Add helper script for running HITL

Fix
mavsdk_tests: prevent missing updates
2026-05-28 10:00:04 +08:00 · 2021-02-12 01:16:20 +01:00 · 2021-02-10 16:37:02 -05:00 · 2021-02-10 16:34:01 -05:00 · 2021-02-10 15:56:58 +01:00 · 2021-02-10 15:56:58 +01:00
306 changed files with 14980 additions and 2588 deletions
@@ -9,10 +9,10 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2020-11-18",
-            arm64: "px4io/px4-dev-aarch64:2020-11-18",
-            base: "px4io/px4-dev-base-bionic:2020-11-18",
-            nuttx: "px4io/px4-dev-nuttx-focal:2020-11-18",
+            armhf: "px4io/px4-dev-armhf:2021-02-04",
+            arm64: "px4io/px4-dev-aarch64:2021-02-04",
+            base: "px4io/px4-dev-base-bionic:2021-02-04",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

@@ -52,6 +52,8 @@ pipeline {
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
+                     "holybro_can-gps-v1",
+                     "holybro_can-gps-v1_canbootloader",
                     "intel_aerofc-v1_default",
                     "modalai_fc-v1_default",
                     "mro_ctrl-zero-f7_default",
@@ -90,6 +92,7 @@ pipeline {
                     "px4_fmu-v5x_base_phy_DP83848C",
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6x_default",
+                     "px4_fmu-v6u_default",
                     "px4_io-v2_default",
                     "spracing_h7extreme_default",
                     "uvify_core_default"
@@ -125,7 +128,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -1017,6 +1017,8 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2020-11-18",
+	"image": "px4io/px4-dev-nuttx-focal:2021-02-04",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

@@ -28,7 +28,7 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2020-11-18
+      image: px4io/px4-dev-nuttx-focal:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2020-11-18
+    container: px4io/px4-dev-clang:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2020-11-18
+    container: px4io/px4-dev-armhf:2021-02-04
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2020-11-18
+    container: px4io/px4-dev-aarch64:2021-02-04
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
    strategy:
      matrix:
        config: [
@@ -29,6 +29,8 @@ jobs:
          cubepilot_cubeorange_default,
          cubepilot_cubeyellow_console,
          cubepilot_cubeyellow_default,
+          holybro_can-gps-v1_canbootloader,
+          holybro_can-gps-v1_default,
          holybro_durandal-v1_default,
          holybro_kakutef7_default,
          holybro_pix32v5_default,
@@ -57,6 +59,7 @@ jobs:
          px4_fmu-v4_ctrlalloc,
          px4_fmu-v4_default,
          px4_fmu-v4_optimized,
+          px4_fmu-v4_uavcanv1,
          px4_fmu-v4pro_default,
          px4_fmu-v5_ctrlalloc,
          px4_fmu-v5_default,
@@ -66,9 +69,11 @@ jobs:
          px4_fmu-v5_rover,
          px4_fmu-v5_rtps,
          px4_fmu-v5_stackcheck,
+          px4_fmu-v5_uavcanv1,
          px4_fmu-v5x_base_phy_DP83848C,
          px4_fmu-v5x_default,
          px4_fmu-v6x_default,
+          px4_fmu-v6u_default,
          px4_io-v2_default,
          spracing_h7extreme_default,
          uvify_core_default
@@ -11,12 +11,13 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
    strategy:
      matrix:
        config: [
          ark_can-flow_default,
          cuav_can-gps-v1_default,
+          holybro_can-gps-v1_default,
          #nxp_ucans32k146_default,
          px4_fmu-v4_cannode
          ]
@@ -19,7 +19,7 @@ jobs:
          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
+      image: px4io/px4-dev-ros-melodic:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -25,7 +25,7 @@ jobs:
          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
+      image: px4io/px4-dev-ros-melodic:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -20,7 +20,7 @@ jobs:
          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
+      image: px4io/px4-dev-ros-melodic:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -12,7 +12,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -27,7 +27,7 @@ jobs:

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -42,7 +42,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -57,7 +57,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -72,7 +72,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -86,7 +86,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -99,7 +99,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@@ -20,7 +20,7 @@ jobs:
          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
    container:
-      image: px4io/px4-dev-simulation-focal:2020-11-18
+      image: px4io/px4-dev-simulation-focal:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -28,9 +28,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.36.0/mavsdk_0.36.0_ubuntu20.04_amd64.deb
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb
+      run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -54,3 +54,15 @@
 [submodule "src/examples/gyro_fft/CMSIS_5"]
 	path = src/examples/gyro_fft/CMSIS_5
 	url = https://github.com/ARM-software/CMSIS_5.git
+[submodule "src/drivers/uavcan_v1/libcanard"]
+	path = src/drivers/uavcan_v1/libcanard
+	url = https://github.com/UAVCAN/libcanard.git
+[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
+	path = src/drivers/uavcan_v1/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types.git
+[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
+	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types
+[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
+	path = src/drivers/uavcannode_gps_demo/libcanard
+	url = https://github.com/UAVCAN/libcanard
@@ -6,16 +6,6 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_asan:
-      short: px4_sitl (AddressSanitizer)
-      buildType: AddressSanitizer
-      settings:
-        CONFIG: px4_sitl_default
-    px4_sitl_ubsan:
-      short: px4_sitl (UndefinedBehaviorSanitizer)
-      buildType: UndefinedBehaviorSanitizer
-      settings:
-        CONFIG: px4_sitl_default
    px4_sitl_replay:
      short: px4_sitl_replay
      buildType: RelWithDebInfo
@@ -15,7 +15,7 @@ pipeline {
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2020-11-18'
+        //       image 'px4io/px4-dev-ros-melodic:2021-02-04'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2020-11-18'
+              image 'px4io/px4-dev-ros2-foxy:2021-02-04'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@@ -87,7 +87,7 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh 'make distclean'
@@ -106,14 +106,14 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh 'make distclean'
            sh 'make parameters_metadata'
            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
-              stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
+              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
+              stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
            }
          }
          post {
@@ -125,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh 'make distclean'
@@ -145,7 +145,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2020-11-18'
+              image 'px4io/px4-dev-nuttx-focal:2021-02-04'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -174,7 +174,7 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@@ -204,7 +204,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@@ -232,7 +232,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@@ -262,7 +262,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@@ -291,7 +291,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@@ -334,7 +334,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@@ -344,6 +344,7 @@ pipeline {
            withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
+              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
            }
          }
          when {
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2020, PX4 Development Team
+Copyright (c) 2012 - 2021, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -8,16 +8,17 @@
 if [ $AUTOCNF = yes ]
 then
 	param set GND_L1_DIST 5
+	param set GND_L1_PERIOD 100
 	param set GND_SP_CTRL_MODE 1
 	param set GND_SPEED_D 0.001
-	param set GND_SPEED_I 3
+	param set GND_SPEED_I 8
 	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
+	param set GND_SPEED_P 2
 	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 4
-	param set GND_THR_CRUISE 0.3
+	param set GND_SPEED_TRIM 1
+	param set GND_THR_CRUISE 0.85
 	param set GND_THR_IDLE 0
-	param set GND_THR_MAX 0.5
+	param set GND_THR_MAX 1
 	param set GND_THR_MIN 0

 	param set MIS_LTRMIN_ALT 0.01
@@ -46,10 +46,10 @@ else
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
 		exit 1
 	else
-		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi

@@ -63,12 +63,12 @@ if [ -f $PARAM_FILE ]
 then
 	if param load
 	then
-		echo "INFO  [init] Loaded: $PARAM_FILE"
+		echo "[param] Loaded: $PARAM_FILE"
 	else
-		echo "ERROR  [init] FAILED loading $PARAM_FILE"
+		echo "[param] FAILED loading $PARAM_FILE"
 	fi
 else
-	echo "INFO  [init] parameter file not found, creating $PARAM_FILE"
+	echo "[param] parameter file not found, creating $PARAM_FILE"
 fi

 # exit early when the minimal shell is requested
@@ -192,7 +192,7 @@ do
 	esac
 done
 if [ ! -e "$autostart_file" ]; then
-	echo "ERROR  [init] no autostart file found ($autostart_file)"
+	echo "Error: no autostart file found ($autostart_file)"
 	exit 1
 fi

@@ -7,6 +7,8 @@
 #
 # @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
 #
+# @board px4_fmu-v2 exclude
+#

