Merge branch 'main' into dev-boat

feat: update gz commit
feat: reverted changes to old boat on ROMFS
2026-05-28 09:40:05 +08:00 · 2026-01-14 11:53:54 -08:00 · 2026-01-14 11:52:02 -08:00 · 2026-01-14 11:50:08 -08:00 · 2026-01-14 11:45:39 -08:00 · 2026-01-14 11:45:20 -08:00
138 changed files with 483 additions and 1264 deletions
@@ -146,11 +146,6 @@ add_custom_command(
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
-	# Preprocess ROMFS files with KConfig definitions
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_preprocess.py
-		--romfs-dir ${romfs_gen_root_dir}
-		--kconfig-header ${PX4_BINARY_DIR}/px4_boardconfig.h
-		--cpp ${CMAKE_C_COMPILER}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -164,10 +159,8 @@ add_custom_command(
 		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS
-		${romfs_tar_file}
-		${PX4_BINARY_DIR}/px4_boardconfig.h
-	COMMENT "ROMFS: copying, preprocessing, generating airframes"
+	DEPENDS ${romfs_tar_file}
+	COMMENT "ROMFS: copying, generating airframes"
 	)

 # copy extras into ROMFS
@@ -0,0 +1,35 @@
+#!/bin/sh
+#
+# @name Boat
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=ocean}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=boat}
+
+param set-default SIM_GZ_EN 1
+
+param set-default CA_AIRFRAME 9
+
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX -2
+param set-default CA_ROTOR0_PY -1
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX -2
+param set-default CA_ROTOR1_PY 1
+param set-default CA_R_REV 3
+
+param set-default CA_SV_CS_COUNT 1
+param set-default CA_SV_CS0_TYPE 4
+param set-default CA_SV_CS0_TRQ_Y 1
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_SV_FUNC1 201
@@ -19,6 +19,5 @@ param set-default MNT_MAN_PITCH 2
 param set-default MNT_MAN_YAW 3

 param set-default MNT_RANGE_ROLL 180
-param set-default MNT_MAX_PITCH 45
-param set-default MNT_MIN_PITCH -135
+param set-default MNT_RANGE_PITCH 180
 param set-default MNT_RANGE_YAW 720
@@ -111,6 +111,8 @@ px4_add_romfs_files(
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2

+	40000_gz_boat
+
 	50000_gz_rover_differential
 	51000_gz_rover_ackermann
 	52000_gz_rover_mecanum
@@ -8,24 +8,17 @@
 #                           Begin Optional drivers                            #
 ###############################################################################

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

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

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

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

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

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

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

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

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

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


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

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

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

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

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

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

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

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

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

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

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

-%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_SDP3X
 # Sensirion SDP3X differential pressure sensor external I2C
 if param compare -s SENS_EN_SDP3X 1
 then
@@ -197,171 +153,116 @@ then
 		sdp3x start -X -a 0x22
 	fi
 fi
-%endif

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

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

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

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

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

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

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

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

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

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

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

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

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

-%ifdef CONFIG_DRIVERS_TEMPERATURE_SENSOR_TMP102
 # Start TMP102 temperature sensor
-if param compare -s SENS_EN_TMP102 1
+if param compare SENS_EN_TMP102 1
 then
 	tmp102 start -X
 fi
-%endif

-%ifdef COMMON_MAGNETOMETER
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
-%ifdef CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948
 	icm20948_i2c_passthrough -X -q start
-%endif

