Copilot Review instructions: Drivers

Removed VOXL2_IO: tag from all voxl2_io debug messages as they are redundant
VOXLPM: Updated driver to publish battery status at 20ms intervals. Changed printf to PX4_INFO.
2026-05-23 21:57:35 +08:00 · 2026-02-11 10:45:28 +11:00 · 2026-02-10 15:45:40 -07:00 · 2026-02-10 11:46:44 -07:00 · 2026-02-10 13:44:46 +01:00 · 2026-02-09 21:36:35 -09:00
302 changed files with 15719 additions and 3552 deletions
@@ -0,0 +1,212 @@
+---
+applyTo: "src/drivers/**"
+---
+
+# PX4 Driver Review Instructions
+
+This file provides guidelines for reviewing driver files in the `src/drivers/` directory.
+
+## Copyright Statements
+
+### Required Files
+
+All source files (`.cpp`, `.c`, `.hpp`, `.h`, `CMakeLists.txt`) MUST include a copyright statement at the top.
+
+**Exceptions:** 
+- `Kconfig` files
+- `module.yaml` files
+
+### Copyright Format
+
+**For new files (created in 2026):**
+```cpp
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 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.
+ *
+ ****************************************************************************/
+```
+
+**For updated files (originally created in 2015, updated in 2026):**
+```cpp
+/****************************************************************************
+ *
+ *   Copyright (c) 2015-2026 PX4 Development Team. All rights reserved.
+ *
+ * [... rest of copyright text ...]
+ *
+ ****************************************************************************/
+```
+
+### Key Points
+- First year should be the original creation year
+- When updating an existing file, update the year range: `YYYY-2026`
+- Use the current year (2026 in this case) for new files
+- Maintain consistent formatting with other PX4 driver files
+
+---
+
+## Driver Self-Documentation
+
+All drivers MUST be self-documenting through the `print_usage()` method.
+
+### Required Implementation
+
+Every driver `.cpp` file must implement a `print_usage()` method that includes:
+
+1. **PRINT_MODULE_DESCRIPTION macro** - Contains markdown documentation
+2. **Module identification** - Using PRINT_MODULE_USAGE_NAME and optionally PRINT_MODULE_USAGE_SUBCATEGORY
+3. **Parameter documentation** - Relevant parameters, especially enablement parameters
+
+### PRINT_MODULE_DESCRIPTION Structure
+
+The description should follow this markdown format:
+
+```cpp
+PRINT_MODULE_DESCRIPTION(
+    R"DESCR_STR(
+### Description
+[Clear description of what the driver does and its primary functionality]
+
+### Implementation
+[Optional: High-level overview of how the driver works]
+
+### Examples
+[Optional: CLI usage examples if non-trivial]
+$ module_name start -d /dev/ttyS1
+$ module_name stop
+
+)DESCR_STR");
+```
+
+### Required Sections
+
+#### 1. Description Section
+- Brief explanation of the driver's purpose
+- Key features/capabilities
+- Important parameters (especially enable parameters like `SENS_XX_CFG`)
+
+#### 2. Documentation Links
+When applicable, include links to user documentation:
+```cpp
+Setup/usage information: https://docs.px4.io/main/en/sensor/[sensor-name].html
+```
+
+#### 3. Examples Section (when relevant)
+Provide CLI usage examples for non-trivial commands:
+```cpp
+### Examples
+Attempt to start driver on a specified serial device.
+$ vectornav start -d /dev/ttyS1
+Stop driver
+$ vectornav stop
+```
+
+### Complete Example
+
+```cpp
+int MyDriver::print_usage(const char *reason)
+{
+    if (reason) {
+        PX4_WARN("%s\n", reason);
+    }
+
+    PRINT_MODULE_DESCRIPTION(
+        R"DESCR_STR(
+### Description
+This driver interfaces with the XYZ sensor via I2C/SPI. It provides
+distance measurements and is automatically started when SENS_XYZ_CFG
+is set to the appropriate value.
+
+Key features:
+- Distance range: 0.2m to 50m
+- Update rate: up to 100Hz
+- I2C and SPI support
+
+Setup/usage information: https://docs.px4.io/main/en/sensor/xyz_sensor.html
+
+### Examples
+Start driver on I2C bus 1 with address 0x29:
+$ xyz_sensor start -X -b 1 -a 0x29
+)DESCR_STR");
+
+    PRINT_MODULE_USAGE_NAME("xyz_sensor", "driver");
+    PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
+    PRINT_MODULE_USAGE_COMMAND("start");
+    PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
+    PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x29);
+    PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+    return 0;
+}
+```
+
+### Common Patterns by Driver Type
+
+**For UART/Serial Drivers:**
+```cpp
+PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "Serial device", true);
+```
+
+**For I2C/SPI Drivers:**
+```cpp
+PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
+PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
+```
+
+**For Sensor Drivers:**
+```cpp
+PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");  // or imu, magnetometer, etc.
+```
+
+---
+
+## Review Checklist
+
+When reviewing driver files, verify:
+
+- [ ] Copyright header is present (except Kconfig and module.yaml)
+- [ ] Copyright year is correct (current year for new files, year range for updates)
+- [ ] `print_usage()` method exists
+- [ ] `PRINT_MODULE_DESCRIPTION` macro is present with markdown content
+- [ ] Description section explains driver purpose clearly
+- [ ] Relevant parameters are documented (especially enable parameters)
+- [ ] Documentation links are included when available
+- [ ] Examples are provided for complex CLI usage
+- [ ] Module name and category are correctly specified
+- [ ] Standard commands (start, stop, status) are documented
+
+---
+
+## Additional Resources
+
+- Driver template examples: `src/drivers/*/` (various sensor types)
+- Module macros: `platforms/common/include/px4_platform_common/module.h`
+- Similar drivers for reference patterns (DShot, VectorNav, CrsfRc, etc.)
@@ -90,6 +90,9 @@ jobs:
        mkdir -p /opt/px4_ws/src
        cd /opt/px4_ws/src
        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
+        # Ignore python packages due to compilation issue (can be enabled when updating ROS)
+        touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
+        touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
        cd ..
        # Copy messages to ROS workspace
        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
@@ -1,15 +0,0 @@
-## This file should be placed in the root directory of your project.
-## Then modify the CMakeLists.txt file in the root directory of your
-## project to incorporate the testing dashboard.
-##
-## # The following are required to submit to the CDash dashboard:
-##   ENABLE_TESTING()
-##   INCLUDE(CTest)
-
-set(CTEST_PROJECT_NAME "PX4 Firmware")
-set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
-
-set(CTEST_DROP_METHOD "http")
-set(CTEST_DROP_SITE "my.cdash.org")
-set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
-set(CTEST_DROP_SITE_CDASH TRUE)
@@ -101,6 +101,7 @@ pipeline {
            echo $0;
            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
            cd _emscripten_sdk;
+            git checkout 4.0.15;
            ./emsdk install latest;
            ./emsdk activate latest;
            cd ..;
@@ -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
@@ -101,6 +101,6 @@ param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2

 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.3
+param set-default VT_F_TRANS_THR 1
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0
@@ -123,3 +123,9 @@ if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
 		rc.thermal_cal
 	)
 endif()
+
+if(CONFIG_DRIVERS_VTXTABLE)
+	px4_add_romfs_files(
+		rc.vtxtable
+	)
+endif()
@@ -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
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# VTX table loading script.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+vtxtable load
@@ -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 +459,38 @@ 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
+
+	#
+	# Optional UAVCAN/DroneCAN or Cyphal
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		uavcan start
+	else
+		if param greater -s CYPHAL_ENABLE 0
+		then
+			cyphal start
+		fi
+	fi

 	#
 	# Configure vehicle type specific parameters.
@@ -551,12 +498,10 @@ 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
@@ -575,6 +520,11 @@ else
 	#
 	. ${R}etc/init.d/rc.serial

+	if param greater -s ZENOH_ENABLE 0
+	then
+		zenoh start
+	fi
+
 	# Must be started after the serial config is read
 	rc_input start $RC_INPUT_ARGS

@@ -601,67 +551,54 @@ 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 +620,25 @@ 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
+
+	#
+	# Start the VTX services.
+	#
+	set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
+	if [ -f ${RC_VTXTABLE} ]
+	then
+		. ${RC_VTXTABLE}
+	fi
+	unset RC_VTXTABLE

 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
@@ -706,40 +656,6 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE

-	#
-	# 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.
-		if ! uavcan start
-		then
-			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.
 #
@@ -8,6 +8,803 @@ Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
 import os
 import argparse
 import sys
+import re
+
+VALID_FIELDS = { #Note, also have to add the message types as those can be fields
+    'uint64',
+    'uint16',
+    'uint8',
+    'uint32'
+}
+
+ALLOWED_UNITS = set(["m", "m/s", "m/s^2", "(m/s)^2", "deg", "deg/s", "rad", "rad/s", "rad^2", "rpm" ,"V", "A", "mA", "mAh", "W", "dBm", "h", "s", "ms", "us", "Ohm", "MB", "Kb/s", "degC","Pa","%","-"])
+invalid_units = set()
+ALLOWED_FRAMES = set(["NED","Body"])
+ALLOWED_INVALID_VALUES = set(["NaN", "0"])
+ALLOWED_CONSTANTS_NOT_IN_ENUM = set(["ORB_QUEUE_LENGTH","MESSAGE_VERSION"])
+
+class Error:
+    def __init__(self, type, message, linenumber=None, issueString = None, field = None):
+        self.type = type
+        self.message = message
+        self.linenumber = linenumber
+        self.issueString = issueString
+        self.field = field
+
+    def display_error(self):
+        #print(f"Debug: Error: display_error")
+
+
+        if 'trailing_whitespace' == self.type:
+            if self.issueString.strip():    
+                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber}): {self.issueString}")
+            else:
+                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber})")
+        elif 'leading_whitespace_field_or_constant' == self.type:
+            print(f"NOTE: Whitespace before field or constant ({self.message}: {self.linenumber}): {self.issueString}")             
+        elif 'field_or_constant_has_multiple_whitepsace' == self.type:
+            print(f"NOTE: Field/constant has more than one sequential whitespace character ({self.message}: {self.linenumber}): {self.issueString}") 
+        elif 'empty_start_line' == self.type:
+            print(f"NOTE: Empty line at start of file ({self.message}: {self.linenumber})")
+        elif 'internal_comment' == self.type:
+            print(f"NOTE: Internal Comment ({self.message}: {self.linenumber})\n {self.issueString}")
+        elif 'internal_comment_empty' == self.type:
+            print(f"NOTE: Empty Internal Comment ({self.message}: {self.linenumber})")
+        elif 'summary_missing' == self.type:
+            print(f"WARNING: No message description ({self.message})")
+        elif 'topic_error' == self.type:
+            print(f"NOTE: TOPIC ISSUE: {self.issueString}")
+        elif 'unknown_unit' == self.type:
+            print(f"WARNING: Unknown Unit: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
+        elif 'constant_not_in_assigned_enum' == self.type:
+            print(f"WARNING: `{self.issueString}` constant: Prefix not in `@enum` field metadata ({self.message}: {self.linenumber})")
+        elif 'unknown_invalid_value' == self.type:
+            print(f"WARNING: Unknown @invalid value: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
+        elif 'unknown_frame' == self.type:
+            print(f"WARNING: Unknown @frame: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
+        elif 'command_no_params_pipes' == self.type:
+            print(f"WARNING: `{self.field}` command has no parameters (pipes): [{self.issueString}] ({self.message}: {self.linenumber})")
+        elif 'command_missing_params' == self.type:
+            print(f"WARNING: `{self.field}` command missing params - should be 7 params surrounded by 8 pipes: [{self.issueString}] ({self.message}: {self.linenumber})")
+        elif 'command_too_many_params' == self.type:
+            print(f"WARNING: `{self.field}` command too many params (should be 7). Extras: [{self.issueString}] ({self.message}: {self.linenumber})")
+
+
+        else:
+            self.display_info()
+
+    def display_info(self):
+        """
+        Display info about an error.
+        Used as a fallback if error does not have specific printout in display_error()
+        """
+        #print(f"Debug: Error: display_info")
+        print(f" type: {self.type}, message: {self.message}, linenumber: {self.linenumber}, issueString: {self.issueString}, field: {self.field}")
+
+class Enum:
+    def __init__(self, name, parentMessage):
+        self.name = name
+        self.parent = parentMessage
+        self.enumValues = dict()
+
+    def display_info(self):
+        """
+        Display info about an enum
+        """
+        print(f"Debug: Enum: display_info")
+        print(f" name: {self.name}")
+        for key, value in self.enumValues.items():
+            value.display_info()
+
+class ConstantValue:
+    def __init__(self, name, type, value, comment, line_number):
+        self.name = name.strip()
+        self.type = type.strip()
+        self.value = value.strip()
+        self.comment = comment
+        self.line_number = line_number
+
+        if not self.value:
+            print(f"Debug WARNING: NO VALUE in ConstantValue: {self.name}")  ## TODO make into ERROR
+            exit()
+
+        # TODO if value or name are empty, error
+
+    def display_info(self):
+        print(f"Debug: ConstantValue: display_info")
+        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
+
+
+class CommandParam:
+    """
+    Represents an individual param in a command constant
+    Encapsulates parsing of the param to extract units etc.
+    """
+
+    def __init__(self, num, paramText, line_number, parentCommand):
+        self.paramNum = num
+        self.paramText = paramText.strip()
+        self.enum = None
+        self.range = None
+        #self.type = type
+        self.units = []
+        self.enums = []
+        self.minValue = None
+        self.maxValue = None
+        self.invalidValue = None
+        self.frameValue = None
+        self.lineNumber = line_number
+        self.parent = parentCommand
+        self.parentMessage = self.parent.parent
+
+        match = None
+        if self.paramText:
+            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', paramText)
+        self.description = paramText
+        bracketed_part = None
+        if match:
+            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
+            self.description = match.group(2).strip()
+        if bracketed_part:
+          # get units
+            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
+            #print(f"DEBUG: bracket_content_matches: {bracket_content_matches}")
+            for item in bracket_content_matches:
+                item = item.strip()
+                if item.startswith('@'): # Not a unit:
+                    if item.startswith('@enum'):
+                        item = item.split(" ")
+                        enum = item[1].strip()
+                        if enum and enum not in self.enums:
+                            self.enums.append(enum)
+
+                        # Create parent enum objects for any enums created in this step
+                        for enumName in self.enums:
+                            if not enumName in self.parentMessage.enums:
+                                self.parentMessage.enums[enumName]=Enum(enumName,self.parentMessage)
+
+                    elif item.startswith('@range'):
+                        item = item[6:].strip().split(",")
+                        self.range = item
+                        self.minValue = item[0].strip()
+                        self.maxValue = item[1].strip()
+                    elif item.startswith('@invalid'):
+                        self.invalidValue = item[8:].strip()
+                        #TODO: Do we require a description? (not currently)
+                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
+                            print(f"TODO: Command param do not support @invalid: {self.invalidValue}")
+                            """
+                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
+                            #error.display_error()
+                            if not "unknown_invalid_value" in self.parent.errors:
+                                self.parent.errors["unknown_invalid_value"] = []
+                            self.parent.errors["unknown_invalid_value"].append(error)
+                            """
+
+                    elif item.startswith('@frame'):
+                        self.frameValue = item[6:].strip()
+                        print(f"TODO: Command param do not support @frame: {self.frameValue}")
+                        """
+                        if self.frameValue not in ALLOWED_FRAMES:
+                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
+                            #error.display_error()
+                            if not "unknown_frame" in self.parent.errors:
+                                self.parent.errors["unknown_frame"] = []
+                            self.parent.errors["unknown_frame"].append(error)
+                        """    
+                    else:
+                        print(f"WARNING: Unhandled metadata in message comment: {item}")
+                        # TODO - report errors for different kinds of metadata
+                        exit()
+
+                else: # bracket is a unit
+                    unit = item.strip()
+
+                    if item == "-":
+                        unit = ""
+                    
+                    if unit and unit not in self.units:
+                        self.units.append(unit) 
+
+                    if unit not in ALLOWED_UNITS:
+                        invalid_units.add(unit)
+                        error = Error("unknown_unit", self.parentMessage.filename, self.lineNumber, unit, self.parent.name)
+                        #error.display_error()
+                        if not "unknown_unit" in self.parentMessage.errors:
+                            self.parentMessage.errors["unknown_unit"] = []
+                        self.parentMessage.errors["unknown_unit"].append(error)
+
+
+    def display_info(self):
+        print(f"Debug: CommandParam: display_info")
+        print(f" id: {self.paramNum}")
+        print(f"   paramText: {self.paramText}\n  unit:  {self.units}\n  enums: {self.enums}\n  lineNumber: {self.lineNumber}\n  range: {self.range}\n  minValue: {self.minValue}\n  maxValue: {self.maxValue}\n  invalidValue: {self.invalidValue}\n  frameValue: {self.frameValue}\n  parent: {self.parent}\n  ")
+
+
+        
+class CommandConstant:
+    """
+    Represents a constant that is a command definition.
+    Encapsulates parsing of the command format.
+    The individual params are further parsed in CommandParam
+    """
+    def __init__(self, name, type, value, comment, line_number, parentMessage):
+        self.name = name.strip()
+        self.type = type.strip()
+        self.value = value.strip()
+        self.comment = comment
+        self.line_number = line_number
+        self.parent = parentMessage
+
+        self.description = self.comment
+        self.param1 = None
+        self.param2 = None
+        self.param3 = None
+        self.param4 = None
+        self.param5 = None
+        self.param6 = None
+        self.param7 = None
+
+        if not self.value:
+            print(f"Debug WARNING: NO VALUE in CommandConstant: {self.name}")  ## TODO make into ERROR
+            exit()
+
+        if not self.comment: # This is an bug for a command
+            #print(f"Debug WARNING: NO COMMENT in CommandConstant: {self.name}")  ## TODO make into ERROR
+            return
+            
+        # Parse command comment to get the description and parameters.
+        # print(f"Debug CommandConstant: {self.comment}") 
+        if not "|" in self.comment:
+            # This is an error for a command constant
+            error = Error("command_no_params_pipes", self.parent.filename, self.line_number, self.comment, self.name)
+            #error.display_error()
+            if not "command_no_params_pipes" in self.parent.errors:
+                self.parent.errors["command_no_params_pipes"] = []
+            self.parent.errors["command_no_params_pipes"].append(error)
+            return
+        
+        # Split on pipes
+        commandSplit = self.comment.split("|")
+        if len(commandSplit) < 9:
+            # Should 7 pipes, so each command is fully surrounded
+            error = Error("command_missing_params", self.parent.filename, self.line_number, self.comment, self.name)
+            #error.display_error()
+            if not "command_missing_params" in self.parent.errors:
+                self.parent.errors["command_missing_params"] = []
+            self.parent.errors["command_missing_params"].append(error)
+
+        self.description = commandSplit[0].strip()
+        self.description = self.description if self.description else None
+
+        params_to_update = commandSplit[1:8]
+
+        for i, value in enumerate(params_to_update, start=1):
+            if value.strip():
+                # parse the param
+                param = CommandParam(i, value, self.line_number, self)
+                #param.display_info() # DEBUG CODE XXX
+                setattr(self, f"param{i}", param)
+                # parse the param
+
+        if len(commandSplit) > 8:
+            extras = commandSplit[8:]
+            error = Error("command_too_many_params", self.parent.filename, self.line_number, extras, self.name)
+            if not "command_too_many_params" in self.parent.errors:
+                self.parent.errors["command_too_many_params"] = []
+            self.parent.errors["command_too_many_params"].append(error)
+
+
+        # TODO if value or name are empty, error
+
+    def markdown_out(self):
+        #print("DEBUG: CommandConstant.markdown_out")
+        output = f"""### {self.name} ({self.value})
+
+{self.description}
+
+Param | Units | Range/Enum | Description
+--- | --- | --- | ---
+"""
+        for i in range(1, 8):
+            attr_name = f"param{i}"
+            # getattr returns None if the attribute doesn't exist
+            val = getattr(self, attr_name, None)
+
+            if val is not None:
+                rangeVal = ""
+                if val.minValue or val.maxValue:
+                    rangeVal = f"[{val.minValue if val.minValue else '-'} : {val.maxValue if val.maxValue else '-' }]"
+
+                output+=f"{i} | {", ".join(val.units)}|{', '.join(f"[{e}](#{e})" for e in val.enums)}{rangeVal} | {val.description}\n"
+            else:
+                output+=f"{i} | | | ?\n"                
+
+        output+=f"\n"
+        return output
+
+
+    def display_info(self):
+        print(f"Debug: CommandConstant: display_info")
+        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
+        print(f"   description: {self.description}\n  param1: {self.param1}\n  param2: {self.param2}\n  param3: {self.param3}\n  param4: {self.param4}\n  param5: {self.param5}\n  param6: {self.param6}\n  param7: {self.param7}")
+
+class MessageField:
+    """
+    Represents a field.
+    Encapsulates parsing of the field information.
+    """
+    def __init__(self, name, type, comment, line_number, parentMessage):
+        self.name = name
+        self.type = type
+        self.comment = comment
+        self.unit = None
+        self.enums = None
+        self.minValue = None
+        self.maxValue = None
+        self.invalidValue = None
+        self.frameValue = None
+        self.lineNumber = line_number
+        self.parent = parentMessage
+
+        #print(f"MessageComment: {comment}")
+        match = None
+        if self.comment:
+            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', comment)
+        self.description = comment
+        bracketed_part = None
+        if match:
+            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
+            self.description = match.group(2).strip()
+        if bracketed_part:
+          # get units
+            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
+            #print(f"bracket_content_matches: {bracket_content_matches}")
+            for item in bracket_content_matches:
+                item = item.strip()
+                if item.startswith('@'): # Not a unit:
+                    if item.startswith('@enum'):
+                        item = item.split(" ")
+                        self.enums = item[1:]
+                        # Create parent enum objects
+                        for enumName in self.enums:
+                            if not enumName in parentMessage.enums:
+                                parentMessage.enums[enumName]=Enum(enumName,parentMessage)
+                    elif item.startswith('@range'):
+                        item = item[6:].strip().split(",")
+                        self.minValue = item[0].strip()
+                        self.maxValue = item[1].strip()
+                    elif item.startswith('@invalid'):
+                        self.invalidValue = item[8:].strip()
+                        #TODO: Do we require a description? (not currently)
+                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
+                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
+                            #error.display_error()
+                            if not "unknown_invalid_value" in self.parent.errors:
+                                self.parent.errors["unknown_invalid_value"] = []
+                            self.parent.errors["unknown_invalid_value"].append(error)
+                    elif item.startswith('@frame'):
+                        self.frameValue = item[6:].strip()
+                        if self.frameValue not in ALLOWED_FRAMES:
+                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
+                            #error.display_error()
+                            if not "unknown_frame" in self.parent.errors:
+                                self.parent.errors["unknown_frame"] = []
+                            self.parent.errors["unknown_frame"].append(error)
+                    else:
+                        print(f"WARNING: Unhandled metadata in message comment: {item}")
+                        # TODO - report errors for different kinds of metadata
+                        exit()
+
+                else: # bracket is a unit
+                    self.unit = item
+
+                    if self.unit not in ALLOWED_UNITS:
+                        invalid_units.add(self.unit)
+                        error = Error("unknown_unit", self.parent.filename, self.lineNumber, self.unit, self.name)
+                        #error.display_error()
+                        if not "unknown_unit" in self.parent.errors:
+                            self.parent.errors["unknown_unit"] = []
+                        self.parent.errors["unknown_unit"].append(error)
+
+                    if item == "-":
+                        self.unit = ""
+
+
+    def display_info(self):
+        print(f"Debug: MessageField: display_info")
+        print(f" name: {self.name}, type: {self.type}, description: {self.description}, enums: {self.enums}, minValue: {self.minValue}, maxValue: {self.maxValue}, invalidValue: {self.invalidValue}, frameValue: {self.frameValue}")
+
+
+class UORBMessage:
+    """
+    Represents a whole message, including fields, enums, commands, constants.
+    The parser function delegates the parsing of each part of the message to 
+    more appropriate classes, once the specific type of line has been identified.
+    """
+
+    def __init__(self, filename):
+
+        self.filename = filename
+        msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
+        self.msg_filename = os.path.join(msg_path, self.filename)
+        self.name = os.path.splitext(os.path.basename(msg_file))[0]
+        self.shortDescription = ""
+        self.longDescription = ""
+        self.fields = []
+        self.constantFields = dict()
+        self.commandConstants = dict()
+        self.enums = dict()
+        self.output_file = os.path.join(output_dir, f"{self.name}.md")
+        self.topics = []
+        self.errors = dict()
+
+        self.parseFile()
+
+        if args.errors:
+            #print(f"DEBUG: args.errors: {args.errors}")
+            if args.error_messages:
+                messages = args.error_messages.split(" ")
+                #print(f"DEBUG: args.errors: {messages},self.name: {self.name}")
+                if self.name in messages:
+                    self.reportErrors()
+                    #print(f"Debug: {self.name} in {messages}")
+            else:
+              self.reportErrors()
+
+    def reportErrors(self):
+        #print(f"Debug: UORBMessage: reportErrors()")
+        for errorType, errors in self.errors.items():
+            for error in errors:
+               error.display_error()
+
+    def markdown_out(self):
+        #print(f"Debug: UORBMessage: markdown_out()")
+
+        # Add page header (forces wide pages)
+        markdown = f"""---
+pageClass: is-wide-page
+---
+
+# {self.name} (UORB message)
+
+"""
+        ## Append description info if present
+        markdown += f"{self.shortDescription}\n\n" if self.shortDescription else ""
+        markdown += f"{self.longDescription}\n\n" if self.longDescription else ""
+
+        topicList = " ".join(self.topics)
+        markdown += f"**TOPICS:** {topicList}\n\n"
+
+        # Generate field docs
+        markdown += f"## Fields\n\n"
+        markdown += "Name | Type | Unit [Frame] | Range/Enum | Description\n"
+        markdown += "--- | --- | --- | --- | ---\n"
+        for field in self.fields:
+            unit = f"{field.unit}" if field.unit else ""
+            frame = f"[{field.frameValue}]" if field.frameValue else ""
+            unit = f"{unit} {frame}"
+            unit.strip()
+            unit = f" {unit}"
+
+            value = " "
+            if field.enums:
+                value = ""
+                for enum in field.enums:
+                    value += f"[{enum}](#{enum})"
+                value = value.strip()
+                value = f"{value}"
+            elif field.minValue or field.maxValue:
+                value = f"[{field.minValue if field.minValue else '-'} : {field.maxValue if field.maxValue else '-' }]"
+
+            description = f" {field.description}" if field.description else ""
+            invalid = f" (Invalid: {field.invalidValue}) " if field.invalidValue else ""
+            markdown += f"{field.name} | `{field.type}` |{unit}|{value}|{description}{invalid}\n"
+
+        # Generate table for command docs
+        if len(self.commandConstants) > 0:
+            #print("DEBUGCOMMAND")
+            markdown += f"\n## Commands\n\n"
+
+            """
+            markdown += "Name | Type | Value | Description\n"
+            markdown += "--- | --- | --- |---\n"
+            for name, command in self.commandConstants.items():
+                description = f" {command.comment} " if enum.comment else " "
+                markdown += f'<a href="#{name}"></a> {name} | `{command.type}` | {command.value} |{description}\n'            
+            """
+            for commandConstant in self.commandConstants.values():
+                #print(commandConstant)
+                markdown += commandConstant.markdown_out()     
+
+        # Generate enum docs
+        if len(self.enums) > 0:
+            markdown += f"\n## Enums\n"
+
+            for name, enum in self.enums.items():
+                markdown += f"\n### {name} {{#{name}}}\n\n"
+
+                markdown += "Name | Type | Value | Description\n"
+                markdown += "--- | --- | --- | ---\n"
+
+                for enumValueName, enumValue in enum.enumValues.items():
+                    description = f" {enumValue.comment} " if enumValue.comment else " "
+                    markdown += f'<a href="#{enumValueName}"></a> {enumValueName} | `{enumValue.type}` | {enumValue.value} |{description}\n'
+
+        # Generate table for constants docs
+        if len(self.constantFields) > 0:
+            markdown += f"\n## Constants\n\n"
+            markdown += "Name | Type | Value | Description\n"
+            markdown += "--- | --- | --- |---\n"
+            for name, enum in self.constantFields.items():
+                description = f" {enum.comment} " if enum.comment else " "
+                markdown += f'<a href="#{name}"></a> {name} | `{enum.type}` | {enum.value} |{description}\n'
+
+
+
+        # Append msg contents to the end
+        with open(self.msg_filename, 'r') as source_file:
+            msg_contents = source_file.read()
+            msg_contents = msg_contents.strip()
+
+        #Format markdown using msg name, comment, url, contents.
+        markdown += f"""
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/{self.filename})
+
+::: details Click here to see original file
+
+```c
+{msg_contents}
+```
+
+:::
+"""
+
+        with open(self.output_file, 'w') as content_file:
+            content_file.write(markdown)
+
+        #exit()
+
+
+    def display_info(self):
+        print(f"UORBMessage: display_info")
+        print(f" name: {self.name}")
+        print(f" filename: {self.filename}, ")
+        print(f" msg_filename: {self.msg_filename}, ")
+        print(f"self.shortDescription: {self.shortDescription}")
+        print(f"self.longDescription: {self.longDescription}")
+        print(f"self.enums: {self.enums}")
+
+        for enum, enumObject in self.enums.items():
+            enumObject.display_info()
+
+        # Output our data so far
+        for field in self.fields:
+            field.display_info()
+
+        for enumvalue in self.constantFields:
+            print(enumvalue)
+            self.constantFields[enumvalue].display_info()
+
+    def handleField(self, line, line_number, parentMessage):
+        #print(f"debug: handleField: (line): \n {line}")
+        # Note, here we know we don't have a comment or a topic.
+        # We expect it to be a field.
+
+        # Check field doesn't have leading whitespace (trailing spaces already checked)
+        if line[:1].isspace(): # Returns True for ' ', '\t', '\n', '\r', etc.
+            #print("First character is whitespace")
+            error = Error("leading_whitespace_field_or_constant", self.filename, line_number, line)
+            if not "leading_whitespace_field_or_constant" in self.errors:
+                self.errors["leading_whitespace_field_or_constant"] = []
+                self.errors["leading_whitespace_field_or_constant"].append(error)
+
+        # Now we can parse the stripped line
+        fieldOrConstant = line.strip()
+
+        # Check that the field or constant has only single whitespace separators
+        stripped_fieldOrConstant = re.sub(r'\s+', ' ', fieldOrConstant) # Collapse all spaces to a single space (LHS already stripped).
+        if stripped_fieldOrConstant != fieldOrConstant:
+            #print("Field/Constant has multiple whitespace characters") # Since the collapsed version shows them.
+            error = Error("field_or_constant_has_multiple_whitepsace", self.filename, line_number, line)
+            if not "field_or_constant_has_multiple_whitepsace" in self.errors:
+                self.errors["field_or_constant_has_multiple_whitepsace"] = []
+                self.errors["field_or_constant_has_multiple_whitepsace"].append(error)
+
+        fieldOrConstant = stripped_fieldOrConstant
+
+
+
+        comment = None
+        if "#" in line:
+            commentExtract = line.split("#", 1) # Split once on left-most '#'
+            fieldOrConstant = commentExtract[0].strip()
+            comment = commentExtract[-1].strip()
+
+        if "=" not in fieldOrConstant:
+            # Is a field:
+            field = fieldOrConstant.split(" ")
+            type = field[0].strip()
+            name = field[1].strip()
+            field = MessageField(name, type, comment, line_number, parentMessage)
+            self.fields.append(field)
+        else:
+            temp = fieldOrConstant.split("=")
+            value = temp[-1]
+            typeAndName = temp[0].split(" ")
+            type = typeAndName[0]
+            name = typeAndName[1]
+            if name.startswith("VEHICLE_CMD_") and parentMessage.name == 'VehicleCommand': #it's a command.
+                #print(f"DEBUG: startswith VEHICLE_CMD_ {name}")
+                commandConstant = CommandConstant(name, type, value, comment, line_number, parentMessage)
+                #commandConstant.display_info()
+                self.commandConstants[name]=commandConstant
+            else: #it's a constant (or part of an enum)
+                constantField = ConstantValue(name, type, value, comment, line_number)
+                self.constantFields[name]=constantField
+
+
+    def parseFile(self):
+        initial_block_lines = []
+        #stopping_token = None
+        found_first_relevant_content = False
+        gettingInitialComments = False
+        gettingFields = False
+
+        with open(self.msg_filename, 'r', encoding='utf-8') as uorbfile:
+            lines = uorbfile.read().splitlines()
+            for line_number, line in enumerate(lines, 1):
+
+                if line != line.rstrip():
+                    #print(f"[{self.filename}] Trailing whitespace on line {line_number}: XX{line}YY")
+                    error = Error("trailing_whitespace", self.filename, line_number, line)
+                    if not "trailing_whitespace" in self.errors:
+                        self.errors["trailing_whitespace"] = []
+                    self.errors["trailing_whitespace"].append(error)
+
+                #print(f"line: {line}")
+                stripped_line = re.sub(r'\s+', ' ', line).strip() # Collapse all spaces to a single space and strip stuff off end.
+                #print(f"stripped_line: {stripped_line}")
+                # TODO? Perhaps report whitespace if the size of those two is different and it is empty
+                # Or perhaps we just fix it on request
+
+                isEmptyLine = False if line.strip() else True
+                if not found_first_relevant_content and isEmptyLine: #Empty line
+                    #print(f"{self.filename}: Empty line at start of file: [{line_number}]\n {line}")
+                    error = Error("empty_start_line", self.filename, line_number, line)
+                    if not "empty_start_line" in self.errors:
+                        self.errors["empty_start_line"] = []
+                    self.errors["empty_start_line"].append(error)
+                    #error.display_error()
+                    continue
+                if not found_first_relevant_content and not isEmptyLine:
+                    found_first_relevant_content = True
+
+                    if stripped_line.startswith("#"):
+                        gettingInitialComments = True
+                    else:
+                        gettingInitialComments = False
+                        gettingFields = True
+
+                if gettingInitialComments and stripped_line.startswith("#"):
+                    stripped_line=stripped_line[1:].strip()
+                    #print(f"DEBUG: gettingInitialComments: comment line: {stripped_line}")
+                    initial_block_lines.append(stripped_line)
+                else:
+                    gettingInitialComments = False
+                    gettingFields = True #Getting fields and constants
+                if gettingFields:
+                    if isEmptyLine:
+                        continue # empty line
+                    if stripped_line.startswith("# TOPICS "):
+                        stripped_line = stripped_line[9:]
+                        stripped_line = stripped_line.split(" ")
+                        self.topics+= stripped_line
+                        # Note, default topic and topic errors handled after all lines parsed
+                        continue
+                    if stripped_line.startswith("#"):
+                        # Its an internal comment
+                        stripped_line=stripped_line[1:].strip()
+                        
+                        if stripped_line:
+                            #print(f"{self.filename}: Internal comment: [{line_number}]\n {line}")
+                            error = Error("internal_comment", self.filename, line_number, line)
+                            if not "internal_comment" in self.errors:
+                                self.errors["internal_comment"] = []
+                            self.errors["internal_comment"].append(error)
+                        else:
+                            #print(f"{self.filename}: Empty internal comment: [{line_number}]\n {line}")
+                            error = Error("internal_comment_empty", self.filename, line_number, line)
+                            if not "internal_comment_empty" in self.errors:
+                                self.errors["internal_comment_empty"] = []
+                            self.errors["internal_comment_empty"].append(error)
+                            #pass # Empty comment
+                        continue
+                    
+                    # Must be a field or a comment.
+                    self.handleField(line, line_number, parentMessage=self)
+
+            # Fix up topics if the topic is empty
+            def camel_to_snake(name):
+                # Match upper case not at start of string
+                s1 = re.sub('(.)([A-Z][a-z]+)', r'\1_\2', name)
+                # Handle cases with multiple capital first letter
+                return re.sub('([A-Z]+)([A-Z][a-z]*)', r'\1_\2', s1).lower()
+
+            defaultTopic = camel_to_snake(self.name)
+            if len(self.topics) == 0:
+                # We have no topic declared, so set the default topic
+                self.topics.append(defaultTopic)
+            elif len(self.topics) == 1:
+                # We have 1 topic declared - either it is default or there is some issue.
+                if defaultTopic in self.topics:
+                    # Declared topic is default topic
+                    error = Error("topic_error", self.filename, "", f"WARNING: TOPIC {defaultTopic} unnecessarily declared for {self.name}")
+                else:
+                    # Declared topic is not default topic
+                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[1]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
+                if not "topic_error" in self.errors:
+                    self.errors["topic_error"] = []
+                    self.errors["topic_error"].append(error)
+            elif len(self.topics) > 1:
+                if defaultTopic not in self.topics:
+                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC - Default topic {defaultTopic} for {self.name} not in {self.topics}")
+
+            # Parse our short and long description
+            #print(f"DEBUG: initial_block_lines: {initial_block_lines}")
+            doingLongDescription = False
+            for summaryline in initial_block_lines:
+                if not self.shortDescription and summaryline.strip() == '':
+                    continue
+                if not doingLongDescription and not summaryline.strip() == '':
+                   self.shortDescription += f" {summaryline}"
+                   self.shortDescription = self.shortDescription.strip()
+                   if not self.shortDescription[-1:] == ".": # Add terminating fullstop if not present.
+                       self.shortDescription += "."
+                if not doingLongDescription and summaryline.strip() == '':
+                   doingLongDescription = True
+                   continue
+                if doingLongDescription:
+                    self.longDescription += f"{summaryline}\n"
+
+            if self.longDescription:
+                self.longDescription.strip()
+
+            if not self.shortDescription:
+                # Summary has not been defined
+                error = Error("summary_missing", self.filename)
+                if not "summary_missing" in self.errors:
+                    self.errors["summary_missing"] = []
+                self.errors["summary_missing"].append(error)
+
+
+            # TODO Parse our constantValues into enums, leaving only constants
+            constantValuesToRemove = []
+            #print(f"DEBUG: Self.enums: {self.enums}")
+            for enumName, enumObject in self.enums.items():
+                for enumValueName, enumValueObject in self.constantFields.items():
+                    if enumValueName.startswith(enumName):
+                        # Copy this value into the object (cant be duplicate because parent is dict)
+                        enumObject.enumValues[enumValueName]=enumValueObject
+                        constantValuesToRemove.append(enumValueName)
+            # Now delete the original enumvalues
+            for enumValName in constantValuesToRemove:
+                del self.constantFields[enumValName]
+            constantsNotAssignedToEnums = len(self.constantFields)
+            if constantsNotAssignedToEnums > 0:
+                #print(f"Debug: WARNING constantsNotAssignedToEnums: {constantsNotAssignedToEnums}")
+                for enumValueName, enumValue in self.constantFields.items():
+                    if enumValueName in ALLOWED_CONSTANTS_NOT_IN_ENUM: # Ignore constants
+                        pass
+                    else:
+                        error = Error("constant_not_in_assigned_enum", self.filename, enumValue.line_number, enumValueName)
+                        if not "constant_not_in_assigned_enum" in self.errors:
+                            self.errors["constant_not_in_assigned_enum"] = []
+                        self.errors["constant_not_in_assigned_enum"].append(error)
+                # TODO Maybe present as list of possible enums.