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

@@ -101,7 +101,6 @@ then
 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_LAND_SPEED 1.2
 	param set MPC_TILTMAX_LND 35
-	param set MPC_Z_VEL_MAX 1.5
 	param set MPC_Z_VEL_MAX_UP 1.5
 	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_HOLD_MAX_XY 0.5
@@ -0,0 +1,61 @@
+#!/bin/sh
+#
+# @name Generic Quadplane VTOL (PWM14)
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 Aileron 1
+# @output MAIN6 Aileron 2
+# @output MAIN7 Elevator
+# @output MAIN8 Rudder
+# @output MAIN9 Pusher motor
+#
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set PWM_MAIN_RATE 400
+
+	param set PWM_MAIN_MIN1 1100
+	param set PWM_MAIN_MIN2 1100
+	param set PWM_MAIN_MIN3 1100
+	param set PWM_MAIN_MIN4 1100
+
+	param set PWM_MAIN_MAX1 1900
+	param set PWM_MAIN_MAX2 1900
+	param set PWM_MAIN_MAX3 1900
+	param set PWM_MAIN_MAX4 1900
+
+	param set PWM_MAIN_DIS1 900
+	param set PWM_MAIN_DIS2 900
+	param set PWM_MAIN_DIS3 900
+	param set PWM_MAIN_DIS4 900
+	param set PWM_MAIN_DIS5 1500
+	param set PWM_MAIN_DIS6 1500
+	param set PWM_MAIN_DIS7 1500
+	param set PWM_MAIN_DIS8 1500
+	param set PWM_MAIN_DIS9 900
+
+	param set VT_TYPE 2
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+fi
+
+set MAV_TYPE 22
+
+set MIXER quad_x_vtol_AAERT
+set MIXER_AUX none
+
+set PWM_OUT 1234
@@ -7,8 +7,10 @@
 #
 # @maintainer Silvan Fuhrer
 #
+# @board px4_fmu-v2 exclude
+#

-. ${R}etcinit.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc

 if [ $AUTOCNF = yes ]
@@ -36,7 +36,7 @@ then
 	param set GND_SPEED_IMAX 0.125
 	param set GND_SPEED_THR_SC 1
 	param set GND_THR_IDLE 0
-	param set GND_THR_CRUISE 0
+	param set GND_THR_CRUISE 0.3
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0
 	param set GND_WR_P 2
@@ -34,7 +34,7 @@ then
 	param set FW_AIRSPD_MAX 3

 	param set GND_THR_IDLE 0
-	param set GND_THR_CRUISE 0
+	param set GND_THR_CRUISE 0.3
 	param set GND_THR_MAX 0.5

 	# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
@@ -7,6 +7,8 @@
 #
 # @maintainer Silvan Fuhrer
 #
+# @board px4_fmu-v2 exclude
+#

 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc
@@ -138,6 +138,7 @@ px4_add_romfs_files(
 	13012_convergence
 	13013_deltaquad
 	13014_vtol_babyshark
+	13015_generic_vtol_standard
 	13050_generic_vtol_octo
 	13200_generic_vtol_tailsitter

@@ -156,6 +157,8 @@ px4_add_romfs_files(
 	# [18000, 18999] High-altitude balloons
 	18001_TF-B1

+	# [22000, 22999] Reserve for custom models
+
 	24001_dodeca_cox

 	50000_generic_ground_vehicle
@@ -24,6 +24,7 @@ then
 	param set MPC_TKO_SPEED 1
 	param set MPC_VEL_MANUAL 3
 	param set MPC_XY_CRUISE 3
+	param set MPC_XY_ERR_MAX 5
 	param set MPC_XY_VEL_MAX 4
 	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_JERK_MAX 4.5
@@ -271,6 +271,57 @@ else
 		param set SYS_AUTOCONFIG 0
 	fi

+	#
+	# Check if PX4IO present and update firmware if needed.
+	# Assumption IOFW set to firmware file and IO_PRESENT = no
+	#
+
+	if [ -f $IOFW ]
+	then
+		# Check for the mini using build with px4io fw file
+		# but not a px4IO
+		if ver hwtypecmp V540 V560
+		then
+			param set SYS_USE_IO 0
+		else
+			if px4io checkcrc ${IOFW}
+			then
+				set IO_PRESENT yes
+			else
+				# tune Program PX4IO
+				tune_control play -t 16 # tune 16 = PROG_PX4IO
+
+				if px4io start
+				then
+					# Try to safety px4 io so motor outputs don't go crazy.
+					if ! px4io safety_on
+					then
+						# px4io did not respond to the safety command.
+						px4io stop
+					fi
+				fi
+
+				if px4io forceupdate 14662 ${IOFW}
+				then
+					usleep 10000
+					tune_control stop
+					if px4io checkcrc ${IOFW}
+					then
+						echo "PX4IO CRC OK after updating"
+						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
+						set IO_PRESENT yes
+					fi
+				fi
+
+				if [ $IO_PRESENT = no ]
+				then
+					echo "PX4IO update failed"
+					tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
+				fi
+			fi
+		fi
+	fi
+
 	#
 	# Set USE_IO flag.
 	#
@@ -279,54 +330,10 @@ else
 		set USE_IO yes
 	fi

-	#
-	# Check if PX4IO present and update firmware if needed.
-	# Assumption IOFW set to firmware file and IO_PRESENT = no
-	#
-
-	if [ -f $IOFW -a $USE_IO = yes ]
+	if [ $USE_IO = yes -a $IO_PRESENT = no ]
 	then
-		if px4io checkcrc ${IOFW}
-		then
-			set IO_PRESENT yes
-		else
-			# tune Program PX4IO
-			tune_control play -t 16 # tune 16 = PROG_PX4IO
-
-			if px4io start
-			then
-				# Try to safety px4 io so motor outputs don't go crazy.
-				if ! px4io safety_on
-				then
-					# px4io did not respond to the safety command.
-					px4io stop
-				fi
-			fi
-
-			if px4io forceupdate 14662 ${IOFW}
-			then
-				usleep 10000
-				tune_control stop
-				if px4io checkcrc ${IOFW}
-				then
-					echo "PX4IO CRC OK after updating"
-					tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
-					set IO_PRESENT yes
-				fi
-			fi
-
-			if [ $IO_PRESENT = no ]
-			then
-				echo "PX4IO update failed"
-				tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
-			fi
-		fi
-
-		if [ $USE_IO = yes -a $IO_PRESENT = no ]
-		then
-			echo "PX4IO not found"
-			tune_control play error
-		fi
+		echo "PX4IO not found"
+		tune_control play error
 	fi

 	#
@@ -76,6 +76,7 @@ px4_add_romfs_files(
 	quad_x_cw.main.mix
 	quad_x.main.mix
 	quad_x_vtol.main.mix
+	quad_x_vtol_AAERT.main.mix
 	rover_diff_and_servo.main.mix
 	rover_generic.main.mix
 	standard_vtol_hitl.main.mix
@@ -0,0 +1,29 @@
+Mixer for an AAERT VTOL
+=======================
+
+R: 4x
+
+Aileron 1 mixer
+---------------
+M: 1
+S: 1 0  7500  7500    0 -10000  10000
+
+Aileron 2 mixer
+---------------
+M: 1
+S: 1 0  7500  7500    0 -10000  10000
+
+Elevator mixer
+--------------
+M: 1
+S: 1 1  10000  10000      0 -10000  10000
+
+Rudder mixer
+------------
+M: 1
+S: 1 2 -10000 -10000      0 -10000  10000
+
+Throttle mixer
+--------------
+M: 1
+S: 1 3      0  20000 -10000 -10000  10000
@@ -12,6 +12,8 @@ exec find boards msg src platforms test \
    -path platforms/nuttx/NuttX -prune -o \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
+    -path src/drivers/uavcan_v1/libcanard -prune -o \
+    -path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
    -path src/lib/ecl -prune -o \
    -path src/lib/matrix -prune -o \
@@ -4,10 +4,10 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-11-18"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-02-04"
 	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-11-18"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64
 		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
@@ -16,13 +16,13 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
 	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# aerotenna_ocpoc_default, posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-11-18"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
 	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2020-11-18"
+		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
 	elif [[ $@ =~ .*tests* ]]; then
 		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2020-11-18"
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-02-04"
 	fi
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
@@ -125,7 +125,7 @@ def get_gps_check_fail_flags(estimator_status: dict) -> dict:

