
-jobs:
-  BatchFuzzing:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        sanitizer:
-        - address
-        - undefined
-        - memory
-    steps:
-    - name: Build Fuzzers (${{ matrix.sanitizer }})
-      id: build
-      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
-      with:
-        sanitizer: ${{ matrix.sanitizer }}
-    - name: Run Fuzzers (${{ matrix.sanitizer }})
-      id: run
-      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        fuzz-seconds: 1800 # 30 mins
-        mode: 'batch'
-        sanitizer: ${{ matrix.sanitizer }}
-        # Optional but recommended: For storing certain artifacts from fuzzing.
-        # See later section on "Git repo for storage".
-        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
-        # storage-repo-branch: main   # Optional. Defaults to "main"
-        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".
@@ -0,0 +1,54 @@
+name: Linux Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-armhf:2021-09-08
+    strategy:
+      matrix:
+        config: [
+          beaglebone_blue_default,
+          emlid_navio2_default,
+          px4_raspberrypi_default,
+          scumaker_pilotpi_default,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -0,0 +1,51 @@
+name: Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:2021-09-08
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -0,0 +1,118 @@
+name: Nuttx Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
+    strategy:
+      fail-fast: false
+      matrix:
+        config: [
+          airmind_mindpx-v2,
+          ark_can-flow,
+          ark_can-gps,
+          ark_can-rtk-gps,
+          atl_mantis-edu,
+          av_x-v1,
+          bitcraze_crazyflie,
+          bitcraze_crazyflie21,
+          cuav_can-gps-v1,
+          cuav_nora,
+          cuav_x7pro,
+          cubepilot_cubeorange,
+          cubepilot_cubeyellow,
+          freefly_can-rtk-gps,
+          holybro_can-gps-v1,
+          holybro_durandal-v1,
+          holybro_kakutef7,
+          holybro_pix32v5,
+          matek_h743-slim,
+          modalai_fc-v1,
+          modalai_fc-v2,
+          mro_ctrl-zero-f7,
+          mro_ctrl-zero-f7-oem,
+          mro_ctrl-zero-h7,
+          mro_ctrl-zero-h7-oem,
+          mro_pixracerpro,
+          mro_x21,
+          mro_x21-777,
+          nxp_fmuk66-e,
+          nxp_fmuk66-v3,
+          nxp_fmurt1062-v1,
+          nxp_ucans32k146,
+          omnibus_f4sd,
+          raspberrypi_pico,
+          px4_fmu-v2,
+          px4_fmu-v3,
+          px4_fmu-v4,
+          px4_fmu-v4pro,
+          px4_fmu-v5,
+          px4_fmu-v5x,
+          px4_fmu-v6u,
+          px4_fmu-v6x,
+          spracing_h7extreme,
+          uvify_core
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 120M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make all_variants_${{matrix.config}}
+      run: make all_variants_${{matrix.config}}
+      timeout-minutes: 45
+    - name: make ${{matrix.config}} bloaty_compileunits
+      run: make ${{matrix.config}} bloaty_compileunits || true
+    - name: make ${{matrix.config}} bloaty_inlines
+      run: make ${{matrix.config}} bloaty_inlines || true
+    - name: make ${{matrix.config}} bloaty_segments
+      run: make ${{matrix.config}} bloaty_segments || true
+    - name: make ${{matrix.config}} bloaty_symbols
+      run: make ${{matrix.config}} bloaty_symbols || true
+    - name: make ${{matrix.config}} bloaty_templates
+      run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_ram
+      run: make ${{matrix.config}} bloaty_ram || true
+    - name: make ${{matrix.config}} bloaty_compare_master
+      run: make ${{matrix.config}} bloaty_compare_master || true
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_package_${{matrix.config}}
+        path: |
+          build/**/*.px4
+          build/**/*.bin
@@ -1,17 +1,11 @@
-name: Build and deploy all targets with metadata
+name: Deploy metadata for all targets

 on:
-  release:
-    types: [published]
-  create:
-    tags:
-      - 'v*'
  push:
    branches:
    - 'master'
    - 'release/*'
    - 'pr-metadata-test'
-    - 'build_and_deploy_mix'

 jobs:
  enumerate_targets:
@@ -24,8 +18,8 @@ jobs:
      with:
        token: ${{secrets.ACCESS_TOKEN}}
    - id: set-matrix
-      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py -a)"
-  build_all:
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
+  build:
    runs-on: ubuntu-latest
    needs: enumerate_targets
    strategy:
@@ -40,4 +34,21 @@ jobs:
      run: make ${{matrix.target}}

    - name: parameter & events metadata
-      run: make ${{matrix.target}} ver_gen events_json actuators_json
+      run: |
+        make ${{matrix.target}} ver_gen events_json actuators_json
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
+        cd build/${{ matrix.target }}
+        mkdir _metadata || true
+        cp parameters.* events/*.xz actuators.json* _metadata
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
+        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
+
@@ -196,16 +196,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: matek_h743-slim_default
-    matek_gnss-m9n-f4_canbootloader:
-      short: matek_gnss-m9n-f4_canbootloader
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_m9nf4can_canbootloader
-    matek_gnss-m9n-f4_default:
-      short: matek_gnss-m9n-f4_default
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_gnss-m9n-f4_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -125,11 +125,6 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 FULL_DOCS "List of all PX4 module libraries"
                 )

-define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
-                 BRIEF_DOCS "PX4 kernel side module libs"
-                 FULL_DOCS "List of all PX4 kernel module libraries"
-                 )
-
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                 BRIEF_DOCS "PX4 module paths"
                 FULL_DOCS "List of paths to all PX4 modules"
@@ -147,7 +142,6 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")

 include(px4_add_module)
 set(config_module_list)
-set(config_kernel_list)

 # Find Python
 # If using catkin, Python 2 is found since it points
@@ -118,11 +118,6 @@ config BOARD_CRYPTO
    help
        Enable PX4 Crypto Support. Select the implementation under drivers

-config BOARD_PROTECTED
-    bool "Memory protection"
-    help
-        Enable memory protection via MPU/MMU
-
 menu "Serial ports"

    config BOARD_SERIAL_URT6
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2022, PX4 Development Team
+Copyright (c) 2012 - 2021, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -158,11 +158,6 @@ else
 		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif

-	# Fuzz Testing
-	ifdef PX4_FUZZ
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
-	endif
-
 endif

 # Pick up specific Python path if set
@@ -10,7 +10,7 @@ fi

 if [ ! -f replay_params.txt ]; then
 	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
+	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
 fi

 publisher_rules_file="orb_publisher.rules"
@@ -21,7 +21,6 @@ ignore_others: false
 EOF

 param set SDLOG_DIRS_MAX 7
-param set SDLOG_PROFILE 3

 # apply all params before ekf starts, as some params cannot be changed after startup
 replay tryapplyparams
@@ -35,6 +35,6 @@ param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25

 param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.391030303103
+param set-default BAT1_A_PER_V 15.39103

 set MIXER quad_w
@@ -15,8 +15,6 @@
 set MIXER quad_x
 set PWM_OUT 1234

-param set UAVCAN_ENABLE 0
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2

@@ -15,8 +15,6 @@
 set MIXER AERT
 set PWM_OUT 1234

-param set UAVCAN_ENABLE 0
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

@@ -40,4 +38,3 @@ param set SIH_IXZ 0.00046
 param set SIH_KDV 0.2

 param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
-param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
@@ -1,61 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Tailsitter Duo
-#
-# @type Simulation
-# @class VTOL
-#
-# @output MAIN1 motor right
-# @output MAIN2 motor left
-# @output MAIN5 elevon right
-# @output MAIN6 elevon left
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set UAVCAN_ENABLE 0
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_COUNT 2
-param set-default VT_TYPE 0
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
-param set-default MPC_MAN_Y_MAX 60
-param set-default MC_PITCH_P 5
-
-param set-default MAV_TYPE 19
-set MAV_TYPE 19
-set MIXER vtol_tailsitter_duo_sat
-
-set PWM_OUT 1234
-
-# set SYS_HITL to 2 to start the SIH and avoid sensors startup
-param set-default SYS_HITL 2
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
-param set SIH_MASS 0.2
-# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set SIH_IXX 0.00354
-param set SIH_IYY 0.000625
-param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
-param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.145
-
-# sih as tailsitter
-param set SIH_VEHICLE_TYPE 2
@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name Holybro X500 V2
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Farhang Naderi <farhang.nba@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default IMU_GYRO_CUTOFF 30
-
-param set-default MC_ROLLRATE_P 0.14
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_ROLLRATE_I 0.3
-param set-default MC_PITCHRATE_I 0.3
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCHRATE_D 0.004
@@ -16,10 +16,8 @@

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

-# We set the mixer and ESC manually.
-set MIXER skip
-set MIXER_AUX skip
-set MIXER_FILE ""
+set MIXER none
+set MIXER_AUX none