 import yaml
@@ -127,83 +924,50 @@ if __name__ == "__main__":

    parser = argparse.ArgumentParser(description='Generate docs from .msg files')
    parser.add_argument('-d', dest='dir', help='output directory', required=True)
+    parser.add_argument('-e', dest='errors', action='store_true', help='Report errors')
+    parser.add_argument('-m', dest='error_messages', help='Message to report errors against (by default all)')
    args = parser.parse_args()

    output_dir = args.dir
    if not os.path.isdir(output_dir):
+        print(f"making output_dir {output_dir}")
        os.mkdir(output_dir)

    msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
    msg_files = get_msgs_list(msg_path)
+
    msg_files.sort()

    versioned_msgs_list = ''
    unversioned_msgs_list = ''
+    msgTypes = set()

    for msg_file in msg_files:
+        # Add messages to set of allowed types (compound types)
+        #msg_type = msg_file.rsplit('/')[-1]
+        #msg_type = msg_type.rsplit('\\')[-1]
+        #msg_type = msg_type.rsplit('.')[0]
        msg_name = os.path.splitext(os.path.basename(msg_file))[0]
-        output_file = os.path.join(output_dir, msg_name+'.md')
-        msg_filename = os.path.join(msg_path, msg_file)
-        print("{:} -> {:}".format(msg_filename, output_file))
+        msgTypes.add(msg_name)

-        #Format msg url
-        msg_url="[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/%s)" % msg_file
-
-        msg_description = ""
-        summary_description = ""
-
-        #Get msg description (first non-empty comment line from top of msg)
-        with open(msg_filename, 'r') as lineparser:
-            line = lineparser.readline()
-            while line.startswith('#') or (line.strip() == ''):
-                print('DEBUG: line: %s' % line)
-                line=line[1:].strip()+'\n'
-                stripped_line=line.strip()
-                if msg_description and not summary_description and stripped_line=='':
-                    summary_description = msg_description.strip()
-
-                msg_description+=line
-                line = lineparser.readline()
-            msg_description=msg_description.strip()
-            if not summary_description and msg_description:
-                summary_description = msg_description
-            print('msg_description: Z%sZ' % msg_description)
-            print('summary_description: Z%sZ' % summary_description)
-            summary_description
-        msg_contents = ""
-        #Get msg contents (read the file)
-        with open(msg_filename, 'r') as source_file:
-            msg_contents = source_file.read()
-
-        #Format markdown using msg name, comment, url, contents.
-        markdown_output="""# %s (UORB message)
-
-%s
-
-%s
-
-```c
-%s
-```
-""" % (msg_name, msg_description, msg_url, msg_contents)
-
-        with open(output_file, 'w') as content_file:
-            content_file.write(markdown_output)
+    for msg_file in msg_files:
+        message = UORBMessage(msg_file)
+        # Any additional tests that can't be in UORBMessage parser go here.
+        message.markdown_out()

        # Categorize as versioned or unversioned
        if "versioned" in msg_file:
-            versioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
-            if summary_description:
-                versioned_msgs_list += " — %s" % summary_description
+            versioned_msgs_list += f"- [{message.name}]({message.name}.md)"
+            if message.shortDescription:
+                versioned_msgs_list += f" — {message.shortDescription}"
            versioned_msgs_list += "\n"
        else:
-            unversioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
-            if summary_description:
-                unversioned_msgs_list += " — %s" % summary_description
+            unversioned_msgs_list += f"- [{message.name}]({message.name}.md)"
+            if message.shortDescription:
+                unversioned_msgs_list += f" — {message.shortDescription}"
            unversioned_msgs_list += "\n"
-
    # Write out the index.md file
-    index_text="""# uORB Message Reference
+    index_text=f"""# uORB Message Reference

 ::: info
 This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
@@ -218,14 +982,14 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m

 ## Versioned Messages

-%s
+{versioned_msgs_list}

 ## Unversioned Messages

-%s
-    """ % (versioned_msgs_list, unversioned_msgs_list)
+{unversioned_msgs_list}
+    """
    index_file = os.path.join(output_dir, 'index.md')
-    with open(index_file, 'w') as content_file:
+    with open(index_file, 'w', encoding='utf-8') as content_file:
            content_file.write(index_text)

    generate_dds_yaml_doc(msg_files)
@@ -1138,6 +1138,8 @@ if num_mags >= 1:

    if not math.isnan(sensor_mag_0['temperature'][0]):

+        mag_0_params['TC_M0_ID'] = int(np.median(sensor_mag_0['device_id']))
+
        # find the min, max and reference temperature
        mag_0_params['TC_M0_TMIN'] = np.amin(sensor_mag_0['temperature'])
        mag_0_params['TC_M0_TMAX'] = np.amax(sensor_mag_0['temperature'])
@@ -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())
@@ -1,947 +0,0 @@
-#!/usr/bin/env python3
-############################################################################
-#
-#   Copyright (c) 2012-2024 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# 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.
-#
-############################################################################
-
-#
-# Serial firmware uploader for the PX4FMU bootloader
-#
-# The PX4 firmware file is a JSON-encoded Python object, containing
-# metadata fields and a zlib-compressed base64-encoded firmware image.
-#
-# The uploader uses the following fields from the firmware file:
-#
-# image
-#       The firmware that will be uploaded.
-# image_size
-#       The size of the firmware in bytes.
-# board_id
-#       The board for which the firmware is intended.
-# board_revision
-#       Currently only used for informational purposes.
-#
-
-import sys
-import argparse
-import binascii
-import socket
-import struct
-import json
-import zlib
-import base64
-import time
-import array
-import os
-
-from sys import platform as _platform
-
-try:
-    import serial
-except ImportError as e:
-    print(f"Failed to import serial: {e}")
-    print("")
-    print("You may need to install it using:")
-    print("    python -m pip install pyserial")
-    print("")
-    sys.exit(1)
-
-
-# Detect python version
-if sys.version_info[0] < 3:
-    raise RuntimeError("Python 2 is not supported. Please try again using Python 3.")
-    sys.exit(1)
-
-
-# Use monotonic time where available
-def _time():
-    try:
-        return time.monotonic()
-    except Exception:
-        return time.time()
-
-class FirmwareNotSuitableException(Exception):
-    def __init__(self, message):
-        super(FirmwareNotSuitableException, self).__init__(message)
-
-
-class firmware(object):
-    '''Loads a firmware file'''
-
-    desc = {}
-    image = bytes()
-
-    def __init__(self, path):
-
-        # read the file
-        f = open(path, "r")
-        self.desc = json.load(f)
-        f.close()
-
-        self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
-
-        # pad image to 4-byte length
-        while ((len(self.image) % 4) != 0):
-            self.image.extend(b'\xff')
-
-    def property(self, propname):
-        return self.desc[propname]
-
-    def crc(self, padlen):
-        state = 0xFFFFFFFF
-        state = zlib.crc32(self.image, state)
-        padding_length = padlen - len(self.image)
-        if padding_length > 0:
-            padding = b'\xff' * padding_length
-            state = zlib.crc32(padding, state)
-
-        return (state ^ 0xFFFFFFFF) & 0xFFFFFFFF
-
-
-class uploader:
-    '''Uploads a firmware file to the PX4 bootloader'''
-
-    # protocol bytes
-    INSYNC          = b'\x12'
-    EOC             = b'\x20'
-
-    # reply bytes
-    OK              = b'\x10'
-    FAILED          = b'\x11'
-    INVALID         = b'\x13'     # rev3+
-    BAD_SILICON_REV = b'\x14'     # rev5+
-
-    # command bytes
-    NOP             = b'\x00'     # guaranteed to be discarded by the bootloader
-    GET_SYNC        = b'\x21'
-    GET_DEVICE      = b'\x22'
-    CHIP_ERASE      = b'\x23'
-    CHIP_VERIFY     = b'\x24'     # rev2 only
-    PROG_MULTI      = b'\x27'
-    READ_MULTI      = b'\x28'     # rev2 only
-    GET_CRC         = b'\x29'     # rev3+
-    GET_OTP         = b'\x2a'     # rev4+  , get a word from OTP area
-    GET_SN          = b'\x2b'     # rev4+  , get a word from SN area
-    GET_CHIP        = b'\x2c'     # rev5+  , get chip version
-    SET_BOOT_DELAY  = b'\x2d'     # rev5+  , set boot delay
-    GET_CHIP_DES    = b'\x2e'     # rev5+  , get chip description in ASCII
-    GET_VERSION     = b'\x2f'     # rev5+  , get bootloader version in ASCII
-    CHIP_FULL_ERASE = b'\x40'     # full erase of flash, rev6+
-    MAX_DES_LENGTH  = 20
-
-    REBOOT          = b'\x30'
-
-    INFO_BL_REV     = b'\x01'        # bootloader protocol revision
-    BL_REV_MIN      = 2              # minimum supported bootloader protocol
-    BL_REV_MAX      = 5              # maximum supported bootloader protocol
-    INFO_BOARD_ID   = b'\x02'        # board type
-    INFO_BOARD_REV  = b'\x03'        # board revision
-    INFO_FLASH_SIZE = b'\x04'        # max firmware size in bytes
-
-    PROG_MULTI_MAX  = 252            # protocol max is 255, must be multiple of 4
-    READ_MULTI_MAX  = 252            # protocol max is 255
-
-    NSH_INIT        = bytearray(b'\x0d\x0d\x0d')
-    NSH_REBOOT_BL   = b"reboot -b\n"
-    NSH_REBOOT      = b"reboot\n"
-    MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x53\x6b')
-    MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xcc\x37')
-
-    MAX_FLASH_PRGRAM_TIME  = 0.001  # Time on an F7 to send SYNC, RESULT from last data in multi RXed
-
-    def __init__(self, portname, baudrate_bootloader, baudrate_flightstack):
-        # Open the port, keep the default timeout short so we can poll quickly.
-        # On some systems writes can suddenly get stuck without having a
-        # write_timeout > 0 set.
-        # chartime 8n1 * bit rate is us
-        self.chartime = 10 * (1.0 / baudrate_bootloader)
-
-        # we use a window approche to SYNC,<result> gathring
-        self.window = 0
-        self.window_max = 256
-        self.window_per = 2  # Sync,<result>
-        self.ackWindowedMode = False  # Assume Non Widowed mode for all USB CDC
-        self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5, write_timeout=0)
-        self.otp = b''
-        self.sn = b''
-        self.baudrate_bootloader = baudrate_bootloader
-        self.baudrate_flightstack = baudrate_flightstack
-        self.baudrate_flightstack_idx = -1
-        self.force_erase = False
-
-    def close(self):
-        if self.port is not None:
-            self.port.close()
-
-    def open(self):
-        # upload timeout
-        timeout = _time() + 0.2
-
-        # attempt to open the port while it exists and until timeout occurs
-        while self.port is not None:
-            portopen = True
-            try:
-                portopen = self.port.is_open
-            except AttributeError:
-                portopen = self.port.isOpen()
-
-            if not portopen and _time() < timeout:
-                try:
-                    self.port.open()
-                except OSError:
-                    # wait for the port to be ready
-                    time.sleep(0.04)
-                except serial.SerialException:
-                    # if open fails, try again later
-                    time.sleep(0.04)
-            else:
-                break
-
-    # debugging code
-    def __probe(self, state):
-        # self.port.setRTS(state)
-        return
-
-    def __send(self, c):
-        # print("send " + binascii.hexlify(c))
-        self.port.write(c)
-
-    def __recv(self, count=1):
-        c = self.port.read(count)
-        if len(c) < 1:
-            raise RuntimeError("timeout waiting for data (%u bytes)" % count)
-        # print("recv " + binascii.hexlify(c))
-        return c
-
-    def __recv_int(self):
-        raw = self.__recv(4)
-        val = struct.unpack("<I", raw)
-        return val[0]
-
-    def __getSync(self, doFlush=True):
-        if (doFlush):
-            self.port.flush()
-        c = bytes(self.__recv())
-        if c != self.INSYNC:
-            raise RuntimeError("unexpected %s instead of INSYNC" % c)
-        c = self.__recv()
-        if c == self.INVALID:
-            raise RuntimeError("bootloader reports INVALID OPERATION")
-        if c == self.FAILED:
-            raise RuntimeError("bootloader reports OPERATION FAILED")
-        if c != self.OK:
-            raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
-
-    # The control flow for receiving Sync is on the order of 16 Ms per Sync
-    # This will validate all the SYNC,<results> for a window of programing
-    # in about 13.81 Ms for 256 blocks written
-    def __ackSyncWindow(self, count):
-        if (count > 0):
-            data =  bytearray(bytes(self.__recv(count)))
-            if (len(data) != count):
-                raise RuntimeError("Ack Window %i not %i " % (len(data), count))
-            for i in range(0, len(data), 2):
-                if bytes([data[i]]) != self.INSYNC:
-                    raise RuntimeError("unexpected %s instead of INSYNC" % data[i])
-                if bytes([data[i+1]]) == self.INVALID:
-                    raise RuntimeError("bootloader reports INVALID OPERATION")
-                if bytes([data[i+1]]) == self.FAILED:
-                    raise RuntimeError("bootloader reports OPERATION FAILED")
-                if bytes([data[i+1]]) != self.OK:
-                    raise RuntimeError("unexpected response 0x%x instead of OK" % ord(data[i+1]))
-
-    # attempt to get back into sync with the bootloader
-    def __sync(self):
-        # send a stream of ignored bytes longer than the longest possible conversation
-        # that we might still have in progress
-        # self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
-        self.port.flushInput()
-        self.__send(uploader.GET_SYNC +
-                    uploader.EOC)
-        self.__getSync()
-
-    def __trySync(self):
-        try:
-            self.port.flush()
-            if (self.__recv() != self.INSYNC):
-                # print("unexpected 0x%x instead of INSYNC" % ord(c))
-                return False
-            c = self.__recv()
-            if (c == self.BAD_SILICON_REV):
-                raise NotImplementedError()
-            if (c != self.OK):
-                # print("unexpected 0x%x instead of OK" % ord(c))
-                return False
-            return True
-
-        except NotImplementedError:
-            raise RuntimeError("Programing not supported for this version of silicon!\n"
-                               "See https://docs.px4.io/main/en/flight_controller/silicon_errata.html")
-        except RuntimeError:
-            # timeout, no response yet
-            return False
-
-    # attempt to determins if the device is CDCACM or A FTDI
-    def __determineInterface(self):
-        self.port.flushInput()
-        # Set a baudrate that can not work on a real serial port
-        # in that it is 233% off.
-        try:
-            self.port.baudrate = self.baudrate_bootloader * 2.33
-        except NotImplementedError as e:
-            # This error can occur because pySerial on Windows does not support odd baudrates
-            print(f"{e} -> could not check for FTDI device, assuming USB connection")
-            return
-
-        self.__send(uploader.GET_SYNC +
-                    uploader.EOC)
-        try:
-            self.__getSync(False)
-        except RuntimeError:
-            # if it fails we are on a real serial port - only leave this enabled on Windows
-            if sys.platform.startswith('win'):
-                self.ackWindowedMode = True
-        finally:
-            try:
-                self.port.baudrate = self.baudrate_bootloader
-            except Exception:
-                pass
-
-    # send the GET_DEVICE command and wait for an info parameter
-    def __getInfo(self, param):
-        self.__send(uploader.GET_DEVICE + param + uploader.EOC)
-        value = self.__recv_int()
-        self.__getSync()
-        return value
-
-    # send the GET_OTP command and wait for an info parameter
-    def __getOTP(self, param):
-        t = struct.pack("I", param)  # int param as 32bit ( 4 byte ) char array.
-        self.__send(uploader.GET_OTP + t + uploader.EOC)
-        value = self.__recv(4)
-        self.__getSync()
-        return value
-
-    # send the GET_SN command and wait for an info parameter
-    def __getSN(self, param):
-        t = struct.pack("I", param)  # int param as 32bit ( 4 byte ) char array.
-        self.__send(uploader.GET_SN + t + uploader.EOC)
-        value = self.__recv(4)
-        self.__getSync()
-        return value
-
-    # send the GET_CHIP command
-    def __getCHIP(self):
-        self.__send(uploader.GET_CHIP + uploader.EOC)
-        value = self.__recv_int()
-        self.__getSync()
-        return value
-
-    # send the GET_CHIP command
-    def __getCHIPDes(self):
-        self.__send(uploader.GET_CHIP_DES + uploader.EOC)
-        length = self.__recv_int()
-        value = self.__recv(length)
-        self.__getSync()
-        pieces = value.split(b",")
-        return pieces
-
-    def __getVersion(self):
-        self.__send(uploader.GET_VERSION + uploader.EOC)
-        try:
-            length = self.__recv_int()
-            value = self.__recv(length)
-            self.__getSync()
-        except RuntimeError:
-            # Bootloader doesn't support version call
-            return "unknown"
-        return value.decode()
-
-    def __drawProgressBar(self, label, progress, maxVal):
-        if maxVal < progress:
-            progress = maxVal
-
-        percent = (float(progress) / float(maxVal)) * 100.0
-
-        redraw = "\r" if sys.stdout.isatty() else "\n"
-        sys.stdout.write("%s%s: [%-20s] %.1f%%" % (redraw, label, '='*int(percent/5.0), percent))
-        sys.stdout.flush()
-
-    # send the CHIP_ERASE command and wait for the bootloader to become ready
-    def __erase(self, label):
-        print(f"Windowed mode: {self.ackWindowedMode}")
-        print("\n", end='')
-
-        if self.force_erase:
-            print("Trying force erase of full chip...\n")
-            self.__send(uploader.CHIP_FULL_ERASE +
-                        uploader.EOC)
-        else:
-            self.__send(uploader.CHIP_ERASE +
-                        uploader.EOC)
-
-        # erase is very slow, give it 30s
-        deadline = _time() + 30.0
-        while _time() < deadline:
-
-            usualEraseDuration = 15.0
-            estimatedTimeRemaining = deadline-_time()
-            if estimatedTimeRemaining >= usualEraseDuration:
-                self.__drawProgressBar(label, 30.0-estimatedTimeRemaining, usualEraseDuration)
-            else:
-                self.__drawProgressBar(label, 10.0, 10.0)
-                sys.stdout.write(" (timeout: %d seconds) " % int(deadline-_time()))
-                sys.stdout.flush()
-
-            if self.__trySync():
-                self.__drawProgressBar(label, 10.0, 10.0)
-                if self.force_erase:
-                    print("\nForce erase done.\n")
-                return
-
-        if self.force_erase:
-            raise RuntimeError("timed out waiting for erase, force erase is likely not supported by bootloader!")
-        else:
-            raise RuntimeError("timed out waiting for erase")
-
-    # send a PROG_MULTI command to write a collection of bytes
-    def __program_multi(self, data, windowMode):
-
-        length = len(data).to_bytes(1, byteorder='big')
-
-        self.__send(uploader.PROG_MULTI)
-        self.__send(length)
-        self.__send(data)
-        self.__send(uploader.EOC)
-        if (not windowMode):
-            self.__getSync(False)
-        else:
-            # The following is done to have minimum delay on the transmission
-            # of the ne fw. The per block cost of __getSync was about 16 mS per.
-            # Passively wait on Sync and Result using board rates and
-            # N.B. attempts to activly wait on InWating still carried 8 mS of overhead
-            self.__probe(False)
-            self.__probe(True)
-            time.sleep((ord(length) * self.chartime) + uploader.MAX_FLASH_PRGRAM_TIME)
-            self.__probe(False)
-
-    # verify multiple bytes in flash
-    def __verify_multi(self, data):
-
-        length = len(data).to_bytes(1, byteorder='big')
-
-        self.__send(uploader.READ_MULTI)
-        self.__send(length)
-        self.__send(uploader.EOC)
-        self.port.flush()
-        programmed = self.__recv(len(data))
-        if programmed != data:
-            print("got    " + binascii.hexlify(programmed))
-            print("expect " + binascii.hexlify(data))
-            return False
-        self.__getSync()
-        return True
-
-    # send the reboot command
-    def __reboot(self):
-        self.__send(uploader.REBOOT +
-                    uploader.EOC)
-        self.port.flush()
-
-        # v3+ can report failure if the first word flash fails
-        if self.bl_rev >= 3:
-            self.__getSync()
-
-    # split a sequence into a list of size-constrained pieces
-    def __split_len(self, seq, length):
-        return [seq[i:i+length] for i in range(0, len(seq), length)]
-
-    # upload code
-    def __program(self, label, fw):
-        self.__probe(False)
-        print("\n", end='')
-        code = fw.image
-        groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
-        # Give imedate feedback
-        self.__drawProgressBar(label, 0, len(groups))
-        uploadProgress = 0
-        for bytes in groups:
-            self.__program_multi(bytes, self.ackWindowedMode)
-            # If in Window mode, extend the window size for the __ackSyncWindow
-            if self.ackWindowedMode:
-                self.window += self.window_per
-
-            # Print upload progress (throttled, so it does not delay upload progress)
-            uploadProgress += 1
-            if uploadProgress % 256 == 0:
-                self.__probe(True)
-                self.__probe(False)
-                self.__probe(True)
-                self.__ackSyncWindow(self.window)
-                self.__probe(False)
-                self.window = 0
-                self.__drawProgressBar(label, uploadProgress, len(groups))
-
-        # Do any remaining fragment
-        self.__ackSyncWindow(self.window)
-        self.window = 0
-        self.__drawProgressBar(label, 100, 100)
-
-    # verify code
-    def __verify_v2(self, label, fw):
-        print("\n", end='')
-        self.__send(uploader.CHIP_VERIFY +
-                    uploader.EOC)
-        self.__getSync()
-        code = fw.image
-        groups = self.__split_len(code, uploader.READ_MULTI_MAX)
-        verifyProgress = 0
-        for bytes in groups:
-            verifyProgress += 1
-            if verifyProgress % 256 == 0:
-                self.__drawProgressBar(label, verifyProgress, len(groups))
-            if (not self.__verify_multi(bytes)):
-                raise RuntimeError("Verification failed")
-        self.__drawProgressBar(label, 100, 100)
-
-    def __verify_v3(self, label, fw):
-        print("\n", end='')
-        self.__drawProgressBar(label, 1, 100)
-        expect_crc = fw.crc(self.fw_maxsize)
-        self.__send(uploader.GET_CRC + uploader.EOC)
-        time.sleep(0.5)
-        report_crc = self.__recv_int()
-        self.__getSync()
-        if report_crc != expect_crc:
-            print("Expected 0x%x" % expect_crc)
-            print("Got      0x%x" % report_crc)
-            raise RuntimeError("Program CRC failed")
-        self.__drawProgressBar(label, 100, 100)
-
-    def __set_boot_delay(self, boot_delay):
-        self.__send(uploader.SET_BOOT_DELAY +
-                    struct.pack("b", boot_delay) +
-                    uploader.EOC)
-        self.__getSync()
-
-    # get basic data about the board
-    def identify(self):
-        self.__determineInterface()
-        # make sure we are in sync before starting
-        self.__sync()
-
-        # get the bootloader protocol ID first
-        self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
-        if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
-            print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
-            raise RuntimeError("Bootloader protocol mismatch")
-
-        self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
-        self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
-        self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
-
-        self.version = self.__getVersion()
-
-    # upload the firmware
-    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False, force_erase=False):
-        self.force_erase = force_erase
-        # select correct binary
-        found_suitable_firmware = False
-        for file in fw_list:
-            fw = firmware(file)
-            if self.board_type == fw.property('board_id'):
-                if len(fw_list) > 1: print("using firmware binary {}".format(file))
-                found_suitable_firmware = True
-                break
-
-        if not found_suitable_firmware:
-            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
-                self.board_type, fw.property('board_id'))
-            print("WARNING: %s" % msg)
-            if force:
-                if len(fw_list) > 1:
-                    raise FirmwareNotSuitableException("force flashing failed, more than one file provided, none suitable")
-                print("FORCED WRITE, FLASHING ANYWAY!")
-            else:
-                raise FirmwareNotSuitableException(msg)
-
-        percent = fw.property('image_size') / fw.property('image_maxsize')
-        binary_size = float(fw.property('image_size'))
-        binary_max_size = float(fw.property('image_maxsize'))
-        percent = (binary_size / binary_max_size) * 100
-
-        print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
-        print()
-
-        print(f"Bootloader version: {self.version}")
-
-        # Make sure we are doing the right thing
-        start = _time()
-        if self.board_type != fw.property('board_id'):
-            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
-                self.board_type, fw.property('board_id'))
-            print("WARNING: %s" % msg)
-            if force:
-                print("FORCED WRITE, FLASHING ANYWAY!")
-            else:
-                raise FirmwareNotSuitableException(msg)
-
-        # Prevent uploads where the image would overflow the flash
-        if self.fw_maxsize < fw.property('image_size'):
-            raise RuntimeError("Firmware image is too large for this board")
-
-        # OTP added in v4:
-        if self.bl_rev >= 4:
-            for byte in range(0, 32*6, 4):
-                x = self.__getOTP(byte)
-                self.otp = self.otp + x
-                # print(binascii.hexlify(x).decode('Latin-1') + ' ', end='')
-            # see src/modules/systemlib/otp.h in px4 code:
-            self.otp_id = self.otp[0:4]
-            self.otp_idtype = self.otp[4:5]
-            self.otp_vid = self.otp[8:4:-1]
-            self.otp_pid = self.otp[12:8:-1]
-            self.otp_coa = self.otp[32:160]
-            # show user:
-            try:
-                print("Sn: ", end='')
-                for byte in range(0, 12, 4):
-                    x = self.__getSN(byte)
-                    x = x[::-1]  # reverse the bytes
-                    self.sn = self.sn + x
-                    print(binascii.hexlify(x).decode('Latin-1'), end='')  # show user
-                print('')
-                print("Chip: %08x" % self.__getCHIP())
-
-                otp_id = self.otp_id.decode('Latin-1')
-                if ("PX4" in otp_id):
-                    print("OTP id: " + otp_id)
-                    print("OTP idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
-                    print("OTP vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
-                    print("OTP pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1'))
-                    print("OTP coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
-
-            except Exception as e:
-                # ignore bad character encodings
-                print(f"Exception ignored: {e}")
-                pass
-
-        # Silicon errata check was added in v5
-        if (self.bl_rev >= 5):
-            des = self.__getCHIPDes()
-            if (len(des) == 2):
-                family, revision = des
-                print(f"Family: {family.decode()}")
-                print(f"Revision: {revision.decode()}")
-                print(f"Flash: {self.fw_maxsize} bytes")
-
-                # Prevent uploads where the maximum image size of the board config is smaller than the flash
-                # of the board. This is a hint the user chose the wrong config and will lack features
-                # for this particular board.
-
-                # This check should also check if the revision is an unaffected revision
-                # and thus can support the full flash, see
-                # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144
-
-                if self.fw_maxsize > fw.property('image_maxsize') and not force:
-                    print(f"WARNING: Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes)")
-        else:
-            # If we're still on bootloader v4 on a Pixhawk, we don't know if we
-            # have the silicon errata and therefore need to flash px4_fmu-v2
-            # with 1MB flash or if it supports px4_fmu-v3 with 2MB flash.
-            if fw.property('board_id') == 9 \
-                    and fw.property('image_size') > 1032192 \
-                    and not force:
-                raise RuntimeError("\nThe Board uses bootloader revision 4 and can therefore not determine\n"
-                                   "if flashing more than 1 MB (px4_fmu-v3_default) is safe, chances are\n"
-                                   "high that it is not safe! If unsure, use px4_fmu-v2_default.\n"
-                                   "\n"
-                                   "If you know you that the board does not have the silicon errata, use\n"
-                                   "this script with --force, or update the bootloader. If you are invoking\n"
-                                   "upload using make, you can use force-upload target to force the upload.\n")
-        self.__erase("Erase  ")
-        self.__program("Program", fw)
-
-        if self.bl_rev == 2:
-            self.__verify_v2("Verify ", fw)
-        else:
-            self.__verify_v3("Verify ", fw)
-
-        if boot_delay is not None:
-            self.__set_boot_delay(boot_delay)
-
-        print("\nRebooting.", end='')
-        self.__reboot()
-        self.port.close()
-        print(" Elapsed Time %3.3f\n" % (_time() - start))
-
-    def __next_baud_flightstack(self):
-        if self.baudrate_flightstack_idx + 1 >= len(self.baudrate_flightstack):
-            return False
-        try:
-            self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx + 1]
-            self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1
-        except serial.SerialException:
-            # Sometimes _configure_port fails
-            time.sleep(0.04)
-
-        return True
-
-    def send_protocol_splitter_format(self, data):
-        # Header Structure:
-        #      bits:   1 2 3 4 5 6 7 8
-        # header[0] - |     Magic     | (='S')
-        # header[1] - |T|   LenH      | (T - 0: mavlink; 1: rtps)
-        # header[2] - |     LenL      |
-        # header[3] - |   Checksum    |
-
-        MAGIC = 83
-
-        len_bytes = len(data).to_bytes(2, "big")
-        LEN_H = len_bytes[0] & 127
-        LEN_L = len_bytes[1] & 255
-        CHECKSUM = MAGIC ^ LEN_H ^ LEN_L
-
-        header_ints = [MAGIC, LEN_H, LEN_L, CHECKSUM]
-        header_bytes = struct.pack("{}B".format(len(header_ints)), *header_ints)
-
-        self.__send(header_bytes)
-        self.__send(data)
-
-    def send_reboot(self, use_protocol_splitter_format=False):
-        if (not self.__next_baud_flightstack()):
-            return False
-
-        print("Attempting reboot on %s with baudrate=%d..." % (self.port.port, self.port.baudrate), file=sys.stderr)
-        if "ttyS" in self.port.port:
-            print("If the board does not respond, check the connection to the Flight Controller")
-        else:
-            print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
-
-        try:
-            send_fct = self.__send
-            if use_protocol_splitter_format:
-                send_fct = self.send_protocol_splitter_format
-
-            # try MAVLINK command first
-            self.port.flush()
-            send_fct(uploader.MAVLINK_REBOOT_ID1)
-            send_fct(uploader.MAVLINK_REBOOT_ID0)
-            # then try reboot via NSH
-            send_fct(uploader.NSH_INIT)
-            send_fct(uploader.NSH_REBOOT_BL)
-            send_fct(uploader.NSH_INIT)
-            send_fct(uploader.NSH_REBOOT)
-            self.port.flush()
-            self.port.baudrate = self.baudrate_bootloader
-        except Exception:
-            try:
-                self.port.flush()
-                self.port.baudrate = self.baudrate_bootloader
-            except Exception:
-                pass
-
-        return True
-
-
-def main():
-    # Parse commandline arguments
-    parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
-    parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
-    parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
-    parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
-    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
-    parser.add_argument('--force-erase', action="store_true", help="Do not perform the blank check, always erase every sector of the application space")
-    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
-    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
-    parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
-    args = parser.parse_args()
-
-    if args.use_protocol_splitter_format:
-        print("Using protocol splitter format to reboot pixhawk!")
-
-    # warn people about ModemManager which interferes badly with Pixhawk
-    if os.path.exists("/usr/sbin/ModemManager"):
-        print("==========================================================================================================")
-        print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
-        print("==========================================================================================================")
-
-    print("Waiting for bootloader...")
-    # tell any GCS that might be connected to the autopilot to give up
-    # control of the serial port
-
-    # send to localhost and default GCS port
-    ipaddr = '127.0.0.1'
-    portnum = 14550
-
-    # COMMAND_LONG in MAVLink 1
-    heartbeatpacket = bytearray.fromhex('fe097001010000000100020c5103033c8a')
-    commandpacket = bytearray.fromhex('fe210101014c00000000000000000000000000000000000000000000803f00000000f6000000008459')
-
-    # initialize an UDP socket
-    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-
-    # send heartbeat to initialize connection and command to free the link
-    s.sendto(heartbeatpacket, (ipaddr, portnum))
-    s.sendto(commandpacket, (ipaddr, portnum))
-
-    # close the socket
-    s.close()
-
-    # Spin waiting for a device to show up
-    try:
-        while True:
-            portlist = []
-            patterns = args.port.split(",")
-            # on unix-like platforms use glob to support wildcard ports. This allows
-            # the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
-            # causing modem hangups etc
-            if "linux" in _platform or "darwin" in _platform or "cygwin" in _platform:
-                import glob
-                for pattern in patterns:
-                    portlist += glob.glob(pattern)
-            else:
-                portlist = patterns
-
-            baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]
-
-            successful = False
-            unsuitable_board = False
-            for port in portlist:
-
-                # print("Trying %s" % port)
-
-                # create an uploader attached to the port
-                try:
-                    if "linux" in _platform:
-                        # Linux, don't open Mac OS and Win ports
-                        if "COM" not in port and "tty.usb" not in port:
-                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                    elif "darwin" in _platform:
-                        # OS X, don't open Windows and Linux ports
-                        if "COM" not in port and "ACM" not in port:
-                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                    elif "cygwin" in _platform:
-                        # Cygwin, don't open native Windows COM and Linux ports
-                        if "COM" not in port and "ACM" not in port:
-                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                    elif "win" in _platform:
-                        # Windows, don't open POSIX ports
-                        if "/" not in port:
-                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                except Exception as e:
-                    # open failed, rate-limit our attempts
-                    time.sleep(0.05)
-                    print(f"Exception ignored: {e}")
-
-                    # and loop to the next port
-                    continue
-
-                found_bootloader = False
-                while True:
-                    up.open()
-
-                    # port is open, try talking to it
-                    try:
-                        # identify the bootloader
-                        up.identify()
-                        found_bootloader = True
-                        print()
-                        print(f"Found board id: {up.board_type},{up.board_rev} bootloader protocol revision {up.bl_rev} on {port}")
-                        break
-
-                    except (RuntimeError, serial.SerialException):
-
-                        if not up.send_reboot(args.use_protocol_splitter_format):
-                            break
-
-                        # wait for the reboot, without we might run into Serial I/O Error 5
-                        time.sleep(0.25)
-
-                        # always close the port
-                        up.close()
-
-                        # wait for the close, without we might run into Serial I/O Error 6
-                        time.sleep(0.3)
-
-                if not found_bootloader:
-                    # Go to the next port
-                    continue
-
-                try:
-                    # ok, we have a bootloader, try flashing it
-                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay, force_erase=args.force_erase)
-
-                    # if we made this far without raising exceptions, the upload was successful
-                    successful = True
-
-                except RuntimeError as e:
-                    # print the error
-                    print(f"\n\nError: {e}")
-
-                except FirmwareNotSuitableException:
-                    unsuitable_board = True
-                    up.close()
-                    continue
-
-                except IOError:
-                    up.close()
-                    continue
-
-                finally:
-                    # always close the port
-                    up.close()
-
-                # we could loop here if we wanted to wait for more boards...
-                if successful:
-                    sys.exit(0)
-                else:
-                    sys.exit(1)
-
-            if unsuitable_board:
-                # If we land here, we went through all ports, did not flash any
-                # board and found at least one unsuitable board.
-                # Exit with 2, so a caller can distinguish from other errors
-                sys.exit(2)
-
-            # Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
-            time.sleep(0.05)
-
-    # CTRL+C aborts the upload/spin-lock by interrupt mechanics
-    except KeyboardInterrupt:
-        print("\n Upload aborted by user.")
-        sys.exit(0)
-
-
-if __name__ == '__main__':
-    main()
-
-# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4
@@ -176,8 +176,10 @@ if [[ $INSTALL_NUTTX == "true" ]]; then