    # 0 : insufficient fix type (no 3D solution)
    # 1 : minimum required sat count fail
-    # 2 : minimum required PDOP fail
+    # 2 : maximum allowed PDOP fail
    # 3 : maximum allowed horizontal position error fail
    # 4 : maximum allowed vertical position error fail
    # 5 : maximum allowed speed error fail
@@ -0,0 +1,200 @@
+#!/bin/bash
+#Author: Benjamin Perseghetti
+#Email: bperseghetti@rudislabs.com
+# This script unifies running gazebo simulation for HITL and SITL
+# You can run multiple instances of the 'px4' binary, with the gazebo SITL simulation
+# This script assumes px4 is already built, with 'make px4_sitl_default gazebo'
+# You can also run HITL with -h flag 
+# Generate world and/or model files with editable json -j [m (model), w (world), mw (model and world), or wm (world and model)]
+
+# The simulator in SITL is expected to send to TCP port 4560+i for i in [0, N-1]
+# For example gazebo can be run like this for multiple SITL:
+# ./Tools/gz_sim.sh -n 10 -m iris
+# Or gazebo can be run like this for HITL:
+# ./Tools/gz_sim.sh -h 1 -m standard_vtol
+
+function cleanup() {
+	echo "running the cleanup"
+	pkill -x px4
+	pkill gazebo
+	pkill gzclient
+	pkill gzserver
+}
+
+trap "cleanup" INT SIGINT SIGTERM EXIT
+
+function spawn_model() {
+	MODEL=$1
+	N=$2 #Instance Number
+	WORLD_FILE=$3
+	MJ=$4
+	SITL_MODEL_NAME="${MODEL}_${N}"
+	sitl_path=${SCRIPT_DIR}/sitl_gazebo
+	jinja_model_script=${sitl_path}/scripts/jinja_model_gen.py
+	base_model="--base_model ${MODEL}"
+	model_json="--json_gen ${MJ}"
+
+	if [ $hitl == true ]; then
+		python3 ${src_path}/Tools/boot_now.py "/dev/ttyACM0"
+		hil_mode="--hil_mode 1"
+		model_name="--model_name ${MODEL}"
+		hitl_launch_command="${model_json} ${base_model} ${hil_mode}  ${model_name}"
+		echo "Generating: ${jinja_model_script} ${hitl_launch_command}"
+		python3 ${jinja_model_script} ${hitl_launch_command}
+		sleep 1
+		source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
+		sleep 2
+		gazebo ${sitl_path}/worlds/temp_${WORLD_FILE}.world --verbose
+
+	else
+		mavlink_tcp="--mavlink_tcp_port $((4560+${N}))"
+		mavlink_udp="--mavlink_udp_port $((14560+${N}))"
+		model_name="--model_name ${SITL_MODEL_NAME}"
+		output_path="--output_path /tmp"
+		working_dir="$build_path/instance_$n"
+		sitl_launch_command="${model_json} ${base_model} ${mavlink_tcp} ${mavlink_udp} ${model_name} ${output_path}"
+		[ ! -d "$working_dir" ] && mkdir -p "$working_dir"
+		pushd "$working_dir" &>/dev/null
+		echo "starting instance $N in $(pwd)"
+		../bin/px4 -i $N -d "$build_path/etc" -w sitl_${SITL_MODEL_NAME} -s etc/init.d-posix/rcS >out.log 2>err.log &
+		python3 ${jinja_model_script} ${sitl_launch_command}
+		echo "Generating: ${jinja_model_script} ${sitl_launch_command}" 
+		echo "Spawning ${SITL_MODEL_NAME}"
+		gz model --spawn-file=/tmp/${SITL_MODEL_NAME}.sdf --model-name=${SITL_MODEL_NAME} -x 0.0 -y $((3*${N})) -z 0.2	
+		popd &>/dev/null
+	fi
+	
+}
+
+if [ "$1" == "--help" ]; then
+	echo "Usage: $0 [-n <num_vehicles>] [-m <vehicle_model>] [-h <run_hitl>] [-w <world>] [-s <script>] [-t <num_threads>] [-j <json_params>]"
+	echo "-s flag is used to script spawning vehicles e.g. $0 -s iris:3,plane:2"
+	echo "-h flag is used to launch a single vehicle in HITL mode"
+	echo "-t flag is used to set the number of ODE threads for the world"
+	echo "-j flag is used to enable json parameters from gen_params.json for the world (w), model (m), or both (wm or mw)"
+	exit 1
+fi
+
+while getopts n:m:h:w:s:t:j:p option
+do
+	case "${option}"
+	in
+		n) NUM_VEHICLES=${OPTARG};;
+		m) VEHICLE_MODEL=${OPTARG};;
+		h) HITL=${OPTARG};;
+		w) WORLD=${OPTARG};;
+		s) SCRIPT=${OPTARG};;
+		t) THREADS=${OPTARG};;
+		j) JSON=${OPTARG};;
+		p) TARGET=${OPTARG};;
+	esac
+done
+
+num_vehicles=${NUM_VEHICLES:=1}
+world=${WORLD:=empty}
+hitl=${HITL:=false}
+threads=${THREADS:=1}
+json_opts=${JSON:=0}
+target=${TARGET:=px4_sitl_default}
+system_threads=`grep -Pc '^processor\t' /proc/cpuinfo`
+echo "Number of requested ODE threads: $((threads))"
+echo "Max number of possilbe threads: $((system_threads))"
+if [ $((threads)) -gt $((system_threads)) ]; then
+	threads=$system_threads
+	echo "Requested ODE thread count too high, set to system max of $threads threads."
+elif [ $(( ${threads} )) -lt 1 ]; then
+	threads=1
+	echo "Requested ODE thread count too low, set to $threads thread."
+else
+	echo "Using $threads threads for ODE."
+fi
+
+if [ "$json_opts" == "mw" ] || [ "$json_opts" == "wm" ]; then
+	echo "JSON used for both world and model generation"
+	wjson="1"
+	mjson="1"
+elif [ "$json_opts" == "w" ]; then
+	echo "JSON used for world generation"
+	wjson="1"
+	mjson="0"
+elif [ "$json_opts" == "m" ]; then
+	echo "JSON used for model generation"
+	mjson="1"
+	wjson="0"
+else 
+	wjson="0"
+	mjson="0"
+fi
+
+if [ "$hitl" == "True" ] || [ "$hitl" == "1" ] || [ "$hitl" == "true" ]; then
+	hitl=true
+else
+	hitl=false
+fi
+
+export PX4_SIM_MODEL=${VEHICLE_MODEL:=iris}
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+src_path="$SCRIPT_DIR/.."
+echo ${SCRIPT}
+build_path=${src_path}/build/${target}
+source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
+sleep 1
+
+sitl_path=${SCRIPT_DIR}/sitl_gazebo
+world_name="--world_name ${world}"
+jinja_world_script=${sitl_path}/scripts/jinja_world_gen.py
+sitl_ode_threads="--ode_threads ${threads}"
+world_json="--json_gen ${wjson}"
+
+if [ $hitl == true ]; then
+	hitl_model_name="--model_name ${PX4_SIM_MODEL}"
+	echo "HITL mode is currently turned on, disabling multiple vehicle spawn and script spawn."
+	echo "RUNNING: python3 $jinja_world_script $world_name $hitl_model_name $world_json"
+	python3 $jinja_world_script $world_name $hitl_model_name $world_json
+	echo "Generated temp_${world}.world"
+	spawn_model ${PX4_SIM_MODEL} 0 ${world} ${mjson}
+
+else
+	echo "killing running instances"
+	pkill -x px4 || true
+	echo "HITL mode is currently turned off."
+	echo "RUNNING: python3 $jinja_world_script $world_name $sitl_ode_threads $world_json"
+	python3 $jinja_world_script $world_name $sitl_ode_threads $world_json
+	echo "Generated temp_${world}.world"
+	echo "Starting gazebo: gzserver ${sitl_path}/worlds/temp_${world}.world --verbose"
+	gzserver ${sitl_path}/worlds/temp_${world}.world --verbose &
+	sleep 5
+
+	n=0
+	if [ -z ${SCRIPT} ]; then
+		if [ $num_vehicles -gt 255 ]; then
+			echo "Tried spawning $num_vehicles vehicles. The maximum number of supported vehicles is 255"
+			exit 1
+		fi
+		while [ $n -lt $num_vehicles ]; do
+			spawn_model ${PX4_SIM_MODEL} $n ${world} ${mjson}
+			n=$(($n + 1))
+		done
+	else
+		for target in ${SCRIPT}; do
+			target="$(echo "$target" | tr -d ' ')" #Remove spaces
+			target_vehicle="${target%:*}"
+			target_number="${target#*:}"
+
+			if [ $n -gt 255 ]; then
+				echo "Tried spawning $n vehicles. The maximum number of supported vehicles is 255"
+				exit 1
+			fi
+
+			m=0
+			while [ $m -lt ${target_number} ]; do
+				spawn_model ${PX4_SIM_MODEL} $n ${world} ${mjson}
+				m=$(($m + 1))
+				n=$(($n + 1))
+			done
+		done
+	fi
+	echo "Starting gazebo client"
+	gzclient
+fi
@@ -0,0 +1,155 @@
+#!/usr/bin/env bash
+
+set -e
+
+if [ "$1" == "-h" ] || [ "$1" == "--help" ]
+then
+	echo "Usage: $0 [-n <num_vehicles>] [-m <vehicle_model>] [-w <world>] [-s <script>]"
+	echo "-s flag is used to script spawning vehicles e.g. $0 -s iris:3,plane:2"
+	exit 1
+fi
+
+while getopts n:m:w:s:t: option
+do
+	case "${option}"
+	in
+		b) BAUDRATE=${OPTARG};;
+		d) DEVICE=${OPTARG};;
+		s) SIMULATOR=${OPTARG};;
+		t) VEHICLE_MODEL=${OPTARG};;
+		t) WORLD=${OPTARG};;
+	esac
+done
+
+device={DEVICE:="/dev/ttyACM0"}
+baudrate={BAUDRATE:=921600}
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+src_path="$SCRIPT_DIR/.."
+build_path="$SCRIPT_DIR/build/px4_sitl_default"
+
+# To disable user input
+if [[ -n "$VERBOSE_SIM" ]]; then
+	verbose="--verbose"
+else
+	verbose=""
+fi
+
+program=${SIMULATOR:=gazebo}
+if [ "$program" == "jmavsim" ]; then
+	jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
+	if [ -n "$jmavsim_pid" ]; then
+		kill $jmavsim_pid
+	fi
+fi
+
+if [ "$model" == "" ] || [ "$model" == "none" ]; then
+	if [ "$program" == "jsbsim" ]; then
+		echo "empty model, setting rascal as default for jsbsim"
+		model="rascal"
+	else
+		echo "empty model, setting iris as default"
+		model="iris"
+	fi
+fi
+
+export PX4_SIM_MODEL=${model}
+world=${WORLD:=empty}
+
+# kill process names that might stil
+# be running from last time
+pkill -x gazebo || true
+
+SIM_PID=0
+
+if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]; then
+	# Start Java simulator
+	"$src_path"/Tools/jmavsim_run.sh -r 250 -l &
+	SIM_PID=$!
+elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
+	if [ -x "$(command -v gazebo)" ]; then
+		# Set the plugin path so Gazebo finds our model and sim
+		source "$src_path/Tools/setup_gazebo.bash" "${src_path}" "${build_path}"
+		if [ -z $PX4_SITL_WORLD ]; then
+			#Spawn predefined world
+			if [ "$world" == "none" ]; then
+				if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${model}.world ]; then
+					echo "empty world, default world ${model}.world for model found"
+					world_path="${src_path}/Tools/sitl_gazebo/worlds/${model}.world"
+				else
+					echo "empty world, setting empty.world as default"
+					world_path="${src_path}/Tools/sitl_gazebo/worlds/empty.world"
+				fi
+			else
+				#Spawn empty world if world with model name doesn't exist
+				world_path="${src_path}/Tools/sitl_gazebo/worlds/${world}.world"
+			fi
+		else
+			if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
+				# Spawn world by name if exists in the worlds directory from environment variable
+				world_path="${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
+			else
+				# Spawn world from environment variable with absolute path
+				world_path="$PX4_SITL_WORLD"
+			fi
+		fi
+		gzserver $verbose $world_path &
+		SIM_PID=$!
+
+		python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${model}/${model}.sdf.jinja ${src_path}/Tools/sitl_gazebo --serial_enabled 1 --serial_device ${device} --serial_baudrate ${baudrate} --hil_mode 1 --output-file /tmp/${model}.sdf
+
+		while gz model --verbose --spawn-file="/tmp/${model}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
+			echo "gzserver not ready yet, trying again!"
+			sleep 1
+		done
+
+		if [[ -n "$HEADLESS" ]]; then
+			echo "not running gazebo gui"
+		else
+			# gzserver needs to be running to avoid a race. Since the launch
+			# is putting it into the background we need to avoid it by backing off
+			sleep 3
+			echo "shiiit"
+			nice -n 20 gzclient --verbose --gui-client-plugin libgazebo_user_camera_plugin.so &
+			GUI_PID=$!
+		fi
+	else
+		echo "You need to have gazebo simulator installed!"
+		exit 1
+	fi
+elif [ "$program" == "jsbsim" ] && [ -z "$no_sim" ]; then
+	source "$src_path/Tools/setup_jsbsim.bash" "${src_path}" "${build_path}" ${model}
+	if [[ -n "$HEADLESS" ]]; then
+		echo "not running flightgear gui"
+	else
+		fgfs --fdm=null \
+			--native-fdm=socket,in,60,,5550,udp \
+			--aircraft=$JSBSIM_AIRCRAFT_MODEL \
+			--airport=${world} \
+			--disable-hud \
+			--disable-ai-models &> /dev/null &
+		FGFS_PID=$!
+	fi
+	"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -d ${device} -b ${baudrate} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml" 2> /dev/null &
+	JSBSIM_PID=$!
+fi
+
+pushd "$rootfs" >/dev/null
+
+# Do not exit on failure now from here on because we want the complete cleanup
+set +e
+
+popd >/dev/null
+
+if [ "$program" == "jmavsim" ]; then
+	pkill -9 -P $SIM_PID
+	kill -9 $SIM_PID
+elif [ "$program" == "gazebo" ]; then
+	kill -9 $SIM_PID
+	if [[ ! -n "$HEADLESS" ]]; then
+		kill -9 $GUI_PID
+	fi
+elif [ "$program" == "jsbsim" ]; then
+	kill $JSBSIM_PID
+	kill $FGFS_PID
+fi
@@ -83,7 +83,7 @@ def main():