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

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

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

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

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

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

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

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

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

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

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

-%ifdef CONFIG_MODULES_SENSORS
 		sensors start
-%endif
 	fi

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

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

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

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

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


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

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

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

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

 	else
 		commander start

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

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

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

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

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

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

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

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

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

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

-%ifdef CONFIG_MODULES_PAYLOAD_DELIVERER
 	payload_deliverer start
-%endif

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

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

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

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

 #
 # End of autostart.
@@ -21,13 +21,11 @@ exec find boards msg src platforms test \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/events/libevents -prune -o \
    -path src/lib/parameters/uthash -prune -o \
-    -path src/lib/rl_tools/rl_tools -prune -o \
    -path src/lib/wind_estimator/python/generated -prune -o \
    -path src/modules/ekf2/EKF/python/ekf_derivation/generated -prune -o \
    -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
-    -path src/modules/mc_raptor/blob -prune -o \
    -path test/fuzztest -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
@@ -1,188 +0,0 @@
-#!/usr/bin/env python3
-"""
-Preprocesses ROMFS files with C preprocessor to enable KConfig support.
-
-This script processes all rc* files in the ROMFS directory through the C preprocessor,
-allowing use of #ifdef, #ifndef, #if, #else, #endif directives with KConfig definitions.
-"""
-
-import argparse
-import os
-import subprocess
-import sys
-import tempfile
-from pathlib import Path
-
-
-def preprocess_file(file_path, kconfig_header, cpp_command):
-    """
-    Preprocess a single file through the C preprocessor.
-
-    Uses % as the preprocessor directive symbol (instead of #) to avoid conflicts
-    with shell comments. Converts %ifdef, %ifndef, %if, %else, %endif to
-    #ifdef, #ifndef, #if, #else, #endif before preprocessing.
-
-    Args:
-        file_path: Path to the file to preprocess
-        kconfig_header: Path to the px4_boardconfig.h header
-        cpp_command: C preprocessor command (usually the C compiler)
-    """
-    # Read original file
-    with open(file_path, 'r') as f:
-        original_content = f.read()
-
-    # Process the file line by line:
-    # 1. Remove shell comment lines (to avoid conflicts with CPP)
-    # 2. Convert % preprocessor directives to # directives
-    lines = original_content.split('\n')
-    converted_lines = []
-
-    for line in lines:
-        stripped = line.lstrip()
-
-        # Check if line starts with % followed by a preprocessor keyword
-        if stripped.startswith('%ifdef ') or stripped.startswith('%ifdef\t'):
-            # Preserve leading whitespace, convert %ifdef to #ifdef
-            converted_lines.append(line.replace('%ifdef', '#ifdef', 1))
-        elif stripped.startswith('%ifndef ') or stripped.startswith('%ifndef\t'):
-            converted_lines.append(line.replace('%ifndef', '#ifndef', 1))
-        elif stripped.startswith('%if '):
-            converted_lines.append(line.replace('%if', '#if', 1))
-        elif stripped.startswith('%elif '):
-            converted_lines.append(line.replace('%elif', '#elif', 1))
-        elif stripped.startswith('%else'):
-            converted_lines.append(line.replace('%else', '#else', 1))
-        elif stripped.startswith('%endif'):
-            converted_lines.append(line.replace('%endif', '#endif', 1))
-        elif stripped.startswith('#') and not stripped.startswith('#!'):
-            # Remove shell comment lines (but keep shebang)
-            # This prevents "# if ..." comments from being interpreted as "#if" by CPP
-            continue
-        else:
-            converted_lines.append(line)