 		echo
 		echo "Fetching Xtensa compilers"
-		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
-		sudo tar -xf $DIR/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz -C /opt
+		XTENSA_FILE_NAME=xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
+		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/$XTENSA_FILE_NAME
+		sudo tar -xf $DIR/$XTENSA_FILE_NAME -C /opt
+		rm $DIR/$XTENSA_FILE_NAME
 		echo 'export PATH=$PATH:/opt/xtensa-esp-elf/bin/' >> /home/$USER/.bashrc
 	fi

@@ -31,6 +31,7 @@ CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
 CONFIG_UAVCANNODE_ESC_STATUS=y
 CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
 CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_HARDPOINT_COMMAND=y
 CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
@@ -15,6 +15,8 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
+CONFIG_DRIVERS_VTX=y
+CONFIG_VTX_CRSF_MSP_SUPPORT=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_BMI088_ACCELEROMETER_INT2=y
 CONFIG_COMMON_LIGHT=y
@@ -92,3 +94,4 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_WQ_TTY_STACKSIZE=2500
@@ -160,7 +160,7 @@ CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_MAXARGUMENTS=24
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
@@ -1,4 +1,6 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_UXRCE_DDS_CLIENT=n
+CONFIG_SYSTEMCMDS_SD_BENCH=n
+CONFIG_SYSTEMCMDS_I2CDETECT=n
 CONFIG_MODULES_ZENOH=y
@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""
@@ -0,0 +1,86 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROOT_PATH="/fs/flash"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS1"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
+# CONFIG_EKF2_AUXVEL is not set
+# CONFIG_EKF2_BARO_COMPENSATION is not set
+# CONFIG_EKF2_DRAG_FUSION is not set
+# CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_SIDESLIP is not set
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=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_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_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=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_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=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
@@ -0,0 +1,13 @@
+{
+    "board_id": 1209,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the AirBrainH743 by Gear Up",
+    "image": "",
+    "build_time": 0,
+    "summary": "AirBrainH743",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1966080,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# AirBrainH743 board specific defaults
+#------------------------------------------------------------------------------
+
+# Battery voltage divider and current scale
+param set-default BAT1_V_DIV 15.0
+param set-default BAT1_A_PER_V 101.0
+
+# system_power unavailable
+param set-default CBRK_SUPPLY_CHK 894281
+
+param set-default IMU_GYRO_RATEMAX 2000
+
+# W25N NAND flash with littlefs (128 MB): larger buffer, auto-rotate
+set LOGGER_BUF 32
+param set-default SDLOG_DIRS_MAX 3
@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# AirBrainH743 specific board extras init
+#------------------------------------------------------------------------------
+
+# No extras configured by default
@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# AirBrainH743 specific board sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# Internal SPI bus IMU - ICM42688P (Invensensev3)
+icm42688p -R 2 -b 1 -s start
+
+# Internal I2C bus barometer - DPS310 @ 0x76 (118 decimal)
+dps310 -I -a 118 start
+
+# Internal I2C bus magnetometer - LIS2MDL @ 0x1E (30 decimal)
+# Using iis2mdc driver (functionally equivalent to LIS2MDL)
+iis2mdc -I -R 2 -a 30 start
@@ -0,0 +1,3 @@
+#
+# Board-specific Kconfig for AirBrainH743
+#
@@ -0,0 +1,89 @@
+#
+# 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/gearup/airbrainh743/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=768
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=22114
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_CDCACM=y
+CONFIG_CDCACM_PRODUCTID=0x004b
+CONFIG_CDCACM_PRODUCTSTR="AirBrainH743 BL"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3162
+CONFIG_CDCACM_VENDORSTR="Gear Up"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=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_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=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_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_USART1=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_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=300
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,346 @@
+/************************************************************************************
+ * nuttx-config/include/board.h
+ *
+ *   Copyright (C) 2026 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 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.
+ *
+ ************************************************************************************/
+#ifndef __NUTTX_CONFIG_AIRBRAINH743_INCLUDE_BOARD_H
+#define __NUTTX_CONFIG_AIRBRAINH743_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * 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 AirBrainH743 board provides the following clock sources:
+ *
+ *   X1: 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
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * CPUCLK  = SYSCLK / D1CPRE
+ */
+
+#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(5)
+#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 / 5)
+#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/2 (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 */
+
+/* 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_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
+
+/* FDCAN 1 clock source */
+
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
+/* FLASH wait states */
+
+#define BOARD_FLASH_WAITSTATES 2
+
+/* LED definitions ******************************************************************/
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+#define BOARD_LED3_BIT    (1 << BOARD_LED3)
+
+#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  */
+
+/* Alternate function pin selections ************************************************/
+
+/* USART1 - Debug (PA9 TX, PA10 RX) */
+#define GPIO_USART1_RX   GPIO_USART1_RX_2   /* PA10 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_2   /* PA9  */
+
+/* USART2 - RC input (PD5 TX, PD6 RX) */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6  */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5  */
+
+/* USART3 - DJI/MSP (PD8 TX, PD9 RX) */
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9  */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8  */
+
+/* UART4 - General (PB9 TX, PB8 RX) */
+#define GPIO_UART4_RX    GPIO_UART4_RX_3    /* PB8  */
+#define GPIO_UART4_TX    GPIO_UART4_TX_3    /* PB9  */
+
+/* UART5 - Companion (PB13 TX, PB12 RX) */
+#define GPIO_UART5_RX    GPIO_UART5_RX_1    /* PB12 */
+#define GPIO_UART5_TX    GPIO_UART5_TX_1    /* PB13 */
+
+/* UART7 - ESC telemetry (PE8 TX, PE7 RX) */
+#define GPIO_UART7_RX    GPIO_UART7_RX_3    /* PE7  */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
+
+/* UART8 - GPS (PE1 TX, PE0 RX) */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0  */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1  */
+
+
+/* SPI
+ *
+ * SPI1: IMU (PA5 SCK, PA6 MISO, PA7 MOSI)
+ * SPI2: W25N Flash (PD3 SCK, PB14 MISO, PC3 MOSI)
+ * SPI4: External (PE12 SCK, PE5 MISO, PE6 MOSI)
+ */
+
+#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_3   /* PC3  */
+#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_5    /* PD3  */
+
+#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_1    /* PE12 */
+
+/* I2C
+ *
+ * I2C1: Internal (PB6 SCL, PB7 SDA)
+ * I2C4: External (PD12 SCL, PD13 SDA)
+ */
+
+#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)
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_1       /* PD12 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_1       /* PD13 */
+
+#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
+#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
+
+
+/* USB
+ *
+ *      OTG_FS_DM                           PA11
+ *      OTG_FS_DP                           PA12
+ *      VBUS                                PD0
+ */
+
+
+#endif  /*__NUTTX_CONFIG_AIRBRAINH743_INCLUDE_BOARD_H  */
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 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
+
+/* DMA mapping for SPI1 (IMU) */
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
+
+/* DMA mapping for SPI2 (W25N Flash) */
+#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
+#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */
@@ -0,0 +1,258 @@
+#
+# 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_DISABLE_PTHREAD 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_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_SPI_CALLBACK is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/gearup/airbrainh743/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_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_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0050
+CONFIG_CDCACM_PRODUCTSTR="AirBrainH743"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3162
+CONFIG_CDCACM_VENDORSTR="Gear Up"
+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_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
+CONFIG_FS_LITTLEFS_READ_SIZE_FACTOR=1
+CONFIG_FS_LITTLEFS_CACHE_SIZE_FACTOR=1
+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_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=4
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_W25N=y
+CONFIG_W25N_SPIFREQUENCY=104000000
+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_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+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_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_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+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_DMAMUX1=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C4=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_HSECLOCK=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=4096
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI2_DMA=y
+CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
+CONFIG_STM32H7_SPI4=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM2=y
+CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM5=y
+CONFIG_STM32H7_TIM8=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART5=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=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_UART5_BAUD=57600
+CONFIG_UART5_RXBUFSIZE=600
+CONFIG_UART5_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_SERIAL_CONSOLE=y
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_WATCHDOG=y
@@ -0,0 +1,213 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743II, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
+ * drepresed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743ZI also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ */
+
+MEMORY
+{
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08000000, LENGTH = 2048K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,228 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743II, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * There's a switch on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
+ * drepresed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743ZI also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ */
+
+MEMORY
+{
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > FLASH
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > FLASH
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > FLASH
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > FLASH
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > AXI_SRAM
+
+	/* Emit the the D3 power domain section for locating BDMA data */
+
+	.sram4_reserve (NOLOAD) :
+	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
+	} > SRAM4
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,67 @@
+############################################################################
+#
+#   Copyright (c) 2026 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.
+#
+############################################################################
+if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
+	add_library(drivers_board
+		bootloader_main.c
+		usb.c
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			bootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
+
+else()
+	add_library(drivers_board
+		i2c.cpp
+		init.c
+		led.c
+		spi.cpp
+		timer_config.cpp
+		usb.c
+	)
+	add_dependencies(drivers_board arch_board_hw_info)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_io_pins
+			arch_spi
+			arch_board_hw_info
+			drivers__led
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+	)
+endif()
@@ -0,0 +1,223 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * AirBrainH743 (Gear Up) internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+#include <stm32_gpio.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+/* Enable small flash logging support (for W25N NAND flash) */
+#ifdef CONFIG_MTD_W25N
+#  define BOARD_SMALL_FLASH_LOGGING 1
+#endif
+
+/* LEDs are active low
+ * STAT RGB LED:
+ *   PB15 = Blue
+ *   PD11 = Green
+ *   PD15 = Red
+ * BAT LED (orange): hardwired to power input
+ */
+#define GPIO_nLED_BLUE       /* PB15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
+#define GPIO_nLED_GREEN      /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
+#define GPIO_nLED_RED        /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN15)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS   1
+#define BOARD_OVERLOAD_LED              LED_RED
+#define BOARD_ARMED_STATE_LED           LED_GREEN
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that
+ * can be used by the Px4 Firmware in the adc driver
+ */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+#define ADC1_CH(n)                  (n)
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
+#define PX4_ADC_GPIO  \
+	/* PC4 */  GPIO_ADC12_INP4, \
+	/* PC5 */  GPIO_ADC12_INP8
+
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+#define ADC_BATTERY_VOLTAGE_CHANNEL     /* PC4 */  ADC1_CH(4)
+#define ADC_BATTERY_CURRENT_CHANNEL     /* PC5 */  ADC1_CH(8)
+
+#define ADC_CHANNELS \
+	((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
+	 (1 << ADC_BATTERY_CURRENT_CHANNEL))
+
+
+/* Define Battery Voltage Divider and A per V
+ */
+#define BOARD_BATTERY1_V_DIV         (15.0f)
+#define BOARD_BATTERY1_A_PER_V       (101.0f)
+
+
+/* PWM
+ * 8 PWM outputs for motors + 1 for LED strip
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS   9
+#define DIRECT_INPUT_TIMER_CHANNELS  9
+
+#define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
+
+
+/* Tone alarm output (directly connected to transistor switch of external buzzer)
+ *
+ * GPIO mode only (active buzzer) - passive buzzer with different tones is not
+ * supported because PA15 can only use TIM2, which is also used for motor outputs
+ * M7 (PB10, TIM2_CH3) and M8 (PB11, TIM2_CH4). The PWM tone alarm driver changes
+ * the timer's prescaler and auto-reload registers (shared across all channels),
+ * which would affect M7/M8 PWM frequency during tone playback.
+ */
+#define GPIO_TONE_ALARM_IDLE    /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
+#define GPIO_TONE_ALARM_GPIO    /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
+
+
+/* ICM42688P FSYNC - directly connected to IMU via GPIO (no timer).
+ * The driver clears TMST_FSYNC_EN and FIFO_TMST_FSYNC_EN, so FSYNC is unused.
+ * This GPIO is kept low to prevent spurious triggers.
+ */
+#define GPIO_42688P_FSYNC       /* PC7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN7)
+
+
+/* USB OTG FS
+ *
+ * PD0 VBUS sensing (active high input)
+ */
+#define GPIO_OTGFS_VBUS         /* PD0 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTD|GPIO_PIN0)
+
+
+/* High-resolution timer */
+#define HRT_TIMER               8  /* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
+
+
+/*
+ * Serial Port Mapping:
+ *
+ *   UART    Device    Pins          Function
+ *   ----    ------    ----          --------
+ *   USART1  /dev/ttyS0  PA9/PA10    Console/Debug
+ *   USART2  /dev/ttyS1  PD5/PD6     RC Input
+ *   USART3  /dev/ttyS2  PD8/PD9     TEL4 (DJI/MSP)
+ *   UART4   /dev/ttyS3  PA0/PA1     TEL1
+ *   UART5   /dev/ttyS4  PB13/PB12   TEL2
+ *   UART7   /dev/ttyS5  PE8/PE7     TEL3 (ESC Telemetry)
+ *   UART8   /dev/ttyS6  PE1/PE0     GPS1
+ */
+
+/* RC Serial port - USART2 (PD5/PD6) */
+#define RC_SERIAL_PORT          "/dev/ttyS1"
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
+
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+#define BOARD_HAS_ON_RESET 1
+
+
+#define PX4_GPIO_INIT_LIST { \
+		PX4_ADC_GPIO, \
+		GPIO_nLED_RED, \
+		GPIO_nLED_GREEN, \
+		GPIO_nLED_BLUE, \
+		GPIO_TONE_ALARM_IDLE, \
+		GPIO_42688P_FSYNC, \
+	}
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+#define BOARD_NUM_IO_TIMERS 4
+
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the board.
+ *
+ ****************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+/* Parameters stored in internal flash */
+#define FLASH_BASED_PARAMS
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file bootloader_main.c
+ *
+ * AirBrainH743-specific early startup code for bootloader
+ */
+
+#include "board_config.h"
+#include "bl.h"
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+#include <px4_platform_common/init.h>
+
+extern int sercon_main(int c, char **argv);
+
+__EXPORT void board_on_reset(int status) {}
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* configure USB interfaces */
+	stm32_usbinitialize();
+}
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	return 0;
+}
+
+void board_late_initialize(void)
+{
+	sercon_main(0, NULL);
+}
+
+extern void sys_tick_handler(void);
+void board_timerhook(void)
+{
+	sys_tick_handler();
+}
@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 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 APP_LOAD_ADDRESS               0x08020000
+#define BOOTLOADER_DELAY               5000
+#define INTERFACE_USB                  1
+#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
+#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
+
+#define INTERFACE_USART                1
+#define INTERFACE_USART_CONFIG         "/dev/ttyS0,57600"
+#define BOOT_DELAY_ADDRESS             0x000001a0
+#define BOARD_TYPE                     1209
+#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
+#define BOARD_FLASH_SECTORS            (14)
+#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
+
+#define OSC_FREQ                       8
+
+#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_GREEN
+#define BOARD_LED_ON                   0
+#define BOARD_LED_OFF                  1
+
+#define SERIAL_BREAK_DETECT_DISABLED   1
+
+#if !defined(ARCH_SN_MAX_LENGTH)
+# define ARCH_SN_MAX_LENGTH 12
+#endif
+
+/* Reserve 128KB (1 sector) at end of flash for parameters */
+#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
+
+#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
+#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
+#endif
+
+#if !defined(USB_DATA_ALIGN)
+# define USB_DATA_ALIGN
+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#ifndef BOOT_DEVICES_FILTER_ONUSB
+#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+/* Boot device selection list*/
+#define USB0_DEV       0x01
+#define SERIAL0_DEV    0x02
+#define SERIAL1_DEV    0x04
@@ -0,0 +1,47 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+/*
+ * I2C bus configuration for AirBrainH743
+ *
+ * I2C1: Internal bus - PB6 (SCL), PB7 (SDA)
+ *       Devices: DPS310 baro @ 0x76, LIS2MDL compass @ 0x1E
+ * I2C4: External bus - PD12 (SCL), PD13 (SDA)
+ */
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+	initI2CBusExternal(4),
+};
@@ -0,0 +1,249 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * AirBrainH743-specific early startup code.
+ */
+
+#include "board_config.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/mtd/mtd.h>
+#include <nuttx/fs/fs.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <systemlib/px4_macros.h>
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_dma_alloc.h>
+
+#if defined(FLASH_BASED_PARAMS)
+#include <parameters/flashparams/flashfs.h>
+#endif
+
+#ifdef CONFIG_MTD_W25N
+extern FAR struct mtd_dev_s *w25n_initialize(FAR struct spi_dev_s *dev, uint32_t spi_devid);
+#endif
+
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	UNUSED(ms);
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+	}
+
+	if (status >= 0) {
+		up_mdelay(100);
+	}
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.
+ *
+ ************************************************************************************/
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* Reset PWM first thing */
+	board_on_reset(-1);
+
+	/* configure LEDs */
+	board_autoled_initialize();
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	/* configure USB interfaces */
+	stm32_usbinitialize();
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.
+ *
+ ****************************************************************************/
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	/* Need hrt running before using the ADC */
+	px4_platform_init();
+
+	/* configure SPI interfaces */
+	stm32_spiinitialize();
+
+	/* configure the DMA allocator */
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_off(LED_GREEN);
+	led_off(LED_BLUE);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+#ifdef CONFIG_MTD_W25N
+	/* Initialize W25N01GV NAND Flash on SPI2 */
+	struct spi_dev_s *spi2 = stm32_spibus_initialize(2);
+
+	if (!spi2) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI2 for W25N\n");
+		led_on(LED_RED);
+
+	} else {
+		struct mtd_dev_s *mtd = w25n_initialize(spi2, 0);
+
+		if (!mtd) {
+			syslog(LOG_ERR, "[boot] FAILED to initialize W25N MTD driver\n");
+			led_on(LED_RED);
+
+		} else {
+			int ret = register_mtddriver("/dev/mtd0", mtd, 0755, NULL);
+
+			if (ret < 0) {
+				syslog(LOG_ERR, "[boot] FAILED to register MTD driver: %d\n", ret);
+				led_on(LED_RED);
+
+			} else {
+				syslog(LOG_INFO, "[boot] W25N MTD registered at /dev/mtd0\n");
+
+#ifdef CONFIG_FS_LITTLEFS
+				ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, NULL);
+
+				if (ret == 0) {
+					/* Verify the filesystem is usable by creating a test file */
+					int fd = open(CONFIG_BOARD_ROOT_PATH "/.mount_test", O_CREAT | O_WRONLY | O_TRUNC);
+
+					if (fd >= 0) {
+						close(fd);
+						unlink(CONFIG_BOARD_ROOT_PATH "/.mount_test");
+
+					} else {
+						syslog(LOG_WARNING, "[boot] littlefs mounted but not usable, reformatting\n");
+						nx_umount2(CONFIG_BOARD_ROOT_PATH, 0);
+						ret = -1;
+					}
+				}
+
+				if (ret < 0) {
+					ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, "forceformat");
+				}
+
+				if (ret < 0) {
+					syslog(LOG_ERR, "[boot] FAILED to mount littlefs: %d\n", ret);
+					led_on(LED_RED);
+
+				} else {
+					syslog(LOG_INFO, "[boot] LittleFS mounted at %s\n", CONFIG_BOARD_ROOT_PATH);
+				}
+
+#endif
+			}
+		}
+	}
+
+#endif
+
+#if defined(FLASH_BASED_PARAMS)
+	/* Initialize parameters in internal flash (sector 15, 128KB at 0x081E0000) */
+	static sector_descriptor_t params_sector_map[] = {
+		{15, 128 * 1024, 0x081E0000},
+		{0, 0, 0},
+	};
+
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		led_on(LED_RED);
+	}
+
+#endif
+
+	/* Configure the HW based on the manifest */
+	px4_platform_configure();
+
+	return OK;
+}
@@ -0,0 +1,205 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 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.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+#ifdef CONFIG_ARCH_LEDS
+static bool nuttx_owns_leds = true;
+static const uint8_t xlatpx4[] = {1, 2, 4, 0};
+#  define xlat(p) xlatpx4[(p)]
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
+	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
+	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
+};
+
+#else
+
+#  define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_RED,     // LED_RED
+	GPIO_nLED_GREEN,   // LED_GREEN
+	GPIO_nLED_BLUE,    // LED_BLUE
+};
+
+#endif
+
+__EXPORT void led_init(void)
+{
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		if (g_ledmap[l] != 0) {
+			stm32_configgpio(g_ledmap[l]);
+		}
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive Low to switch on (active low LEDs) */
+	if (led < (int)(sizeof(g_ledmap) / sizeof(g_ledmap[0])) && g_ledmap[led] != 0) {
+		stm32_gpiowrite(g_ledmap[led], !state);
+	}
+}
+
+static bool phy_get_led(int led)
+{
+	/* If Low it is on */
+	if (led < (int)(sizeof(g_ledmap) / sizeof(g_ledmap[0])) && g_ledmap[led] != 0) {
+		return !stm32_gpioread(g_ledmap[led]);
+	}
+
+	return false;
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(xlat(led), true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(xlat(led), false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}
+
+#ifdef CONFIG_ARCH_LEDS
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	led_init();
+}
+
+void board_autoled_on(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_HEAPALLOCATE:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_IRQSENABLED:
+		phy_set_led(BOARD_LED_BLUE, false);
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_STACKCREATED:
+		phy_set_led(BOARD_LED_GREEN, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+
+	case LED_IDLE:
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+	}
+}
+
+void board_autoled_off(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, false);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, false);
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+
+	case LED_IDLE:
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */
@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+/*
+ * SPI bus configuration for AirBrainH743
+ *
+ * SPI1: IMU (Invensensev3/ICM42688P) - PA5 SCK, PA6 MISO, PA7 MOSI, PA3 CS
+ * SPI2: W25N Flash - PD3 SCK, PB14 MISO, PC3 MOSI, PD4 CS
+ * SPI4: External/AUX - PE12 SCK, PE5 MISO, PE6 MOSI
+ */
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin3}),
+	}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4}),  // W25N Flash
+	}),
+	initSPIBusExternal(SPI::Bus::SPI4, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin3}), // User 1 GPIO as chip select
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+/*
+ * PWM output configuration for AirBrainH743
+ *
+ * M1: PE14 (TIM1_CH4)
+ * M2: PE13 (TIM1_CH3)
+ * M3: PE11 (TIM1_CH2)
+ * M4: PE9  (TIM1_CH1)
+ * M5: PB0  (TIM3_CH3)
+ * M6: PB1  (TIM3_CH4)
+ * M7: PB10 (TIM2_CH3)
+ * M8: PB11 (TIM2_CH4)
+ * M9: PA2  (TIM5_CH3) - LED strip
+ *
+ * Note: TIM2 is shared with buzzer pin PA15 (TIM2_CH1). The buzzer is disabled
+ * by default because the tone alarm driver would change the timer prescaler/ARR
+ * which affects M7/M8 PWM frequency. See board_config.h for details.
+ */
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer1, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream6, DMA::Channel3}),
+	initIOTimer(Timer::Timer5),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),  // M1
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),  // M2
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),  // M3
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),   // M4
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),   // M5
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),   // M6
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),  // M7
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),  // M8
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),   // M9 (LED)
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+#include "board_config.h"
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+#include <stm32_otg.h>
+#include <debug.h>
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO */
+#ifdef CONFIG_STM32H7_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *
+ ************************************************************************************/
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
@@ -16,36 +16,36 @@
 # CONFIG_NSH_DISABLE_CAT is not set
 # CONFIG_NSH_DISABLE_CD is not set
 # CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
-# CONFIG_NSH_DISABLE_DF is not set
+CONFIG_NSH_DISABLE_DATE=y
+CONFIG_NSH_DISABLE_DF=y
 # CONFIG_NSH_DISABLE_ECHO is not set
 # CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_GET is not set
+CONFIG_NSH_DISABLE_EXPORT=y
+CONFIG_NSH_DISABLE_FREE=y
+CONFIG_NSH_DISABLE_GET=y
 # CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
+CONFIG_NSH_DISABLE_MKDIR=y
 # CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_MOUNT is not set
 # CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
+CONFIG_NSH_DISABLE_PRINTF=y
+CONFIG_NSH_DISABLE_PS=y
+CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
+CONFIG_NSH_DISABLE_PWD=y
 # CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
+CONFIG_NSH_DISABLE_RMDIR=y
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_SET is not set
 # CONFIG_NSH_DISABLE_SLEEP is not set
 # CONFIG_NSH_DISABLE_SOURCE is not set
 # CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_TIME is not set
+CONFIG_NSH_DISABLE_TIME=y
 # CONFIG_NSH_DISABLE_UMOUNT is not set
 # CONFIG_NSH_DISABLE_UNSET is not set
 # CONFIG_NSH_DISABLE_USLEEP is not set
@@ -1,5 +1,6 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROOT_PATH="/fs/flash"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
@@ -38,5 +38,6 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0