            # only prune text files
            if ".zip" in file or ".bin" in file or ".swp" in file \
-                    or ".gz" in file or ".bz2" in file \
+                    or ".gz" in file or ".xz" in file or ".bz2" in file \
                    or ".data" in file or ".DS_Store" in file:
                continue

@@ -345,10 +345,10 @@ class uploader(object):
            self.__getSync(False)
        except:
            # if it fails we are on a real serial port - only leave this enabled on Windows
-            if _platform.system() == 'Windows':
+            if sys.platform.startswith('win'):
                self.ackWindowedMode = True
-
-        self.port.baudrate = self.baudrate_bootloader
+        finally:
+            self.port.baudrate = self.baudrate_bootloader

    # send the GET_DEVICE command and wait for an info parameter
    def __getInfo(self, param):
@@ -6,6 +6,7 @@ empy>=3.3
 jinja2>=2.8
 matplotlib>=3.0.*
 numpy>=1.13
+nunavut
 packaging
 pandas>=0.21
 pkgconfig
@@ -0,0 +1,47 @@
+#! /usr/bin/env python3
+""" Script to validate JSON file(s) against a schema file according to
+https://json-schema.org/"""
+
+import argparse
+import sys
+import json
+
+try:
+    from jsonschema import validate
+except ImportError as e:
+    print("Failed to import jsonschema: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user jsonschema")
+    print("")
+    sys.exit(1)
+
+
+parser = argparse.ArgumentParser(description='Validate JSON file(s) against a schema')
+parser.add_argument('json_file', nargs='+', help='JSON config file(s)')
+parser.add_argument('--schema-file', type=str, action='store',
+                    help='JSON schema file', required=True)
+parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                    help='Verbose Output')
+
+args = parser.parse_args()
+schema_file = args.schema_file
+json_files = args.json_file
+verbose = args.verbose
+
+# load the schema
+with open(schema_file, 'r') as stream:
+    schema = json.load(stream)
+
+# validate files
+for json_file in json_files:
+    if verbose: print("Validating {:}".format(json_file))
+    with open(json_file, 'r') as stream:
+        json_data = json.load(stream)
+
+    try:
+        validate(instance=json_data, schema=schema)
+    except:
+        print("JSON validation for {:} failed (schema: {:})".format(json_file, schema_file))
+        raise
+
@@ -100,14 +100,6 @@ SECTIONS
                _einit = ABSOLUTE(.);
        } > flash

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > flash

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -100,14 +100,6 @@ SECTIONS
                _einit = ABSOLUTE(.);
        } > flash

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > flash

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -126,14 +126,6 @@ SECTIONS
 		_einit = ABSOLUTE(.);
 	} > FLASH_AXIM

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > FLASH_AXIM

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -99,14 +99,6 @@ SECTIONS
                _einit = ABSOLUTE(.);
        } > flash