 # Battery settings
 param set-default BAT_CRIT_THR 0.20
@@ -35,13 +33,12 @@ param set-default CBRK_SUPPLY_CHK 894281

 param set-default COM_DISARM_LAND 0.1
 param set-default COM_DISARM_PRFLT 3
-param set-default COM_DL_LOSS_T 10
-param set-default COM_FLTMODE1  2
+param set-default COM_FLTMODE1 -1
 param set-default COM_FLTMODE2 -1
 param set-default COM_FLTMODE3 -1
-param set-default COM_FLTMODE4 -1
+param set-default COM_FLTMODE4  2
 param set-default COM_FLTMODE5 -1
-param set-default COM_FLTMODE6  1
+param set-default COM_FLTMODE6  6
 param set-default COM_RC_LOSS_T 3


@@ -71,9 +68,6 @@ param set-default EKF2_OF_GATE 2.0
 param set-default EKF2_OF_POS_X -0.035
 param set-default EKF2_OF_POS_Y 0.0
 param set-default EKF2_OF_POS_Z 0.033
-param set-default EKF2_OF_MIN_RNG 0.01
-param set-default EKF2_OF_A_HMAX 7.0
-param set-default EKF2_OF_QMIN 30

 param set-default EKF2_PCOEF_XN -0.3
 param set-default EKF2_PCOEF_XP -0.4
@@ -148,30 +142,57 @@ param set-default MPC_Z_VEL_P 0.27

 # gimbal configuration
 param set-default MNT_MODE_IN 1
-param set-default MNT_MODE_OUT 1
-param set-default MNT_MAN_PITCH 2
-param set-default MNT_RC_IN_MODE 1
-param set-default MNT_RATE_PITCH 30
+param set-default MNT_MODE_OUT 2
+param set-default MNT_MAN_PITCH 1
+

 # RC
 param set-default RC_CHAN_CNT       12

 param set-default RC_MAP_THROTTLE   1
-param set-default RC_MAP_YAW        2
+param set-default RC_MAP_ROLL       2
 param set-default RC_MAP_PITCH      3
-param set-default RC_MAP_ROLL       4
-param set-default RC_MAP_AUX2       5
-param set-default RC_MAP_AUX3       10
-param set-default RC_MAP_AUX4       8
-param set-default RC_MAP_FLTMODE    6
-param set-default RC1_TRIM          1000
+param set-default RC_MAP_YAW        4
+param set-default RC_MAP_FLTMODE    5
+param set-default RC_MAP_AUX1       7
+
+param set-default RC1_DZ            10
+param set-default RC1_MAX           3413
+param set-default RC1_MIN           683
+param set-default RC1_REV           1
+param set-default RC1_TRIM          683
+param set-default RC2_DZ            10
+param set-default RC2_MAX           3413
+param set-default RC2_MIN           683
+param set-default RC2_REV           -1
+param set-default RC2_TRIM          2048
+param set-default RC3_DZ            10
+param set-default RC3_MAX           3413
+param set-default RC3_MIN           683
+param set-default RC3_REV           1
+param set-default RC3_TRIM          2048
+param set-default RC4_DZ            10
+param set-default RC4_MAX           3413
+param set-default RC4_MIN           683
+param set-default RC4_REV           -1
+param set-default RC4_TRIM          2048
+param set-default RC5_DZ            10
+param set-default RC5_MAX           3414
+param set-default RC5_MIN           2048
+param set-default RC5_REV           1
+param set-default RC5_TRIM          2048
+param set-default RC7_DZ            10
+param set-default RC7_MAX           3413
+param set-default RC7_MIN           683
+param set-default RC7_REV           1
+param set-default RC7_TRIM          2048


 # optical flow
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT    0
+param set-default SENS_FLOW_ROT    4

-# ignore the SD card errors and use normal startup sound
-set STARTUP_TUNE "1"
+
+mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
@@ -40,7 +40,6 @@ px4_add_romfs_files(
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
 	1101_rc_plane_sih.hil
-	1102_tailsitter_duo_sih.hil

 	# [2000, 2999] Standard planes"
 	2100_standard_plane
@@ -73,7 +72,6 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4018_s500_ctrlalloc
-	4019_x500_v2
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper
@@ -45,7 +45,7 @@ fi
 #
 # Set the default output mode if none was set.
 #
-if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
+if [ $OUTPUT_MODE = none ]
 then
 	if [ $USE_IO = yes ]
 	then
@@ -72,7 +72,7 @@ fi
 #
 # If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
 #
-if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
+if [ $OUTPUT_MODE != none ]
 then

 	if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]
@@ -7,10 +7,7 @@

 set VEHICLE_TYPE mc

-if param compare IMU_GYRO_RATEMAX 400
-then
-	param set-default IMU_GYRO_RATEMAX 800
-fi
+param set-default IMU_GYRO_RATEMAX 800

 param set-default NAV_ACC_RAD 2

@@ -130,13 +130,6 @@ then
 	fi
 fi

-# 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
-
 # TE MS4525 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525 1
 then
@@ -147,6 +147,8 @@ else

 		param dump $PARAM_FILE

+		hexdump $PARAM_FILE
+
 		if [ -d "/fs/microsd" ]
 		then
 			dmesg >> /fs/microsd/param_import_fail.txt &
@@ -291,9 +293,15 @@ else
 		# Start core UAVCAN module.
 		if uavcan start
 		then
-			if param greater UAVCAN_ENABLE 2
+			if param greater UAVCAN_ENABLE 1
 			then
-				set OUTPUT_MODE uavcan_esc
+				# Start UAVCAN firmware update server and dynamic node ID allocation server.
+				uavcan start fw
+
+				if param greater UAVCAN_ENABLE 2
+				then
+					set OUTPUT_MODE uavcan_esc
+				fi
 			fi
 		else
 			tune_control play error
@@ -409,6 +417,17 @@ else
 		commander start
 	fi

+
+	#
+	# Play the startup tune (if not disabled or there is an error)
+	#
+	param compare CBRK_BUZZER 782090
+	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
+	then
+		tune_control play -t $STARTUP_TUNE
+	fi
+
+
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -427,7 +446,7 @@ else
 	set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
 	if [ -f $BOARD_RC_MAVLINK ]
 	then
-		echo "Board mavlink: ${BOARD_RC_MAVLINK}"
+		echo "Board extras: ${BOARD_RC_MAVLINK}"
 		. $BOARD_RC_MAVLINK
 	fi
 	unset BOARD_RC_MAVLINK
@@ -466,15 +485,6 @@ else
 	#
 	. ${R}etc/init.d/rc.vehicle_setup

-	#
-	# Play the startup tune (if not disabled or there is an error)
-	#
-	param compare CBRK_BUZZER 782090
-	if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ]
-	then
-		tune_control play -t $STARTUP_TUNE
-	fi
-
 	#
 	# Start the navigator.
 	#
@@ -90,5 +90,4 @@ px4_add_romfs_files(
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
-	vtol_tailsitter_duo_sat.main.mix
 )
@@ -1,39 +0,0 @@
-Tailsitter duo mixer
-============================
-
-This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
-has two motors in total, one attached to each wing. It also has two elevons which
-are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
-elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
-at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
-
-Motor mixer
------------
-Channel 1 connects to the right (starboard) motor.
-Channel 2 connects to the left (port) motor.
-
-R: 2-
-
-Zero mixer (2x)
---------------
-Channels 3,4 are unused.
-
-Z:
-
-Z:
-
-Elevons mixer
--------------
-Channel 5 connects to the right (starboard) elevon.
-Channel 6 connects to the left (port) elevon.
-Here we saturate the elevons before their full range
-to avoid roll-pitch-yaw coupling during faster maneuvers
-
-M: 2
-S: 1 0   10000   10000    0 -6000  6000
-S: 1 1   10000   10000    0 -6000  6000
-
-M: 2
-S: 1 0   10000   10000    0 -6000  6000
-S: 1 1  -10000  -10000    0 -6000  6000
@@ -21,26 +21,13 @@ echo "airframes: ${ALL_AIRFRAMES}"
 for airframe in $ALL_AIRFRAMES
 do
 	echo
-	echo
-	echo
-	echo "########################################################################################################################"
+	echo "##########################################################################################"
 	echo " Airframe: $airframe"
-	echo "########################################################################################################################"
+	echo "##########################################################################################"
 	echo

 	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART  --value $airframe
 	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER    --value 782097
-
-	# enable all mavlink instances
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_0_CONFIG 101' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_1_CONFIG 102' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_2_CONFIG 103' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_3_CONFIG 104' || true
-
-	# enable all GPS
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 201' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 202' || true
-
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
@@ -48,16 +35,13 @@ do

 	${DIR}/reboot.py --device ${SERIAL_DEVICE}

-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/param_import_fail.bson' || true

 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'

 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'

-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
-
 done
@@ -1,5 +1,35 @@
 #! /bin/bash