-# Disable logging
-param set-default SDLOG_BACKEND 0
+# W25N NAND flash with littlefs (128 MB): larger buffer, auto-rotate
+set LOGGER_BUF 32
+param set-default SDLOG_DIRS_MAX 3
@@ -99,7 +99,7 @@
 *   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
+ *   PLL1Q = PLL1_VCO/5  = 960 MHz / 5   = 192 MHz (SPI123 clock, max 200 MHz)
 *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
 */

@@ -111,12 +111,12 @@
 #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_PLL1Q       RCC_PLL1DIVR_Q1(5)
 #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_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 5)
 #define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)

 /* PLL2 */
@@ -227,9 +227,9 @@

 #define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI

-/* SPI123 clock source */
+/* SPI123 clock source - PLL1Q = 192 MHz for W25N NAND flash (max 104 MHz) */

-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL1

 /* SPI45 clock source */

@@ -281,17 +281,17 @@

 #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
+/* 25 MHz Max for now, 25 mHz = PLL1Q/(2*div), div = PLL1Q/(2*freq)
+ * PLL1Q = 192 MHz, div = 192 / 50 = 3.84, round up to 4 for 24 MHz
 */

 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (4 << 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)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (4 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
@@ -33,6 +33,10 @@

 #pragma once

+/* SPI1 DMA for W25N NAND Flash */
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1 */
+
 #define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1 /* DMA2 */
 #define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1 /* DMA2 */

@@ -104,6 +104,10 @@ CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
+CONFIG_FS_LITTLEFS_READ_SIZE_FACTOR=1
+CONFIG_FS_LITTLEFS_CACHE_SIZE_FACTOR=1
 CONFIG_GRAN=y
 CONFIG_GRAN_INTR=y
 CONFIG_HAVE_CXX=y
@@ -126,7 +130,9 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
+# CONFIG_MTD_RAMTRON is not set
+CONFIG_MTD_W25N=y
+CONFIG_W25N_SPIFREQUENCY=104000000
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARGCAT=y
@@ -135,7 +141,7 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_MMCSDSPIPORTNO=1
+# CONFIG_NSH_MMCSDSPIPORTNO is not set
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
@@ -148,9 +154,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
-CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -188,6 +191,7 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_DMAMUX1=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
@@ -202,6 +206,8 @@ CONFIG_STM32H7_SDMMC1=y
 CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=4096
 CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y
@@ -59,6 +59,11 @@
 #  define BOARD_HAS_NBAT_V              1
 #  define BOARD_HAS_NBAT_I              1

+/* Enable small flash logging support (for W25N NAND flash) */
+#ifdef CONFIG_MTD_W25N
+#  define BOARD_SMALL_FLASH_LOGGING 1
+#endif
+
 /* Holybro KakuteH7 GPIOs ************************************************************************/

 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
@@ -59,6 +59,8 @@
 #include <nuttx/spi/spi.h>
 #include <nuttx/analog/adc.h>
 #include <nuttx/mm/gran.h>
+#include <nuttx/mtd/mtd.h>
+#include <nuttx/fs/fs.h>
 #include <chip.h>
 #include <stm32_uart.h>
 #include <arch/board/board.h>
@@ -79,6 +81,10 @@
 #  include <parameters/flashparams/flashfs.h>
 #endif

+#ifdef CONFIG_MTD_W25N
+extern FAR struct mtd_dev_s *w25n_initialize(FAR struct spi_dev_s *dev, uint32_t spi_devid);
+#endif
+

 /****************************************************************************
 * Pre-Processor Definitions
@@ -231,14 +237,49 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		led_on(LED_RED);
 	}

-	/* Get the SPI port for the microSD slot */
-	struct spi_dev_s *spi_dev = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
+#ifdef CONFIG_MTD_W25N
+	/* Initialize W25N01GV NAND Flash on SPI1 */
+	struct spi_dev_s *spi1 = stm32_spibus_initialize(1);

-	if (!spi_dev) {
-		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
-		led_on(LED_BLUE);
+	if (!spi1) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI1 for W25N\n");
+		led_on(LED_RED);
+
+	} else {
+		struct mtd_dev_s *mtd = w25n_initialize(spi1, 0);
+
+		if (!mtd) {
+			syslog(LOG_ERR, "[boot] FAILED to initialize W25N MTD driver\n");
+			led_on(LED_RED);
+
+		} else {
+			int ret = register_mtddriver("/dev/mtd0", mtd, 0755, NULL);
+
+			if (ret < 0) {
+				syslog(LOG_ERR, "[boot] FAILED to register MTD driver: %d\n", ret);
+				led_on(LED_RED);
+
+			} else {
+				syslog(LOG_INFO, "[boot] W25N MTD registered at /dev/mtd0\n");
+
+#ifdef CONFIG_FS_LITTLEFS
+				ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, "autoformat");
+
+				if (ret < 0) {
+					syslog(LOG_ERR, "[boot] FAILED to mount littlefs: %d\n", ret);
+					led_on(LED_RED);
+
+				} else {
+					syslog(LOG_INFO, "[boot] LittleFS mounted at %s\n", CONFIG_BOARD_ROOT_PATH);
+				}
+
+#endif
+			}
+		}
 	}

+#endif
+
 	up_udelay(20);


@@ -37,7 +37,7 @@

 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortA, GPIO::Pin4})
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortA, GPIO::Pin4})  // W25N01GV NAND Flash
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
@@ -92,7 +92,7 @@ static bool phy_get_led(int led)
 {

 	if (g_ledmap[led] != 0) {
-		return imxrt_gpio_read(!g_ledmap[led]);
+		return !imxrt_gpio_read(g_ledmap[led]);
 	}

 	return false;
@@ -8,12 +8,12 @@ board_adc start
 # IMU
 if ! icm42688p -s -b 1 -R 4 start
 then
-	bmi270 -s -b 1 -R 4 start
+	bmi270 -s -b 1 -R 2 start
 fi

 if ! icm42688p -s -b 4 -R 4 start
 then
-	bmi270 -s -b 4 -R 4 start
+	bmi270 -s -b 4 -R 2 start
 fi

 # baro
@@ -23,4 +23,4 @@ then
 fi

 # internal mag
-qmc5883p -I -R 2 start
+qmc5883p -I -R 4 start
@@ -160,3 +160,44 @@
 .vp-doc img {
  display: inline; /* block by default set by vitepress */
 }
+
+
+/**
+ * Custom styles for wide pages
+ * -------------------------------------------------------------------------- */
+
+.is-wide-page .content-container {
+  max-width: 100% !important;
+}
+@media (min-width: 1280px) {
+  .is-wide-page .content {
+    min-width: 940px !important;
+  }
+}
+
+/* Make page width larger  */
+@media (min-width: 1440px) {
+  .is-wide-page .VPSidebar {
+    padding-left: 32px !important;
+    width: var(--vp-sidebar-width) !important;
+  }
+  .is-wide-page .VPContent.has-sidebar {
+    padding-left: var(--vp-sidebar-width) !important;
+    padding-right: 0 !important;
+  }
+
+  .is-wide-page .VPNavBar.has-sidebar .title {
+    padding-left: 32px !important;
+  }
+
+  .is-wide-page .VPNavBar.has-sidebar .content {
+    padding-left: var(--vp-sidebar-width) !important;
+    padding-right: 32px !important;
+  }
+
+  /* Very hacky */
+  .is-wide-page .VPNavBar.has-sidebar #local-search {
+    z-index: 10;
+  }
+
+}
@@ -93,6 +93,7 @@
    - [Back-transition Tuning](config_vtol/vtol_back_transition_tuning.md)
    - [VTOL w/o Airspeed Sensor](config_vtol/vtol_without_airspeed_sensor.md)
    - [VTOL Weather Vane](config_vtol/vtol_weathervane.md)
+    - [VTOL Ice Shedding](config_vtol/vtol_ice_shedding.md)
  - [Flight Modes](flight_modes_vtol/index.md)
    - [Mission Mode (VTOL)](flight_modes_vtol/mission.md)
    - [Return Mode (VTOL)](flight_modes_vtol/return.md)
@@ -177,6 +178,7 @@
      - [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md)
      - [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md)
        - [Cube Wiring Quickstart](assembly/quick_start_cube.md)
+      - [Gear Up AirBrainH743](flight_controller/gearup_airbrainh743.md)
      - [Holybro Kakute H7v2](flight_controller/kakuteh7v2.md)
      - [Holybro Kakute H7mini](flight_controller/kakuteh7mini.md)
      - [Holybro Kakute H7](flight_controller/kakuteh7.md)
@@ -350,6 +352,7 @@
    - [FrSky Telemetry](peripherals/frsky_telemetry.md)
    - [TBS Crossfire (CRSF) Telemetry](telemetry/crsf_telemetry.md)
    - [Satellite Comms (Iridium/RockBlock)](advanced_features/satcom_roadblock.md)
+    - [Analog Video Transmitters](vtx/index.md)

  - [Power Systems](power_systems/index.md)
    - [Battery Estimation Tuning](config/battery.md)
@@ -106,7 +106,7 @@ The settings and underlying parameters are shown below.

 | Setting                                                              | Parameter                                                                      | Description                                                                                                                     |
 | -------------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None, `1`: Warning, `3`: Return mode (default). |
+| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None (default), `1`: Warning, `3`: Return mode. |
 | <a id="COM_FLT_TIME_MAX"></a> Maximum flight time failsafe level     | [COM_FLT_TIME_MAX](../advanced_config/parameter_reference.md#COM_FLT_TIME_MAX) | Maximum allowed flight time before Return mode will be engaged, in seconds. `-1`: Disabled (default).                           |

 ## Manual Control Loss Failsafe
@@ -283,7 +283,7 @@ Acting on a detected failure during flight is deactivated by default (enable by
 During **takeoff** the failure detector [attitude trigger](#attitude-trigger) invokes the [disarm action](#act_disarm) if the vehicle flips (disarm kills the motors but, unlike flight termination, will not launch a parachute or perform other failure actions).
 Note that this check is _always enabled on takeoff_, irrespective of the `CBRK_FLIGHTTERM` parameter.

-The failure detector is active in all vehicle types and modes, except for those where the vehicle is _expected_ to do flips (i.e. [Acro mode (MC)](../flight_modes_mc/altitude.md), [Acro mode (FW)](../flight_modes_fw/altitude.md), and [Manual (FW)](../flight_modes_fw/manual.md)).
+The failure detector is active in all vehicle types and modes, except for those where the vehicle is _expected_ to do flips (i.e. [Acro mode (MC)](../flight_modes_mc/acro.md), [Acro mode (FW)](../flight_modes_fw/acro.md), and [Manual (FW)](../flight_modes_fw/manual.md)).

 ### Attitude Trigger

@@ -9,3 +9,4 @@ Then perform VTOL-specific configuration and tuning:
 - [Back-transition Tuning](../config_vtol/vtol_back_transition_tuning.md)
 - [VTOL w/o Airspeed Sensor](../config_vtol/vtol_without_airspeed_sensor.md)
 - [VTOL Weather Vane](../config_vtol/vtol_weathervane.md)
+- [Ice Shedding](../config_vtol/vtol_ice_shedding.md)
@@ -0,0 +1,20 @@
+# VTOL Ice Shedding feature
+
+## Overview
+
+Ice shedding is a feature that periodically spins unused motors in fixed-wing
+flight, to break off any ice that is starting to build up in the motors while it
+is still feasible to do so.
+
+It is configured by the paramter `CA_ICE_PERIOD`. When it is 0, the feature is
+disabled, when it is above 0, it sets the duration of the ice shedding cycle in
+seconds. In each cycle, the rotors are spun for two seconds at a motor output of
+0.01.
+
+:::warning
+When enabling the feature on a new airframe, there is the risk of producing
+torques that disturb the fixed-wing rate controller. To mitigate this risk:
+ - Set your `PWM_MIN` values correctly, so that the motor output 0.01 actually
+   produces 1% thrust
+ - Be prepared to take control and switch back to multicopter
+:::
@@ -34,7 +34,7 @@ If you update an existing file you are not required to make the whole file compl

 ### Line Length

- Maximum line length is 120 characters.
+- Maximum line length is 140 characters.

 ### File Extensions

@@ -25,6 +25,7 @@ The boards in this category are:
 - [CubePilot Cube Orange+](../flight_controller/cubepilot_cube_orangeplus.md)
 - [CubePilot Cube Orange](../flight_controller/cubepilot_cube_orange.md)
 - [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
+- [Gear Up AirBrainH743](../flight_controller/gearup_airbrainh743.md)
 - [Holybro Kakute H7v2](../flight_controller/kakuteh7v2.md)
 - [Holybro Kakute H7mini](../flight_controller/kakuteh7mini.md)
 - [Holybro Kakute H7](../flight_controller/kakuteh7.md)
@@ -0,0 +1,96 @@
+# Gear Up AirBrainH743
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://takeyourgear.com/) for hardware support.
+:::
+
+::: info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+Purchase from [takeyourgear.com](https://takeyourgear.com/pages/products/airbrain).
+
+For more information and pinout, check the [GitHub documentation](https://github.com/GearUp-Company/AirBrainH743).
+
+## Key Features
+
+- MCU: STM32H743 32-bit processor running at 480 MHz
+- IMU: ICM42688P
+- Barometer: DPS310
+- Magnetometer: LIS2MDL (internal)
+- 128MB NAND Flash for logging (W25N)
+- 7x UARTs
+- I2C, SPI
+- 9x PWM Outputs (8 Motor outputs, 1 LED strip)
+- Battery input voltage: 3S-10S
+- Battery voltage/current monitoring
+- 5V@2A and 10V@2.5A BEC outputs
+- USB Type-C (IP68)
+- EMC and ESD protection
+
+## Connectors and Pins
+
+:::warning
+The pin order is different from the Pixhawk standard (compatible to the Betaflight standard).
+:::
+
+### UARTs
+
+Current UART configuration:
+
+| UART   | Device     | Function                     |
+| ------ | ---------- | ---------------------------- |
+| USART1 | /dev/ttyS0 | Console/Debug                |
+| USART2 | /dev/ttyS1 | RC Input                     |
+| USART3 | /dev/ttyS2 | TEL4 (DJI/MSP)               |
+| UART4  | /dev/ttyS3 | TEL1                         |
+| UART5  | /dev/ttyS4 | TEL2                         |
+| UART7  | /dev/ttyS5 | TEL3 (ESC Telemetry)         |
+| UART8  | /dev/ttyS6 | GPS1                         |
+
+### Motor/Servo Outputs
+
+| Connector | Pin | Function     |
+| ----------| ------------------ |
+| ESC       | M1  | Motor 1      |
+| ESC       | M2  | Motor 2      |
+| ESC       | M3  | Motor 3      |
+| ESC       | M4  | Motor 4      |
+| PWM       | M5  | Motor 5      |
+| PWM       | M6  | Motor 6      |
+| PWM       | M7  | Motor 7      |
+| PWM       | M8  | Motor 8      |
+| AUX       | M9  | LED/PWM/etc. |
+
+<a id="bootloader"></a>
+
+## PX4 Bootloader Update
+
+Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
+Download the [gearup_airbrainh743_bootloader.bin](https://github.com/PX4/PX4-Autopilot/blob/main/boards/gearup/airbrainh743/extras/gearup_airbrainh743_bootloader.bin) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
+
+## Building Firmware
+
+To [build PX4](../dev_setup/building_px4.md) for this target:
+
+```
+make gearup_airbrainh743_default
+```
+
+## Installing PX4 Firmware
+
+Firmware can be installed in any of the normal ways:
+
+- Build and upload the source:
+
+  ```
+  make gearup_airbrainh743_default upload
+  ```
+
+- [Load the firmware](../config/firmware.md) using _QGroundControl_.
+  You can use either pre-built firmware or your own custom firmware.
+
+### System Console
+
+UART1 (ttyS0) is configured for use as the [System Console](../debug/system_console.md).
@@ -324,7 +324,7 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
  - [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.
+  - [`UXRCE_DDS_FLCTRL`](../advanced_config/parameter_reference.md#UXRCE_DDS_FLCTRL) <Badge type="tip" text="main (planned for: PX4 v1.18)" />: 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
@@ -88,13 +88,17 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
     ```

     :::tip
+
     The main function must be named `<module_name>_main` and exported from the module as shown.
+
     :::

     :::tip
+
     `PX4_INFO` is the equivalent of `printf` for the PX4 shell (included from **px4_platform_common/log.h**).
     There are different log levels: `PX4_INFO`, `PX4_WARN`, `PX4_ERR`, `PX4_DEBUG`.
     Warnings and errors are additionally added to the [ULog](../dev_log/ulog_file_format.md) and shown on [Flight Review](https://logs.px4.io/).
+
     :::

 1. Create and open a new _cmake_ definition file named **CMakeLists.txt**.
@@ -160,7 +164,7 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
 1. Create and open a new _Kconfig_ definition file named **Kconfig** and define your symbol for naming (see [Kconfig naming convention](../hardware/porting_guide_config.md#px4-kconfig-symbol-naming-convention)).
   Copy in the text below:

-   ```
+   ```text
   menuconfig EXAMPLES_PX4_SIMPLE_APP
   	bool "px4_simple_app"
   	default n
@@ -22,7 +22,11 @@ If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tu
 This document explains how you can include the module in your PX4 build, and provides a broad overview of how it works.
 The other documents in the section provide more information about the integration, allowing you to replace the NN with a version trained on different data, or even to replace the TLFM library altogether.

-If you are looking for more resources to learn about the module, a website has been created with links to a youtube video and a workshop paper. A full master's thesis will be added later. [A Neural Network Mode for PX4 on Embedded Flight Controllers](https://ntnu-arl.github.io/px4-nns/).
+::: tip
+For more information, see the Masters thesis from which this module was created: [Deep Reinforcement Learning for Embedded Control Policies for Aerial Vehicles](https://nva.sikt.no/registration/019b26689144-efeebae8-84d6-4413-ad7f-9aceb4ff7374).
+
+In addition, the (Norwegian) website [A Neural Network Mode for PX4 on Embedded Flight Controllers](https://ntnu-arl.github.io/px4-nns/) has a youtube video and a workshop paper .
+:::

 ## Neural Network PX4 Firmware

@@ -35,7 +35,7 @@ The method we developed for training the RAPTOR policy is called Meta-Imitation

 You can torture test the RAPTOR policy in your browser at [https://raptor.rl.tools](https://raptor.rl.tools) or in the embedded app here:

-<iframe src="https://rl-tools.github.io/raptor.rl.tools?raptor=false" width="100%" height="1000" style="border: none;"></iframe>
+<iframe src="https://raptor.rl.tools?raptor=false" width="100%" height="1000" style="border: none;"></iframe>

 For more information please refer to the paper at [https://arxiv.org/abs/2509.11481](https://arxiv.org/abs/2509.11481).

@@ -11,7 +11,7 @@ PX4 traffic avoidance works with ADS-B or FLARM products that supply transponder
 It has been tested with the following devices:

 - [PingRX ADS-B Receiver](https://uavionix.com/product/pingrx-pro/) (uAvionix)
- [FLARM](https://flarm.com/products/uav/atom-uav-flarm-for-drones/) <!-- I think originally https://flarm.com/products/powerflarm/uav/ -->
+- [FLARM](https://www.flarm.com/en/drones/)

 ## Hardware Setup

@@ -13,7 +13,7 @@ At the time of writing, parts of the PX4 ROS 2 Control Interface are experimenta

 :::

-The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) is a C++ library that simplifies controlling PX4 from ROS 2.
+The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) is a C++ library (with Python bindings) that simplifies controlling PX4 from ROS 2.

 Developers use the library to create and dynamically register modes written using ROS 2.
 These modes are dynamically registered with PX4, and appear to be part of PX4 to a ground station or other external system.
@@ -25,6 +25,12 @@ These classes abstract the internal setpoints used by PX4, and that can therefor
 PX4 ROS 2 modes are easier to implement and maintain than PX4 internal modes, and provide more resources for developers in terms of processing power and pre-existing libraries.
 Unless the mode is safety-critical, requires strict timing or very high update rates, or your vehicle doesn't have a companion computer, you should [consider using PX4 ROS 2 modes in preference to PX4 internal modes](../concept/flight_modes.md#internal-vs-external-modes).