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > flash

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -98,14 +98,6 @@ SECTIONS
                _einit = ABSOLUTE(.);
        } > flash

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > flash

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -101,14 +101,6 @@ SECTIONS
                _einit = ABSOLUTE(.);
        } > flash

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > flash

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -39,6 +39,8 @@ then

 	# Enable IMU thermal control
 	param set SENS_EN_THERMAL 1
+
+	param set UAVCAN_ENABLE 2
 fi

 set LOGGER_BUF 64
@@ -167,14 +167,6 @@ SECTIONS
 		_einit = ABSOLUTE(.);
 	} > FLASH

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > FLASH

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -39,6 +39,8 @@ then

 	# Enable IMU thermal control
 	param set SENS_EN_THERMAL 1
+
+	param set UAVCAN_ENABLE 2
 fi

 set LOGGER_BUF 64
@@ -167,14 +167,6 @@ SECTIONS
 		_einit = ABSOLUTE(.);
 	} > FLASH

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > FLASH

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -39,6 +39,8 @@ then

 	# Disable IMU thermal control
 	param set SENS_EN_THERMAL 0
+
+	param set UAVCAN_ENABLE 2
 fi

 set LOGGER_BUF 64
@@ -168,14 +168,6 @@ SECTIONS
 		_einit = ABSOLUTE(.);
 	} > FLASH