+if [ -z ${PX4_DOCKER_REPO+x} ]; then
+	echo "guessing PX4_DOCKER_REPO based on input";
+	if [[ $@ =~ .*px4_fmu.* ]]; then
+		# nuttx-px4fmu-v{1,2,3,4,5}
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
+		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
+	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
+		# scumaker_pilotpi_arm64
+		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
+		# posix_rpi_cross, posix_bebop_default
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
+	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
+		# clang tools
+		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
+	elif [[ $@ =~ .*tests* ]]; then
+		# run all tests with simulation
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
+	fi
+else
+	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
+fi
+
+# otherwise default to nuttx
+if [ -z ${PX4_DOCKER_REPO+x} ]; then
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
+fi
+
 # docker hygiene

 #Delete all stopped containers (including data-only containers)
@@ -8,23 +38,30 @@
 #Delete all 'untagged/dangling' (<none>) images
 #docker rmi $(docker images -q -f dangling=true)

-if [[ -z "${DOCKER_TAG}" ]]; then
-  TAG_NAME=""
-else
-  TAG_NAME=":${DOCKER_TAG}"
-fi
-
-PX4_DOCKER_REPO="px4io/px4-dev$TAG_NAME"
-
-echo $PX4_DOCKER_REPO
+echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";

 PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 SRC_DIR=$PWD/../

+CCACHE_DIR=${HOME}/.ccache
+mkdir -p "${CCACHE_DIR}"
+
 docker run -it --rm -w "${SRC_DIR}" \
-  --env=LOCAL_USER_ID="$(id -u)" \
-  --publish 14556:14556/udp \
-  --volume=/tmp/.X11-unix:/tmp/.X11-unix \
-  --volume=/tmp:/tmp:rw \
-  --volume=${SRC_DIR}:${SRC_DIR}:rw \
-  ${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
+	--env=AWS_ACCESS_KEY_ID \
+	--env=AWS_SECRET_ACCESS_KEY \
+	--env=BRANCH_NAME \
+	--env=CCACHE_DIR="${CCACHE_DIR}" \
+	--env=CI \
+	--env=CODECOV_TOKEN \
+	--env=COVERALLS_REPO_TOKEN \
+	--env=LOCAL_USER_ID="$(id -u)" \
+	--env=PX4_ASAN \
+	--env=PX4_MSAN \
+	--env=PX4_TSAN \
+	--env=PX4_UBSAN \
+	--env=TRAVIS_BRANCH \
+	--env=TRAVIS_BUILD_ID \
+	--publish 14556:14556/udp \
+	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
+	--volume=${SRC_DIR}:${SRC_DIR}:rw \
+	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
@@ -39,7 +39,7 @@ function spawn_model() {

 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"

-	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.83
+	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.0

 	popd &>/dev/null

@@ -6,14 +6,14 @@ import os
 import sys
 import json
 import re
-# from kconfiglib import Kconfig
+from kconfiglib import Kconfig

-# kconf = Kconfig()
+kconf = Kconfig()

 # Supress warning output
-# kconf.warn_assign_undef = False
-# kconf.warn_assign_override = False
-# kconf.warn_assign_redun = False
+kconf.warn_assign_undef = False
+kconf.warn_assign_override = False
+kconf.warn_assign_redun = False

 source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')

@@ -23,10 +23,6 @@ parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
                    help='Verbose Output')
 parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
                    help='Pretty output instead of a single line')
-parser.add_argument('-a', '--all_variants', dest='all_variants', action='store_true',
-                    help='Prints targets into a single all_variants_* target')
-parser.add_argument('-b', '--bloaty', dest='bloaty', action='store_true',
-                    help='Includes all bloaty targets')

 args = parser.parse_args()
 verbose = args.verbose
@@ -39,66 +35,48 @@ excluded_labels = [
    'nolockstep', 'replay', 'test',
    'uavcanv1' # TODO: fix and enable
    ]
-bloaty_helpers = [
-    'bloaty_compileunits',
-    'bloaty_inlines',
-    'bloaty_segments',
-    'bloaty_symbols',
-    'bloaty_templates',
-    'bloaty_ram',
-    'bloaty_compare_master',
-    ]

-# def process_target(px4board_file, target_name):
-    # ret = None
-    # platform = None
-    # toolchain = None
+def process_target(px4board_file, target_name):
+    ret = None
+    platform = None
+    toolchain = None

-    # if px4board_file.endswith("default.px4board") or \
-        # px4board_file.endswith("recovery.px4board") or \
-        # px4board_file.endswith("bootloader.px4board"):
-        # kconf.load_config(px4board_file, replace=True)
-    # else: # Merge config with default.px4board
-        # default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
-        # kconf.load_config(default_kconfig, replace=True)
-        # kconf.load_config(px4board_file, replace=False)
+    if px4board_file.endswith("default.px4board") or \
+        px4board_file.endswith("recovery.px4board") or \
+        px4board_file.endswith("bootloader.px4board"):
+        kconf.load_config(px4board_file, replace=True)
+    else: # Merge config with default.px4board
+        default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
+        kconf.load_config(default_kconfig, replace=True)
+        kconf.load_config(px4board_file, replace=False)

-    # if "BOARD_TOOLCHAIN" in kconf.syms:
-        # toolchain = kconf.syms["BOARD_TOOLCHAIN"].str_value
+    if "BOARD_TOOLCHAIN" in kconf.syms:
+        toolchain = kconf.syms["BOARD_TOOLCHAIN"].str_value

-    # if "BOARD_PLATFORM" in kconf.syms:
-        # platform = kconf.syms["BOARD_PLATFORM"].str_value
+    if "BOARD_PLATFORM" in kconf.syms:
+        platform = kconf.syms["BOARD_PLATFORM"].str_value

-    # assert platform, f"PLATFORM not found in {px4board_file}"
+    assert platform, f"PLATFORM not found in {px4board_file}"

-    # if platform not in excluded_platforms:
-        # # get the container based on the platform and toolchain
-        # container = platform
-        # if platform == 'posix':
-            # container = 'base-focal'
-            # if toolchain:
-                # if toolchain.startswith('aarch64'):
-                    # container = 'aarch64'
-                # elif toolchain == 'arm-linux-gnueabihf':
-                    # container = 'armhf'
-                # else:
-                    # if verbose: print(f'possibly unmatched toolchain: {toolchain}')
-        # elif platform == 'nuttx':
-            # container = 'nuttx-focal'
+    if platform not in excluded_platforms:
+        # get the container based on the platform and toolchain
+        container = platform
+        if platform == 'posix':
+            container = 'base-focal'
+            if toolchain:
+                if toolchain.startswith('aarch64'):
+                    container = 'aarch64'
+                elif toolchain == 'arm-linux-gnueabihf':
+                    container = 'armhf'
+                else:
+                    if verbose: print(f'possibly unmatched toolchain: {toolchain}')
+        elif platform == 'nuttx':
+            container = 'nuttx-focal'

-        # ret = {'target': target_name, 'container': container}
+        ret = {'target': target_name, 'container': container}

-    # return ret
+    return ret

-def process_bloaty(target_path, target_name):
-    response = []
-    for bloat in bloaty_helpers:
-        bloaty_name = target_name + ' ' + bloat + ' || true'
-        processed_target = process_target(target_path, bloaty_name)
-        response.append(processed_target)
-    return response
-
-# Look up boards from each manufacturer
 for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
    if not manufacturer.is_dir():
        continue
@@ -107,37 +85,18 @@ for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
        continue

    for board in os.scandir(manufacturer.path):
-        # Only boards are directories don't proceed if otherwise
        if not board.is_dir():
            continue
-
-        if args.all_variants:
-            # The all_variants target makes all targets for a board
-            target_name = 'all_variants_' + manufacturer.name + '_' + board.name
-            default_target_path = f'{board.path}/default.px4board'
-            # target = process_target(default_target_path, target_name)
-            target = {'target': target_name}
-            if target is not None:
-                build_configs.append(target)
-            if args.bloaty and target is not None:
-                # bloaty targets
-                bloat_target_name = manufacturer.name + '_' + board.name
-                # bloaty_targets = process_bloaty(default_target_path, bloat_target_name)
-                bloaty_targets = {'target': bloat_target_name}
-                build_configs += bloaty_targets
-        else:
-            # Each board can have multiple variant targets
-            for files in os.scandir(board.path):
-                if files.is_file() and files.name.endswith('.px4board'):
-                    label = files.name[:-9]
-                    target_name = manufacturer.name + '_' + board.name + '_' + label
-                    if label in excluded_labels:
-                        if verbose: print(f'excluding label {label} ({target_name})')
-                        continue
-                    # target = process_target(files.path, target_name)
-                    target = {'target': target_name}
-                    if target is not None:
-                        build_configs.append(target)
+        for files in os.scandir(board.path):
+            if files.is_file() and files.name.endswith('.px4board'):
+                label = files.name[:-9]
+                target_name = manufacturer.name + '_' + board.name + '_' + label
+                if label in excluded_labels:
+                    if verbose: print(f'excluding label {label} ({target_name})')
+                    continue
+                target = process_target(files.path, target_name)
+                if target is not None:
+                    build_configs.append(target)