-    converted_content = '\n'.join(converted_lines)
-
-    # Create temporary file with include directive and converted content
-    with tempfile.NamedTemporaryFile(mode='w', suffix='.in', delete=False) as tmp:
-        tmp.write(f'#include "{kconfig_header}"\n')
-        tmp.write(converted_content)
-        tmp_path = tmp.name
-
-    try:
-        # Run C preprocessor
-        # -P: don't generate #line directives
-        # -E: preprocess only
-        # -undef: don't predefine any non-standard macros
-        # -nostdinc: don't search standard include directories
-        # -x assembler-with-cpp: treat input as assembly (allows # comments to pass through)
-        result = subprocess.run(
-            [cpp_command, '-P', '-E', '-undef', '-nostdinc', '-x', 'assembler-with-cpp', tmp_path],
-            capture_output=True,
-            text=True,
-            check=True
-        )
-
-        preprocessed = result.stdout
-
-        # Clean up the output:
-        # 1. Remove empty lines at the beginning
-        # 2. Remove lines that are just whitespace
-        lines = preprocessed.split('\n')
-        cleaned_lines = []
-        started = False
-
-        for line in lines:
-            # Skip empty lines at the beginning
-            if not started and not line.strip():
-                continue
-            started = True
-            cleaned_lines.append(line)
-
-        # Remove trailing empty lines
-        while cleaned_lines and not cleaned_lines[-1].strip():
-            cleaned_lines.pop()
-
-        # Write preprocessed content back
-        with open(file_path, 'w') as f:
-            f.write('\n'.join(cleaned_lines))
-            if cleaned_lines:  # Add final newline if file is not empty
-                f.write('\n')
-
-        return True
-
-    except subprocess.CalledProcessError as e:
-        print(f"Error preprocessing {file_path}: {e}")
-        print(f"stderr: {e.stderr}")
-        return False
-    finally:
-        # Clean up temporary file
-        try:
-            os.unlink(tmp_path)
-        except:
-            pass
-
-
-def main():
-    parser = argparse.ArgumentParser(description='Preprocess ROMFS files with KConfig definitions')
-    parser.add_argument('--romfs-dir', required=True, help='ROMFS root directory')
-    parser.add_argument('--kconfig-header', required=True, help='Path to px4_boardconfig.h')
-    parser.add_argument('--cpp', required=True, help='C preprocessor command')
-    parser.add_argument('--pattern', default='rc*', help='File pattern to preprocess (default: rc*)')
-
-    args = parser.parse_args()
-
-    # Verify inputs
-    romfs_dir = Path(args.romfs_dir)
-    kconfig_header = Path(args.kconfig_header)
-
-    if not romfs_dir.exists():
-        print(f"Error: ROMFS directory not found: {romfs_dir}")
-        return 1
-
-    if not kconfig_header.exists():
-        print(f"Error: KConfig header not found: {kconfig_header}")
-        return 1
-
-    # Find all files to preprocess in init.d directory
-    init_d_dir = romfs_dir / 'init.d'
-    if not init_d_dir.exists():
-        print(f"Warning: init.d directory not found in {romfs_dir}")
-        return 0
-
-    # Find all rc* files (shell scripts)
-    files_to_process = []
-    for pattern in ['rc*', 'rcS']:
-        files_to_process.extend(init_d_dir.glob(pattern))
-
-    # Also check subdirectories like airframes
-    for subdir in init_d_dir.iterdir():
-        if subdir.is_dir():
-            for pattern in ['rc*']:
-                files_to_process.extend(subdir.glob(pattern))
-
-    # Remove duplicates and filter only files
-    files_to_process = list(set([f for f in files_to_process if f.is_file()]))
-
-    if not files_to_process:
-        print(f"Warning: No files matching pattern '{args.pattern}' found in {init_d_dir}")
-        return 0
-
-    print(f"Preprocessing {len(files_to_process)} ROMFS files with KConfig definitions...")
-
-    # Process each file
-    success_count = 0
-    for file_path in sorted(files_to_process):
-        rel_path = file_path.relative_to(romfs_dir)
-        print(f"  Processing: {rel_path}")
-        if preprocess_file(file_path, kconfig_header.absolute(), args.cpp):
-            success_count += 1
-        else:
-            print(f"  Warning: Failed to preprocess {rel_path}")
-
-    print(f"Successfully preprocessed {success_count}/{len(files_to_process)} files")
-
-    return 0 if success_count == len(files_to_process) else 1
-
-
-if __name__ == '__main__':
-    sys.exit(main())
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -34,6 +34,7 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_ST_LSM303D=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -1,17 +0,0 @@
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_MC_ATT_CONTROL=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
-CONFIG_MODULES_MC_POS_CONTROL=n
-CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_MODULES_ROVER_ACKERMANN=y
-CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-CONFIG_MODULES_ROVER_MECANUM=y
@@ -22,7 +22,6 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
-CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
@@ -60,9 +60,6 @@ then
 	set INA_CONFIGURED yes
 fi