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > FLASH

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -20,6 +20,8 @@ then

 	# Disable IMU thermal control
 	param set SENS_EN_THERMAL 0
+
+	param set UAVCAN_ENABLE 2
 fi

 set LOGGER_BUF 64
@@ -126,14 +126,6 @@ SECTIONS
 		_einit = ABSOLUTE(.);
 	} > FLASH_AXIM

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > FLASH_AXIM

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -0,0 +1,30 @@
+
+# UAVCAN boot loadable Module ID
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+)
+
+set(uavcanblid_hw_version_major 1)
+set(uavcanblid_hw_version_minor 0)
+set(uavcanblid_name "\"org.holybro.can-gps-v1\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR holybro
+	MODEL can-gps-v1
+	LABEL canbootloader
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
+	DRIVERS
+		bootloaders
+)
@@ -0,0 +1,51 @@
+
+
+# UAVCAN boot loadable Module ID
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+)
+
+set(uavcanblid_hw_version_major 1)
+set(uavcanblid_hw_version_minor 0)
+set(uavcanblid_name "\"org.holybro.can-gps-v1\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR holybro
+	MODEL can-gps-v1
+	LABEL default
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 2
+	DRIVERS
+		adc/board_adc
+		barometer/bmp388
+		bootloaders
+		gps
+		imu/bosch/bmi088
+		lights/rgbled_ncp5623c
+		magnetometer/bosch/bmm150
+		uavcannode
+	MODULES
+		load_mon
+	SYSTEMCMDS
+		i2cdetect
+		param
+		perf
+		reboot
+		top
+		topic_listener
+		ver
+		work_queue
+)
@@ -0,0 +1,13 @@
+{
+    "board_id": 79,
+    "magic": "HBCANGPS",
+    "description": "Firmware for the Holybro CAN GPS board",
+    "image": "",
+    "build_time": 0,
+    "summary": "HolybroCANGPS",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 475136,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+rgbled_ncp5623c -I -b 1 -a 0x39  start
@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+
+gps start -d /dev/ttyS0 -g 38400 -p ubx
+
+# TODO:Check for Correct Rotations
+# Internal SPI BMI088
+bmi088 -A -R 0 -s start
+bmi088 -G -R 0 -s start
+
+# Internal Baro
+bmp388 -I -b 1 -a 0x77 start
+
+# Internal magnetometer on I2c
+bmm150 -I -b 1 start
@@ -0,0 +1,68 @@
+#
+# 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_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BINFMT_DISABLE=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_PTHREAD=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_BOARDCTL=y
+CONFIG_MAX_TASKS=0
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=0
+CONFIG_NUNGET_CHARS=0
+CONFIG_NXFONTS_DISABLE_16BPP=y
+CONFIG_NXFONTS_DISABLE_1BPP=y
+CONFIG_NXFONTS_DISABLE_24BPP=y
+CONFIG_NXFONTS_DISABLE_2BPP=y
+CONFIG_NXFONTS_DISABLE_32BPP=y
+CONFIG_NXFONTS_DISABLE_4BPP=y
+CONFIG_NXFONTS_DISABLE_8BPP=y
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_NOEXT_VECTORS=y
+CONFIG_STM32_TIM8=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=4096
@@ -0,0 +1,161 @@
+/************************************************************************************
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name 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 __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+#include "board_dma_map.h"
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* HSI - 16 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - 8  MHz Crystal
+ * LSE - not installed
+ */
+
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        16000000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+
+/* Main PLL Configuration */
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(16)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
+#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
+
+#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
+
+#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
+#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
+#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
+
+#define STM32_SYSCLK_FREQUENCY  96000000ul
+
+/* AHB clock (HCLK) is SYSCLK (96MHz) */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
+#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_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK (96MHz) */
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* Timers driven from APB2 will be PCLK2 since no prescale division */
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1,8 are on APB2, others on APB1
+ */
+
+#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
+
+/* Alternate function pin selections ************************************************/
+
+/* UARTs */
+
+#define GPIO_USART1_TX /* PA15 */ GPIO_USART1_TX_3
+#define GPIO_USART1_RX /* PA10 */ GPIO_USART1_RX_1
+
+#define GPIO_USART2_TX /* PA2 */ GPIO_USART2_TX_1
+#define GPIO_USART2_RX /* PA3 */ GPIO_USART2_RX_1
+
+/* CAN */
+
+#define GPIO_CAN1_TX /* PB9 */ GPIO_CAN1_TX_2
+#define GPIO_CAN1_RX /* PB8 */ GPIO_CAN1_RX_2
+
+#define GPIO_CAN2_TX /* PB13 */ GPIO_CAN2_TX_1
+#define GPIO_CAN2_RX /* PB12 */ GPIO_CAN2_RX_2
+
+/* I2C */
+
+#define GPIO_MCU_I2C1_SCL
+#define GPIO_MCU_I2C1_SDA
+
+#define GPIO_I2C1_SCL /* PB6 */ GPIO_I2C1_SCL_1
+#define GPIO_I2C1_SDA /* PB7 */ GPIO_I2C1_SDA_1
+
+/* SPI */
+
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
+
+#define GPIO_SPI1_MISO /* PA6 */ GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI /* PA7 */ GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK  /* PA5 */ ADJ_SLEW_RATE(GPIO_SPI1_SCK_1)
+
+#endif /* __ARCH_BOARD_BOARD_H */
@@ -0,0 +1,45 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+// DMAMAP_USART2_RX                           // DMA1, Stream 5, Channel 4    (DEBIGT RX)
+
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMAMAP_USART1_RX   DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4    (GPS RX)
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_1   // DMA2, Stream 0, Channel 3    (SPI1 sensors RX)
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 3, Channel 3    (SPI1 sensors TX)
@@ -0,0 +1,172 @@
+#
+# 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_OS_API is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_STM32_DMACAPABLE is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_PRODUCTID=0x004f
+CONFIG_CDCACM_PRODUCTSTR="PX4 HolyBro CAN GPS"
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="HolyBro"
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=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_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_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=2
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_MB=y
+CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_TELNETD=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_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+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=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_PREFETCH=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_OTGFS=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_RTC=y
+CONFIG_STM32_RTC_HSECLOCK=y
+CONFIG_STM32_RTC_MAGIC=0xfacefeee
+CONFIG_STM32_RTC_MAGIC_REG=1
+CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI1_DMA=y
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
+CONFIG_STM32_SPI_DMA=y
+CONFIG_STM32_SPI_DMATHRESHOLD=8
+CONFIG_STM32_TIM8=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXBUFSIZE=1100
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USART2_TXBUFSIZE=2500
+CONFIG_USBDEV=y
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -0,0 +1,134 @@
+/****************************************************************************
+ * nuttx-config/scripts/canbootloader_script.ld
+ *
+ *   Copyright (C) 2015 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 STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * 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.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * 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)
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.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 +1,147 @@
+/****************************************************************************
+ * scripts/ld.script
+ *
+ *   Copyright (C) 2011 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 STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * 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.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x0800c000, LENGTH = 464K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 256K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * 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(8);
+      /*
+       * This section positions the app_descriptor_t used
+       * by the make_can_boot_descriptor.py tool to set
+       * the application image's descriptor so that the
+       * uavcan bootloader has the ability to validate the
+       * image crc, size etc
+      */
+    KEEP(*(.app_descriptor))
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.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 +1,73 @@
+############################################################################
+#
+#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		boot_config.h
+		boot.c
+		led.c
+		led.h
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		led.c
+		init.c
+		manifest.c
+		spi.cpp
+		usb.c
+	)
+	add_dependencies(drivers_board arch_board_hw_info)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_spi
+			arch_board_hw_info
+			drivers__led # drv_led_start
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+			arch_io_pins
+	)
+endif()
@@ -0,0 +1,170 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * PX4FMUv4 internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+// todo:NCP5623  datasheet says 0x38 driver says 0x39 - needs testing
+
+/* GPIO *************************************************************************** */
+
+/* LEDs are driven with push open drain to support Anode to 3.3V */
+
+#define GPIO_MCU_NLED_RED               /* PB1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_MCU_NLED_BLUE              /* PB2  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN2)
+#define GPIO_MCU_NLED_GREEN             /* PB10 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS   1
+#define BOARD_OVERLOAD_LED              LED_RED
+#define BOARD_ARMED_STATE_LED           LED_BLUE
+
+/*
+ * 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
+ */
+
+
+#define ADC1_CH(n)                  (n)
+#define ADC1_GPIO(n)                GPIO_ADC1_IN##n
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
+
+#define PX4_ADC_GPIO  \
+	/* PA0 */  ADC1_GPIO(0),  \
+	/* PA1 */  ADC1_GPIO(1)
+
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+
+#define ADC_HW_VER_SENSE_CHANNEL            /* PA0 */ ADC1_CH(0)
+#define ADC_HW_REV_SENSE_CHANNEL            /* PA1 */ ADC1_CH(1)
+
+#define ADC_CHANNELS \
+	((1 << ADC_HW_VER_SENSE_CHANNEL)           | \
+	 (1 << ADC_HW_REV_SENSE_CHANNEL))
+
+/* HW Version and Revision drive signals Default to 1 to detect */
+
+#define BOARD_HAS_HW_VERSIONING
+
+#define GPIO_HW_VER_REV_DRIVE /* PB5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_HW_REV_SENSE     /* PA0 */ ADC1_GPIO(0)
+#define GPIO_HW_VER_SENSE     /* PA1 */ ADC1_GPIO(1)
+#define HW_INFO_INIT         {'C','A','N','G','P','S','x', 'x',0}
+#define HW_INFO_INIT_VER     6
+#define HW_INFO_INIT_REV     7
+
+#define FLASH_BASED_PARAMS
+
+/* CAN Silence
+ *
+ * Silent mode control
+ */
+#define GPIO_MCU_CAN1_SILENT  /* PB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_MCU_CAN2_SILENT  /* PA4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN4)
+
+// Spi pinning is in spi.ccp
+
+// GPIO_MCU_SPI1_DRDY                   /* PA8  */
+// GPIO_MCU_SPI1_NCS_GYRO               /* PB14 */
+// GPIO_MCU_SPI1_NCS_ACC                /* PB15 */
+
+#define GPIO_SENSOR_3V3_EN              /* PC15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_I2C1_SCL_RESET             /* PB6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
+#define GPIO_I2C1_SDA_RESET             /* PB7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
+
+#define GPIO_USB_SWITCH_DET             /* PC14 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN14)
+#define GPIO_NOPT_WAIT_FOR_GETNODEINFO  /* PC13 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN13)
+
+#define GPIO_GPS_PPS_IN                 /* PB4 */ GPIO_TIM3_CH1_2
+
+/* High-resolution timer */
+#define HRT_TIMER                    3  /* use timer 3 for the HRT */
+#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
+
+#define PX4_GPIO_INIT_LIST { \
+		PX4_ADC_GPIO,                     \
+		GPIO_HW_VER_REV_DRIVE,            \
+		GPIO_SENSOR_3V3_EN,               \
+		GPIO_I2C1_SCL_RESET,              \
+		GPIO_I2C1_SDA_RESET,              \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN2_TX,                     \
+		GPIO_CAN2_RX,                     \
+		GPIO_MCU_CAN1_SILENT,             \
+		GPIO_MCU_CAN2_SILENT,             \
+		GPIO_USB_SWITCH_DET,              \
+		GPIO_NOPT_WAIT_FOR_GETNODEINFO,   \
+		GPIO_GPS_PPS_IN /* todo:needs driver */ \
+	}
+
+__BEGIN_DECLS
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,191 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015, 2021 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <stdint.h>
+#include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include <nuttx/board.h>
+#include "led.h"
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN | RCC_APB1ENR_CAN2EN, STM32_RCC_APB1ENR);
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+	stm32_configgpio(GPIO_CAN2_RX);
+	stm32_configgpio(GPIO_CAN2_TX);
+	stm32_configgpio(GPIO_MCU_CAN1_SILENT);
+	stm32_configgpio(GPIO_MCU_CAN2_SILENT);
+	led_init(); // todo:Remove with creation of proper LED driver
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST | RCC_APB1RSTR_CAN2RST, STM32_RCC_APB1RSTR);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~(RCC_APB1RSTR_CAN1RST | RCC_APB1RSTR_CAN2RST), STM32_RCC_APB1RSTR);
+
+#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
+	stm32_configgpio(GPIO_NOPT_WAIT_FOR_GETNODEINFO);
+#endif
+
+}
+
+/************************************************************************************