 github_action_config = { 'include': build_configs }
@@ -10,7 +10,7 @@ extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-while getopts ":b:d:p:qsr:f:i:loat" opt; do
+while getopts ":b:d:p:qsr:f:i:loa" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -40,10 +40,7 @@ while getopts ":b:d:p:qsr:f:i:loat" opt; do
 			extra_args="$extra_args -disponly"
 			;;
 		a)
-			extra_args="$extra_args -fw" # aircraft model
-			;;
-		t)
-			extra_args="$extra_args -ts" # tailsitter model
+			extra_args="$extra_args -fw" # aircraft
 			;;
 		\?)
 			echo "Invalid option: -$OPTARG" >&2
@@ -156,6 +156,7 @@ bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
 dmesg,CONFIG_SYSTEMCMDS_DMESG=y
 dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
 dyn,CONFIG_SYSTEMCMDS_DYN=y
+esc_calib,CONFIG_SYSTEMCMDS_ESC_CALIB=y
 failure,CONFIG_SYSTEMCMDS_FAILURE=y
 gpio,CONFIG_SYSTEMCMDS_GPIO=y
 hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -164,6 +165,7 @@ led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
 mft,CONFIG_SYSTEMCMDS_MFT=y
 microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
 mixer,CONFIG_SYSTEMCMDS_MIXER=y
+motor_ramp,CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 mtd,CONFIG_SYSTEMCMDS_MTD=y
 netman,CONFIG_SYSTEMCMDS_NETMAN=y
@@ -142,6 +142,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
        }
    if 'show_subgroups_if' in actuator_output_yaml:
        actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if']
+    add_reverse_range_param = actuator_output_yaml.get('add_reverse_range_param', False)

    # config parameters
    def get_config_params(param_list):
@@ -256,13 +257,14 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                per_channel_params.append(param)


-        param = {
-                'label': 'Rev Range\n(for Servos)',
-                'name': param_prefix+'_REV',
-                'index-offset': -1,
-                'show-as': 'bitset',
-            }
-        per_channel_params.append(param)
+        if add_reverse_range_param:
+            param = {
+                    'label': 'Rev Range\n(for Servos)',
+                    'name': param_prefix+'_REV',
+                    'index-offset': -1,
+                    'show-as': 'bitset',
+                }
+            per_channel_params.append(param)

        # TODO: support non-standard per-channel parameters

@@ -178,6 +178,7 @@ def get_actuator_output_params(yaml_config, output_functions,
    all_params = {}
    group_idx = 0

+    add_reverse_range_param = yaml_config['actuator_output'].get('add_reverse_range_param', False)
    all_param_prefixes = {}

    def add_local_param(param_name, param_def):
@@ -298,9 +299,13 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''
        minimum_description = \
 '''Minimum output value (when not disarmed).
+
+The output range can be reversed by setting Min > Max.
 '''
        maximum_description = \
 '''Maxmimum output value (when not disarmed).
+
+The output range can be reversed by setting Min > Max.
 '''
        failsafe_description = \
 '''This is the output value that is set when in failsafe mode.
@@ -341,29 +346,29 @@ When set to -1 (default), the value depends on the function (see {:}).
                    }
                add_local_param(param_prefix+'_'+param_suffix+'${i}', param)

-    # add reverse range param
-    for param_prefix in all_param_prefixes:
-        groups = all_param_prefixes[param_prefix]
-        # collect the bits
-        channel_bits = {}
-        for instance_start, instance_start_label, num_instances, label in groups:
-            for instance in range(instance_start, instance_start+num_instances):
-                instance_label = instance - instance_start + instance_start_label
-                channel_bits[instance-1] = label + ' ' + str(instance_label)
+    if add_reverse_range_param:
+        for param_prefix in all_param_prefixes:
+            groups = all_param_prefixes[param_prefix]
+            # collect the bits
+            channel_bits = {}
+            for instance_start, instance_start_label, num_instances, label in groups:
+                for instance in range(instance_start, instance_start+num_instances):
+                    instance_label = instance - instance_start + instance_start_label
+                    channel_bits[instance-1] = label + ' ' + str(instance_label)

-        param = {
-            'description': {
-                'short': 'Reverse Output Range for '+module_name,
-                'long':
+            param = {
+                'description': {
+                    'short': 'Reverse Output Range for '+module_name,
+                    'long':
 '''Allows to reverse the output range for each channel.
 Note: this is only useful for servos.
 '''.format(channel_label),
-                },
-            'type': 'bitmask',
-            'default': 0,
-            'bit': channel_bits
-            }
-        add_local_param(param_prefix+'_REV', param)
+                    },
+                'type': 'bitmask',
+                'default': 0,
+                'bit': channel_bits
+                }
+            add_local_param(param_prefix+'_REV', param)

    if verbose: print('adding actuator params: {:}'.format(all_params))
    return all_params
@@ -1,55 +0,0 @@
-#
-# PX4 base development environment
-#
-
-FROM ubuntu:20.04
-LABEL maintainer="Daniel Agar <daniel@agar.ca>, Ramon Roche <mrpollo@gmail.com>"
-
-ENV DEBIAN_FRONTEND noninteractive
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
-
-# Installing required utilities
-RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
-  ca-certificates \
-  gnupg \
-  lsb-core \
-  lsb-release \
-  sudo \
-  software-properties-common \
-  wget \
-  gosu \
-  ;
-
-# Install PX4 Requirements
-COPY Tools/setup/requirements.txt /tmp/requirements.txt
-COPY Tools/setup/ubuntu.sh /tmp/ubuntu.sh
-# We support pre-downloading the gcc arm none eabi compiler
-# to speed up build times, if the file is not present when
-# building, the ubuntu.sh script will download it from source
-COPY *gcc-arm-none-eabi-9-2020-q2-update-linux.tar.bz2 /tmp/gcc-arm-none-eabi-9-2020-q2-update-linux.tar.bz2
-# The PATH env is set within ubuntu.sh, but given how we
-# are running the image using `gosu` to avoid read-only problems
-# with the filesystem the env variable does not persist
-ENV PATH="/opt/gcc-arm-none-eabi-9-2020-q2-update/bin:$PATH"
-ENV PATH="/opt/jdk-14.0.2+12/bin:$PATH"
-RUN bash /tmp/ubuntu.sh --from-docker --with-java --with-rtps --no-sim-tools
-
-ENV DISPLAY :99
-
-ENV FASTRTPSGEN_DIR="/usr/local/bin/"
-ENV TERM=xterm
-ENV TZ=UTC
-
-# SITL UDP PORTS
-EXPOSE 14556/udp
-EXPOSE 14557/udp
-
-# create user with id 1001 (jenkins docker workflow default)
-RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
-
-# create and start as LOCAL_USER_ID
-COPY Tools/setup/docker-entrypoint.sh /usr/local/bin/entrypoint.sh
-ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
-
-CMD ["/bin/bash"]
@@ -48,6 +48,7 @@ echo "Installing PX4 general dependencies"
 sudo pacman -Sy --noconfirm --needed \
 	astyle \
 	base-devel \
+	ccache \
 	clang \
 	cmake \
 	cppcheck \
@@ -1,28 +0,0 @@
-#!/bin/bash
-
-# Start virtual X server in the background
-# - DISPLAY default is :99, set in dockerfile
-# - Users can override with `-e DISPLAY=` in `docker run` command to avoid
-#   running Xvfb and attach their screen
-if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
-	echo "Starting Xvfb"
-	Xvfb :99 -screen 0 1600x1200x24+32 &
-fi
-
-# Check if the ROS_DISTRO is passed and use it
-# to source the ROS environment
-if [ -n "${ROS_DISTRO}" ]; then
-	source "/opt/ros/$ROS_DISTRO/setup.bash"
-fi
-
-# Use the LOCAL_USER_ID if passed in at runtime
-if [ -n "${LOCAL_USER_ID}" ]; then
-	echo "Starting with UID : $LOCAL_USER_ID"
-	# modify existing user's id
-	usermod -u $LOCAL_USER_ID user
-
-	# run as user
-  exec gosu user "$@"
-else
-	exec "$@"
-fi
@@ -2,22 +2,20 @@

 set -e

-## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04).
+## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
 ## Can also be used in docker.
 ##
 ## Installs:
-## - Common dependencies and tools for NuttX, jMAVSim, Gazebo
+## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
 ## - NuttX toolchain (omit with arg: --no-nuttx)
-## - jMAVSim and Gazebo simulator (omit with arg: --no-sim-tools)
-## Optional:
-## - FastRTPS and FastCDR (with args: --with-rtps)
+## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
+##
+## Not Installs:
+## - FastRTPS and FastCDR

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
 INSTALL_ARCH=`uname -m`
-INSTALL_RTPS="false"
-INSTALL_JAVA="false"
-INSIDE_DOCKER="false"

 # Parse arguments
 for arg in "$@"
@@ -30,20 +28,20 @@ do
 		INSTALL_SIM="false"
 	fi

-	if [[ $arg == "--with-rtps" ]]; then
-		INSTALL_RTPS="true"
-	fi
-
-	if [[ $arg == "--with-java" ]]; then
-		INSTALL_JAVA="true"
-	fi
-
-	if [[ $arg == "--from-docker" ]]; then
-		INSIDE_DOCKER="true"
-	fi
-
 done