+::: tip
+If you want to use Python, check out the [examples in the repository](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/python).
+Not all classes have Python bindings yet — the [supported bindings are here](https://auterion.github.io/px4-ros2-interface-lib/python/index.html).
+You are welcome to add and contribute missing classes.
+:::
+
 ## Overview

 This diagram provides a conceptual overview of how the control interface modes and mode executors interact with PX4.
@@ -6,7 +6,7 @@
 At the time of writing, parts of the PX4 ROS 2 Interface Library are experimental, and hence subject to change.
 :::

-The [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) is a C++ library that simplifies controlling and interacting with PX4 from ROS 2.
+The [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) is a C++ library (with Python bindings) that simplifies controlling and interacting with PX4 from ROS 2.

 The library provides three high-level interfaces for developers:

@@ -15,6 +15,8 @@ The following models are supported by PX4, and can be connected to either the I2
 | [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100       | I2C bus           | Waterproofed (IP67) with servo for sense-and-avoid applications                            |
 | [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200       | I2C bus           | Waterproofed (IP67)                                                                        |
 | [SF45/B](../sensor/sf45_rotating_lidar.md)              | 50        | Serial            | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
+| [GRF250](https://lightwarelidar.com/shop/grf-250/) | 250 | I2C | Gimbal Range Finder
+| [GRF500](https://lightwarelidar.com/shop/grf-500/) | 500 | I2C | Gimbal Range Finder

 ::: details Discontinued

@@ -0,0 +1,287 @@
+# Analog Video Transmitters
+
+Analog Video Transmitters (VTX) can be controlled by PX4 via a half-duplex UART connection implementing the SmartAudio v1, v2, and v2.1 and Tramp protocols.
+
+The protocols allow writing and reading:
+
+- device status.
+- transmission frequency in MHz or via band and channel index.
+- transmission power in dBm or mW.
+- operation modes.
+
+VTX settings are controlled by parameters and optionally via RC AUX channels or CRSF MSP commands.
+The driver stores frequency and power tables that map band/channel indices to actual transmission values.
+Configuration is device-specific and set up using the command line interface.
+
+## Getting Started
+
+Connect the SmartAudio or Tramp pin of the VTX to the TX pin of a free serial port on the flight controller.
+Then set the following parameters:
+
+- `VTX_SER_CFG`: Select the serial port used for VTX communication.
+- `VTX_DEVICE`: Selects the VTX device (generic SmartAudio/Tramp or a specific device).
+
+Note that since the VTX communication is half-duplex, you can, for example, use the single-pin Radio Controller port for the VTX and use a full duplex TELEM port for CRSF communication.
+
+You should now be able to see the VTX device in the driver status:
+
+```
+nsh> vtx status
+INFO  [vtx] UART device: /dev/ttyS4
+INFO  [vtx] VTX table "UNINITIALIZED":
+INFO  [vtx] Power levels:
+INFO  [vtx] RC mapping: Disabled
+INFO  [vtx] Parameters:
+INFO  [vtx]   band: 1
+INFO  [vtx]   channel: 1
+INFO  [vtx]   frequency: 0 MHz
+INFO  [vtx]   power level: 1
+INFO  [vtx]   power: 0 = 0 mW
+INFO  [vtx]   pit mode: off
+INFO  [vtx] SmartAudio v2:
+INFO  [vtx]   band: 1
+INFO  [vtx]   channel: 1
+INFO  [vtx]   frequency: 6110 MHz
+INFO  [vtx]   power level: 1
+INFO  [vtx]   power: 0 mW
+INFO  [vtx]   pit mode: on
+INFO  [vtx]   lock: unlocked
+```
+
+:::warning
+Without a configured power table, power mappings are unknown and default to 0 mW.
+Some VTX devices enter pit mode when power is set to 0, regardless of the `VTX_PIT_MODE` parameter.
+:::
+
+## VTX Table Configuration
+
+The VTX table stores frequency and power mappings for your specific device.
+
+The manufacturer usually provides this information in the form of a JSON file that can be translated into a [Betaflight CLI command set](https://www.betaflight.com/docs/development/VTX#vtx-table) that this driver implements for compatibility.
+
+### Power Level Configuration
+
+```
+# Set table name ≤16 characters
+vtxtable name "Peak THOR T67"
+
+# Set the power values that are sent to the VTX for each power level index
+# Note: SmartAudio v1 and v2 use index values!
+vtxtable powervalues 0 1 2 3 4
+# Note: SmartAudio v2.1 uses dBm values instead!
+#       vtxtable powervalues 14 23 27 30 35
+# Note: Tramp uses mW values instead!
+#       vtxtable powervalues 25 200 500 1000 3000
+
+# Set the corresponding power labels for each power level index ≤4 characters.
+# These are used for status reporting.
+vtxtable powerlabels 25 200 500 1W 3W
+
+# Set number of power levels
+vtxtable powerlevels 5
+
+# Save configuration
+vtxtable save
+```
+
+This will create a VTX table with 5 power levels.
+
+```nsh> vtxtable status
+INFO  [vtxtable] VTX table "Peak THOR T67":
+INFO  [vtxtable] Power levels:
+INFO  [vtxtable]   1:  0 = 25
+INFO  [vtxtable]   2:  1 = 200
+INFO  [vtxtable]   3:  2 = 500
+INFO  [vtxtable]   4:  3 = 1W
+INFO  [vtxtable]   5:  4 = 3W
+```
+
+### Frequency Table Configuration
+
+```
+# Set the name of each band and the frequencies of each channel
+vtxtable band 1 BAND_A A FACTORY 6110 6130 6150 6170 6190 6210 6230 6250
+vtxtable band 2 BAND_B B FACTORY 6270 6290 6310 6330 6350 6370 6390 6410
+vtxtable band 3 BAND_E E FACTORY 6430 6450 6470 6490 6510 6530 6550 6570
+vtxtable band 4 BAND_F F FACTORY 6590 6610 6630 6650 6670 6690 6710 6730
+vtxtable band 5 BAND_R R FACTORY 6750 6770 6790 6810 6830 6850 6870 6890
+vtxtable band 6 BAND_P P FACTORY 6910 6930 6950 6970 6990 7010 7030 7050
+vtxtable band 7 BAND_H H FACTORY 7070 7090 7110 7130 7150 7170 7190 7210
+vtxtable band 8 BAND_U U FACTORY 6115 6265 6425 6585 6745 6905 7065 7185
+
+# Set number of bands and channels
+vtxtable bands 8
+vtxtable channels 8
+
+# Save configuration
+vtxtable save
+```
+
+This will create a VTX table with 8 bands and 8 channels.
+Note that FACTORY sends the band and channel indexes to the VTX device and they use their internal frequency mapping. In this mode the frequency is just for indication purposes.
+In contrast, CUSTOM would send the actual frequency values to the VTX device, but not all devices support this mode.
+Setting a frequency to zero will skip setting it.
+
+```
+nsh> vtxtable status
+INFO  [vtxtable] VTX table 8x8: Peak THOR T67
+INFO  [vtxtable]  A: BAND_A          = 6110 6130 6150 6170 6190 6210 6230 6250
+INFO  [vtxtable]  B: BAND_B          = 6270 6290 6310 6330 6350 6370 6390 6410
+INFO  [vtxtable]  E: BAND_E          = 6430 6450 6470 6490 6510 6530 6550 6570
+INFO  [vtxtable]  F: BAND_F          = 6590 6610 6630 6650 6670 6690 6710 6730
+INFO  [vtxtable]  R: BAND_R          = 6750 6770 6790 6810 6830 6850 6870 6890
+INFO  [vtxtable]  P: BAND_P          = 6910 6930 6950 6970 6990 7010 7030 7050
+INFO  [vtxtable]  H: BAND_H          = 7070 7090 7110 7130 7150 7170 7190 7210
+INFO  [vtxtable]  U: BAND_U          = 6115 6265 6425 6585 6745 6905 7065 7185
+```
+
+### Table Constraints
+
+Maximum table dimensions:
+
+- ≤24 bands each with ≤16 channels and ≤32GHz frequency values.
+- ≤16 power levels.
+- ≤16 characters table name.
+- ≤12 characters band name and 1 character band letter.
+- ≤4 characters power label length (to support "2.5W").
+
+## AUX Channel Mapping
+
+The AUX mapping feature allows you to control VTX settings using RC AUX channels.
+Each mapping entry defines an AUX channel range that triggers a specific VTX configuration.
+
+To enable AUX mapping, set `VTX_MAP_CONFIG` to one of the following values:
+
+- `0`: Disabled
+- `1`: Disabled (reserved for CRSF MSP integration)
+- `2`: Map AUX channels to power level control only
+- `3`: Map AUX channels to band and channel control only
+- `4`: Map AUX channels to all settings (power, band, and channel)
+
+### Configuring AUX Map Entries
+
+Use the following command format to add mapping entries:
+
+```
+vtxtable <index> <aux_channel> <band> <channel> <power> <start_pwm> <end_pwm>
+```
+
+Parameters:
+
+- `index`: Map entry index (0-159)
+- `aux_channel`: AUX channel number (3-19, where AUX1=3)
+- `band`: Target band (1-24, or 0 to leave unchanged)
+- `channel`: Target channel (1-16, or 0 to leave unchanged)
+- `power`: Power level (1-16, 0 to leave unchanged, or -1 for pit mode)
+- `start_pwm`: Start of PWM range in microseconds (typically 900-2100)
+- `end_pwm`: End of PWM range in microseconds (typically 900-2100)
+
+:::info
+AUX channel numbering starts from 3 (AUX1=channel 3) to account for the first four RC channels 0-3 used for flight control.
+:::
+
+Example configuration for a 6-position dial controlling band/channel on AUX4 (channel 7):
+
+```
+vtx  0 7 7 1 0  900 1025
+vtx  1 7 7 2 0 1025 1100
+vtx  2 7 7 4 0 1100 1175
+vtx  3 7 7 6 0 1175 1225
+vtx  4 7 7 8 0 1225 1300
+vtx  5 7 3 8 0 1300 2100
+```
+
+Example configuration for power control on AUX3 (channel 6):
+
+```
+vtxtable 16 6 0 0 -1  900 1250
+vtxtable 17 6 0 0  1 1250 1525
+vtxtable 18 6 0 0  2 1525 1650
+vtxtable 19 6 0 0  3 1650 1875
+vtxtable 20 6 0 0  4 1875 2010
+```
+
+Save the configuration with:
+
+```
+vtxtable save
+```
+
+The map status can be verified with `vtxtable status`.
+
+## CRSF MSP Integration
+
+When using a CRSF receiver with MSP support, you can control VTX settings directly from your transmitter using MSP commands sent over the CRSF link.
+This feature must be enabled at compile time with the `VTX_CRSF_MSP_SUPPORT` Kconfig option.
+
+To enable CRSF MSP control, set `VTX_MAP_CONFIG` to one of:
+
+- `1`: MSP controls both frequency (band/channel) and power
+- `2`: MSP controls frequency (band/channel) only, AUX controls power
+- `3`: MSP controls power only, AUX controls band/channel
+
+When MSP integration is active, the driver responds to `MSP_SET_VTX_CONFIG` (0x59) commands.
+The transmitter can send band, channel, frequency, power level, and pit mode settings via MSP, which are automatically mapped to the corresponding PX4 parameters.
+
+:::tip
+The MSP integration allows seamless VTX control from transmitters that support VTX configuration via Lua scripts or built-in VTX menus without requiring additional hardware switches.
+:::
+
+## Build Configuration
+
+Both the VTX driver and VTX table support are configured via Kconfig options.
+
+Key configuration options:
+
+- `VTX_CRSF_MSP_SUPPORT`: Enables CRSF MSP command support (default: disabled)
+- `VTXTABLE_CONFIG_FILE`: File path for persistent configuration (default: `/fs/microsd/vtx_config`)
+- `VTXTABLE_AUX_MAP`: Enables AUX channel mapping (default: disabled)
+
+## Parameter Reference
+
+### VTX Settings Parameters
+
+- `VTX_BAND` (0-23): Frequency band selection (Band 1-24 in UI)
+- `VTX_CHANNEL` (0-15): Channel within band (Channel 1-16 in UI)
+- `VTX_FREQUENCY` (0-32000): Direct frequency in MHz (overrides band/channel when non-zero)
+- `VTX_POWER` (0-15): Power level (Level 1-16 in UI, as configured in table)
+- `VTX_PIT_MODE` (boolean): Pit mode for reduced power (default: disabled)
+
+### Configuration Parameters
+
+- `VTX_SER_CFG`: Serial port assignment for VTX communication
+- `VTX_MAP_CONFIG`: Controls how VTX settings are mapped:
+  - Without `VTX_CRSF_MSP_SUPPORT`:
+    - `0`: Disabled
+    - `1`: Disabled
+    - `2`: AUX controls power only
+    - `3`: AUX controls band/channel only
+    - `4`: AUX controls both power and band/channel
+  - With `VTX_CRSF_MSP_SUPPORT`:
+    - `0`: Disabled
+    - `1`: MSP controls both frequency and power
+    - `2`: MSP controls frequency, AUX controls power
+    - `3`: MSP controls power, AUX controls band/channel
+    - `4`: Not used with MSP support
+- `VTX_DEVICE`: Device-specific configuration (see below)
+
+## Device-Specific Configuration
+
+The `VTX_DEVICE` parameter allows device-specific workarounds.
+It encodes both the protocol type and device variant:
+
+- Low byte (bits 0-7): Protocol selection
+  - `0`: SmartAudio (default)
+  - `1`: Tramp
+- High byte (bits 8-15): Device-specific variant
+  - `0`: Generic device
+  - `20`: Peak THOR T67
+  - `40`: Rush Max Solo
+
+### Known Device Workarounds
+
+**Peak THOR T67** (`VTX_DEVICE` = 5120):
+This device incorrectly reports pit mode status but otherwise functions normally.
+The driver applies a workaround to override the reported status with the actual configured state.
+
+For generic devices, use `VTX_DEVICE` = 0 (SmartAudio) or `VTX_DEVICE` = 1 (Tramp).
@@ -128,6 +128,7 @@
    - [LED 신호 정의](getting_started/led_meanings.md)
    - [알람 소리 정의](getting_started/tunes.md)
    - [QGroundControl Flight-Readiness Status](flying/pre_flight_checks.md)
+  - [Asset Tracking](debug/asset_tracking.md)

 - [Hardware Selection & Setup](hardware/drone_parts.md)
  - [비행 컨트롤러 (오토파일럿)](flight_controller/index.md)
@@ -273,6 +274,8 @@
      - [Holybro M8N & M9N GPS](gps_compass/gps_holybro_m8n_m9n.md)
      - [Sky-Drones SmartAP GPS](gps_compass/gps_smartap.md)
    - [RTK GNSS](gps_compass/rtk_gps.md)
+      - [ARK G5 RTK GPS](dronecan/ark_g5_rtk_gps.md)
+      - [ARK G5 RTK HEADING GPS](dronecan/ark_g5_rtk_heading_gps.md)
      - [ARK RTK GPS (CAN)](dronecan/ark_rtk_gps.md)
      - [ARK RTK GPS L1 L5 (CAN)](dronecan/ark_rtk_gps_l1_l2.md)
      - [ARK X20 RTK GPS (CAN)](dronecan/ark_x20_rtk_gps.md)
@@ -840,9 +843,11 @@
    - [Camera Integration/Architecture](camera/camera_architecture.md)
    - [컴퓨터 비전](advanced/computer_vision.md)
      - [Motion Capture (VICON, Optitrack, NOKOV)](tutorials/motion-capture.md)
-    - [Neural Networks](advanced/neural_networks.md)
-      - [Neural Network Module Utilities](advanced/nn_module_utilities.md)
-      - [TensorFlow Lite Micro (TFLM)](advanced/tflm.md)
+    - [Neural Networks](neural_networks/index.md)
+      - [MC NN Control Module (Generic)](neural_networks/mc_neural_network_control.md)
+        - [Neural Network Module Utilities](neural_networks/nn_module_utilities.md)
+        - [TensorFlow Lite Micro (TFLM)](neural_networks/tflm.md)
+      - [RAPTOR Adaptive RL NN Module](neural_networks/raptor.md)
    - [Intel RealSense R200용 드라이버 설치](advanced/realsense_intel_driver.md)
    - [상태 추정기 전환](advanced/switching_state_estimators.md)
    - [트리 외부 모듈](advanced/out_of_tree_modules.md)
@@ -925,6 +930,7 @@

 - [출시](releases/index.md)
  - [main (alpha)](releases/main.md)
+  - [1.17 (alpha)](releases/1.17.md)
  - [1.16 (stable)](releases/1.16.md)
  - [1.15](releases/1.15.md)
  - [1.14](releases/1.14.md)
@@ -74,7 +74,7 @@ For example, you might have the following settings to assign the gimbal roll, pi

 ![Gimbal Actuator config](../../assets/config/actuators/qgc_actuators_gimbal.png)

-The PWM values to use for the disarmed, maximum and minimum values can be determined in the same way as other servo, using the [Actuator Test sliders](../config/actuators.md#actuator-testing) to confirm that each slider moves the appropriate axis, and changing the values so that the gimbal is in the appropriate position at the disarmed, low and high position in the slider.
+The PWM values to use for the disarmed, maximum, center and minimum values can be determined in the same way as other servo, using the [Actuator Test sliders](../config/actuators.md#actuator-testing) to confirm that each slider moves the appropriate axis, and changing the values so that the gimbal is in the appropriate position at the disarmed, low, center and high position in the slider.
 The values may also be provided in gimbal documentation.

 ## Gimbal Control in Missions
@@ -1,119 +1 @@
-# Neural Networks
-
-<Badge type="tip" text="main (planned for: PX4 v1.17)" /> <Badge type="warning" text="Experimental" />
-
-:::warning
-This is an experimental module.
-Use at your own risk.
-:::
-
-The Multicopter Neural Network (NN) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) is an example module that allows you to experiment with using a pre-trained neural network on PX4.
-It might be used, for example, to experiment with controllers for non-traditional drone morphologies, computer vision tasks, and so on.
-
-The module integrates a pre-trained neural network based on the [TensorFlow Lite Micro (TFLM)](../advanced/tflm.md) module.
-The module is trained for the [X500 V2](../frames_multicopter/holybro_x500v2_pixhawk6c.md) multicopter frame.
-While the controller is fairly robust, and might work on other platforms, we recommend [Training your own Network](#training-your-own-network) if you use a different vehicle.
-Note that after training the network you will need to update and rebuild PX4.
-
-TLFM is a mature inference library intended for use on embedded devices.
-It has support for several architectures, so there is a high likelihood that you can build it for the board you want to use.
-If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page) and [Executorch](https://pytorch.org/executorch-overview).
-
-This document explains how you can include the module in your PX4 build, and provides a broad overview of how it works.
-The other documents in the section provide more information about the integration, allowing you to replace the NN with a version trained on different data, or even to replace the TLFM library altogether.
-
-If you are looking for more resources to learn about the module, a website has been created with links to a youtube video and a workshop paper. A full master's thesis will be added later. [A Neural Network Mode for PX4 on Embedded Flight Controllers](https://ntnu-arl.github.io/px4-nns/).
-
-## Neural Network PX4 Firmware
-
-:::warning
-This module requires Ubuntu 24.04 or newer (it is not supported in Ubuntu 22.04).
-:::
-
-The module has been tested on a number of configurations, which can be build locally using the commands:
-
-```sh
-make px4_sitl_neural
-```
-
-```sh
-make px4_fmu-v6c_neural
-```
-
-```sh
-make mro_pixracerpro_neural
-```
-
-You can add the module to other board configurations by modifying their `default.px4board file` configuration to include these lines:
-
-```sh
-CONFIG_LIB_TFLM=y
-CONFIG_MODULES_MC_NN_CONTROL=y
-```
-
-:::tip
-The `mc_nn_control` module takes up roughly 50KB, and many of the `default.px4board file` are already close to filling all the flash on their boards. To make room for the neural control module you can remove the include statements for other modules, such as FW, rover, VTOL and UUV.
-:::
-
-## Example Module Overview
-
-The example module replaces the entire controller structure as well as the control allocator, as shown in the diagram below:
-
-![neural_control](../../assets/advanced/neural_control.png)
-
-In the [controller diagram](../flight_stack/controller_diagrams.md) you can see the [uORB message](../middleware/uorb.md) flow.
-We hook into this flow by subscribing to messages at particular points, using our neural network to calculate outputs, and then publishing them into the next point in the flow.
-We also need to stop the module publishing the topic to be replaced, which is covered in [Neural Network Module: System Integration](nn_module_utilities.md)
-
-### Input
-
-The input can be changed to whatever you want.
-Set up the input you want to use during training and then provide the same input in PX4.
-In the Neural Control module the input is an array of 15 numbers, and consists of these values in this order:
-
- [3] Local position error. (goal position - current position)
- [6] The first 2 rows of a 3 dimensional rotation matrix.
- [3] Linear velocity
- [3] Angular velocity
-
-All the input values are collected from uORB topics and transformed into the correct representation in the `PopulateInputTensor()` function.
-PX4 uses the NED frame representation, while the Aerial Gym Simulator, in which the NN was trained, uses the ENU representation.
-Therefore two rotation matrices are created in the function and all the inputs are transformed from the NED representation to the ENU one.
-
-![ENU-NED](../../assets/advanced/ENU-NED.png)
-
-ENU and NED are just rotation representations, the translational difference is only there so both can be seen in the same figure.
-
-### 출력
-
-The output consists of 4 values, the motor forces, one for each motor.
-These are transformed in the `RescaleActions()` function.
-This is done because PX4 expects normalized motor commands while the Aerial Gym Simulator uses physical values.
-So the output from the network needs to be normalized before they can be sent to the motors in PX4.
-
-The commands are published to the [ActuatorMotors](../msg_docs/ActuatorMotors.md) topic.
-The publishing is handled in `PublishOutput(float* command_actions)` function.
-
-:::tip
-If the neural control mode is too aggressive or unresponsive the [MC_NN_THRST_COEF](../advanced_config/parameter_reference.md#MC_NN_THRST_COEF) parameter can be tuned.
-Decrease it for more thrust.
-:::
-
-## Training your own Network
-
-The network is currently trained for the [X500 V2](../frames_multicopter/holybro_x500v2_pixhawk6c.md).
-But the controller is somewhat robust, so it could work directly on other platforms, but performing system identification and training a new network is recommended.
-
-Since the Aerial Gym Simulator is open-source you can download it and train your own networks as long as you have access to an NVIDIA GPU.
-If you want to train a control network optimized for your platform you can follow the instructions in the [Aerial Gym Documentation](https://ntnu-arl.github.io/aerial_gym_simulator/9_sim2real/).
-
-You should do one system identification flight for this and get an approximate inertia matrix for your platform.
-On the `sys-id` flight you need ESC telemetry, you can read more about that in [DSHOT](../peripherals/dshot.md).
-
-Then do the following steps:
-
- Do a hover flight
- Read of the logs what RPM is required for the drone to hover.
- Use the weight of each motor, length of the motor arms, total weight of the platform with battery to calculate an approximate inertia matrix for the platform.
- Insert these values into the Aerial Gym configuration and train your network.
- Convert the network as explained in [TFLM](tflm.md).
+<Redirect to="../neural_networks/mc_neural_network_control" />
@@ -10,6 +10,10 @@ CAN it is designed to be democratic and uses differential signaling.
 For this reason it is very robust even over longer cable lengths (on large vehicles), and avoids a single point of failure.
 CAN also allows status feedback from peripherals and convenient firmware upgrades over the bus.

+PX4 has the ability to track and log detailed information from CAN devices, including firmware versions, hardware versions, and serial numbers.
+This enables unique identification and lifecycle tracking of hardware connected to the flight controller.
+See [Asset Tracking](../debug/asset_tracking.md) for more information.
+
 PX4 supports two software protocols for communicating with CAN devices:

 - [DroneCAN](../dronecan/index.md): PX4 recommends this for most common setups.
@@ -106,7 +106,7 @@ There are several other "battery related" failsafe mechanisms that may be config

 | 설정                                                                   | 매개변수                                                                                                                                          | 설명                                                                                                                                                                                                                                 |
 | -------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None, `1`: Warning, `3`: Return mode (default). |
+| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None (default), `1`: Warning, `3`: Return mode. |
 | <a id="COM_FLT_TIME_MAX"></a> Maximum flight time failsafe level     | [COM_FLT_TIME_MAX](../advanced_config/parameter_reference.md#COM_FLT_TIME_MAX) | Maximum allowed flight time before Return mode will be engaged, in seconds. `-1`: Disabled (default).                                                           |

 ## Manual Control Loss Failsafe
@@ -121,36 +121,32 @@ PX4 and the receiver may also need to be configured in order to _detect RC loss_

 ![Safety - RC Loss (QGC)](../../assets/qgc/setup/safety/safety_rc_loss.png)

-The QGCroundControl Safety UI allows you to set the [failsafe action](#failsafe-actions) and [RC Loss timeout](#COM_RC_LOSS_T).
-Users that want to disable the RC loss failsafe in specific automatic modes (mission, hold, offboard) can do so using the parameter [COM_RCL_EXCEPT](#COM_RCL_EXCEPT).
+The QGCroundControl Safety UI allows you to set the [failsafe action](#failsafe-actions) and [manual control loss timeout](#COM_RC_LOSS_T).
+Users that want to disable this failsafe in specific modes can do so using the parameter [COM_RCL_EXCEPT](#COM_RCL_EXCEPT).

 Additional (and underlying) parameter settings are shown below.

 | 매개변수                                                                                                                                                                 | 설정                          | 설명                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             |
 | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_RC_LOSS_T"></a>[COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T)    | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the old manual control setpoint until the timeout triggers.                                                                                                                                                                                                                    |
+| <a id="COM_RC_LOSS_T"></a>[COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T)    | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the last known stick position until the timeout triggers.                                                                                                                                                                                                                      |
 | <a id="COM_FAIL_ACT_T"></a>[COM_FAIL_ACT_T](../advanced_config/parameter_reference.md#COM_FAIL_ACT_T) | Failsafe Reaction Delay     | Delay in seconds between failsafe condition being triggered (`COM_RC_LOSS_T`) and failsafe action (RTL, Land, Hold). In this state the vehicle waits in hold mode for the manual control source to reconnect. This might be set longer for long-range flights so that intermittent connection loss doesn't immediately invoke the failsafe. It can be to zero so that the failsafe triggers immediately. |
 | <a id="NAV_RCL_ACT"></a>[NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT)                               | 안전장치 동작                     | Disabled, Loiter, Return, Land, Disarm, Terminate.                                                                                                                                                                                                                                                                                                                                                                                                                                             |
-| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT)                      | RC 손실 예외                    | Set the modes in which manual control loss is ignored: Mission, Hold, Offboard.                                                                                                                                                                                                                                                                                                                                                                                                |
+| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT)                      | RC 손실 예외                    | Set modes in which manual control loss is ignored.                                                                                                                                                                                                                                                                                                                                                                                                                                             |

 ## 데이터 연결불량 안전장치

-The Data Link Loss failsafe is triggered if a telemetry link (connection to ground station) is lost.
+The Data Link Loss failsafe is triggered if the connection to the last MAVLink ground station like QGroundControl is lost.
+Users that want to disable this failsafe in specific modes can do so using the parameter [COM_DLL_EXCEPT](#COM_DLL_EXCEPT).

 ![Safety - Data Link Loss (QGC)](../../assets/qgc/setup/safety/safety_data_link_loss.png)

 설정에 관련된 기본 매개변수는 다음과 같습니다.