+ * Name: stm32_boarddeinitialize
+ *
+ * Description:
+ *   This function is called by the bootloader code prior to booting
+ *   the application. Is should place the HW into an benign initialized state.
+ *
+ ************************************************************************************/
+
+void stm32_boarddeinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
+
+/****************************************************************************
+ * Name: board_get_product_name
+ *
+ * Description:
+ *   Called to retrieve the product name. The returned value is a assumed
+ *   to be written to a pascal style string that will be length prefixed
+ *   and not null terminated
+ *
+ * Input Parameters:
+ *    product_name - A pointer to a buffer to write the name.
+ *    maxlen       - The maximum number of charter that can be written
+ *
+ * Returned Value:
+ *   The length of characters written to the buffer.
+ *
+ ****************************************************************************/
+
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
+	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
+}
+
+/****************************************************************************
+ * Name: board_get_hardware_version
+ *
+ * Description:
+ *   Called to retrieve the hardware version information. The function
+ *   will first initialize the the callers struct to all zeros.
+ *
+ * Input Parameters:
+ *    hw_version - A pointer to a uavcan_hardwareversion_t.
+ *
+ * Returned Value:
+ *   Length of the unique_id
+ *
+ ****************************************************************************/
+
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
+	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
+
+	hw_version->major = HW_VERSION_MAJOR;
+	hw_version->minor = HW_VERSION_MINOR;
+
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
+}
+
+/****************************************************************************
+ * Name: board_indicate
+ *
+ * Description:
+ *   Provides User feedback to indicate the state of the bootloader
+ *   on board specific  hardware.
+ *
+ * Input Parameters:
+ *    indication - A member of the uiindication_t
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
+
+typedef begin_packed_struct struct led_t {
+	uint8_t red;
+	uint8_t green;
+	uint8_t blue;
+	uint8_t hz;
+} end_packed_struct led_t;
+
+static const  led_t i2l[] = {
+
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),
+
+};
+
+void board_indicate(uiindication_t indication)
+{
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
+		i2l[indication].hz);
+}
@@ -0,0 +1,136 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015, 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file boot_config.h
+ *
+ * bootloader definitions that configures the behavior and options
+ * of the Boot loader
+ * This file is relies on the parent folder's boot_config.h file and defines
+ * different usages of the hardware for bootloading
+ */
+
+#pragma once
+
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+/* Bring in the board_config.h definitions
+ * todo:make this be pulled in from a targed's build
+ * files in nuttx*/
+
+#include "board_config.h"
+#include "uavcan.h"
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+#include <stm32_flash.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
+
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS                    5000
+#define OPT_NODE_STATUS_RATE_MS         800
+#define OPT_NODE_INFO_RATE_MS           50
+#define OPT_BL_NUMBER_TIMERS            7
+
+/*
+ *  This Option set is set to 1 ensure a provider of firmware has an
+ *  opportunity update the node's firmware.
+ *  This Option is the default policy and can be overridden by
+ *  a jumper
+ *  When this Policy is set, the node will ignore tboot and
+ *  wait indefinitely for a GetNodeInfo request before booting.
+ *
+ *  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
+ *  the polarity of the jumper to be True Active
+ *
+ *  wait  OPT_WAIT_FOR_GETNODEINFO  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
+ *                                                 Jumper
+ *   yes           1                       0         x
+ *   yes           1                       1       Active
+ *   no            1                       1       Not Active
+ *   no            0                       0         X
+ *   yes           0                       1       Active
+ *   no            0                       1       Not Active
+ *
+ */
+#define OPT_WAIT_FOR_GETNODEINFO                    0
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1
+
+#define OPT_ENABLE_WD                   1
+
+#define OPT_RESTART_TIMEOUT_MS          20000
+
+/* Reserved for the Booloader */
+#define OPT_BOOTLOADER_SIZE_IN_K        (32 * 1024)
+
+/* Reserved for the application out of the total
+ * system flash minus the BOOTLOADER_SIZE_IN_K
+ */
+#define OPT_APPLICATION_RESERVER_IN_K    (16 * 1024)
+
+#define OPT_APPLICATION_IMAGE_OFFSET    (OPT_BOOTLOADER_SIZE_IN_K + OPT_APPLICATION_RESERVER_IN_K)
+#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K + OPT_APPLICATION_RESERVER_IN_K))
+
+
+#define FLASH_BASE              STM32_FLASH_BASE
+#define FLASH_SIZE              STM32_FLASH_SIZE
+
+#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
+
+/* If this board uses big flash that have large sectors */
+
+#if defined(CONFIG_STM32_FLASH_CONFIG_E) || \
+   defined(CONFIG_STM32_FLASH_CONFIG_F) || \
+   defined(CONFIG_STM32_FLASH_CONFIG_G) || \
+   defined(CONFIG_STM32_FLASH_CONFIG_I)
+#define OPT_USE_YIELD
+#endif
+
+/* Bootloader Option*****************************************************************
+ *
+ */
+#define GPIO_GETNODEINFO_JUMPER   GPIO_NOPT_WAIT_FOR_GETNODEINFO
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_arch.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif
@@ -0,0 +1,38 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+};
@@ -0,0 +1,207 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * PX4FMU-specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/board.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/analog/adc.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_platform_common/init.h>
+
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <px4_platform/board_dma_alloc.h>
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure pins */
+
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+	board_control_spi_sensors_power_configgpio();
+
+	/* configure USB interfaces */
+
+	stm32_usbinitialize();
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+	if (OK == board_determine_hw_info()) {
+		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
+		       board_get_hw_type_name());
+
+	} else {
+		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
+	}
+
+	/* configure SPI interfaces (after we determined the HW version) */
+
+	stm32_spiinitialize();
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{2, 16 * 1024, 0x08008000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	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);
+		return -ENODEV;
+	}
+
+#endif // FLASH_BASED_PARAMS
+
+
+#if defined(SERIAL_HAVE_RXDMA)
+	/* set up the serial DMA polling */
+	static struct hrt_call serial_dma_call;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	struct timespec ts;
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)stm32_serial_dma_poll,
+		       NULL);
+#endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_on(LED_GREEN); // Indicate Power.
+	led_off(LED_BLUE);
+
+	return OK;
+}
@@ -0,0 +1,202 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * LED backend.
+ */
+
+#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>
+
+// TODO:This needs a complete rewrite We need to change the HW
+// Swap PB0/PB2 and use timer for all LEDS
+
+#define TMR_BASE        STM32_TIM1_BASE
+#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
+#define TMR_REG(o)      (TMR_BASE+(o))
+
+static  uint8_t _off[] =  {0, 0, 0};
+static  uint8_t _rgb[] =  {0, 0, 0};
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__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
+
+#define LED_RED     1
+#define LED_BLUE    0
+#define LED_GREEN   3
+
+#define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_MCU_NLED_BLUE,                 // Indexed by LED_BLUE
+	GPIO_MCU_NLED_RED,                  // Indexed by LED_RED, LED_AMBER
+	0,                                  // Indexed by LED_SAFETY (defaulted to an input)
+	GPIO_MCU_NLED_GREEN                 // Indexed by LED_GREEN
+};
+
+__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 */
+
+	if (g_ledmap[led] != 0) {
+		stm32_gpiowrite(g_ledmap[led], !state);
+	}
+}
+
+static bool phy_get_led(int led)
+{
+	/* If Low it is on */
+	if (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)));
+}
+
+
+static void setled(uint8_t *rgb)
+{
+	phy_set_led(LED_RED,   _rgb[0]);
+	phy_set_led(LED_GREEN, _rgb[1]);
+	phy_set_led(LED_BLUE,  _rgb[2]);
+}
+
+
+static int timerInterrupt(int irq, void *context, void *arg)
+{
+	putreg16(~getreg16(TMR_REG(STM32_GTIM_SR_OFFSET)), TMR_REG(STM32_GTIM_SR_OFFSET));
+
+	static int d2 = 1;
+	setled((d2++ & 1) ? _rgb : _off);
+	return 0;
+}
+
+void rgb_led(int r, int g, int b, int freqs)
+{
+	long fosc = TMR_FREQUENCY;
+	long prescale = 1536;
+	long p1s = fosc / prescale;
+	long p0p5s  = p1s / 2;
+	uint16_t val;
+	static bool once = 0;
+
+	if (!once) {
+		once = 1;
+		setled(_off);
+
+		/* Enable Clock to Block */
+
+		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
+
+		/* Reload */
+		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
+		val |= ATIM_EGR_UG;
+		putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
+
+		/* Set Prescaler STM32_TIM_SETCLOCK */
+		putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
+
+		/* Enable STM32_TIM_SETMODE*/
+		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+		putreg32(p0p5s + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
+
+
+		irq_attach(STM32_IRQ_TIM1CC, timerInterrupt, NULL);
+		up_enable_irq(STM32_IRQ_TIM1CC);
+		putreg16(GTIM_DIER_CC1IE, TMR_REG(STM32_GTIM_DIER_OFFSET));
+	}
+
+	long p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+	putreg32(p + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
+	putreg32(p, TMR_REG(STM32_GTIM_CCR1_OFFSET));
+	_rgb[0] = g;
+	_rgb[1] = r;
+	_rgb[2] = b;
+	setled(_rgb);
+
+	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+	if (freqs == 0) {
+		val &= ~ATIM_CR1_CEN;
+
+	} else {
+		val |= ATIM_CR1_CEN;
+	}
+
+	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
+}
@@ -0,0 +1,38 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+__BEGIN_DECLS
+void rgb_led(int r, int g, int b, int freqs);
+__EXPORT void led_init(void);
+__END_DECLS
@@ -0,0 +1,151 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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 manifest.c
+ *
+ * This module supplies the interface to the manifest of hardware that is
+ * optional and dependent on the HW REV and HW VER IDs
+ *
+ * The manifest allows the system to know whether a hardware option
+ * say for example the PX4IO is an no-pop option vs it is broken.
+ *
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <stdbool.h>
+
+#include "systemlib/px4_macros.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+typedef struct {
+	uint32_t                hw_ver_rev; /* the version and revision */
+	const px4_hw_mft_item_t *mft;       /* The first entry */
+	uint32_t                entries;    /* the lenght of the list */
+} px4_hw_mft_list_entry_t;
+
+typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
+#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
+
+static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
+
+// List of components on a specific board configuration
+// The index of those components is given by the enum (px4_hw_mft_item_id_t)
+// declared in board_common.h
+
+static const px4_hw_mft_item_t hw_mft_list_v0000[] = {
+	{
+		//  PX4_MFT_PX4IO
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+	{
+		// PX4_MFT_USB
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		// PX4_MFT_CAN2
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		// PX4_MFT_CAN3
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+};
+
+
+static px4_hw_mft_list_entry_t mft_lists[] = {
+// ver/rev
+	{0x0000, hw_mft_list_v0000,        arraySize(hw_mft_list_v0000)},
+};
+
+/************************************************************************************
+ * Name: board_query_manifest
+ *
+ * Description:
+ *   Optional returns manifest item.
+ *
+ * Input Parameters:
+ *   manifest_id - the ID for the manifest item to retrieve
+ *
+ * Returned Value:
+ *   0 - item is not in manifest => assume legacy operations
+ *   pointer to a manifest item
+ *
+ ************************************************************************************/
+
+__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
+{
+	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
+
+	if (boards_manifest == px4_hw_mft_list_uninitialized) {
+		uint32_t ver_rev = board_get_hw_version() << 8;
+		ver_rev |= board_get_hw_revision();
+
+		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
+			if (mft_lists[i].hw_ver_rev == ver_rev) {
+				boards_manifest = &mft_lists[i];
+				break;
+			}
+		}
+
+		if (boards_manifest == px4_hw_mft_list_uninitialized) {
+			syslog(LOG_ERR, "[boot] Board %4x is not supported!\n", ver_rev);
+		}
+	}
+
+	px4_hw_mft_item rv = &device_unsupported;
+
+	if (boards_manifest != px4_hw_mft_list_uninitialized &&
+	    id < boards_manifest->entries) {
+		rv = &boards_manifest->mft[id];
+	}
+
+	return rv;
+}
@@ -0,0 +1,45 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortB, GPIO::Pin14}, SPI::DRDY{GPIO::PortA, GPIO::Pin8}),
+		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortB, GPIO::Pin15}),
+	}, {GPIO::PortC, GPIO::Pin15}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <arm_arch.h>
+#include <stm32.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32_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.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
@@ -32,6 +32,8 @@ then