+# detect if running in docker
+if [ -f /.dockerenv ]; then
+	echo "Running within docker, installing initial dependencies";
+	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
+		ca-certificates \
+		gnupg \
+		lsb-core \
+		sudo \
+		wget \
+		;
+fi
+
 # script directory
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

@@ -71,119 +69,95 @@ elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
 fi

-VERBOSE_BAR="####################"
-echo
-echo $VERBOSE_BAR
-echo "#⚡️ Starting PX4 Dependency Installer for Ubuntu ${UBUNTU_RELEASE} (${INSTALL_ARCH})"
-echo "# Options:
-#
-#  - Install NuttX = ${INSTALL_NUTTX}
-#  - Install Java = ${INSTALL_JAVA}
-#  - Install Simulation = ${INSTALL_SIM}
-#  - Install RTPS = ${INSTALL_RTPS}"
-echo $VERBOSE_BAR
-echo

 echo
-echo $VERBOSE_BAR
-echo "🍻 Installing System Dependencies"
-echo $VERBOSE_BAR
-echo
+echo "Installing PX4 general dependencies"

 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+	astyle \
 	build-essential \
-  g++ \
-  gcc \
-  gdb \
-  astyle \
-  cmake \
-  cppcheck \
-  file \
-  git \
-  lcov \
-  libxml2-dev \
-  libxml2-utils \
-  make \
-  ninja-build \
-  python3 \
-  python3-dev \
-  python3-pip \
-  python3-setuptools \
-  python3-wheel \
-  rsync \
-  shellcheck \
-  unzip \
-  zip \
-  libssl-dev \
-  ;
+	ccache \
+	cmake \
+	cppcheck \
+	file \
+	g++ \
+	gcc \
+	gdb \
+	git \
+	lcov \
+	libxml2-dev \
+	libxml2-utils \
+	make \
+	ninja-build \
+	python3 \
+	python3-dev \
+	python3-pip \
+	python3-setuptools \
+	python3-wheel \
+	rsync \
+	shellcheck \
+	unzip \
+	zip \
+	;

-# Python 3 dependencies
-echo
-echo $VERBOSE_BAR
-echo "🍻 Installing Python dependencies"
-echo $VERBOSE_BAR
-echo
+if [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
+	echo "Installing Ubuntu 16.04 PX4-compatible ccache version"
+	wget -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
+	sudo dpkg -i /tmp/ccache_3.4.1-1_amd64.deb
+fi

+# Python3 dependencies
+echo
+echo "Installing PX4 Python3 dependencies"
 if [ -n "$VIRTUAL_ENV" ]; then
 	# virtual envrionments don't allow --user option
-  python -m pip install -r ${DIR}/requirements.txt
+	python -m pip install -r ${DIR}/requirements.txt
 else
 	# older versions of Ubuntu require --user option
-  if [[ $INSIDE_DOCKER == "true" ]]; then
-    # when running inside a docker container we don't need to install
-    # under --user since the installer user is root
-    # its best to install packages globaly for any user to find
-    python3 -m pip install -r /tmp/requirements.txt
-  else
-    python3 -m pip install --user -r ${DIR}/requirements.txt
-  fi
+	python3 -m pip install --user -r ${DIR}/requirements.txt
 fi

 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then

 	echo
-  echo $VERBOSE_BAR
-	echo "🍻 Installing NuttX dependencies"
-  echo $VERBOSE_BAR
-	echo
+	echo "Installing NuttX dependencies"

 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-    automake \
-    binutils-dev \
-    bison \
-    flex \
-    genromfs \
-    gettext \
-    gperf \
-    libelf-dev \
-    libexpat-dev \
-    libgmp-dev \
-    libisl-dev \
-    libmpc-dev \
-    libmpfr-dev \
-    libncurses5 \
-    libncurses5-dev \
-    libncursesw5-dev \
-    libtool \
-    pkg-config \
-    screen \
-    texinfo \
-    u-boot-tools \
-    util-linux \
-    vim-common \
-    g++-arm-linux-gnueabihf \
-    gcc-arm-linux-gnueabihf \
-    g++-aarch64-linux-gnu \
-    gcc-aarch64-linux-gnu \
-    ;
-
-  if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-    sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-    kconfig-frontends \
-    ;
-  fi
+		automake \
+		binutils-dev \
+		bison \
+		build-essential \
+		flex \
+		g++-multilib \
+		gcc-multilib \
+		gdb-multiarch \
+		genromfs \
+		gettext \
+		gperf \
+		libelf-dev \
+		libexpat-dev \
+		libgmp-dev \
+		libisl-dev \
+		libmpc-dev \
+		libmpfr-dev \
+		libncurses5 \
+		libncurses5-dev \
+		libncursesw5-dev \
+		libtool \
+		pkg-config \
+		screen \
+		texinfo \
+		u-boot-tools \
+		util-linux \
+		vim-common \
+		;
+	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		kconfig-frontends \
+		;
+	fi


 	if [ -n "$USER" ]; then
@@ -191,186 +165,97 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		sudo usermod -a -G dialout $USER
 	fi

-  NUTTX_GCC_VERSION="9-2020-q2-update"
-  NUTTX_GCC_VERSION_SHORT="9-2020q2"
-  echo
-  echo $VERBOSE_BAR
-  echo "🍻 Verifying proper gcc version (${NUTTX_GCC_VERSION}), and installing if not found"
-  echo
+	# arm-none-eabi-gcc
+	NUTTX_GCC_VERSION="9-2020-q2-update"
+	NUTTX_GCC_VERSION_SHORT="9-2020q2"

-  source $HOME/.profile # load changed path for the case the script is reran before relogin
+	source $HOME/.profile # load changed path for the case the script is reran before relogin
 	if [ $(which arm-none-eabi-gcc) ]; then
-    GCC_VER_STR=$(arm-none-eabi-gcc --version)
-    GCC_VER_FOUND=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
-  fi
+		GCC_VER_STR=$(arm-none-eabi-gcc --version)
+		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
+	fi

-  if [[ $(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}") == "1" ]]; then
-    echo "📌 Skipping installation, the arm cross compiler was found"
-    echo $VERBOSE_BAR
-	  echo
+	if [[ "$GCC_FOUND_VER" == "1" ]]; then
+		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"

-  else
-    echo "📌 The arm cross compiler was not found";
-    echo " * Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-    # The arm cross compiler hosting provider is known to throttle download speeds
-    # for users who reach a certain limit of downloads in a given time frame
-    # for this reason we allow for using a previously downloaded file
-    # this is specially helpful when debugging this installer script
-    # from within a container COMPILER_PATH="/tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2"
-    COMPILER_NAME="gcc-arm-none-eabi-${NUTTX_GCC_VERSION}"
-    COMPILER_PATH="/tmp/$COMPILER_NAME-linux.tar.bz2"
-    if [ ! -f "$COMPILER_PATH" ]; then
-      wget -O $COMPILER_PATH https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/${COMPILER_NAME}-${INSTALL_ARCH}-linux.tar.bz2
-    fi
-    sudo tar -jxf $COMPILER_PATH -C /opt/;
+	else
+		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
+		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
+			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;