-| 설정             | 매개변수                                                                                                                                    | 설명                                                                              |
-| -------------- | --------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- |
-| 데이터 연결불량 시간 초과 | [COM_DL_LOSS_T](../advanced_config/parameter_reference.md#COM_DL_LOSS_T) | 데이터 연결이 끊어진 후 안전 장치가 동작하기 전까지의 시간입니다.                           |
-| 안전장치 동작        | [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT)                          | Disabled, Hold mode, Return mode, Land mode, Disarm, Terminate. |
-
-다음 설정도 가능하지만 QGC UI에 표시되지 않습니다.
-
-| 설정                                                          | 매개변수                                                                                                                 | 설명                                                                   |
-| ----------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------- |
-| <a id="COM_DLL_EXCEPT"></a>Mode exceptions for DLL failsafe | [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | Set modes where DL loss will not trigger a failsafe. |
+| 설정                                                          | 매개변수                                                                                                                                    | 설명                                                                              |
+| ----------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- |
+| 데이터 연결불량 시간 초과                                              | [COM_DL_LOSS_T](../advanced_config/parameter_reference.md#COM_DL_LOSS_T) | 데이터 연결이 끊어진 후 안전 장치가 동작하기 전까지의 시간입니다.                           |
+| 안전장치 동작                                                     | [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT)                          | Disabled, Hold mode, Return mode, Land mode, Disarm, Terminate. |
+| <a id="COM_DLL_EXCEPT"></a>Mode exceptions for DLL failsafe | [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT)                    | Set modes in which data link loss is ignored.                   |

 ## Geofence 안전장치

@@ -0,0 +1,68 @@
+# Asset Tracking
+
+<Badge type="tip" text="main (planned for: PX4 v1.18)" />
+
+PX4 can track and log detailed information about external hardware devices connected to the flight controller.
+This enables unique identification of vehicle parts throughout their operational lifetime using device IDs, serial numbers, and version information.
+
+:::info
+Asset tracking is currently implemented for [DroneCAN](../dronecan/index.md) devices only.
+:::
+
+## 개요
+
+Asset tracking allows you to determine exactly which hardware is installed on a vehicle, providing serial number, version, and other information.
+This makes it easier to track and maintain specific vehicle parts across multiple vehicles, to quickly see what versions you're running when debugging, and log component information for regulatory audits.
+
+Asset tracking automatically collects and logs the following metadata from external devices:
+
+- **Device identification**: Vendor name, model name, device type
+- **Version information**: Firmware version, hardware version
+- **Unique identifiers**: Serial number, device ID
+- **Device capabilities**: ESC, GPS, magnetometer, barometer, etc.
+
+This information is published via the [`device_information`](../msg_docs/DeviceInformation.md) uORB topic and logged to flight logs.
+This enables fleet management, maintenance tracking, and troubleshooting.
+
+## Viewing Device Information
+
+### Real-Time Monitoring
+
+You can view device information in real-time using the [MAVLink Shell](../debug/mavlink_shell.md) or console:
+
+```sh
+listener device_information
+```
+
+Example output for a CAN GPS module:
+
+```plain
+TOPIC: device_information
+ device_information
+    timestamp: 16258961403 (0.216525 seconds ago)
+    device_id: 8944643 (Type: 0x88, UAVCAN:0 (0x7C))
+    device_type: 5
+    vendor_name: "cubepilot"
+    model_name: "here4"
+    firmware_version: "1.14.3006590"
+    hardware_version: "4.19"
+    serial_number: "1c00410018513331"
+```
+
+Device information is published in a round-robin fashion for each detected device, at a rate of approximately 1 Hz.
+
+### Multi-Capability Devices
+
+Devices with multiple sensors (e.g., a CAN GPS/magnetometer combo module like the HERE4) register separate device information entries for each capability.
+Each entry shares the same serial number and base metadata but has a different `device_id` corresponding to the specific sensor capability.
+
+## 비행 로그 분석
+
+Device information is automatically logged to flight logs.
+You can extract it using [pyulog](../log/flight_log_analysis.md#pyulog), though note that fields like vendor name, model name, and serial number are stored as `char` arrays and require additional parsing.
+
+## See Also
+
+- [CAN (DroneCAN & Cyphal)](../can/index.md) — CAN bus configuration and setup
+- [DroneCAN](../dronecan/index.md) — DroneCAN-specific documentation
+- [Flight Log Analysis](../log/flight_log_analysis.md) — Flight log analysis
@@ -0,0 +1,112 @@
+# ARK G5 RTK GPS
+
+:::info
+This GPS module is made in the USA and NDAA compliant.
+:::
+
+[ARK G5 RTK GPS](https://arkelectron.com/product/ark-g5-rtk-gps/) is a [DroneCAN](index.md) quad-band [RTK GPS](../gps_compass/rtk_gps.md).
+
+The module incorporates the [Septentrio mosaic-G5 P3 Ultra-compact high-precision GPS/GNSS receiver module](https://www.u-blox.com/en/product/zed-x20p-module), magnetometer, barometer, IMU, and buzzer module.
+
+![ARK G5 RTK GPS](../../assets/hardware/gps/ark/ark_g5_rtk_gps.png)
+
+## 구매처
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-g5-rtk-gps/) (US)
+
+## Hardware Specifications
+
+- [DroneCAN](index.md) RTK GNSS, Magnetometer, Barometer, IMU, and Buzzer Module
+- [Dronecan Firmware Updating](../dronecan/index.md#firmware-update)
+- 센서
+  - [Septentrio mosaic-G5 P3 Ultra-compact high-precision GPS/GNSS receiver module](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3)
+    - All-band all constellation GNSS receiver
+    - All-in-view satellite tracking: multi-constellation, quad-band GNSS module receiver
+    - Full raw data with positioning measurements and Galileo HAS positioning service compatibility
+    - Best-in-class RTK cm-level positioning accuracy
+    - Advanced GNSS+ algorithms
+    - 20Hz update rate
+  - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
+  - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
+  - [Invensense ICM-42688-P 6-Axis IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/)
+- STM32F412VGH6 MCU
+- Safety Button
+- 부저
+- Two CAN Connectors (Pixhawk Connector Standard 4-pin JST GH)
+- G5 "UART 2" Connector
+  - 4-pin JST GH
+  - TX, RX, PPS, GND
+- G5 USB C
+- Debug Connector (Pixhawk Connector Standard 6-pin JST SH)
+- LED Indicators
+  - GPS Fix
+  - RTK Status
+  - RGB system status
+- USA Built
+- NDAA Compliant
+- Power Requirements
+  - 5V
+    - 270mA
+- 크기
+  - Without Antenna
+    - 48.0mm x 40.0mm x 15.4mm
+    - 13.0g
+  - With Antenna
+    - 48.0mm x 40.0mm x 51.0mm
+    - 43.5g
+- Includes
+  - CAN Cable (Pixhawk Connector Standard 4-pin)
+  - Full-Frequency Helical GPS Antenna
+
+## 하드웨어 설정
+
+### 배선
+
+The ARK G5 RTK GPS is connected to the CAN bus using a [Pixhawk connector standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) 4-pin JST GH cable.
+For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
+
+### 장착
+
+The recommended mounting orientation is with the connectors on the board pointing towards the **back of vehicle**.
+
+The sensor can be mounted anywhere on the frame, but you will need to specify its position, relative to vehicle centre of gravity, during [PX4 Configuration](#px4-configuration).
+
+## Firmware Setup
+
+The Septentrio G5 module firmware can be updated using the Septentrio [RxTools](https://www.septentrio.com/en/products/gps-gnss-receiver-software/rxtools) application.
+
+## Flight Controller Setup
+
+### Enabling DroneCAN
+
+In order to use the ARK G5 RTK GPS, connect it to the Pixhawk CAN bus and enable the DroneCAN driver by setting parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)).
+
+단계는 다음과 같습니다:
+
+- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` or `3` and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
+- Connect ARK G5 RTK GPS CAN to the Pixhawk CAN.
+
+Once enabled, the module will be detected on boot.
+
+There is also CAN built-in bus termination via [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)
+
+### PX4 설정
+
+You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle:
+
+- Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
+- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK G5 RTK GPS from the vehicle's centre of gravity.
+
+## LED 신호의 의미
+
+The GPS status lights are located to the right of the connectors:
+
+- Blinking green is GPS fix
+- Blinking blue is received corrections and RTK Float
+- Solid blue is RTK Fixed
+
+## See Also
+
+- [ARK G5 RTK GPS Documentation](https://docs.arkelectron.com/gps/ark-g5-rtk-gps) (ARK Docs)
@@ -0,0 +1,150 @@
+# ARK G5 RTK HEADING GPS
+
+:::info
+This GPS module is made in the USA and NDAA compliant.
+:::
+
+[ARK G5 RTK HEADING GPS](https://arkelectron.com/product/ark-g5-rtk-gps/) is a [DroneCAN](index.md) quad-band dual antenna [RTK GPS](../gps_compass/rtk_gps.md) that additionally provides vehicle yaw information from GPS.
+
+The module incorporates the [Septentrio mosaic-G5 P3H Ultra-compact high-precision GPS/GNSS receiver module with heading capability](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3H), magnetometer, barometer, IMU, and buzzer module.
+
+![ARK G5 RTK HEADING GPS](../../assets/hardware/gps/ark/ark_g5_rtk_gps.png)
+
+## 구매처
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-g5-rtk-heading-gps/) (US)
+
+## Hardware Specifications
+
+- [DroneCAN](index.md) RTK GNSS, Magnetometer, Barometer, IMU, and Buzzer Module
+- [Dronecan Firmware Updating](../dronecan/index.md#firmware-update)
+- 센서
+  - [Septentrio mosaic-G5 P3H Ultra-compact high-precision GPS/GNSS receiver module with heading capability](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3H)
+    - All-band all constellation GNSS receiver
+    - All-in-view satellite tracking: multi-constellation, quad-band GNSS module receiver
+    - Full raw data with positioning measurements and Galileo HAS positioning service compatibility
+    - Best-in-class RTK cm-level positioning accuracy
+    - Advanced GNSS+ algorithms
+    - 20Hz update rate
+  - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
+  - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
+  - [Invensense ICM-42688-P 6-Axis IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/)
+- STM32F412VGH6 MCU
+- Safety Button
+- 부저
+- Two CAN Connectors (Pixhawk Connector Standard 4-pin JST GH)
+- G5 "UART 2" Connector
+  - 4-pin JST GH
+  - TX, RX, PPS, GND
+- G5 USB C
+- Debug Connector (Pixhawk Connector Standard 6-pin JST SH)
+- LED Indicators
+  - GPS Fix
+  - RTK Status
+  - RGB system status
+- USA Built
+- NDAA Compliant
+- Power Requirements
+  - 5V
+    - 270mA
+- 크기
+  - Without Antenna
+    - 48.0mm x 40.0mm x 15.4mm
+    - 13.0g
+  - With Antenna
+    - 48.0mm x 40.0mm x 51.0mm
+    - 43.5g
+- Includes
+  - CAN Cable (Pixhawk Connector Standard 4-pin)
+  - Full-Frequency Helical GPS Antenna
+
+## 하드웨어 설정
+
+### 배선
+
+The ARK G5 RTK HEADING GPS is connected to the CAN bus using a [Pixhawk connector standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) 4-pin JST GH cable.
+For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
+
+### 장착
+
+The recommended mounting orientation is with the connectors on the board pointing towards the **back of vehicle**.
+
+The sensor can be mounted anywhere on the frame, but you will need to specify its position, relative to vehicle centre of gravity, during [PX4 configuration](#px4-configuration).
+
+## Firmware Setup
+
+The Septentrio G5 module firmware can be updated using the Septentrio [RxTools](https://www.septentrio.com/en/products/gps-gnss-receiver-software/rxtools) application.
+
+## Flight Controller Setup
+
+### Enabling DroneCAN
+
+In order to use the ARK G5 RTK HEADING GPS, connect it to the Pixhawk CAN bus and enable the DroneCAN driver by setting parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)).
+
+단계는 다음과 같습니다:
+
+- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` or `3` and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
+- Connect ARK G5 RTK HEADING GPS CAN to the Pixhawk CAN.
+
+Once enabled, the module will be detected on boot.
+
+There is also CAN built-in bus termination via [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)
+
+### PX4 설정
+
+You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle:
+
+- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
+- Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
+- Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
+- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK G5 RTK HEADING GPS from the vehicle's centre of gravity.
+
+### Parameter references
+
+This GPS is using ARK's private driver, the prameters below only exist on the firmware we ship the GPS with. You can set these params either in QGC or using the DroneCAN GUI Tool.
+
+#### SEP_OFFS_YAW (float)
+
+Heading offset angle for dual antenna GPS setups that support heading estimation.
+Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the Rover/ANT2 antenna is in front.
+The offset angle increases clockwise.
+Set this to 90 if the ANT2 antenna is placed on the right side of the vehicle and the Moving Base/MAIN antenna is on the left side.
+
+- Default: 0
+- Min: -360
+- Max: 360
+- Unit: degree
+
+#### SEP_OFFS_PITCH (float)
+
+Vertical offsets can be compensated for by adjusting the Pitch offset.
+Note that this can be interpreted as the "roll" angle in case the antennas are aligned along the perpendicular axis. This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame. Since pitch is defined as the right-handed rotation about the vehicle Y axis, a situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch.
+
+- Default: 0
+- Min: -90
+- Max: 90
+- Unit: degree
+
+#### SEP_OUT_RATE (enum)
+
+Configures the output rate for GNSS data messages.
+
+- -1: OnChange (Default)
+- 50: 50 ms
+- 100: 100 ms
+- 200: 200 ms
+- 500: 500 ms
+
+## LED 신호의 의미
+
+The GPS status lights are located to the right of the connectors:
+
+- Blinking green is GPS fix
+- Blinking blue is received corrections and RTK Float
+- Solid blue is RTK Fixed
+
+## See Also
+
+- [ARK G5 RTK HEADING GPS Documentation](https://docs.arkelectron.com/gps/ark-g5-rtk-gps) (ARK Docs)
@@ -27,6 +27,8 @@ Connecting peripherals over DroneCAN has many benefits:
 - Wiring is less complicated as you can have a single bus for connecting all your ESCs and other DroneCAN peripherals.
 - Setup is easier as you configure ESC numbering by manually spinning each motor.
 - It allows users to configure and update the firmware of all CAN-connected devices centrally through PX4.
+- PX4 automatically tracks device information (vendor, model, versions, serial numbers) for maintenance and fleet management.
+  See [Asset Tracking](../debug/asset_tracking.md).

 ## 지원 하드웨어

@@ -1,6 +1,6 @@
 # Gain compression

-<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+<Badge type="tip" text="PX4 v1.17" />

 Automatic gain compression reduces the gains of the angular-rate PID whenever oscillations are detected.
 It monitors the angular-rate controller output through a band-pass filter to identify these oscillations.
@@ -1,6 +1,6 @@
 # MicoAir743-Lite

-<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+<Badge type="tip" text="PX4 v1.17" />

 :::warning
 PX4 does not manufacture this (or any) autopilot.
@@ -1,6 +1,6 @@
 # RadiolinkPIX6 Flight Controller

-<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+<Badge type="tip" text="PX4 v1.17" />

 :::warning
 PX4 does not manufacture this (or any) autopilot.
@@ -1,6 +1,6 @@
-# AP-H743-R1
+# AP-H743-R1 Flight Controller

-<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+<Badge type="tip" text="PX4 v1.17" />

 :::warning
 PX4 does not manufacture this (or any) autopilot.
@@ -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
+  - Mag: QMC5883P
  - Barometer: DPS310(Version1),SPL06(Version2)

 ### 인터페이스
@@ -2,11 +2,14 @@

 <img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />

-The _Hold_ flight mode causes the vehicle to loiter (circle) around its current GPS position and maintain its current altitude.
+The _Hold_ flight mode causes the vehicle to loiter around its current GPS position and maintain its current altitude.
+
+The mode supports a [number of distinct loiter modes](#loiter-modes), which are triggered using different QGC controls or MAVLink commands.
+These allow loitering with circular and figure 8 flight paths.

 :::tip
 _Hold mode_ can be used to pause a mission or to help you regain control of a vehicle in an emergency.
-It is usually activated with a pre-programmed switch.
+It is usually activated with a pre-programmed RC switch.
 :::

 ::: info
@@ -24,24 +27,80 @@ It is usually activated with a pre-programmed switch.

 :::

-## Technical Summary
+## Loiter modes

-The aircraft circles around the GPS hold position at the current altitude.
-The vehicle will first ascend to [NAV_MIN_LTR_ALT](#NAV_MIN_LTR_ALT) if the mode is engaged below this altitude.
+### Default Loiter

-RC stick movement is ignored.
+The aircraft circles around the position at which the mode was triggered and maintain its current altitude.
+The loiter radius is set by the parameter [NAV_LOITER_RAD](#NAV_LOITER_RAD).
+Note that if the vehicle altitude is below [NAV_MIN_LTR_ALT](#NAV_MIN_LTR_ALT), it will ascend to that minimum altitude before circling.

-### 매개변수
+The default loiter mode is entered when you switch to Hold mode without explicitly specifying any loiter behaviour.
+For example, if you switch to Hold mode using an RC switch, select **Hold** on the QGC flight mode selector, or activate the mode using the MAVLink [MAV_CMD_DO_SET_MODE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_MODE) command.
+
+### Orbit Loiter Mode
+
+<Badge type="tip" text="PX4 v1.12" />
+
+The aircraft travels towards a _specified_ orbit center position, then circles it with a given direction and radius.
+
+This behaviour can be accessed in QGroundControl by clicking on the map in Fly view, selecting **Orbit at Location**, and configuring the radius.
+
+The behavior can be triggered using the MAVLink [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_ORBIT) command.
+Note that PX4 respects the specified centre point (`param5`, `param6`, `param7`), and the radius and direction (`param1`).
+PX4 ignores `param3` (Yaw behaviour) and `param4` (Orbits).
+The value of `param2` (velocity) is also ignored, but the speed can be controlled using the [MAV_CMD_DO_CHANGE_SPEED](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED) command (constrained between `FW_AIRSPD_MAX` and `FW_AIRSPD_MIN`).
+PX4 outputs orbit status using the [ORBIT_EXECUTION_STATUS](https://mavlink.io/en/messages/common.html#ORBIT_EXECUTION_STATUS) message.
+
+### Figure 8 Loiter Mode
+
+<Badge type="tip" text="PX4 v1.15" /> <Badge type="warning" text="Experimental" />
+
+The aircraft flys towards the closest point on a specified figure 8 path and then follows it.
+The path is defined by the figure 8 centre position, orientation, and radius of two circles.
+
+The feature is experimental, and is not present in PX4 firmware by default (on most flight controller boards).
+It can be included by setting the `CONFIG_FIGURE_OF_EIGHT` key in the [PX4 board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) for your board and rebuilding.
+For example, this is enabled on the [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/auterion/fmu-v6s/default.px4board#L46) file for the `auterion/fmu-v6s` board.
+
+The behavior can be triggered using the MAVLink [MAV_CMD_DO_FIGURE_EIGHT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_FIGURE_EIGHT) command (PX4 respects all the parameters).
+PX4 outputs the figure 8 status using the [FIGURE_EIGHT_EXECUTION_STATUS](https://mavlink.io/en/messages/common.html#FIGURE_EIGHT_EXECUTION_STATUS) message.
+
+:::info
+Figure 8 loitering is not currently supported by QGC: [QGC#12778: Need Support Figure of eight (8 figure) loitering by QGC](https://github.com/mavlink/qgroundcontrol/issues/12778).
+:::
+
+Figure 8 loitering is also available in the simulator.
+You can test it in [Gazebo](../sim_gazebo_gz/index.md) using a fixed wing frame:
+
+```sh
+make px4_sitl gz_rc_cessna
+```
+
+## 매개변수

 Hold mode behaviour can be configured using the parameters below.

 | 매개변수                                                                                                                                                                    | 설명                                                                                                                                               |
 | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------ |
-| [NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD)                                                    | The radius of the loiter circle.                                                                                                 |
+| <a id="NAV_LOITER_RAD"></a>[NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD)                         | The radius of the loiter circle.                                                                                                 |
 | <a id="NAV_MIN_LTR_ALT"></a>[NAV_MIN_LTR_ALT](../advanced_config/parameter_reference.md#NAV_MIN_LTR_ALT) | Minimum height for loiter mode (vehicle will ascend to this altitude if mode is engaged at a lower altitude). |

+## MAVLink Commands
+
+The following commands are relevant to this mode:
+
+- [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_ORBIT) - Switch to Hold mode and start the specified [Orbit loiter](#orbit-loiter-mode).
+  Params 2 (velocity), 3 (yaw), 4 (orbits) are ignored.
+  [ORBIT_EXECUTION_STATUS](https://mavlink.io/en/messages/common.html#ORBIT_EXECUTION_STATUS) is emitted.
+- [MAV_CMD_DO_FIGURE_EIGHT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_FIGURE_EIGHT) - Switch to Hold mode and start the specified [Figure 8 loiter](#figure-8-loiter-mode).
+  All params are respected.
+  [FIGURE_EIGHT_EXECUTION_STATUS](https://mavlink.io/en/messages/common.html#FIGURE_EIGHT_EXECUTION_STATUS) is emitted.
+
+Note, other commands may be supported.
+
 ## See Also

-[Hold Mode (MC)](../flight_modes_mc/hold.md)
+- [Hold Mode (MC)](../flight_modes_mc/hold.md)

 <!-- this maps to AUTO_LOITER in flight mode state machine -->
@@ -49,8 +49,8 @@ If the local position is invalid or becomes invalid while executing the takeoff,

 ::: info

- Takeoff towards a target position was added in <Badge type="tip" text="main (planned for: PX4 v1.17)" />.
- Holding wings level and ascending to clearance attitude when local position is invalid during takeoff was added in <Badge type="tip" text="main (planned for: PX4 v1.17)" />.
+- Takeoff towards a target position was added in <Badge type="tip" text="PX4 v1.17" />.
+- Holding wings level and ascending to clearance attitude when local position is invalid during takeoff was added in <Badge type="tip" text="PX4 v1.17" />.
 - QGroundControl does not support `MAV_CMD_NAV_TAKEOFF` (at time of writing).

 :::
@@ -21,52 +21,59 @@ PX4 supports the [u-blox M8P](https://www.u-blox.com/en/product/neo-m8p), [u-blo
 The table indicates devices that also output yaw, and that can provide yaw when two on-vehicle units are used.
 It also highlights devices that connect via the CAN bus, and those which support PPK (Post-Processing Kinematic).

-| 장치                                                                                                                   |                             GPS                             |    나침반   | [DroneCAN](../dronecan/index.md) | [GPS Yaw](#configuring-gps-as-yaw-heading-source) | PPK |
-| :------------------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------: | :------: | :------------------------------: | :-----------------------------------------------: | :-: |
-| [ARK RTK GPS](../dronecan/ark_rtk_gps.md)                                                                            |                             F9P                             |  BMM150  |                 ✓                |                [Dual F9P][DualF9P]                |     |
-| [ARK RTK GPS L1 L5](../dronecan/ark_rtk_gps_l1_l2.md)                                                                |                             F9P                             |  BMM150  |                 ✓                |                                                   |     |
-| [ARK MOSAIC-X5 RTK GPS](../dronecan/ark_mosaic__rtk_gps.md)                                                          |                          Mosaic-X5                          |  IIS2MDC |                 ✓                |       [Septentrio Dual Antenna][SeptDualAnt]      |     |
-| [ARK X20 RTK GPS](../dronecan/ark_x20_rtk_gps.md)                                                                    |                             X20P                            |  BMP390  |                 ✓                |                                                   |     |
-| [CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md)                                                               |                           M8P/M8N                           |     ✓    |                                  |                                                   |     |
-| [CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md)                                                                 |                             F9P                             |     ✓    |                                  |                [Dual F9P][DualF9P]                |     |
-| [CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md)                                                       |                             F9P                             |  RM3100  |                                  |                [Dual F9P][DualF9P]                |     |
-| [CUAV C-RTK2 PPK/RTK GNSS](../gps_compass/rtk_gps_cuav_c-rtk.md)                                                     |                             F9P                             |  RM3100  |                                  |                                                   |  ✓  |
-| [CubePilot Here+ RTK GPS](../gps_compass/rtk_gps_hex_hereplus.md)                                                    |                             M8P                             |  HMC5983 |                                  |                                                   |     |
-| [CubePilot Here3 CAN GNSS GPS (M8N)](https://www.cubepilot.org/#/here/here3)                      |                             M8P                             | ICM20948 |                 ✓                |                                                   |     |
-| [Drotek SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) |                             F9P                             |  RM3100  |                                  |                [Dual F9P][DualF9P]                |     |
-| [DATAGNSS NANO HRTK Receiver](../gps_compass/rtk_gps_datagnss_nano_hrtk.md)                                          | [D10P](https://docs.datagnss.com/gnss/gnss_module/D10P_RTK) |  IST8310 |                                  |                         ✘                         |     |
-| [DATAGNSS GEM1305 RTK Receiver](../gps_compass/rtk_gps_gem1305.md)                                                   |                           TAU951M                           |  IST8310 |                                  |                         ✘                         |     |
-| [Femtones MINI2 Receiver](../gps_compass/rtk_gps_fem_mini2.md)                                                       |                         FB672, FB6A0                        |     ✓    |                                  |                                                   |     |
-| [Freefly RTK GPS](../gps_compass/rtk_gps_freefly.md)                                                                 |                             F9P                             |  IST8310 |                                  |                                                   |     |
-| [Holybro H-RTK ZED-F9P RTK Rover (DroneCAN variant)](../dronecan/holybro_h_rtk_zed_f9p_gps.md)    |                             F9P                             |  RM3100  |                 ✓                |                [Dual F9P][DualF9P]                |     |
-| [Holybro H-RTK ZED-F9P RTK Rover](https://holybro.com/collections/h-rtk-gps/products/h-rtk-zed-f9p-rover)            |                             F9P                             |  RM3100  |                                  |                [Dual F9P][DualF9P]                |     |
-| [Holybro H-RTK F9P Ultralight](https://holybro.com/products/h-rtk-f9p-ultralight)                                    |                             F9P                             |  IST8310 |                                  |                [Dual F9P][DualF9P]                |     |
-| [Holybro H-RTK F9P Helical or Base](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)                                     |                             F9P                             |  IST8310 |                                  |                [Dual F9P][DualF9P]                |     |
-| [Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical)                        |                             F9P                             |  BMM150  |                 ✓                |                [Dual F9P][DualF9P]                |     |
-| [Holybro H-RTK F9P Rover Lite](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)                                          |                             F9P                             |  IST8310 |                                  |                                                   |     |
-| [Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover)                            |                             F9P                             |  BMM150  |                                  |                [Dual F9P][DualF9P]                |     |
-| [Holybro H-RTK M8P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md)                                                |                             M8P                             |  IST8310 |                                  |                                                   |     |
-| [Holybro H-RTK Unicore UM982 GPS](../gps_compass/rtk_gps_holybro_unicore_um982.md)                                   |                            UM982                            |  IST8310 |                                  |       [Unicore Dual Antenna][UnicoreDualAnt]      |     |
-| [LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md)                                                              |                         MC-1612-V2b                         |          |                                  |                                                   |     |
-| [LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md)                                                              |                         MC-1612-V2b                         |  IST8310 |                                  |                                                   |     |
-| [mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm)                                  |                             F9P                             |     ✓    |                                  |                [Dual F9P][DualF9P]                |     |
-| [Navisys L1/L2 ZED-F9P RTK - Base only](https://www.navisys.com.tw/productdetail?name=GR901&class=RTK)         |                             F9P                             |          |                                  |                                                   |     |
-| [RaccoonLab L1/L2 ZED-F9P][RaccoonLab L1/L2 ZED-F9P]                                                                 |                             F9P                             |  RM3100  |                 ✓                |                                                   |     |
-| [RaccoonLab L1/L2 ZED-F9P with external antenna][RaccnLabL1L2ZED-F9P ext_ant]                                        |                             F9P                             |  RM3100  |                 ✓                |                                                   |     |
-| [Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md)                                                  |                            AsteRx                           |     ✓    |                                  |       [Septentrio Dual Antenna][SeptDualAnt]      |  ✓  |
-| [Septentrio mosaic-go](../gps_compass/septentrio_mosaic-go.md)                                                       |                     mosaic X5 / mosaic H                    |     ✓    |                                  |       [Septentrio Dual Antenna][SeptDualAnt]      |  ✓  |
-| [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html)        |                             F9P                             |     ✓    |                                  |                [Dual F9P][DualF9P]                |     |
-| [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136)                                         |                             F9P                             |     ✓    |                                  |                [Dual F9P][DualF9P]                |     |
-| [Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md)                                                           |                             F9P                             |     ✓    |                                  |                         ✓                         |     |
+| 장치                                                                                                                   |          GPS         |    나침반   | [DroneCAN] |              [GPS Yaw]              | PPK |
+| :------------------------------------------------------------------------------------------------------------------- | :------------------: | :------: | :--------: | :---------------------------------: | :-: |
+| [ARK G5 RTK GPS](../dronecan/ark_g5_rtk_gps.md)                                                                      |    [mosaic-G5 P3]    |  IIS2MDC |      ✓     |                                     |     |
+| [ARK G5 RTK HEADING GPS](../dronecan/ark_g5_rtk_heading_gps.md)                                                      |    [mosaic-G5 P3H]   |  IIS2MDC |      ✓     | [Heading Capability][mosaic-G5 P3H] |     |
+| [ARK RTK GPS](../dronecan/ark_rtk_gps.md)                                                                            |          F9P         |  BMM150  |      ✓     |              [Dual F9P]             |     |
+| [ARK RTK GPS L1 L5](../dronecan/ark_rtk_gps_l1_l2.md)                                                                |          F9P         |  BMM150  |      ✓     |                                     |     |
+| [ARK MOSAIC-X5 RTK GPS](../dronecan/ark_mosaic__rtk_gps.md)                                                          |       Mosaic-X5      |  IIS2MDC |      ✓     |      [Septentrio Dual Antenna]      |     |
+| [ARK X20 RTK GPS](../dronecan/ark_x20_rtk_gps.md)                                                                    |         X20P         |  IIS2MDC |      ✓     |                                     |     |
+| [CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md)                                                               |        M8P/M8N       |     ✓    |            |                                     |     |
+| [CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md)                                                                 |          F9P         |     ✓    |            |              [Dual F9P]             |     |
+| [CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md)                                                       |          F9P         |  RM3100  |            |              [Dual F9P]             |     |
+| [CUAV C-RTK2 PPK/RTK GNSS](../gps_compass/rtk_gps_cuav_c-rtk.md)                                                     |          F9P         |  RM3100  |            |                                     |  ✓  |
+| [CubePilot Here+ RTK GPS](../gps_compass/rtk_gps_hex_hereplus.md)                                                    |          M8P         |  HMC5983 |            |                                     |     |
+| [CubePilot Here3 CAN GNSS GPS (M8N)](https://www.cubepilot.org/#/here/here3)                      |          M8P         | ICM20948 |      ✓     |                                     |     |
+| [Drotek SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) |          F9P         |  RM3100  |            |              [Dual F9P]             |     |
+| [DATAGNSS NANO HRTK Receiver](../gps_compass/rtk_gps_datagnss_nano_hrtk.md)                                          |        [D10P]        |  IST8310 |            |                  ✘                  |     |
+| [DATAGNSS GEM1305 RTK Receiver](../gps_compass/rtk_gps_gem1305.md)                                                   |        TAU951M       |  IST8310 |            |                  ✘                  |     |
+| [Femtones MINI2 Receiver](../gps_compass/rtk_gps_fem_mini2.md)                                                       |     FB672, FB6A0     |     ✓    |            |                                     |     |
+| [Freefly RTK GPS](../gps_compass/rtk_gps_freefly.md)                                                                 |          F9P         |  IST8310 |            |                                     |     |
+| [Holybro H-RTK ZED-F9P RTK Rover (DroneCAN variant)](../dronecan/holybro_h_rtk_zed_f9p_gps.md)    |          F9P         |  RM3100  |      ✓     |              [Dual F9P]             |     |
+| [Holybro H-RTK ZED-F9P RTK Rover](https://holybro.com/collections/h-rtk-gps/products/h-rtk-zed-f9p-rover)            |          F9P         |  RM3100  |            |              [Dual F9P]             |     |
+| [Holybro H-RTK F9P Ultralight](https://holybro.com/products/h-rtk-f9p-ultralight)                                    |          F9P         |  IST8310 |            |              [Dual F9P]             |     |
+| [Holybro H-RTK F9P Helical or Base](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)                                     |          F9P         |  IST8310 |            |              [Dual F9P]             |     |
+| [Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical)                        |          F9P         |  BMM150  |      ✓     |              [Dual F9P]             |     |
+| [Holybro H-RTK F9P Rover Lite](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)                                          |          F9P         |  IST8310 |            |                                     |     |
+| [Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover)                            |          F9P         |  BMM150  |            |              [Dual F9P]             |     |
+| [Holybro H-RTK M8P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md)                                                |          M8P         |  IST8310 |            |                                     |     |
+| [Holybro H-RTK Unicore UM982 GPS](../gps_compass/rtk_gps_holybro_unicore_um982.md)                                   |         UM982        |  IST8310 |            |        [Unicore Dual Antenna]       |     |
+| [LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md)                                                              |      MC-1612-V2b     |          |            |                                     |     |
+| [LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md)                                                              |      MC-1612-V2b     |  IST8310 |            |                                     |     |
+| [mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm)                                  |          F9P         |     ✓    |            |              [Dual F9P]             |     |
+| [Navisys L1/L2 ZED-F9P RTK - Base only](https://www.navisys.com.tw/productdetail?name=GR901&class=RTK)         |          F9P         |          |            |                                     |     |
+| [RaccoonLab L1/L2 ZED-F9P][RaccoonLab L1/L2 ZED-F9P]                                                                 |          F9P         |  RM3100  |      ✓     |                                     |     |
+| [RaccoonLab L1/L2 ZED-F9P with external antenna][RaccnLabL1L2ZED-F9P ext_ant]                                        |          F9P         |  RM3100  |      ✓     |                                     |     |
+| [Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md)                                                  |        AsteRx        |     ✓    |            |      [Septentrio Dual Antenna]      |  ✓  |
+| [Septentrio mosaic-go](../gps_compass/septentrio_mosaic-go.md)                                                       | mosaic X5 / mosaic H |     ✓    |            |      [Septentrio Dual Antenna]      |  ✓  |
+| [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html)        |          F9P         |     ✓    |            |              [Dual F9P]             |     |
+| [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136)                                         |          F9P         |     ✓    |            |              [Dual F9P]             |     |
+| [Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md)                                                           |          F9P         |     ✓    |            |                  ✓                  |     |

 <!-- links used in above table -->

 [RaccnLabL1L2ZED-F9P ext_ant]: https://docs.raccoonlab.co/guide/gps_mag_baro/gnss_external_antenna_f9p_v320.html
 [RaccoonLab L1/L2 ZED-F9P]: https://docs.raccoonlab.co/guide/gps_mag_baro/gps_l1_l2_zed_f9p.html
-[DualF9P]: ../gps_compass/u-blox_f9p_heading.md
-[SeptDualAnt]: ../gps_compass/septentrio.md#gnss-based-heading
-[UnicoreDualAnt]: ../gps_compass/rtk_gps_holybro_unicore_um982.md#enable-gps-heading-yaw
+[Dual F9P]: ../gps_compass/u-blox_f9p_heading.md
+[Septentrio Dual Antenna]: ../gps_compass/septentrio.md#gnss-based-heading
+[Unicore Dual Antenna]: ../gps_compass/rtk_gps_holybro_unicore_um982.md#enable-gps-heading-yaw
 [DATAGNSS GEM1305 RTK]: ../gps_compass/rtk_gps_gem1305.md
+[DroneCAN]: ../dronecan/index.md
+[GPS Yaw]: #configuring-gps-as-yaw-heading-source
+[mosaic-G5 P3]: https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3
+[mosaic-G5 P3H]: https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3H
+[D10P]: https://docs.datagnss.com/gnss/gnss_module/D10P_RTK

 참고:

@@ -146,6 +153,7 @@ RTK GPS 연결은 기본적으로 플러그앤플레이입니다.
   ![survey-in](../../assets/qgc/setup/rtk/qgc_rtk_survey-in.png)

 4. Survey-in이 완료되면 :
+
   - The RTK GPS icon changes to white and _QGroundControl_ starts to stream position data to the vehicle:

     ![RTK streaming](../../assets/qgc/setup/rtk/qgc_rtk_streaming.png)
@@ -332,9 +332,11 @@ 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.
-  - <Badge type="tip" text="PX4 v1.17" /> [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX): 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.
@@ -439,7 +441,7 @@ will generate topics under the namespaces:

 :::

- A simple index-based namespace can be applied by setting the parameter [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) to a value between 0 and 9999.
+- A simple index-based namespace can be applied by setting the parameter [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) <Badge type="tip" text="PX4 v1.17" /> to a value between 0 and 9999.
  This will generate a namespace such as `/uav_0`, `/uav_1`, and so on.
  This technique is ideal if vehicles must be persistently associated with namespaces because their clients are automatically started through PX4.