-# Auterion auto starter
-auterion_autostarter start
-
 if param compare BAT1_V_CHANNEL -2
 then
 	if [ "$INA_CONFIGURED" != "yes" ]
@@ -26,10 +26,10 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
@@ -55,8 +55,8 @@ then
 	set INA_CONFIGURED yes
 fi

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

 # Auterion's INA238 uses a shunt value of 0.0003 instead of 0.0005.
 param set-default INA238_SHUNT 0.0003
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -30,6 +30,7 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -27,6 +27,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -28,6 +28,7 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
@@ -27,6 +27,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -25,6 +25,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -23,6 +23,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
@@ -23,6 +23,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -25,6 +25,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -17,6 +17,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -16,6 +16,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -26,11 +26,13 @@ CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -24,10 +24,12 @@ CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -25,11 +25,13 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -27,11 +27,13 @@ CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -23,6 +23,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -20,6 +20,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -26,6 +26,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -27,6 +27,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -23,6 +23,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_LIGHTS_RGBLED=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -14,6 +14,7 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_CYPHAL_BMS_SUBSCRIBER=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_CYPHAL=y
@@ -29,6 +29,7 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
@@ -26,6 +26,7 @@ CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
@@ -28,6 +28,7 @@ CONFIG_DRIVERS_IMU_ST_LSM303D=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -26,6 +26,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -25,6 +25,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -27,6 +27,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -76,6 +77,8 @@ CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
@@ -34,11 +34,12 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
@@ -72,8 +72,8 @@ then
 	# Internal magnetometer on I2c
 	bmm150 -I -R 6 start

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

 	# Auterion's INA238 uses a shunt value of 0.0003 instead of 0.0005.
 	param set-default INA238_SHUNT 0.0003
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -10,6 +10,7 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_ACTUATORS_VERTIQ_IO=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -16,6 +16,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
@@ -189,7 +189,6 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -18,6 +18,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
@@ -23,6 +23,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -13,6 +13,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -31,6 +31,7 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -21,7 +21,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883P=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
@@ -23,4 +23,4 @@ then
 fi

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

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

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

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

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

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

 #define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0	/*  DMA1:71 PX4IO */
 #define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0	/*  DMA1:72 PX4IO */
@@ -247,10 +247,14 @@ CONFIG_UART8_SERIAL_CONSOLE=y
 CONFIG_UART8_TXBUFSIZE=3000
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
 CONFIG_USART2_TXBUFSIZE=3000
+CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_RXDMA=y
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -29,6 +29,7 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -25,7 +25,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
  - 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
 - On-board sensors
  - Accel/Gyro: ICM-42688-P\*2(Version1), BMI270\*2(Version2)
-  - Mag: QMC5883P
+  - Mag: IST8310
  - Barometer: DPS310(Version1),SPL06(Version2)

 ### Interfaces
@@ -321,11 +321,9 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
  - [UXRCE_DDS_SYNCT](../advanced_config/parameter_reference.md#UXRCE_DDS_SYNCT): Bridge time synchronization enable.
    The uXRCE-DDS client module can synchronize the timestamp of the messages exchanged over the bridge.
    This is the default configuration. In certain situations, for example during [simulations](../ros2/user_guide.md#ros-gazebo-and-px4-time-synchronization), this feature may be disabled.
-  - [UXRCE_DDS_NS_IDX](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) <Badge type="tip" text="PX4 v1.17" />: Index-based namespace definition.
+  - [UXRCE_DDS_NS_IDX](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) <Badge type="tip" text="PX4 v1.17" />: Index-based namespace definition
    Setting this parameter to any value other than `-1` creates a namespace with the prefix `uav_` and the specified value, e.g. `uav_0`, `uav_1`, etc.
    See [namespace](#customizing-the-namespace) for methods to define richer or arbitrary namespaces.
-  - [`UXRCE_DDS_FLCTRL`](../advanced_config/parameter_reference.md#UXRCE_DDS_FLCTRL) <Badge type="tip" text="PX4 main" />: Serial port hardware flow control enable.
-    To use hardware flow control, a custom MicroXRCE Agent needs to be adopted. Please refer to [this PR](https://github.com/eProsima/Micro-XRCE-DDS-Agent/pull/407) for the required changes, cherry-pick them on top of the [agent version](#build-run-within-ros-2-workspace) you need to use and then run the agent with the additional `--flow-control` option.