-    # add arm-none-eabi-gcc to user's PATH
-    exportline="export PATH=\"/opt/${COMPILER_NAME}/bin:\$PATH\""
-    if [[ $INSIDE_DOCKER == "true" ]]; then
-      # when running on a docker container its best to set the environment globally
-      # since we don't know which user is going to be running commands on the container
-      touch /etc/profile.d/px4env.sh
-      echo $exportline >> /etc/profile.d/px4env.sh
-    else
-      if grep -Fxq "$exportline" $HOME/.profile; then
-        echo "${NUTTX_GCC_VERSION} path already set.";
-      else
-        echo $exportline >> $HOME/.profile;
-      fi
-    fi
-    echo " * arm-none-eabi-gcc (${NUTTX_GCC_VERSION}) Installed Succesful to /opt/${COMPILER_NAME}/bin"
-    echo $VERBOSE_BAR
-	  echo
-  fi
-fi
-
-# Install JAVA
-if [[ $INSTALL_JAVA == "true" ]]; then
-  JDK_VERSION="14.0.2_12"
-  echo
-  echo $VERBOSE_BAR
-  echo "🍻 Installing Java JDK
-
-  * Version: $JDK_VERSION
-  * Path: /opt/jdk-14.0.2+12"
-  echo $VERBOSE_BAR
-  echo
-
-  JDK_DOWNLOAD="/tmp/OpenJDK14U-jdk_x64_linux_hotspot_$JDK_VERSION.tar.gz"
-  wget -O $JDK_DOWNLOAD https://github.com/AdoptOpenJDK/openjdk14-binaries/releases/download/jdk-14.0.2%2B12/OpenJDK14U-jdk_x64_linux_hotspot_14.0.2_12.tar.gz
-  sudo tar -xzf $JDK_DOWNLOAD -C /opt/
-  export PATH="/opt/jdk-14.0.2+12/bin:$PATH"
-fi
-
-# Fast-RTPS
-if [[ $INSTALL_RTPS == "true" ]]; then
-  echo
-  echo $VERBOSE_BAR
-  echo "🍻 Installing Fast-RTPS"
-  echo $VERBOSE_BAR
-  echo
-
-  GRADLE_VERSION="6.4.1"
-  wget -O "/tmp/gradle-$GRADLE_VERSION-bin.zip" "https://services.gradle.org/distributions/gradle-$GRADLE_VERSION-bin.zip" \
-    && unzip -d /opt/gradle "/tmp/gradle-$GRADLE_VERSION-bin.zip"
-  export PATH="$PATH:/opt/gradle/gradle-$GRADLE_VERSION/bin"
-
-  # Intall foonathan_memory from source as it is required to Fast-RTPS >= 1.9
-  git clone https://github.com/eProsima/foonathan_memory_vendor.git /tmp/foonathan_memory \
-    && cd /tmp/foonathan_memory \
-    && mkdir build && cd build \
-    && cmake .. \
-    && cmake --build . --target install -- -j $(nproc)
-
-  # Fast-DDS (Fast-RTPS 2.1.1)
-  git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v2.1.1 /tmp/FastRTPS-2.1.1 \
-    && cd /tmp/FastRTPS-2.1.1 \
-    && mkdir build && cd build \
-    && cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
-    && cmake --build . --target install -- -j $(nproc)
-
-  # Fast-RTPS-Gen 1.0.4
-  git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 /tmp/Fast-RTPS-Gen-1.0.4 \
-    && cd /tmp/Fast-RTPS-Gen-1.0.4 \
-    && gradle assemble \
-    && gradle install
+		# add arm-none-eabi-gcc to user's PATH
+		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"

+		if grep -Fxq "$exportline" $HOME/.profile; then
+			echo "${NUTTX_GCC_VERSION} path already set.";
+		else
+			echo $exportline >> $HOME/.profile;
+		fi
+	fi
 fi

 # Simulation tools
 if [[ $INSTALL_SIM == "true" ]]; then

-  echo
-  echo $VERBOSE_BAR
-  echo "🍻 Installing PX4 Simulation Tools"
-  echo
+	echo
+	echo "Installing PX4 simulation dependencies"

-  if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-    gazebo_version=9
-  elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-    gazebo_version=11
-  fi
+	# General simulation dependencies
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		bc \
+		;

-  echo "  * Gazebo Version $gazebo_version"
-  echo $VERBOSE_BAR
+	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+		java_version=11
+		gazebo_version=9
+	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+		java_version=13
+		gazebo_version=11
+	else
+		java_version=14
+		gazebo_version=11
+	fi
+	# Java (jmavsim or fastrtps)
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		ant \
+		openjdk-$java_version-jre \
+		openjdk-$java_version-jdk \
+		libvecmath-java \
+		;

-  # General simulation dependencies
-  sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-    bc \
-    ant \
-    libvecmath-java \
-    ;
+	# Set Java 11 as default
+	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")

-  # Installing Gazebo and dependencies
-  # Setup OSRF Gazebo repository
-  sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-  wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-  # Update list, since new gazebo-stable.list has been added
-  sudo apt-get update -y --quiet
-  sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-    dmidecode \
-    gazebo$gazebo_version \
-    gstreamer1.0-plugins-bad \
-    gstreamer1.0-plugins-base \
-    gstreamer1.0-plugins-good \
-    gstreamer1.0-plugins-ugly \
-    gstreamer1.0-libav \
-    libeigen3-dev \
-    libgazebo$gazebo_version-dev \
-    libgstreamer-plugins-base1.0-dev \
-    libimage-exiftool-perl \
-    libopencv-dev \
-    libxml2-utils \
-    pkg-config \
-    protobuf-compiler \
-    ;
+	# Gazebo
+	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+	# Update list, since new gazebo-stable.list has been added
+	sudo apt-get update -y --quiet
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		dmidecode \
+		gazebo$gazebo_version \
+		gstreamer1.0-plugins-bad \
+		gstreamer1.0-plugins-base \
+		gstreamer1.0-plugins-good \
+		gstreamer1.0-plugins-ugly \
+		gstreamer1.0-libav \
+		libeigen3-dev \
+		libgazebo$gazebo_version-dev \
+		libgstreamer-plugins-base1.0-dev \
+		libimage-exiftool-perl \
+		libopencv-dev \
+		libxml2-utils \
+		pkg-config \
+		protobuf-compiler \
+		;

-  if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
-    # fix VMWare 3D graphics acceleration for gazebo
-    echo "export SVGA_VGPU10=0" >> ~/.profile
-  fi
+	if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
+		# fix VMWare 3D graphics acceleration for gazebo
+		echo "export SVGA_VGPU10=0" >> ~/.profile
+	fi
 fi

-if [[ $INSIDE_DOCKER == "true" ]]; then
-  # cleanup installation
-  rm -rf /tmp/
+if [[ $INSTALL_NUTTX == "true" ]]; then
+	echo
+	echo "Relogin or reboot computer before attempting to build NuttX targets"
 fi
-
-if [[ $INSIDE_DOCKER == "false" ]] && [[ $INSTALL_NUTTX == "true" ]]; then
-  echo
-  echo $VERBOSE_BAR
-  echo "💡 We recommend you relogin/reboot before attempting to build NuttX targets"
-  echo $VERBOSE_BAR
-  echo
-fi
-
-echo
-echo
-echo $VERBOSE_BAR
-echo "#⚡️ PX4 Dependency Installer Ended Succesfully
-#
-#  For more information on PX4 Autopilot check out our docs
-#  at docs.px4.io, if you find a bug please file an issue
-#  on GitHub https://github.com/px4/px4-autopilot"
-echo $VERBOSE_BAR
-echo
@@ -56,21 +56,6 @@ def get_N_colors(N, s=0.8, v=0.9):
        hex_out.append("#"+"".join(map(lambda x: format(x, '02x'), rgb)))
    return hex_out

-def topic_filename(topic):
-    MSG_PATH = 'msg/'
-
-    file_list = os.listdir(MSG_PATH)
-    msg_files = [file.replace('.msg', '') for file in file_list if file.endswith(".msg")]
-
-    if topic in msg_files:
-        return topic
-    else:
-        for msg_file in msg_files:
-            with open(f'{MSG_PATH}/{msg_file}.msg') as f:
-                ret = re.findall(f'^# TOPICS.*{topic}.*',f.read(),re.MULTILINE)
-                if len(ret) > 0:
-                    return msg_file
-    return "no_file"

 class PubSub(object):
    """ Collects either publication or subscription information for nodes
@@ -694,7 +679,8 @@ class OutputJSON(object):
            node['type'] = 'topic'
            node['color'] = topic_colors[topic]
            # url is opened when double-clicking on the node
-            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic_filename(topic)+'.msg'
+            # TODO: does not work for multi-topics
+            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic+'.msg'
            nodes.append(node)

        data['nodes'] = nodes
@@ -79,12 +79,14 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 10.177939394
-param set-default BAT1_A_PER_V 15.391030303
@@ -72,6 +72,12 @@
 #define ADC_RC_RSSI_CHANNEL		11
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15

+/* Define Battery 1 Voltage Divider and A per V
+ */
+
+#define BOARD_BATTERY1_V_DIV   (10.177939394f)
+#define BOARD_BATTERY1_A_PER_V (15.391030303f)
+
 /* Power supply control and monitoring GPIOs */
 // #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
 // #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
@@ -61,5 +61,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()
@@ -63,5 +63,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()
@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------

 param set-default CBRK_IO_SAFETY 0
-param set-default CANNODE_GPS_RTCM 1

 safety_button start
 tone_alarm start
@@ -63,5 +63,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()
@@ -1,46 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-
-set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
-
-# The file needs to have that name in order to be updated automatically.
-set(UPLOAD_NAME autopilot.px4)
-
-add_custom_target(upload_wifi
-	COMMAND ${CMAKE_COMMAND} -E copy ${PX4_FW_NAME} ${UPLOAD_NAME}
-	COMMAND ${PX4_SOURCE_DIR}/boards/atl/mantis-edu/upload.sh ${UPLOAD_NAME}
-	DEPENDS ${PX4_FW_NAME}
-	COMMENT "uploading autopilot.px4 file"
-	USES_TERMINAL
-)
@@ -4,8 +4,6 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_BAROMETER_MAIERTEK_MPC2520=y
-CONFIG_DRIVERS_TAP_ESC=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -39,6 +37,7 @@ CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
@@ -5,8 +5,6 @@

 param set-default SYS_AUTOSTART 4061

-param set-default BAT1_V_DIV 9.0
-
 param set-default COM_ARM_SDCARD 0

 param set-default SENS_EXT_I2C_PRB 0
@@ -18,7 +16,7 @@ param set-default SENS_MAG_MODE 0

 param set-default EV_TSK_STAT_DIS 1

-param set-default SYS_DM_BACKEND 1
+set LOGGER_ARGS "-m mavlink"