@@ -0,0 +1,21 @@
+# Neural Network Control
+
+PX4 supports the following mechanisms for using neural networks for multirotor control:
+
+- [MC Neural Networks Control](../neural_networks/mc_neural_network_control.md)<Badge type="warning" text="Experimental" /> — A generic neural network module that you can modify to use different underlying neural network and training models and compile into the firmware.
+- [RAPTOR: A Neural Network Module for Adaptive Quadrotor Control](../neural_networks/raptor.md)<Badge type="warning" text="Experimental" /> — An adaptive RL NN module that works well with different Quad configurations without additional training.
+
+Generally you will select the former if you wish to experiment with custom neural network architectures and train them using PyTorch or TensorFlow, and the latter if you want to use a pre-trained neural-network controller that works out-of-the-box (without training for your particular platform) or if you train your own policies using [RLtools](https://rl.tools).
+
+Note that both modules are experimental and provided for experimentation.
+The table below provides more detail on the differences.
+
+| Use Case                                                         | [`mc_raptor`](../neural_networks/raptor.md) | [`mc_nn_control`](../neural_networks/mc_neural_network_control.md) |
+| ---------------------------------------------------------------- | ------------------------------------------- | ------------------------------------------------------------------ |
+| Pre-trained policy that adapts to any quadrotor without training | ✓ RAPTOR                                    | ✘                                                                  |
+| Train policy in PyTorch/TF                                       | ✘                                           | ✓ TF Lite                                                          |
+| Train policy in RLtools                                          | ✓                                           | ✘                                                                  |
+| Use manual control (remote) with NN policy    | ✘ GPS/MoCap                                 | ✓ Manual attitude commands                                         |
+| Load policy checkpoints from SD card                             | ✓ Upload via MAVLink FTP                    | ✘ Compiled into firmware                                           |
+| Offboard setpoints                                               | ✓ MAVLink                                   | ✘                                                                  |
+| Internal Trajectory Generator                                    | ✓ (Position, Lissajous)  | ✘                                                                  |
@@ -0,0 +1,119 @@
+# MC Neural Networks Control
+
+<Badge type="tip" text="PX4 v1.17" /> <Badge type="warning" text="Experimental" />
+
+:::warning
+This is an experimental module.
+Use at your own risk.
+:::
+
+The Multicopter Neural Network (NN) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) is an example module that allows you to experiment with using a pre-trained neural network on PX4.
+It might be used, for example, to experiment with controllers for non-traditional drone morphologies, computer vision tasks, and so on.
+
+The module integrates a pre-trained neural network based on the [TensorFlow Lite Micro (TFLM)](./tflm.md) module.
+The module is trained for the [X500 V2](../frames_multicopter/holybro_x500v2_pixhawk6c.md) multicopter frame.
+While the controller is fairly robust, and might work on other platforms, we recommend [Training your own Network](#training-your-own-network) if you use a different vehicle.
+Note that after training the network you will need to update and rebuild PX4.
+
+TLFM is a mature inference library intended for use on embedded devices.
+It has support for several architectures, so there is a high likelihood that you can build it for the board you want to use.
+If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page) and [Executorch](https://pytorch.org/executorch-overview).
+
+This document explains how you can include the module in your PX4 build, and provides a broad overview of how it works.
+The other documents in the section provide more information about the integration, allowing you to replace the NN with a version trained on different data, or even to replace the TLFM library altogether.
+
+If you are looking for more resources to learn about the module, a website has been created with links to a youtube video and a workshop paper. A full master's thesis will be added later. [A Neural Network Mode for PX4 on Embedded Flight Controllers](https://ntnu-arl.github.io/px4-nns/).
+
+## Neural Network PX4 Firmware
+
+:::warning
+This module requires Ubuntu 24.04 or newer (it is not supported in Ubuntu 22.04).
+:::
+
+The module has been tested on a number of configurations, which can be build locally using the commands:
+
+```sh
+make px4_sitl_neural
+```
+
+```sh
+make px4_fmu-v6c_neural
+```
+
+```sh
+make mro_pixracerpro_neural
+```
+
+You can add the module to other board configurations by modifying their `default.px4board file` configuration to include these lines:
+
+```sh
+CONFIG_LIB_TFLM=y
+CONFIG_MODULES_MC_NN_CONTROL=y
+```
+
+:::tip
+The `mc_nn_control` module takes up roughly 50KB, and many of the `default.px4board file` are already close to filling all the flash on their boards. To make room for the neural control module you can remove the include statements for other modules, such as FW, rover, VTOL and UUV.
+:::
+
+## Example Module Overview
+
+The example module replaces the entire controller structure as well as the control allocator, as shown in the diagram below:
+
+![neural_control](../../assets/advanced/neural_control.png)
+
+In the [controller diagram](../flight_stack/controller_diagrams.md) you can see the [uORB message](../middleware/uorb.md) flow.
+We hook into this flow by subscribing to messages at particular points, using our neural network to calculate outputs, and then publishing them into the next point in the flow.
+We also need to stop the module publishing the topic to be replaced, which is covered in [Neural Network Module: System Integration](nn_module_utilities.md)
+
+### Input
+
+The input can be changed to whatever you want.
+Set up the input you want to use during training and then provide the same input in PX4.
+In the Neural Control module the input is an array of 15 numbers, and consists of these values in this order:
+
+- [3] Local position error. (goal position - current position)
+- [6] The first 2 rows of a 3 dimensional rotation matrix.
+- [3] Linear velocity
+- [3] Angular velocity
+
+All the input values are collected from uORB topics and transformed into the correct representation in the `PopulateInputTensor()` function.
+PX4 uses the NED frame representation, while the Aerial Gym Simulator, in which the NN was trained, uses the ENU representation.
+Therefore two rotation matrices are created in the function and all the inputs are transformed from the NED representation to the ENU one.
+
+![ENU-NED](../../assets/advanced/ENU-NED.png)
+
+ENU and NED are just rotation representations, the translational difference is only there so both can be seen in the same figure.
+
+### 출력
+
+The output consists of 4 values, the motor forces, one for each motor.
+These are transformed in the `RescaleActions()` function.
+This is done because PX4 expects normalized motor commands while the Aerial Gym Simulator uses physical values.
+So the output from the network needs to be normalized before they can be sent to the motors in PX4.
+
+The commands are published to the [ActuatorMotors](../msg_docs/ActuatorMotors.md) topic.
+The publishing is handled in `PublishOutput(float* command_actions)` function.
+
+:::tip
+If the neural control mode is too aggressive or unresponsive the [MC_NN_THRST_COEF](../advanced_config/parameter_reference.md#MC_NN_THRST_COEF) parameter can be tuned.
+Decrease it for more thrust.
+:::
+
+## Training your own Network
+
+The network is currently trained for the [X500 V2](../frames_multicopter/holybro_x500v2_pixhawk6c.md).
+But the controller is somewhat robust, so it could work directly on other platforms, but performing system identification and training a new network is recommended.
+
+Since the Aerial Gym Simulator is open-source you can download it and train your own networks as long as you have access to an NVIDIA GPU.
+If you want to train a control network optimized for your platform you can follow the instructions in the [Aerial Gym Documentation](https://ntnu-arl.github.io/aerial_gym_simulator/9_sim2real/).
+
+You should do one system identification flight for this and get an approximate inertia matrix for your platform.
+On the `sys-id` flight you need ESC telemetry, you can read more about that in [DSHOT](../peripherals/dshot.md).
+
+Then do the following steps:
+
+- Do a hover flight
+- Read of the logs what RPM is required for the drone to hover.
+- Use the weight of each motor, length of the motor arms, total weight of the platform with battery to calculate an approximate inertia matrix for the platform.
+- Insert these values into the Aerial Gym configuration and train your network.
+- Convert the network as explained in [TFLM](tflm.md).
@@ -0,0 +1,86 @@
+# Neural Network Module: System Integration
+
+The neural control module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) implements an end-to-end controller utilizing neural networks.
+
+The parts of the module directly concerned with generating the code for the trained neural network and integrating it into the module are covered in [TensorFlow Lite Micro (TFLM)](./tflm.md).
+This page covers the changes that were made to integrate the module into PX4, both within the module, and in larger system configuration.
+
+:::tip
+This topic should help you to shape the module to your own needs.
+
+You will need some familiarity with PX4 development.
+For more information see the developer [Getting Started](../dev_setup/getting_started.md).
+:::
+
+## 자동 실행
+
+A line to autostart the [mc_nn_control](../modules/modules_controller.md#mc-nn-control) module has been added in the [`ROMFS/px4fmu_common/init.d/rc.mc_apps`](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rc.mc_apps) startup script.
+
+It checks whether the module is included by looking for the parameter [MC_NN_EN](../advanced_config/parameter_reference.md#MC_NN_EN).
+If this is set to `1` (the default value), the module will be started when booting PX4.
+Similarly you could create other parameters in the [`mc_nn_control_params.c`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/mc_nn_control_params.c) file for other startup script checks.
+
+## Custom Flight Mode
+
+The module creates its own flight mode "Neural Control" which lets you choose it from the flight mode menu in QGC and bind it to a switch on you RC controller.
+This is done by using the [ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) internally.
+This involves several steps and is visualized here:
+
+:::info
+The module does not actually use ROS 2, it just uses the API exposed through uORB topics.
+:::
+
+:::info
+In some QGC versions the flight mode does not show up, so make sure to update to the newest version.
+This only works for some flight controllers, so you might have to use an RC controller to switch to the correct external flight mode.
+:::
+
+![neural_mode_registration](../../assets/advanced/neural_mode_registration.png)
+
+1. Publish a [RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md).
+   This specifies what you want to create, you can read more about this in the [Control Interface](../ros2/px4_ros2_control_interface.md).
+   In this case we register an arming check and a mode.
+2. Wait for a [RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md).
+   This will give feedback on wether the mode registration was successful, and what the mode and arming check id is for the new mode.
+3. [Optional] With the mode id, publish a [VehicleControlMode](../msg_docs/VehicleControlMode.md) message on the `config_control_setpoints` topic.
+   Here you can configure what other modules run in parallel.
+   The example controller replaces everything, so it turns off allocation.
+   If you want to replace other parts you can enable or disable the modules accordingly.
+4. [Optional] With the mode id, publish a [ConfigOverrides](../msg_docs/ConfigOverrides.md) on the `config_overrides_request` topic.
+   (This is not done in the example module) This will let you defer failsafes or stop it from automatically disarming.
+5. When the mode has been registered a [ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) will be sent, asking if your mode has everything it needs to run.
+   This message must be answered with a [ArmingCheckReply](../msg_docs/ArmingCheckReply.md) so the mode is not flagged as unresponsive.
+   In this response it is possible to set what requirements the mode needs to run, like local position.
+   If any of these requirements are set the commander will stop you from switching to the mode if they are not fulfilled.
+   It is also important to set health_component_index and num_events to 0 to not get a segmentation fault.
+   Unless you have a health component or events.
+6. Listen to the [VehicleStatus](../msg_docs/VehicleStatus.md) topic.
+   If the nav_state equals the assigned `mode_id`, then the Neural Controller is activated.
+7. When active the module will run the controller and publish to [ActuatorMotors](../msg_docs/ActuatorMotors.md).
+   If you want to replace a different part of the controller, you should find the appropriate topic to publish to.
+
+To see how the requests are handled you can check out [src/modules/commander/ModeManagement.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeManagement.cpp).
+
+## 로깅
+
+To add module-specific logging a new topic has been added to [uORB](../middleware/uorb.md) called [NeuralControl](../msg_docs/NeuralControl.md).
+The message definition is also added in `msg/CMakeLists.txt`, and to [`src/modules/logger/logged_topics.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/logger/logged_topics.cpp) under the debug category.
+For these messages to be saved in your logs you need to include `debug` in the [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) parameter.
+
+## Timing
+
+The module has two includes for measuring the inference times.
+The first one is a driver that works on the actual flight controller units, but a second one, `chrono`, is loaded for SITL testing.
+Which timing library is included and used is based on wether PX4 is built with NUTTX or not.
+
+## Changing the setpoint
+
+The module uses the [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) message's position fields to define its target.
+To follow a trajectory, you can send updated setpoints.
+For an example of how to do this in a PX4 module, see the [mc_nn_testing](https://github.com/SindreMHegre/PX4-Autopilot-public/tree/main/src/modules/mc_nn_testing) module in this fork.
+Note that this is not included in upstream PX4.
+To use it, copy the module folder from the linked repository into your workspace, and enable it by adding the following line to your `.px4board` file:
+
+```sh
+CONFIG_MODULES_MC_NN_TESTING=y
+```
@@ -0,0 +1,221 @@
+# RAPTOR: A Neural Network Module for Adaptive Quadrotor Control
+
+<Badge type="tip" text="main (planned for PX4 v1.18)" /> <Badge type="info" text="Multicopter" /> <Badge type="warning" text="Experimental" />
+
+:::warning
+This is an experimental module.
+Use at your own risk.
+:::
+
+RAPTOR is a tiny reinforcement-learning based neural network module for quadrotor control that can be used to control a wide variety of quadrotors without retuning.
+
+This topic provides an overview of the fundamental concepts, and explains how you can use the module in simulation and real hardware.
+
+## 개요
+
+![Visual Abstract](../../assets/advanced/neural_networks/raptor/visual_abstract.jpg)
+
+RAPTOR is an adaptive policy for end-to-end quadrotor control.
+It is motivated by the human ability to adapt learned behaviours to similar situations.
+For example, while humans may initially require many hours of driving experience to be able to smoothly control the car and blend into traffic, when faced with a new vehicle they do not need to re-learn how to drive — they only need to experience a few rough braking/acceleration/steering responses to adjust their previously learned behavior.
+
+Reinforcement Learning (RL) is a machine learning technique that uses trial and error to learn decision making/control behaviors, which is similar to the way that humans learn to drive.
+RL is interesting for controlling robots (and particularly UAVs) because it overcomes some fundamental limitations of classic, modular control architectures (information loss at module boundaries, requirement for expert tuning, etc).
+RL has been very successful in [high-performance quadrotor flight](https://doi.org/10.1038/s41586-023-06419-4), but previous designs have not been particularly adaptable to new frames and vehicle types.
+
+RAPTOR fills this gap and demonstrates a single, tiny neural-network control policy that can control a wide variety of quadrotors (tested on real quadrotors from 32 g to 2.4 kg).
+
+For more details please refer to this video:
+
+<lite-youtube videoid="hVzdWRFTX3k" title="RAPTOR: A Foundation Policy for Quadrotor Control"/>
+
+The method we developed for training the RAPTOR policy is called Meta-Imitation Learning:
+
+![Diagram showing the Method Overview](../../assets/advanced/neural_networks/raptor/method.jpg)
+
+You can torture test the RAPTOR policy in your browser at [https://raptor.rl.tools](https://raptor.rl.tools) or in the embedded app here:
+
+<iframe src="https://rl-tools.github.io/raptor.rl.tools?raptor=false" width="100%" height="1000" style="border: none;"></iframe>
+
+For more information please refer to the paper at [https://arxiv.org/abs/2509.11481](https://arxiv.org/abs/2509.11481).
+
+## 구조
+
+The RAPTOR control policy is an end-to-end policy that takes position, orientation, linear velocity and angular velocity as inputs and outputs motor commands (`actuator_motors`).
+To integrate it into PX4 we use the external mode registration facilities in PX4 (which also works well for internal modes as demonstrated in `mc_nn_control`).
+Because of this architecture the `mc_raptor` module is completely decoupled from all other PX4 logic.
+
+By default, the RAPTOR module expects setpoints via `trajectory_setpoint` messages.
+If no `trajectory_setpoint` messages are received or if no `trajectory_setpoint` is received within 200 ms, the current position and orientation (with zero velocity) is used as the setpoint.
+Since feeding setpoints reliably via telemetry is still a challenge, we also implement a simple option to generate internal reference trajectories (controlled through the `MC_RAPTOR_INTREF` parameter) for demonstration and benchmarking purposes.
+
+## 특징
+
+- Tiny neural network (just 2084 parameters) => minimal CPU usage
+- Easily maintainable
+  - Simple CMake setup
+  - Self-contained (no interference with other modules)
+  - Single, simple and well-maintained dependency (RLtools)
+- Loading neural network parameters from SD card
+  - Minimal flash usage (for possible inclusion into default build configurations)
+  - Easy development: Train new neural network and just upload it via MAVLink FTP without requiring to re-flash the firmware
+- Tested on 10+ different real platforms (including flexible frames, brushed motors)
+- Actively developed and maintained
+
+## 사용법
+
+### SITL
+
+Build PX4 SITL with Raptor, disable QGC requirement, and adjust the `IMU_GYRO_RATEMAX` to match the simulation IMU rate
+
+```sh
+make px4_sitl_raptor gz_x500
+param set NAV_DLL_ACT 0
+param set COM_DISARM_LAND -1 # When taking off in offboard the landing detector can cause mid-air disarms
+param set IMU_GYRO_RATEMAX 250 # Just for SITL. Tested with IMU_GYRO_RATEMAX=400 on real FCUs
+param set MC_RAPTOR_ENABLE 1 # Enable the mc_raptor module
+param save
+```
+
+Upload the RAPTOR checkpoint to the "SD card": Separate terminal
+
+```bash
+mavproxy.py --master udp:127.0.0.1:14540
+ftp mkdir /raptor # for the real FMU use: /fs/microsd/raptor
+ftp put src/modules/mc_raptor/blob/policy.tar /raptor/policy.tar
+```
+
+Restart (<kbd>Ctrl+C</kbd>)
+
+```sh
+make px4_sitl_raptor gz_x500
+commander takeoff
+commander status
+```
+
+Note the external mode ID of `RAPTOR` in the status report
+
+```sh
+commander mode ext{RAPTOR_MODE_ID}
+```
+
+#### Internal Reference Trajectory Generation
+
+In our experience, feeding the `trajectory_setpoint` via MAVLink (even via WiFi telemetry) is unreliable.
+But we do not want to constrain this module to only platforms that have a companion board.
+
+For this reason we have integrated a simple internal reference trajectory generator for testing and benchmarking purposes.
+It supports position (constant position and yaw setpoint) as well as configurable [Lissajous trajectories](https://en.wikipedia.org/wiki/Lissajous_curve).
+
+The Lissajous generator can, for example, generate smooth figure-eight trajectories that contain interesting accelerations for benchmarking and testing purposes.
+Please refer to the embedded configurator later in this section to explore the Lissajous parameters and view the resulting trajectories.
+
+To use the internal reference generator, select the mode: `0`: Off/activation position tracking, `1`: Lissajous
+
+```sh
+param set MC_RAPTOR_INTREF 1
+```
+
+Restart (ctrl+c)
+
+```sh
+commander takeoff
+commander mode ext{RAPTOR_MODE_ID}
+mc_raptor intref lissajous 0.5 1 0 2 1 1 10 3
+```
+
+The trajectory is relative to the position and yaw of the vehicle at the point where the RAPTOR mode is activated (or the position and yaw where the parameters are changed if it is already activated).
+
+You can adjust the parameters of the trajectory with the following tool.
+Make sure to copy the generated CLI string at the end:
+
+<iframe src="https://rl-tools.github.io/mc-raptor-trajectory-tool" width="100%" height="1700" style="border: none;"></iframe>
+
+### Real-World
+
+#### 설정
+
+The `mc_raptor` module has been mostly tested with the Holybro X500 V2 but it should also work out-of-the-box with other platforms (see the [Other Platforms](#other-platforms) section).
+
+```sh
+make px4_fmu-v6c_raptor upload
+```
+
+We recommend initially testing the RAPTOR mode using a dead man's switch.
+For this we configure the mode selection to be connected to a push button or a switch with a spring that automatically switches back.
+In the default position we configure e.g. `Stabilized Mode` and in the pressed configuration we select `External Mode 1` (since the name of the external mode is only transmitted at runtime).
+This allows to take off manually and then just trigger the RAPTOR mode for a split-second to see how it behaves.
+In our experiments it has been exceptionally stable (zero crashes) but we still think progressively activating it for longer is the safest way to build confidence.
+
+:::warning
+Make sure that your platform uses the standard PX4 quadrotor motor layout:
+
+1: front-right, 2: back-left, 3: front-left, 4: back-right
+:::
+
+##### Other Platforms
+
+To enable the `mc_raptor` module in other platforms, just add `CONFIG_MODULES_MC_RAPTOR=y` and `CONFIG_LIB_RL_TOOLS=y`
+
+```diff
+++ b/boards/px4/fmu-v6c/raptor.px4board
+@@ -35,2 +35,3 @@
+ CONFIG_DRIVERS_UAVCAN=y
+CONFIG_LIB_RL_TOOLS=y
+ CONFIG_MODULES_AIRSPEED_SELECTOR=y
+@@ -64,2 +65,3 @@
+ CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RAPTOR=y
+ CONFIG_MODULES_MC_RATE_CONTROL=y
+```
+
+#### Results
+
+Even though there were moderate winds (~ 5 m/s) during the test, we found good figure-eight tracking performance at velocities up to 12 m/s:
+
+![Lissajous](../../assets/advanced/neural_networks/raptor/results_figure_eight.svg)
+
+We also tested the linear velocity in a straight line and found that the RAPTOR policy can reliably fly at > 17 m/s (the wind direction was orthogonal to the line):
+
+![Linear Oscillation](../../assets/advanced/neural_networks/raptor/results_line.svg)
+
+### 문제 해결
+
+#### 로깅
+
+Use this logging configuration to log all relevant topics at maximum rate:
+
+```sh
+cat > logger_topics.txt << EOF
+raptor_status 0
+raptor_input 0
+trajectory_setpoint 0
+vehicle_local_position 0
+vehicle_angular_velocity 0
+vehicle_attitude 0
+vehicle_status 0
+actuator_motors 0
+EOF
+```
+
+Use mavproxy FTP to upload it:
+
+```sh
+mavproxy.py
+```
+
+##### Real
+
+```sh
+ftp mkdir /fs/microsd/etc
+ftp mkdir /fs/microsd/etc/logging
+ftp put logger_topics.txt /fs/microsd/etc/logging/logger_topics.txt
+```
+
+##### SITL
+
+```sh
+ftp mkdir etc
+ftp mkdir logging
+ftp put logger_topics.txt etc/logging/logger_topics.txt
+```
@@ -0,0 +1,77 @@
+# TensorFlow Lite Micro (TFLM)
+
+The PX4 [MC Neural Networks Control](../neural_networks/mc_neural_network_control.md) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library.
+
+This is a mature inference library intended for use on embedded devices, and is hence a suitable choice for PX4.
+
+This guide explains how the TFLM library is integrated into the [mc_nn_control](../modules/modules_controller.md#mc-nn-control) module, and the changes you would have to make to use it for your own neural network.
+
+:::tip
+For more information, see the [TFLM guide](https://ai.google.dev/edge/litert/microcontrollers/get_started).
+:::
+
+## TLMF NN Formats
+
+TFLM uses networks in its own [tflite format](https://ai.google.dev/edge/litert/models/convert).
+However, since many microcontrollers do not have native filesystem support, a tflite file can be converted to a C++ source and header file.
+
+This is what is done in `mc_nn_control`.
+The tflight neural network is represented in code by the files [`control_net.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/control_net.cpp) and [`control_net.hpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/control_net.hpp).
+
+### Getting a Network in tflite Format
+
+There are many online resource for generating networks in the `.tflite` format.
+
+For this example we trained the network in the open source [Aerial Gym Simulator](https://ntnu-arl.github.io/aerial_gym_simulator/).
+Aerial Gym includes a guide, and supports RL both for control and vision-based navigation tasks.
+
+The project includes conversion code for `PyTorch -> TFLM` in the [resources/conversion](https://github.com/ntnu-arl/aerial_gym_simulator/tree/main/resources/conversion) folder.
+
+### Updating `mc_nn_control` with your own NN
+
+You can convert a `.tflite` network into a `.cc` file in the ubuntu terminal with this command:
+
+```sh
+xxd -i converted_model.tflite > model_data.cc
+```
+
+You will then have to modify the `control_net.hpp` and `control_net.cpp` to include the data from `model_data.cc`:
+
+- Take the size of the network in the bottom of the `.cc` file and replace the size in `control_net.hpp`.
+- Take the data in the model array in the `cc` file, and replace the ones in `control_net.cpp`.
+
+You are now ready to run your own network.
+
+## Code Explanation
+
+This section explains the code used to integrate the NN in `control_net.cpp`.
+
+### Operations and Resolver
+
+Firstly we need to create the resolver and load the needed operators to run inference on the NN.
+This is done in the top of `mc_nn_control.cpp`.
+The number in `MicroMutableOpResolver<3>` represents how many operations you need to run the inference.
+
+A full list of the operators can be found in the [micro_mutable_op_resolver.h](https://github.com/tensorflow/tflite-micro/blob/main/tensorflow/lite/micro/micro_mutable_op_resolver.h) file.
+There are quite a few supported operators, but you will not find the most advanced ones.
+In the control example the network is fully connected so we use `AddFullyConnected()`.
+Then the activation function is ReLU, and we `AddAdd()` for the bias on each neuron.
+
+### Interpreter
+
+In the `InitializeNetwork()` we start by setting up the model that we loaded from the source and header file.
+Next is to set up the interpreter, this code is taken from the TFLM documentation and is thoroughly explained there.
+The end state is that the `_control_interpreter` is set up to later run inference with the `Invoke()` member function.
+The `_input_tensor` is also defined, it is fetched from `_control_interpreter->input(0)`.
+
+### 입력
+
+The `_input_tensor` is filled in the `PopulateInputTensor()` function.
+`_input_tensor` works by accessing the `->data.f` member array and fill in the required inputs for your network.
+The inputs used in the control network is covered in [MC Neural Networks Control](../neural_networks/mc_neural_network_control.md).
+
+### 출력
+
+For the outputs the approach is fairly similar to the inputs.
+After setting the correct inputs, calling the `Invoke()` function the outputs can be found by getting `_control_interpreter->output(0)`.
+And from the output tensor you get the `->data.f` array.
@@ -151,6 +151,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 ### uXRCE-DDS / ROS2