 ::: info
 Many ports are already have a default configuration.
@@ -25,7 +25,7 @@ It brings you ultimate performance, stability, and reliability in every aspect.
  - 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
 - 내장 센서 :
  - Accel/Gyro: ICM-42688-P\*2(Version1), BMI270\*2(Version2)
-  - 자력계: QMC5883P
+  - 자력계: IST8310
  - Barometer: DPS310(Version1),SPL06(Version2)

 ### 인터페이스
@@ -25,7 +25,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
  - 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
 - Сенсори на платі
  - Accel/Gyro: ICM-42688-P\*2(Version1), BMI270\*2(Version2)
-  - Mag: QMC5883P
+  - Mag: IST8310
  - Barometer: DPS310(Version1),SPL06(Version2)

 ### Інтерфейси
@@ -25,7 +25,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
  - 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
 - On-board sensors
  - Accel/Gyro: ICM-42688-P\*2(Version1), BMI270\*2(Version2)
-  - Mag: QMC5883P
+  - Mag: IST8310
  - Barometer: DPS310(Version1),SPL06(Version2)

 ### 接口
@@ -4,4 +4,4 @@ uint8 INDEX_PITCH = 1
 uint8 INDEX_YAW = 2

 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
-float32[3] control	# Normalized output. 1 means maximum positive position. -1 maximum negative position. 0 means no deflection. NaN maps to disarmed.
+float32[3] control
@@ -1,5 +0,0 @@
-menuconfig DRIVERS_AUTERION_AUTOSTARTER
-	bool "auterion_autostarter"
-	default n
-	---help---
-		Enable support for auterion_autostarter
@@ -77,10 +77,6 @@ AUAV::~AUAV()
 void AUAV::RunImpl()
 {
 	switch (_state) {
-	case STATE::READ_FACTORY_DATA:
-		handle_state_read_factory_data();
-		break;
-
 	case STATE::READ_CALIBDATA:
 		handle_state_read_calibdata();
 		break;
@@ -111,6 +107,23 @@ int AUAV::init()
 		return ret;
 	}

+	int32_t hw_model = 0;
+	param_get(param_find("SENS_EN_AUAVX"), &hw_model);
+
+	switch (hw_model) {
+	case 1: /* AUAV L05D (+- 5 inH20) */
+		_cal_range = 10.0f;
+		break;
+
+	case 2: /* AUAV L10D (+- 10 inH20) */
+		_cal_range = 20.0f;
+		break;
+
+	case 3: /* AUAV L30D (+- 30 inH20) */
+		_cal_range = 60.0f;
+		break;
+	}
+
 	ScheduleClear();
 	ScheduleNow();
 	return PX4_OK;
@@ -135,20 +148,6 @@ int AUAV::probe()
 	return PX4_ERROR;
 }

-void AUAV::handle_state_read_factory_data()
-{
-	int status = read_factory_data();
-
-	if (status == PX4_OK) {
-		/* Factory data read or sensor does not have any, move to next state */
-		_state = STATE::READ_CALIBDATA;
-		ScheduleNow();
-
-	} else {
-		ScheduleDelayed(100_ms);
-	}
-}
-
 void AUAV::handle_state_read_calibdata()
 {
 	int status = PX4_OK;
@@ -61,7 +61,6 @@ public:

 protected:
 	enum class STATE : uint8_t {
-		READ_FACTORY_DATA,
 		READ_CALIBDATA,
 		REQUEST_MEASUREMENT,
 		GATHER_MEASUREMENT
@@ -108,9 +107,7 @@ protected:
 	virtual int64_t get_conversion_interval() const = 0;
 	virtual calib_eeprom_addr_t get_calib_eeprom_addr() const = 0;
 	virtual float process_pressure_dig(const float pressure_dig) const = 0;
-	virtual int read_factory_data() = 0;

-	void handle_state_read_factory_data();
 	void handle_state_read_calibdata();
 	void handle_state_request_measurement();
 	void handle_state_gather_measurement();
@@ -120,7 +117,8 @@ protected:
 	float correct_pressure(const uint32_t pressure_raw, const uint32_t temperature_raw) const;
 	float process_temperature_raw(const float temperature_raw) const;