-# Use MAVLink log streaming
-set LOGGER_ARGS "-m mavlink -c 0.5"
+# Start esc
+tap_esc start -d /dev/ttyS4 -n 4
@@ -1,5 +0,0 @@
-#!/bin/sh
-
-tap_esc start -d /dev/ttyS4 -n 4
-sleep 1
-mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
@@ -204,7 +204,7 @@ CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=3000
+CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=1500
@@ -103,7 +103,7 @@ SECTIONS
 		This signature provides the bootloader with a way to delay booting
 		*/
 		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xb4ecc2925d7d05c5)
+		FILL(0xffecc2925d7d05c5)
 		. += 8;
 		*(.main_toc)
 		*(.text .text.*)
@@ -39,7 +39,7 @@ add_library(drivers_board
 	spi.cpp
 	timer_config.cpp
 	usb.c
-	pwr.cpp
+	pwr.c
 )
 add_dependencies(drivers_board arch_board_hw_info)

@@ -59,13 +59,6 @@
 #define BOARD_ARMED_STATE_LED  LED_BLUE

 #define FLASH_BASED_PARAMS
-#define RAM_BASED_MISSIONS
-
-// Hacks for MAVLink RC button input
-#define ATL_MANTIS_RC_INPUT_HACKS
-
-// Hacks for MAVLink RC button input
-#define ATL_MANTIS_RC_INPUT_HACKS

 /*
 * ADC channels
@@ -105,6 +98,9 @@
 	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
 	 (1 << ADC1_SPARE_1_CHANNEL))

+/* Define Battery 1 Voltage Divider and A per V */
+#define BOARD_BATTERY1_V_DIV         (9.0f)     /* measured with the provided PM board */
+
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)

@@ -151,8 +147,9 @@
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE

+#define BOARD_HAS_POWER_CONTROL	1
 /* power on/off */
-#define MS_PWR_BUTTON_DOWN 750
+#define MS_PWR_BUTTON_DOWN 1500
 #define KEY_AD_GPIO    (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTC|GPIO_PIN4)
 #define POWER_ON_GPIO  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
 #define POWER_OFF_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN5)
@@ -114,8 +114,6 @@ static void cam_pwr_on_pulse(void)
 	static bool pwr_on_flag = false;

 	if (pwr_on_flag == false) {
-		// This is now done in the bootloader.
-		// However, for transition we can leave it in.
 		up_mdelay(700);
 		stm32_configgpio(GPIO_CAM_PWR_ON_H);
 		up_mdelay(20);
@@ -53,7 +53,8 @@
 #include <nuttx/arch.h>

 #include <uORB/uORB.h>
-#include <uORB/Publication.hpp>
+#include <uORB/topics/led_control.h>
+#include <uORB/topics/tune_control.h>

 #include <arm_arch.h>
 #include "board_config.h"
@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-PX4_BINARY_FILE="$1"
-
-echo "uploading: $PX4_BINARY_FILE"
-
-PX4_BINARY_FILE_SIZE=$(stat -c%s "$PX4_BINARY_FILE")
-curl -v -F "image=@$PX4_BINARY_FILE" -H "Expect:" -H "File-Size:$PX4_BINARY_FILE_SIZE" http://192.168.42.1/cgi-bin/upload
-
@@ -77,11 +77,13 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
@@ -5,5 +5,3 @@

 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281
-
-param set-default BAT1_V_DIV 10.13
@@ -88,6 +88,12 @@
 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL))

+/* Define Battery 1 Voltage Divider and A per V
+ */
+
+#define BOARD_BATTERY1_V_DIV         (10.133333333f)
+#define BOARD_BATTERY1_A_PER_V       (36.367515152f)
+
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */

 #define BOARD_ADC_OPEN_CIRCUIT_V               (5.6f)
@@ -59,8 +59,10 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
@@ -1,6 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 11.0
@@ -42,6 +42,8 @@
 #define BOARD_OVERRIDE_UUID "BBBLUEID00000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_BBBLUE

+#define BOARD_BATTERY1_V_DIV   (11.0f)
+
 #define BOARD_MAX_LEDS 4 // Number external of LED's this board has


@@ -61,5 +61,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()
@@ -82,6 +82,7 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -83,6 +83,7 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -17,6 +17,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
@@ -78,12 +78,14 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
@@ -17,6 +17,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
@@ -149,6 +149,7 @@
 #define BOARD_HAS_STATIC_MANIFEST 1


+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};

 #define BOARD_ENABLE_CONSOLE_BUFFER

@@ -80,12 +80,14 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
@@ -144,6 +144,7 @@
 #define BOARD_HAS_STATIC_MANIFEST 1


+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};

 #define BOARD_ENABLE_CONSOLE_BUFFER

@@ -61,8 +61,10 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 10.177939394
-param set-default BAT1_A_PER_V 15.391030303
-
@@ -42,6 +42,9 @@
 #define BOARD_OVERRIDE_UUID "RPIID00000000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_RPI

+#define BOARD_BATTERY1_V_DIV   (10.177939394f)
+#define BOARD_BATTERY1_A_PER_V (15.391030303f)
+
 #define BOARD_MAX_LEDS 1 // Number of external LED's this board has


@@ -1,6 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default CANNODE_GPS_RTCM 1
@@ -62,5 +62,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()
@@ -68,5 +68,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()
@@ -75,12 +75,14 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
@@ -1,13 +1,7 @@
 #!/bin/sh
 #
-# board specific defaults
+# Holybro Durandal V1 specific board defaults
 #------------------------------------------------------------------------------

-param set-default BAT1_V_DIV 18.1
-param set-default BAT2_V_DIV 18.1
-
-param set-default BAT1_A_PER_V 36.367515152
-param set-default BAT2_A_PER_V 36.367515152
-
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
@@ -140,6 +140,12 @@
 	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
 	 (1 << ADC1_3V3_IN_CHANNEL))

+/* Define Battery 1 Voltage Divider and A per V
+ */
+
+#define BOARD_BATTERY1_V_DIV         (18.1f)     /* measured with the provided PM board */
+#define BOARD_BATTERY1_A_PER_V       (36.367515152f)
+
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */

 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
@@ -181,6 +187,7 @@

 #define BOARD_NUM_IO_TIMERS 4

+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 9, 8};

 /* Power supply control and monitoring GPIOs */

@@ -3,9 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------

-param set-default BAT1_V_DIV 10.9
-param set-default BAT1_A_PER_V 17
-
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

@@ -92,6 +92,11 @@
 	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
 	 (1 << ADC_RSSI_IN_CHANNEL))