 	# Enable IMU thermal control
 	param set SENS_EN_THERMAL 1
+
+	param set UAVCAN_ENABLE 2
 fi

 set LOGGER_BUF 64
@@ -167,14 +167,6 @@ SECTIONS
 		_einit = ABSOLUTE(.);
 	} > flash

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > flash

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -167,14 +167,6 @@ SECTIONS
 		_einit = ABSOLUTE(.);
 	} > flash

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > flash

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -125,14 +125,6 @@ SECTIONS
 		_einit = ABSOLUTE(.);
 	} > flash

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > flash

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -11,6 +11,8 @@ then
 	param set SENS_IMU_MODE 0
 	param set EKF2_MULTI_MAG 2
 	param set SENS_MAG_MODE 0
+
+	param set UAVCAN_ENABLE 2
 fi

 set LOGGER_BUF 64
@@ -126,14 +126,6 @@ SECTIONS
 		_einit = ABSOLUTE(.);
 	} > FLASH_AXIM

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > FLASH_AXIM

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -93,14 +93,6 @@ SECTIONS
                _einit = ABSOLUTE(.);
        } > flash

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > flash

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -30,6 +30,8 @@ then
 	# Multi-EKF
 	param set EKF2_MULTI_IMU 3
 	param set SENS_IMU_MODE 0
+
+	param set UAVCAN_ENABLE 2
 fi

 #
@@ -126,14 +126,6 @@ SECTIONS
 		_einit = ABSOLUTE(.);
 	} > FLASH_AXIM

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > FLASH_AXIM

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -9,6 +9,8 @@ then
 	# Multi-EKF
 	param set EKF2_MULTI_IMU 3
 	param set SENS_IMU_MODE 0
+
+	param set UAVCAN_ENABLE 2
 fi

 set LOGGER_BUF 64
@@ -126,14 +126,6 @@ SECTIONS
 		_einit = ABSOLUTE(.);
 	} > FLASH_AXIM

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > FLASH_AXIM

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -35,6 +35,8 @@ then
 	param set EKF2_MULTI_MAG 3
 	param set SENS_MAG_MODE 0

+	param set UAVCAN_ENABLE 2
+
 fi

 set LOGGER_BUF 64
@@ -11,6 +11,8 @@ then
 	param set SENS_IMU_MODE 0
 	param set EKF2_MULTI_MAG 2
 	param set SENS_MAG_MODE 0
+
+	param set UAVCAN_ENABLE 2
 fi

 set LOGGER_BUF 64
@@ -126,14 +126,6 @@ SECTIONS
 		_einit = ABSOLUTE(.);
 	} > FLASH_AXIM

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > FLASH_AXIM

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -100,14 +100,6 @@ SECTIONS
                _einit = ABSOLUTE(.);
        } > flash

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > flash

 	.ARM.extab : {
 		*(.ARM.extab*)
@@ -1,4 +1,4 @@
-
+#!/bin/sh
 #
 # NXP fmuk66-e specific board defaults
 #------------------------------------------------------------------------------
@@ -12,8 +12,8 @@ bmm150 -I -R 10 start
 bmp280 -I start

 # Internal SPI (accel + mag)
-bmi088 -A -R 4 -s start
-bmi088 -G -R 4 -s start
+bmi088 -A -R 8 -s start
+bmi088 -G -R 8 -s start

 # Internal SPI bus ICM-42688
-icm42688p -R 12 -s start
+#icm42688p -R 12 -s start
@@ -29,7 +29,7 @@ CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_PRODUCTID=0x001c
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMUK66 v3.x"
+CONFIG_CDCACM_PRODUCTSTR="PX4 FMUK66 E"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=8000
 CONFIG_CDCACM_VENDORID=0x1FC9
@@ -39,6 +39,8 @@ CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_POSIX_TIMERS=y
 CONFIG_ETH0_PHY_TJA1100=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -114,8 +116,6 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NETDB_DNSCLIENT=y
-CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
@@ -153,6 +153,7 @@ CONFIG_NSH_DISABLE_UNAME=y
 CONFIG_NSH_DISABLE_WGET=y
 CONFIG_NSH_DISABLE_XD=y
 CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_IOBUFFER_SIZE=256
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -160,6 +161,8 @@ CONFIG_NSH_READLINE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
+CONFIG_NSH_TELNETD_CLIENTSTACKSIZE=1280
+CONFIG_NSH_TELNETD_DAEMONSTACKSIZE=1024
 CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
@@ -199,6 +202,10 @@ CONFIG_SYSTEM_CUTERM_DEFAULT_BAUD=57600
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24
+CONFIG_TELNET_IOTHREAD_STACKSIZE=512
+CONFIG_TELNET_MAXLCLIENTS=1
+CONFIG_TELNET_RXBUFFER_SIZE=128
+CONFIG_TELNET_TXBUFFER_SIZE=128
 CONFIG_UART0_IFLOWCONTROL=y
 CONFIG_UART0_OFLOWCONTROL=y
 CONFIG_UART1_RXBUFSIZE=600
@@ -100,18 +100,6 @@ SECTIONS
 		 . += 8;
 	} > progflash

-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-		 . = ALIGN(8);
-		 FILL(0xff)
-		 . += 8;
-	} > progflash
-
 	.ARM.extab : {
 		*(.ARM.extab*)
 		 . = ALIGN(8);
@@ -40,6 +40,8 @@ CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_POSIX_TIMERS=y
 CONFIG_ETH0_PHY_TJA1100=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -150,6 +152,7 @@ CONFIG_NSH_DISABLE_UNAME=y
 CONFIG_NSH_DISABLE_WGET=y
 CONFIG_NSH_DISABLE_XD=y
 CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_IOBUFFER_SIZE=256
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -157,6 +160,8 @@ CONFIG_NSH_READLINE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
+CONFIG_NSH_TELNETD_CLIENTSTACKSIZE=1280
+CONFIG_NSH_TELNETD_DAEMONSTACKSIZE=1024
 CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
@@ -196,6 +201,10 @@ CONFIG_SYSTEM_CUTERM_DEFAULT_BAUD=57600
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24
+CONFIG_TELNET_IOTHREAD_STACKSIZE=512
+CONFIG_TELNET_MAXLCLIENTS=1
+CONFIG_TELNET_RXBUFFER_SIZE=128
+CONFIG_TELNET_TXBUFFER_SIZE=128
 CONFIG_UART0_IFLOWCONTROL=y
 CONFIG_UART0_OFLOWCONTROL=y
 CONFIG_UART1_RXBUFSIZE=600
@@ -110,14 +110,11 @@ CONFIG_LPUART0_SERIAL_CONSOLE=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
-CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NETDB_DNSCLIENT=y
-CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
@@ -155,6 +152,7 @@ CONFIG_NSH_DISABLE_UNAME=y
 CONFIG_NSH_DISABLE_WGET=y
 CONFIG_NSH_DISABLE_XD=y
 CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_IOBUFFER_SIZE=256
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -162,6 +160,8 @@ CONFIG_NSH_READLINE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
+CONFIG_NSH_TELNETD_CLIENTSTACKSIZE=1280
+CONFIG_NSH_TELNETD_DAEMONSTACKSIZE=1024
 CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
@@ -201,6 +201,10 @@ CONFIG_SYSTEM_CUTERM_DEFAULT_BAUD=57600
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24
+CONFIG_TELNET_IOTHREAD_STACKSIZE=512
+CONFIG_TELNET_MAXLCLIENTS=1
+CONFIG_TELNET_RXBUFFER_SIZE=128
+CONFIG_TELNET_TXBUFFER_SIZE=128
 CONFIG_UART1_RXBUFSIZE=600
 CONFIG_UART1_TXBUFSIZE=1100
 CONFIG_UART4_BAUD=57600
--- a/Show More
+++ b/Show More