 - [PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113): <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically
+- <Badge type="warning" text="Experimental"/>[PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [ROS-based waypoint missions](../ros2/px4_ros2_waypoint_missions.md).
 - dds_topics: add vtol_vehicle_status ([PX4-Autopilot#24582](https://github.com/PX4/PX4-Autopilot/pull/24582))
 - dds_topics: add home_position ([PX4-Autopilot#24583](https://github.com/PX4/PX4-Autopilot/pull/24583))

@@ -0,0 +1,134 @@
+# PX4-Autopilot v1.17.0 Release Notes
+
+<Badge type="danger" text="Alpha/Beta" />
+
+<script setup>
+import { useData } from 'vitepress'
+const { site } = useData();
+</script>
+
+<div v-if="site.title !== 'PX4 Guide (main)'">
+  <div class="custom-block danger">
+    <p class="custom-block-title">This page is on a release branch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/main.html">See the latest version</a>.</p>
+  </div>
+</div>
+
+This contains changes to PX4 planned for PX4 v1.17 (since the last major release [PX v1.16](../releases/1.16.md)).
+
+:::warning
+PX4 v1.17 is in alpha/beta testing.
+Update these notes with features that are going to be in PX4 v1.17 release.
+New features that are not expected to go into the v1.17 release are in [PX4-Autopilot `main` Release Notes](../releases/main.md).
+:::
+
+## Read Before Upgrading
+
+TBD …
+
+Please continue reading for [upgrade instructions](#upgrade-guide).
+
+## Major Changes
+
+- TBD
+
+## Upgrade Guide
+
+## Other changes
+
+### Hardware Support
+
+- **[New Hardware]** boards: [MicoAir743-Lite FC](../flight_controller/micoair743-lite.md) <!-- CHECK is this version and add PR link (or fix up doc version tag and move this) -->
+- **[New Hardware]** boards: [RadiolinkPIX6 FC](../flight_controller/radiolink_pix6.md) <!-- CHECK is this version and add PR! -->
+- **[New Hardware]** boards: [AP-H743-R1 FC](../flight_controller/x-mav_ap-h743r1.md) <!-- CHECK is this version and add PR! -->
+
+<!--
+
+### Common
+
+- [QGroundControl Bootloader Update](../advanced_config/bootloader_update.md#qgc-bootloader-update-sys-bl-update) via the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter has been re-enabled after being broken for a number of releases. ([PX4-Autopilot#25032: build: romf: fix generation of rc.board_bootloader_upgrade](https://github.com/PX4/PX4-Autopilot/pull/25032)).
+-->
+
+### 제어
+
+<!--
+
+- Added new flight mode(s): [Altitude Cruise (MC)](../flight_modes_mc/altitude_cruise.md), Altitude Cruise (FW).
+  For fixed-wing the mode behaves the same as Altitude mode but you can disable the manual control loss failsafe. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
+
+-->
+
+- <Badge type="warning" text="Experimental" /> [MC Neural Network Module](../advanced/neural_networkss.md)
+
+### Estimation
+
+- TBD
+
+<!--
+
+### Sensors
+
+- Add [sbgECom INS driver](../sensor/sbgecom.md) ([PX4-Autopilot#24137](https://github.com/PX4/PX4-Autopilot/pull/24137))
+- Quick magnetometer calibration now supports specifying an arbitrary initial heading ([PX4-Autopilot#24637](https://github.com/PX4/PX4-Autopilot/pull/24637))
+
+-->
+
+### 시뮬레이션
+
+- Overhaul rover simulation:
+  - Add synthetic differential rover model: [PX4-gazebo-models#107](https://github.com/PX4/PX4-gazebo-models/pull/107)
+  - Add synthetic mecanum rover model: [PX4-gazebo-models#113](https://github.com/PX4/PX4-gazebo-models/pull/113)
+  - Update synthetic ackermann rover model: [PX4-gazebo-models#117](https://github.com/PX4/PX4-gazebo-models/pull/117)
+
+- [Simulation-in-Hardware (SIH)](../sim_sih/index.md#compatibility) <!-- Listed in https://docs.px4.io/main/en/sim_sih/#compatibility : Check the PRs -->
+  - New simulation: MC Hexacopter X
+  - New simulation: Ackermann Rover
+
+### Debug & Logging
+
+- TBD
+
+### Ethernet
+
+- TBD
+
+### uXRCE-DDS / Zenoh / ROS2
+
+- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [Fixed Wing lateral/longitudinal setpoint](../ros2/px4_ros2_control_interface.md#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype) (`FwLateralLongitudinalSetpointType`) and [VTOL transitions](../ros2/px4_ros2_control_interface.md#controlling-a-vtol). ([PX4-Autopilot#24056](https://github.com/PX4/PX4-Autopilot/pull/24056)).
+- [UXRCE_DDS: Simple index based namespace (UXRCE_DDS_NS_IDX)](../middleware/uxrce_dds.md#customizing-the-namespace)
+- [Zenoh (PX4 ROS 2 rmw_zenoh)](../middleware/zenoh.md)
+
+### MAVLink
+
+- TBD
+
+<!--
+
+### RC
+
+- Parse ELRS Status and Link Statistics TX messages in the CRSF parser.
+
+### Multi-Rotor
+
+- Removed parameters `MPC_{XY/Z/YAW}_MAN_EXPO` and use default value instead, as they were not deemed necessary anymore. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
+- Renamed `MPC_HOLD_DZ` to `MAN_DEADZONE` to have it globally available in modes that allow for a dead zone. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
+-->
+
+### 수직이착륙기(VTOL)
+
+- TBD
+
+### Fixed-wing
+
+- [Fixed Wing Takeoff mode](../flight_modes_fw/takeoff.md) will now keep climbing with level wings on position loss.
+  A target takeoff waypoint can be set to control takeoff course and loiter altitude. ([PX4-Autopilot#25083](https://github.com/PX4/PX4-Autopilot/pull/25083)).
+- Automatically suppress angular rate oscillations using [Gain compression](../features_fw/gain_compression.md). ([PX4-Autopilot#25840: FW rate control: add gain compression algorithm](https://github.com/PX4/PX4-Autopilot/pull/25840))
+
+### 탐사선
+
+- Removed deprecated rover module ([PX4-Autopilot#25054](https://github.com/PX4/PX4-Autopilot/pull/25054)).
+- Add support for [Apps & API](../flight_modes_rover/api.md) including [Rover Setpoints](../ros2/px4_ros2_control_interface.md#rover-setpoints) ([PX4-Autopilot#25074](https://github.com/PX4/PX4-Autopilot/pull/25074), [PX4-ROS2-Interface-Lib#140](https://github.com/Auterion/px4-ros2-interface-lib/pull/140)).
+- Update [rover simulation](../frames_rover/index.md#simulation) ([PX4-Autopilot#25644](https://github.com/PX4/PX4-Autopilot/pull/25644)) (see [Simulation](#simulation) release note for details).
+
+### ROS 2
+
+- TBD
@@ -2,7 +2,8 @@

 PX4 릴리스 노트는 각 릴리스의 변경 사항들을 설명합니다.

- [main](../releases/main.md) (changes since v1.16)
+- [main](../releases/main.md) (changes planned for v1.18 or later)
+- [v1.17](../releases/1.17.md) (changes planned for v1.17, since v1.16)
 - [v1.16](../releases/1.16.md)
 - [v1.15](../releases/1.15.md)
 - [v1.14](../releases/1.14.md)
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Hamish Willee	ea3f7bcfb2	Copilot Review instructions: Drivers	2026-02-11 10:45:28 +11:00
Eric Katzfey	64e3cb16fa	Removed VOXL2_IO: tag from all voxl2_io debug messages as they are redundant	2026-02-10 15:45:40 -07:00
Eric Katzfey	77d8e4f213	VOXLPM: Updated driver to publish battery status at 20ms intervals. Changed printf to PX4_INFO.	2026-02-10 11:46:44 -07:00
Balduin	ecf8191aad	Battery: Declare fault on overtemperature If the measured temperature exceeds the fixed threshold of 100 degC, a fault is declared, causing batteryCheck to show a failsafe warning to the user.	2026-02-10 13:44:46 +01:00
Jacob Dahl	3fb1459c33	ManualControl: fix payload power switch state when mapped with RC (RC_MAP_PAY_SW) (#26357 ) * ManualControl: Payload Power Switch: default PAYLOAD_POWER_EN false if RC_MAP_PAY_SW is configured. Apply initial switch state for Payload Power * make format * ManualControl: init power_en in init() * ManualControl: Apply payload power state on first switch receipt if not armed * simplfy * fix idefs * simplify	2026-02-09 21:36:35 -09:00
Jacob Dahl	ee196fadb8	gps: ubx: add output rate parameter (#26388 ) * gps: ubx: add parameter to configure module measurement rate (GPS_UBX_RATE) * gps: update submodule * submodule	2026-02-09 22:49:40 -07:00
Julian Oes	fd9abf76fd	Fixup docs	2026-02-10 15:47:31 +13:00
Julian Oes	a98d68f919	AirBrainH743: use /fs/flash instead of /fs/microsd	2026-02-10 15:47:31 +13:00
Julian Oes	7d2d85e6ac	AirBrainH743: reformat littlefs if required	2026-02-10 15:47:31 +13:00
Julian Oes	34845a62b0	AirBrainH743: add external I2C This is for future/later board revisions.	2026-02-10 15:47:31 +13:00
Julian Oes	7715a4ab4c	AirBrainH743: configure for active buzzer We can't use passive buzzers because the timer to drive the PWM would conflict with the motor outputs M7 and M8.	2026-02-10 15:47:31 +13:00
Julian Oes	ea2ca45cf9	boards: add support for Gear Up AirBrainH743	2026-02-10 15:47:31 +13:00
Jacob Dahl	14864814ef	gps: ubx: added jamming sensitivity parameter (#26386 ) * gps: ubx: added jamming sensitivity parameter GPS_UBX_JAM_DET * submodule * gps: submodule to main	2026-02-09 17:43:39 -09:00
Julian Oes	3a6a57bd45	kakuteh7v2: use /fs/flash instead of /fs/microsd	2026-02-10 15:23:51 +13:00
Julian Oes	e0af9f4ef4	boards: add NAND flash logging support to KakuteH7v2 - Initialize W25N01GV NAND flash on SPI1 with littlefs. - Enable BOARD_SMALL_FLASH_LOGGING for small flash handling. - Increase logger buffer size for flash write performance.	2026-02-10 15:23:51 +13:00
Julian Oes	0294d4a794	dataman: increase stack size for littlefs Increase stack size when using littlefs filesystem, which requires more stack space than traditional filesystems.	2026-02-10 15:23:51 +13:00
Julian Oes	d411e1c40d	logger: increase stack size for littlefs	2026-02-10 15:23:51 +13:00
Julian Oes	833e4536b7	nuttx: add support for NAND flash This cherry-picks upstream commits adding NAND flash support for the Winbond W25N specifically W25N01GV chip. NAND flash is used together with littlefs, hence I updated that to 2.5.1 to match upstream NuttX.	2026-02-10 15:23:51 +13:00
Eric Katzfey	1b7e12cf90	VOXL_ESC: bringing the driver up to date with ModalAI latest. Includes new open loop "PWM" command handling.	2026-02-09 16:38:53 -07:00
Eric Katzfey	aacb7e35dd	For VOXL flight controllers, Use DSP clock directly on Posix for CLOCK_MONOTONIC	2026-02-09 15:22:36 -07:00
Eric Katzfey	1dbee4100a	uORB: Added a new uorb_shutdown function that is called during normal shutdown procedures. It will only call into a new UORB COMMUNICATOR ICHANNEL shutdown interface if it has been configured, otherwise it does nothing. This allows ICHANNEL implementations to pass on a shutdown indication to a remote processor. Implemented the shutdown interface in the muorb module for VOXL flight controllers.	2026-02-09 15:21:41 -07:00
Nick	dbb00d500f	Update src/modules/commander/failure_detector/FailureDetector.cpp Prevent Buffer overflow	2026-02-09 18:08:26 +01:00
Matthias Grob	61a8ae80a6	FailureDetector: implement upper and lower current limit with offset	2026-02-09 18:08:26 +01:00
Matthias Grob	f8329ff80d	FailureDetector: rework motor status check	2026-02-09 18:08:26 +01:00
Matthias Grob	b4b1b44c6a	FailureDetector: consistent timestamp naming	2026-02-09 18:08:26 +01:00
Matthias Grob	f5a56ae42f	escCheck: rework online check to properly report offline ESCs previous to this `09d79b221f` set `esc_online_flags` e.g. for UAVCAN ESCs which specific one is online and that then got compared to a mask where the first `esc_count` bits were set. So if only ESC 5 is mapped and online you get the message "ESC 156 offline" because `esc_online_flags = 0b1000` gets compared to `online_bitmask = 0b1` based on `esc_count = 1` and the motor index is `esc[0].actuator_function = 0` wrapped using `0 - actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1 + 1 = 156`.	2026-02-09 18:08:26 +01:00
Marco Hauswirth	c4535683a7	ekf2 unit-tests: adapt to strict GNSS checks on ground	2026-02-09 10:59:58 +01:00
Matthias Grob	f9cdd095b8	gnss_checks: always run strict checks on ground With the goal to never take off if the GNSS solution is not fullfilling the configured requirements still not stopping to use it in case it degrades mid air.	2026-02-09 10:59:58 +01:00
Matthias Grob	61c990c5ee	estimator_interface: remove unused getter	2026-02-09 10:59:58 +01:00
Beat Küng	8115cf2597	docs: update link for px4 ros2 interface lib python api docs	2026-02-09 10:03:55 +01:00
Eric Katzfey	eb43d21730	voxl2_io: Added UART passthru	2026-02-08 20:51:31 -07:00
Eric Katzfey	5e54d727fc	voxl_esc: Limit frequency of UART passthru writes to 20Hz	2026-02-08 20:51:31 -07:00
Andrew Brahim	ecb222c7e7	uavcannode: implement hardpoint commands (#26334 ) * implement cannode hardpoint commands Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * Update src/drivers/uavcannode/Subscribers/HardpointCommand.hpp Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Update src/drivers/uavcannode/Subscribers/HardpointCommand.hpp Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * add hardpoint sub to ark cannode, simplify handling of hardpoint broadcast Signed-off-by: dirksavage88 <dirksavage88@gmail.com> --------- Signed-off-by: dirksavage88 <dirksavage88@gmail.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2026-02-08 18:36:11 -09:00
Aaron1356	a5a7dd802c	[Feature] Adding I2C driver for the GRF250 and GRF500 models (#26425 ) * Adding the GRF I2C driver * I2C Driver Working * Removing a lot of unnecessary code * fixing names * Changing the i2c Driver to be in the lightware laser * remove the old driver * formatting fix * Adding Ligthware GRF to documentation	2026-02-06 15:26:13 -05:00
Silvan	7b72335876	UI: remove isAdvanced=false for Altitude Cruise Signed-off-by: Silvan <silvan@auterion.com>	2026-02-06 18:13:36 +01:00
Beat Küng	446895fdc0	Revert "failsafe: prevent Hold when no action is taken (#26383 )" This reverts commit `40dc011d82`. Not needed anymore	2026-02-06 13:00:08 +01:00
Beat Küng	3eb0255922	fix commander: do not trigger Hold (delay) when failsafe action is Warn The new unit test failed before and passes with the fix.	2026-02-06 13:00:08 +01:00
Hamish Willee	271d3f01a3	Update mavlink/mavlink to latest[A (#26410 )	2026-02-06 08:17:44 +13:00
Hamish Willee	e8fca6e991	uORB docs parser (#24977 )	2026-02-05 17:58:45 +11:00
Beniamino Pozzan	de1314f995	docs: fix badge for UXRCE_DDS_FLCTRL (#26375 ) Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>	2026-02-04 09:40:32 +11:00
Julian Oes	1bfc0da258	[Sponsored by CubePilot] Get CI to pass all boards (#26402 ) * kakutef7: try to save more flash	2026-02-03 16:46:36 -05:00
ch3at	41966774c2	docs: fix incorrect links in config/safety.md (#26355 ) Fixed incorrect links to Acro mode	2026-02-03 20:38:43 +00:00
Jacob Dahl	82e3322e0c	vtxtable: fix KConfig type from string to bool (#26359 )	2026-02-03 13:14:47 +13:00
PX4 Build Bot	e2e89def7e	New Crowdin translations - zh-CN (#26398 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2026-02-02 08:19:45 +11:00
PX4 Build Bot	d5c4ace615	New Crowdin translations - uk (#26397 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2026-02-02 08:19:19 +11:00
Levi Todes	390c9d6ccf	SHT3X driver: change state timer variable from uint32 to uint64. (#24264 ) Prevents current behaviour of repeated entry into 'init' state and associated log spamming after +-72 minutes. Signed-off-by: LeTo37 <levitodes2019@u.northwestern.edu> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2026-01-31 17:57:39 -09:00
Jacob Dahl	63c4f4ac3e	uavcannode: publisher: Fix2: fix eph/epv off by sqrt bug (#26389 )	2026-01-30 10:31:38 -07:00
Nick	40dc011d82	failsafe: prevent Hold when no action is taken (#26383 )	2026-01-30 14:09:56 +01:00
Pernilla	8d97013822	Mavlink: increase stream rate of GIMBAL_DEVICE_ATTITUDE_STATUS	2026-01-30 13:06:58 +01:00
mahima-yoga	4e59a060a8	HomePosition: only set home position using GNSS if bit 0 in EKF2_GPS_CTRL is active If the vehicle position is not set by GNSS, then the home position should not be either.	2026-01-30 11:20:34 +01:00
tompsontan	f8c1e8b81f	Improve QMC5883P magnetometer stability by optimizing OSR and ODR settings. (#26350 )	2026-01-29 19:38:20 -09:00
Nick	6be1a14e06	docs: COM_FLTT_LOW_ACT default fixed (#26374 )	2026-01-29 15:21:45 -09:00
Julian Oes	3075724f9e	jmavsim: update submodule (#26369 ) This contains: https://github.com/PX4/jMAVSim/pull/140 which updates dependencies and adds macOS arm64 support.	2026-01-30 10:19:38 +13:00
Eric Katzfey	e37a216393	QURT/SERIAL: Undo the breaking changes from commit `17f3db9231`. (#26382 ) A check was added for a non-existant parameter. This commit removes those.	2026-01-29 12:03:18 -09:00
Eric Katzfey	90fec17427	CRSF_RC: Replace strlcpy with strncpy and null termination. strlcpy is a BSD extension and is not part of standard C/C++. (#26381 ) It's typically not available in glibc's <string.h>.	2026-01-29 12:02:36 -09:00
ttechnick	03264ce1a7	failsafe: prevent switch offboard -->pos without RC	2026-01-29 18:21:00 +01:00
Daniel Honies	ac4f419b50	Update 4004_gz_standard_vtol VT_F_TRANS_THR at 0.3 always triggers front transition timeout as the vehicle does not accaelerate quickly enough. With the param set to 1.0 it works.	2026-01-29 18:07:32 +01:00
Phil-Engljaehringer	193a4478ed	fix: adjusted probe function to new revision of TLA2528 (and add status function)	2026-01-29 18:04:25 +01:00
Phil-Engljaehringer	744548e9f2	fix: use correct address passed with -a flag	2026-01-29 18:03:04 +01:00
Beat Küng	b9bd820186	docs: mention python bindings in ros lib	2026-01-29 08:20:03 +01:00
Beat Küng	e0f1022681	ci: ignore python packages in px4-ros2-interface-lib Due to build issues with very old ROS version	2026-01-29 08:20:03 +01:00
Hamish Willee	4c184f309c	docs: Max code line length 140 chars (#26368 )	2026-01-29 13:43:22 +11:00
Sindre Meyer Hegre	adf1bab518	docs: add link to masther thesis for mc_nn_control (#26279 )	2026-01-29 13:10:21 +11:00
Claudio Chies	f5c5f2ed8c	Update FLARM link to the correct product page (#26361 ) * Update FLARM link to the correct product page * Update docs/en/peripherals/adsb_flarm.md --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2026-01-29 12:48:30 +11:00
Julian Oes	09d3f05bcd	gazebo-classic: update for CI test fixes (#26335 ) The fix: https://github.com/PX4/PX4-SITL_gazebo-classic/pull/1084 seems to help with test failures locally.	2026-01-29 06:05:55 +13:00
Loic Fernau	b7d9876cd9	Added missing Defaults to VEHICLE_CMD_DO_SET_MODE (#26291 ) * Added missing Defaults to VEHICLE_CMD_DO_SET_MODE * Made Format	2026-01-29 05:36:21 +13:00
Julian Oes	bd6b0699cc	Fetch metadata files from master not main For flash constrained builds, the component metadata files are downloaded directly from s3. For the main branch, these files are currently still uploaded to master. Therefore, we also need to reference master and not main. This fixes the actuators tab in QQC for KakuteH743-Wing which is one of the boards that did not exist in source when we briefly uploaded to main before reverting back to master, presumably for QGC compatibility.	2026-01-28 09:43:28 +01:00
Jonas Eschmann	684ba28fbf	Update iframe source to fix mixed content warning (#26309 )	2026-01-28 17:54:35 +11:00
Hamish Willee	1797ce4e88	Fix round trip hello_sky translation (#26360 )	2026-01-28 16:59:40 +11:00
PX4 Build Bot	05517935dc	New Crowdin translations - ko (#26246 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2026-01-28 16:43:34 +11:00
PX4 Build Bot	4af33cef43	New Crowdin translations - uk (#26247 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2026-01-28 16:43:23 +11:00
PX4 Build Bot	c90095e8b4	New Crowdin translations - zh-CN (#26248 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2026-01-28 16:43:18 +11:00
Jacob Dahl	65cedc8bf8	px_uploader: add ARK PID/VIDs (#26358 )	2026-01-27 15:38:30 -09:00
Matthias Grob	9be7585add	SagetechMXS: remove two unused subscriptions (#26356 ) Randomly saw that there's a publication and subscription for the same topic and it is in this case indeed useless.	2026-01-27 11:48:23 -09:00
tompsontan	2282330102	board:fixed ap-h743r1 bmi270 rotation; update internal mag rotation. (#26341 )	2026-01-27 10:30:06 -09:00
Balduin	0676647d8a	ControlAllocator: Periodically spin MC motors to shed ice (#26322 ) This feature periodically spins the unused motors on VTOL airframes, to break off ice that has built up in the motor while it is still feasible to do so. Each ice shedding event sends a motor ouput of 0.01 to the unused motors for 2 seconds. Configured by `CA_ICE_PERIOD`, the duration of the entire cycle. Set to 0 to disable.	2026-01-27 11:15:24 +01:00
Balduin	50bb31491b	AirspeedModule: Change to throttle without battery scaling (#26347 ) rather than the vehicle_thrust_setpoint used previously, which includes battery scaling which we don't want, neither for synthetic airspeed nor for the airspeed validator.	2026-01-27 11:03:44 +01:00
Matthias Grob	cac3c3c133	boot script: start uavcan and zenoh before logger because they publish optional topics which need to be advertised before logger starts otherwise they do not get logged!	2026-01-27 10:06:22 +01:00
Nick	c2490e01a5	tiny uavcan optimizations (#26344 ) Reduce number of hrt_absolute_time() calls and node_id.get()	2026-01-27 09:06:18 +01:00
Marin D	01d8113f8b	modify: remove xtensa-tarfile after installation (#26326 ) Signed-off-by: Marin Doetterer <marin@auterion.com>	2026-01-26 11:33:27 -09:00
Niklas Hauser	091ac918b1	[vtx] Remove unused uORB messages (#26345 )	2026-01-26 11:31:55 -09:00
Niklas Hauser	c0c265cd1f	[vtx] Add VTX driver with Tramp and SmartAudio support	2026-01-26 11:05:22 +01:00
Julian Oes	fad4450d7d	Jenkins: pin emscripten version (#26339 ) This would match GitHub action and hopefully fix CI.	2026-01-25 12:56:17 -08:00
David Meng	1cfab8feb2	mavlink: odometry: Initialize the covariance matrix to 0 to prevent the entire matrix from becoming invalid after mavros performs coordinate transformation. (#26321 )	2026-01-24 12:52:13 -09:00
Tarmo Tänav	e2864e521f	Fill TC_M0_ID in offboard thermal calibration script (#26290 )	2026-01-23 15:47:27 -09:00
Julian Oes	9460625c99	Tools: rewrite uploader script (#26310 ) * Tools: rewrite uploader script This adds a script called px4_uploader.py which is a complete rewrite using Claude Code of px_uploader.py. The main improvements over the previous px_uploader.py script are: - Separate smaller classes instead of one big uploader class. - Easier debugging with --verbose or --debug flags. - Nicer progress animation. - No more hard to debug Exception swallowing over multiple levels. - Auto-detection and looping of devices, removing the functionality from cmake. - Auto-detection of PX4 devices by USB VID/PID. - Add noninteractive mode - Add JSON output mode	2026-01-24 11:09:17 +13:00
Silvan Fuhrer	32fc5cb5b9	RTL: only run initRtlMissionType() when new type is of any mission type Otherwise it kills the mission when the type jumps from mission to Home. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2026-01-23 17:16:42 +01:00
Matthias Grob	7a6506f2dd	rtl: redability suggestions from review, remove unused subscription	2026-01-23 17:16:42 +01:00
Silvan	a416437561	rtl: guard access of dynamically created _rtl_mission_type_handle behind if() To avoid hard faults from NULL access. Signed-off-by: Silvan <silvan@auterion.com>	2026-01-23 17:16:42 +01:00
Silvan	554b52c6a1	RTL: fix RTL_TYPE=2 with RTL_LAND_DELAY set to indefinitely wait Signed-off-by: Silvan <silvan@auterion.com>	2026-01-23 17:16:42 +01:00
Silvan	fc992385a9	RTL: fix RTL_TYPE=2 stuck without valid mission Signed-off-by: Silvan <silvan@auterion.com>	2026-01-23 17:16:42 +01:00
Silvan	0577a40440	RTL Direct: remove unnecessary sanitization Signed-off-by: Silvan <silvan@auterion.com>	2026-01-23 17:16:42 +01:00
Matthias Grob	2239c10192	rtl: restructure findRtlDestination() to one flow	2026-01-23 17:16:42 +01:00
Matthias Grob	8117fce790	rtl: never set arbitrary yaw, initialize _destination and _last_position_before_link_loss with NAN	2026-01-23 17:16:42 +01:00
Matthias Grob	18c3d889fe	rtl: keep rtl_status struct on stack	2026-01-23 17:16:42 +01:00
Matthias Grob	31c7d70342	rtl refactor: name destination "destination"	2026-01-23 17:16:42 +01:00
Matthias Grob	6386f10ba2	rtl: unify finding closest safe point and move finding the destination into the dedicated function returning the destination	2026-01-23 17:16:42 +01:00
Matthias Grob	deb9a1ad4e	rtl: remove duplication for safe landing only in setRtlTypeAndDestination()	2026-01-23 17:16:42 +01:00
Matthias Grob	f685df32bc	rtl refactor: make dependency of rtl_type in status clear	2026-01-23 17:16:42 +01:00
Matthias Grob	432b0e8c58	rtl: adhere to parameter member naming convention	2026-01-23 17:16:42 +01:00
Silvan	024b3d27ac	RTL: add new RTL_TYPE to only allow returns to safe points or last link position Do not allow RTL to Home or mission landings. Signed-off-by: Silvan <silvan@auterion.com>	2026-01-23 17:16:42 +01:00
bresch	5d5e1db97f	ekf2: update change indicator	2026-01-23 14:46:08 +01:00
bresch	d3da4fe608	ekf2 mag: clear mag_fault when healthy again	2026-01-23 14:46:08 +01:00
Jacob Dahl	76b58b6f0b	remove unused CTestConfig.cmake (#26333 )	2026-01-22 15:07:38 -09:00
Atsunori Saito	75d7395daa	v6xrt: correct LED state read logic (#26316 ) Move negation to return value instead of GPIO map argument for proper active-low handling.	2026-01-22 14:11:37 -09:00
David Meng	11f4d5c4e7	control_allocator: improve status output formatting (#26277 )	2026-01-22 14:09:56 -09:00
Pernilla	522c15284f	Gimbal: (#26331 ) * passing const reference instead to avoid the copy * remove unused using declaration	2026-01-22 14:02:03 -09:00
Dmitry Ponomarev	93ab802202	add ability to control uavcan hardpoint by MAV_CMD_DO_GRIPPER (#19124 ) * update uavcan hardpoint: add ability to use it via mavlink cmd and during mission and removed send_command() dedicated for usage via mavlink console * uavcan hardpoint: allow gripper ID 0 --------- Co-authored-by: Andrew Brahim <35986980+dirksavage88@users.noreply.github.com>	2026-01-22 16:43:18 -05:00
Jacob Dahl	3381b270ea	uavcannode: add CANNODE_PUB_BAR and CANNODE_PUB_MAG parameters to optionally disable baro and mag data publication (#26324 )	2026-01-22 09:59:59 -08:00
Julian Oes	aed8a78c1d	mavlink: accept broadcast commands (#26311 ) I think - per MAVLink spec - PX4 ought to accept broadcast commands which are aimed at system ID 0, so anyone/all.	2026-01-23 06:55:34 +13:00
Niklas Hauser	9cf07c2452	[logger] Ensure msg buffer is large enough for all uORB message headers	2026-01-22 17:58:04 +01:00
bresch	230276540f	estimator_status_flags: remove useless logged flags Those flags are not so useful for log analysis and can be found in the aid_src topics	2026-01-22 17:58:04 +01:00