-	STATE _state{STATE::READ_FACTORY_DATA};
+	float _cal_range{10.0f};
+	STATE _state{STATE::READ_CALIBDATA};
 	calib_data_t _calib_data {};

 	perf_counter_t _sample_perf;
@@ -77,9 +77,3 @@ float AUAV_Absolute::process_pressure_dig(const float pressure_dig) const
 	const float pressure_mbar = 250.f + 1.25f * ((pressure_dig - (0.1f * (1 << 24))) / (1 << 24)) * 1000.f;
 	return pressure_mbar * MBAR_TO_PA;
 }
-
-int AUAV_Absolute::read_factory_data()
-{
-	/* Absolute sensor doesn't need to read factory data */
-	return PX4_OK;
-}
@@ -68,7 +68,6 @@ private:
 	int64_t get_conversion_interval() const override;
 	calib_eeprom_addr_t get_calib_eeprom_addr() const override;
 	float process_pressure_dig(const float pressure_dig) const override;
-	int read_factory_data() override;

 	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
 };
@@ -33,38 +33,10 @@

 #include "AUAV_Differential.hpp"
 #include <parameters/param.h>
-#include <cctype>

 AUAV_Differential::AUAV_Differential(const I2CSPIDriverConfig &config) :
 	AUAV(config)
 {
-	/* Initialize cal_range from parameter as fallback value */
-	int32_t hw_model = 0;
-	param_get(param_find("SENS_EN_AUAVX"), &hw_model);
-
-	switch (hw_model) {
-	case 1: /* AUAV L05D (+- 5 inH20) */
-		_cal_range = 10;
-		break;
-
-	case 2: /* AUAV L10D (+- 10 inH20) */
-		_cal_range = 20;
-		break;
-
-	case 3: /* AUAV L30D (+- 30 inH20) */
-		_cal_range = 60;
-		break;
-
-	default:
-		_cal_range = 10; /* Default fallback */
-		break;
-	}
-}
-
-void AUAV_Differential::print_status()
-{
-	AUAV::print_status();
-	PX4_INFO("cal range: %" PRId32, _cal_range);
 }

 void AUAV_Differential::publish_pressure(const float pressure_p, const float temperature_c,
@@ -111,52 +83,6 @@ AUAV::calib_eeprom_addr_t AUAV_Differential::get_calib_eeprom_addr() const

 float AUAV_Differential::process_pressure_dig(const float pressure_dig) const
 {
-	const float pressure_in_h = 1.25f * ((pressure_dig - (1 << 23)) / (1 << 24)) * static_cast<float>(_cal_range);
+	const float pressure_in_h = 1.25f * ((pressure_dig - (1 << 23)) / (1 << 24)) * _cal_range;
 	return pressure_in_h * INH_TO_PA;
 }
-
-int AUAV_Differential::read_factory_data()
-{
-	/* The differential sensor needs the cal_range from the absolute sensor's EEPROM.
-	 * Temporarily switch to the absolute sensor's I2C address to read it, then switch back. */
-
-	uint8_t original_address = get_device_address();
-	set_device_address(I2C_ADDRESS_ABSOLUTE);
-
-	/* Read the calibration range from the absolute sensor's EEPROM */
-	uint16_t factory_data = 0;
-	int status = read_calibration_eeprom(EEPROM_ABS_CAL_RNG, factory_data);
-
-	set_device_address(original_address);
-
-	if (status != PX4_OK) {
-		return status;
-	}
-
-	/* If EEPROM data is 0, stop trying (sensor does not have factory data) */
-	if (factory_data == 0) {
-		PX4_INFO("Differential: cal range data is 0, using fallback value");
-		return PX4_OK;
-	}
-
-	/* Decode the two bytes as ASCII characters */
-	uint8_t char_high = (factory_data >> 8) & 0xFF;
-	uint8_t char_low = factory_data & 0xFF;
-
-	/* Validate that both characters are ASCII digits (0-9) */
-	if (!isdigit(char_high) || !isdigit(char_low)) {
-		return PX4_ERROR;
-	}
-
-	int32_t sensor_type = ((char_high - '0') * 10) + (char_low - '0');
-
-	/* Check if the detected sensor type is valid */
-	if (sensor_type != AUAV_LD_05 && sensor_type != AUAV_LD_10 && sensor_type != AUAV_LD_30) {
-		return PX4_ERROR;
-	}
-
-	_cal_range = sensor_type * 2;
-	PX4_INFO("Differential: read cal range %" PRId32 " from absolute sensor EEPROM", _cal_range);
-
-	return PX4_OK;
-}
@@ -37,7 +37,6 @@
 #include <uORB/topics/differential_pressure.h>