+/* Define Battery 1 Voltage Divider and A per V
+ */
+#define BOARD_BATTERY1_V_DIV         (10.9f)
+#define BOARD_BATTERY1_A_PER_V       (17.f)
+
 /* PWM
 */
 #define DIRECT_PWM_OUTPUT_CHANNELS  6
@@ -1,3 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""
@@ -1,92 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_COMMON_BAROMETERS=y
-CONFIG_DRIVERS_BATT_SMBUS=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_OSD=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_PWM_OUT_SIM=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
-CONFIG_COMMON_TELEMETRY=y
-CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=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=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=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_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_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIH=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VMOUNT=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_TEST=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PWM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,13 +0,0 @@
-{
-    "board_id": 1048,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the KakuteH7 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "KAKUTEH7",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1835008,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,27 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 11.2
-param set-default BAT1_A_PER_V 59.5
-
-# system_power unavailable
-param set-default CBRK_SUPPLY_CHK 894281
-
-# Select the Generic 250 Racer by default
-param set-default SYS_AUTOSTART 4050
-
-# use the Q attitude estimator, it works w/o mag or GPS.
-param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_ACC_COMP 0
-param set-default ATT_W_ACC 0.4000
-param set-default ATT_W_GYRO_BIAS 0.0000
-
-param set-default SYS_HAS_MAG 0
-
-# the startup tune is not great on a binary output buzzer, so disable it
-param set-default CBRK_BUZZER 782090
-
-param set-default IMU_GYRO_RATEMAX 2000
-
@@ -1,13 +0,0 @@
-#!/bin/sh
-#
-# KakuteH7 specific board extras init
-#------------------------------------------------------------------------------
-
-if ! param compare OSD_ATXXXX_CFG 0
-then
-	atxxxx start -s
-fi
-
-# DShot telemetry is always on UART7
-dshot telemetry /dev/ttyS5
-
@@ -1,13 +0,0 @@
-#!/bin/sh
-#
-# Holybro KakuteH7 specific board sensors init
-#------------------------------------------------------------------------------
-board_adc start
-
-# The default IMU is an ICM20689, but there might also be an MPU6000
-if ! mpu6000 -R 6 -s start
-then
-	icm20689 -R 6 -s start
-fi
-
-bmp280 -X start
@@ -1,93 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DEV_CONSOLE is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_SPI_EXCHANGE is not set
-# CONFIG_STM32H7_SYSCFG is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/kakuteh7/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743VI=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_INITTHREAD_PRIORITY=254
-CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=22114
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x004b
-CONFIG_CDCACM_PRODUCTSTR="PX4 BL Holybro KakuteH7"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3162
-CONFIG_CDCACM_VENDORSTR="Holybro"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_DISABLE_PTHREAD=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_LIB_BOARDCTL=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SPI=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_USART3=y
-CONFIG_SYSTEMTICK_HOOK=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGINT_CHAR=0x03
-CONFIG_TTY_SIGTSTP=y
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_TXBUFSIZE=300
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
@@ -1,419 +0,0 @@
-/************************************************************************************
- *
- *   Copyright (C) 2016-2019 Gregory Nutt. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-#pragma once
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include "board_dma_map.h"
-
-#include <nuttx/config.h>
-
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include "stm32_rcc.h"
-#include "stm32_sdmmc.h"
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
-/* Clocking *************************************************************************/
-/* The holybro KakuteH7  board provides the following clock sources:
- *
- *   X1: 8 MHz crystal for HSE
- *
- * So we have these clock source available within the STM32
- *
- *   HSI: 16 MHz RC factory-trimmed
- *   HSE:  8 MHz crystal for HSE
- */
-
-#define STM32_BOARD_XTAL        8000000ul
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     32768
-
-/* Main PLL Configuration.
- *
- * PLL source is HSE = 8,000,000
- *
- * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
- * Subject to:
- *
- *     1 <= PLLM <= 63
- *     4 <= PLLN <= 512
- *   150 MHz <= PLL_VCOL <= 420MHz
- *   192 MHz <= PLL_VCOH <= 836MHz
- *
- * SYSCLK  = PLL_VCO / PLLP
- * CPUCLK  = SYSCLK / D1CPRE
- * Subject to
- *
- *   PLLP1   = {2, 4, 6, 8, ..., 128}
- *   PLLP2,3 = {2, 3, 4, ..., 128}
- *   CPUCLK <= 480 MHz
- */
-
-#define STM32_BOARD_USEHSE
-
-#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
-
-/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
- *
- *   PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
- *
- *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
- *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
- *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
- */
-
-#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVP1EN | \
-				 RCC_PLLCFGR_DIVQ1EN | \
-				 RCC_PLLCFGR_DIVR1EN)
-#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
-#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(120)
-#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
-#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
-#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
-
-#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 120)
-#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
-#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
-#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
-
-/* PLL2 */
-
-#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
-				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
-				  RCC_PLLCFGR_DIVP2EN | \
-				  RCC_PLLCFGR_DIVQ2EN | \
-				  RCC_PLLCFGR_DIVR2EN)
-#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(2)
-#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
-#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
-#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
-#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
-
-#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 2) * 48)
-#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-
-/* PLL3 */
-
-#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVQ3EN)
-#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(2)
-#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
-#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
-#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
-#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
-
-#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 2) * 48)
-#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
-#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-
-/* SYSCLK = PLL1P = 480MHz
- * CPUCLK = SYSCLK / 1 = 480 MHz
- */
-
-#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
-#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
-#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
-
-/* Configure Clock Assignments */
-
-/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
- * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
- */
-
-#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
-#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
-#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
-#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
-
-#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
-#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* Timer clock frequencies */
-
-/* Timers driven from APB1 will be twice PCLK1 */
-
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* Timers driven from APB2 will be twice PCLK2 */
-
-#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-
-/* Kernel Clock Configuration
- *
- * Note: look at Table 54 in ST Manual
- */
-
-/* I2C123 clock source */
-
-#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
-
-/* I2C4 clock source */
-
-#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
-
-/* SPI123 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
-
-/* SPI45 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
-
-/* SPI6 clock source */
-
-#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
-
-/* USB 1 and 2 clock source */
-
-#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
-
-/* ADC 1 2 3 clock source */
-
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
-
-/* FDCAN 1 2 clock source */
-
-#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
-
-#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
-
-/* FLASH wait states
- *
- *  ------------ ---------- -----------
- *  Vcore        MAX ACLK   WAIT STATES
- *  ------------ ---------- -----------
- *  1.15-1.26 V     70 MHz    0
- *  (VOS1 level)   140 MHz    1
- *                 210 MHz    2
- *  1.05-1.15 V     55 MHz    0
- *  (VOS2 level)   110 MHz    1
- *                 165 MHz    2
- *                 220 MHz    3
- *  0.95-1.05 V     45 MHz    0
- *  (VOS3 level)    90 MHz    1
- *                 135 MHz    2
- *                 180 MHz    3
- *                 225 MHz    4
- *  ------------ ---------- -----------
- */
-
-#define BOARD_FLASH_WAITSTATES 2
-
-/* SDMMC definitions ********************************************************/
-
-/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
-
-#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-
-/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
- * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
- */
-
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-
-#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
-
-/* LED definitions ******************************************************************/
-/* The holybro KakuteH7 board has three, LED_GREEN a Green LED, LED_BLUE
- * a Blue LED and LED_RED a Red LED, that can be controlled by software.
- *
- * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
- * The following definitions are used to access individual LEDs.
- */
-
-/* LED index values for use with board_userled() */
-
-#define BOARD_LED1        0
-#define BOARD_NLEDS       1
-
-#define BOARD_LED_RED     BOARD_LED1
-
-/* LED bits for use with board_userled_all() */
-
-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
-
-/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
- * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
- * events as follows:
- *
- *
- *   SYMBOL                     Meaning                      LED state
- *                                                        Red   Green Blue
- *   ----------------------  --------------------------  ------ ------ ----*/
-
-#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
-#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
-#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
-#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
-#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
-#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
-#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
-#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
-#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
-
-/* Thus if the Green LED is statically on, NuttX has successfully booted and
- * is, apparently, running normally.  If the Red LED is flashing at
- * approximately 2Hz, then a fatal error has been detected and the system
- * has halted.
- */
-
-/* Alternate function pin selections ************************************************/
-
-
-#define GPIO_USART1_RX   GPIO_USART1_RX_2    /* PA10 */
-#define GPIO_USART1_TX   GPIO_USART1_TX_2    /* PA9 */
-
-#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6 */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5 */
-
-#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9  */
-#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8  */
-
-#define GPIO_UART4_RX    GPIO_UART4_RX_5    /* PD0 */
-#define GPIO_UART4_TX    GPIO_UART4_TX_5    /* PD1 */
-
-#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7  */
-#define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6 */
-
-#define GPIO_UART7_RX    GPIO_UART7_RX_3    /* PE7 */
-#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8 */
-
-/* SPI
- * SPI1 SD Card
- * SPI2 is OSD AT7456E
- * SPI4 is IMU
- */
-
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1   /* PA7 */
-#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1    /* PA5 */
-
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1   /* PB14 */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1   /* PB15 */
-#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_4    /* PB13 */
-
-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_2   /* PE5 */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2   /* PE6 */
-#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_2    /* PE2 */
-
-/* I2C
- */
-
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1       /* PB6  */
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */
-
-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
-
-/* SDMMC1
- *
- *      VDD 3.3
- *      GND
- *      SDMMC1_CK                           PC12
- *      SDMMC1_CMD                          PD2
- *      SDMMC1_D0                           PC8
- *      SDMMC1_D1                           PC9
- *      SDMMC1_D2                           PC10
- *      SDMMC1_D3                           PC11
- *      GPIO_SDMMC1_NCD                     PG0
- */
-
-/* USB
- *
- *      OTG_FS_DM                           PA11
- *      OTG_FS_DP                           PA12
- *      VBUS                                PA9
- */
-
-
-/* Board provides GPIO or other Hardware for signaling to timing analyzer */
-
-# define PROBE_INIT(mask)
-# define PROBE(n,s)
-# define PROBE_MARK(n)
-
@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1 /* DMA2 */
-#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1 /* DMA2 */
-
-#define DMAMAP_USART2_RX   DMAMAP_DMA12_USART2RX_1 /* DMA2 */
-
@@ -1,224 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_SPI_CALLBACK is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/kakuteh7/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743II=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x004b
-CONFIG_CDCACM_PRODUCTSTR="PX4 KakuteH7"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3162
-CONFIG_CDCACM_VENDORSTR="Holybro"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MM_REGIONS=4
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_MMCSDSPIPORTNO=1
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32H7_ADC1=y
-CONFIG_STM32H7_ADC3=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BDMA=y
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SDMMC1=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI4=y
-CONFIG_STM32H7_SPI4_DMA=y
-CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_USART1=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
-CONFIG_STM32H7_USART6=y
-CONFIG_STM32H7_USART_BREAKS=y
-CONFIG_STM32H7_USART_INVERT=y
-CONFIG_STM32H7_USART_SINGLEWIRE=y
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGTSTP=y
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=2500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_SERIAL_CONSOLE=y
-CONFIG_USART3_TXBUFSIZE=1500
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_WATCHDOG=y
--- a/Show More
+++ b/Show More