 /* AUAV EEPROM addresses for differential channel */
-static constexpr uint8_t EEPROM_ABS_CAL_RNG	= 0x25;
 static constexpr uint8_t EEPROM_DIFF_AHW 	= 0x2B;
 static constexpr uint8_t EEPROM_DIFF_ALW 	= 0x2C;
 static constexpr uint8_t EEPROM_DIFF_BHW 	= 0x2D;
@@ -58,26 +57,17 @@ static_assert(DIFF_CONVERSION_INTERVAL >= 7000, "Conversion interval is too fast
 /* Conversions */
 static constexpr float INH_TO_PA = 249.08f;

-/* Valid AUAV types */
-static constexpr int32_t AUAV_LD_05 = 5;
-static constexpr int32_t AUAV_LD_10 = 10;
-static constexpr int32_t AUAV_LD_30 = 30;
-
 class AUAV_Differential : public AUAV
 {
 public:
 	explicit AUAV_Differential(const I2CSPIDriverConfig &config);
 	~AUAV_Differential() = default;

-	void print_status() override;
-
 private:
 	void publish_pressure(const float pressure_p, const float temperature_c, const hrt_abstime timestamp_sample) override;
 	int64_t get_conversion_interval() const override;
 	calib_eeprom_addr_t get_calib_eeprom_addr() const override;
 	float process_pressure_dig(const float pressure_dig) const override;
-	int read_factory_data() override;

 	uORB::PublicationMulti<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
-	int32_t _cal_range{10};
 };
@@ -371,9 +371,7 @@ MB12XX::set_address(const uint8_t address)
 	    address == 80  ||
 	    address == 164 ||
 	    address == 170 ||
-	    address > 224 ||
-	    (address % 2) != 0 ||
-	    address < MB12XX_MIN_ADDR) {
+	    address > 224) {
 		PX4_ERR("incompatible address requested");
 		return PX4_ERROR;
 	}
@@ -388,8 +386,6 @@ MB12XX::set_address(const uint8_t address)
 	}

 	set_device_address(address);
-	_sensor_addresses[0] = address;
-
 	PX4_INFO("device address: %u", get_device_address());
 	return PX4_OK;
 }
@@ -427,7 +423,6 @@ extern "C" __EXPORT int mb12xx_main(int argc, char *argv[])
 	using ThisDriver = MB12XX;
 	BusCLIArguments cli{true, false};
 	cli.default_i2c_frequency = MB12XX_BUS_SPEED;
-	cli.i2c_address = MB12XX_BASE_ADDR;

 	const char *verb = cli.parseDefaultArguments(argc, argv);

@@ -436,6 +431,8 @@ extern "C" __EXPORT int mb12xx_main(int argc, char *argv[])
 		return -1;
 	}

+	cli.i2c_address = MB12XX_BASE_ADDR;
+
 	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_MB12XX);

 	if (!strcmp(verb, "start")) {
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Pedro Roque	8a700471b4	Merge branch 'main' into dev-boat	2026-01-14 11:53:54 -08:00
Pedro-Roque	076e07444d	feat: update gz commit	2026-01-14 11:52:02 -08:00
Pedro-Roque	afdac4bd4c	feat: reverted changes to old boat on ROMFS	2026-01-14 11:50:08 -08:00
Pedro-Roque	39965d3ef1	feat: add romfs for boat	2026-01-14 11:45:39 -08:00
Pedro-Roque	348b8f7f56	feat: add basic boat	2026-01-14 11:45:20 -08:00